CN-122009577-A - Unmanned aerial vehicle take-off platform and application thereof in vehicle-mounted unmanned aerial vehicle device

CN122009577ACN 122009577 ACN122009577 ACN 122009577ACN-122009577-A

Abstract

The invention discloses an unmanned aerial vehicle take-off platform and application thereof in a vehicle-mounted unmanned aerial vehicle device, wherein the unmanned aerial vehicle platform comprises a supporting plate, a base, an attitude sensor A fixed in the middle of the lower end surface of the supporting plate, four lifting driving components arranged at four corners of the base, a controller and the like; the controller can drive the lifting driving components at least at two off-diagonal positions to synchronously act through closed loop iteration regulation and control logic based on the gesture data acquired by the gesture sensor A, so that inclination errors are quickly counteracted, the supporting plate tends to be horizontal, and compared with a traditional single-driving, double-driving or diagonal driving structure, the precision and response speed of gesture adjustment are greatly improved through the design, the problem of unbalanced lifting gesture of the unmanned aerial vehicle on the non-flat ground or the mobile carrier is effectively solved, and the lifting safety and reliability of the unmanned aerial vehicle under a complex scene are improved.

Inventors

YANG YUNLING
Chen Nayu

Assignees

福建朱雀航空有限公司

Dates

Publication Date: 20260512
Application Date: 20260409

Claims (10)

