Automatic self-leveling airport for marine unmanned aerial vehicle

Abstract

The invention discloses a self-leveling automatic airport for a marine unmanned aerial vehicle, and aims to solve the problems of low take-off and landing precision and easiness in damage of equipment of an existing unmanned aerial vehicle in a marine scene. The device comprises an automatic airport main frame fixed to a ship deck, a three-axis mechanical arm, an electric control system, a clamping platform, a leveling mechanism and a parking platform. All the assemblies are integrated in the automatic airport main frame, the layout is compact, the space characteristics of a ship are adapted, the take-off and landing precision of the unmanned aerial vehicle is improved, stable docking, take-off and landing and guarantee conditions are provided for the unmanned aerial vehicle in a ship scene, and equipment damage is avoided; through the synergistic effect of the leveling mechanism and the three-axis mechanical arm, the levelness of the docking face of the unmanned aerial vehicle can be automatically adjusted when the ship inclines, and the take-off, landing and charging stability of the unmanned aerial vehicle is guaranteed. The battery charging cabin, the unmanned aerial vehicle clamping platform and the three-axis manipulator are matched, so that the unmanned aerial vehicle is charged after being fixed; the automation degree is high, and the operation reliability in a ship environment is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle ground station, in particular to a self-leveling automatic airport for unmanned aerial vehicle on a ship. BACKGROUND

[0002] With the wide application of unmanned aerial vehicle technology in the field of maritime affairs, such as ship inspection, marine environment monitoring and material transportation between ship and shore, the ability of maritime operation is significantly improved. In order to realize the automatic operation of unmanned aerial vehicle on the moving platform of ship, it is usually necessary to deploy an unmanned aerial vehicle automatic airport on the deck to provide a stable landing, charging and maintenance platform for the unmanned aerial vehicle.

[0003] However, the ship will sway and tilt due to sea waves, sea winds and other factors during navigation, so that it is impossible to provide a stable landing, charging and maintenance platform for the unmanned aerial vehicle in the dynamic environment of the ship, thereby causing a series of problems: first, the unmanned aerial vehicle is unstable during take-off and landing, and the equipment is easily damaged; second, the unmanned aerial vehicle body is easily tilted and overturned in the dynamic environment of the swaying and tilting ship, thereby damaging the propeller or the body; third, the uneven deck of the ship can jam the unmanned aerial vehicle landing gear, causing the unmanned aerial vehicle to lose control. These factors jointly restrict the take-off and landing accuracy, operation safety and equipment reliability of the unmanned aerial vehicle in the ship scene, and limit the reliable application of the technology. SUMMARY

[0004] Therefore, the present application provides a self-leveling automatic airport for unmanned aerial vehicle on a ship to solve the problems of low take-off and landing accuracy and easy damage of equipment of the existing unmanned aerial vehicle in the ship scene.

[0005] In order to achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] A self-leveling automatic airport for unmanned aerial vehicle on a ship, comprising: an automatic airport general frame fixed to the deck of the ship;

[0007] A clamping platform and a parking platform are arranged at the top center position of the automatic airport general frame, the clamping platform is used for accurately clamping and homing the unmanned aerial vehicle, and the parking platform provides a basic platform for the unmanned aerial vehicle to land, and the bottom of the parking platform is provided with a leveling mechanism;

[0008] A three-axis mechanical hand, a battery charging cabin assembly and an electric control system are arranged in the automatic airport general frame, the electric control system is located at the bottom of the automatic airport general frame, and the three-axis mechanical hand is located above the electric control system;

[0009] The electric control system is connected with the three-axis mechanical hand, the clamping platform and the leveling mechanism respectively, a two-dimensional code is arranged on the upper surface of the parking platform, the unmanned aerial vehicle identifies the two-dimensional code and feeds back the position of the unmanned aerial vehicle to the electric control system in real time, and the electric control system senses and adjusts the levelness of the landing surface of the unmanned aerial vehicle through the leveling mechanism.

[0010] Optionally, the clamping platform comprises a parking platform frame connected with the automatic airport general frame, two aircraft homing push rods A are arranged in parallel along the length direction on the side of the parking platform frame, and the two aircraft homing push rods A are connected through a first synchronous belt and a corresponding connecting plate; two aircraft homing push rods B are arranged in parallel along the width direction on the side of the parking platform frame, and the two aircraft homing push rods B are connected through a second synchronous belt and a corresponding connecting plate.

[0011] Further comprising two clamping cross shafts, one of which passes through one end of the first synchronous belt and is connected with a third synchronous belt, and the third synchronous belt is driven by a corresponding clamping motor to realize the movement of the aircraft homing push rod A; the other clamping cross shaft passes through one end of the second synchronous belt and is connected with a fourth synchronous belt, and the fourth synchronous belt is driven by a corresponding clamping motor to realize the movement of the aircraft homing push rod B.

[0012] The parking platform frame is further provided with a camera.

[0013] Optionally, the inside of the automatic airport general frame is further provided with a propeller collecting and lifting platform, the propeller collecting and lifting platform comprises a propeller collecting motor, a propeller guide rod, a propeller collecting synchronous belt, a propeller limiting strip, a propeller mechanism synchronous lifter, and a lifting platform base, one side of the lifting platform base is driven by a lifting mechanism, the other side is connected with a lifting screw nut base, the side of the lifting platform base away from the lifting mechanism is provided with two connecting rods, and the top of the connecting rod is provided with a UAV fixing claw.

