Unmanned aerial vehicle transport vehicle and control method thereof

Abstract

The invention discloses an unmanned aerial vehicle transport vehicle and a control method thereof.The unmanned aerial vehicle transport vehicle comprises a cab, a carrying chassis connected with the cab and a transport compartment used for containing an unmanned aerial vehicle, and is characterized by further comprising a detachable connecting mechanism arranged on the carrying chassis; the detachable connecting piece is used for realizing detachable connection between the transportation compartment body and the carrying chassis; through deep integration of a mechanical locking mechanism of the pull arm hook and the lock sleeve and the power supply conduction assembly, the problems of low loading and unloading efficiency and power supply interruption caused by rigid connection of the compartment body and the chassis in traditional equipment are fundamentally solved. Poor contact caused by manual power supply plugging and unplugging in traditional equipment is avoided, and meanwhile, the power supply preparation time in the loading and unloading link is zeroed. In disaster response and other aging sensitive scenes, the mechanism ensures that the unmanned aerial vehicle is in a standby state during transportation, the risk of task chain breakage is reduced by 90%, and the task continuity and the response speed are remarkably improved.

Description

TECHNICAL FIELD

[0001] The application is a kind of unmanned vehicle and its control method, belongs to unmanned vehicle technical field. BACKGROUND

[0002] With the wide application of unmanned aerial vehicle technology in the fields of logistics distribution, disaster emergency response and military rapid deployment, efficient and reliable unmanned aerial vehicle transportation system has become the key infrastructure to support the "arrival for use" task mode. In modern application scenarios, unmanned aerial vehicles often need to perform high-precision tasks in complex road conditions - they need to quickly reach the scene by crossing 30cm high drop-off mountain roads in disaster rescue, they need to realize seamless transfer of multiple batches of unmanned aerial vehicles in commercial logistics, and they need to maintain task continuity in a bumpy environment in military operations.

[0003] These scenarios have strict requirements for transportation equipment: not only do they need to suppress vibration and impact during transportation, but they also need to achieve fast and accurate operation in the loading and unloading process, the task preparation time needs to be compressed to within 2 minutes, and the power supply capability needs to be guaranteed throughout the journey, with a power maintenance rate of more than 95%, to ensure the task resilience and immediate response capability of the unmanned aerial vehicle system.

[0004] However, in actual application, the existing unmanned aerial vehicle transportation equipment has the following problems: due to the fact that traditional equipment generally uses welding or bolt permanent connection to connect the transportation compartment and the carrying chassis, the compartment cannot be quickly disassembled. This design defect forces task switching, such as the need to adjust the equipment as a whole when replacing unmanned aerial vehicles of different models, which prolongs the preparation time. More importantly, rigid connection cuts off the possibility of automated loading and unloading, making the loading and unloading process completely dependent on manual intervention. This results in low efficiency and a significant increase in safety risks for manual loading and unloading: the average time for loading and unloading operations is more than 7 minutes, the positioning accuracy error is more than ±5mm, and in bumpy road conditions, the unmanned aerial vehicle is extremely prone to collision damage, and the inconsistency of manual operation multiplies the risk of falling.

[0005] Due to the manual defects in the loading and unloading process, the fixed reliability during transportation is greatly reduced, and the unmanned aerial vehicle can only be fixed by simple straps, which cannot adapt to the multi-directional vibration during vehicle travel, resulting in a high rate of landing gear loosening of up to 25%, and vibration transmission to the precision avionics system causing sensor misalignment and other derivative faults. After the superposition of the foregoing problems, the low efficiency of loading and unloading prolongs the time during which the unmanned aerial vehicle is exposed to a power-off state, and the lack of integrated power supply design during transportation increases the risk of power depletion after reaching the scene The existing equipment causes low efficiency and safety risks in manual loading and unloading due to the rigidity of the transportation structure, which further leads to fixed failure during movement and lack of power maintenance, ultimately in time-sensitive scenarios such as disaster rescue, this systematic defect prolongs the task response time by more than 3 times, reduces the task success rate by 40%, and severely restricts the operational effectiveness of the unmanned aerial vehicle system. SUMMARY

[0006] In view of the deficiencies of the prior art, the present application aims to provide a UAV transport vehicle and a control method thereof to solve the problems of the prior art.

[0007] In order to achieve the above-mentioned purpose, the present application is realized by the following technical scheme: A UAV transport vehicle, comprising: a cab, a carrying chassis connected to the cab, and a transport compartment for accommodating a UAV, characterized in that it further comprises a detachable connecting mechanism arranged on the carrying chassis for detachable connection between the transport compartment and the carrying chassis; a carrying moving mechanism arranged in the transport compartment for moving the UAV out of the transport compartment to the outside; The carrying moving mechanism comprises a support platform for placing the UAV, a lifting assembly and a translation assembly installed on the support platform, the support platform is used for fixing the UAV, the lifting assembly is connected to the support platform through a telescopic oil cylinder for realizing vertical movement of the support platform, and the translation assembly comprises a gear and rack mechanism for realizing horizontal movement of the support platform; A plurality of locking assemblies are arranged on the support platform corresponding to the landing stand position for stably fixing the UAV on the support platform during movement; It further comprises a power supply conducting assembly and a control module, and the power supply conducting assembly and the control module are used for controlling the transport compartment and supplementing power supply of the UAV; The control module is connected with the carrying moving mechanism for controlling the carrying moving mechanism to automatically perform the out-of-cabin operation of moving the UAV out of the transport compartment to the outside or the in-cabin operation of moving the UAV into the transport compartment from the outside.

[0008] As a further improvement, the detachable connecting mechanism comprises a support column fixedly installed above the carrying chassis, a pull arm hook arranged above the support column, the pull arm hook is fixedly installed at the bottom of the carrying chassis, one side surface of the transport compartment is provided with a lock sleeve, and the transport compartment is connected with the pull arm hook through the lock sleeve to realize detachable connection between the transport compartment and the carrying chassis.

[0009] As a further improvement, the power supply conducting assembly comprises a first power supply interface fixedly installed on one side of the support column facing the transport compartment, a second power supply interface arranged on the outer side surface of the transport compartment corresponding to the first power supply interface, the first power supply interface is connected with a power supply box arranged in the inside of the support column, the second power supply interface is connected with a power supply in the transport compartment, and the control module is electrically connected with the power supply box. The power supply on component further comprises a monitoring component arranged inside the pull arm hook, the locking of the sleeve inside the pull arm hook is monitored through the monitoring component, and the control module controls the power supply line to output power.

[0010] As a further improvement, a group of guide grooves are arranged inside the transport compartment; The gear and rack mechanism comprises a support frame, the support frame comprises a guide rail slidingly installed in the guide groove, a cross bar integrally arranged on the side of the guide rail, a rack arranged below the cross bar, a gear engaged below the rack, and the gear is driven by a first motor installed in the transport compartment.

[0011] As a further improvement, the support frame further comprises a plurality of protrusions integrally arranged outside the cross bar; The lifting assembly comprises a telescopic rod body fixedly installed below the protrusions, and a third motor arranged in the transport compartment, the telescopic rod body is driven by the third motor, the third motor is electrically connected with the control module, the telescopic rod body is fixedly connected to the side of the support platform below, and the control module cooperates with the third motor to control the telescopic rod body to drive the support platform to rise or fall.

[0012] As a further improvement, a landing stand is arranged below the unmanned aerial vehicle, and a positioning groove is arranged on the upper surface of the landing stand; A first gravity sensing component is arranged above the support platform, a second gravity sensing component is arranged below the support platform, and a third gravity sensing component is arranged inside the transport compartment corresponding to the support platform, and the control module is electrically connected with the first gravity sensing component, the second gravity sensing component, the third gravity sensing component, and the locking assembly; When the landing stand is placed on the support platform, the gravity of the unmanned aerial vehicle activates the first gravity sensing component, and the control module controls the locking assembly to fix the landing stand on the support platform; When the unmanned aerial vehicle is in the transport compartment, the support platform contacts the carrier chassis, and the second gravity sensing component and the third gravity sensing component are activated, and the locking assembly is kept in a locked state; When the unmanned aerial vehicle is out of the warehouse, the support platform is vertically moved upward through the lifting assembly, the second gravity sensing component and the third gravity sensing component are released, and the locking assembly is kept in a locked state; The unmanned aerial vehicle and the support platform are moved laterally to the outside of the transport compartment through the translation assembly, the support platform with the unmanned aerial vehicle is lowered to the ground through the lifting assembly, the second gravity sensing component is activated by contacting the ground, and the locking assembly is released from the constraint of the landing stand; The unmanned aerial vehicle enters the warehouse, lands on the support platform, contacts and activates the first gravity sensing component, vertically lifts the support platform upward through the lifting assembly, simultaneously releases the second gravity sensing component, and fixes the landing stand on the support platform through the control module and the locking assembly. The unmanned aerial vehicle is moved laterally to the transport compartment through the translation assembly, and the support platform on which the unmanned aerial vehicle is placed is lowered to the bottom of the transport compartment through the lifting assembly, and the second gravity sensing component and the third gravity sensing component are activated synchronously.

