CN117048881B - Aerial charging unmanned aerial vehicle unit and charging method thereof - Google Patents
Aerial charging unmanned aerial vehicle unit and charging method thereof Download PDFInfo
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- CN117048881B CN117048881B CN202311321195.5A CN202311321195A CN117048881B CN 117048881 B CN117048881 B CN 117048881B CN 202311321195 A CN202311321195 A CN 202311321195A CN 117048881 B CN117048881 B CN 117048881B
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- 238000000034 method Methods 0.000 title abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 139
- 210000001503 joint Anatomy 0.000 claims abstract description 30
- 238000013519 translation Methods 0.000 claims abstract description 23
- 239000012780 transparent material Substances 0.000 claims abstract description 5
- 239000007769 metal material Substances 0.000 claims abstract description 4
- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 19
- 238000005192 partition Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 4
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 claims description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract 2
- 229910052742 iron Inorganic materials 0.000 abstract 1
- 238000003032 molecular docking Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
- B64U80/25—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV for recharging batteries; for refuelling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/37—Charging when not in flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/82—Airborne vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an aerial charging unmanned aerial vehicle unit and a charging method thereof, wherein the unmanned aerial vehicle unit comprises a first unmanned aerial vehicle and a second unmanned aerial vehicle; the unmanned aerial vehicle I comprises a body I; the first body is made of transparent materials; the top of the first machine body is a horizontal plane; the center of the top of the first machine body is provided with a butt joint hole penetrating through the top of the first machine body; the machine body I is internally provided with a control module I, a power supply module I, a positioning module I, battery iron, a mobile platform, a jacking mechanism, a translation mechanism, a camera and the like; the unmanned aerial vehicle II comprises a body II which is made of a metal material; the bottom of the second machine body is a horizontal plane; a charging hole is formed in the bottom of the second machine body, and a charging socket and the like are arranged in the charging hole; the aerial charging unmanned aerial vehicle unit and the charging method thereof can ensure that the charging plug and the charging socket are quickly connected in a butt joint mode, and are convenient for the aerial charging of two unmanned aerial vehicles.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an aerial charging unmanned aerial vehicle unit and a charging method thereof.
Background
The existing unmanned aerial vehicle charges in the air, and two unmanned aerial vehicles are required to charge after being in butt joint in the air. Unmanned aerial vehicle is to unmanned aerial vehicle second send charge request, and unmanned aerial vehicle second receives charge request back, and unmanned aerial vehicle second flies to unmanned aerial vehicle one department, and unmanned aerial vehicle second falls in unmanned aerial vehicle one top, makes unmanned aerial vehicle one and unmanned aerial vehicle second last charging plug and charging socket dock, then control unmanned aerial vehicle second is unmanned aerial vehicle one charges.
In the charging process of the existing unmanned aerial vehicle, the quick docking of a charging plug and a charging socket is difficult to ensure, when the existing unmanned aerial vehicle I and the unmanned aerial vehicle II are docked, a plurality of infrared signal transmitters which are arranged in an array are often arranged at the bottom of the unmanned aerial vehicle II, and a plurality of infrared signal receivers which are arranged in an array are arranged at the top of the unmanned aerial vehicle I; when each infrared signal emitter is aligned with one infrared signal receiver in the air, namely each infrared signal receiver receives one infrared signal, the unmanned aerial vehicle II falls onto the unmanned aerial vehicle I, so that the charging plug and the charging socket can be accurately abutted; in practice, however, it may be very difficult to control the alignment of the infrared signal transmitter and the infrared signal receiver in the air; the alignment process is complicated, and the angle of unmanned aerial vehicle one and unmanned aerial vehicle two needs continuous fine setting, needs to spend a lot of time, hardly guarantees charging plug and charging socket quick butt joint.
Therefore, in order to solve the above-mentioned problems, it is necessary to provide an aerial charging unmanned aerial vehicle and a charging method thereof to ensure quick docking between the charging plug and the charging socket.
Disclosure of Invention
The invention aims at: aiming at the problems, the aerial charging unmanned aerial vehicle unit and the charging method thereof are provided, which can ensure that the charging plug and the charging socket are quickly connected, and are convenient for the aerial charging of two unmanned aerial vehicles.