[0014] The top of the propeller mechanism synchronous lifter is provided with a lifting table, the propeller mechanism synchronous lifter is driven to realize lifting by a propeller mechanism lifting motor, driving the lifting table, the propeller guide rod and the propeller collecting synchronous belt to lift synchronously; the lifting table is longitudinally penetrated by a plurality of propeller guide rods, the top of each propeller guide rod is provided with a propeller limiting strip, the propeller collecting motor is used to drive the propeller collecting synchronous belt transmission, the propeller collecting synchronous belt synchronously transmits power to the four propeller guide rods through a plurality of gears engaged therewith, so that the UAV propeller is folded and stored along the propeller guide rod, and the position is fixed through the propeller limiting strip.

[0015] Optionally, the leveling mechanism comprises a base and a top plate, the base is connected with the clamping platform, the top plate is provided with the parking platform on the upper part, and a multi-axis linkage structure is arranged between the base and the top plate for adjusting the levelness of the UAV parking surface.

[0016] Further comprising a level sensor for detecting the levelness of the UAV parking surface, and the detection signal is sent to the electric control system.

[0017] The parking platform is provided with a propeller collecting mechanism opening of a propeller collecting and lifting platform, a UAV clamping jaw opening of a clamping platform, and the two-dimensional code.

[0018] Optionally, the automatic airport general framework comprises a framework main body and a sliding cover assembly arranged on the framework main body, the sliding cover assembly comprises two sliding covers, two sliding cover power shafts are arranged on both sides of the top of the framework main body in parallel along the width direction, the sliding cover power shafts are driven by an opening cover motor mounted on the framework main body, and the two ends of each sliding cover power shaft are connected to the front and rear edges of the sliding cover on the corresponding side through a synchronous belt.

[0019] Optionally, the top of the framework main body is further provided with a guide rail, and the side of the sliding cover is embedded in the guide rail through a sliding block, so that it can smoothly slide along the guide rail.

[0020] The framework main body is further provided with an opening cover connecting base for mounting the opening cover motor and the sliding cover power shaft.

[0021] The bottom of the framework main body is further provided with a pulley.

[0022] Optionally, the three-axis mechanical hand comprises an X-axis sliding table, a Y-axis sliding table and a Z-axis sliding table, the two ends of the X-axis sliding table are arranged on the side walls of the automatic airport general framework, the Y-axis base of the Y-axis sliding table is slidingly installed on the X-axis moving part of the X-axis sliding table, the Z-axis base of the Z-axis sliding table is slidingly installed on the Y-axis moving part of the Y-axis sliding table, and the end of the Z-axis sliding table is provided with a battery gripper for grabbing and replacing a battery of a UAV.

[0023] Optionally, the battery charging cabin assembly comprises a charging cabin, a charging plate box, a heater, a charging cabin support and a cooling fan, the bottom of the charging cabin support is fixed to the bottom of the automatic airport general framework, the top of the charging cabin support is provided with the charging cabin for accommodating a battery of a UAV, the opening of the charging cabin faces the direction of the three-axis mechanical hand, and the side of the charging cabin is provided with the charging plate box.

[0024] Optionally, the bottom of the charging cabin is provided with the cooling fan and the heater, the heater can guarantee the charging performance in a low-temperature environment, and the cooling fan ensures the heat management of the equipment during the charging process.

[0025] The charging cabin is further provided with a temperature sensor for collecting a temperature signal in the charging cabin and sending the temperature signal to an electric control system.

[0026] Optionally, the electric control system comprises an electric control cabinet, a control cabinet and an electric control box, the control cabinet and the electric control box are arranged on the two sides of the rear of the electric control cabinet, an inverter is arranged between the electric control box and the electric control cabinet, and a wire box is further arranged on one side of the electric control cabinet corresponding to the control cabinet.

[0027] Compared with the prior art, the present application has at least the following beneficial effects:

[0028] 1、The present application is based on further analysis and research on the problems of the prior art, and provides a ship unmanned aerial vehicle self-leveling automatic airfield, which comprises an automatic airfield total frame fixed on a ship deck, a three-axis manipulator integrated in the automatic airfield total frame, a battery charging cabin assembly, an electric control system, a clamping platform, a leveling mechanism and a parking platform, wherein the electric control system is responsible for power supply, signal control and logical operation of the entire automatic airfield, the battery charging cabin assembly provides a charging environment for the unmanned aerial vehicle battery, the clamping platform realizes accurate clamping and homing of the unmanned aerial vehicle, the unmanned aerial vehicle leveling mechanism ensures that the unmanned aerial vehicle can be in a horizontal state when the ship is tilted, thereby ensuring the safety of take-off and landing; the parking platform provides a basic platform for the unmanned aerial vehicle to stop, and a two-dimensional code is arranged on the parking platform, the unmanned aerial vehicle identifies the two-dimensional code to feed back the position of the unmanned aerial vehicle in real time and control the unmanned aerial vehicle leveling mechanism to work through the electric control system; the components of the present application are integrated in the automatic airfield total frame, the layout is compact, and the space characteristics of the ship are adapted, thereby improving the take-off and landing precision of the unmanned aerial vehicle, providing stable stopping, take-off and landing and guaranteeing conditions for the unmanned aerial vehicle in the ship scene, avoiding equipment damage, promoting the wide and reliable application of the unmanned aerial vehicle in the ship inspection, marine logistics and maritime supervision fields of the ship, and improving the safety, stability and sustainability of the unmanned aerial vehicle operation in the ship operation; the self-leveling function is provided, the leveling mechanism and the three-axis manipulator are cooperated to automatically adjust the levelness of the unmanned aerial vehicle stopping surface when the ship is tilted, thereby ensuring the stability of the unmanned aerial vehicle take-off and landing and charging; the cooperation of the battery charging cabin, the unmanned aerial vehicle clamping platform and the three-axis manipulator enables the charging operation after the unmanned aerial vehicle is fixed; the automation degree is high, the manual intervention is reduced, and the operation reliability in the ship environment is improved.

