A transportation and automatic loading / unloading platform, system and working method for a manned aircraft

Abstract

The present invention discloses a transportation and automatic loading and unloading platform, system and working method for a manned aircraft. The platform includes a transportation device and an automatic loading and unloading device. The transportation device is provided with a cockpit, driving wheels and a take-off and landing platform for personnel control and transportation. The automatic loading and unloading device realizes the automatic assembly and disassembly of the power components of the aircraft through a robotic arm, a transmission mechanism and a power component loading and unloading platform. The system coordinates the aircraft module, the transportation device module and the automatic loading and unloading device module through a control module, and supports three states: loading, operation and recovery. During loading, the power components are disassembled and fixed for charging; during operation, the components are grabbed by the robotic arm and driven for docking by the transmission mechanism to complete the assembly of the aircraft; during recovery, the reverse operation is performed to disassemble the components and charge. This application significantly improves the loading and unloading efficiency and safety, and is suitable for the rapid deployment and recovery in high-altitude operation scenarios.

Description

Technical Field

[0001] The present invention belongs to the technical field of auxiliary equipment for manned aircraft, and particularly relates to a transportation and automatic loading / unloading platform, system and working method for manned aircraft. Background Art

[0002] With the rapid development of the low-altitude economy, manned aircraft are increasingly widely used in various fields. In the field of urban air transportation, manned aircraft are expected to become an important means to relieve ground traffic congestion and achieve fast and efficient point-to-point travel; in emergency rescue, they can quickly reach remote areas or disaster sites, winning precious time for rescue work; in the tourism and sightseeing industry, manned aircraft can provide tourists with a unique aerial perspective and bring a brand-new tourism experience.

[0003] Given the stringent requirements of general manned aircraft for high load capacity, their volume is often relatively large. Take the common multi-rotor manned aircraft as an example. To carry passengers and necessary equipment, its fuselage size and rotor diameter are relatively large. Facing such manned aircraft, traditional transportation devices and equipment simply cannot achieve overall transportation. They can only disassemble the aircraft modularly or fold it in order to carry out transportation operations. This transportation method undoubtedly brings a significant drawback, that is, during operation, a large amount of time is required for assembly and various preparatory work. For example, in an emergency rescue scenario, every second counts, and the long assembly preparation work may lead to missing the best rescue opportunity; in the operation of urban air transportation, frequent long preparation work will also affect the operation efficiency and service quality, which is far from meeting the requirements of those fast operation scenarios with extremely high response speed requirements.

[0004] In order to effectively overcome the problem of transporting manned aircraft, Chinese patent document CN221272754U proposed an innovative design scheme for a vehicle and a flying car. This scheme adopts an advanced electric drive device, which can realize the automatic detachment of the flying car from the transportation device. This innovation greatly simplifies the transportation process and successfully eliminates the cumbersome work links that originally required manual handling. This automatic detachment technology is based on precise sensors and intelligent control modules, which can accurately sense the connection state between the aircraft and the transportation device and start the electric drive device at the appropriate time to achieve a smooth and safe detachment process.

[0005] Although the above method solves the problem of the automatic detachment of the aircraft from the transportation device to a certain extent, due to the excessively large volume of the manned aircraft itself, even when each arm is in a folded state, the operator still needs to get out of the vehicle and manually unfold the arms before the aircraft can enter the normal operation state. This process not only increases the workload of the operator but also makes the pre-preparation time still relatively long. In practical applications, especially in some commercial operation scenarios or emergency tasks with extremely high requirements for timeliness, the long preparation work will cause delays, reducing the usage efficiency and competitiveness of the manned aircraft and still being difficult to fully meet the requirements of fast-response operation scenarios. Therefore, there is an urgent need for a more efficient and convenient solution to achieve the goal of the rapid deployment and operation of the manned aircraft. Summary of the Invention

[0006] The purpose of the present invention is to provide a transportation and automatic loading / unloading platform, system and working method for a manned aircraft to solve the above technical problems.

[0007] To achieve the purpose of the present invention, on the one hand, the present invention provides a transportation and automatic loading / unloading platform for a manned aircraft. The aircraft includes an aircraft body, a power component, and a battery component. The power components are arranged in a triangular pattern with three ducted fans. The power components of the left and right ducted fans are installed at both ends of the opening of the aircraft body. The battery component is connected to the end of the aircraft body without an opening. The end of the aircraft body connected to the battery component is connected to the power component of the upper ducted fan.

[0008] The transportation and automatic loading / unloading platform includes an automatic loading / unloading device and a transportation device. The automatic loading / unloading device is arranged on the transportation device.

[0009] The transportation device includes a cockpit, drive wheels, and a takeoff / landing platform. The cockpit is equipped with control buttons and a display screen and is used for personnel to ride and control the automatic loading / unloading device. The takeoff / landing platform is used to arrange the aircraft and the automatic loading / unloading device.

