An unmanned aerial vehicle vehicle-mounted transceiving platform

Abstract

The present application relates to a kind of unmanned aerial vehicle vehicle-mounted transceiver platform, it includes cabinet, lifting device and control box, multifunctional transceiver platform, multifunctional transceiver platform includes parking platform and grabbing positioning frame, parking platform is equipped with machine position groove and underframe, and electric push rod is fixed on underframe, grabbing positioning frame is fixed on electric push rod;Machine position groove is equipped with feedback four-way fixing mechanism, four-way fixing mechanism includes magnetostrictive pressure sensor and fixed clamp;Grabbing positioning frame is U-shaped groove, four groups of driving guide mechanism are arranged in groove, and two horizontal grabbers and two longitudinal grabbers are slidably assembled in grabbing positioning frame by driving guide mechanism.The unmanned aerial vehicle vehicle-mounted transceiver platform realizes active grabbing and accurate recovery of unmanned aerial vehicle, reduces the operation difficulty of unmanned aerial vehicle recovery stage, and by adding feedback sensor on the node effect component of each step, sequence action automation of launch / recovery process is realized by cooperating with PLC programmable controller.

Description

A vehicle-mounted transceiver platform for unmanned aerial vehicles Technical Field

[0001] This invention relates to the field of special functional vehicle-mounted equipment, specifically to a vehicle-mounted transceiver platform for unmanned aerial vehicles (UAVs). Background Technology

[0002] A drone launcher / receiver vehicle is a mobile management vehicle used to carry and launch drones. Apart from a limited number of military special vehicles, drone launchers / receivers are generally modified civilian pickup trucks, specifically by adding a platform to the truck bed to achieve drone transport and fixed-point / mobile launch / receive. Existing rotary-wing drone launcher / receiver platforms, during the drone launch phase, struggle to control the drone's rotor lift and determine the gripper release time. When used for launches while mobile, this often results in drones releasing prematurely with insufficient lift and slipping off the platform. Furthermore, during the recovery phase, precise landing operations are required, further increasing the operational difficulty when used for recovery while mobile. Summary of the Invention

[0003] The technical problem this invention aims to solve is to overcome the shortcomings of existing UAV take-off and landing platforms, which suffer from premature release due to the difficulty in accurately judging the release time when used for mobile transmission and reception, and the need for highly precise control to fix and recover the UAV. This invention provides a vehicle-mounted UAV transceiver platform that, through structural design, enables active grasping and precise positioning and recovery of the UAV over a wide area during landing, thereby reducing the operational difficulty of the UAV recovery phase. Furthermore, by adding feedback sensors to the key components at each step to form a sensing component, and in conjunction with a PLC programmable controller, the sequential actions of the launch / recovery process are automated.

[0004] This UAV vehicle-mounted transceiver platform includes a cabinet for installation in the rear bed of a pickup truck, a lifting device and control box fixed to the bottom of the cabinet, and a multi-functional transceiver platform installed on top of the lifting device. The multi-functional transceiver platform includes a landing platform and a gripping positioning frame. The upper surface of the landing platform has several slots, and the lower surface of the landing platform has underframes at its four corners, with electric push rods fixed on the underframes. The output push rod of the electric push rod passes through the landing platform via a guide sleeve, and the gripping positioning frame is fixed to the top of the output push rod. Each slot has a feedback-type four-way fixing mechanism, which includes a piezomagnetic pressure sensor at the bottom of the slot and fixing clamps around the piezomagnetic pressure sensor. The gripping positioning frame is a U-shaped slot with four sets of drive guide mechanisms. The gripping positioning frame is slidably fitted with two transverse grippers and two longitudinal grippers via the drive guide mechanisms.

[0005] To accurately and securely fix the drone tripod into the mounting slot, the fixing fixture includes a pair of telescopic cylinders and a clamping plate fixed to the cylinder rod of the telescopic cylinders. The end face of the clamping plate is provided with a rubber pressure plate that is inclined downward and inward.