[0029] 2、The integrated propeller collecting and lifting platform of the present application can effectively collect the propeller, adapt to the space limitation of the ship, and further improve the automatic integration degree of the system, from the homing, clamping, leveling and charging of the unmanned aerial vehicle to the propeller collection, the whole process is automatically controlled.

[0030] 3、The integrated sliding cover assembly of the present application is used to realize the opening and closing of the top of the automatic airfield, which is opened during the take-off and landing and charging of the unmanned aerial vehicle and closed at other times to protect the internal equipment.

[0031] 4、The battery charging cabin assembly of the present application comprises a charging cabin, a cooling fan and a heater, the heating and cooling design of the charging cabin enables it to work in different temperature environments, which can not only guarantee the charging performance, but also ensure the thermal management of the equipment during the charging process. Attached Figure Description

[0032] To more intuitively illustrate the prior art and this application, exemplary drawings are provided below. It should be understood that the specific shapes and structures shown in the drawings should not generally be regarded as limiting conditions for implementing this application; for example, based on the technical concept disclosed in this application and the exemplary drawings, those skilled in the art are able to easily make conventional adjustments or further optimizations to the addition / reduction / classification, specific shapes, positional relationships, connection methods, size ratios, etc. of certain units (components).

[0033] Figure 1 A schematic diagram of the structure of a self-leveling automatic airport for a marine unmanned aerial vehicle provided in one embodiment of this application;

[0034] Figure 2 for Figure 1 Schematic diagram of the overall structure of the automated airport;

[0035] Figure 3 for Figure 1 Schematic diagram of a three-axis robotic arm;

[0036] Figure 4 for Figure 1 A schematic diagram of the structure of the battery charging compartment assembly;

[0037] Figure 5 for Figure 1 Schematic diagram of the structure of the central electronic control system;

[0038] Figure 6 for Figure 1 Schematic diagram of the clamping platform;

[0039] Figure 7 for Figure 6 The diagram shown is a partial view.

[0040] Figure 8 for Figure 1 Schematic diagram of the leveling mechanism;

[0041] Figure 9 for Figure 1 Schematic diagram of the mid-mounted propeller lifting platform;

[0042] Figure 10 for Figure 1 A schematic diagram showing the connection between the mid-mounted propeller lifting platform and the lifting mechanism;

[0043] Figure 11 for Figure 1 Schematic diagram of the intermediate shutdown platform;

[0044] Figure 12 for Figure 1 A schematic diagram of the structure of the landing platform cover of the central assembly.

[0045] BRIEF DESCRIPTION OF DRAWINGS

[0046] 1. Automatic airport general framework; 11, framework main body; 12, sliding cover; 13, cover opening motor; 14, cover opening connecting base; 15, synchronous belt; 16, sliding cover power shaft; 17, sensor; 18, pulley; 2, three-axis mechanical hand; 21, X-axis sliding table; 22, Y-axis sliding table; 23, Z-axis sliding table; 24, battery;

[0047] 3. Battery charging cabin assembly; 31, charging cabin; 32, charging plate box; 33, heater; 34, charging cabin support; 35, cooling fan; 4, electric control system; 41, electric control cabinet; 42, control cabinet; 43, wire box; 44, inverter; 45, electric control box; 5, clamping platform; 51, clamping motor; 52, parking platform frame; 53, aircraft homing push rod A; 54, camera; 55, clamping horizontal shaft; 56, aircraft homing push rod B; 57, first synchronous belt; 58, second synchronous belt; 59, connecting plate; 510, third synchronous belt; 511, fourth synchronous belt; 512, landing seat bottom plate;

[0048] 6. Leveling mechanism; 61, base; 62, top plate; 63, multi-axis linkage structure; 7, propeller collecting and lifting platform; 71, propeller collecting motor; 72, lifting screw nut seat; 73, unmanned aerial vehicle fixing claw; 74, propeller guide rod; 75, propeller collecting synchronous belt; 76, propeller collecting mechanism lifting motor; 77, propeller collecting mechanism synchronous lifter; 78, propeller limiting strip; 79, lifting table; 710, lifting platform base; 711, gear;

[0049] 8. Parking platform; 81, two-dimensional code; 82, propeller collecting mechanism opening; 83, unmanned aerial vehicle clamping jaw opening; 9, general assembly landing platform cover; 91, aircraft lifting table bottom cover; 92, cover closing pull rod; 93, hinge; 10, lifting mechanism; 101, support; 102, screw rod; 103, lifting block; 104, driving motor. DETAILED DESCRIPTION

[0050] The application will be further described in detail below with specific examples in combination with the accompanying drawings.

[0051] In the description of the present application: unless otherwise specified, the meaning of "multiple" is two or more. The terms "first", "second", "third" and the like in the present application are intended to distinguish the objects referred to, and do not have a special meaning in the technical connotation aspect (for example, it should not be understood as emphasizing importance or order, etc.). The expressions "include", "contain", "have" and the like also mean "not limited to" (some units, components, materials, steps, etc.).

[0052] The terms such as "upper", "lower", "left", "right", "middle" and the like cited in the present application are generally indicative of the relative positions for the purpose of intuitive understanding with reference to the drawings, and are not absolute limitations of the positional relationship in the actual product.

