Vehicle-mounted unmanned aerial vehicle clustering automatic operation platform

Abstract

The invention provides a vehicle-mounted unmanned aerial vehicle clustering automatic operation platform, and a multi-rotor unmanned aerial vehicle operation system comprises a selection mechanism used for moving a selected unmanned aerial vehicle from a collection area to a take-off and landing area, and / or moving the unmanned aerial vehicle landing in the take-off and landing area to the collection area; and the pulling and lifting homing mechanism operation units are arranged in the take-off and landing areas and used for adjusting the poses of the unmanned aerial vehicles relative to the vehicle platform, the number of the pulling and lifting homing mechanism operation units is not less than one, and not less than one unmanned aerial vehicles collected in the same collection area utilize the same pulling and lifting homing mechanism operation unit. The method has the beneficial effects that the unmanned aerial vehicle operation unit comprises a homing platform responsible for homing operation of the unmanned aerial vehicle and a fixed platform responsible for collection and storage of the unmanned aerial vehicle, the unmanned aerial vehicle achieves cross-platform movement through matched mechanisms and control, the number of two sets of homing platforms can be reduced through the method, and then the problems of the size, weight, space and the like of the platforms are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a vehicle-mounted unmanned aerial vehicle cluster automatic operation platform. Background Art

[0002] In recent years, the UAV industry has developed rapidly, and the market has put forward higher requirements for the intelligence level of UAVs. The vehicle-mounted UAV automated operation system is one of the important application directions, and has gradually gained wide recognition in the market. As an important technology for vehicle-mounted UAV applications, automatic stowage and automatic takeoff of UAVs after landing have been increasingly used.

[0003] The drone homing platform is installed on a vehicle. Due to the size and weight of the vehicle, the vehicle-mounted platform can generally only ensure that one drone can complete automatic take-off and landing. There is currently no mature solution for the vehicle-mounted platform that can operate multiple drones at the same time. Moreover, as the number of drones increases, there is also a lack of space above the vehicle for drones to take off and land safely.

[0004] Therefore, there is an urgent need for a vehicle-mounted drone platform that can realize the take-off and landing and automatic storage of multiple drones in a smaller space, effectively improving the utilization rate of vehicle space and operating efficiency. The present invention aims to design such a vehicle-mounted drone clustering automatic operation platform to achieve the above functional requirements. Summary of the invention

[0005] In view of this, the present invention aims to propose a vehicle-mounted UAV cluster automatic operation platform, and proposes a set of automated operation processes for the vehicle-mounted UAV cluster automatic operation system. The process can realize the fully automated operation of multiple sets of UAVs in a small space, and innovatively proposes the cross-platform collection and operation of UAVs. Through a series of process designs such as extension, lifting, and selection, the fully automated continuous operation of multiple UAVs is finally realized, providing a solution for the vehicle-mounted automatic operation of multiple UAVs.

[0006] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0007] A vehicle-mounted UAV cluster automatic operation platform includes a multi-rotor UAV operation system mounted on a vehicle platform, wherein the multi-rotor UAV operation system includes:

[0008] A selection mechanism is used to move the selected drone from the storage area to the take-off and landing area, and / or to move the drone landed in the take-off and landing area to the storage area;

[0009] The pull-out, lifting and homing mechanism operation unit is set in the take-off and landing area to adjust the posture of the UAV relative to the vehicle platform, including:

[0010] At least one pulling, lifting and returning mechanism operating unit is provided, and at least one drone stored in the same storage area utilizes the same pulling, lifting and returning mechanism operating unit.

[0011] Furthermore, the pulling, lifting and returning mechanism operation unit includes a pulling mechanism, a lifting mechanism and a returning mechanism;

[0012] The pulling mechanism and the lifting mechanism are fixed inside the vehicle platform, and the returning mechanism is fixed on the upper end surface of the lifting mechanism;

[0013] Among them, the upper and lower parts of the pull-out mechanism are connected by a drawer guide rail, and the upper part of the pull-out mechanism can be pulled out from the side of the vehicle platform.

[0014] Furthermore, the lifting mechanism includes an extension and retraction mechanism and a lifting mechanism, wherein the lifting mechanism includes an electric cylinder, a lifting motor and a reducer group, and a scissor lift rod; the extension and retraction mechanism includes an extension and retraction motor and a reducer group, a commutator, a multi-level heavy rail, and a unidirectional linear module;

[0015] The UAV is fixed on the lifting mechanism, and the extension and retraction mechanism is used to drive the lifting mechanism and the UAV to extend and retract from the vehicle platform.

[0016] Furthermore, the pulling and lifting homing mechanism operation unit includes a homing platform locking mechanism and a pulling and lifting platform locking mechanism;

[0017] The homing platform locking mechanism is fixed at the bottom of the homing mechanism, and the pulling platform locking mechanism is fixed at the bottom of the pulling mechanism;

[0018] The locking mechanism of the homing platform is the same as that of the pulling platform, and is used to fix the drone on the homing platform and the pulling platform respectively.