[0010] The automatic loading / unloading device includes an aircraft body mounting seat, a power component mounting seat, a power component loading / unloading platform, a robotic arm, a drive motor, and a transmission mechanism.

[0011] The takeoff / landing platform is used to mount the aircraft body mounting seat, the power component mounting seat, the power component loading / unloading platform, the robotic arm, the drive motor, and the transmission mechanism.

[0012] The aircraft body mounting seat is used to mount the aircraft body.

[0013] The power component mounting seat is used to store the power components of the left and right ducted fans removed from the aircraft body.

[0014] The power component loading and unloading platform is used to grasp the power component and perform autonomous assembly and locking with the aircraft body;

[0015] The robotic arm is used to grasp objects and lock screws, and the locking screws are used to lock the power component and the aircraft body after docking;

[0016] The drive motor is used to provide rotational potential energy;

[0017] The transmission mechanism is used to convert the rotational motion of the drive motor into planar motion and drive the horizontal motion of the power component loading and unloading platform.

[0018] The robotic arm is arranged at the front of the take-off and landing platform. Two of the transmission mechanisms are symmetrically arranged on the take-off and landing platform corresponding to the lower part of the operating end of the robotic arm. The two transmission mechanisms are placed mirror-symmetrically. One end of the two transmission mechanisms is provided with the power component loading and unloading platform; The aircraft body is provided with protruding shafts for docking with the power component at three positions on the left, right and rear. The power component loading and unloading platform is arranged at the positions of the protruding shafts on the left and right sides of the aircraft body; The output shaft of the drive motor meshes with the gear at the other end of the transmission mechanism; The aircraft body mounting seat is arranged above the drive motor and close to the mounting end of the robotic arm, and the power component mounting seat is arranged behind the other end of the transmission mechanism.

[0019] The bottom of the battery component is provided with a female charging interface, and the corresponding position at the bottom of the aircraft body mounting seat is provided with a male charging interface;

[0020] The robotic arm is provided with a vision sensor for positioning the power component and grasping it at a preset position;

[0021] The take-off and landing platform is provided with sensors for real-time monitoring of the platform position.

[0022] A first bevel gear is arranged on the output shaft of the drive motor; The transmission mechanism includes a second bevel gear, a transmission lead screw and a guide rod. The second bevel gear is fixedly connected to the transmission lead screw. The transmission lead screw is embedded in the bottom ball sleeve of the power component loading and unloading platform. The guide rods are arranged on both sides of the transmission lead screw and sleeved in the guide sleeves of the power component loading and unloading platform;

[0023] The first bevel gear meshes with the two mirror-image second bevel gears.

[0024] A locking mechanism is arranged at the contact position between the aircraft body mounting seat and the aircraft body, and the robotic arm has multiple degrees of freedom.

[0025] A flexible component is provided at the contact position between the aircraft body mounting seat and the aircraft body, enabling a small amount of movement space when the aircraft body is docked with the power component.

[0026] On the other hand, the present invention also provides a system for a transportation and automatic loading / unloading platform of a manned aircraft, including an aircraft module, an automatic loading / unloading device module, a transportation device module, and a control module;

[0027] The aircraft module is used to carry a single operator for high-altitude operations;

[0028] The automatic loading / unloading device module is used to automatically load and unload the manned aircraft module;

[0029] The transportation device module is used to transport the automatic loading / unloading device module;

[0030] The control module is used to control the operation of each component. It is integrated in the circuit hardware module inside the transportation device module, and there is a start button in the passenger compartment of the transportation device module. After pressing the start button, the automatic loading / unloading device module starts operating to assemble the manned aircraft module.

[0031] The aircraft module includes an aircraft body, a power component, and a battery component;

[0032] The automatic loading / unloading device module includes an aircraft body mounting seat, a power component mounting seat, a power component loading / unloading platform, a robotic arm, a driving motor, and a transmission mechanism;

[0033] The transportation device module includes a transportation device;

[0034] In the initial state, the aircraft module and the automatic loading / unloading device module are both arranged on the takeoff and landing platform. The battery component is fixedly connected to the aircraft body, the aircraft body is arranged on the aircraft body mounting seat, and the power component is arranged on the power component mounting seat. After the operator drives the transportation device to the operation site, the operation program is started. The servo motor drives the transmission mechanism to operate, driving the power component loading / unloading platform to move away from the aircraft body to the loading / unloading waiting area. Then, the start button is triggered, and the control module outputs the electric power and control signals required for the operation of the automatic loading / unloading device module. The robotic arm starts to operate. The robotic arm locates the position of the power component through the visual sensor arranged on the arm and grabs it at the preset position, and places the grabbed power component on the power component loading / unloading platform according to the set position. Then, the transmission mechanism is driven to operate in the reverse direction, driving the power component loading / unloading platform to move towards the aircraft body until the power component is docked with the aircraft body. After the assembly of the aircraft module is completed, the takeoff operation starts;