The technical scheme adopted by the invention is as follows:
an aerial charging unmanned aerial vehicle set comprises a first unmanned aerial vehicle and a second unmanned aerial vehicle;
the unmanned aerial vehicle I comprises a body I; the first body is made of transparent materials; the top of the first machine body is a horizontal plane; the center of the top of the first machine body is provided with a butt joint hole penetrating through the top of the first machine body; a control module I, a power supply module I, a positioning module I, an electromagnet, a moving platform, a jacking mechanism, a translation mechanism and a camera are arranged in the machine body I; the top surface of the mobile platform is close to the top of the machine body; the electromagnet is arranged on the top surface of the mobile platform; the jacking mechanism is arranged in the mobile platform, a charging plug is arranged at the top of the jacking mechanism, and the jacking mechanism is used for driving the charging plug to move up and down so that the charging plug can extend out of the top surface of the mobile platform and extend out of the butt joint hole; the translation mechanism is connected with the mobile platform and is used for driving the mobile platform to horizontally move below the top of the machine body; the visual angle of the camera can shoot the top of the whole body I;
the first power module, the first positioning module, the electromagnet, the mobile platform, the jacking mechanism, the translation mechanism and the camera are all connected with the first control module; the charging plug is connected with the first power supply module;
the unmanned aerial vehicle II comprises a body II, and a control module II, a power module II and a positioning module II are arranged in the body II; the second power module and the second positioning module are connected with the second control module; the second body is made of a metal material; the bottom of the second machine body is a horizontal plane; a charging hole is formed in the bottom of the second machine body, and a charging socket is arranged in the charging hole; the charging socket is connected with the second power module; the second machine body is also provided with a distance detection module which is connected with the second control module;
the first control module is in wireless communication connection with the second control module.
Further, the inner side of the left wall of the first machine body is provided with a left longitudinal chute, and the inner side of the right wall of the first machine body is provided with a right longitudinal chute; the left longitudinal chute and the right longitudinal chute extend along the front-back direction of the first machine body;
the translation mechanism comprises a left longitudinal movement mechanism, a right longitudinal movement mechanism, a cross beam and a transverse movement mechanism;
the bottom of the mobile platform is arranged on a transverse moving mechanism, the transverse moving mechanism is arranged on a cross beam, and the transverse moving mechanism is used for driving the mobile platform to move left and right along the cross beam;
a left longitudinal moving mechanism is arranged in the left longitudinal sliding groove, a right longitudinal moving mechanism is arranged in the right longitudinal sliding groove, the left end of the cross beam is connected with the left longitudinal moving mechanism, and the right end of the cross beam is connected with the right longitudinal moving mechanism; the left longitudinal moving mechanism and the right longitudinal moving mechanism synchronously drive the cross beam to move back and forth along the left longitudinal sliding groove and the right longitudinal sliding groove.
Further, the transverse moving mechanism comprises a transverse moving screw rod and a transverse moving sliding block; the transverse moving screw rod extends along the length direction of the cross beam and is rotatably arranged in the cross beam, a through groove is formed in the top of the cross beam, and the through groove penetrates through the top of the cross beam and extends along the length direction of the cross beam; the lower end of the transverse sliding block is positioned in the cross beam and is matched with the transverse sliding screw rod, and the upper end of the transverse sliding block extends out of the through groove to be connected with the bottom of the mobile platform; a transverse moving screw rod driving motor is arranged in the cross beam and connected with one end of the transverse moving screw rod; and the transverse moving screw rod driving motor is connected with the first control module.
Further, the left longitudinal movement mechanism comprises a left longitudinal movement screw rod and a left longitudinal movement sliding block; the left longitudinal moving screw rod extends along the length direction of the left longitudinal sliding groove and is rotatably arranged in the left longitudinal sliding groove; the left longitudinal sliding block is arranged in the left longitudinal sliding groove and is matched with the left longitudinal sliding screw rod; the left end of the cross beam is connected with the left longitudinally moving slide block; a left longitudinal moving screw rod driving motor is arranged in the left longitudinal sliding groove; the left longitudinal moving screw rod driving motor is connected with one end of the left longitudinal moving screw rod; the left longitudinal moving screw rod driving motor is connected with the first control module;
the right longitudinal movement mechanism comprises a right longitudinal movement screw rod and a right longitudinal movement sliding block; the right longitudinal moving screw rod extends along the length direction of the right longitudinal sliding groove and is rotatably arranged in the right longitudinal sliding groove; the right longitudinal sliding block is arranged in the right longitudinal sliding groove and is matched with the right longitudinal sliding screw rod; the right end of the cross beam is connected with the right longitudinal moving sliding block; a right longitudinal moving screw rod driving motor is arranged in the right longitudinal sliding groove; the right longitudinal moving screw rod driving motor is connected with one end of the right longitudinal moving screw rod, and the right longitudinal moving screw rod driving motor is connected with the first control module.
