CN109502039A - A kind of vehicle-mounted unmanned aerial vehicle stops cabinet equipment, automatic replacement battery methods and system - Google Patents
A kind of vehicle-mounted unmanned aerial vehicle stops cabinet equipment, automatic replacement battery methods and system Download PDFInfo
- Publication number
- CN109502039A CN109502039A CN201811456785.8A CN201811456785A CN109502039A CN 109502039 A CN109502039 A CN 109502039A CN 201811456785 A CN201811456785 A CN 201811456785A CN 109502039 A CN109502039 A CN 109502039A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- battery
- vehicle
- parking area
- charging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000005611 electricity Effects 0.000 claims abstract description 21
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 230000008569 process Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 238000012549 training Methods 0.000 description 5
- 238000013135 deep learning Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of vehicle-mounted unmanned aerial vehicles to stop cabinet equipment, automatic replacement battery methods and system; it is described to stop the shell that cabinet equipment includes: top end opening; it include controller in the shell; and unmanned plane airplane parking area, mechanical arm and one or more charging cabinets, each charging cabinet connecting with the controller are equipped with multiple charging slots；Battery information in each charging slot of monitoring control devices, control mechanical arm takes out battery from unmanned plane and is put into sky charging slot, and takes out battery from charging slot where electricity abundance battery and be packed into unmanned plane.Shutdown case of the invention can assist unmanned plane precisely to drop on the intracorporal airplane parking area of case, then realize the automatic replacement of battery.
Description
Technical field
The disclosure belongs to unmanned aerial vehicle (UAV) control technical field more particularly to a kind of vehicle-mounted unmanned aerial vehicle stop cabinet equipment, it is automatic more
Change battery methods and system.
Background technique
Unmanned plane is the unmanned vehicle using radio robot and the presetting apparatus provided for oneself manipulation.Nothing
It is man-machine that there are many advantageous advantages: it is not influenced by traffic above-ground congestion, point-to-point services can be done directly,
The work of complex environment is coped with, speed is fast, high-efficient.Therefore nowadays unmanned plane is widely applied to mapping, cruise, ring
The multiple fields such as border monitoring, express delivery dispensing.
The accurate landing of unmanned plane and cruising ability be influence unmanned plane at this stage every profession and trade application development it is important because
Element.But limited by unmanned plane self structure and weight and battery technology, unmanned plane at most can only flight half an hour, boat
Journey is shorter, this has seriously affected the ability that unmanned plane executes task in various industries.In addition, most of unmanned plane takes off and lands
Place select airplane parking area more casual or common that can only play the reference role in substantially level point, can not accomplish precisely
Positioning, and timely automated can not charge to unmanned plane after unmanned plane landing.
Summary of the invention
To overcome above-mentioned the deficiencies in the prior art, present disclose provides a kind of vehicle-mounted unmanned aerial vehicle stop cabinet equipment, it is automatic more
Change battery methods and system.The cabinet equipment of stopping includes airplane parking area, is arranged telltale mark on airplane parking area, auxiliary unmanned plane according to
The telltale mark drops on the airplane parking area, then by the way that opening on the locating slide rod and slide bar on airplane parking area periphery is arranged in
Unmanned plane is pushed to designated position and locked by Cheng Kaiguan, and the automatic replacement of battery is realized finally by mechanical arm.Based on this,
The shutdown case can be realized the automatic replacement of the accurate landing and battery of unmanned plane.
To achieve the above object, one or more other embodiments of the present disclosure provide following technical solution:
A kind of vehicle-mounted unmanned aerial vehicle stops cabinet equipment, comprising:
The shell of top end opening, the interior shell includes controller, and the unmanned plane connecting with the controller is shut down
Level ground, mechanical arm and one or more charging cabinets, each charging cabinet are equipped with multiple charging slots；The monitoring control devices respectively fill
Battery information in electric slot, control mechanical arm take out battery from unmanned plane and are put into sky charging slot, and from electricity abundance battery institute
Battery, which is taken out, in charging slot is packed into unmanned plane.
Further, the housing tip is equipped with slide lid, connect with the controller.
Further, the airplane parking area is equipped with unmanned plane telltale mark, including position telltale mark and direction positioning mark
Note；The position telltale mark and direction telltale mark be used as in unmanned plane descent respectively landing place refer to and nobody
Machine direction reference.
Further, it is additionally provided with locating slide rod around telltale mark on the airplane parking area, stopped for being dropped in unmanned plane
Unmanned plane is pushed to designated position behind machine level ground.
Further, position corresponding with unmanned plane rack leg is additionally provided with and leaves to switch on the locating slide rod, at nobody
Machine is closed after being pushed to designated position, and rack leg is lockked.
One or more embodiments provide it is a kind of based on the automatically replacing battery method for stopping cabinet equipment, including with
Lower step:
After unmanned plane drops on airplane parking area, the controller control locating slide rod pushes unmanned plane to designated position, closes
It closes and leaves to switch；
It controls mechanical arm and unmanned plane is protruded into according to preset kinematic parameter, battery is taken out by front end clamping device；
The battery information of each charging slot is obtained, the position of charging slot where determining sky charging slot and electricity abundance battery；
Kinematic parameter needed for the following motion process of calculating machine arm: battery is put into empty charging by the mechanical arm
Slot, the position of charging slot where being moved to electricity abundance battery take out battery from the charging slot and are put into unmanned plane；
Battery altering is completed according to the kinematic parameter.