[0006] To enable rapid aerial grabbing of the UAV and accurate movement into the landing position slot, the drive and guide mechanism includes a servo motor, a transmission lead screw, and a guide rod. The servo motor is fixed at the four corners of the grabbing and positioning frame. One end of the transmission lead screw is connected to the output shaft of the servo motor, and the other end is connected to the inner wall of the grabbing and positioning frame opposite the servo motor mounting position via a bearing. One end of the guide rod is fixed to the servo motor housing, and the other end is fixed to the inner wall of the grabbing and positioning frame opposite the servo motor mounting position.

[0007] Specifically, both the transverse and longitudinal grippers are connected at one end to the transmission screw of the driving guide mechanism on one side via a threaded slider, and at the other end to the guide rod of the driving guide mechanism on the opposite side via a through-hole slider. The horizontal position of the two longitudinal grippers is higher than that of the two transverse grippers.

[0008] Furthermore, the horizontal sections of both the transverse and longitudinal grippers are fitted with rubber sleeves, and the rubber sleeves are axially provided with protruding ridges extending along the gripper axial direction.

[0009] To ensure the two-stage lifting guidance of the stop platform and the gripping positioning frame, the side wall of the cabinet is equipped with lifting guide rails, and the side of the bottom platform of the platform under frame is provided with guide grooves. The platform under frame slides on the lifting guide rails on the side wall of the cabinet through the bottom platform guide grooves.

[0010] As the starting and ending actions of the platform equipment, in order to realize the electric drive automatic opening and closing of the machine compartment, the double-opening sliding door set on the top of the cabinet has two convex teeth on both sides of the bottom surface of the double-opening sliding door. The opening motor and the drive gear are fixed on the cabinet wall. The output shaft of the opening motor is connected to the gear shaft of the drive gear through a transmission chain. The external teeth of the drive gear mesh with the teeth of the convex teeth.

[0011] To enable programmable control and monitoring, the control box includes a PLC programmable controller, a DTU wireless transparent transmitter, and a power conversion module.

[0012] To achieve full-process motion sequence feedback control, this UAV vehicle-mounted transceiver platform also includes a feedback sensor group, which includes an infrared sensor installed on the top of the double-opening sliding door, a first thin-film pressure sensor installed between the gripper and the rubber sleeve of the horizontal and vertical grippers, and a second thin-film pressure sensor installed between the clamping plate and the rubber pressure plate of the fixing fixture.

[0013] Specifically, regarding the automated sequence operation and feedback of the starting points of each sequence action, the infrared sensor, the first thin-film pressure sensor, the piezomagnetic pressure sensor, and the second thin-film pressure sensor are respectively connected to the input terminals of the PLC programmable controller; the output terminals of the PLC programmable controller are respectively connected to the opening motor, the lifting device, the electric push rod, the servo motor, and the telescopic cylinder; the PLC programmable controller is bidirectionally connected to the DTU wireless transparent transmitter through the I / O interface; the power conversion module draws power from the vehicle power supply and performs voltage conversion before supplying power to the various electric drive components of the platform.

[0014] This invention discloses a vehicle-mounted UAV transceiver platform, which overcomes the shortcomings of existing UAV take-off and landing platforms, such as the difficulty in accurately judging the release time when used for mobile transmission and reception, leading to premature release, and the need for highly precise control to fix and recover the UAV. Through structural design, it achieves active grasping and precise positioning and recovery of the UAV in a wide area during landing, thereby reducing the operational difficulty of the UAV recovery stage. In addition, by adding feedback sensors to the key components at each step to form a sensing component, it realizes the automation of the sequential actions of the launch / recovery process in conjunction with a PLC programmable controller. Attached Figure Description

[0015] The following description, in conjunction with the accompanying drawings, further illustrates a vehicle-mounted transceiver platform for unmanned aerial vehicles (UAVs) according to the present invention:

[0016] Figure 1 is a schematic diagram of the planar structure of this UAV vehicle-mounted transceiver platform (initial state awaiting opening);