Further, the jacking mechanism comprises an outer cylinder, an outer rotating shaft, an inner rotating shaft and a jacking motor which are arranged in the moving platform;
the upper end of the outer cylinder penetrates through the top of the movable platform and is level with the top surface of the movable platform; the lower end of the outer cylinder is fixedly arranged at the bottom of the mobile platform;
the outer rotating shaft is arranged in the outer cylinder, and the outer wall of the outer rotating shaft is in threaded connection with the inner wall of the outer cylinder; the upper end of the inner rotating shaft is inserted into the outer rotating shaft from the lower end of the outer rotating shaft, the outer rotating shaft and the inner rotating shaft are circumferentially fixed, and the axial direction can relatively move; the lower end of the inner rotating shaft is connected with a jacking motor, the jacking motor is positioned in the outer cylinder, and the jacking motor is fixedly arranged at the bottom of the mobile platform; the jacking motor is connected with the first control module.
Further, the outer rotating shaft is connected with the inner rotating shaft through a spline connection mode.
Furthermore, the first unmanned aerial vehicle body is square, and each side surface of the first unmanned aerial vehicle body is connected with a first rotor wing mechanism through a connecting rod; each rotor wing mechanism I is connected with the control module I;
a horizontal partition plate is arranged in the first machine body to divide the first machine body into an upper cavity and a lower cavity; the moving platform, the translation mechanism and the camera are arranged in the upper cavity; the camera is fixedly arranged on the side wall of the upper cavity or the horizontal partition plate;
the first control module, the first power module and the first positioning module are arranged in the lower cavity.
Further, the second machine body is a disc-shaped machine body; the disc-shaped machine body is provided with a plurality of rotor wing mechanism mounting holes which are arranged at equal intervals around the circle center of the disc-shaped machine body; the rotor wing mechanism mounting holes penetrate through the top and the bottom of the discoid machine body from top to bottom; a second rotor wing mechanism is arranged in each rotor wing mechanism mounting hole; each second rotor wing mechanism is connected with the second control module;
the bottom of the disc-shaped machine body is also provided with a distance detection module mounting hole; the distance detection module is arranged in the distance detection module mounting hole.
Further, the electromagnet is annular, and the electromagnet is embedded into the top surface of the first machine body; the electromagnet is arranged around the butt joint hole, and the circle center of the electromagnet coincides with the circle center of the butt joint hole.
The invention also discloses a charging method based on the aerial charging unmanned aerial vehicle, which comprises the following steps:
when the control module I detects that the electric quantity in the power supply module I is smaller than the low electric quantity threshold value;
the first control module controls the first positioning module to acquire the position information of the first unmanned plane;
the control module sends a charging request to the control module II and sends the position information of the unmanned aerial vehicle I to the control module II;
after the second control module receives the charging request and the position information of the first unmanned aerial vehicle;
the second control module controls the second positioning module to acquire the position information of the second unmanned plane;
the second control module compares the position information of the first unmanned aerial vehicle with the position information of the second unmanned aerial vehicle and controls the second unmanned aerial vehicle to fly above the first unmanned aerial vehicle; enabling the second unmanned aerial vehicle to fall on the top of the first unmanned aerial vehicle;
the distance detection module detects the distance between the unmanned aerial vehicle II and the unmanned aerial vehicle I; when the distance between the unmanned aerial vehicle II and the unmanned aerial vehicle I is smaller than or equal to a set distance threshold value;
the first control module controls the camera to work and sends the acquired image information to the first control module; the first control module calculates the position of the charging hole at the top of the unmanned aerial vehicle according to the acquired image information;
the first control module controls the translation mechanism to drive the mobile platform to move to the position below the second unmanned plane; then the first control module controls the electromagnet to work to suck the bottom of the second unmanned plane; then the control module controls the translation mechanism to move again and again, so that the mobile platform drives the unmanned aerial vehicle II to move
The top of the first unmanned aerial vehicle moves to enable the second unmanned aerial vehicle to move to the center of the top of the first unmanned aerial vehicle, and the charging hole and the butt joint hole are aligned;
then the control module I controls the jacking mechanism to drive the charging plug to move upwards, so that the charging plug is inserted into the charging hole through the docking hole to dock with the charging socket;
the second control module controls the second power module to charge the first power module;
when the electric quantity of the first power supply module is larger than the set high electric quantity threshold value, the first control module controls the lifting mechanism to drive the charging plug to move downwards, so that the charging plug is retracted into the mobile platform; and then the control module I controls the electromagnet to stop working.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
according to the invention, the mobile platform drives the unmanned aerial vehicle II to move on the top of the unmanned aerial vehicle I, so that the unmanned aerial vehicle II can be quickly moved to a correct docking position; the unmanned aerial vehicle I and the unmanned aerial vehicle II are convenient to quickly dock, and quick and accurate docking of the charging plug and the charging socket is ensured; compared with the existing docking mode, the docking speed is faster and more accurate, and the gesture of the two unmanned aerial vehicles in the air does not need to be adjusted repeatedly.