One or more embodiments provide a kind of vehicle-mounted unmanned aerial vehicle control system, comprising: remote terminal, unmanned plane and institute
That states stops cabinet equipment；
Remote terminal, the instruction of making a return voyage for receiving user's input are sent to unmanned plane, while sending the current position letter of vehicle
Breath；The image data that unmanned plane is sent is received, the telltale mark in described image is identified, is generated and controlled according to the telltale mark
It instructs and is sent to unmanned plane；And receive the feedback information for shutting down that the unmanned plane that case is sent has landed, battery altering is completed；
Unmanned plane, receives make a return voyage instruction and the current location information of vehicle, and control unmanned plane during flying is certain to the position
Within range, shooting is sent to remote terminal comprising the image data of airplane parking area；And it receives the control that remote terminal is sent and refers to
It enables, control unmanned plane is mobile or lands；
Case is shut down, determines that unmanned plane has landed by the sensing device on airplane parking area, replaces battery automatically, and eventually to remote control
End sends feedback information.
Further, the remote terminal to unmanned plane transmission make a return voyage instruct while, also to the shutdowns case send beat
Open instruction.
Further, new image data is shot after the unmanned plane is moved every time is sent to the remote control eventually
End.
Further, the remote terminal according to position telltale mark judge orientation that the unmanned plane need to move horizontally and
Distance judges the angle that the unmanned plane rotates horizontally according to direction telltale mark, generates control instruction and is sent to unmanned plane.
The above one or more technical solution there are following the utility model has the advantages that
1, the disclosure detects to realize that unmanned plane can be made at a distance by GPS positioning information combination machine learning objective
Industry simultaneously can precisely land.Compared to the spatial dimension that simple image recognition can expand aerial mission execution, simple GPS is compared
The unmanned plane that location technology is landed automatically more accurate can land, and can reduce electromagnetic signal interference effect, avoid frying
Machine falls；In addition, also setting up locating slide rod on airplane parking area, on the basis of precisely dropping to airplane parking area, auxiliary unmanned plane is more quasi-
Reach predeterminated position, really to replace battery automatically using manipulator.
2, the disclosure provides dedicated shutdown case, can be realized after unmanned plane lands automatically and replaces battery automatically, improves
The cruising ability of unmanned plane execution task；Whole process, user need to only send at remote-controlled movement end and order, and unmanned plane replaces battery
Automation and intelligence with charging reduce human cost；Also, it shuts down in case and provides reserve battery by setting charging cabinet,
Charging cabinet can provide the battery of electricity abundance, the battery charging that can also use up for electricity, compared to being provided solely for one or more
The reserve battery of a electricity abundance, cruising ability greatly improve.
3, shutting down case can install on automobile, ship or truck, and unmanned plane is assisted to realize that the operation under various environment is wanted
It asks, and can precisely land during automobile or ship running to carry out automatic replacement battery and charging, whole process and not need
Spend human resources.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is to stop cabinet equipment overall appearance figure in the embodiment of the present disclosure one；
Fig. 2 is that case internal structure chart is shut down in the embodiment of the present disclosure one；
Fig. 3 is that case manipulator overall structure figure is shut down in the embodiment of the present disclosure one；
Fig. 4 is that unmanned plane picture pick-up device declines process flow schematic diagram in the embodiment of the present disclosure one；
Fig. 5 is the decline of unmanned plane picture pick-up device and battery altering process control overall schematic in the embodiment of the present disclosure one.
Specific embodiment
It is noted that described further below be all exemplary, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.
Present embodiment discloses what a kind of vehicle-mounted unmanned aerial vehicle replaced battery automatically to stop cabinet equipment, is applied to unmanned aerial vehicle (UAV) control
System the system comprises unmanned plane, remote terminal and stops cabinet equipment.
Unmanned plane, including electronic rotor, fuselage, photographic device and flight controller.The photographic device is located at fuselage bottom
Portion is connect by signal with flight controller, and flight controller can transmit photos and videos information to remote terminal in real time；
Remote terminal, including remote-control handle and unmanned plane during flying state control APP, with UAV Flight Control device and shutdown
The connection of case controller controls state of flight, the camera function of unmanned plane, and shuts down the slide lid opening and closing of box top.
Stop cabinet equipment, after being located at roof or vehicle, as shown in Figure 1, including the shell of top end opening, the housing tip is set
There is the slide lid that can be automatically switched, includes airplane parking area 1, mechanical arm 2, charging unit 3 and controller in the shell.
The slide lid bottom and the edge of the shell nozzle are cooperatively equipped with sliding equipment, are made by sliding equipment
Slide lid is mobile relative to shell, realizes the opening and closing for shutting down case；As shown in Figure 1, the slide lid includes the first lid
With the second lid, first lid and the second lid bottom to middle slip when realize the closing for shutting down case, to outside
When sliding, the opening for shutting down case is realized.Optionally, an example of the sliding equipment is to be arranged at the edge of shell nozzle
Groove is cooperatively arranged in slide lid bottom in slideway.