[0017] Figure 2 is a partial half-section structural diagram of the UAV vehicle-mounted transceiver platform (longitudinal half-section of the cabinet, action 0 completed state);

[0018] Figure 3 is a partial half-section structural diagram of the UAV vehicle-mounted transceiver platform (longitudinal half-section of the cabinet, completed actions 1 and 2);

[0019] Figure 4 is a partial half-section structural diagram of the UAV vehicle-mounted transceiver platform (longitudinal half-section of the cabinet, completed by actions 3 and 4);

[0020] Figure 5 is a top view of Figure 4;

[0021] Figure 6 is a schematic diagram of the planar structure of this UAV vehicle-mounted transceiver platform (actions 5 and 6 are completed, ending the waiting-to-close state);

[0022] Figure 7 is a logic structure and functional connection diagram of the controller of the UAV vehicle-mounted transceiver platform control box.

[0023] In the picture:

[0024] 1-Rack; 11-Lifting guide rail; 12-Double-opening sliding door; 13-Opening motor; 14-Drive gear; 15-Transmission chain; 121-Protruding tooth section;

[0025] 2- Lifting device;

[0026] 3-Control box; 31-PLC programmable controller; 32-DTU wireless transparent transmitter; 33-Power conversion module;

[0027] 4-Multifunctional transceiver platform; 41-Stop platform; 42-Grabbing and positioning frame; 43-Electric push rod; 411-Machine position slot; 412-Under-platform frame; 413-Guide sleeve; 421-Horizontal gripper; 422-Vertical gripper; 423-Wire hole slider; 424-Through hole slider; 425-Rubber sleeve;

[0028] 5-Feedback-type four-way fixing mechanism; 51-Pyromagnetic pressure sensor; 52-Fixing clamp; 521-Telescopic cylinder; 522-Clamping plate; 523-Rubber pressure plate;

[0029] 6-Drive guide mechanism; 61-Servo motor; 62-Transmission screw; 63-Guide rod;

[0030] 7-Feedback sensor group; 71-Infrared sensor, 72-First thin-film pressure sensor, 73-Second thin-film pressure sensor. Detailed Implementation

[0031] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] In the description of this invention, it should be understood that the terms "left", "right", "front", "rear", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0033] The technical solution of the present invention will be further described below with specific embodiments, but the scope of protection of the present invention is not limited to the following embodiments.

[0034] Implementation Method 1: As shown in Figures 1 to 7, this UAV vehicle-mounted transceiver platform includes a cabinet 1 for installation in the back of a pickup truck, a lifting device 2 and a control box 3 fixed to the bottom of the cabinet 1, and a multi-functional transceiver platform 4 installed on top of the lifting device 2. The multi-functional transceiver platform 4 includes a landing platform 41 and a gripping and positioning frame 42. The upper surface of the landing platform 41 is provided with several machine position slots 411, and the lower surface of the landing platform 41 is provided with under-platform frames 412 at the four corners. An electric push rod 43 is fixed on the under-platform frame, and the output push rod of the electric push rod 43 passes through a guide sleeve 413. The machine stop 41 has a gripping and positioning frame 42 fixed to the top of the output push rod of the electric push rod 43. Each of the machine slots 411 is provided with a feedback-type four-way fixing mechanism 5. The feedback-type four-way fixing mechanism 5 includes a piezomagnetic pressure sensor 51 set at the bottom of the machine slot 411 and a fixing clamp 52 set around the piezomagnetic pressure sensor 51. The gripping and positioning frame 42 is a U-shaped slot with four sets of drive guide mechanisms 6. The gripping and positioning frame 42 is slidably equipped with two transverse gripping bars 421 and two longitudinal gripping bars 422 through the drive guide mechanisms 6.

[0035] Implementation Method 2: The fixing clamp 52 of this UAV vehicle-mounted transceiver platform includes a pair of telescopic cylinders 521 and a clamping plate 522 fixed to the cylinder rod of the telescopic cylinders 521. The end face of the clamping plate 522 is provided with a downwardly and inwardly inclined rubber pressure plate 523. This is used to accurately and firmly fix the UAV landing gear into the mounting slot. The remaining structures and components are as described in Implementation Method 1 and will not be described again.

