Automatic driving charging tractor for charging vertical take-off and landing aircraft

Abstract

The invention discloses an automatic driving charging tractor for charging a vertical take-off and landing aircraft, and relates to the technical field of charging devices. The processor is also externally connected with a central control system, has remote monitoring and scheduling functions, can realize multi-tractor collaborative operation, can perform real-time monitoring and task scheduling on the tractor, and has an automatic driving function; under the cooperation of the processor and the sensor, autonomous navigation and obstacle avoidance of a vehicle can be realized, the safety can be effectively improved, accurate positioning and navigation can be realized in combination with the positioning instrument, the visual recognizer and the ground beacon, the parking position of the aircraft can be accurately recognized, the position information is uploaded to the processor, and the processor enables the driver to work, so that the safety of the aircraft is improved. According to the eVTOL aircraft, the traction mechanism is guided to reach a required working point, the aircraft can be autonomously navigated to a specified aircraft parking position, and the aircraft is rapidly charged through a vehicle-mounted charging system, so that the charging efficiency and convenience of the eVTOL aircraft are improved, and meanwhile, the operation cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of charging devices, and in particular to an automatic driving charging tractor for charging a vertical take-off and landing aircraft. Background Art

[0002] eVTOL (electric Vertical Take-off and Landing) is more commonly understood as an electric aircraft that can take off and land vertically without a runway. Although eVTOL is an aerial car, it looks more like a sleek quadcopter. It is powered by a 90 kWh electric vehicle engine and can reach a maximum speed of 56 miles per hour. Compared with traditional helicopters, manned eVTOL is purely electric, has low noise, high cost performance, and is more environmentally friendly. It is a product that is more in line with the future urban air traffic system.

[0003] With the rise of Urban Air Mobility (UAM), the demand for charging electric vertical take-off and landing aircraft is growing. However, the existing charging methods are mostly manual operation or fixed charging piles, which have problems such as low efficiency and large space occupation. Therefore, we propose an autonomous driving charging tractor for charging vertical take-off and landing aircraft. Summary of the invention

[0004] The purpose of the present invention is to solve the problems mentioned in the above background technology. The present invention provides an automatic driving charging tractor for charging a vertical take-off and landing aircraft.

[0005] In order to achieve the above-mentioned purpose, the present invention specifically adopts the following technical solutions:

[0006] An automatic driving charging tractor for charging a vertical take-off and landing aircraft, comprising:

[0007] A traction mechanism, the traction mechanism comprising a supporting plate, two driving machines fixedly mounted at the lower end of the supporting plate near the edges on both sides, a transmission shaft mounted on the outside of the driving shafts at both ends of the driving machine, a driving wheel sleeved on the circumferential surface of the transmission shaft, and a protective frame mounted on the outside of the driving wheel;

[0008] An autonomous driving system is installed on the upper end of the left side of the supporting plate, and the autonomous driving system includes a fixing plate, a processor and a sensor installed on the left outer wall of the fixing plate;

[0009] Two sets of symmetrically arranged navigation systems are installed on the upper end of the support plate, each set of the navigation systems includes a positioning plate, a positioning instrument and a visual identifier installed on the outer side of the positioning plate, wherein the visual identifier is located above the positioning instrument;

[0010] A charging pile is installed at the upper end of the supporting plate and is located on the right side of the automatic driving system. A connecting column is installed on the right side of the charging pile, and a charging interface is installed on the right side of the connecting column.

[0011] Furthermore, a positioning column is installed at the upper end of each of the driving machines, and the upper end of the positioning column is fixedly connected to the lower end of the supporting plate.

[0012] Furthermore, a signal receiving module is installed inside each of the driving machines, and the processor has a built-in signal receiving module and a signal transmitting module.

[0013] Furthermore, a through slot is provided inside the protective frame, and the driving wheel is installed in the through slot.

[0014] Furthermore, a bearing is sleeved on the circumferential surface of the intersection of the transmission shaft and the protective frame.

[0015] Furthermore, the sensor is an infrared obstacle avoidance sensor, and the sensor is connected to the processor via a network signal.

[0016] Furthermore, the locator is a GPS, and the visual identifier is a high-definition camera.

[0017] Furthermore, a positioning groove is provided at the upper end of the supporting plate, and the lower ends of the fixing plate and the charging pile are seated in the positioning groove.

[0018] Furthermore, the navigation system also includes a ground beacon installed on the ground.

[0019] Furthermore, the charging interface is compatible with an aircraft charging interface.

[0020] The beneficial effects of the present invention are as follows:

[0021] 1. The processor of the present invention is also externally connected to the central control system, has remote monitoring and dispatching functions, can realize multi-vehicle collaborative operation, can perform real-time monitoring and task dispatch of the tractor, and has the function of automatic driving.