1. An unmanned aerial vehicle platform of taking off, characterized in that it includes: the middle part of the upper end surface of the supporting plate is provided with a platform area, and the platform area is used for contacting with a landing gear of the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to take off or land; The base is arranged below the supporting plate; the attitude sensor A is fixedly arranged in the middle of the lower end face of the supporting plate and is used for acquiring the attitude condition of the supporting plate; The lifting driving assemblies are four in number and are arranged at the corners of the upper end face of the base in pairs, and the four lifting driving assemblies are used for adjusting the inclined posture of the supporting plate; And the controller is connected with the gesture sensor A and the two pairs of lifting driving components and respectively controls the working actions of the lifting driving components so as to finish the inclination gesture adjustment of the supporting plate.
2. The unmanned aerial vehicle takeoff platform of claim 1, wherein the upper end side edges of the support plate are provided with raised strips.
3. The unmanned aerial vehicle take-off platform of claim 1, wherein a rubber pad of annular structure is embedded in the middle of the upper end face of the support plate.
4. The unmanned aerial vehicle take-off platform of claim 1, further comprising a base and spring dampers, wherein the base is arranged below the base, the number of the spring dampers is two, two pairs of the spring dampers are arranged at the corners of the upper end face of the base, the lower end of the spring dampers are fixedly connected with the upper end face of the base, and the upper end of the spring dampers are fixedly connected with the lower end face of the base.
5. The unmanned aerial vehicle takeoff platform of claim 1, wherein a battery assembly is provided on the unmanned aerial vehicle, the battery assembly having a charging slot for accessing an external power supply; The unmanned aerial vehicle takes off the platform and still includes the joint subassembly that charges, the joint subassembly that charges includes: The end profile of the charging plug is matched with the charging slot and is used for being in plug-in fit with the charging slot, the charging plug is electrically connected with the controller through a cable, and the controller controls the charging plug to output power supply so as to charge the battery assembly of the unmanned aerial vehicle.
6. The unmanned aerial vehicle take-off platform of claim 5, wherein the charging connector assembly further comprises a plug traction motor, a traction rope and a connecting frame, the connecting frame is fixedly connected with the charging plug, the plug traction motor is fixed in the middle of the lower end face of the supporting plate and is electrically connected with the controller, the controller controls the working to open and close, a through groove is formed in the middle of the lower end face of the supporting plate, a winding frame is connected to the tail end of a rotating shaft of the plug traction motor, one end of the traction rope is fixedly connected with the connecting frame, the other end of the traction rope penetrates through the through groove and is fixedly connected with the winding frame, when the unmanned aerial vehicle is parked in a platform area of the supporting plate, and the charging plug is in plug-in fit with a charging slot of a battery assembly on the unmanned aerial vehicle, the plug traction motor drives the winding frame to wind the traction rope, so that the traction rope pulls the charging plug to be separated from the charging slot, and the battery assembly of the unmanned aerial vehicle is enabled to be charged and interrupted.
7. The unmanned aerial vehicle takeoff platform of any of claims 1 to 6, wherein said lift drive assembly comprises: The main body of the screw rod motor is fixed at the corner of the upper end face of the base; the main body of the speed reducer is fixed at the corner of the upper end face of the base, the rotating shaft of the screw rod motor is connected with the power input end of the speed reducer, and the power output end of the speed reducer faces the lower end face of the supporting plate; One end of the screw rod is connected with the power output end of the speed reducer, and the other end of the screw rod extends along the direction approaching to the lower end face of the supporting plate; The sliding block is movably connected to the screw rod in a threaded manner; One end of the ball pin is provided with a ball, the end part of the ball pin, which is far away from the ball, is fixedly connected with the lower end surface of the supporting plate, and the ball is vertically downward; The ball head seat is provided with a ball head groove at one end and is movably connected with the ball head of the ball head pin through the ball head groove, the other end of the ball head seat is a connecting sleeve with a tubular structure, the tail end of the ball head seat is connected with the sliding block, and the other end of the screw rod penetrates into the connecting sleeve of the ball head seat; The screw rod motor is electrically connected with the controller, the controller controls the screw rod motor to output driving force so that the speed reducer drives the screw rod to rotate, a sliding block connected with the screw rod drives the ball seat to lift, and meanwhile, the ball pin is pulled to drive one corner of the supporting plate connected with the ball pin to lift; Wherein a flexible dust cover is sleeved between the ball stud and the ball seat; When the supporting plate is subjected to inclination posture adjustment, the controller at least synchronously controls the screw rod motors of more than two lifting driving assemblies to work, and when the two lifting driving assemblies are synchronously controlled, the two lifting driving assemblies are not positioned at diagonal positions.
8. An unmanned aerial vehicle take-off platform level regulation method, to which the unmanned aerial vehicle take-off platform of claim 7 is applied, comprising: S1, when a take-off platform of an unmanned aerial vehicle is in a static state, a controller acquires attitude data of a support plate output by an attitude sensor A, and filters the attitude data to obtain a pitch angle and a roll angle of the support plate relative to a gravity direction; s2, determining the inclination error of the supporting plate by the controller according to the pitch angle and the roll angle, and calculating to obtain target lifting and falling quantities corresponding to the four lifting and driving components based on the inclination error and the angular point position relation of the four lifting and driving components on the supporting plate, so that the target lifting and falling quantities are used for counteracting the inclination error to enable the supporting plate to tend to be horizontal; s3, the controller converts the target lifting amount into driving instructions of each lifting driving assembly, and controls at least more than two lifting driving assemblies to synchronously act to execute the driving instructions, so that at least two corner points of the driving support plate lift to adjust the posture of the support plate, wherein when the number of the lifting driving assemblies which synchronously act is two, the two lifting driving assemblies are not positioned at diagonal positions; S4, the controller acquires and filters the attitude data output by the attitude sensor A again after the lifting driving assembly acts, if the pitch angle and the roll angle of the supporting plate meet the preset horizontal threshold, the horizontal regulation of the supporting plate is determined to be completed and the regulation of the lifting driving assembly is stopped, otherwise, the controller returns to execute S2 to S4 to form closed loop iterative regulation until the supporting plate meets the preset horizontal threshold or reaches the preset overtime/iteration times threshold.
9. An unmanned aerial vehicle take-off platform charging assisting method, to which the unmanned aerial vehicle take-off platform according to claim 6 is applied, comprising: A1, when an unmanned aerial vehicle is parked in a platform area of the supporting plate, a controller acquires electric quantity state information of the battery assembly and generates an adaptive charging strategy based on the electric quantity state information, wherein the adaptive charging strategy at least comprises a charging starting condition, a charging current or a charging power target value and a charging cut-off condition; A2, the controller controls the external power supply to output electric energy to the battery assembly through the charging plug so as to charge the battery assembly according to the self-adaptive charging strategy, and acquires the electric quantity state information and/or the charging state information of the battery assembly in real time or periodically in the charging process so as to dynamically adjust the target value of the charging current or the charging power according to the electric quantity state information and/or the charging state information; A3, when the controller judges that the battery pack meets the charging cut-off condition and reaches a full state, the controller stops controlling the charging plug to output power supply, and controls the plug traction motor to drive the winding frame to wind the traction rope, so that the traction rope pulls the connecting frame and then pulls the charging plug to be separated from the charging slot, and the automatic separation of the charging plug is realized; And A4, after the charging plug is separated, the controller generates charging completion feedback information, and outputs the charging completion feedback information to a preset man-machine interaction terminal and/or sends the charging completion feedback information to an unmanned aerial vehicle end in communication connection with the controller so as to feed back the charging completion state of the battery assembly.
10. An on-board unmanned aerial vehicle device to which the unmanned aerial vehicle take-off platform according to any one of claims 1 to 7 is applied, wherein the on-board unmanned aerial vehicle device is arranged on the cargo bed of a pick-up truck.