[0035] The drive motor rotates in the reverse direction, and the rotor inside it reverses at a high speed under the action of electromagnetic induction, and transmits the rotational power to the transmission screw through the bevel gear connected thereto, so that the transmission screw starts to rotate; the transmission screw is connected to the power component loading and unloading platform through a ball sleeve, and under the rotation of the screw, the ball sleeve drives the power component loading and unloading platform to move along the predetermined track principle body; during the movement, the sensor installed on the take-off and landing platform monitors the platform position in real time, and when it reaches the preset designated position, the sensor sends a signal to the control module, and the drive motor stops running;

[0036] After the battery component is connected to the aircraft body, it is placed on the aircraft body mounting seat, and the battery component is connected to the power supply line in the aircraft body; a charging interface female end is designed at the bottom of the battery component, and a charging interface male end is designed at the corresponding position of the bottom of the aircraft body mounting seat. When the aircraft body is placed on the aircraft body mounting seat, the charging interface female end and the male end are connected, and the battery component is charged and replenished by the vehicle power supply.

[0037] The present invention also provides a working method of a system for transporting and automatically loading and unloading a manned aircraft, including a loading method, an operation method, and a recovery method:

[0038] The loading method is as follows: firstly, the power components are disassembled and fixed, and then the aircraft and the battery are fixed and charged to complete the loading of the aircraft;

[0039] The operation working method includes: first starting the operation, moving the power component loading and unloading platform, and the mechanical arm grabbing and arranging the power component, completing the docking of the power component with the aircraft body; starting the mechanical arm again, fastening the power component with the aircraft body, and then the mechanical arm clicks the start button on the aircraft body, and the aircraft enters a low-altitude suspension state; the operator boards the aircraft and starts the lift operation;

[0040] The recovery working method is as follows: the operator controls the aircraft to fly to the vicinity of the transportation device according to the predetermined route, slowly descends to the ground through the safety rope, presses the marked recovery button, starts the movement of the power component loading and unloading platform, and the aircraft starts landing and component installation under the remote control of the operator, and finally the aircraft is powered off; the robotic arm replaces the end tool to remove the locking screw, causing the power component to detach, and grabs each power component, and places the power component in the power component placement seat in turn according to the layout of the power component placement seat, and then the joints of the robotic arm contract and rotate in turn, and are recovered to the initial position, the drive motor is turned on, and the power component loading and unloading platform is driven to be recovered to the initial position along the track, and then the battery charging function is started; after the aircraft recovery is completed, the operator checks the status of the vehicle and the aircraft, and after confirming that there is no error, drives the vehicle into the next operation scene.

[0041] Compared with the prior art, the significant progress of the present invention lies in that the loading and unloading device and process of the present invention are highly automated. Relying on the precise grasping and placing actions of the robotic arm and the stable power transmission of the driving unit, it does not require a large amount of manual intervention. This not only saves manpower but also greatly shortens the operation preparation and closing time, significantly improving the operation efficiency of the manned aircraft. At the same time, due to its convenience and high efficiency, it has successfully expanded the application possibilities of the manned aircraft in more complex scenarios such as emergency rescue, material transportation in remote areas, and high-altitude mapping.

[0042] To more clearly illustrate the functional characteristics and structural parameters of the present invention, the following further explains in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0044] Figure 1 is the general layout of the vehicle and the transportation and loading / unloading platform in the embodiment of the present invention;

[0045] Figure 2 is the state diagram of the aircraft loaded on the vehicle in the embodiment of the present invention;

[0046] Figure 3 is the three-dimensional structure diagram of the driving device of the present invention;

[0047] Figure 4 is the loading state of the aircraft in the embodiment of the present invention;

[0048] Figure 5 is the complete state structure diagram of the aircraft of the present invention.

[0049] The reference numerals in the drawings are: transportation device - 1, robotic arm - 2, aircraft body placement seat - 3, drive motor - 4, power component loading / unloading platform - 5, power component placement seat - 6, takeoff and landing platform - 7, battery component - 8, aircraft body - 9, transmission lead screw - 10, guide rod - 11, first bevel gear - 12, second bevel gear - 13. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in combination with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0051] A transportation and automatic loading and unloading platform for a manned aircraft, combined with Figure 5 , the manned aircraft includes an aircraft body 9, a power component, and a battery component 8; the power components are arranged in a triple-ducted triangular pattern, and the power components of the left and right ducts are installed at both ends of the opening of the aircraft body 9, the battery component 8 is connected to the non-opening end of the aircraft body 9, and the end of the aircraft body 9 connected to the battery component 8 is connected to the power component of the upper duct,

[0052] Combined with Figure 1 and Figure 2 , the transportation and automatic loading and unloading platform includes an automatic loading and unloading device and a transportation device 1, and the automatic loading and unloading device is arranged on the transportation device 1;