[0019] Furthermore, in the selection mechanism, the first horizontal driving unit and the second horizontal driving unit are used to respectively drive the first horizontal one-way module and the second horizontal one-way module to move, thereby driving the first vertical one-way module and the second vertical one-way module to move to the designated position at the same time, thereby completing the selection of the first pull-lift-return mechanism operating unit or the second pull-lift-return mechanism operating unit;

[0020] The first vertical driving unit and the second vertical driving unit are used to drive the first vertical one-way module and the second vertical one-way module respectively, and the two vertical one-way modules respectively drive the first vertical push rod and the second vertical push rod to move to the designated position.

[0021] Furthermore, a propeller shifting mechanism is installed in the horizontal or vertical direction to shift the propeller into the vehicle platform.

[0022] Furthermore, the drone launch / landing process set up in the take-off and landing area is as follows:

[0023] The lifting mechanism extends out of the vehicle platform and reaches a position where it can be raised or lowered. The lifting mechanism drives the homing mechanism to rise to a specified height. After the homing mechanism is raised or lowered to a specified height, the locking mechanism of the homing platform is released through control, and the UAV is ready for take-off.

[0024] After the drone operation is completed, the homing mechanism is used to lock the drone in its home position, and the lifting mechanism is lowered and retracted to store the drone into the vehicle platform.

[0025] Further, the drone launch / landing process set up in the collection area:

[0026] First, check whether there is a drone in the corresponding take-off and landing area. If there is no drone in the take-off and landing area, then:

[0027] The UAV is moved to the position in the take-off and landing area through the selection mechanism. Before the UAV moves, the control module sends a command to adjust the height of the position in the corresponding take-off and landing area to be slightly lower than the position in the current storage area. The locking mechanism of the position in the storage area is unlocked, and the second vertical one-way module on the homing mechanism is pushed to the left guide position. The first vertical one-way module and the second vertical one-way module on the selection mechanism are pushed to the right guide position. The first vertical one-way module drives the first vertical push rod to push the UAV in the position in the storage area to the corresponding position in the take-off and landing area. After the landing gear of the UAV is fully pushed into the position in the take-off and landing area, the homing mechanism located in the take-off and landing area returns and locks the UAV.

[0028] Furthermore, the pull-out, lift-out and return mechanism operating unit includes two groups, namely a first pull-out, lift-out and return mechanism operating unit and a second pull-out, lift-out and return mechanism operating unit with the same structure;

[0029] The two sets of pulling, lifting and returning mechanism operating units share a set of selection mechanism.

[0030] Compared with the prior art, the vehicle-mounted UAV cluster automatic operation platform described in the present invention has the following beneficial effects:

[0031] (1) The present invention discloses a vehicle-mounted UAV cluster automatic operation platform, wherein the UAV operation unit includes a homing platform responsible for the UAV homing operation and a fixed platform responsible for the UAV collection and storage. The UAV can achieve cross-platform movement through supporting mechanisms and controls. Through this method, the number of two homing platforms can be reduced, thereby solving problems such as platform size, weight, and space. At the same time, the method can have multiple implementation forms, including horizontal deployment, and can also be expanded to a homing platform responsible for recovering the UAV and multiple fixed platforms responsible for storing the UAV. The work of each operation unit does not affect each other, and multiple operation units can be implemented to carry out tasks at the same time. For example, the UAV can be launched and recovered on the left and right sides at the same time, which greatly improves the operation efficiency of the UAV and saves the launch and recovery time of the UAV.

[0032] (2) The vehicle-mounted UAV cluster automatic operation platform described in the present invention can be divided into functions for each unit, including a UAV homing platform and a UAV fixed platform. The homing platform creates a good and safe take-off and landing space for the UAV, and the fixed platform is responsible for collecting the UAV after the operation is completed. The two platforms realize the rapid call of the UAV through the selection mechanism. The size and weight of the operation unit in this invention are smaller than the homing platforms with the same number. Based on the proposal of the operation unit, multiple UAV operation units can be selected and deployed for operation according to actual application needs. According to the specific environment, the unit can be deployed on one side or on multiple sides. At the same time, the cost investment can be reduced by increasing the number of collection platforms. It has good application and expansion capabilities.