As shown in Fig. 2, the airplane parking area 1 is equipped with unmanned plane telltale mark, locating slide rod 4 and switch 5 of leaving.
The airplane parking area 1 is connect by elevating mechanism with pedestal.
The telltale mark is " H " shape, and " H " shape opening side indicates " △ " symbol." H " shape is position positioning mark
Note is used as reference by location in unmanned plane descent, and " △ " is direction telltale mark, as side in unmanned plane descent
To reference, to adjust the direction of unmanned plane.
There are four the locating slide rod 4 is set, it is laid in the telltale mark periphery.The locating slide rod by support portion with
Airplane parking area connects, and what is matched on the support portion and airplane parking area is provided with sliding equipment, and four locating slide rods can pass through
Sliding equipment is gathered/is dispersed around to center, and the end-state that four locating slide rods are gathered to center is end to end
Rectangle.Four locating slide rods are for pushing it to designated position after unmanned plane landing.
In four locating slide rods, corresponding two slide bars of unmanned plane rack leg are equipped with switch 5 of leaving, in unmanned plane
It is closed after being pushed to designated position, rack leg is lockked, so that unmanned plane is fixed on airplane parking area.
Sensing device is additionally provided on the shutdown case airplane parking area, whether detection unmanned plane drops on airplane parking area.The sense
Answering device to can be optoelectronic switch, weighing sensor etc. arbitrarily can be realized the device that induction unmanned plane has landed.
The mechanical arm is set to airplane parking area side, as shown in figure 3, the mechanical arm 2 includes being fixed on the housing bottom
Support arm, the support portion upper end connects lifting arm, and the upper end of the lifting arm is connect by rotating mechanism with lever arm, institute
Stating lever arm front end is clamping device.The elevating lever can be realized mechanical according to charging slot charge information automatic height adjustment
Arm exchanges battery operation for.The clamping device is the clip for clamping battery, which can snap into the subsequent electricity of unmanned plane
Battery is taken out on pond.
The charging unit 3 includes three charging cabinets, and orientation is laid around mechanical arm 2 where avoiding unmanned plane,
The side of three charging cabinets towards mechanical arms is all provided with there are four charging slot.It is a part of empty in these charging slots, for storing
The battery removed from unmanned plane and charging, a branch place and are charging or the battery of electricity abundance, for unmanned plane replaces (for
The structure for stopping cabinet inside is shown, the charging cabinet in outside has compressed height).
Sensing device, charging cabinet, each elevating mechanism, sliding equipment, rotation in the controller, with the shutdown case
Mechanism and switch connection.The lifting of airplane parking area can be controlled, the opening and closing of slide lid, the sliding of locating slide rod, left out
The opening and closing of pass, mechanical arm the service condition for stretching, rotating and taking/discharge charging slot in pond, and monitoring charging cabinet
With the charged state of battery in charging slot.
Further, the controller is by the service condition and battery information of each charging slot of monitoring, according to the electricity
Pond information calculates the charge completion time, and shows that the charge completion time, the electricity are believed according to preset display mode
Breath and the information of voltage.
As shown in figure 4, the descent of the unmanned plane is as follows:
Step 1: the instruction of making a return voyage that remote terminal receives user's input is sent to UAV Flight Control device, while sending institute
State the current location information of vehicle；
Step 2: remote terminal sends open instructions to case equipment is shut down；
Step 3: stop crate controller and receive the open instructions that remote terminal is sent, controls the slide lid and open, and
Control that elevating mechanism lifting airplane parking area is consistent to the slide lid height, and Xiang Suoshu remote terminal executes feedback；
Step 4: unmanned plane is mobile and lands；
The step 4 specifically includes:
Step 4.1: the flight controller receives the location information, controls the unmanned plane during flying to the position one
Determine within range (as shown in Figure 3), and lands；
Step 4.2: when the unmanned plane is drop to apart from ground certain altitude, adjusting camera azimuth, be allowed to vertical
It is straight downward, and control photographic device captured image data and be sent to remote terminal；
Step 4.3: the remote terminal receives image data, identifies to unmanned plane telltale mark；It is marked according to positioning
Remember that recognition result sends control instruction to unmanned plane, control unmanned plane is mobile and lands；Wherein, the unmanned plane is moved every time
Photographic device captured image data is controlled after dynamic, repeats step 4.3.
The telltale mark includes position telltale mark and direction telltale mark.In the present embodiment, the position positioning mark
It is denoted as " H " shape, direction telltale mark is " △ " shape, in conjunction with image recognition result, controls unmanned plane and moves horizontally, until " H " is marked
Will is located at image center, and control unmanned plane rotates horizontally, until the front of unmanned plane is consistent with " △ " direction.That is " H "
Two of word enable unmanned plane precisely to drop to shutdown in landing leg two of corresponding unmanned plane, by constantly adjusting
In the airplane parking area of case.Pass through picture pick-up device in the sky to the detection and identification degree for shutting down case locating slot to enhance unmanned plane, shuts down
The color on the level ground stronger color of comparative selection degree as far as possible, such as airplane parking area use glassy yellow, the △ of " H " word mark and mark front and back
Symbol uses black.