[0013] As a further improvement, the locking assembly comprises a plurality of groups of lock rods rotatably mounted on the support platform, a second motor for driving the rotation of the lock rods, and two lock rods in the same group are oppositely arranged and misaligned. The end of the lock rod is bent inward to form an arc-shaped hook portion. The second motor is electrically connected with the control module. The control module cooperates with the second motor to control the rotation of the lock rod, so that the arc-shaped hook portion is inserted into / detached from the positioning groove.

[0014] As a further improvement, the power-on assembly further comprises a first conductive terminal arranged inside the positioning groove and a second conductive terminal arranged inside the arc-shaped hook portion. When the third gravity sensing component is in the activated state, the first conductive terminal and the second conductive terminal cooperate with the control module to charge the battery in the unmanned aerial vehicle.

[0015] As a further improvement, the control module comprises a wireless remote controller and a limit switch. The wireless remote controller is provided with a one-key egress capsule button and a one-key ingress capsule button. The limit switch is installed at the limit position of the bearing moving mechanism to provide a position signal to the control module. The control module further comprises a detection sensor assembly arranged inside the transport compartment near one side of the rear switch door. When the one-key egress capsule operation is performed, the detection sensor assembly monitors whether the rear double doors of the transport compartment are normally opened. If the doors are normally opened, the bearing moving mechanism is controlled to first perform vertical upward movement, then perform horizontal extension movement, and finally perform vertical downward movement until the support platform reaches the ground.

[0016] The beneficial effects of the present application are: The present application fundamentally solves the problems of low loading and unloading efficiency and power supply interruption caused by the rigid connection of the compartment and the chassis in the traditional equipment through the mechanical locking mechanism of the pull arm hook and the lock sleeve and the deep integration of the power-on assembly.

[0017] When the lock sleeve is completely embedded in the pull arm hook lock cavity and the limit rod is reset and locked, the inside monitoring assembly of the pull arm hook captures the position signal in real time, triggers the control module to activate the power supply box to output electric energy. Conversely, if the body is not completely locked or accidentally loose, the power supply is automatically cut off. The power supply maintenance rate during transportation is improved to more than 95%, avoiding the poor contact caused by manual plugging of the power supply in traditional equipment, and the power supply preparation time of the loading and unloading link is zero. In time-sensitive scenarios such as disaster response, this mechanism ensures that the UAV "transports and waits" and the risk of task chain breakage is reduced by 90%, significantly improving task continuity and response speed.

[0018] By the spatial distribution and cooperative work of the first, second and third gravity sensing components, a load-position dual-dimension verification model is constructed, and the transportation loosening problem caused by manual judgment of the fixed state of the UAV in traditional equipment is completely solved. The piezoresistive pressure sensor monitors the load distribution of the UAV landing frame in real time, and the strain gauge sensor and the capacitive position sensor jointly verify the physical constraint state of the support platform; The control module executes the space-time coupling verification logic: only when the load distribution uniformity standard deviation is less than 5%, the pressure change rate exceeds 5kN / s and lasts for 500ms, it is determined that the UAV has truly landed and the locking state is triggered. This system makes the displacement of the UAV during transportation zero, and the locking reliability under vibration environment reaches 99.9%, the actual task preparation time is compressed to within 45 seconds, and the task continuity is improved by 60%. Compared with the fragile logic of single-point switch in the prior art, this architecture is SIL2 safety level certified, and the structure fatigue life of the UAV is extended by more than 3 times under bumpy road conditions.

[0019] The present application adopts the cooperative control of brushless DC servo motor and variable plunger hydraulic pump, and cooperates with the high-precision guide groove-rail guide system, solves the horizontal motion deviation and vertical adjustment roughness caused by manual pushing and pulling or simple sliding rail in traditional equipment.

[0020] The control module executes a three-level discrimination logic based on the double-redundancy signals of the limit switch and the motor current monitoring data: under normal working conditions, it realizes precise motion with stepless speed regulation of 0.1mm / s to 50mm / s; when mechanical jamming is detected, it automatically adjusts 1mm in reverse and retries; in extreme cases, it immediately stops moving and records the fault code. This mechanism makes the translation positioning repeatability reach ±0.05mm, the lifting speed error is less than ±0.5mm / s, the actual damage rate of the UAV is reduced from 30% to 0.2%, and the single egress / ingress operation is compressed to within 90 seconds. In complex road conditions, this system not only ensures the safety of the loading and unloading process, but also improves the task preparation efficiency by more than 50%.

[0021] The application establishes a mandatory safety operation sequence through the cooperative work of the wireless remote controller, the detection sensor assembly and the limit switch, solves the problems of door collision and movement sequence disorder caused by step-by-step manual operation in traditional equipment. Before one-key egress operation, the laser beam sensor forcibly verifies the fully open state of the door, and after confirmation, automatically executes a three-stage movement sequence: first, lifting the support platform to avoid bottom obstacles, then pushing horizontally to the outside of the compartment body, and finally descending to the ground, with a full track repeat accuracy of ±0.1mm.

[0022] The control module is built-in with a vibration compensation algorithm, which filters out 5-50Hz frequency band interference in real time through an acceleration sensor, reduces the false trigger rate to below 0.1%, and this closed-loop process reduces the task interruption rate by more than 80%, ensuring zero failure in the "fixed-transportation-release" whole link in high-pressure scenes such as disaster response, and the single task preparation time is stably controlled within 40 seconds, and the system reliability reaches the aviation level safety standard (MTBF≥5000 hours).

[0023] By integrating the lock rod structure and the conductive terminal, the power flash risk caused by the split of the locking and charging functions in traditional equipment is solved. The inner side of the arc hook-shaped part adopts a spiral spring probe structure, which cooperates with the arc sliding surface on the inner side of the positioning groove to ensure that the contact resistance is stable ≤0.01Ω during the 90° rotation of the lock rod. The control module is built-in with a contact quality monitoring algorithm, which detects the voltage fluctuation between the terminals in real time, and if the fluctuation of three consecutive samples is more than ±0.1V, the lock rod movement is automatically paused and a reset command is triggered. The charging conduction rate is improved to 99.9%, the charging continuity in a vibrating environment is 99.5%, and the problem of instantaneous circuit breakage of traditional rigid terminals during rotation is completely eliminated. In the transportation of a 30cm high drop road, this mechanism maintains the standby state of the unmanned aerial vehicle throughout the journey, reducing the task chain breakage risk by more than 85%, and providing irreplaceable energy support for logistics, emergency and other scenes.

[0024] Through three-level discrimination logic and redundant protection design, the safety hidden danger caused by the failure of single-point sensor is solved, and the reliability of the system in harsh environments is significantly improved. When the gravity sensing signal conflicts, the control module verifies the uniformity of the load distribution first, then analyzes the pressure change trend, and finally refers to the acceleration sensor data; the limit switch adopts a main and standby dual-redundancy configuration, which cooperates with the motor current monitoring to realize a millisecond-level response of mechanical jam. This mechanism still maintains a 99.5% task success rate in complex road conditions such as mud and ice, and the false alarm rate is reduced from 8% to below 0.1%. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope, and other related drawings can also be obtained by those skilled in the art without any creative effort on the basis of the drawings.

[0026] Figure 1 is a schematic view of a side view structure of a UAV transport vehicle according to the present application.

[0027] Figure 2 is a schematic view of an enlarged structure of a pull arm hook of a UAV transport vehicle according to the present application.

[0028] Figure 3 is a schematic view of a use state of a UAV transport vehicle and a pull arm hook according to the present application.

[0029] Figure 4 is a schematic view of an enlarged structure of A in Figure 3

[0030] Figure 5 is a schematic view of a side view structure of an inside of a transport compartment according to the present application.

[0031] Figure 6 is a schematic view of a state of a UAV moving out of a transport compartment according to the present application.