[0036] Implementation Method 3: The drive and guide mechanism 6 of this UAV vehicle-mounted transceiver platform includes a servo motor 61, a transmission screw 62, and a guide rod 63. The servo motor 61 is fixed at the four corners of the gripping and positioning frame 42. One end of the transmission screw 62 is connected to the output shaft of the servo motor 61, and the other end is connected to the inner wall of the gripping and positioning frame 42 opposite to the mounting position of the servo motor 61 via a bearing. One end of the guide rod 63 is fixed to the housing of the servo motor 61, and the other end is fixed to the inner wall of the gripping and positioning frame 42 opposite to the mounting position of the servo motor 61. The horizontal gripping bars 421 and the vertical gripping bars 422 are each threaded at one end to the transmission screw 62 of one side of the drive and guide mechanism 6 via a threaded hole slider 423, and the other end is slidably fitted onto the guide rod 63 of the opposite side of the drive and guide mechanism 6 via a through hole slider 424. The horizontal position of the two vertical gripping bars 422 is higher than that of the two horizontal gripping bars 421. Both the horizontal sections of the transverse gripping bar 421 and the longitudinal gripping bar 422 are fitted with rubber sleeves 425, and the rubber sleeves 425 are axially provided with protruding ribs extending along the axial direction of the gripping bar. This is used to enable rapid aerial grabbing of the UAV and accurate movement into the landing position slot. The remaining structures and components are as described in Embodiment 1 and will not be repeated.

[0037] Implementation Method 4: The cabinet 1 of this UAV vehicle-mounted transceiver platform is equipped with a lifting guide rail 11 on its side wall. The lower platform 412 has a guide groove on its side base. The lower platform 412 slides onto the lifting guide rail 11 on the side wall of the cabinet 1 through the guide groove. This ensures two-stage lifting guidance for the parking platform and the grabbing positioning frame. The remaining structures and components are as described in Implementation Method 1 and will not be repeated.

[0038] Implementation Method 5: To achieve electrically driven automatic opening and closing of the drone vehicle-mounted transceiver platform, the double-opening sliding door 12 located at the top of the cabinet 1 has two sets of protruding teeth 121 on both sides of its bottom surface. An opening motor 13 and a drive gear 14 are fixed to the wall of the cabinet 1. The output shaft of the opening motor 13 is connected to the gear shaft of the drive gear 14 via a transmission chain 15. The external teeth of the drive gear 14 mesh with the teeth of the protruding teeth 121. This is used for automatic control of the platform equipment's start and end actions. The remaining structures and components are as described in Implementation Method 1 and will not be repeated.

[0039] Implementation Method 6: As shown in Figure 7, the control box 3 of this UAV vehicle-mounted transceiver platform includes a PLC programmable controller 31, a DTU wireless transmitter 32, and a power conversion module 33. These are used to realize program control and data communication detection and monitoring. This UAV vehicle-mounted transceiver platform also includes a feedback sensor group 7, which includes an infrared sensor 71 installed on the top of the double-opening sliding door 12, a first thin-film pressure sensor 72 installed between the gripper and the rubber sleeve 425 of the horizontal gripper 421 and the vertical gripper 422, and a second thin-film pressure sensor 73 installed between the clamping plate 522 and the rubber pressure plate 523 of the fixing fixture 52. This is used to realize full-process motion sequence feedback control. Specifically, regarding the automated sequence operation and feedback of the starting points of each segment's actions, the infrared sensor 71, the first thin-film pressure sensor 72, the piezomagnetic pressure sensor 51, and the second thin-film pressure sensor 73 are respectively connected to the input terminals of the PLC programmable controller 31; the output terminals of the PLC programmable controller 31 are respectively connected to the opening motor 13, the lifting device 2, the electric push rod 43, the servo motor 61, and the telescopic cylinder 521; the PLC programmable controller 31 has a bidirectional communication connection with the DTU wireless transmitter 32 through the I / O interface; the power conversion module 33 draws power from the vehicle's power supply and performs voltage conversion before supplying power to the various electric drive components of the platform. The remaining structures and components are as described in Embodiment 1 and will not be repeated.