[0053] In view of the deficiencies of the prior art in the marine scene, especially the tilting of the unmanned aerial vehicle body under the dynamic tilting of the ship, the damage of the propeller or the body, the jamming of the unmanned aerial vehicle landing gear on the uneven ground such as the deck of the ship, the loss of control of the unmanned aerial vehicle, and the instability of the unmanned aerial vehicle take-off and landing caused by the failure of the automatic airport to self-level, the present application provides a marine unmanned aerial vehicle self-leveling automatic airport. This scheme overcomes these technical bottlenecks, provides stable parking, take-off and landing and protection conditions for unmanned aerial vehicles in the marine scene, avoids equipment damage, thereby breaking the constraints of the reliability of unmanned aerial vehicles in the marine scene, promoting the wide and reliable application of unmanned aerial vehicles in the marine field such as ship inspection and maritime supervision, and improving the safety, stability and sustainability of unmanned aerial vehicle operation in ship operation.

[0054] The structure of the marine unmanned aerial vehicle self-leveling automatic airport provided by the present application will be described in detail below in combination with the drawings:

[0055] As shown in Figures 1-12 The marine unmanned aerial vehicle self-leveling automatic airport provided by the present application includes an automatic airport general frame 1 fixed to the deck of the ship, a three-axis mechanical hand 2, a battery charging cabin assembly 3, an electric control system 4, a clamping platform 5, a leveling mechanism 6, a propeller collecting and lifting platform 7 and its supporting components (propeller storage system), and a parking platform 8.

[0056] The automatic airport general frame 1 serves as the support structure of the entire automatic airport and provides a mounting base for each component. The top center position of the automatic airport general frame 1 is provided with the clamping platform 5 and the parking platform 8. The clamping platform 5 is used for precise clamping and homing of the unmanned aerial vehicle, and the parking platform 8 provides a basic platform for parking of the unmanned aerial vehicle. The bottom of the parking platform 8 is provided with the leveling mechanism 6, which is used to sense and adjust the levelness of the unmanned aerial vehicle parking surface, to ensure that the unmanned aerial vehicle can still be in a horizontal state when the ship is tilted, and to ensure the safety of take-off and landing. The propeller storage system is used to realize the storage and lifting action of the propeller of the unmanned aerial vehicle, to protect the propeller and save space.

[0057] The inside of the automatic airport general frame 1 is provided with the three-axis mechanical hand 2, the battery charging cabin assembly 3, the propeller collecting and lifting platform 7, and the electric control system 4. The electric control system 4 is located at the bottom of the automatic airport general frame 1, and the three-axis mechanical hand 2 is located above the electric control system 4. The three-axis mechanical hand 2 is used to adapt to the dynamic offset of the ship, and the battery charging cabin assembly 3 is used to provide a charging environment for the battery of the unmanned aerial vehicle, and cooperates with the clamping platform 5 to perform charging operation after the unmanned aerial vehicle is fixed;

[0058] The electric control system 4 is correspondingly connected with the three-axis manipulator 2, the clamping platform 5, the leveling mechanism 6 and the propeller collecting and lifting platform 7, so as to provide power and control signals for the three-axis manipulator 2, the clamping platform 5, the leveling mechanism 6 and the propeller collecting and lifting platform 7; the upper surface of the parking platform 8 is provided with a two-dimensional code 81, the unmanned aerial vehicle identifies the two-dimensional code 81 and feeds back the position of the unmanned aerial vehicle to the electric control system 4 in real time, and the electric control system 4 senses and adjusts the levelness of the parking surface of the unmanned aerial vehicle through the leveling mechanism 6; the unmanned aerial vehicle identifies the two-dimensional code 81 and feeds back the position of the unmanned aerial vehicle to the electric control system 4 in real time, and the electric control system 4 controls the leveling mechanism 6 to work and adjusts the position of the parking platform 8.

[0059] Preferably, as shown in the drawings, Figure 2 The automatic airport overall framework 1 includes a framework main body 11 and a sliding cover assembly arranged on the framework main body 11, the sliding cover assembly is used to realize the opening and closing of the top of the automatic airport, and is opened during the take-off and landing and charging of the unmanned aerial vehicle and is closed at other times to protect the internal equipment;

[0060] The sliding cover assembly includes two sliding covers 12 and a related driving assembly, the driving assembly includes the following synchronous belt 15, cover opening motor 13 and the like; two sliding cover power shafts 16 are arranged in parallel along the width direction on both sides of the top of the framework main body 11, the sliding cover power shafts 16 are driven by the cover opening motor 13 arranged on the framework main body 11, and the two ends of each sliding cover power shaft 16 are correspondingly connected with the front and rear edges of the corresponding side sliding cover 12 through the synchronous belt 15, and the bottom of the synchronous belt 15 is provided with a sensor 17, which is used to monitor the position of the sliding cover 12 in real time.

[0061] In order to accurately guide the opening and closing trajectories of the two sliding covers 12, the top of the framework main body 11 is further provided with a guide rail, and the side of the sliding cover 12 is embedded in the guide rail through a sliding block, so that it can smoothly slide along the guide rail.

[0062] In addition, the framework main body 11 is further provided with a cover opening connecting base 14 for mounting the cover opening motor 13 and the sliding cover power shaft 16; the bottom of the framework main body 11 is further provided with a pulley 18 to provide mobility for the entire airport.