Step 5: stop crate controller according on airplane parking area sensing device transmission data judge that unmanned plane has landed after,
Feedback information is sent to remote terminal；Remote terminal sends out code to case equipment is shut down；
Step 6: stopping after airplane parking area drops to initial position by crate controller, control slide lid closes and to the remote control
Terminal executes feedback.
After unmanned plane returns to shutdown case, stops crate controller and executes the following course of work:
Step 7: after detecting that unmanned plane drops on airplane parking area, control locating slide rod is pushed from four direction to centre
Unmanned plane is to designated position；
Step 8: after unmanned plane reaches designated position, control unmanned plane is on the locating slide rod on the direction of rack leg
Leave switch can be closed, unmanned plane is fixed on airplane parking area；
Step 9: after unmanned plane is fixed, controlling mechanical arm according to predetermined movement parameter and protrude into unmanned plane, by taking
The clip of battery takes out battery；The battery information of each charging slot is obtained, the battery information includes information about power and voltage letter
Breath, the position of charging slot where determining empty charging slot and electricity abundance battery respectively；Calculating the mechanical arm need to go up and down and rotate
Design parameter；Height and angle, the electricity that control mechanical arm will take out from unmanned plane are adjusted according to the state modulator mechanical arm
Pond is inserted into sky charging slot and charges, and the battery of full electricity is then taken out from the charging slot where electricity abundance battery, is inserted
Enter onto unmanned plane；
Step 10: after the completion of battery altering, charging case controller will be completed message sending to remote terminal, be determined by user
It re-executes to take off or close and shuts down case.
Precisely land about unmanned plane, the new image data comprising airplane parking area constantly obtained in unmanned plane descent,
Airplane parking area identification is carried out, guarantees the accurate landing of unmanned plane, the step 4.3 further comprises:
Step 4.3.1: position telltale mark and direction telltale mark in the remote terminal identification described image；
Step 4.3.2: the position telltale mark is judged whether in image center, if executing step 4.3.4；If
Do not exist, the azimuth-range that unmanned plane need to move is judged according to the position telltale mark, generates control instruction and be sent to nobody
Machine；Specifically, target frame is obtained according to the airplane parking area detected, whether nothing in picture middle is judged according to the target frame
It is man-machine whether in target position middle, and the distance of (left and right) determines mobile distance above and below picture according to target frame
The orientation and.
Step 4.3.3: it receives lower piece image and repeats step 4.3.1- step 4.3.2, until the position telltale mark
Positioned at image center；
Step 4.3.4: judging whether one extreme direction of unmanned plane and the direction telltale mark are consistent, if unanimously, to nobody
Machine sends the control instruction of landing；If inconsistent, the angle that unmanned plane rotates horizontally is judged according to the direction telltale mark, and
It generates control instruction and is sent to unmanned plane；
Step 4.3.5: it receives lower piece image and repeats step 4.3.4, until one extreme direction of unmanned plane and the side
It is consistent to telltale mark.
Target identification is carried out about to the telltale mark on airplane parking area, in the step 4, unmanned plane telltale mark is carried out
Identification uses the object detection method based on deep learning, and concrete principle is as follows:
Step 1: using unmanned plane acquisition have airplane parking area image, and for acquisition come image be marked, frame select
Airplane parking area position and its classification out, training set and test set as deep learning；
Step 2: selection neural network deep learning frame is learnt using the training image collection, obtains the mind
Through the corresponding weight file of network.For example use the Yolov2-tiny under Darknet frame as basic network, consider movement
The calculating power and recognition speed at end need to make adjustment to its number of plies and parameter, continue to optimize training process, be finally completed
Training obtains several weights of network output, is tested on test set several weights and selects the weight to behave oneself best literary
Part；
Step 3: accelerating frame to be transplanted to remote terminal by NCNN the configuration file of the neural network and weight.Tool
Body, network and weight are transplanted to mobile terminal, is limited by the calculating power of mobile terminal, selects NCNN as mobile terminal reasoning process
Acceleration frame, and network profile and weight are converted into format required for NCNN, form dynamic after NCNN is compiled
Chained library, and docked Android program with NCNN API by JNI, identification process is controlled on Android to realize,
And the network and weight obtained by training completes the object detection task to airplane parking area.
After trained network and weight are transplanted to mobile control terminal, control unmanned plane is detected by mobile terminal and was fallen
Airplane parking area position detection in journey.
Particularly, when vehicle is in driving status: unmanned plane shooting photo is transmitted to mobile control terminal, and mobile terminal passes through implantation
Deep learning network model and weight to identify object, and frame choosing is carried out to target object using red boxes；
It determines whether airplane parking area is located at immediately below unmanned plane according to box, whether judges orientation again if located directly below
Correctly, the motion direction and distance of unmanned plane are otherwise determined according to the difference of the distance of four back gauge pictures of box；
When vehicle is in moving condition, constantly detect the content in box whether be before target object, by constantly clapping
Photo is taken the photograph to determine target position in real time, so that unmanned plane be allowed to keep opposing stationary with driving.
