基于PLC控制的车载无人机自动机库设计  

A PLC-based Vehicle-mounted Automatic UAV Hangar Design

作　　者：金慧萍 杨家富[2] 张文武 李祥 穆键 JIN Hui-ping;YANG Jia-fu;ZHANG Wen-wu;LI Xiang;MU Jian(Engineering Training Center,Nanjing Forestry University,Nanjing Jiangsu 210037,China;College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing Jiangsu 210037,China;Nanjing Puxin Electromechanical Co,Nanjing Jiangsu 210037,China)

机构地区：[1]南京林业大学工程培训中心,江苏南京210037 [2]南京林业大学机械电子工程学院,江苏南京210037 [3]南京普新机电有限公司,江苏南京210037

出　　处：《林业机械与木工设备》2023年第9期50-56,共7页Forestry Machinery & Woodworking Equipment

摘　　要：针对无人机户外作业中自动放飞与回收困难以及现有停机坪自动化程度较低的问题,设计了一种基于PLC控制的车载无人机自动机库。根据无人机放飞和停降过程中的作业需求,依托依维科品牌商务车车厢进行改造,在车厢中设计了一种适用于大疆M300 RTK无人机的自动机库。自动机库包含机械结构和电控系统两大部分。机械结构由底座、双轨剪叉升降机构、停机平台、归中夹紧机构以及拨桨机构组成;电控系统采用西门子S7-300PLC作为主控制器,设计了基于触摸屏的人机交互显示界面,实现对机库的手动控制、自动控制以及远程监控功能。车载无人机自动机库运行平稳可靠,可有效实现无人机自动平稳放飞与回收,解决了无人机户外作业返航回收过程中降落姿态随机和桨叶散开等不确定的问题。无人机自动机库的设计为无人机的自动回收方法提供了新途径,促进了该类型车载无人机自动机库的推广和应用。Aiming at the problems of difficulties in automatic release and recovery of UAVs in outdoor operations and low automation of existing parking aprons,a PLC-controlled vehicle-mounted automatic UAV hangar was designed.According to the operational requirements in the process of UAV release and landing,a UAV automatic hangar applicable to DJI M300 RTK is designed in the carriage by relying on the carriage of Iveco brand commercial vehicle for transformation.The UAV automatic hangar contains two major parts:mechanical structure and electronic control system.The mechanical structure consists of base,double rail shear fork lifting mechanism,stopping platform,homing clamping mechanism and paddle mechanism;the electronic control system adopts Siemens S7-300PLC as the main controller and designs a touch screen based human-machine interaction display interface to realize manual control,automatic control and remote monitoring functions of the hangar.The UAV automatic hangar operates smoothly and reliably,which can effectively realize the automatic smooth release and recovery of the UAV and solve the problems of random landing attitude and uncertainty of propeller dispersion during the return and recovery of the UAV outdoor operation. The design of the UAV automatic hangar provides a new way for the automatic recovery method of UAVs and promotes the promotion and application of this type of vehicle-mounted UAV automatic hangar.

关 键 词：无人机 自动机库 PLC控制 自动回收 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]