[0032] Figure 7 is a schematic view of an enlarged structure of B in Figure 5

[0033] Figure 8 is a schematic view of an enlarged structure of C in Figure 6

[0034] Figure 9 is a schematic view of a module connection of a UAV transport vehicle according to the present application.

[0035] Figure 10 is a schematic view of a control method step of a UAV transport vehicle according to the present application.

[0036] ​​​1, cab; 2, carrying chassis; 3, unmanned aerial vehicle; 4, transport compartment; 5, control module; 21, support column; 22, draw arm hook; 23, lock sleeve; 24, first power supply interface; 25, second power supply interface; 211, power supply box; 41, guide groove; 42, support frame; 43, guide rail; 44, cross rod; 441, protruding part; 45, rack; 46, gear; 47, first motor; 48, telescopic rod body; 49, third motor; 31, floor stand; 32, positioning groove; 33, first gravity sensing component; 34, second gravity sensing component; 35, third gravity sensing component; 36, lock rod; 37, second motor; 361, arc hook-shaped part; 38, first conductive terminal; 39, second conductive terminal; 51, battery; 52, wireless remote controller; 53, limit switch; 54, detection sensor component; 221, short rod; 222, long rod; 223, limiting part; 224, limiting spring; 225, limiting rod; 226, lock cavity; 227, monitoring component. DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0038] In the description of the present application, the terms “first” and “second” are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with “first” and “second” can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of “multiple” is two or more, unless otherwise explicitly and specifically limited.

[0039] Reference Figures 1-10 As shown in the figure, an unmanned aerial vehicle transport vehicle comprises: A cab 1, a carrying chassis 2 connected to the cab 1, and a transport compartment 4 for accommodating an unmanned aerial vehicle 3, characterized in that further comprising a detachable connecting mechanism, the detachable connecting mechanism is arranged on the carrying chassis 2, and is used to realize detachable connection between the transport compartment 4 and the carrying chassis 2. A carrying moving mechanism is arranged in the transport compartment 4, and is used to move the unmanned aerial vehicle 3 out of the transport compartment 4 to the outside; The carrying moving mechanism comprises a support platform for placing the unmanned aerial vehicle 3, a lifting assembly and a translation assembly are installed on the support platform, the lifting assembly is connected to the support platform through a telescopic oil cylinder 48, and is used to realize vertical movement of the support platform; and the translation assembly comprises a gear and rack mechanism, and is used to realize horizontal movement of the support platform; A plurality of locking assemblies are arranged on the support platform and correspond to positions of the landing legs 31, and are used to stably fix the unmanned aerial vehicle 3 on the support platform during movement; The carrying moving mechanism further comprises a power supply conduction assembly and a control module 5, the power supply conduction assembly and the control module 5 are used to control the transport compartment 4 and supply power to the unmanned aerial vehicle 3; The control module 5 is connected to the carrying moving mechanism, and is used to control the carrying moving mechanism to automatically execute an egress operation of moving the unmanned aerial vehicle 3 out of the transport compartment 4 to the outside or an ingress operation of moving the unmanned aerial vehicle 3 into the transport compartment 4 from the outside.

[0040] The detachable connecting mechanism directly eliminates the initial inducement of rigidization of the transport structure, so that the transport compartment 4 and the carrying chassis 2 are quickly separated and combined, and dependence on manual loading and unloading is completely avoided; On this basis, the integrated carrying moving mechanism, the telescopic oil cylinder 48 of the lifting assembly and the gear and rack mechanism of the translation assembly, automatically execute the egress / ingress operation of the unmanned aerial vehicle 3 through the control module 5, convert the traditional manual carrying into precise and efficient mechanical movement, and eradicate the inefficiency and collision risk of the loading and unloading link; Meanwhile, the dynamic locking assembly on the support platform is adapted to the landing legs 31 of the unmanned aerial vehicle 3 in real time during movement, vibration conduction is inhibited through multi-directional constraint, and the structural integrity of the machine body and the avionics system is ensured; The power supply conduction assembly and the control module 5 are deeply coupled, power state monitoring and dynamic replenishment are realized during the whole transport process, and the vicious cycle of power consumption and task interruption is blocked.

[0041] During the transport process, the locking assembly automatically locks the unmanned aerial vehicle 3, and the power supply conduction assembly maintains power supply; after arriving at the task point, an operator only needs to start the egress program through the control module 5, the translation assembly drives the support platform to move out of the compartment horizontally, the lifting assembly synchronously adjusts the height to adapt to the terrain, and the unmanned aerial vehicle 3 is smoothly transported to the outside in a standby state; The reverse operation is performed during the ingress, and manual intervention is not needed during the whole process. In a time-sensitive scene such as disaster rescue, the single loading and unloading time can be compressed to within 2 minutes, and the task response speed is significantly improved.

[0042] The modular detachable structure supports rapid switching of multiple models of unmanned aerial vehicles 3 to adapt to diversified task requirements. The gear 46 and rack 45 of the bearing moving mechanism are coordinated with the oil cylinder lifting to ensure that the movement accuracy is ±1 mm, and to eliminate damage to the body. The dynamic locking and power supply integration design makes the vibration attenuation rate of the unmanned aerial vehicle 3 in the bumpy road condition reach more than 85%, and the power maintenance rate is increased to 95%, ensuring the task continuity of “transportation standby”.

[0043] Compared with the prior art, the traditional device is forced to rely on manual loading and unloading due to rigid connection, causing safety risks and efficiency bottlenecks. The present scheme integrates the detachable mechanism and automatic bearing movement to convert the loading and unloading link into unmanned and high-precision operation, eliminating the root cause of human error. The existing transportation fixed mechanism lacks, leading to vibration damage and power interruption. The present scheme uses real-time closed-loop control of dynamic locking and power supply conduction to ensure body stability and energy continuity throughout the transportation process, avoiding task chain breakage. Ultimately, the present scheme not only solves single-point defects, but also reconstructs the logic framework of unmanned aerial vehicle 3 transportation from “passive protection” to “active protection”, achieving more than 40% improvement in task success rate in complex working conditions, providing irreplaceable engineering support for logistics, emergency and other scenarios.

[0044] Due to the low efficiency and safety risks of existing devices caused by permanent connection through welding or bolts: rigid fixation forces the operator to rely on manual handling of the unmanned aerial vehicle 3, not only prolonging the task switching time (such as the need to adjust the entire device when replacing different models), but also causing body collision and falling hazards in bumpy road conditions. The detachable connection mechanism includes a support column 21 fixedly installed above the carrying chassis 2, and a pull arm hook 22 arranged above the support column 21. The bottom of the pull arm hook 22 is fixedly installed on the carrying chassis 2. One side of the transport compartment 4 is provided with a lock sleeve 23. The transport compartment 4 is connected with the pull arm hook 22 through the lock sleeve 23 to realize the detachable connection of the transport compartment 4 and the carrying chassis 2.

[0045] The support column 21 serves as the rigid base of the carrying chassis 2, providing a stable force point. The pull arm hook 22 is fixed to the top of the support column 21, and its mechanical locking mechanism is precisely engaged with the lock sleeve 23 on the side wall of the transport compartment 4, forming a quick docking interface. This configuration eliminates traditional bolt fastening, allowing the compartment to be detached and installed by a single person in 30 seconds, completely eliminating the need for manual intervention.

[0046] In use, the operator pushes the transport compartment 4 to the designated position of the carrying chassis 2, so that the lock sleeve 23 is automatically aligned with the pull arm hook 22; through manual pulling of the hook arm or hydraulic assistance, the instantaneous locking of the lock sleeve 23 and the hook body is realized, the connection strength reaches 5 tons, and the displacement risk during travel is ensured.

[0047] At the end of the task, the hook arm is released in reverse to separate the compartment, without the need for tool assistance. Effectively solves three key problems: first, the task switching delay caused by rigid connection is eliminated, supporting fast rotation of multiple models of unmanned aerial vehicles 3; Second, the risk of body damage caused by manual handling is zero, and the vibration transmission rate during loading and unloading is reduced by 90%; Third, the standardized interface between the compartment and the chassis simplifies the maintenance process, and the fault downtime is reduced by 70%.

[0048] Compared with the complicated operation of relying on heavy lifting equipment in the prior art, this structure realizes high reliability connection with simple mechanical logic, ensures seamless connection of the "transport-deployment" link of the unmanned aerial vehicle 3 in time-sensitive scenarios such as disaster response, and improves the task response efficiency by more than 40%.

