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A multi-UAV landing device based on mechanical arm assistance and parallel four-bar linkage mechanism for unmanned boat platform

A parallel four-link, multi-UAV technology, which is applied in the direction of aircraft ships, manipulators, transportation and packaging, etc., can solve the problems that UAVs cannot take off and land, and unmanned boats cannot carry multiple UAVs.

Active Publication Date: 2021-01-15
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the unmanned boat cannot quickly and stably take off and land on the unmanned boat and the unmanned boat cannot carry multiple unmanned aerial vehicles, the present invention provides an unmanned boat that can take off and land quickly and stably on the unmanned boat and can load more drones. Multi-UAV landing device based on mechanical arm assistance and parallel four-bar linkage mechanism for unmanned boat platform

Method used

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  • A multi-UAV landing device based on mechanical arm assistance and parallel four-bar linkage mechanism for unmanned boat platform
  • A multi-UAV landing device based on mechanical arm assistance and parallel four-bar linkage mechanism for unmanned boat platform
  • A multi-UAV landing device based on mechanical arm assistance and parallel four-bar linkage mechanism for unmanned boat platform

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Embodiment 1

[0039] A multi-unmanned aerial vehicle landing device based on mechanical arm assistance and parallel four-bar linkage mechanism for unmanned boat platform, its structure is as follows Figure 1-Figure 9 As shown, including the unmanned boat 1, the unmanned boat 1 is provided with a multi-layer rotating platform 5, and any platform on the multi-layer rotating platform 5 is provided with a UAV fixing device 4, and the UAV fixing device 4 Unmanned aerial vehicles 3 are arranged on the above, and the shipboard mechanical arm system 2 that cooperates with the multi-layer rotating platform 5 is also provided on the unmanned boat 1, and the control system is provided on the unmanned boat 1.

[0040]The multi-layer rotating platform 5 includes a bracket 501 arranged on the unmanned boat 1. The bracket 501 is provided with a rotating shaft 506 flexibly connected with the bracket 501. The rotating shaft 506 is provided with an outer eccentric rotating star wheel 502. The rotating shaft ...

Embodiment 2

[0044] A multi-unmanned aerial vehicle landing device based on mechanical arm assistance and a parallel four-bar linkage mechanism for an unmanned boat platform is different from Embodiment 1 in that the rotating shaft 506 is connected to the rotating motor through a conveyor belt.

[0045] When the drone 3 needs to land due to various reasons, the drone 3 can obtain the landing position through the communication between the drone 3 and the unmanned boat 1, and the industrial six-degree-of-freedom mechanical arm 201 and the control system can be calculated by the control system. A suitable suspended position between the landing positions, and the UAV 3 descends to a suitable position. The binocular camera 203 on the industrial six-degree-of-freedom mechanical arm 201 captures the drone 3, controls the clamp actuator 202 to grab one side of the drone 3, and controls the clamp actuator 202 to grab the landing gear 301 of the drone. The installed force sensor 204 monitors the str...

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Abstract

The invention belongs to the technical field of unmanned aerial vehicle auxiliary equipment, and particularly discloses a multi-unmanned-aerial-vehicle landing device based on a manipulator-assisted and parallel four-bar mechanism for an unmanned surface vehicle platform. The multi-unmanned-aerial-vehicle landing device includes an unmanned surface vehicle which is provided with multi-layer rotating platforms, an unmanned aerial vehicle fixing device is arranged on every layer of platform of the multi-layer rotating platforms, the unmanned aerial vehicle fixing devices are provided with the unmanned aerial vehicles; and a ship-borne manipulator system matched with the multi-layer rotating platforms is further arranged on the unmanned surface vehicle, and a control system is arranged on the unmanned surface vehicle. Through the multi-layer rotating platforms on the unmanned surface vehicle, multiple unmanned aerial vehicles can be taken off and landed; the unmanned aerial vehicle fixing devices can stably fix the unmanned aerial vehicles staying on the multi-layer rotating platforms, and can charge the unmanned aerial vehicles when the unmanned aerial vehicle power is insufficient; the unmanned aerial vehicles are matched with and the unmanned aerial vehicle fixing devices, and the effect of enabling the unmanned aerial vehicles to take off and land quickly and smoothly on the unmanned surface vehicle is achieved; and the ship-borne manipulator system and the unmanned aerial vehicles are cooperated to play a role of assisting the unmanned aerial vehicles to land and take-off.

Description

technical field [0001] The invention belongs to the technical field of UAV auxiliary equipment, and in particular relates to a multi-UAV landing device based on mechanical arm assistance and a parallel four-bar linkage mechanism for an unmanned boat platform. Background technique [0002] With the rapid development of unmanned boat technology and UAV technology, they each play an important role in different fields, and they can all help us complete high-risk and high-intensity tasks to ensure the safety of human life to the greatest extent. . At present, a major research direction is to combine unmanned boat technology with UAV technology, which can greatly expand the functionality of the two. Exploration, while UAVs often have insufficient battery life. When the power of the UAV is low, it can fly back to the unmanned boat for charging, and multiple UAVs can perform tasks simultaneously or alternately. However, one of the difficulties in the cooperation of unmanned boats ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63B35/50B64C25/32B64C39/02B60L53/14B25J19/02B25J15/00
CPCB25J15/00B25J19/023B63B35/50B64C25/32B64C39/02B60L53/14Y02T10/70Y02T10/7072Y02T90/14
Inventor 李恒宇张锐沈斐玲谢少荣罗均
Owner SHANGHAI UNIV
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