The above one or more embodiment has following technical effect that
1, the disclosure detects to realize that unmanned plane can be made at a distance by GPS positioning information combination machine learning objective
Industry simultaneously can precisely land.Compared to the spatial dimension that simple image recognition can expand aerial mission execution, simple GPS is compared
The unmanned plane that location technology is landed automatically more accurate can land, and can reduce electromagnetic signal interference effect, avoid frying
Machine falls；In addition, also setting up locating slide rod on airplane parking area, on the basis of precisely dropping to airplane parking area, auxiliary unmanned plane is more quasi-
Reach preset threshold, really to replace battery automatically using manipulator.
2, the disclosure provides dedicated shutdown case, can be realized after unmanned plane lands automatically and replaces battery automatically, improves
The cruising ability of unmanned plane execution task；Whole process, user need to only send at remote-controlled movement end and order, and unmanned plane replaces battery
Automation and intelligence with charging reduce human cost；Also, it shuts down in case and provides reserve battery by setting charging cabinet,
Charging cabinet can provide the battery of electricity abundance, the battery charging that can also use up for electricity, compared to being provided solely for one or more
The reserve battery of a electricity abundance, cruising ability greatly improve.
3, shutting down case can install on automobile, ship or truck, and unmanned plane is assisted to realize that the operation under various environment is wanted
It asks, and can precisely land during automobile or ship running to carry out automatic replacement battery and charging, whole process and not need
Spend human resources.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the application, model not is protected to the application
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the application, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the application.
Claims (10)
1. a kind of vehicle-mounted unmanned aerial vehicle stops cabinet equipment characterized by comprising
The shell of top end opening, the interior shell includes controller, and the unmanned plane airplane parking area, the machine that connect with the controller
Tool arm and one or more charging cabinets, each charging cabinet are equipped with multiple charging slots；Each charging slot of monitoring control devices
In battery information, control mechanical arm takes out battery from unmanned plane and is put into sky charging slot, and fills where electricity abundance battery
Electric slot takes out battery and is packed into unmanned plane.
2. what a kind of vehicle-mounted unmanned aerial vehicle as described in claim 1 replaced battery automatically stops cabinet equipment, which is characterized in that described
Housing tip is equipped with slide lid, connect with the controller.
3. what a kind of vehicle-mounted unmanned aerial vehicle as described in claim 1 replaced battery automatically stops cabinet equipment, which is characterized in that described
Airplane parking area is equipped with unmanned plane telltale mark, including position telltale mark and direction telltale mark；The position telltale mark and
Direction telltale mark is used as landing place in unmanned plane descent respectively and refers to and unmanned plane direction reference.
4. what a kind of vehicle-mounted unmanned aerial vehicle as claimed in claim 3 replaced battery automatically stops cabinet equipment, which is characterized in that described
It is additionally provided with locating slide rod around telltale mark on airplane parking area, for unmanned plane to be pushed to finger after unmanned plane drops to airplane parking area
Positioning is set.
5. what a kind of vehicle-mounted unmanned aerial vehicle as claimed in claim 4 replaced battery automatically stops cabinet equipment, which is characterized in that described
Position corresponding with unmanned plane rack leg, which is additionally provided with, on locating slide rod leaves to switch, and is pushed to designated position Hou Guan in unmanned plane
It closes, rack leg is lockked.
6. a kind of based on the automatically replacing battery method for stopping cabinet equipment as described in claim 1-5, which is characterized in that including with
Lower step:
After unmanned plane drops on airplane parking area, the controller control locating slide rod pushes unmanned plane to designated position, and closing is opened
Cheng Kaiguan；
It controls mechanical arm and unmanned plane is protruded into according to preset kinematic parameter, battery is taken out by front end clamping device；
The battery information of each charging slot is obtained, the position of charging slot where determining sky charging slot and electricity abundance battery；
Kinematic parameter needed for the following motion process of calculating machine arm: battery is put into sky charging slot by the mechanical arm, is moved
The position of charging slot where moving electricity abundance battery takes out battery from the charging slot and is put into unmanned plane；
Battery altering is completed according to the kinematic parameter.
7. a kind of vehicle-mounted unmanned aerial vehicle control system characterized by comprising remote terminal, unmanned plane and such as claim 1-5
Stop cabinet equipment described in one；
Remote terminal, the instruction of making a return voyage for receiving user's input is sent to unmanned plane, while sending the current location information of vehicle；It connects
The image data that unmanned plane is sent is received, identifies the telltale mark in described image, control instruction is generated according to the telltale mark
And it is sent to unmanned plane；And receive the feedback information for shutting down that the unmanned plane that case is sent has landed, battery altering is completed；
Unmanned plane receives make a return voyage instruction and the current location information of vehicle, control unmanned plane during flying to described position a certain range
Within, shooting is sent to remote terminal comprising the image data of airplane parking area；And the control instruction that remote terminal is sent is received,
Control unmanned plane movement or landing；
Case is shut down, determines that unmanned plane has landed by the sensing device on airplane parking area, replaces battery automatically, and send out to remote terminal
Send feedback information.