Drawings
FIG. 1 is a top view of a first drone;
FIG. 2 is a schematic view of the internal structure of the first fuselage;
FIG. 3 is a top view of the internal structure of the first fuselage;
FIGS. 4 and 5 are block diagrams of a jacking mechanism;
fig. 6 is a top view of a second drone;
in the figure, a 1-jacking mechanism, a 2-moving platform, a 3-right longitudinal moving screw rod, a 4-right longitudinal moving sliding block, a 5-cross beam, a 6-horizontal partition plate, a 7-left longitudinal moving sliding block, an 8-left longitudinal moving screw rod, a 9-first body, a 10-first rotor mechanism, a 11-electromagnet, a 12-second body, a 13-second rotor mechanism, a 14-rotor mechanism mounting hole, a 101-outer rotating shaft, a 102-outer cylinder, a 103-jacking motor and a 104-inner rotating shaft.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without collision.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, or are directions or positional relationships conventionally understood by those skilled in the art, are merely for convenience of describing the present invention and for simplifying the description, and are not to indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1-6, the invention discloses an aerial charging unmanned aerial vehicle set, which comprises a first unmanned aerial vehicle and a second unmanned aerial vehicle;
the unmanned plane I comprises a plane I9; the first body 9 is made of a transparent material, and the transparent material can be a transparent acrylic plate; the top of the first machine body 9 is a horizontal plane; the center of the top of the first machine body 9 is provided with a butt joint hole penetrating through the top of the first machine body 9; a first control module, a first power supply module, a first positioning module, an electromagnet 11, a mobile platform 2, a jacking mechanism 1, a translation mechanism and a camera are arranged in the first machine body 9; the top surface of the mobile platform 2 is close to the top of the first machine body 9; the electromagnet 11 is arranged on the top surface of the mobile platform 2; the lifting mechanism 1 is arranged in the mobile platform 2, a charging plug is arranged at the top of the lifting mechanism 1, and the lifting mechanism 1 is used for driving the charging plug to move up and down so that the charging plug can extend out of the top surface of the mobile platform 2 and extend out of the butt joint hole; the translation mechanism is connected with the mobile platform 2 and is used for driving the mobile platform 2 to horizontally move below the top of the first 9 of the machine body; the visual angle of the camera can shoot the top of the whole body I9;
the power supply module I, the positioning module I, the electromagnet 11, the mobile platform 2, the jacking mechanism 1, the translation mechanism and the camera are all connected with the control module I; the charging plug is connected with the first power supply module;
the unmanned aerial vehicle II comprises a body II 12, and a control module II, a power module II and a positioning module II are arranged in the body II 12; the second power module and the second positioning module are connected with the second control module; the second body 12 is made of a metal material; the bottom of the second machine body 12 is a horizontal plane; a charging hole is formed in the bottom of the second machine body 12, the charging hole is positioned in the center of the bottom of the second machine body 12, and a charging socket is arranged in the charging hole; the charging socket is connected with the second power module; the second machine body is also provided with a distance detection module which is connected with the second control module;
the first control module is in wireless communication connection with the second control module.
Due to the above structure, the whole top image of the whole body 9 is photographed by the camera in advance, the coordinates of the butt joint hole and the coordinates of each position on the top of the body 9 are determined according to the image, and then the coordinates are stored in the control module I; meanwhile, the origin coordinates of the horizontal movement of the mobile platform 2 are determined, and the origin coordinates are stored in a first control module; the origin of the horizontal movement of the mobile platform 2 is positioned at the center of the butt joint hole; when the unmanned aerial vehicle II falls to the top of the unmanned aerial vehicle I, as the top of the machine body I9 is transparent, the camera can shoot a charging hole at the bottom of the unmanned aerial vehicle II through the top of the machine body I9; after the camera shoots an image of the unmanned aerial vehicle II falling to the top of the unmanned aerial vehicle I, the control module I analyzes the image to determine the position of the charging hole at the top of the body I9; then the first control module can control the translation mechanism to drive the mobile platform 2 to move to the position right below the second unmanned plane; then the electromagnet 11 is made to attract the unmanned aerial vehicle II; then the mobile platform 2 moves towards the origin to drive the unmanned aerial vehicle II to move on the top of the unmanned aerial vehicle I, so that the unmanned aerial vehicle II moves to the center of the top of the unmanned aerial vehicle I, and the charging hole and the butt joint hole are aligned; then the control module I controls the lifting mechanism 1 to drive the charging plug to move upwards, so that the charging plug is inserted into the charging hole through the docking hole to dock with the charging socket; the charging operation may then be entered. After the electricity is flushed, the lifting mechanism 1 drives the charging plug to move downwards, so that the charging plug is retracted into the mobile platform 2; the electromagnet 11 then stops operating. The camera is convenient to shoot the charging hole and the butt joint hole; the charging hole and the butt joint hole can be coated with a circle of color, so that the contrast ratio of the charging hole and the butt joint hole to the surrounding environment and the machine body is enhanced, and the subsequent image processing is facilitated. Meanwhile, the first top surface of the unmanned aerial vehicle and the second bottom surface of the unmanned aerial vehicle need to be made into smooth planes, so that the second unmanned aerial vehicle is convenient to move and driven.