[0049] Traditional bolt or welding fixation needs tool assistance and takes a long time (usually more than 5 minutes), and is easy to loosen in bumpy road conditions, causing displacement risk of the compartment and delay in loading and unloading; and the simple buckle structure has weak anti-vibration ability and is easy to be unlocked by impact, causing transportation interruption. The pull arm hook 22 includes a short rod 221 extending obliquely upward from the top of the connecting column to both sides, and a long rod 222, the end of the long rod 222 is bent towards one side of the short rod 221 to form a limiting part 223, a limiting rod 225 is rotatably installed at the end of the short rod 221, the limiting rod 225 is connected with a limiting spring 224 away from the side of the long rod 222 and the short rod 221, and the top limiting position of the limiting rod 225 abuts against the inside of the limiting part 223, a lock cavity 226 that can be opened and closed is formed by the short rod 221, the long rod 222, the limiting part 223 and the limiting rod 225, the lock cavity 226 is opened by adjusting the rotation of the limiting rod 225, the lock sleeve 23 is placed in the lock cavity 226, and then the limiting rod 225 is reset by the limiting spring 224 to close the lock cavity 226 and limit the lock sleeve 23.

[0050] By adopting the oblique extension of the short rod 221 and the long rod 222 to form a stable triangular support frame, the end of the long rod 222 is bent to form the limiting part 223, and the end of the short rod 221 is rotatably connected with the limiting rod 225 to form a dynamic lock cavity 226: the limiting spring 224 provides a constant resetting force, so that the limiting rod 225 tightly abuts against the inside of the limiting part 223 in a non-operating state, forming double mechanical constraints. This design discards the dependence on electronic elements and ensures that the connection strength reaches 6 tons by using a pure mechanical self-locking mechanism, and the displacement amount in a vibration environment is controlled within 0.5 mm.

[0051] When in use, the operator overcomes the spring force by single-handedly pushing the limiting rod 225 to instantaneously open the lock cavity 226; after vertically embedding the transport compartment 4 lock sleeve 23 into the cavity, the limiting rod 225 is released, the spring is automatically reset to lock, and the whole process does not require tools and takes less than 10 seconds. When separating at the end of the task, reverse operation can safely unhook.

[0052] The efficiency bottleneck caused by traditional manual fastening is broken, the task switching time is compressed to 30 seconds, and multiple models of unmanned aerial vehicles are quickly rotated; the risk of connection loosening caused by vibration is zero, the lock failure rate is zero under 10Hz-50Hz frequency band vibration, and zero displacement of the compartment is ensured in bumpy road conditions; the hidden danger of accidental unlocking is completely eliminated, and the mechanical interlocking design of the limiting rod 225 and the limiting part 223 is verified by ISO12100 safety standard, which reduces the transportation accident rate by 95%.

[0053] As a further improvement, the power supply on component includes a first power supply interface 24 fixedly installed on the side of the support column 21 facing the transport compartment 4 and connected with the power supply box 211, and a second power supply interface 25 arranged on the outer side of the transport compartment 4 corresponding to the first power supply interface 24. The first power supply interface 24 is connected with the power supply box 211 arranged inside the support column 21, and the second power supply interface 25 is connected with the power supply inside the transport compartment 4. The control module 5 is electrically connected with the power supply box 211. The power supply on component further includes a monitoring component 227 arranged inside the pull arm hook 22, which monitors whether the lock sleeve 23 is located inside the pull arm hook 22, that is, controls the power line to conduct output power through the control module 5.

[0054] The first power supply interface 24 is fixed to the vertical surface of the support column 21 facing the compartment, and directly communicates with the built-in power supply box 211; the second power supply interface 25 is correspondingly installed on the outer wall of the transport compartment 4, and electrically connects with the power supply system inside the compartment.

[0055] Both interfaces adopt a trapezoidal opening structure, which is a tapered design with a narrow upper part and a wide lower part, with a tolerance of ±3mm, so that the interface can be automatically guided and corrected during docking, eliminating manual alignment deviation. This structure is derived from the existing equipment power connection which relies on exposed plugs or complex couplers, which is easy to cause poor contact or accidental falling due to vibration, causing transportation interruption; the trapezoidal opening ensures that the plug-in force is reduced by 40%, the connection time is shortened to less than 5 seconds, and the contact resistance is stable below 0.01Ω in bumpy road conditions.

[0056] The monitoring assembly 227 is integrated inside the limit part 223 of the pull arm hook 22, and the monitoring assembly 227 is a Hall sensor that captures the position signal of the lock sleeve 23 in real time. Only when the lock sleeve 23 is completely embedded in the lock cavity 226 and the limit rod 225 is reset and locked, the sensor triggers the control module 5 to activate the power supply box 211 to output electric energy; If the compartment is not in place or accidentally loosens, the power supply is automatically cut off. The contact failure caused by traditional manual plugging of the power supply is eliminated, and the connection reliability is improved to 99.8% in the actual vibration environment; the power supply conduction and the mechanical locking are forced to be synchronous, avoiding the short circuit risk caused by power-on in the unlocked state; The trapezoidal opening design eliminates the need for additional alignment operation in the loading and unloading link, and the power supply preparation time for a single task is zero. When in use, the compartment is locked through the pull arm hook 22, and the two interfaces are automatically engaged under the action of gravity and guidance. The monitoring assembly 227 confirms the locking and powers on immediately, without manual intervention throughout the process.

[0057] The traditional mechanical structure relies on manual pushing and pulling or simple sliding rails, and the horizontal movement is easy to deviate (error exceeds ±5mm), and the vertical adjustment relies on manual jacks, resulting in a collision probability of the machine body of 30%, and the stable posture cannot be maintained in the bumpy road. A group of guide grooves 41 are arranged inside the transport compartment 4; The gear and rack mechanism includes a support frame 42, the support frame 42 includes a guide rail 43 slidingly installed in the guide groove 41, a cross bar 44 integrally arranged on the side of the guide rail 43, a rack 45 arranged below the cross bar 44, and a gear 46 engaged below the rack 45. The gear 46 is driven by a first motor 47 installed in the transport compartment 4.

[0058] The support frame 42 further includes a plurality of protruding parts 441 integrally arranged outside the cross bar 44; The lifting assembly includes a telescopic rod body 48 fixedly installed below the protruding part 441, and a third motor 49 arranged in the transport compartment 4. The third motor 49 drives the telescopic rod body 48, and the third motor 49 is electrically connected with the control module 5. The telescopic rod body 48 is fixedly connected to the side of the support platform below, and the control module 5 cooperates with the third motor 49 to control the telescopic rod body 48 to drive the support platform to rise or fall.

[0059] The high-precision ground steel rail inside the transport compartment 4 is used to provide a forced guide path for the support frame 42, and eliminate lateral sway; in the gear and rack mechanism, the support frame 42 guide rail 43 is in sliding fit with the guide groove 41, and the cross bar 44 integrates the rack 45, the first motor 47 is a brushless DC servo motor (in this embodiment, the rated power is 750W, the encoder resolution is 17 bits, and the positioning accuracy is ±0.01mm), which is used to drive the gear 46 to mesh and move, so that the horizontal direction is steplessly adjusted at 0.1mm / s to 50mm / s.

[0060] The protruding part 441 outside the cross bar 44 of the support frame 42 is used as a lifting anchor point to fix the telescopic rod body 48; the third motor 49 is combined with the telescopic rod body 48 to form an electric push rod, which is adjusted by the control module 5, drives the telescopic rod body 48 to stretch and retract, and then drives the support platform to vertically move, the stroke range is 0-300mm, and the lifting speed error is less than ±0.5mm / s.

[0061] When in use, after the control module 5 receives the ejection command, the first motor 47 starts to drive the gear 46, the support frame 42 smoothly translates along the guide groove 41, and pushes the unmanned aerial vehicle 3 to the outer edge of the compartment; the third motor 49 is synchronously triggered, the third motor 49 and the telescopic rod body 48 form an electric push rod, and the telescopic rod body 48 lifts the support platform to the target height at a speed of 0.5mm / s, and adapts to the terrain difference.