8. a kind of vehicle-mounted unmanned aerial vehicle control system as claimed in claim 7, which is characterized in that the remote terminal is to unmanned plane
Transmission is maked a return voyage while instruct, and also sends open instructions to the shutdown case.
9. a kind of vehicle-mounted unmanned aerial vehicle control system as claimed in claim 7, which is characterized in that the unmanned plane is moved every time
New image data, which is shot, after dynamic is sent to the remote terminal.
10. a kind of vehicle-mounted unmanned aerial vehicle control system as claimed in claim 9, which is characterized in that the remote terminal is according to position
It sets telltale mark and judges the azimuth-range that the unmanned plane need to move horizontally, the unmanned plane is judged according to direction telltale mark
The angle of horizontal rotation generates control instruction and is sent to unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811456785.8A CN109502039A (en) | 2018-11-30 | 2018-11-30 | A kind of vehicle-mounted unmanned aerial vehicle stops cabinet equipment, automatic replacement battery methods and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811456785.8A CN109502039A (en) | 2018-11-30 | 2018-11-30 | A kind of vehicle-mounted unmanned aerial vehicle stops cabinet equipment, automatic replacement battery methods and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109502039A true CN109502039A (en) | 2019-03-22 |
Family
ID=65749824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811456785.8A Pending CN109502039A (en) | 2018-11-30 | 2018-11-30 | A kind of vehicle-mounted unmanned aerial vehicle stops cabinet equipment, automatic replacement battery methods and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109502039A (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110362125A (en) * | 2019-07-10 | 2019-10-22 | 祺步智能科技（上海）有限公司 | A kind of controlling temp type reorganizes and outfit system and method automatically |
| CN110456806A (en) * | 2019-06-27 | 2019-11-15 | 安徽科力信息产业有限责任公司 | A kind of unmanned plane landing method and device |
| CN110589007A (en) * | 2019-09-20 | 2019-12-20 | 沈阳航空航天大学 | Heavy-duty industrial-grade multi-rotor unmanned aerial vehicle hangar |
| CN110949683A (en) * | 2019-12-11 | 2020-04-03 | 云南电网有限责任公司保山供电局 | Method for carrying out uninterrupted inspection on power transformation equipment by using unmanned aerial vehicle |
| CN111038454A (en) * | 2019-12-30 | 2020-04-21 | 山东厚德测控技术股份有限公司 | Unmanned aerial vehicle battery replacement system and closed-loop automatic control method |
| CN111891374A (en) * | 2020-07-30 | 2020-11-06 | 上海海洋大学 | Unmanned aerial vehicle field endurance system and method thereof |
| CN112141354A (en) * | 2020-09-04 | 2020-12-29 | 国网安徽省电力有限公司淮南供电公司 | Mobile nest for automatically replacing battery of small unmanned aerial vehicle and parking apron thereof |
| WO2021092786A1 (en) * | 2019-11-13 | 2021-05-20 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle takeoff and landing platform, unmanned aerial vehicle takeoff and landing control method, unmanned aerial vehicle takeoff and landing control device, and machine readable storage medium |
| CN112874782A (en) * | 2019-11-29 | 2021-06-01 | 北京二郎神科技有限公司 | Unmanned aerial vehicle, energy supply station and trade electric system |
| CN112878772A (en) * | 2019-11-29 | 2021-06-01 | 北京二郎神科技有限公司 | Unmanned aerial vehicle hangar |
| CN113011269A (en) * | 2021-02-23 | 2021-06-22 | 国网安徽省电力有限公司淮南供电公司 | Mechanical clamping jaw and working method for grabbing battery |
| CN113183859A (en) * | 2021-05-27 | 2021-07-30 | 广州市华科尔科技股份有限公司 | Vehicle-mounted unmanned aerial vehicle mobile companion aircraft nest and control method thereof |
| CN113869747A (en) * | 2021-09-29 | 2021-12-31 | 天津云圣智能科技有限责任公司 | Full-automatic airport battery scheduling method and device and electronic equipment |
| CN113859533A (en) * | 2021-09-30 | 2021-12-31 | 江苏省电力试验研究院有限公司 | Vehicle-mounted unmanned aerial vehicle system and violation supervising method thereof |
| CN113859045A (en) * | 2021-11-22 | 2021-12-31 | 北京图维科技有限公司 | Automatic replacing method for vehicle-mounted unmanned aerial vehicle parking apron battery |
| WO2022058903A1 (en) * | 2020-09-16 | 2022-03-24 | Dpendent - Drone Independent System Sàrl | Logistics station for drones |
| CN114290949A (en) * | 2022-01-11 | 2022-04-08 | 成都圭目机器人有限公司 | A trade electric transit system for unmanned aerial vehicle |