[0033] (3) The vehicle-mounted UAV cluster automatic operation platform described in the present invention can realize the automatic operations such as take-off, storage, and locking of 4 sets of medium-sized rotor UAVs in a limited space through the reasonable layout and control process of 2 sets of pulling, lifting and homing mechanisms and selection mechanisms. At the same time, the left and right sides of the multi-rotor UAV operation system can simultaneously launch and recover UAVs, which enriches the operation scenes. Multiple UAVs can operate simultaneously or in relay, which greatly improves the operation range, operation time, and operation efficiency of the vehicle-mounted support system;

[0034] (4) The vehicle-mounted UAV cluster automatic operation platform described in the present invention is designed with an automatic propeller shifting device, which is installed on the upper part of the homing platform and is not affected by space. It can conveniently realize the propeller position adjustment function in the four directions of front, back, left and right of the UAV. It is triggered by the horizontal and vertical mechanism movement of the homing platform, which can effectively reduce the storage size of the UAV and improve the space utilization effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0036] Figure 1 This is a schematic diagram of a rotor pulling, lifting, deploying and retracting mechanism platform according to an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of a vehicle-mounted UAV cluster automatic operation platform according to an embodiment of the present invention;

[0038] Figure 3 This is a composition diagram of the vehicle-mounted UAV cluster automatic operation platform according to an embodiment of the present invention;

[0039] Figure 4It is a front view of the multi-rotor UAV operation system in the stowed state according to an embodiment of the present invention;

[0040] Figure 5 This is an axonometric diagram of the multi-rotor UAV operation system in the stored state according to an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of a pull-out state of the pull-out mechanism according to an embodiment of the present invention;

[0042] Figure 7 It is a schematic diagram of the lifting mechanism in the deployed state according to an embodiment of the present invention;

[0043] Figure 8 This is a schematic diagram of the advancing state of the homing mechanism according to an embodiment of the present invention;

[0044] Fig. 9 It is a schematic diagram of the locking mechanism of the homing platform and the pulling platform according to an embodiment of the present invention;

[0045] Fig.10 A schematic diagram of a selection mechanism according to an embodiment of the present invention;

[0046] Fig.11 This is a schematic diagram of the working of the propeller mechanism of a multi-rotor drone according to an embodiment of the present invention;

[0047] Fig.12 A schematic diagram of a storage state of a multi-rotor UAV operating system according to an embodiment of the present invention;

[0048] Fig.13 This is a schematic diagram of the multi-rotor UAV operating system in an extended lifting state according to an embodiment of the present invention;

[0049] Fig.14 This is a schematic diagram of the platform state of the multi-rotor drone after take-off or before landing according to an embodiment of the present invention;

[0050] Fig.15 This is a schematic diagram of the cross-position working state of the UAV according to an embodiment of the present invention;

[0051] Fig.16 This is a schematic diagram of the release status of the drones at positions 2 and 4 according to an embodiment of the present invention.

[0052] Description of reference numerals:

[0053] 1-Vehicle platform; 2-Control unit; 3-Multi-rotor UAV operating system; 301-First pulling, lifting and homing mechanism operating unit; 3011-Pulling mechanism; 3012-Lifting mechanism; 3013-Returning mechanism; 3014-Returning platform locking mechanism; 3015-Pulling platform locking mechanism; 3016-Control module; 302-Second pulling, lifting and homing mechanism operating unit; 303-Selection mechanism; 4-Lifting mechanism; 401-Electric cylinder; 402-Lifting motor and reducer group; 403-Scissor lift rod; 5-Standing and retracting mechanism; 501-Standing and retracting motor and reducer group; 502-Commutator; 503-Multi-level heavy rail; 504-Unidirectional linear module; 601-Horizontal motor reducer group; 602-Horizontal bidirectional module; 603-first vertical motor reducer group; 604-first vertical one-way module; 605-second vertical motor reducer group; 606-second vertical one-way module; 607-second vertical push rod; 608-first vertical push rod; 609-home base plate; 611-driven linear guide; 612-paddle mechanism; 701-first fixed plate; 702-first horizontal drive unit; 703-first horizontal one-way module; 704-first vertical drive unit; 705-first vertical one-way module; 706-first vertical push rod; 707-second horizontal drive unit; 708-second horizontal one-way module; 709-second vertical drive unit; 711-second vertical one-way module; 712-second vertical push rod; 713-second fixed plate. DETAILED DESCRIPTION

[0054] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0055] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0056] This solution discloses a vehicle-mounted drone cluster automatic operation platform, which addresses the following technical problems existing in the prior art:

[0057] ① The existing vehicle-mounted drone homing platform can only ensure the automatic launch and recovery of one drone at a time. Other drones must wait for the operating drone to be completely launched or recovered before starting a new round of operations, which takes a long time to prepare and has low work efficiency.

[0058] ② The existing vehicle-mounted UAV homing platform is completely unworkable if it is simply copied and applied to multiple platforms. The UAVs will interfere with each other, and their working principles, layout space, and their own weight will affect the final application. Moreover, the limited space above the vehicle platform cannot provide a safe and reliable take-off and landing site for multiple UAVs. Even if multiple sets of UAVs are placed, only a single set of UAVs can complete automatic take-off and landing. The take-off and landing process of other UAVs must be manually intervened, and the continuous operation capability and intelligence level are low.