According to the invention, the mobile platform 2 drives the unmanned aerial vehicle II to move on the top of the unmanned aerial vehicle I, so that the unmanned aerial vehicle II can be quickly moved to a correct docking position; the unmanned aerial vehicle I and the unmanned aerial vehicle II are convenient to quickly dock, and quick and accurate docking of the charging plug and the charging socket is ensured; compared with the existing docking mode, the docking speed is faster and more accurate, and the gesture of the two unmanned aerial vehicles in the air does not need to be adjusted repeatedly.
The inner side of the left wall of the first machine body 9 is provided with a left longitudinal chute, and the inner side of the right wall of the first machine body 9 is provided with a right longitudinal chute; the left longitudinal chute and the right longitudinal chute extend along the front-back direction of the first machine body 9;
the translation mechanism comprises a left longitudinal movement mechanism, a right longitudinal movement mechanism, a cross beam 5 and a transverse movement mechanism;
the bottom of the mobile platform 2 is arranged on a traversing mechanism, the traversing mechanism is arranged on a cross beam 5, and the traversing mechanism is used for driving the mobile platform 2 to move left and right along the cross beam 5;
a left longitudinal moving mechanism is arranged in the left longitudinal sliding groove, a right longitudinal moving mechanism is arranged in the right longitudinal sliding groove, the left end of the cross beam 5 is connected with the left longitudinal moving mechanism, and the right end of the cross beam 5 is connected with the right longitudinal moving mechanism; the left longitudinal moving mechanism and the right longitudinal moving mechanism synchronously drive the cross beam 5 to move back and forth along the left longitudinal chute and the right longitudinal chute;
the left longitudinal moving mechanism, the right longitudinal moving mechanism and the transverse moving mechanism are all connected with the first control module.
Further, the transverse moving mechanism comprises a transverse moving screw rod and a transverse moving sliding block; the transverse moving screw rod extends along the length direction of the cross beam 5 and is rotatably arranged in the cross beam 5, a through groove is formed in the top of the cross beam 5, and the through groove penetrates through the top of the cross beam 5 and extends along the length direction of the cross beam 5; the lower end of the transverse sliding block is positioned in the cross beam 5 and is matched with the transverse sliding screw rod, and the upper end of the transverse sliding block extends out of the through groove to be connected with the bottom of the movable platform 2; a transverse moving screw rod driving motor is arranged in the cross beam 5 and connected with one end of the transverse moving screw rod; and the transverse moving screw rod driving motor is connected with the first control module.
Further, the left longitudinal movement mechanism comprises a left longitudinal movement screw rod 8 and a left longitudinal movement sliding block 7; the left longitudinal moving screw rod 8 extends along the length direction of the left longitudinal sliding groove and is rotatably arranged in the left longitudinal sliding groove; the left longitudinal sliding block 7 is arranged in the left longitudinal sliding groove and is matched with the left longitudinal sliding screw rod 8; the left end of the cross beam 5 is connected with a left longitudinally moving slide block 7; a left longitudinal moving screw rod driving motor is arranged in the left longitudinal sliding groove; the left longitudinal moving screw rod driving motor is connected with one end of the left longitudinal moving screw rod 8; the left longitudinal moving screw rod driving motor is connected with the first control module;
the right longitudinal movement mechanism comprises a right longitudinal movement screw rod 3 and a right longitudinal movement sliding block 4; the right longitudinal moving screw rod 3 extends along the length direction of the right longitudinal sliding groove and is rotatably arranged in the right longitudinal sliding groove; the right longitudinal sliding block 4 is arranged in the right longitudinal sliding groove and is matched with the right longitudinal sliding screw rod 3; the right end of the cross beam 5 is connected with the right longitudinal moving slide block 4; a right longitudinal moving screw rod driving motor is arranged in the right longitudinal sliding groove; the right longitudinal moving screw rod driving motor is connected with one end of the right longitudinal moving screw rod 3, and the right longitudinal moving screw rod driving motor is connected with the first control module.
The jacking mechanism 1 can be a gear-rack mechanism, a screw rod transmission mechanism and the like; when the jacking mechanism 1 is a gear rack, the gear is positioned on the side face of the rack, and then the gear drives the rack to vertically lift, so that the charging plug is driven to lift.