| CN114610073A (en) * | 2022-04-19 | 2022-06-10 | 广东途稳节能移动装备股份有限公司 | Carry on unmanned aerial vehicle of mechanism of returning to middle and patrol and examine electric power command communication car of equipment |
| CN114889761A (en) * | 2022-04-28 | 2022-08-12 | 中国人民解放军63983部队 | Unmanned aerial vehicle independently puts in and recovery system |
| CN115167503A (en) * | 2022-06-10 | 2022-10-11 | 绍兴电力局柯桥供电分局 | Vehicle-mounted unmanned aerial vehicle multi-station coordination system based on remote rising and falling |
| CN115402143A (en) * | 2021-05-27 | 2022-11-29 | 比亚迪股份有限公司 | Unmanned aerial vehicle storage device, vehicle and unmanned aerial vehicle battery replacement method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105836149A (en) * | 2016-04-13 | 2016-08-10 | 四川智慧鹰航空科技有限公司 | Automatic charging and battery replacement system of unmanned aerial vehicle |
| JP2016199144A (en) * | 2015-04-09 | 2016-12-01 | 三菱電機特機システム株式会社 | Unmanned vehicle system, ground unmanned vehicle, and unmanned flight vehicle |
| CN107176047A (en) * | 2017-05-27 | 2017-09-19 | 先测电子科技（上海）有限公司 | A kind of unmanned plane shuts down storehouse |
| CN108016345A (en) * | 2017-12-08 | 2018-05-11 | 成都天麒科技有限公司 | A kind of self-positioning vehicle-mounted continuation of the journey system of unmanned plane |
| CN207595289U (en) * | 2017-12-08 | 2018-07-10 | 成都天麒科技有限公司 | A kind of unmanned plane stops detent mechanism |
| CN108482704A (en) * | 2018-04-16 | 2018-09-04 | 广东飞翔达科技有限公司 | A kind of agricultural unmanned plane replaces the device and method of battery and dosing |
-
2018
- 2018-11-30 CN CN201811456785.8A patent/CN109502039A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016199144A (en) * | 2015-04-09 | 2016-12-01 | 三菱電機特機システム株式会社 | Unmanned vehicle system, ground unmanned vehicle, and unmanned flight vehicle |
| CN105836149A (en) * | 2016-04-13 | 2016-08-10 | 四川智慧鹰航空科技有限公司 | Automatic charging and battery replacement system of unmanned aerial vehicle |
| CN107176047A (en) * | 2017-05-27 | 2017-09-19 | 先测电子科技（上海）有限公司 | A kind of unmanned plane shuts down storehouse |
| CN108016345A (en) * | 2017-12-08 | 2018-05-11 | 成都天麒科技有限公司 | A kind of self-positioning vehicle-mounted continuation of the journey system of unmanned plane |
| CN207595289U (en) * | 2017-12-08 | 2018-07-10 | 成都天麒科技有限公司 | A kind of unmanned plane stops detent mechanism |
| CN108482704A (en) * | 2018-04-16 | 2018-09-04 | 广东飞翔达科技有限公司 | A kind of agricultural unmanned plane replaces the device and method of battery and dosing |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456806A (en) * | 2019-06-27 | 2019-11-15 | 安徽科力信息产业有限责任公司 | A kind of unmanned plane landing method and device |
| CN110362125A (en) * | 2019-07-10 | 2019-10-22 | 祺步智能科技（上海）有限公司 | A kind of controlling temp type reorganizes and outfit system and method automatically |
| CN110589007A (en) * | 2019-09-20 | 2019-12-20 | 沈阳航空航天大学 | Heavy-duty industrial-grade multi-rotor unmanned aerial vehicle hangar |
| WO2021092786A1 (en) * | 2019-11-13 | 2021-05-20 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle takeoff and landing platform, unmanned aerial vehicle takeoff and landing control method, unmanned aerial vehicle takeoff and landing control device, and machine readable storage medium |
| CN112878772B (en) * | 2019-11-29 | 2022-06-21 | 北京二郎神科技有限公司 | Unmanned aerial vehicle hangar |
| CN112874782A (en) * | 2019-11-29 | 2021-06-01 | 北京二郎神科技有限公司 | Unmanned aerial vehicle, energy supply station and trade electric system |
| CN112878772A (en) * | 2019-11-29 | 2021-06-01 | 北京二郎神科技有限公司 | Unmanned aerial vehicle hangar |
| CN112874782B (en) * | 2019-11-29 | 2022-09-20 | 北京二郎神科技有限公司 | Unmanned aerial vehicle, energy supply station and trade electric system |
| CN110949683A (en) * | 2019-12-11 | 2020-04-03 | 云南电网有限责任公司保山供电局 | Method for carrying out uninterrupted inspection on power transformation equipment by using unmanned aerial vehicle |
| CN111038454A (en) * | 2019-12-30 | 2020-04-21 | 山东厚德测控技术股份有限公司 | Unmanned aerial vehicle battery replacement system and closed-loop automatic control method |
| CN111891374A (en) * | 2020-07-30 | 2020-11-06 | 上海海洋大学 | Unmanned aerial vehicle field endurance system and method thereof |
| CN111891374B (en) * | 2020-07-30 | 2023-11-24 | 上海海洋大学 | Unmanned aerial vehicle field endurance system and method thereof |
| CN112141354A (en) * | 2020-09-04 | 2020-12-29 | 国网安徽省电力有限公司淮南供电公司 | Mobile nest for automatically replacing battery of small unmanned aerial vehicle and parking apron thereof |
| WO2022058903A1 (en) * | 2020-09-16 | 2022-03-24 | Dpendent - Drone Independent System Sàrl | Logistics station for drones |