[0059] In response to the above problems, the main innovations of this solution are as follows:

[0060] (1) The vehicle-mounted UAV cluster automatic operation platform designed by the present invention can ensure the launch and recovery of multiple UAVs at the same time. In order to prevent the mismatch between the UAV and the platform during operation, both the UAV and the homing platform are equipped with an identity detection module, which can be used to detect whether there is a UAV stored on the homing platform and whether the identity information of the UAV matches that of the platform;

[0061] (2) The present invention innovatively proposes a method for moving and storing drones across platforms, which is achieved through a combination of pulling, lifting, shifting, and selecting a series of processes. Based on this method, multiple drones can be deployed in a small space to complete fully automatic operation functions, while significantly saving space and costs.

[0062] (3) The rotor extension and retraction mechanism can be divided into positions 1, 2, 3, and 4. Figure 1 As shown, the homing platform of multi-rotor drones at positions 1 and 3, and the fixed platform of multi-rotor drones at positions 2 and 4, are shown in the figure. The thick solid line is the selection mechanism. Positions 1 and 2 are an operation unit, and positions 3 and 4 are an operation unit. During the operation, the drones inside the operation unit can realize cross-platform actions through the selection structure. As can be seen from the figure, each position is equipped with a rotor drone. Positions 1 and 3 can realize functions such as telescoping, lifting, homing and locking, while positions 2 and 4 only have locking functions. Taking the No. 1 and No. 2 aircraft position operation units as an example, during normal takeoff operations, the rotor UAV on the No. 1 aircraft position takes off first. It is recognized that there is no aircraft at the No. 1 aircraft position, and then the aircraft on the No. 2 aircraft position is moved to the No. 1 aircraft position through the selection mechanism and then takes off again; when landing, the UAV lands at the No. 1 aircraft position. If it is recognized that there is no aircraft at the No. 2 aircraft position, the aircraft at the No. 1 aircraft position is moved to the No. 2 aircraft position through the selection mechanism and then locked for collection. If it is recognized that there is an aircraft at the No. 2 aircraft position, the task is ended directly. The working process of the No. 3 and No. 4 aircraft position operation units is the same. Through the above layout and control process, the automatic take-off and landing of 4 rotor UAVs can be completed in a smaller space, with a high degree of intelligence, and the production cost can be greatly reduced;

[0063] (4) When the rotorcraft UAV is shifted, take platform operation units 1 and 2 as an example. Figure 1 As shown, the drone moves between positions 1 and 2. To ensure that the drone can smoothly move across platforms, several conditions need to be met. First, the drone needs to have a fixed guide channel. The vertical one-way module on the left side of the selection mechanism is used as the right guide position of the drone. The vertical one-way module on the left side of platform 1 is used as the left guide position of the drone platform 1. The fixed guide position designed on platform 2 is used as the left guide position of the drone platform 2. It can be seen that when the drone moves, the left guide position is disconnected, and the right guide position is provided by the selection mechanism. Secondly, in order to ensure the smooth realization of the drone's cross-platform movement, the drone moves from position 2 to position 1. The lifting mechanism needs to ensure that the height of platform 1 is adjusted to be slightly lower than that of platform 2. Similarly, when moving in the opposite direction, it is necessary to ensure that the height of platform 1 is slightly higher than that of platform 2. Finally, the drone on platform No. 1 must be stored and fixed, and also ensure the cross-platform movement of the drone. For the drone to return to its original position, its centering structure becomes an interference. This solution cleverly uses the method of spatial dislocation. When the drone is in position No. 1, the vertical direction of the drone homing mechanism adopts a single-sided short rod design, which can realize the drone homing operation. When cross-platform movement is required, the travel control is used to ensure that there is no interference from the vertical push rod of the platform at position No. 1 on the guide channel, ensuring the smooth progress of cross-platform operations. The same applies to the operation units of platforms No. 3 and No. 4.

[0064] (5) Since the propeller position of a multi-rotor drone is not fixed after it stops, it will affect the storage size. The present invention proposes a mechanical linkage mechanism to realize the multi-directional propeller position adjustment function of the drone. The method is to install a mechanical self-returning propeller device on a homing platform, and trigger the horizontal and vertical homing mechanisms of the drone to realize the propeller position adjustment function. The method is simple to operate, easy to implement, and low in cost, and can be widely used in the blade position adjustment of various drones;

[0065] (6) Based on the present invention, the drone operation unit includes a homing platform responsible for the drone homing operation and a fixed platform responsible for the drone collection and storage. The drone can achieve cross-platform movement through supporting mechanisms and controls. Through this method, the number of two homing platforms can be reduced, thereby solving problems such as platform size, weight, and space. At the same time, this method can have multiple implementation forms, including horizontal deployment, and can also be expanded to a homing platform responsible for recovering drones and multiple fixed platforms responsible for storing drones. Using this method, the work of each operation unit does not affect each other, and multiple operation units can carry out tasks at the same time. For example, the drone can be launched and recovered on the left and right sides at the same time, which greatly improves the operation efficiency of the drone and saves the launch and recovery time of the drone;