In the present invention, the jacking mechanism 1 may take the form of:
the jacking mechanism 1 comprises an outer cylinder 102, an outer rotating shaft 101, an inner rotating shaft 104 and a jacking motor 103 which are arranged in the mobile platform 2; the outer cylinder 102 is vertically communicated, and the upper end of the outer cylinder 102 penetrates through the top of the movable platform 2 and is level with the top surface of the movable platform 2; the lower end of the outer cylinder 102 is fixedly arranged at the bottom of the mobile platform 2; the outer rotating shaft 101 is arranged in the outer cylinder 102, and the outer wall of the outer rotating shaft 101 is in threaded connection with the inner wall of the outer cylinder 102; the upper end of the inner rotating shaft is inserted into the outer rotating shaft 101 from the lower end of the outer rotating shaft 101, the outer rotating shaft 101 and the inner rotating shaft are circumferentially fixed, and the axial direction can relatively move; the lower end of the inner rotating shaft is connected with a jacking motor 103, the jacking motor 103 is positioned in the outer cylinder 102, and the jacking motor 103 is fixedly arranged at the bottom of the mobile platform 2; the jacking motor 103 is connected with a first control module. The outer rotating shaft 101 is connected with the inner rotating shaft 104 through a spline connection mode.
Compared with a gear rack mechanism, the jacking mechanism 1 is more symmetrical in shape and structure and more convenient to install and use.
In the invention, a first body 9 of the unmanned aerial vehicle is square, and each side surface of the first body 9 is connected with a first rotor mechanism 10 through a connecting rod; each first rotor mechanism 10 is connected with a first control module; the first rotor mechanism 10 comprises a first propeller and a first propeller driving motor for driving the first propeller to rotate; the first propeller driving motor is connected with the first control module;
a horizontal partition plate 6 is arranged in the first machine body 9, and the horizontal partition plate 6 divides the interior of the first machine body 9 into an upper cavity and a lower cavity; the mobile platform 2, the translation mechanism and the camera are arranged in the upper cavity; the camera is fixedly arranged on the side wall of the upper cavity or the horizontal partition plate 6; the first control module, the first power module and the first positioning module are arranged in the lower cavity.
The horizontal partition plate 6 divides the interior of the first machine body 9 into an upper cavity and a lower cavity; the mechanical structure and the electronic device can be conveniently separated, so that the mechanical mechanism is positioned in the upper cavity, and the electronic device is positioned in the lower cavity; the internal layout of the whole machine body 9 is more reasonable and tidy, and the electronic devices are prevented from interfering the movement of the mechanical structure.
In the invention, the camera can be arranged into one or more; when the camera is designed into a plurality of cameras, the cameras can be arranged in a whole row around the circle center of the butt joint hole, and the cameras are fixedly arranged on the horizontal partition plate 6. The camera is arranged in a plurality of ways, shooting can be performed more clearly, and meanwhile, the situation that all cameras are shielded by the mobile platform 2 in the working process is avoided, so that an image cannot be shot is avoided.
In the invention, the second body 12 is a disk-shaped body; the disc-shaped machine body is provided with a plurality of rotor mechanism mounting holes 14 which are arranged at equal intervals around the center of the disc-shaped machine body; the rotor mechanism mounting holes 14 penetrate through the top and bottom of the discoidal body from top to bottom; a second rotor mechanism 13 is arranged in each rotor mechanism mounting hole 14; each second rotor wing mechanism 13 is connected with a second control module; the rotor wing mechanism II 13 comprises a rotor wing II and a rotor wing II driving motor for driving the rotor wing II to rotate; the second driving motor of the propeller is arranged in the rotor mechanism mounting hole 14 through a supporting rod; the second propeller driving motor is connected with the second control module;
the bottom of the disc-shaped machine body is also provided with a distance detection module mounting hole; the distance detection module is arranged in the distance detection module mounting hole, and the distance detection module can be an infrared distance detection sensor or an ultrasonic distance detection sensor.
Due to the structure, when the unmanned aerial vehicle II is stopped on the unmanned aerial vehicle I, the propeller II stops rotating, and the unmanned aerial vehicle II flies with the unmanned aerial vehicle; because the rotor mechanism II 13 is wrapped by the disk-shaped machine body, the rotation of the propeller II driven by surrounding wind can be avoided; the rotation of the second propeller is avoided, and the flight of the first unmanned aerial vehicle is influenced; if the second rotor mechanism 13 is arranged outside the second body 12 as the first rotor mechanism 10, the second rotor mechanism is arranged around the second body 12; after the second propeller stops rotating, the second propeller is easily influenced by surrounding wind to rotate again, and further the flight of the first unmanned aerial vehicle is easily influenced.
The distance detection module is used for detecting the distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle and judging whether the second unmanned aerial vehicle falls on the first unmanned aerial vehicle or not.
Further, the first positioning module and the second positioning module are both GPS positioners.
Further, the electromagnet 11 is annular, and the electromagnet 11 is embedded into the top surface of the first machine body 9; the electromagnet 11 is arranged around the butt joint hole, and the circle center of the electromagnet 11 coincides with the circle center of the butt joint hole.