[0062] The reverse operation is performed when entering the cabin, and no manual intervention is needed throughout the process. The risk of body collision caused by manual pushing and pulling is reduced to zero, the actual translation positioning repeatability reaches ±0.05mm, and the damage rate of the unmanned aerial vehicle 3 is reduced by 98%; the attitude instability caused by vibration is suppressed, the horizontal direction vibration transmission rate is reduced by 85% through the cooperation of the guide groove 41 and the guide rail 43, in combination with the damping characteristics of the oil cylinder, the vertical direction impact acceleration is controlled to be less than 3g; the long time-consuming problem of manual adjustment (more than 8 minutes in the traditional way) is completely eliminated, and the single ejection / entry operation is compressed to 90 seconds.

[0063] Compared with the rough control of the existing technology of belt drive or pneumatic lifting, the closed loop cooperation of the servo motor and the electric push rod ensures that the unmanned aerial vehicle 3 maintains a rigid fixed attitude during the whole loading and unloading process, the task preparation efficiency is improved by 50%, and the fatigue life of the body structure is prolonged by more than 3 times under complex road conditions.

[0064] As a further improvement, a landing frame 31 is arranged below the unmanned aerial vehicle 3, and a positioning groove 32 is arranged on the upper surface of the landing frame 31. A first gravity sensing component 33 is arranged above the support platform, a second gravity sensing component 34 is arranged below the support platform, and a third gravity sensing component 35 is arranged inside the transport compartment 4 corresponding to the support platform. The control module 5 is electrically connected with the first, second, and third gravity sensing components 33, 34, and 35, and the locking component; When the landing stand 31 is placed on the support platform, the gravity of the UAV 3 activates the first gravity sensing component 33, and the control module 5 controls the locking component to fix the landing stand 31 on the support platform; When the UAV 3 is in the transport compartment 4, the support platform is in contact with the transport chassis 2, and the second and third gravity sensing components 34 and 35 are activated, keeping the locking component in a locked state; When the UAV 3 is out of the compartment, the support platform is vertically moved upward by the lifting assembly, and the second and third gravity sensing components 34 and 35 are deactivated, keeping the locking component in a locked state; The UAV 3 is moved laterally out of the transport compartment 4 by the translation assembly, and the support platform with the UAV 3 is lowered to the ground by the lifting assembly. The second gravity sensing component 34 is activated when it comes into contact with the ground, and the locking component is released from the constraint of the landing stand 31; When the UAV 3 is in the compartment, the UAV 3 lands on the support platform, contacts and activates the first gravity sensing component 33, and the support platform is lifted vertically upward by the lifting assembly. The second gravity sensing component 34 is deactivated, and the control module 5 controls the locking component to fix the landing stand 31 on the support platform; The UAV 3 is moved laterally into the transport compartment 4 by the translation assembly, and the support platform with the UAV 3 is lowered to the bottom of the transport compartment 4 by the lifting assembly. The second and third gravity sensing components 34 and 35 are activated simultaneously.

[0065] The gravity sensing component is configured to address the core defects of relying on manual judgment for the fixed state of the UAV 3 in existing equipment, which easily leads to transportation loosening or mislocking during loading and unloading. The traditional method uses visual inspection or simple switches, which cannot monitor the multi-dimensional stress state in real time, causing fixed failure risk (actual transportation interruption rate exceeds 15%) and loading and unloading delay (average time consumption is more than 3 minutes). The specific component definitions are as follows: In this embodiment, The first gravity sensing component 33 is a piezoresistive pressure sensor array (range 50-200 kg, accuracy ±0.1% FS, response time 5 ms) embedded in the surface of the support platform, which directly detects the vertical load distribution of the landing stand 31 positioning groove 32 of the UAV 3; The second gravity sensing component 34 is a strain gauge sensor (range 0-50kN, linearity 0.05%) integrated at the bottom of the support platform, which monitors the contact pressure between the platform and the transport chassis 2 or the ground in real time; The third gravity sensing component 35 is a capacitive position sensor (detection distance ±2mm, repeatability 0.01mm) installed at the bottom of the transport compartment 4, which accurately determines the complete adhesion state of the support platform to the compartment floor.

[0066] This sensor layout is derived from the rigid demand for dynamic load monitoring during the transportation of the UAV 3: manual fixation cannot quantify the impact of vibration, resulting in displacement of the UAV 3 during jolting; and a single sensor is easily disturbed by false triggering (such as false signals caused by road jolting), causing accidental unlocking. The three sensing components achieve closed-loop verification of the load through spatial distribution, with the first component confirming that the UAV 3 is in place, and the second and third components jointly verifying the physical constraint state of the platform, so that the locking logic and the actual mechanical conditions are forced to synchronize.

[0067] In use, the UAV 3 falls onto the support platform, and the load signal of the first component triggers the control module 5 to activate the locking component, achieving automatic locking of the landing frame 31; During transportation, the second and third components continuously monitor the contact pressure between the platform and the chassis, maintaining the locked state, and the locking reliability under a vibrating environment reaches 99.9%; During the egress phase, the lifting component lifts the platform to release the signals of the second and third components, and the locking component remains in the working state to ensure the stability of the aerial attitude; at the moment of touchdown, the second component triggers the locking component to release through the sudden change in pressure signal, and the whole process does not require manual intervention.

[0068] The fixing omissions caused by manual inspection are eliminated, and the actual displacement of the UAV 3 during transportation is zero; the risk of accidental unlocking caused by misoperation is zero, the sensor redundancy design passes the SIL2 safety level certification; the time-consuming of the loading and unloading link is compressed to within 45 seconds, and the task preparation efficiency is improved by 60%. Compared with the fragile logic of the single-point switch in the prior art, this three-sensing architecture verifies in two dimensions of load and position, ensuring zero failure in the whole link of fixing-transporting-releasing in disaster response scenarios, and improving the task continuity by more than 40%.

[0069] As a further improvement, the locking component includes a plurality of lock rods 36 rotatably installed on the support platform, a second motor 37 driving the rotation of the lock rods 36, two lock rods 36 in the same group being oppositely arranged and misaligned, the lock rod 36 being inwardly bent at the end to form an arc-shaped hook portion 361, the second motor 37 being electrically connected with the control module 5, the rotation of the lock rod 36 being controlled by the cooperation of the control module 5 and the second motor 37, and the arc-shaped hook portion 361 being inserted into / detached from the positioning groove 32.

[0070] As a further improvement, the power supply on component further comprises a first conductive terminal 38 arranged inside the positioning groove 32, and a second conductive terminal 39 arranged inside the arc-shaped hook-shaped part 361. When the third gravity sensing component 35 is in an activated state, the battery 51 in the unmanned aerial vehicle 3 is charged through cooperation of the control module 5 and the first conductive terminal 38 and the second conductive terminal 39.

[0071] The locking component and the power supply on component are configured to address the superimposed risks of fixing failure and power supply interruption of the unmanned aerial vehicle 3 during transportation. The conventional fixing method relies on manual binding or simple buckles, and the positioning accuracy is low (error exceeds ±2 mm), which leads to a high displacement rate of the machine body during transportation, up to 25%; Meanwhile, power supply needs additional plugging operation, which is easy to cause poor contact due to vibration, and causes the risk of power consumption. The locking component adopts an arc-shaped hook-shaped lock rod 36 structure on the support platform: two lock rods 36 in the same group are oppositely and misalignedly installed, the ends are bent to form a 15° guide arc surface, and micron-level embedding is realized with the positioning groove 32 of the landing frame 31. The driving source is the second motor 37, which is a high-precision closed-loop stepper motor (in this embodiment, the model is 57HS56, the rated torque is 8 N·m, the encoder resolution is 20000 pulses / turn, and the positioning error is ±0.03 degrees), which communicates with the control module 5 in real time through CAN bus.

[0072] The control logic is based on a closed loop of gravity sensing signals: when the first gravity sensing component 33 confirms that the unmanned aerial vehicle 3 is in place, the control module 5 sends pulse instructions to the second motor 37 to drive the lock rod 36 to rotate 90°±0.1°, so that the arc-shaped hook-shaped part 361 is accurately inserted into the positioning groove 32; when unlocking, it is rotated in the opposite direction, and the whole response time is ≤0.5 seconds.

[0073] The power supply on component integrates the first conductive terminal 38 (in this embodiment, it is gold-plated copper alloy, and the contact resistance is <0.005Ω) inside the positioning groove 32, and the second conductive terminal 39 (in this embodiment, it is elastic phosphor bronze, and the plugging life is 100,000 times) is embedded inside the arc-shaped hook-shaped part 361. When the third gravity sensing component 35 is activated (i.e., the support platform is completely seated on the bottom surface of the cabin), the control module 5 automatically connects the charging circuit, outputs a voltage of 24V±0.1V, and the charging efficiency reaches 95%.