[0022] 2. The present invention can realize autonomous navigation and obstacle avoidance of the vehicle with the cooperation of the processor and the sensor. The working principle of the sensor is that within a certain range, if there is no obstacle, the emitted infrared ray will gradually weaken and finally disappear due to the longer the propagation distance. If there is an obstacle, the infrared ray encounters the obstacle and is reflected to the sensor receiving head. The sensor detects this signal and confirms that there is an obstacle directly in front and sends it to the single-chip microcomputer. The single-chip microcomputer performs a series of processing and analysis and sends it to the processor and then to the drive motor to make it work and complete the obstacle avoidance action, which can effectively improve safety.

[0023] 3. The present invention combines a locator, a visual identifier and a ground beacon to achieve precise positioning and navigation, can accurately identify the docking position of the aircraft, and upload the position information to the processor, which enables the drive motor to work and guide the traction mechanism to the required working point. It can autonomously navigate to the designated aircraft docking position and quickly charge the aircraft through its on-board charging system, thereby improving the charging efficiency and convenience of the eVTOL aircraft and reducing operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0025] Figure 2 It is a three-dimensional schematic diagram of the positional relationship between the traction mechanism and the automatic driving system in the present invention;

[0026] Figure 3 It is a three-dimensional schematic diagram of the positional relationship between the connecting column, the charging pile and the charging interface in the present invention;

[0027] Figure 4 It is a work flow chart of the present invention.

[0028] Figure numerals: 1. Traction mechanism; 101. Support plate; 102. Driving machine; 103. Transmission shaft; 104. Driving wheel; 105. Protective frame; 2. Automatic driving system; 201. Fixing plate; 202. Processor; 203. Sensor; 3. Navigation system; 301. Positioning plate; 302. Positioner; 303. Visual identifier; 4. Charging pile; 5. Connecting column; 6. Charging interface. DETAILED DESCRIPTION

[0029] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0030] See also Figure 1 - Figure 4 The present invention provides an automatic driving charging tractor for charging a vertical take-off and landing aircraft, comprising:

[0031] The traction mechanism 1 includes a support plate 101, two driving machines 102 fixedly mounted at the lower end of the support plate 101 near the edges on both sides, a transmission shaft 103 mounted on the outer side of the driving shaft at both ends of the driving machine 102, a driving wheel 104 sleeved on the circumferential surface of the transmission shaft 103, and a protective frame 105 mounted on the outer side of the driving wheel 104;

[0032] Under the action of the support plate 101, the installation stability of the driving motor 102 can be guaranteed, the rotation purpose of the transmission shaft 103 can be achieved under the action of the driving motor 102, the installation stability of the driving wheel 104 can be guaranteed under the action of the transmission shaft 103, and the protection purpose of the driving wheel 104 can be achieved under the action of the protective frame 105. The driving wheel 104 uses a Mecanum wheel to achieve the purpose of steering and movement. When the driving motor 102 receives the start command sent by the processor 202, it will start working, thereby driving the transmission shaft 103 and the driving wheel 104 to rotate, that is, the purpose of moving the device can be achieved, and the purpose of charging at different positions can be achieved.

[0033] The autonomous driving system 2 is installed at the upper end of the left side of the supporting plate 101. The autonomous driving system 2 includes a fixing plate 201, a processor 202 and a sensor 203 installed on the left outer wall of the fixing plate 201;

[0034] Under the action of the supporting plate 101, the installation stability of the fixing plate 201 can be guaranteed. Under the action of the fixing plate 201, the installation stability of the processor 202 and the sensor 203 can be guaranteed. The processor 202 is also connected to the central control system, and has remote monitoring and scheduling functions, can realize multi-vehicle collaborative operation, can monitor and schedule tasks of the tractor in real time, and has the function of automatic driving. With the cooperation of the processor 202 and the sensor 203, the vehicle's autonomous navigation and obstacle avoidance can be realized. The working principle of the sensor 203 is that within a certain range, if there is no obstacle, the infrared ray emitted will gradually weaken and disappear as the propagation distance increases. If there is an obstacle, the infrared ray encounters the obstacle and is reflected to the sensor receiving head. The sensor detects this signal, and it can be confirmed that there is an obstacle in front, and sends it to the single-chip microcomputer. The single-chip microcomputer performs a series of processing and analysis, and sends it to the processor 202, and then to the drive machine 102, so that it works and completes the obstacle avoidance action, which can effectively improve safety.