[0063] Preferably, as shown in the drawings, Figure 6 , Figure 7 The clamping platform 5 includes a parking platform frame 52 connected with the automatic airport overall framework 1, the upper part of the parking platform frame 52 is provided with a landing seat bottom plate 512, and the side of the parking platform frame 52 is provided with two aircraft homing push rods A53 in parallel along the length direction, the two aircraft homing push rods A53 are connected through two first synchronous belts 57 located at the two ends thereof and corresponding connecting plates 59, and the aircraft homing push rods A53 are used for correction from the front and rear directions of the unmanned aerial vehicle;

[0064] The side of the parking platform frame 52 is provided with two aircraft homing push rods B56 and another clamping horizontal shaft 55 in the width direction, the two aircraft homing push rods B56 are connected by two second synchronous belts 58 at both ends and corresponding connecting plates 59, and the aircraft homing push rods B56 are used for correction from the left and right sides of the unmanned aerial vehicle;

[0065] Two clamping horizontal shafts 55 are also included, one of which passes through one end of the first synchronous belt 57 and is connected with the third synchronous belt 511, and the third synchronous belt 510 is driven by a clamping motor 51 to simultaneously transmit power to the clamping horizontal shaft 55 and the first synchronous belt 57, thereby realizing the movement of the aircraft homing push rod A53; the other clamping horizontal shaft 55 passes through one end of the second synchronous belt 58 and is connected with the fourth synchronous belt 511, and the fourth synchronous belt 510 is driven by a clamping motor 51 to simultaneously transmit power to the clamping horizontal shaft 55 and the second synchronous belt 58, thereby realizing the movement of the aircraft homing push rod B56; through the cooperation of the clamping horizontal shaft 55, the homing push rod (aircraft homing push rod A53, aircraft homing push rod B56) and the plurality of synchronous belts, the unmanned aerial vehicle is accurately fixed at the specified position of the parking platform frame 52;

[0066] The parking platform frame 52 is also provided with a camera 54 for real-time monitoring of the landing attitude and position of the unmanned aerial vehicle on the platform.

[0067] Preferably, as shown in Figure 9 、 Figure 10 , it also includes a lifting mechanism 10, the lifting mechanism 10 includes a support 101 fixed to the bottom of the automatic airport main frame 1, the support 101 is provided with a lead screw 102, and the lead screw 102 is driven by a driving motor 104;

[0068] The folding mechanism of the plurality of blades includes a folding motor 71 (a power source), a blade guide rod 74 (guiding the folding direction of the blades), a folding synchronous belt 75, a blade limiting strip 78 (limiting the folding amplitude of the blades), a folding mechanism synchronous lifter 77 (ensuring the synchronous action of the plurality of blades), a lifting platform base 710, and the like. A screw rod 102 is connected to the lifting platform base 710 through a lifting block 103, and the other side of the lifting platform base 710 is connected to a lifting nut base 72. The top of the folding mechanism synchronous lifter 77 is provided with a lifting table 79, and the folding mechanism synchronous lifter 77 is driven to lift by a folding mechanism lifting motor 76, thereby driving the lifting table 79, the blade guide rod 74, and the folding synchronous belt 75 to lift synchronously. The folding mechanism lifting motor 76 is connected to the folding mechanism synchronous lifter 77 through a transmission mechanism. The lifting table 79 is longitudinally penetrated by a plurality of blade guide rods 74, and the top of each blade guide rod 74 is provided with a blade limiting strip 78 for fixing the unmanned aerial vehicle blades. The entire folding action is powered by the folding motor 71, which drives the folding synchronous belt 75, and the folding synchronous belt 75 synchronously transmits power to the four blade guide rods 74 through a plurality of gears 711 (a gear system) engaged therewith, guides and drives the unmanned aerial vehicle blades to fold and store along the blade guide rod 74, and finally fixes the position by the blade limiting strip 78.

[0069] The side of the lifting platform base 710 away from the lifting mechanism 10 is provided with two connecting rods, and the top of the connecting rod is provided with an unmanned aerial vehicle fixing claw 73. When the folding lifting platform 7 rises to the working position, the unmanned aerial vehicle is leveled by the leveling mechanism 6, and the parking platform 8 is flush with the landing seat bottom plate 512 on the clamping platform 5. The unmanned aerial vehicle legs are adjusted to the position aligned with the two unmanned aerial vehicle fixing claws 73 by the clamping platform 5, and then the unmanned aerial vehicle fixing claws 73 at the top are expanded to fix the unmanned aerial vehicle legs. After the unmanned aerial vehicle is completely stabilized, the folding motor 71 drives the folding synchronous belt 75 and the gear system to drive transmission, drives the unmanned aerial vehicle blades to fold along the blade guide rod 74, and finally fixes the position by the blade limiting strip 78.

[0070] Preferably, as shown in Figure 8 The leveling mechanism 6 includes a base 61 and a top plate 62. The base 61 is connected to the clamping platform 5, specifically connected to the above-mentioned parking platform frame 52 through a connecting plate. The upper part of the top plate 62 is provided with a parking platform 8, and a multi-axis linkage structure 63 is arranged between the base 61 and the top plate 62. The multi-axis linkage structure 63 includes a plurality of telescopic cylinders, rotating shafts, drive motors, and the like, and is used for adjusting the levelness of the unmanned aerial vehicle parking surface. A horizontal sensor is further included for detecting the levelness of the unmanned aerial vehicle parking surface, and the detection signal is sent to the electric control system 4.