| CN113011269B (en) * | 2021-02-23 | 2023-12-05 | 国网安徽省电力有限公司淮南供电公司 | Mechanical clamping jaw and working method for grabbing battery |
| CN113011269A (en) * | 2021-02-23 | 2021-06-22 | 国网安徽省电力有限公司淮南供电公司 | Mechanical clamping jaw and working method for grabbing battery |
| CN115402143A (en) * | 2021-05-27 | 2022-11-29 | 比亚迪股份有限公司 | Unmanned aerial vehicle storage device, vehicle and unmanned aerial vehicle battery replacement method |
| CN113183859A (en) * | 2021-05-27 | 2021-07-30 | 广州市华科尔科技股份有限公司 | Vehicle-mounted unmanned aerial vehicle mobile companion aircraft nest and control method thereof |
| CN113869747A (en) * | 2021-09-29 | 2021-12-31 | 天津云圣智能科技有限责任公司 | Full-automatic airport battery scheduling method and device and electronic equipment |
| CN113859533A (en) * | 2021-09-30 | 2021-12-31 | 江苏省电力试验研究院有限公司 | Vehicle-mounted unmanned aerial vehicle system and violation supervising method thereof |
| CN113859533B (en) * | 2021-09-30 | 2024-01-19 | 江苏省电力试验研究院有限公司 | Vehicle-mounted unmanned aerial vehicle system and violation supervision method thereof |
| CN113859045A (en) * | 2021-11-22 | 2021-12-31 | 北京图维科技有限公司 | Automatic replacing method for vehicle-mounted unmanned aerial vehicle parking apron battery |
| CN114290949A (en) * | 2022-01-11 | 2022-04-08 | 成都圭目机器人有限公司 | A trade electric transit system for unmanned aerial vehicle |
| CN114610073A (en) * | 2022-04-19 | 2022-06-10 | 广东途稳节能移动装备股份有限公司 | Carry on unmanned aerial vehicle of mechanism of returning to middle and patrol and examine electric power command communication car of equipment |
| CN114889761A (en) * | 2022-04-28 | 2022-08-12 | 中国人民解放军63983部队 | Unmanned aerial vehicle independently puts in and recovery system |
| CN115167503A (en) * | 2022-06-10 | 2022-10-11 | 绍兴电力局柯桥供电分局 | Vehicle-mounted unmanned aerial vehicle multi-station coordination system based on remote rising and falling |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109502039A (en) | A kind of vehicle-mounted unmanned aerial vehicle stops cabinet equipment, automatic replacement battery methods and system | |
| CN106909167B (en) | Multi-machine multi-station combined three-dimensional task system and method | |
| CN109298723A (en) | A kind of accurate landing method of vehicle-mounted unmanned aerial vehicle and system | |
| US11897631B2 (en) | Automated docking of unmanned aerial vehicle | |
| CN106886225B (en) | Multifunctional unmanned aerial vehicle intelligent landing station system | |
| CN106873623A (en) | A kind of unmanned plane is quickly independently continued a journey system and method | |
| JP6395835B2 (en) | UAV battery power backup system and method | |
| CN110103800A (en) | Suitable for the UAV Intelligent inspection Operation Van of transmission line of electricity and method for inspecting | |
| CN109791414A (en) | The method and system that view-based access control model lands | |
| CN108572661A (en) | A kind of unmanned aerial vehicle control system and unmanned aerial vehicle (UAV) control method | |
| CN112061412B (en) | Unmanned aerial vehicle intelligent hangar suitable for multiple installation demands | |
| CN207417175U (en) | Unmanned plane launching and recovering equipment and unmanned plane landing system | |
| CN111422369B (en) | Unmanned aerial vehicle automatic airport and control method | |
| CN107196410B (en) | ground transformer substation inspection system and method | |
| CN114261528B (en) | Unmanned aerial vehicle nest self-checking system and method | |
| JP6791561B2 (en) | Methods and devices for supplying energy to UAVs | |
| CN104995575B (en) | A kind of data processing method, device and aircraft | |
| JP2018100088A (en) | Method of supplying energy to uav, and uav | |
| CN105620731B (en) | A kind of unmanned aerial vehicle (UAV) control method and unmanned aerial vehicle control system | |
| CN106101511A (en) | A kind of full-automatic unmanned machine system | |
| CN110606220B (en) | Mobile small unmanned aerial vehicle intelligent launching and recovery platform | |
| CN106494612A (en) | Improve method and the unmanned plane patrol system of rotor craft autonomous flight stability | |
| CN115951620B (en) | Unmanned aerial vehicle intelligent equipment management and control system | |
| CN108146637A (en) | A kind of unattended normalization area monitoring UAV system and monitoring method | |
| CN108363409A (en) | Unmanned plane inspection control method, apparatus and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190322 |
|
| RJ01 | Rejection of invention patent application after publication |