[0035] Two sets of symmetrically arranged navigation systems 3 are installed on the upper end of the support plate 101, and each set of navigation systems 3 includes a positioning plate 301, a positioning instrument 302 and a visual identifier 303 installed on the outer side of the positioning plate 301, wherein the visual identifier 303 is located above the positioning instrument 302;

[0036] Under the action of the support plate 101, the installation stability of the positioning plate 301 can be guaranteed. Under the action of the positioning plate 301, the installation stability of the locator 302 and the visual identifier 303 can be guaranteed. The locator 302, the visual identifier 303 and the ground beacon are combined to achieve precise positioning and navigation. The docking position of the aircraft can be accurately identified, and the position information is uploaded to the processor 202. The drive machine 102 is operated through the processor 202 to guide the traction mechanism to the required working point. It can autonomously navigate to the designated aircraft docking position and quickly charge the aircraft through its on-board charging system, thereby improving the charging efficiency and convenience of the eVTOL aircraft and reducing operating costs.

[0037] The charging pile 4 is installed at the upper end of the supporting plate 101 and is located on the right side of the automatic driving system 2 . The connecting column 5 is installed on the right side of the charging pile 4 , and the charging interface 6 is installed on the right side of the connecting column 5 .

[0038] Under the action of the supporting plate 101, the installation stability of the charging pile 4 can be guaranteed. Under the action of the charging pile 4, the installation stability of the connecting column 5 can be guaranteed. Under the action of the connecting column 5, the installation stability of the charging interface 6 can be guaranteed. With the coordinated action of the charging pile 4, the connecting column 5 and the charging interface 6, the charging purpose of the aircraft can be achieved.

[0039] In this embodiment, preferably, a positioning column is installed at the upper end of each driving machine 102, and the upper end of the positioning column is fixedly connected to the lower end of the supporting plate 101; under the action of the supporting plate 101, the installation stability of the positioning column can be guaranteed, and under the action of the positioning column, the installation stability of the driving machine 102 can be guaranteed, thereby ensuring the stability of the driving machine 102 during use.

[0040] In this embodiment, preferably, a signal receiving module is installed inside each driving machine 102, and the processor 202 has a built-in signal receiving module and a signal transmitting module; the signal receiving module inside the driving machine 102 is used to receive instructions sent by the signal transmitting module inside the processor 202, and the signal receiving module inside the processor 202 is used to receive information collected by the sensor 203, the locator 302 and the visual identifier 303.

[0041] In this embodiment, preferably, a through slot is provided inside the protection frame 105, and the driving wheel 104 is installed in the through slot; the rotation of the driving wheel 104 is not affected by the through slot.

[0042] In this embodiment, preferably, a bearing is sleeved on the circumferential surface where the transmission shaft 103 and the protective frame 105 intersect; under the action of the bearing, the connection stability between the transmission shaft 103 and the protective frame 105 can be guaranteed without affecting the rotation of the transmission shaft 103.

[0043] In this embodiment, preferably, the sensor 203 uses an infrared obstacle avoidance sensor, and the sensor 203 is connected to the processor 202 via a network signal; the working principle of the infrared obstacle avoidance sensor is that within a certain range, if there is no obstacle, the emitted infrared rays will gradually weaken and finally disappear due to the longer the propagation distance. If there is an obstacle, the infrared rays will encounter the obstacle and be reflected to the sensor receiving head. The sensor detects this signal and can confirm that there is an obstacle directly in front and send it to the single-chip microcomputer. The single-chip microcomputer performs a series of processing and analysis and sends it to the processor 202, and then sends it to the drive motor 102 to make it work and complete the obstacle avoidance action, which can effectively improve safety.

[0044] In this embodiment, preferably, the locator 302 uses GPS, and the visual identifier 303 uses a high-definition camera; the locator 302 can achieve the purpose of monitoring mobile location information, and the visual identifier 303 can achieve the purpose of image collection.

[0045] In this embodiment, preferably, a positioning groove is opened at the upper end of the supporting plate 101, and the lower ends of the fixing plate 201 and the charging pile 4 are seated in the positioning groove; the positioning groove can ensure the installation stability of the fixing plate 201 and the charging pile 4.

[0046] In this embodiment, preferably, the navigation system 3 also includes a ground beacon installed on the ground; with the cooperation of the ground beacon, the purpose of precise positioning can be achieved.

[0047] In this embodiment, preferably, the charging interface 6 is compatible with the aircraft charging interface; it can ensure the accurate connection of the charging interface and provide fast and stable charging services.