[0066] like Figure 2As shown, the specific structure of this solution mainly includes a vehicle platform 1, a control unit 2 and a multi-rotor UAV operation system 3;

[0067] The vehicle platform is a schematic diagram, with openings on both sides of the vehicle platform as output channels for the UAV; the control unit is the control system of the entire system, used to coordinate and control the multi-rotor UAV operation system; the multi-rotor UAV operation system is mainly composed of two pulling, lifting and homing mechanisms and one selection mechanism, such as Figure 3 shown.

[0068] Introduction to multi-rotor drone operation system:

[0069] The multi-rotor UAV operation system 3 mainly includes three parts: the first pull-up lifting and homing mechanism operation unit 301, Figure 4 The part in the dotted line frame on the left side; the second pull-lift return mechanism operation unit 302, reference Figure 4 The part in the dotted line frame on the right side of the middle; select mechanism 303, such as Figure 5 As shown, the three parts are fixed to the inner bottom plate of the vehicle platform 1 by screws.

[0070] Introduction to the first pull-out, lifting and homing mechanism operation unit:

[0071] The first pull-out, lift-out and return mechanism operation unit 301 has the same structure as the second pull-out, lift-out and return mechanism operation unit 302. Figure 5 As shown, it is mainly composed of a pulling mechanism 3011, a lifting mechanism 3012, a return mechanism 3013, a return platform locking mechanism 3014, a pulling platform locking mechanism 3015 and a control module 3016. The pulling mechanism 3011 and the lifting mechanism 3012 are both fixed to the inner bottom plate of the vehicle platform 1 by screws, the return mechanism 3013 is fixed to the upper end surface of the lifting mechanism 3012 by screws, the return platform locking mechanism 3014 is fixed to the bottom of the return mechanism 3013 by screws, the pulling platform locking mechanism 3015 is fixed to the bottom of the pulling mechanism 3011 by screws, and the control module 3016 is fixed to the side of the pulling mechanism 3011 by screws.

[0072] The upper and lower parts of the drawer mechanism 3011 are connected by a drawer guide rail. Figure 6 As shown, in normal working state, the pulling mechanism 3011 is stored inside the vehicle platform 1, and a drone guide track is arranged on the upper part thereof, such as Figure 5 When a problem occurs to the UAV fixed on the pulling mechanism 3011 or the mechanism itself, the upper part of the pulling mechanism 3011 can be manually pulled out from the side of the vehicle platform 1, as shown. Figure 6 , which is convenient for staff to inspect and repair.

[0073] The lifting mechanism 3012 is mainly composed of an unfolding and retracting mechanism 5 and a lifting mechanism 4. Figure 7 As shown, the lifting mechanism 4 is composed of an electric cylinder 401, a lifting motor and a reducer group 402, and a scissor lift rod 403; the unfolding and retracting mechanism 5 is composed of an unfolding and retracting motor and a reducer group 501, a commutator 502, a multi-level heavy rail 503, and a unidirectional linear module 504.

[0074] When the lifting mechanism 3012 is working, the unfolding and retracting mechanism 5 is fixed to the inner bottom plate of the vehicle platform 1 by screws and adapters, the unfolding and retracting motor and reducer group 501 drives the commutator 502, and drives the linear module 504 through the shaft, key and coupling, and the linear module 504 pushes the multi-level heavy rail 503 to extend outward; the lifting mechanism 4 is fixed to the upper end of the multi-level heavy rail 503 by screws and adapters, and when the unfolding and retracting mechanism 5 is extended to the specified position, the lifting motor and reducer group 402 drives the electric cylinder 401, and the electric cylinder 401 extends and pushes the scissor lift rod 403 to the specified height. Figure 7 shown.

[0075] The homing mechanism 3013 is mainly composed of a horizontal motor reducer group 601, a horizontal bidirectional module 602, a first vertical motor reducer group 603, a first vertical unidirectional module 604, a second vertical motor reducer group 605, a second vertical unidirectional module 606, a second vertical push rod 607, a first vertical push rod 608, a homing base plate 609, a driven linear guide rail 611 and a paddle mechanism 612. Figure 8 The horizontal bidirectional module 602 and the driven linear guide rail 611 are distributed on both sides of the homing mechanism 3013 and fixed to the homing base plate 609 by screws; the first vertical unidirectional module 604 and the second vertical unidirectional module 606 are fixed to the slider of the horizontal bidirectional module 602 by screws and the adapter at one end, and fixed to the driven linear guide rail 611 at the other end; the second vertical push rod 607 and the first vertical push rod 608 are fixed to the sliders of the second vertical unidirectional module 606 and the first vertical unidirectional module 604 by screws respectively; the paddle mechanism 612 is fixed to the homing base plate 609 by screws.