[0053] The transportation device 1 includes a cockpit, drive wheels, and a takeoff and landing platform. There are control buttons and a display screen in the cockpit, and the cockpit is used for personnel to ride and control the automatic loading and unloading device; the takeoff and landing platform is used to arrange the manned aircraft and the automatic loading and unloading device;

[0054] The transportation device 1 can be selected from vehicles, ships, open-top pickups, flatbed carts, freight ships, etc. In this embodiment, a vehicle is selected;

[0055] The automatic loading and unloading device includes a takeoff and landing platform 7, an aircraft body mounting seat 3, a power component mounting seat 6, a power component loading and unloading platform 5, a robotic arm 2, a drive motor 4, and a transmission mechanism;

[0056] The takeoff and landing platform 7 is used to arrange the aircraft body mounting seat 3, the power component mounting seat 6, the power component loading and unloading platform 5, the robotic arm 2, the drive motor 4, and the transmission mechanism;

[0057] The aircraft body mounting seat 3 is used to arrange the aircraft body 9;

[0058] The power component mounting seat 6 is used to store the power components of the left and right ducts removed from the aircraft body 9, combined with Figure 2 ;

[0059] The power component loading and unloading platform 5 is used to grab the power component and perform autonomous assembly and locking with the aircraft body 9;

[0060] The robotic arm 2 is used to grab objects and lock screws, and the lock screws are used to lock the power component and the aircraft body 9 after docking;

[0061] The drive motor 4 is used to provide rotational potential energy;

[0062] The transmission mechanism is used to convert the rotational motion of the drive motor 4 into planar motion and drive the power component loading and unloading platform 5 to move horizontally.

[0063] The manipulator 2 is provided at the front of the take-off and landing platform 7. Two of the above-mentioned transmission mechanisms are symmetrically provided on the take-off and landing platform 7 corresponding to the lower part of the operating end of the manipulator 2. The two transmission mechanisms are placed mirror-symmetrically. One end of the two transmission mechanisms is provided with the power component loading and unloading platform 5; the aircraft body 9 is provided with protruding shafts for docking with the power components at three positions on the left, right, and rear. The power component loading and unloading platform 5 is arranged at the positions of the protruding shafts on the left and right sides of the aircraft body 9; the output shaft of the drive motor 4 meshes with the gear at the other end of the transmission mechanism; the aircraft body mounting seat 3 is erected above the drive motor 4 and close to the mounting end of the manipulator 2, and the power component mounting seat 6 is arranged behind the other end of the transmission mechanism.

[0064] Combined with Figure 3 , the power component loading and unloading platform 5, the drive motor 4, and the transmission mechanism form a drive device.

[0065] A first bevel gear 12 is provided on the output shaft of the drive motor 4; the transmission mechanism includes a second bevel gear 13, a transmission lead screw 10, and a guide rod 11. The second bevel gear 13 is fixedly connected to the transmission lead screw 10. The transmission lead screw 10 is embedded in the bottom ball sleeve of the power component loading and unloading platform 5. The guide rod 11 is arranged on both sides of the transmission lead screw 10 and sleeved in the guide sleeve of the power component loading and unloading platform 5; the first bevel gear 12 meshes with the two mirror-image second bevel gears 13; the transmission mechanism is a mechanism of bevel gears with a ball screw. It rotates under the drive of the motor, and the ball screw can convert the rotational motion into linear motion.

[0066] The bottom of the battery component 8 is provided with a female charging interface, and the corresponding position at the bottom of the aircraft body mounting seat 3 is provided with a male charging interface;

[0067] A vision sensor is provided on the manipulator 2 for positioning the position of the power component and grasping it at a preset position;

[0068] Sensors are provided on the take-off and landing platform 7 for real-time monitoring of the platform position.

[0069] A locking mechanism is provided at the contact position between the aircraft body mounting seat 3 and the aircraft body 9, which can limit the large amount of movement when the aircraft body 9 docks with the power component to prevent it from tipping over. The manipulator 2 has multiple degrees of freedom.

[0070] A flexible member, such as silicone, is provided at the contact position between the aircraft body mounting seat 3 and the aircraft body 9 to provide a small amount of movement space when the aircraft body 9 is docked with the power component.

[0071] The present invention also includes a system for a transportation and automatic loading / unloading platform of a manned aircraft, comprising an aircraft module, an automatic loading / unloading device module, a transportation device module, and a control module;

[0072] The aircraft module is used to carry a single operator for high-altitude operations, such as fire rescue, power maintenance, high-rise building glass cleaning, etc.;

[0073] The automatic loading / unloading device module is used to automatically load and unload the manned aircraft module;

[0074] The transportation device module is used to transport the automatic loading / unloading device module;

[0075] The control module is used to control the operation of each component. It is integrated in the circuit hardware module inside the transportation device module, and there is a start button in the personnel seating compartment of the transportation device module. After pressing the start button, the automatic loading / unloading device module starts to operate for the assembly of the manned aircraft module.