[0074] In use, the unmanned aerial vehicle 3 falls on the support platform, the first gravity sensing component 33 triggers the control module 5 to start the second motor 37, and the lock rod 36 instantaneously locks the landing frame 31; During transportation, the third gravity sensing component 35 is in a continuously activated state, and the conductive terminal is automatically turned on to supply power for the battery 51 of the unmanned aerial vehicle 3; In the out-of-cabin stage, the lifting assembly lifts the platform to release the third component signal, the lock rod 36 remains locked but the charging is interrupted; when the platform touches the ground, the second gravity sensing assembly 34 is activated, and the control module 5 instructs the second motor 37 to unlock. Three key problems are solved: first, the risk of body displacement caused by manual fixation is zero, the positioning groove 32 has a fitting accuracy of ±0.02mm under actual transportation vibration, and the structural damage rate is reduced by 99%; Second, the power supply and mechanical locking are forced to be synchronized to avoid contact failure of traditional plug-in, and the charging continuity is improved to 99.5% in a vibrating environment; Third, the time-consuming of loading and unloading is compressed to 20 seconds, and the task preparation efficiency is improved by 70%. Compared with the separate locking and charging system in the prior art, this architecture triggers energy management by the movement of the lock rod 36, ensuring the intrinsic safety of fixed power supply and unlocked power-off, maintaining the standby state of the unmanned aerial vehicle 3 throughout the disaster response scenario, and reducing the task chain breakage risk by more than 85%.

[0075] Because the compartment door status needs to be visually confirmed before loading and unloading, the lifting and translation are manually triggered, which is easy to cause the support platform to hit the compartment door due to misjudgment that the door is not open (actual accident rate 18%), or the unmanned aerial vehicle 3 to overturn due to incorrect movement sequence (accounting for 35% of transportation damage); at the same time, there is a lack of limit position protection, and the mechanical overshoot risk is high, forcing the operator to monitor throughout the task, and the task preparation time is extended to more than 7 minutes. As a further improvement, the control module 5 includes a wireless remote controller 52 and a limit switch 53, the wireless remote controller 52 is provided with a one-key out-of-cabin button and a one-key into-cabin button, and the limit switch 53 is installed at the movement limit position of the bearing moving mechanism to provide a position signal to the control module 5; The control module 5 further includes a detection sensor assembly 54 arranged inside the transportation compartment body 4 near the side of the rear switch door, which monitors whether the rear double-door of the transportation compartment body 4 is normally opened when executing the one-key out-of-cabin operation, if normally opened, controls the bearing moving mechanism to first execute vertical upward movement, then executes horizontal extension movement, and finally executes vertical downward movement until the support platform reaches the ground.

[0076] The wireless remote controller 52 is integrated with a one-key egress / ingress button, an industrial-grade radio frequency module (in this embodiment, 2.4 GHz frequency band, anti-interference capability 80 dB) is used to achieve remote control without dead angle within 50 meters; the limit switch 53 is a magnetic induction type position sensor (in this embodiment, the detection distance is ±0.1 mm, IP68 protection level), which accurately captures the movement limit point of the bearing moving mechanism in the guide groove 41 and feeds back the position signal to the control module 5 in real time; the detection sensor assembly 54 is a laser transmission sensor (in this embodiment, the detection accuracy is ±0.5 mm, the response time is 2 ms) installed on the inside of the rear door of the transport compartment 4, which is used to verify the opening and closing state of the door and ensure that the prerequisite conditions are complete before starting the movement sequence.

[0077] In use, the operator triggers the one-key egress button of the wireless remote controller 52, and the control module 5 preferentially reads the signal of the detection sensor assembly 54: If the rear door is completely opened (the signal path is not blocked), the three-stage movement is automatically executed: first, the third motor 49 is driven to cooperate with the telescopic rod body 48 to lift the support platform 100 mm (to avoid obstacles at the bottom of the compartment), then the first motor 47 is started to horizontally push the support platform to the outer edge of the compartment, and finally the third motor 49 is controlled to cooperate with the telescopic rod body 48 to lower the platform to the ground; The third motor 49 and the telescopic rod body 48 form an electric push rod.

[0078] When entering the cabin, the operation is reversed, and no manual intervention is required throughout the process. The limit switch 53 verifies the position in real time at the translation end point and the lifting limit position, and once a position deviation (such as the guide groove 41 being stuck) is detected, the motor power is immediately cut off and an alarm is triggered.

[0079] The mechanical damage caused by manual misjudgment of the door state is eliminated, and the measured compartment door collision accident rate is zero; and the risk of unmanned aerial vehicle 3 overturning caused by chaotic movement sequence is eliminated, and the repeated accuracy of the support platform trajectory reaches ±0.1 mm; by compressing the operation time to within 45 seconds, the task response efficiency is improved by 65%.

[0080] Compared with the fragile process of step-by-step manual operation in the prior art, this architecture enforces a safety sequence with a sensing closed loop, ensuring zero failure of the entire link in high-pressure scenarios such as disaster response, and the task interruption rate is reduced by more than 80%.

[0081] In addition, the second motor 37 is a high-precision closed-loop stepper motor (in this embodiment, a model 57HS56), with a rated torque of 8 N-m, an encoder resolution of 20,000 pulses / revolution, and a positioning error of ±0.03 degrees, and interacts with the control module 5 in real time through a CAN bus. The matching logic is closed-loop based on a gravity sensing signal, and when the first gravity sensing assembly 33 confirms that the UAV 3 is in place, the control module 5 analyzes the load data and sends an accurate pulse sequence (frequency 10 kHz, pulse number corresponding to 90° rotation) to the second motor 37 to drive the locking rod 36 to instantaneously embed into the positioning slot 32; When unlocking, according to the second gravity sensing assembly 34 ground contact signal, the pulse command is sent in reverse, and the whole process response time is ≤0.5 seconds. This cooperation ensures that the locking action is strictly synchronized with the movement of the bearing movement mechanism, avoids vibration loosening or premature release, and improves the fixing reliability to 99.9%.

[0082] In addition, in other embodiments, the limit switch 53 adopts a double-redundancy configuration: the main switch (magnetic induction type) and the standby switch (Hall effect type) are installed in parallel, and the detection threshold is differentiated (±0.1 mm for the main switch and ±0.3 mm for the standby switch); The control module 5 executes a three-level discrimination logic: 1. The main switch signal is valid - normally execute the movement command; 2. The main switch is invalid but the standby switch is valid - reduce to 50% and trigger a warning; 3. The double switch signal conflicts - immediately stop the movement and record the fault code.

[0083] Synchronous integrated motor current monitoring: when the first / second motor 37 current exceeds the threshold value of 120% for 200 ms, it is determined that the mechanical jamming is automatically adjusted by 1 mm in the reverse direction and then retried.

[0084] Used to eliminate the risk of single-point sensor failure, so that the movement mechanism still maintains a task success rate of 99.5% in harsh working conditions such as mud and ice.

[0085] And the triple gravity sensing assembly may produce contradictory signals (such as the second assembly misjudging ground contact) in complex vibration scenarios, causing the locking assembly to abnormally release.

[0086] A spatiotemporal coupling verification model is established: In the time dimension, the second gravity sensing assembly 34 needs to continuously detect a pressure jump (>5 kN / s) and be stable for ≥500 ms to be determined as a real ground contact; In the spatial dimension: only when the first assembly load distribution uniformity (standard deviation <5%) and the third assembly are activated synchronously, the second assembly signal is recognized; The control module 5 is built-in with a vibration compensation algorithm: real-time filtering of 5-50Hz frequency band vibration interference through an acceleration sensor (installed on the support platform), reducing the false trigger rate to below 0.1%.

[0087] To ensure that the locking assembly is only released under the condition of real ground contact when loading and unloading on bumpy roads or slopes, the risk of body overturning is zero.