[0076] When the homing mechanism 3013 is working, the horizontal motor reducer group 601 drives the horizontal bidirectional module 602, and the two sliders on the horizontal bidirectional module 602 respectively drive the second vertical unidirectional module 606 and the first vertical unidirectional module 604 to the designated position, completing the horizontal homing of the drone; the first vertical motor reducer group 603 drives the first vertical unidirectional module 604, driving the first vertical push rod 608 to the designated position, and the second vertical motor reducer group 605 drives the second vertical unidirectional module 606, driving the second vertical push rod 607 to the designated position, completing the vertical homing of the drone, wherein the first vertical push rod 608 adopts a short rod design, mainly to borrow space to achieve cross-platform movement without interference. After all modules move to the initial edge position, the slider of the first vertical unidirectional module 604 moves and triggers the two sets of paddle-shifting mechanisms 612, shifting the drone propellers into the homing mechanism 3013.

[0077] The homing platform locking mechanism 3014 has the same structure as the pulling platform locking mechanism 3015. Fig. 9 As shown, the homing platform locking mechanism 3014 is fixed to the bottom of the homing mechanism 3013 by screws, and the pulling platform locking mechanism 3015 is fixed to the bottom of the sliding platform of the pulling mechanism 3011 by screws. The pulling platform locking mechanism 3014 and the homing platform locking mechanism 3015 are composed of two sets of identical driving mechanisms, mainly including a stepping motor 801, a worm gear reducer 802, a transmission shaft 1 803, a clamping claw 1 804, an auxiliary bearing support 1 805, a transmission shaft 2 806, a clamping claw 2 807, an auxiliary bearing support 2 808 and a bottom plate 809. The stepper motor 801 is fixedly connected to the worm gear reducer 802 by screws; the worm gear reducer 802, the auxiliary bearing support 1 805 and the auxiliary bearing support 2 808 are fixedly connected to the bottom plate 809 by screws; one end of the transmission shaft 1 803 and the transmission shaft 2 806 are respectively connected to the output hole of the worm gear reducer 802 by flat keys, and the other end is respectively connected to the auxiliary bearing support 1 805 and the auxiliary bearing support 2 808 by bearings; the claw 1 804 and the claw 2 807 are respectively fixedly connected to the transmission shaft 1 803 and the transmission shaft 2 806 by screws;

[0078] When the locking mechanism is working, the stepper motor 801 rotates, and drives the transmission shaft 1 803 and the transmission shaft 2 806 to rotate in the same direction at the same time through the worm gear reducer 802, thereby driving the claw 1 804 and the claw 2 807 to rotate, thereby completing the locking and release of the UAV landing gear.

[0079] Select institution introduction:

[0080] The selection mechanism 303 is mainly composed of a first fixing plate 701, a first horizontal driving unit 702, a first horizontal one-way module 703, a first vertical driving unit 704, a first vertical one-way module 705, a first vertical push rod 706, a second horizontal driving unit 707, a second horizontal one-way module 708, a second vertical driving unit 709, a second vertical one-way module 711, a second vertical push rod 712 and a second fixing plate 713. Fig.10 As shown. The first fixing plate 701 and the second fixing plate 713 are fixedly connected to the inner bottom plate of the vehicle platform 1 by screws, respectively; the first horizontal one-way module 703 and the second horizontal one-way module 708 are fixedly connected to the first fixing plate 701 and the second fixing plate 713 by screws; one end of the first vertical one-way module 705 and the second vertical one-way module 711 are fixedly connected to the slider of the first horizontal one-way module 703, and the other end is fixedly connected to the slider of the second horizontal one-way module 708; the first vertical push rod 706 is fixedly connected to the slider of the first vertical one-way module 705 by screws, and the second vertical push rod 712 is fixedly connected to the slider of the second vertical one-way module 711 by screws.

[0081] When the selection mechanism 303 is working, the first horizontal driving unit 702 and the second horizontal driving unit 707 respectively drive the first horizontal unidirectional module 703 and the second horizontal unidirectional module 708 to move, and the two sets of horizontal unidirectional modules move synchronously, thereby driving the first vertical unidirectional module 705 and the second vertical unidirectional module 711 to move to the designated positions at the same time, completing the selection of the first pull-out, lifting and returning mechanism operating unit 301 or the second pull-out, lifting and returning mechanism operating unit 302; the first vertical driving unit 704 and the second vertical driving unit 709 respectively drive the first vertical unidirectional module 705 and the second vertical unidirectional module 711, and the two vertical unidirectional modules respectively drive the first vertical push rod 706 and the second vertical push rod 712 to move to the designated positions, thereby completing the cross-platform operation of the drone.