[0040] During operation: When the UAV is launched, the PLC programmable controller controls the lifting device and electric push rod to rise sequentially according to the program sequence. When the UAV rotor operates and the pressure sensor depressurizes to a release value, the PLC programmable controller controls the telescopic cylinder to retract, releasing the UAV to complete the launch. When the UAV is recovered, after the UAV lands in the infrared sensor sensing area on top of the double-opening sliding door, the PLC programmable controller first controls the opening motor to drive the gear, which opens the sliding door through the toothed transmission, completing action 0 (platform status as shown in Figure 2). Then, it controls the lifting device and electric push rod to rise sequentially, completing actions 1 and 2 (platform status as shown in Figure 2). (The state is shown in Figure 3). Then, the servo motor drives the gripper to retract in a "well" shape until the first diaphragm pressure sensor provides feedback on the gripping pressure value. The gripper is then moved to move the grabbed drone above the docking slot, completing action 3. The electric push rod is then retracted until the magnetic pressure sensor detects the drone landing, completing action 4 (the platform state is shown in Figures 4 and 5). The telescopic cylinder drives the clamping plate to retract in four directions until the second diaphragm pressure sensor provides feedback on the clamping pressure value. The lifting device is then lowered to retract the entire docking platform into the cabinet (the platform state is shown in Figure 6). The opening motor is reversed to drive the sliding door to close, completing the drone recovery. All of the above steps can be controlled by an external remote controller to transmit control commands to the PLC via a DTU wireless transmitter, interrupting the programmable control for active control and intervention.

[0041] This UAV vehicle-mounted transceiver platform overcomes the shortcomings of existing UAV take-off and landing platforms, which suffer from premature release due to difficulty in accurately judging the release time when used for mobile transmission and reception, and require highly precise control to fix and recover the UAV. Through structural design, it achieves active grasping and precise positioning recovery of the UAV over a wide area during landing, thereby reducing the operational difficulty of the UAV recovery phase. In addition, by adding feedback sensors to the key components at each step to form a sensing component, it automates the sequential actions of the launch / recovery process in conjunction with a PLC programmable controller.

[0042] The foregoing description illustrates the main features, basic principles, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments or examples described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the above embodiments or examples should be considered exemplary and not restrictive. The scope of the present invention is defined by the appended claims rather than the foregoing description, and therefore all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0043] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A vehicle-mounted transceiver platform for unmanned aerial vehicles (UAVs), characterized in that: The system includes a cabinet (1) for installation in the truck bed, a lifting device (2) and a control box (3) fixed to the bottom of the cabinet (1), and a multi-functional transceiver platform (4) installed on top of the lifting device (2). The multi-functional transceiver platform (4) includes a parking platform (41) and a gripping positioning frame (42). The upper surface of the parking platform (41) is provided with several machine position slots (411), and the lower surface of the parking platform (41) is provided with under-platform frames (412) at the four corners. An electric push rod (43) is fixed on the under-platform frame. The output push rod of the electric push rod (43) passes through the parking platform (41) through the guide sleeve (413). The gripping... The positioning frame (42) is fixed to the top of the output push rod of the electric push rod (43); each of the machine slots (411) is provided with a feedback four-way fixing mechanism (5), the feedback four-way fixing mechanism (5) includes a magnetic pressure sensor (51) set at the bottom of the machine slot (411) and a fixing clamp (52) set around the magnetic pressure sensor (51); the gripping positioning frame (42) is a U-shaped slot, and four sets of drive guide mechanisms (6) are provided in the slot. The gripping positioning frame (42) is slidably equipped with two transverse gripping bars (421) and two longitudinal gripping bars (422) through the drive guide mechanism (6).