[0076] The aircraft module includes an aircraft body 9, a power component, and a battery component 8;

[0077] The automatic loading / unloading device module includes a takeoff / landing platform 7, an aircraft body mounting seat 3, a power component mounting seat 6, a power component loading / unloading platform 5, a robotic arm 2, a drive motor 4, and a transmission mechanism;

[0078] The transportation device module includes a transportation device 1;

[0079] In the initial state, the aircraft module and the automatic loading / unloading device module are both arranged on the takeoff / landing platform. The battery component 8 is fixedly connected to the aircraft body 9, the aircraft body 9 is arranged on the aircraft body mounting seat 3, and the power component is arranged on the power component mounting seat 6. After the operator drives the transportation device 1 to the operation site, the operation program is started, and the servo motor drives the transmission mechanism to operate, combined with Figure 4, drive the power component loading and unloading platform 5 to move away from the aircraft body 9 to the loading and unloading waiting area, and then trigger the start button. The control module outputs the electric power and control signals required for the operation of the automatic loading and unloading device module. The robotic arm 2 starts to operate. The robotic arm 2 locates the position of the power component through the vision sensor arranged on the arm and grabs it at a preset position. The grabbed power component is placed on the power component loading and unloading platform 5 according to the set position. Drive the transmission mechanism to rotate in the reverse direction, drive the power component loading and unloading platform 5 to move towards the aircraft body 9 until the power component is docked with the aircraft body 9; the aircraft module assembly is completed and starts the take-off operation;

[0080] The drive motor 4 rotates in the reverse direction. The rotor inside it rotates at a high speed in the electromagnetic induction, and through the bevel gear connected to it, transmits the rotational power to the transmission lead screw 10, causing the transmission lead screw 10 to start rotating; the transmission lead screw 10 is connected to the power component loading and unloading platform 5 through a ball sleeve. Under the rotation of the lead screw, the ball sleeve drives the power component loading and unloading platform 5 to move away from the body along the established track; during the movement, the sensor installed on the landing platform 7 monitors the platform position in real time. When the preset specified position is reached, the sensor sends a signal to the control module, and the drive motor 4 stops operating;

[0081] After the battery component 8 is connected to the aircraft body 9, it is placed on the aircraft body mounting seat 3. The battery component 8 is in a connected state with the power supply line inside the aircraft body 9; a charging interface female terminal is designed at the bottom of the battery component 8, and a charging interface male terminal is designed at the corresponding position at the bottom of the aircraft body mounting seat 3. When the aircraft body 9 is placed on the body mounting seat, the charging interface female terminal and the male terminal are docked, and the battery component 8 is charged and replenished through the vehicle power supply.

[0082] The present invention also includes a working method for a system of a transportation and automatic loading and unloading platform for a manned aircraft. When the left and right ducted fans of the aircraft are transported, they need to be disassembled. The method includes a loading state, an operation state, and a recovery state:

[0083] The loading state includes:

[0084] Disassembly and Fixing of Power Components: Operators and other staff members must strictly follow the operating specifications and carefully disassemble the power components of the aircraft from the aircraft using professional tools. During the disassembly process, first carefully check the appearance of the power components for damage, and then record relevant data. After disassembly, according to the design structure of the power component placement seat 6, accurately fix it in the power component placement seat 6 of the transport device 1, and use devices such as fastening bolts and latches to ensure firm fixation to prevent displacement during transportation. Given the size of the transport platform of the transport device 1 and the layout characteristics of the aircraft, after comprehensive evaluation by professional technicians and confirmation that they will not impede transportation and meet safety standards, some power components can be exempted from disassembly. The evaluation process needs to form a detailed report for filing and record.

[0085] Fixing and Charging Docking of Aircraft and Battery: At the same time, the operator uses a special fixing fixture to firmly fix the aircraft together with the battery on the aircraft body placement seat. When fixing, ensure that the aircraft is in a horizontal state to avoid deviations in subsequent operations due to inclination. Subsequently, carefully check the battery terminals of the aircraft and the charging terminals on the takeoff and landing platform to ensure that the two are automatically docked, and turn on the charging detection system to make the battery in a state of power detection and charging. During the charging process, pay attention to parameters such as battery power change, charging current, and voltage, and troubleshoot and handle anomalies in a timely manner. The aircraft is loaded onto the vehicle.

[0086] The described operating states include:

[0087] Operation Start: After the operator drives the vehicle to reach the operation area along the predetermined route, press the start operation button on the operation panel inside the vehicle. The system receives the instruction, and the assembly task starts to be executed immediately. At the same time, the warning lights inside and outside the vehicle light up to remind the surrounding personnel to pay attention to safety.