[0082] Paddle mechanism introduction:

[0083] In order to reduce the size of the homing platform, when the propeller of the drone exceeds the homing platform, the propeller can be pushed into the platform by installing a propeller mechanism 612 in the horizontal or vertical direction. The present invention proposes that the mechanical linkage mechanism can be expanded to the position adjustment function of multiple blades of the drone. The method is to install a mechanical self-returning propeller device on both sides of the homing platform, and realize the propeller position adjustment function by triggering the linkage with the horizontal module and the vertical module. Fig.11 shown.

[0084] The paddle mechanism 612 mainly includes a paddle lever 1 904, a trigger point 1 905, a module slider and a trigger point connecting plate 906, a paddle lever 2 907, a trigger point 2 908 and a module slider 909. The trigger point 1 905 and the trigger point 2 908 are fixedly connected to the module slider and the trigger point connecting plate 906 by screws; the module slider and the trigger point connecting plate 906 are fixedly connected to the module slider 909 by screws; the paddle lever 1 904 and the paddle lever 2 907 are fixed to the bottom plate of the homing platform by screws. When the paddle mechanism is working, through the linkage of the horizontal and vertical modules, the module slider 909 is located at the edge of the platform, the module slider 909 moves, and drives the trigger point 1 905 and the trigger point 2 908 to move in the same direction at the same time through the module slider and the trigger point connecting plate 906, and the trigger point 1 905 and the trigger point 2 908 respectively push the paddle rod 1 904 and the paddle rod 2 907 to rotate, completing the paddle action of the drone; after the paddle is completed, the module slider 909 returns, and the trigger point 1 905 and the trigger point 2 are disengaged from the paddle rod 1 904 and the paddle rod 2 907 respectively, and the paddle rod 1 904 and the paddle rod 2 907 rely on their internal torsion springs to return to their original starting positions.

[0085] The working principle of the vehicle-mounted drone swarm automatic operation platform is as follows.

[0086] Introduction to the working principle of multi-rotor drone operation system:

[0087] The multi-rotor drone operation system 3 can store 4 rotor drones at the same time, which are fixed at positions 1 to 4 respectively. A maximum of 2 drones can be launched at the same time, and a maximum of 2 drones can be recovered. The specific operation process is as follows:

[0088] When in the collection state, the four rotor drones are on their respective platforms and remain locked. Fig.12 shown.

[0089] Drone launch at No. 1 and No. 3 positions:

[0090] After the lifting mechanism 3012 extends out of the vehicle platform 1 and reaches a position where it can be raised or lowered, the lifting mechanism 4 drives the homing mechanism 3013 to rise to a specified height. Fig.13 shown.

[0091] After the homing mechanism 3013 is lifted to the specified height, the homing platform locking mechanism 3014 is released by control, and the UAV is ready for take-off. Fig.14 As shown; after the UAV operation is completed, the status of the two homing mechanisms 3013 before landing is also as shown Fig.14 As shown, after the drone lands, the drone is locked in its home position, and the lifting mechanism 3012 is lowered and retracted to store the drone into the vehicle platform 1.

[0092] Drones at positions 2 and 4 are released:

[0093] The drones at positions 2 and 4 cannot be released directly, and they need to be moved to positions 1 and 3 by selecting mechanism 303. Next, the process of moving the drone at position 2 to position 1 is introduced.

[0094] Before the drone at No. 2 camera position moves, the control module sends a command to adjust the height of camera position 1 to be slightly lower than that of camera position 2. The locking mechanisms of camera positions 1 and 2 are unlocked, the second vertical one-way module 606 on the homing mechanism 3013 is pushed to the left guide position, the first vertical one-way module 705 and the second vertical one-way module 711 on the selection mechanism 303 are pushed to the right guide position, and the first vertical one-way module 705 drives the first vertical push rod 706 to push the drone at camera position 2 to camera position 1. Fig.15 After the landing gear of the UAV is fully pushed into the No. 1 position, the homing mechanism 3013 returns the UAV to its position and locks it.

[0095] The process of moving the drone from No. 4 to No. 2 is the same as the above process, so it will not be repeated here. At this time, the No. 2 and No. 4 drones have all moved and locked in No. 1 and No. 3. The release and recovery process is similar to the original release and recovery process of the No. 1 and No. 3 drones. The release status is as follows: Fig.16 shown.