[0071] As shown in Figure 11As shown, the parking platform 8 is provided with a propeller collection mechanism opening 82 of the propeller collection and lifting platform 7, a UAV clamping jaw opening 83 of the clamping platform 5, and a two-dimensional code 81. The propeller collection mechanism opening 82 is used to pass through the propeller guide rod 74 and the propeller limiting strip 78. The UAV clamping jaw opening 83 is used to pass through the UAV fixing clamping jaw 73.

[0072] Preferably, as shown, Figure 3 As shown, the three-axis manipulator 2 is used to realize multi-dimensional position adjustment to replace the battery 24 and adapt to the dynamic offset of the ship. It includes an X-axis sliding table 21, a Y-axis sliding table 22, and a Z-axis sliding table 23. The two ends of the X-axis sliding table 21 are arranged on the side walls of the automatic airport general frame 1. The Y-axis base of the Y-axis sliding table 22 is slidingly installed on the X-axis moving part of the X-axis sliding table 21. The Z-axis base of the Z-axis sliding table 23 is slidingly installed on the Y-axis moving part of the Y-axis sliding table 22. The end of the Z-axis sliding table 23 is provided with a battery grabber, which is used to grab the UAV battery 24 and place it in the inside of the charging cabin 31, thereby completing the replacement of the battery 24.

[0073] The X-axis sliding table 21 is responsible for driving the Y-axis sliding table 22 and the Z-axis sliding table 23 on the whole to move horizontally along the length direction of the automatic airport general frame 1. The Y-axis sliding table 22 is responsible for driving the Z-axis sliding table 23 on the whole to move vertically. The Z-axis sliding table 23 is responsible for driving the battery grabber at the end to move horizontally along the direction perpendicular to the Y-axis direction (i.e. along the width direction of the automatic airport general frame 1), thereby completing the grabbing and placing actions on the battery in the UAV or battery charging cabin assembly 3.

[0074] Preferably, as shown, Figure 4 As shown, the battery charging cabin assembly 3 is used to provide a charging environment for the UAV battery. It includes a charging cabin 31, a charging plate box 32, a heater 33, a charging cabin support 34, and a heat dissipation fan 35. The bottom of the charging cabin support 34 is fixed to the bottom of the automatic airport general frame 1. The top of the charging cabin support 34 is provided with the charging cabin 31 for accommodating the UAV battery. The opening of the charging cabin 31 faces the direction of the three-axis manipulator 2. The side of the charging cabin 31 is provided with the charging plate box 32 (charging module).

[0075] Further preferably, the bottom of the charging cabin 31 is further provided with the heat dissipation fan 35 and the heater 33. The charging cabin 31 is provided with a temperature sensor, which is used to collect the temperature signal in the charging cabin 31 and send it to the electric control system 4. The heater 33 is used to heat in a low-temperature environment to ensure the activity of the UAV battery, i.e. to ensure the charging performance. The heat dissipation fan 35 is used to dissipate heat in a high-temperature environment to prevent overheating and ensure the heat management of the equipment in the charging process.

[0076] Preferably, as shown, Figure 5As shown, the electric control system 4 is responsible for the entire automatic airport power supply, signal control and logic operation, which includes electric control cabinet 41, control cabinet 42, inverter 44, electric control box 45 and other structures, the electric control cabinet 41 as the main control unit, the back of which is provided with control cabinet 42 and electric control box 45 on both sides, the control cabinet 42 completes the logic operation, the electric control box 45 is provided with an inverter 44 between the electric control cabinet 41, the inverter 44 is used for power conversion, the electric control cabinet 41 is also provided with a wire box 43 on the side corresponding to the control cabinet 42, which is used to accommodate all cables, ensuring that the wiring is neat and easy to maintain.

[0077] As shown in Figure 12 The top of the automatic airport general frame 1 is also provided with a general assembly landing platform cover 9, which includes an aircraft landing platform bottom cover 91, a cover pull rod 92 and a hinge 93. Four aircraft landing platform bottom covers 91 correspond to the positions of the four propeller collection mechanism openings 82 on the parking platform 8. Each aircraft landing platform bottom cover 91 is hinged to the parking platform 8 through the hinge 93, and the bottom of the aircraft landing platform bottom cover 91 is provided with a cover pull rod 92; the aircraft landing platform bottom cover 91 is controlled by the cover pull rod 92, and is closed when the mechanism is not in use, realizing the closure of the corresponding propeller collection mechanism opening 82 and protecting the internal components.

[0078] The working process of the above embodiment is generally as follows: unmanned aerial vehicle landing → positioning → charging → propeller collection → equipment protection. When the unmanned aerial vehicle needs to be parked, the sliding cover assembly is opened, the three-axis mechanical hand 2 and the leveling mechanism 6 act cooperatively to adjust to the position and levelness suitable for the unmanned aerial vehicle; the clamping platform 5 is assisted by the homing push rod (aircraft homing push rod B56 and aircraft homing push rod A53) and the camera 54 to accurately clamp and fix the unmanned aerial vehicle; then, the propeller collection and landing platform 7 acts to collect the propeller of the unmanned aerial vehicle; the battery charging cabin assembly 3 charges the battery of the unmanned aerial vehicle; the whole process is uniformly controlled by the electric control system 4, and each sensor feedbacks the state in real time to ensure that the action is accurate and reliable;

[0079] I. Unmanned aerial vehicle landing and positioning

[0080] Cooperation of the parking platform 8 and the leveling mechanism 6: the parking platform 8 is the "landing area" of the unmanned aerial vehicle, but the scene such as a ship is prone to tilt; at this time, the leveling mechanism 6 adjusts the levelness of the parking platform 8 in real time through the multi-axis linkage structure 63, scans the two-dimensional code 81 on the parking platform 8 through the camera on the unmanned aerial vehicle, and feedbacks the flight state of the unmanned aerial vehicle in real time to ensure that the unmanned aerial vehicle is always in a horizontal state, providing a stable basis for subsequent operations;