[0048] The working principle and use process of the present invention are as follows: when the device is in use, when the driving machine 102 receives the start command sent by the processor 202, it will start working, thereby being able to drive the transmission shaft 103 and the driving wheel 104 to rotate, that is, being able to achieve the purpose of moving the device and the purpose of charging at different positions; the processor 202 is also externally connected to the central control system, and has remote monitoring and scheduling functions, can realize multi-vehicle collaborative operation, can monitor and schedule tasks for the tractor in real time, and has the function of automatic driving. With the cooperation of the processor 202 and the sensor 203, the vehicle's autonomous navigation and obstacle avoidance can be realized. The working principle of the sensor 203 is that within a certain range, if there is no obstacle, the infrared ray emitted will gradually weaken and finally disappear as the propagation distance increases. If there is an obstacle, the infrared ray encounters the obstacle, is reflected and reaches the sensor receiving head, and the sensor detects it. This signal can confirm that there is an obstacle directly ahead and send it to the single-chip microcomputer. The single-chip microcomputer performs a series of processing and analysis and sends it to the processor 202, and then sends it to the drive motor 102 to make it work and complete the obstacle avoidance action, which can effectively improve safety; combined with the locator 302, the visual identifier 303 and the ground beacon to achieve precise positioning and navigation, it can accurately identify the docking position of the aircraft, and upload the position information to the processor 202, through which the drive motor 102 is operated to guide the traction mechanism to the required working point; under the action of the supporting plate 101, the installation stability of the charging pile 4 can be guaranteed, under the action of the charging pile 4, the installation stability of the connecting column 5 can be guaranteed, and under the action of the connecting column 5, the installation stability of the charging interface 6 can be guaranteed, and under the coordinated action of the charging pile 4, the connecting column 5 and the charging interface 6, the charging purpose of the aircraft can be achieved.

[0049] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic driving charging tractor for charging a vertical take-off and landing aircraft, characterized in that: include: A traction mechanism (1), the traction mechanism (1) comprising a support plate (101), two driving machines (102) fixedly mounted on the lower end of the support plate (101) near the edges on both sides, a transmission shaft (103) mounted on the outside of the driving shafts at both ends of the driving machine (102), a driving wheel (104) sleeved on the circumferential surface of the transmission shaft (103), and a protective frame (105) mounted on the outside of the driving wheel (104); An automatic driving system (2) is installed at the upper end of the left side of the supporting plate (101), and the automatic driving system (2) comprises a fixing plate (201), a processor (202) and a sensor (203) installed on the left outer wall of the fixing plate (201); Two groups of symmetrically arranged navigation systems (3) are installed on the upper end of the support plate (101), each group of the navigation systems (3) comprises a positioning plate (301), a positioning instrument (302) and a visual identifier (303) installed outside the positioning plate (301), wherein the visual identifier (303) is located above the positioning instrument (302); A charging pile (4) is installed at the upper end of the supporting plate (101) and is located on the right side of the automatic driving system (2); a connecting column (5) is installed on the right side of the charging pile (4); and a charging interface (6) is installed on the right side of the connecting column (5).

2. An automatic driving charging traction device for charging a vertical take-off and landing aircraft according to claim 1 The vehicle is characterized by: A positioning column is installed at the upper end of each driving machine (102), and the upper end of the positioning column is fixedly connected to the lower end of the supporting plate (101).

3. The automatic driving charging traction device for charging a vertical take-off and landing aircraft according to claim 1 The vehicle is characterized by: A signal receiving module is installed inside each of the driving machines (102), and the processor (202) has a built-in signal receiving module and a signal transmitting module.

4. The automatic driving charging tractor for charging a vertical take-off and landing aircraft according to claim 1, characterized in that: A through slot is provided inside the protection frame (105), and the driving wheel (104) is installed in the through slot.

5. The automatic driving charging tractor for charging a vertical take-off and landing aircraft according to claim 1, characterized in that: A bearing is sleeved on the circumferential surface of the intersection of the transmission shaft (103) and the protection frame (105).

6. The automatic driving charging tractor for charging a vertical take-off and landing aircraft according to claim 1, characterized in that: The sensor (203) is an infrared obstacle avoidance sensor, and the sensor (203) is connected to the processor (202) via a network signal.

7. The automatic driving charging tractor for charging a vertical take-off and landing aircraft according to claim 1, characterized in that: The positioning device (302) is a GPS, and the visual identifier (303) is a high-definition camera.

8. The automatic driving charging tractor for charging a vertical take-off and landing aircraft according to claim 1, characterized in that: A positioning groove is provided at the upper end of the supporting plate (101), and the lower ends of the fixing plate (201) and the charging pile (4) are seated in the positioning groove.

9. The automatic driving charging tractor for charging a vertical take-off and landing aircraft according to claim 1, characterized in that: The navigation system (3) also includes a ground beacon installed on the ground.

10. The automatic driving charging tractor for charging a vertical take-off and landing aircraft according to claim 1, characterized in that: The charging interface (6) is compatible with an aircraft charging interface.

Images