2. The UAV vehicle-mounted transceiver platform according to claim 1, characterized in that: The fixing clamp (52) includes a pair of telescopic cylinders (521) and a clamping plate (522) fixed on the cylinder rod of the telescopic cylinder (521). The end face of the clamping plate (522) is provided with a rubber pressure plate (523) that is inclined downward and inward.

3. The UAV vehicle-mounted transceiver platform according to claim 2, characterized in that: The drive guide mechanism (6) includes a servo motor (61), a transmission screw (62), and a guide rod (63). The servo motor (61) is fixed at the four corners of the gripping positioning frame (42). One end of the transmission screw (62) is connected to the output shaft of the servo motor (61), and the other end is connected to the inner wall of the gripping positioning frame (42) opposite the installation position of the servo motor (61) through a bearing. One end of the guide rod (63) is fixed to the housing of the servo motor (61), and the other end is fixed to the inner wall of the gripping positioning frame (42) opposite the installation position of the servo motor (61).

4. The UAV vehicle-mounted transceiver platform according to claim 3, characterized in that: The transverse gripper (421) and the longitudinal gripper (422) are connected at one end to the transmission screw (62) of the drive guide mechanism (6) on one side through the threaded slider (423), and at the other end to the guide rod (63) of the drive guide mechanism (6) on the opposite side through the through-hole slider (424). The horizontal position of the two longitudinal grippers (422) is higher than that of the two transverse grippers (421).

5. The UAV vehicle-mounted transceiver platform according to claim 4, characterized in that: The horizontal sections of the transverse gripper (421) and the longitudinal gripper (422) are both fitted with rubber sleeves (425), and the rubber sleeves (425) are axially provided with protruding ribs extending along the axial direction of the gripper.

6. The UAV vehicle-mounted transceiver platform according to claim 5, characterized in that: The cabinet (1) is provided with a lifting guide rail (11) on its side wall. The lower platform (412) has a guide groove on its side. The lower platform (412) slides on the lifting guide rail (11) on the side wall of the cabinet (1) through the guide groove.

7. The UAV vehicle-mounted transceiver platform according to claim 6, characterized in that: A double-opening sliding door (12) is installed on the top of the cabinet (1). The bottom surface of the double-opening sliding door (12) is provided with two protruding teeth (121) on both sides. An opening motor (13) and a drive gear (14) are fixed on the wall of the cabinet (1). The output shaft of the opening motor (13) is connected to the gear shaft of the drive gear (14) through a transmission chain (15). The external teeth of the drive gear (14) mesh with the teeth of the protruding teeth (121).

8. The UAV vehicle-mounted transceiver platform according to claim 7, characterized in that: The control box (3) includes a PLC programmable controller (31), a DTU wireless transparent transmitter (32), and a power conversion module (33).

9. The UAV vehicle-mounted transceiver platform according to claim 8, characterized in that: It also includes a feedback sensor group (7), which includes an infrared sensor (71) disposed on the top of the double sliding door (12), a first thin-film pressure sensor (72) disposed between the gripper and the rubber sleeve (425) of the horizontal gripper (421) and the vertical gripper (422), and a second thin-film pressure sensor (73) disposed between the clamping plate (522) and the rubber pressure plate (523) of the fixing clamp (52).

10. The UAV vehicle-mounted transceiver platform according to claim 9, characterized in that: The infrared sensor (71), the first thin-film pressure sensor (72), the piezomagnetic pressure sensor (51), and the second thin-film pressure sensor (73) are respectively connected to the input terminal of the PLC programmable controller (31); the output terminal of the PLC programmable controller (31) is respectively connected to the opening motor (13), the lifting device (2), the electric push rod (43), the servo motor (61), and the telescopic cylinder (521); the PLC programmable controller (31) is bidirectionally connected to the DTU wireless transparent transmitter (32) through the I / O interface; the power conversion module (33) draws power from the vehicle power supply and performs voltage conversion to supply power to each electric drive component of the platform.

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