[0088] Movement of the Power Component Loading and Unloading Platform 5: The drive motor 4 starts to rotate in the reverse direction. The rotor inside the motor rotates at high speed under the action of electromagnetic induction. Through the bevel gear connected to it, the rotational power is transmitted to the transmission lead screw 10, causing the transmission lead screw 10 to start rotating. The transmission lead screw 10 is connected to the power component loading and unloading platform 5 through a ball sleeve. Under the rotation of the lead screw, the ball sleeve drives the power component loading and unloading platform 5 to move away from the aircraft body along the established track. During the movement, the sensors installed on the platform continuously monitor the position of the platform. When the predetermined specified position is reached, the sensor sends a signal to the control module, and the drive motor 4 stops rotating.

[0089] Grasping and Arranging Power Components: The robotic arm 2 starts under the precise instructions of the control module. The joints of the robotic arm 2 extend and rotate in sequence, and the end effector accurately moves above the power components. Through the vision sensor, the position and posture of the power components are confirmed, and then grasping devices such as vacuum suction cups or mechanical grippers are used to grasp the power components onto the corresponding power component loading and unloading platforms 5 respectively. During the grasping and placing process, the robotic arm 2 operates strictly according to the preset path to avoid colliding with surrounding objects. Until all power components are arranged in their fixed positions, the vision sensor is used again to check whether the placement positions of the power components are accurate;

[0090] Docking of Power Components with the Airframe: The drive motor 4 starts to rotate forward, repeating the above transmission process. The transmission lead screw 10 drives the power component loading and unloading platform 5 to move into the airframe through the ball screw. During the docking process, the guiding device installed at the docking part of the power component and the airframe plays a role in guiding the power component to accurately insert into the airframe interface. At the same time, the sensor continuously monitors the docking force and position. When the docking is in place, the sensor sends a signal to the control module, and the drive motor 4 stops rotating.

[0091] Fastening and Starting: The robotic arm 2 starts again. Tools such as electric screwdrivers or wrenches at the end of the robotic arm 2 perform locking operations on the fastening screws at the docking positions of each component. According to the specified torque value, the screws are tightened one by one to ensure the firm assembly of the power components and the airframe. After the fastening is completed, the robotic arm 2 clicks the start button on the aircraft airframe 9 through the programmed actions. At this time, the start system of the aircraft self-checks, and various indicator lights flash. After confirming that there is no error, the aircraft starts to fly and enters the low-altitude suspension state;

[0092] Operator Ascends for Operation: After the operator gets off the vehicle, put on the safety protection equipment supporting the aircraft in the designated area, including helmets, seat belts, etc. Carefully check the integrity and reliability of the equipment. After confirming that there is no error, walk to the aircraft, board the aircraft according to the operation guide, fasten the seat belt, check the various parameters of the aircraft again. After confirming that they are normal, operate the aircraft control device to start ascending for operation;

[0093] The said recovery state

[0094] Operator Returns: After the operator completes the operation, controls the aircraft to fly to near the transportation device 1 according to the predetermined route and adjusts the aircraft to the hover state. Under the condition of ensuring safety, the operator unfastens the seat belt, gets off the aircraft, and slowly descends to the ground through the safety rope;

[0095] Recovery Operation Starts: The operator walks to the vehicle, finds and presses the clearly marked recovery button on the vehicle operation panel. The system receives the instruction and starts the aircraft recovery operation. At this time, the warning lights around the vehicle light up again to remind the surrounding people to pay attention to avoiding;

[0096] Movement of the power component loading and unloading platform 5: The drive motor 4 operates, repeating the previous transmission process to drive the power component loading and unloading platform 5 to move to the set position; during the movement, the sensor monitors the platform position in real time to ensure that the platform accurately reaches the designated location;

[0097] Landing of the aircraft and component sleeving: Under the remote control of the operator, the aircraft flies back to the vehicle and lands on the airframe placement seat; during the landing process, the positioning device on the airframe placement seat guides the aircraft to be accurately positioned; each power component is correspondingly sleeved on the power component loading and unloading platform 5 and is initially fixed by means of mechanical structure or magnetic adsorption, etc.;

[0098] Power-off of the aircraft: The robotic arm 2 is activated. Under the command of the control module, the operating device at the end of the robotic arm 2 clicks the switch on the aircraft to complete the power-off operation of the aircraft; at this time, all the power systems of the aircraft are turned off and the indicator lights go out;

[0099] Removal of the locking screws: The robotic arm 2 replaces the end tool and uses tools such as an electric screwdriver or a wrench to remove the locking screws of each power component and the fuselage; during the removal process, remove them one by one in the specified order to avoid damage to the components or accidents caused by improper order;

[0100] Separation of the power components: The drive motor 4 operates to drive the power component loading and unloading platform 5 to move away from the aircraft body; during the movement, ensure the smooth separation of the power components from the aircraft body to avoid collision; until the power components are completely separated from the aircraft body;

[0101] Placement of the power components: The robotic arm 2 grabs each power component and places the power components in the power component placement seat 6 in turn according to the layout of the power component placement seat 6; during the placement, ensure that the power components are placed neatly and fixed firmly;