The invention also discloses a charging method of the aerial charging unmanned aerial vehicle, which comprises the following steps:
when the control module I detects that the electric quantity in the power supply module I is smaller than the low electric quantity threshold value;
the first control module controls the first positioning module to acquire the position information of the first unmanned plane;
the control module sends a charging request to the control module II and sends the position information of the unmanned aerial vehicle I to the control module II;
after the second control module receives the charging request and the position information of the first unmanned aerial vehicle;
the second control module controls the second positioning module to acquire the position information of the second unmanned plane;
the second control module compares the position information of the first unmanned aerial vehicle with the position information of the second unmanned aerial vehicle and controls the second unmanned aerial vehicle to fly above the first unmanned aerial vehicle; enabling the second unmanned aerial vehicle to fall on the top of the first unmanned aerial vehicle;
the distance detection module detects the distance between the unmanned aerial vehicle II and the unmanned aerial vehicle I; judging whether the distance between the unmanned aerial vehicle II and the unmanned aerial vehicle I is smaller than a set distance threshold value or not; the distance threshold may be set to 0; the step is used for judging whether the second unmanned aerial vehicle falls onto the first unmanned aerial vehicle or not;
when the distance between the unmanned aerial vehicle II and the unmanned aerial vehicle I is smaller than or equal to a set distance threshold value;
the first control module controls the camera to work and sends the acquired image information to the first control module; the first control module calculates the position of the charging hole at the top of the unmanned aerial vehicle according to the acquired image information;
the first control module controls the translation mechanism to drive the mobile platform 2 to move to the position below the second unmanned plane; then the first control module controls the electromagnet 11 to work to suck the bottom of the second unmanned aerial vehicle; then the control module controls the translation mechanism to move again and again, so that the mobile platform 2 drives the unmanned aerial vehicle II to move on the top of the unmanned aerial vehicle I, the unmanned aerial vehicle II moves to the center of the top of the unmanned aerial vehicle I, and the charging hole and the butt joint hole are aligned;
then the control module I controls the lifting mechanism 1 to drive the charging plug to move upwards, so that the charging plug is inserted into the charging hole through the docking hole to dock with the charging socket;
the second control module controls the second power module to charge the first power module;
when the electric quantity of the first power supply module is larger than the set high electric quantity threshold value, the first control module controls the lifting mechanism 1 to drive the charging plug to move downwards, so that the charging plug is retracted into the mobile platform 2; and then the control module I controls the electromagnet 11 to stop working.
Before the first unmanned plane and the second unmanned plane fly, the whole top image of the whole first fuselage 9 is required to be shot through a camera in advance, the coordinates of a butt joint hole and the coordinates of each position on the top of the first fuselage 9 are determined according to the images, and then the coordinates are stored in the first control module; meanwhile, the origin coordinates of the horizontal movement of the mobile platform 2 are determined, and the origin coordinates are stored in a first control module; the origin of the horizontal movement of the moving platform 2 is positioned at the center of the butt joint hole.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (8)
1. An aerial unmanned aerial vehicle unit that charges, its characterized in that:
the unmanned aerial vehicle comprises a first unmanned aerial vehicle and a second unmanned aerial vehicle;
the unmanned plane I comprises a plane I (9); the first body (9) is made of transparent material; the top of the first machine body (9) is a horizontal plane; the center of the top of the first machine body (9) is provided with a butt joint hole penetrating through the top of the first machine body (9); a first control module, a first power module, a first positioning module, an electromagnet (11), a mobile platform (2), a jacking mechanism (1), a translation mechanism and a camera are arranged in the first machine body (9); the top surface of the mobile platform (2) is close to the top of the first machine body (9); the electromagnet (11) is arranged on the top surface of the mobile platform (2); the lifting mechanism (1) is arranged in the mobile platform (2), a charging plug is arranged at the top of the lifting mechanism (1), and the lifting mechanism (1) is used for driving the charging plug to move up and down so that the charging plug can extend out of the top surface of the mobile platform (2) and extend out of the butt joint hole; the translation mechanism is connected with the mobile platform (2) and is used for driving the mobile platform (2) to horizontally move below the top of the first machine body (9); the view angle of the camera can shoot the top of the whole first body (9);
the first power supply module, the first positioning module, the electromagnet (11), the mobile platform (2), the jacking mechanism (1), the translation mechanism and the camera are all connected with the first control module; the charging plug is connected with the first power supply module;
the unmanned aerial vehicle II comprises a body II (12), and a control module II, a power module II and a positioning module II are arranged in the body II (12); the second power module and the second positioning module are connected with the second control module; the second body (12) is made of a metal material; the bottom of the second machine body (12) is a horizontal plane; a charging hole is formed in the bottom of the second machine body (12), and a charging socket is arranged in the charging hole; the charging socket is connected with the second power module; the second machine body is also provided with a distance detection module which is connected with the second control module;
