The invention relates to an automatic deploying system for an unmanned aerial vehicle on a ship deck and a control method, the automatic deploying system comprises a control system, a ship body, a mechanical arm, an unmanned aerial vehicle placing frame and an ejector, the mechanical arm, the unmanned aerial vehicle placing frame and the ejector are arranged on the ship body, a mechanical arm sliding rail is arranged in the ship body, and a mechanical arm base is arranged at the lower end of the mechanical arm and slidably connected with the mechanical arm sliding rail; a mechanical arm moving assembly is arranged in the mechanical arm base, the ejector is arranged on one side of the mechanical arm, the unmanned aerial vehicle placing frame is arranged on the other side of the mechanical arm, the unmanned aerial vehicle is picked up by the mechanical arm to move between the ejector and the unmanned aerial vehicle placing frame, the mechanical arm controls the moving path through the control system, and the control system plans the moving path of the mechanical arm based on an RRT algorithm. Picking and transferring of the unmanned aerial vehicle are achieved through the mechanical arm, the control system plans the moving path of the mechanical arm based on the RRT algorithm, collision is avoided while the moving precision of the mechanical arm is guaranteed, and therefore the whole system can be integrated on a small ship.
本发明涉及一种舰船甲板上无人机自动化部署系统及控制方法,包括控制系统、船体和设于所述船体上的机械臂、无人机放置架和弹射器,其中船体内设有机械臂滑轨,机械臂下端设有机械臂底座与机械臂滑轨滑动连接,并且所述机械臂底座内设有机械臂移动组件,弹射器设于机械臂一侧,无人机放置架设于机械臂另一侧,并且无人机通过所述机械臂拾取在弹射器和无人机放置架间移动,所述机械臂通过所述控制系统控制移动路径,且所述控制系统基于RRT算法进行机械臂移动路径规划。本发明利用机械臂实现无人机拾取转移,且控制系统基于RRT算法对所述机械臂移动路径进行规划,保证机械臂移动精度同时也避免碰撞,从而使整个系统可集成于小型舰船上。
Automatic deploying system for unmanned aerial vehicle on ship deck and control method
一种舰船甲板上无人机自动化部署系统及控制方法
2022-02-25
Patent
Elektronische Ressource
Chinesisch
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen |
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