[0102] Retraction of the robotic arm 2: After the robotic arm 2 completes the placement of the power components, under the command of the control module, the joints of the robotic arm 2 contract and rotate in turn and retract to the initial position; during the retraction process, avoid the robotic arm 2 colliding with surrounding objects;

[0103] Retraction of the power component loading and unloading platform 5: The drive motor 4 operates to drive the power component loading and unloading platform 5 to retract along the track to the initial position; during the retraction process, the sensor monitors the platform position in real time to ensure that the platform accurately returns to its position;

[0104] Battery charging: The battery charging function is activated. The charging system on the takeoff and landing platform automatically identifies the battery model and status, adjusts the charging parameters, and puts the battery in a charging state; during the charging process, closely monitor parameters such as the temperature and voltage of the battery to ensure charging safety;

[0105] Proceed to the next scenario: After the aircraft recovery is completed, the operator checks the status of the vehicle and the aircraft. After confirming that everything is correct, the operator drives the vehicle into the next operation scenario.

[0106] The sensors integrated on the take-off and landing platform 7 include a position sensor, a in-place detection sensor, a high-definition camera, etc. The relevant data collected by them is transmitted to the control module through CAN, GPIO, LVDS communication and other means.

[0107] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0108] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transportation and automatic loading / unloading platform for a manned aircraft, the aircraft comprising an aircraft body, a power component, and a battery component; the power component is arranged in a triangular pattern with three ducted fans, and the power components of the left and right ducted fans are installed at both ends of the opening of the aircraft body. The battery component is connected to the end of the aircraft body without an opening, and the end of the aircraft body connected to the battery component is connected to the power component of the upper ducted fan. It is characterized in that the transportation and automatic loading / unloading platform includes an automatic loading / unloading device and a transportation device, and the automatic loading / unloading device is arranged on the transportation device; the transportation device includes a cockpit, drive wheels, and a takeoff / landing platform. There are control buttons and a display screen in the cockpit, and the cockpit is used for personnel to ride and control the automatic loading / unloading device; the takeoff / landing platform is used to arrange the aircraft and the automatic loading / unloading device; the automatic loading / unloading device includes an aircraft body mounting seat, a power component mounting seat, a power component loading / unloading platform, a robotic arm, a drive motor, and a transmission mechanism; the takeoff / landing platform is used to place the aircraft body mounting seat, the power component mounting seat, the power component loading / unloading platform, the robotic arm, the drive motor, and the transmission mechanism; the aircraft body mounting seat is used to place the aircraft body; the power component mounting seat is used to store the power components of the left and right ducted fans removed from the aircraft body; the power component loading / unloading platform is used to grab the power component and perform autonomous assembly and locking with the aircraft body; the robotic arm is used to grab objects and lock screws, and the locking screws are used to lock the power component and the aircraft body after docking; the drive motor is used to provide rotational potential energy; the transmission mechanism is used to convert the rotational motion of the drive motor into planar motion and drive the horizontal movement of the power component loading / unloading platform; the robotic arm is arranged at the front of the takeoff / landing platform, and two of the transmission mechanisms are symmetrically arranged on the takeoff / landing platform corresponding to the lower part of the operating end of the robotic arm. The two transmission mechanisms are placed mirror-symmetrically, and one end of the two transmission mechanisms is provided with the power component loading / unloading platform; there are extension shafts for docking with the power component at three positions on the left, right, and rear of the aircraft body, and the power component loading / unloading platform is arranged at the positions of the extension shafts on both sides of the aircraft body; the output shaft of the drive motor meshes with the gear at the other end of the transmission mechanism; the aircraft body mounting seat is erected above the drive motor and close to the mounting end of the robotic arm, and the power component mounting seat is placed behind the other end of the transmission mechanism.

2. The transport and automatic loading and unloading platform for a manned aircraft according to claim 1, characterized in that The bottom of the battery component is provided with a female charging interface, and the corresponding position at the bottom of the aircraft body mounting seat is provided with a male charging interface; a vision sensor is arranged on the robotic arm, which is used to locate the position of the power component and grab it at a preset position; sensors are arranged on the takeoff / landing platform to monitor the position of the platform in real time.

3. A transportation and automatic loading / unloading platform for a manned aircraft according to claim 1, characterized in that, A first bevel gear is provided on the output shaft of the drive motor; the transmission mechanism includes a second bevel gear, a transmission lead screw, and a guide rod. The second bevel gear is fixedly connected to the transmission lead screw. The transmission lead screw is embedded in the bottom ball sleeve of the power component loading and unloading platform. The guide rod is arranged on both sides of the transmission lead screw and sleeved in the guide sleeve of the power component loading and unloading platform. The first bevel gear meshes with two mirror-image second bevel gears.

4. A transportation and automatic loading and unloading platform for a manned aircraft according to claim 1, characterized in that, A locking mechanism is provided at the contact position between the aircraft body mounting seat and the aircraft body. The robotic arm has multiple degrees of freedom.