[0081] The action of the clamping platform 5: after the UAV lands, the aircraft homing push rod B56 and the aircraft homing push rod A53 push the UAV from both sides, cooperate with the clamping cross shaft 55 driven by the clamping motor 51 to accurately fix the UAV at the designated position of the parking platform frame 52; then the UAV fixing claw 73 clamps and fixes the UAV foot to prevent movement;

[0082] II. Charging system

[0083] When the UAV positioning is completed, the three-axis manipulator 2 (a multi-dimensional motion structure composed of X-axis sliding table 21, Y-axis sliding table 22, Z-axis sliding table 23, etc.) moves accurately and interfaces with the UAV battery to replace the battery;

[0084] III. Propeller storage system: automatically fold the propeller to save space and protect the equipment

[0085] Working process: when the UAV enters the cabin, the propeller collection mechanism lifting motor 76 drives the lifting table 79, propeller guide rod 74 and propeller collection synchronous belt 75 to rise, making the propeller enter the storage area; then the propeller collection motor 71 drives the propeller to fold along the propeller guide rod 74 through the propeller collection synchronous belt 75, and finally the propeller is fixed in position by the propeller limiting strip 78, completing the automatic process of "propeller folding → storage";

[0086] IV. Equipment protection and overall control: electronic control + mechanical structure guarantee system reliable operation

[0087] Protection logic of sliding cover and driving assembly: when the system is idle, the cover opening motor 13 drives the synchronous belt 15 to drive the sliding cover 12 to slide along the guide rail, closing the top of the airport: the sensor 17 monitors the sliding cover position in real time to ensure that it is closed in place, protecting the internal equipment from the external environment (such as rain and dust);

[0088] The central role of the electronic control system 4: is the "brain" of the entire airport, used to receive signals from various sensors (such as the level sensor of the leveling mechanism 6, the temperature sensor of the battery charging cabin assembly 3), drive the three-axis manipulator 2, propeller collection motor 71, cover opening motor 13 and other actuators, and realize automatic control of the whole process of "landing → positioning → charging → storage → protection".

[0089] V. Structural support

[0090] The automatic airport total framework 1 serves as the "skeleton" of the entire system, providing installation basis for all components such as the three-axis manipulator 2, battery charging cabin assembly 3, electronic control system 4, etc., ensuring the rationality of the layout and the stability of the structure in space;

[0091] Multi-dimensional motion of the three-axis manipulator 2: composed of X-axis sliding table 21, Y-axis sliding table 22, Z-axis sliding table 23, etc., can accurately move in three-dimensional space to realize battery 24 replacement;

[0092] In summary, the core principle of the unmanned aerial vehicle self-leveling automatic airport is the closed-loop process of "electric control system planning → mechanical structure linkage → sensor feedback of each link", through the coherent actions of "landing positioning → mechanical hand replacing battery → blade storage → equipment protection", the full autonomous landing and support of the unmanned aerial vehicle is realized.

[0093] In summary, the present application has at least the following beneficial effects:

[0094] 1. Self-leveling function: through the cooperative action of the leveling mechanism and the three-axis mechanical hand, the levelness of the unmanned aerial vehicle landing surface can be automatically adjusted when the ship is inclined, ensuring the stability of the unmanned aerial vehicle take-off and landing and charging.

[0095] 2. Multi-environment adaptation: the heating and cooling design of the battery charging cabin enables it to work in different temperature environments; the blade storage mechanism (blade storage lifting platform) can effectively store the blades, adapting to the space limitation of the ship.

[0096] 3. High degree of automation: from the homing, clamping, leveling, charging of the unmanned aerial vehicle to the blade storage, the whole process is automatically controlled, reducing manual intervention and improving the operation reliability in the ship environment.

[0097] 4. Structural integration: each component is integrated into the automatic airport general framework, with compact layout, adapting to the space characteristics of the ship.

[0098] The technical features of the above embodiments can be combined arbitrarily (as long as the combination of these technical features does not exist contradictions), in order to make the description simple, not all possible combinations of each technical feature in the above embodiments are described; these embodiments not explicitly written should also be considered as the scope of the present application.

Claims

1. A marine drone self-leveling auto-heliport, characterized in that, The utility model relates to an automatic airport general frame fixed on the deck of a ship, which comprises a clamping platform and a parking platform arranged at the top center of the automatic airport general frame, the clamping platform is used for accurately clamping and homing a drone, the parking platform provides a basic platform for the parking of the drone, and the bottom of the parking platform is provided with a leveling mechanism. The inside of the automatic airport general frame is provided with a three-axis manipulator, a battery charging cabin assembly and an electric control system, the electric control system is located at the bottom of the automatic airport general frame, and the three-axis manipulator is located above the electric control system. The electric control system is correspondingly connected with the three-axis manipulator, the clamping platform and the leveling mechanism, the upper surface of the parking platform is provided with a two-dimensional code, the drone identifies the two-dimensional code and feeds back the position of the drone to the electric control system in real time, and the electric control system senses and adjusts the levelness of the parking surface of the drone through the leveling mechanism. The clamping platform comprises a parking platform frame connected with the automatic airport general frame, two aircraft homing push rods A are arranged in parallel along the length direction on the side of the parking platform frame, the two aircraft homing push rods A are connected through a first synchronous belt and a corresponding connecting plate, two aircraft homing push rods B are arranged in parallel along the width direction on the side of the parking platform frame, and the two aircraft homing push rods B are connected through a second synchronous belt and a corresponding connecting plate. The utility model also comprises two clamping horizontal shafts, one of which passes through one end of the first synchronous belt and is connected with a third synchronous belt, and the third synchronous belt is driven by a corresponding clamping motor to realize the movement of the aircraft homing push rod A; the other clamping horizontal shaft passes through one end of the second synchronous belt and is connected with a fourth synchronous belt, and the fourth synchronous belt is driven by a corresponding clamping motor to realize the movement of the aircraft homing push rod B.