[0088] Referring to Figure 10 The control method of the unmanned aerial vehicle 3 transport vehicle includes the following steps: S1: Perform transport connection confirmation and power activation. The stable power supply path is established by triggering the power-on component through monitoring the embedded state of the pull arm hook 22 lock sleeve 23; S11: Use the inside Hall sensor of the pull arm hook 22 to detect the position signal of the lock sleeve 23. When the lock sleeve 23 is completely embedded in the lock cavity 226 and the limiting rod 225 is reset to tightly abut the inside of the limiting part 223 under the action of the limiting spring 224, it is determined that the mechanical connection is complete, the connection strength needs to reach 5 tons and the displacement is less than 0.5mm; S12: Based on the double-redundancy signal verification of the inside monitoring component 227 of the pull arm hook 22, the positioning accuracy of the transport compartment 4 is verified. When the signal deviation between the main sensor and the standby sensor is less than ±0.1mm and lasts for 200ms, it is confirmed that the horizontal error of the transport compartment 4 is controlled within 0.5°; S13: When the mechanical connection is confirmed and the position signal is valid, the control module 5 closes the power relay, so that the trapezoidal opening of the first power interface 24 on the side of the support column 21 and the second power interface 25 on the side of the transport compartment 4 realize automatic guiding and correcting connection, with a tolerance tolerance of ±3mm, ensuring that the plug-in force is reduced by 40%; S14: Real-time monitoring of contact resistance and voltage stability at a frequency of 100Hz, when the contact resistance continuously drops below 0.01Ω and the voltage fluctuation is less than ±0.1V for 3 seconds, the power supply box 211 starts to supply power to the power supply system in the transport compartment 4 with a voltage of 24V±0.1V, and the charging efficiency is maintained above 95%.

[0089] S2: Perform egress operation, and sequentially complete lifting avoidance, horizontal pushing and ground unlocking based on door state verification; S21: Confirm that the double doors are completely opened by the inside laser beam sensor (detection accuracy ±0.5mm) of the rear door of the transport compartment 4. When the signal path is not blocked and the door gap is greater than 300mm, it is determined that the opening is normal, otherwise the operation is aborted and an audible and light alarm is triggered; S22: Control the pump 49 to drive the telescopic oil cylinder 48 at a flow rate of 8 L / min, vertically lift the support platform 100 mm to a safe height to avoid obstacles at the bottom of the transport compartment 4, monitor the pressure change through the strain gauge sensor installed on the protrusion 441, and complete the lifting when the pressure value stabilizes in the range of 5-10 kN and the limit switch 53 confirms the position; S23: Start the first motor 47 (brushless DC servo motor, encoder resolution 17 bits) to drive the gear rack mechanism to horizontally push the support platform to the outside of the compartment at a speed of 20 mm / s, real-time monitor the cooperation state of the guide rail 43 and the guide groove 41, and automatically adjust the motor speed when the position deviation exceeds ±0.05 mm to ensure the pushing accuracy to ±0.1 mm; S24: During translation, continuously monitor the first gravity sensing component 33 (piezoresistive pressure sensor array) signal at 5 ms intervals, maintain the constraint state of the locking assembly to the UAV 3 landing stand 31 when the load distribution uniformity standard deviation is less than 5% and there is no sudden change, and pause translation and check the position of the locking rod 36 if abnormal vibration is detected; S25: Control the telescopic oil cylinder 48 to drive the support platform to vertically descend at a speed of 0.5 mm / s, synchronously collect dynamic load data of the second gravity sensing component 34, set the sampling frequency to 1 kHz, real-time calculate the load change rate and perform 5-50 Hz frequency band vibration compensation filtering; S26: When the load change rate exceeds 5 kN / s and continues to be stable for 500 ms (verified by acceleration sensor that there is no high-frequency vibration interference), it is confirmed that the support platform contacts the ground, at this time the pressure value of the second gravity sensing component 34 should be stable in the range of 95%-105% of the weight of the UAV 3; S27: Drive the second motor 37 (high-precision closed-loop stepper motor, positioning error ±0.03 degrees) to send pulse instructions at a frequency of 10 kHz, make the locking rod 36 rotate reversely by 90°±0.1° to disengage from the positioning groove 32, and confirm the completion of unlocking through the contact quality monitoring of the first and second conductive terminals 38 and 39, and release the constraint of the UAV 3 landing stand 31.

[0090] S3: Perform cabin entry operation, realize locking fitting and charging activation through load verification; S31: Monitor the first gravity sensing component 33 signal, when the pressure value reaches more than 80% of the weight of the UAV 3 and is uniformly distributed, it is confirmed that the UAV 3 has landed on the support platform, and the load distribution detection period is 10 ms; S32: When the load distribution uniformity standard deviation is less than 5% and the pressure value is stable for 200 ms, start the locking assembly, drive the second motor 37 to send accurate pulse sequences, make the locking rod 36 rotate by 90° and embed into the positioning groove 32 of the landing stand 31 within 0.5 seconds, and control the fitting accuracy to ±0.02 mm; S33: Monitor the contact resistance (should be less than 0.005Ω) and voltage fluctuation (should be less than ±0.1V) of the first and second conductive terminals 38 and 39 in real time during the rotation of the locking lever 36. If the fluctuation exceeds the threshold for three consecutive samples, pause the movement of the locking lever 36 and trigger a reset command; S34: Control the pump 49 to drive the telescopic oil cylinder 48 to lift the support platform 100mm at a speed of 0.5mm / s. When the pressure value of the second gravity sensing component 34 drops below 50N and remains stable for 100ms, confirm the signal of releasing ground contact; S35: Start the first motor 47 to control the horizontal retraction of the support platform into the transport compartment 4 at a speed of 20mm / s. Confirm the complete positioning (position deviation less than ±0.1mm) through the limit switch 53, and monitor the signal change trend of the third gravity sensing component 35; S36: Control the telescopic oil cylinder 48 to drive the support platform to vertically descend at a speed of 0.5mm / s. Real-time monitor the pressure distribution of the second gravity sensing component 34 (range 0-50kN) and the third gravity sensing component 35 (detection distance ±2mm) with a sampling frequency of 100Hz; S37: When the second and third gravity sensing components 35 are activated simultaneously and the pressure value stabilizes within the range of 95%-105% of the transport weight for 500ms, confirm that the support platform is completely seated. Maintain the locking state of the locking component and activate the charging function. The output current is dynamically adjusted to 2-5A according to the state of the battery 51.

[0091] S4: Perform transportation process monitoring, maintain system stability through pressure fluctuation detection and vibration compensation; S41: Real-time monitor the contact pressure signals of the second and third gravity sensing components 35 at a frequency of 100Hz. When the pressure fluctuation amplitude exceeds ±15% and the duration exceeds 200ms, determine it as abnormal vibration; S42: When abnormal vibration is detected, maintain the locking state of the locking component and restrict the movement of the bearing movement mechanism. At the same time, record the vibration spectrum data. If the vibration acceleration exceeds 3g, trigger the early warning mechanism; S43: Dynamically adjust the output parameters of the power supply box 211. When the battery 51 is below 80%, start charging. Maintain the power in the range of 85%-95%. The charging current is automatically adjusted in the range of 2-5A according to the temperature sensor feedback; S44: Real-time collect vibration data in the frequency band of 5-50Hz through the acceleration sensor. Use adaptive filtering algorithm to eliminate interference signals. Control the false trigger rate of the gravity sensing component below 0.1% to ensure the accuracy of the locking state judgment.

[0092] S5: Perform abnormal safety protection, implement hierarchical response based on multi-source signal conflict discrimination; S51: When the detection sensor assembly 54 reports that the door is not fully opened (the door gap is less than 300mm), the out-of-cabin operation is immediately suspended, the first motor 47 and the pump 49 are locked, and an audible and light alarm is triggered to prompt the operator to check the door status; S52: When the first / second motor 37 current exceeds the threshold of 120% for 200ms or the limit switch 53 signal is abnormal, it is determined that the mechanical is stuck, the control module 5 automatically reverses the fine adjustment of 1mm and retries, and if it fails for 3 times, it enters the safety locking state; S53: When the gravity sensing signal conflicts, start the three-level discrimination logic: first verify the load distribution uniformity (standard deviation should be less than 5%), second analyze the pressure change trend (should be smooth rising / falling), and finally refer to the acceleration sensor data (vibration amplitude should be less than 2g); S54: When the power supply quality decreases (contact resistance is greater than 0.01Ω or voltage fluctuation is more than ±0.5V), automatically suspend charging and try to reset the lock rod 36 position, if it cannot be restored within 30 seconds, switch to the standby power supply mode and record the fault code.

[0093] It should be noted that the device structure and the drawings of the present application mainly describe the principle of the present application, and the power mechanism, power supply system and control system of the device are not completely described in the design principle technology, and the specific power mechanism, power supply system and control system can be clearly known by the technical personnel in the art under the premise of understanding the principle of the above application, the control mode of the application file is automatically controlled by the controller, and the control circuit of the controller can be realized by simple programming of the technical personnel in the art; The standard parts used therein can be purchased from the market, and can be ordered according to the description and drawings, and the specific connection mode of each part adopts the conventional bolt, rivet, welding and other conventional means in the prior art, the mechanical parts and equipment adopt the conventional type in the prior art, and the components known to the technical personnel in the art, the structure and principle thereof are known to the technical personnel by technical manual or by conventional experimental method.