5. A transportation and automatic loading / unloading platform for a manned aircraft according to claim 1, characterized in that, A flexible member is provided at the contact position between the aircraft body mounting seat and the aircraft body to provide a small amount of movement space when the aircraft body is docked with the power component.

6. A system for a transportation and automatic loading / unloading platform of a manned aircraft, according to any one of claims 1-5, characterized in that It includes an aircraft module, an automatic loading and unloading device module, a transportation device module, and a control module. The aircraft module is used to carry a single operator for high-altitude operations. The automatic loading and unloading device module is used to automatically load and unload the manned aircraft module. The transportation device module is used to transport the automatic loading and unloading device module. The control module is used to control the operation of each component. It is integrated in the circuit hardware module inside the transportation device module. There is a start button in the passenger compartment of the transportation device module. After pressing the start button, the automatic loading and unloading device module starts operating to assemble the manned aircraft module.

7. A system for a transportation and automatic loading / unloading platform of a manned aircraft, characterized in that, The aircraft module includes an aircraft body, a power component, and a battery component. The automatic loading and unloading device module includes an aircraft body mounting seat, a power component mounting seat, a power component loading and unloading platform, a robotic arm, a drive motor, and a transmission mechanism. The transportation device module includes a transportation device. In the initial state, the aircraft module and the automatic loading and unloading device module are both arranged on the takeoff and landing platform. The battery component is fixedly connected to the aircraft body. The aircraft body is arranged on the aircraft body mounting seat. The power component is arranged on the power component mounting seat. After the operator drives the transportation device to the operation site and starts the operation program, the servo motor drives the transmission mechanism to operate, driving the power component loading and unloading platform to move away from the aircraft body to the loading and unloading waiting area. Then, the start button is triggered. The control module outputs the power and control signals required for the operation of the automatic loading and unloading device module. The robotic arm starts to operate. The robotic arm locates the position of the power component through the visual sensor arranged on the arm and grabs it at the preset position. The grabbed power component is placed on the power component loading and unloading platform according to the set position. The drive transmission mechanism operates in the reverse direction, driving the power component loading and unloading platform to move towards the aircraft body until the power component is docked with the aircraft body. The assembly of the aircraft module is completed and the takeoff operation begins.

8. A system for a transportation and automatic loading / unloading platform of a manned aircraft, characterized in that, The drive motor runs in reverse, and the rotor inside it rotates at high speed under the action of electromagnetic induction. Through the bevel gear connected to it, the rotational power is transmitted to the transmission lead screw, causing the transmission lead screw to start rotating; the transmission lead screw is connected to the power component loading and unloading platform through a ball bushing. Under the rotation of the lead screw, the ball bushing drives the power component loading and unloading platform to move along the established track away from the body; during the movement, the sensor installed on the lifting platform monitors the position of the platform in real time. When the preset specified position is reached, the sensor sends a signal to the control module, and the drive motor stops running; After the battery component is connected to the aircraft body, it is placed on the aircraft body mounting seat, and the battery component is in a connected state with the power supply line inside the aircraft body; a charging interface female terminal is designed at the bottom of the battery component, and a charging interface male terminal is designed at the corresponding position at the bottom of the aircraft body mounting seat. When the aircraft body is placed on the aircraft body mounting seat, the charging interface female terminal and the male terminal are docked, and the battery component is charged and replenished with energy through the vehicle power supply.

9. A working method of a system for a transportation and automatic loading / unloading platform of a manned aircraft, according to any one of claims 6-8, characterized in that It includes a loading working method, an operation working method, and a recovery working method: The loading working method: First, disassemble and fix the power component, and then fix the aircraft and the battery and perform charging docking to complete the loading of the aircraft; The operation working method: First, start the operation, move the power component loading and unloading platform, and the robotic arm grabs and arranges the power component to complete the docking of the power component and the body; start the robotic arm again, fasten the power component and the aircraft body, and then the robotic arm clicks the start button on the aircraft body, and the aircraft enters the low-altitude suspension state; the operator boards the aircraft and starts the lifting operation; The recovery working method: The operator controls the aircraft to fly to the vicinity of the transportation device according to the predetermined route, slowly descends to the ground through the safety rope, presses the marked recovery button, and starts the movement of the power component loading and unloading platform. Under the remote control of the operator, the aircraft starts to land and the component is sleeved. Finally, the aircraft is powered off; the robotic arm replaces the end tool to remove the locking screw, causing the power component to detach, and grabs each power component. According to the layout of the power component mounting seat, the power components are sequentially placed in the power component mounting seat. Then, the joints of the robotic arm contract and rotate in sequence, and are retracted to the initial position. The drive motor runs, driving the power component loading and unloading platform to be recovered to the initial position along the track, and then the battery charging function is started; After the aircraft recovery is completed, the operator checks the status of the vehicle and the aircraft. After confirming that there is no error, the operator drives the vehicle into the next operation scenario.

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