[0096] Those of ordinary skill in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0097] In the several embodiments provided in the present application, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the division of the units described above is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The above-mentioned units may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

[0099] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle-mounted UAV cluster automatic operation platform, characterized in that: It includes a multi-rotor UAV operation system mounted on a vehicle platform, wherein the multi-rotor UAV operation system includes: A selection mechanism is used to move the selected drone from the storage area to the take-off and landing area, and / or to move the drone landed in the take-off and landing area to the storage area; The pull-out, lifting and homing mechanism operation unit is set in the take-off and landing area to adjust the posture of the UAV relative to the vehicle platform, including: At least one pulling, lifting and returning mechanism operating unit is provided, and at least one drone stored in the same storage area utilizes the same pulling, lifting and returning mechanism operating unit.

2. The vehicle-mounted UAV cluster automatic operation platform according to claim 1 is characterized in that: The pulling, lifting and returning mechanism operation unit includes a pulling mechanism, a lifting mechanism and a returning mechanism; The pulling mechanism and the lifting mechanism are fixed inside the vehicle platform, and the returning mechanism is fixed on the upper end surface of the lifting mechanism; Among them, the upper and lower parts of the pull-out mechanism are connected by a drawer guide rail, and the upper part of the pull-out mechanism can be pulled out from the side of the vehicle platform.

3. The vehicle-mounted UAV cluster automatic operation platform according to claim 2 is characterized by: The lifting mechanism includes an extension and retraction mechanism and a lifting mechanism, wherein the lifting mechanism includes an electric cylinder, a lifting motor and a reducer group, and a scissor lift rod; the extension and retraction mechanism includes an extension and retraction motor and a reducer group, a commutator, a multi-level heavy rail, and a unidirectional linear module; The UAV is fixed on the lifting mechanism, and the extension and retraction mechanism is used to drive the lifting mechanism and the UAV to extend and retract from the vehicle platform.

4. The vehicle-mounted UAV cluster automatic operation platform according to claim 2 is characterized by: The pull-out lifting and returning mechanism operation unit includes a returning platform locking mechanism and a pull-out platform locking mechanism; The homing platform locking mechanism is fixed at the bottom of the homing mechanism, and the pulling platform locking mechanism is fixed at the bottom of the pulling mechanism; The locking mechanism of the homing platform is the same as that of the pulling platform, and is used to fix the drone on the homing platform and the pulling platform respectively.

5. The vehicle-mounted UAV cluster automatic operation platform according to claim 1 is characterized in that: In the selection mechanism, the first horizontal driving unit and the second horizontal driving unit are used to respectively drive the first horizontal one-way module and the second horizontal one-way module to move, thereby driving the first vertical one-way module and the second vertical one-way module to move to the designated position at the same time, completing the selection of the first pull-out, lift-and-return mechanism operating unit or the second pull-out, lift-and-return mechanism operating unit; The first vertical driving unit and the second vertical driving unit are used to drive the first vertical one-way module and the second vertical one-way module respectively, and the two vertical one-way modules respectively drive the first vertical push rod and the second vertical push rod to move to the designated position.

6. The vehicle-mounted UAV cluster automatic operation platform according to claim 1 is characterized by: A propeller mechanism is installed in the horizontal or vertical direction to push the propeller into the vehicle platform.

7. The vehicle-mounted UAV cluster automatic operation platform according to claim 1 is characterized in that: The process of launching / landing a drone set up in the take-off and landing area: The lifting mechanism extends out of the vehicle platform and reaches a position where it can be raised or lowered. The lifting mechanism drives the homing mechanism to rise to a specified height. After the homing mechanism is raised or lowered to a specified height, the locking mechanism of the homing platform is released through control, and the UAV is ready for take-off. After the drone operation is completed, the homing mechanism is used to lock the drone in its home position, and the lifting mechanism is lowered and retracted to store the drone into the vehicle platform.

8. The vehicle-mounted UAV cluster automatic operation platform according to claim 1 is characterized in that: Drone launch / landing procedures set up in the collection area: First, check whether there is a drone in the corresponding take-off and landing area. If there is no drone in the take-off and landing area, then: The UAV is moved to the position in the take-off and landing area through the selection mechanism. Before the UAV moves, the control module sends a command to adjust the height of the position in the corresponding take-off and landing area to be slightly lower than the position in the current storage area. The locking mechanism of the position in the storage area is unlocked, and the second vertical one-way module on the homing mechanism is pushed to the left guide position. The first vertical one-way module and the second vertical one-way module on the selection mechanism are pushed to the right guide position. The first vertical one-way module drives the first vertical push rod to push the UAV in the position in the storage area to the corresponding position in the take-off and landing area. After the landing gear of the UAV is fully pushed into the position in the take-off and landing area, the homing mechanism located in the take-off and landing area returns the UAV and locks it.

9. The vehicle-mounted UAV cluster automatic operation platform according to claim 1, characterized in that: The pull-out, lift-out and return mechanism operating unit includes two groups, namely a first pull-out, lift-out and return mechanism operating unit and a second pull-out, lift-out and return mechanism operating unit with the same structure; The two sets of pulling, lifting and returning mechanism operating units share a set of selection mechanism.

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