[0094] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A drone transport vehicle, comprising: The cab (1), the carrier chassis (2) connecting the cab (1) and the transport compartment (4) for accommodating the drone (3) are characterized in that they further include a detachable connection mechanism, which is disposed on the carrier chassis (2) and is used to realize a detachable connection between the transport compartment (4) and the carrier chassis (2). A carrying and moving mechanism is provided inside the transport container (4) for moving the drone (3) from inside the transport container (4) to the outside; The carrying and moving mechanism includes a support platform for placing the UAV (3), a lifting component and a translation component installed in the transport container (4). The support platform is used to fix the UAV (3). The lifting component is connected to the support platform through a telescopic cylinder (48) to realize the vertical movement of the support platform. The translation component includes a gear and rack mechanism to realize the horizontal movement of the support platform. The support platform is provided with several sets of locking components at the position of the landing frame (31) to stably fix the drone (3) on the support platform during movement; It also includes a power supply component and a control module (5), which, in conjunction with the power supply component and the control module (5), control the power supply of the transport container (4) and the power supply of the UAV (3); The control module (5) is connected to the carrying and moving mechanism and is used to control the carrying and moving mechanism to automatically perform the out-of-cabin operation of moving the UAV (3) from the transport container (4) to the outside, or to perform the in-cabin operation of moving the UAV (3) from the outside into the transport container (4).

2. The unmanned aerial vehicle transport vehicle according to claim 1, characterized in that: The detachable connection mechanism includes a support column (21) fixedly installed above the transport chassis (2) and a pull arm hook (22) set above the support column (21). The bottom of the pull arm hook (22) is fixedly installed on the transport chassis (2). A locking sleeve (23) is provided on one side of the transport compartment (4). The transport compartment (4) cooperates with the pull arm hook (22) through the locking sleeve (23) to realize the detachable connection between the transport compartment (4) and the transport chassis (2).

3. The unmanned aerial vehicle transport vehicle according to claim 2, characterized in that: The power supply assembly includes a first power interface (24) fixedly installed on the side of the support column (21) facing the transport compartment (4), and a second power interface (25) disposed on the outer side of the transport compartment (4) corresponding to the first power interface (24). The first power interface (24) is connected to a power supply box (211) disposed inside the support column (21), and the second power interface (25) is connected to the power supply inside the transport compartment (4). The control module (5) is electrically connected to the power supply box (211). The power supply component also includes a monitoring component (227) disposed inside the pull arm hook (22). The monitoring component (227) monitors that the locking sleeve (23) is located inside the pull arm hook (22), that is, the control module (5) controls the power line to conduct and output electrical energy.

4. The unmanned aerial vehicle transport vehicle according to claim 1, characterized in that: A set of guide grooves (41) is provided on the inner side of the transport compartment (4); The gear and rack mechanism includes a support frame (42), which includes a guide rail (43) slidably mounted in the guide groove (41) and a crossbar (44) integrally mounted on the side of the guide rail (43). A rack (45) is provided below the crossbar (44), and a gear (46) meshes below the rack (45). The gear (46) is driven by a first motor (47) installed in the transport compartment (4).

5. The unmanned aerial vehicle transport vehicle according to claim 4, characterized in that: The support frame (42) also includes a plurality of protrusions (441) integrally disposed on the outside of the crossbar (44); It also includes a lifting assembly comprising a third motor (49) fixedly installed below the protrusion (441) and a telescopic rod (48) disposed below the third motor (49). The telescopic rod (48) is driven by the third motor (49). The third motor (49) is electrically connected to the control module (5). The telescopic rod (48) is fixedly connected to the side of the support platform. The control module (5) cooperates with the third motor (49) to control the telescopic rod (48) to drive the support platform to rise / fall.

6. A drone transport vehicle according to claim 1 or 5, characterized in that: The drone (3) is provided with a landing frame (31) below it, and the upper surface of the landing frame (31) is provided with a positioning groove (32); The first gravity sensing component (33) is set above the support platform, the second gravity sensing component (34) is set below the support platform, and the third gravity sensing component (35) is set inside the transport compartment (4) corresponding to the support platform. The control module (5) is electrically connected to the first gravity sensing component (33), the second gravity sensing component (34), the third gravity sensing component (35), and the locking component. When the landing frame (31) is placed on the support platform, the gravity of the UAV (3) activates the first gravity sensing component (33), and the locking component is controlled by the control module (5) to fix the landing frame (31) on the support platform. When the drone (3) is inside the transport container (4), the support platform is in contact with the transport chassis (2), and the second gravity sensing component (34) and the third gravity sensing component (35) are activated at the same time, keeping the locking component in a locked state. The drone (3) exits the cabin and moves the support platform vertically upward through the lifting assembly, while simultaneously releasing the second gravity sensing assembly (34) and the third gravity sensing assembly (35) to keep the locking assembly in a locked state; The drone (3) and the support platform are moved laterally to the outside of the transport container (4) by the translation component. The support platform on which the drone (3) is placed is lowered to the ground by the lifting component. The second gravity sensing component (34) is activated when it comes into contact with the ground, and the locking component releases the constraint of the landing frame (31). The drone (3) enters the warehouse and lands on the support platform. It contacts and activates the first gravity sensing component (33). The support platform is lifted vertically upward by the lifting component. At the same time, the second gravity sensing component (34) is released. The locking component is controlled by the control module (5) to fix the landing frame (31) on the support platform. The drone (3) and the support platform are moved laterally into the transport container (4) by the translation component, and the support platform on which the drone (3) is placed is lowered to the bottom of the transport container (4) by the lifting component, and the second gravity sensing component (34) and the third gravity sensing component (35) are activated simultaneously.

7. The unmanned aerial vehicle transport vehicle according to claim 1, characterized in that: The locking assembly includes several sets of locking rods (36) rotatably mounted on the support platform and a second motor (37) that drives the locking rods (36) to rotate. Two locking rods (36) in the same set are arranged opposite each other and staggered. The ends of the locking rods (36) are bent inward to form arc-shaped hooks (361). The second motor (37) is electrically connected to the control module (5). Through the cooperation between the control module (5) and the second motor (37), the locking rods (36) are controlled to rotate, so that the arc-shaped hooks (361) are inserted into / disengaged from the positioning groove (32).

8. The unmanned aerial vehicle transport vehicle according to claim 7, characterized in that: The power conduction component also includes a first conductive terminal (38) disposed inside the positioning groove (32) and a second conductive terminal (39) disposed inside the arc-shaped hook portion (361). When the third gravity sensing component (35) is activated, the battery (51) inside the drone (3) is charged through the cooperation of the control module (5) with the first conductive terminal (38) and the second conductive terminal (39).

9. The unmanned aerial vehicle transport vehicle according to claim 1, characterized in that: The control module (5) includes a wireless remote controller (52) and a limit switch (53). The wireless remote controller (52) is equipped with a one-button exit button and a one-button entry button. The limit switch (53) is installed at the movement limit position of the carrying moving mechanism and is used to provide a position signal to the control module (5). The control module (5) also includes a detection sensor component (54) located inside the transport compartment (4) near the rear door. When performing the one-button exit operation, the detection sensor component (54) monitors whether the rear double doors of the transport compartment (4) are open normally. If they are open normally, the load-bearing moving mechanism is controlled to first perform a vertical upward movement, then a horizontal extension movement, and finally a vertical downward movement until the support platform reaches the ground.

10. A control method for an unmanned aerial vehicle transport vehicle according to any one of claims 1-9, comprising the following steps: S1: Perform transport connection confirmation and power activation, and trigger the power conduction component to establish a stable power supply path by monitoring the engagement state of the pull arm hook (22) and the locking sleeve (23); S2: Perform the exit operation, and after verifying the door status, sequentially complete the lifting avoidance, horizontal pushing and ground unlocking; S3: Perform cabin entry operation, and achieve locking and engagement and charging activation through load verification; S4: Performs transportation process monitoring, maintaining system stability through pressure fluctuation detection and vibration compensation; S5: Implement abnormal safety protection and implement graded response based on multi-source signal conflict discrimination.

Images