Description

Unmanned aerial vehicle take-off platform and application thereof in vehicle-mounted unmanned aerial vehicle device Technical Field The invention relates to the technical field of unmanned aerial vehicle technology and automatic control, in particular to an unmanned aerial vehicle take-off platform and application thereof in a vehicle-mounted unmanned aerial vehicle device, which are particularly suitable for application scenes in which stable take-off and landing of the unmanned aerial vehicle and energy supply are required to be realized on complex terrains or mobile carriers. Background Along with the rapid development of unmanned aerial vehicle technology, the unmanned aerial vehicle is widely applied to a plurality of fields such as aerial mapping, emergency rescue, logistics transportation, electric power inspection and the like. The stable take-off and landing of the unmanned aerial vehicle are key preconditions for guaranteeing the operation reliability of the unmanned aerial vehicle, and in a practical application scene, the unmanned aerial vehicle is often required to finish take-off and landing operations on uneven ground (such as mountain lands, hills and field operation areas) or mobile carriers (such as vehicle cargo cabins), at this moment, the lack of the traditional flat take-off and landing surfaces is extremely easy to cause unbalanced take-off and landing postures of the unmanned aerial vehicle, and the faults such as rollover, collision and the like are caused, so that the operation safety and the service life of equipment are seriously influenced. In the prior art, part of simple unmanned aerial vehicle take-off and landing platforms only can provide a basic bearing function, cannot adaptively adjust the gesture according to the site gradient to ensure the level, are difficult to meet the use requirement under complex terrains, and a few platforms with gesture adjustment functions mostly adopt symmetrical single-drive or double-drive structures, have low adjustment precision and low response speed, and have the problem of unstable gesture caused by diagonal drive. Meanwhile, in the unmanned aerial vehicle operation process, energy supply depends on manual battery replacement or manual connection of charging equipment, so that the unmanned aerial vehicle operation process is complex in operation and low in efficiency, and timeliness and safety of manual supply are difficult to guarantee especially in a remote operation scene. In addition, on-vehicle unmanned aerial vehicle device is as the important carrier of removal operation, and its landing platform and the suitability of vehicle, shock-absorbing performance directly influence unmanned aerial vehicle stability of taking off and land. The existing vehicle-mounted lifting platform is directly fixed on a vehicle cargo box, an effective shock absorption buffer structure is lacked, the platform is easy to damage or unmanned aerial vehicle parking offset due to jolting in the running process of the vehicle, meanwhile, the design of a special lifting platform for common operation vehicles such as a pick-up truck is deficient, and diversified requirements of mobile operation are difficult to meet. In summary, the existing unmanned aerial vehicle take-off and landing platform has the technical defects of insufficient gesture adjustment precision, poor adaptability to complex scenes, low automation degree of energy supply, poor vehicle-mounted suitability and damping performance and the like, restricts popularization and application of the unmanned aerial vehicle in complex environments and mobile operations, and needs an unmanned aerial vehicle take-off platform with high-precision gesture regulation and control, automatic charging assistance, good vehicle-mounted adaptation and damping performance and a related method. Disclosure of Invention Therefore, the invention aims to provide an unmanned aerial vehicle take-off platform and application thereof in a vehicle-mounted unmanned aerial vehicle device, the take-off platform can adaptively adjust the platform area gesture according to the inclination condition of an actual application scene so as to meet the take-off and landing requirements of the unmanned aerial vehicle, and when auxiliary charging is performed, power supply cutting-off and a charging plug separating can be performed in time, so that flexible and convenient work assistance is provided for operators. In order to achieve the technical purpose, the invention adopts the following technical scheme: An unmanned aerial vehicle takeoff platform, comprising: the middle part of the upper end surface of the supporting plate is provided with a platform area, and the platform area is used for contacting with a landing gear of the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to take off or land; The base is arranged below the supporting plate; the attitude sensor A is fixedly arranged in the middle of the lower en