2. The marine drone self-leveling autoport according to claim 1, wherein, A camera is further arranged on the parking platform frame. The inside of the automatic airport general frame is further provided with a propeller folding and lifting platform, the propeller folding and lifting platform comprises a propeller folding motor, a propeller guide rod, a propeller folding synchronous belt, a propeller limiting strip, a propeller folding mechanism synchronous lifter and a lifting platform base, one side of the lifting platform base is driven by a lifting mechanism, the other side is connected with a lifting screw nut base, the side of the lifting platform base away from the lifting mechanism is provided with two connecting rods, and the top of the connecting rod is provided with a drone fixing claw. The top of the propeller folding mechanism synchronous lifter is provided with a lifting table, the propeller folding mechanism synchronous lifter is driven by a propeller folding mechanism lifting motor to realize lifting, drives the lifting table, the propeller guide rod and the propeller folding synchronous belt to synchronously lift, the lifting table is longitudinally penetrated by a plurality of propeller guide rods, the top of each propeller guide rod is provided with a propeller limiting strip, the propeller folding motor is used for driving the propeller folding synchronous belt to drive, the propeller folding synchronous belt synchronously transmits power to the four propeller guide rods through a plurality of gears engaged therewith, so that the propeller of the drone is folded and stored along the propeller guide rod, and the position is fixed through the propeller limiting strip.

3. The marine drone self-leveling autoport according to claim 2, wherein, The leveling mechanism comprises a base and a top plate, the base is connected with the clamping platform, the top plate is provided with the parking platform at the upper part, and a multi-axis linkage structure is arranged between the base and the top plate for adjusting the levelness of the parking surface of the drone. ​ 4. The marine drone self-leveling autoport according to claim 3, wherein, ​ Further comprising a level sensor for detecting the levelness of the UAV landing surface, and its detection signal is sent to the electric control system; The parking platform is provided with a propeller collecting mechanism opening of a propeller collecting and lifting platform, a UAV clamping jaw opening of a clamping platform, and the two-dimensional code.

5. The marine drone self-leveling auto-heliport of claim 1, wherein, The automatic airport general framework comprises a framework main body and a sliding cover assembly arranged on the framework main body, the sliding cover assembly comprises two sliding covers, two sliding cover power shafts are arranged in parallel along the width direction on the top of the framework main body, the sliding cover power shafts are driven by opening cover motors mounted on the framework main body, and the two ends of each sliding cover power shaft are connected to the front and rear edges of the corresponding side sliding cover through a synchronous belt, respectively, and a sensor is arranged at the bottom of the synchronous belt to monitor the sliding cover position in real time.

6. The marine drone self-leveling autoport according to claim 5, wherein, The top of the framework main body is further provided with a guide rail, and the side of the sliding cover is embedded in the guide rail through a sliding block, so that it can slide smoothly along the guide rail. The framework main body is further provided with an opening cover connecting base for mounting the opening cover motor and the sliding cover power shaft. The bottom of the framework main body is further provided with a pulley.

7. The marine drone self-leveling auto-heliport of claim 1, wherein, The three-axis mechanical hand comprises an X-axis sliding table, a Y-axis sliding table and a Z-axis sliding table, the two ends of the X-axis sliding table are arranged on the side walls of the automatic airport general framework, the Y-axis base of the Y-axis sliding table is slidingly installed on the X-axis moving part of the X-axis sliding table, the Z-axis base of the Z-axis sliding table is slidingly installed on the Y-axis moving part of the Y-axis sliding table, and a battery gripper is arranged at the end of the Z-axis sliding table for grabbing and replacing a UAV battery.

8. The marine drone self-leveling autoport according to claim 1 or 4, wherein, The battery charging cabin assembly comprises a charging cabin, a charging plate box, a heater, a charging cabin support and a cooling fan, the bottom of the charging cabin support is fixed to the bottom of the automatic airport general framework, the top of the charging cabin support is provided with the charging cabin for accommodating a UAV battery, the opening of the charging cabin faces the direction of the three-axis mechanical hand, and the side of the charging cabin is provided with the charging plate box.

9. The marine drone self-leveling autoport according to claim 8, wherein, The bottom of the charging cabin is provided with the cooling fan and the heater, the heater can guarantee the charging performance in a low temperature environment, and the cooling fan ensures the heat management of the equipment during the charging process. The charging cabin is further provided with a temperature sensor for collecting temperature signals in the charging cabin and sending them to the electric control system.

10. The marine drone self-leveling autoport according to claim 1, wherein, The electric control system comprises an electric control cabinet, a control cabinet and an electric control box, the two sides of the rear part of the electric control cabinet are respectively provided with the control cabinet and the electric control box, an inverter is arranged between the electric control box and the electric control cabinet, and a wire box is further arranged on the side of the electric control cabinet corresponding to the control cabinet.

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