the first control module is in wireless communication connection with the second control module;
the second machine body (12) is a disc-shaped machine body; a plurality of rotor mechanism mounting holes (14) which are arranged at equal intervals around the circle center of the discoid airframe are formed in the discoid airframe; the rotor mechanism mounting holes (14) penetrate through the top and the bottom of the discoidal body from top to bottom; a second rotor wing mechanism (13) is arranged in each rotor wing mechanism mounting hole (14); each second rotor wing mechanism (13) is connected with the second control module;
the bottom of the disc-shaped machine body is also provided with a distance detection module mounting hole; the distance detection module is arranged in the distance detection module mounting hole;
when the control module I detects that the electric quantity in the power supply module I is smaller than the low electric quantity threshold value;
the first control module controls the first positioning module to acquire the position information of the first unmanned plane;
the control module sends a charging request to the control module II and sends the position information of the unmanned aerial vehicle I to the control module II;
after the second control module receives the charging request and the position information of the first unmanned aerial vehicle;
the second control module controls the second positioning module to acquire the position information of the second unmanned plane;
the second control module compares the position information of the first unmanned aerial vehicle with the position information of the second unmanned aerial vehicle and controls the second unmanned aerial vehicle to fly above the first unmanned aerial vehicle; enabling the second unmanned aerial vehicle to fall on the top of the first unmanned aerial vehicle;
the distance detection module detects the distance between the unmanned aerial vehicle II and the unmanned aerial vehicle I; when the distance between the unmanned aerial vehicle II and the unmanned aerial vehicle I is smaller than or equal to a set distance threshold value;
the first control module controls the camera to work and sends the acquired image information to the first control module; the first control module calculates the position of the charging hole at the top of the unmanned aerial vehicle according to the acquired image information;
the first control module controls the translation mechanism to drive the mobile platform (2) to move to the position below the second unmanned plane; then the first control module controls the electromagnet (11) to work to suck the bottom of the second unmanned plane; then the control module controls the translation mechanism to move again and again, so that the mobile platform (2) drives the unmanned aerial vehicle II to move on the top of the unmanned aerial vehicle I, the unmanned aerial vehicle II moves to the center of the top of the unmanned aerial vehicle I, and the charging hole and the butt joint hole are aligned;
then the first control module controls the jacking mechanism (1) to drive the charging plug to move upwards, so that the charging plug is inserted into the charging hole through the butt joint hole to butt joint with the charging socket;
the second control module controls the second power module to charge the first power module;
when the electric quantity of the first power supply module is larger than a set high electric quantity threshold value, the first control module controls the jacking mechanism (1) to drive the charging plug to move downwards, so that the charging plug is retracted into the mobile platform (2); and then the control module I controls the electromagnet (11) to stop working.
2. The aerial charging unmanned aerial vehicle of claim 1, wherein:
the inner side of the left wall of the first machine body (9) is provided with a left longitudinal chute, and the inner side of the right wall of the first machine body (9) is provided with a right longitudinal chute; the left longitudinal chute and the right longitudinal chute extend along the front-back direction of the first machine body (9);
the translation mechanism comprises a left longitudinal movement mechanism, a right longitudinal movement mechanism, a cross beam (5) and a transverse movement mechanism;
the bottom of the mobile platform (2) is arranged on a transverse moving mechanism, the transverse moving mechanism is arranged on a cross beam (5), and the transverse moving mechanism is used for driving the mobile platform (2) to move left and right along the cross beam (5);
a left longitudinal moving mechanism is arranged in the left longitudinal sliding groove, a right longitudinal moving mechanism is arranged in the right longitudinal sliding groove, the left end of the cross beam (5) is connected with the left longitudinal moving mechanism, and the right end of the cross beam (5) is connected with the right longitudinal moving mechanism; the left longitudinal moving mechanism and the right longitudinal moving mechanism synchronously drive the cross beam (5) to move back and forth along the left longitudinal sliding groove and the right longitudinal sliding groove.
3. An aerial charging unmanned aerial vehicle as claimed in claim 2, wherein: the transverse moving mechanism comprises a transverse moving screw rod and a transverse moving sliding block; the transverse moving screw rod extends along the length direction of the cross beam (5) and is rotatably arranged in the cross beam (5), a through groove is formed in the top of the cross beam (5), and the through groove penetrates through the top of the cross beam (5) and extends along the length direction of the cross beam (5); the lower end of the transverse sliding block is positioned in the cross beam (5) and is matched with the transverse sliding screw rod, and the upper end of the transverse sliding block extends out of the through groove to be connected with the bottom of the mobile platform (2); a transverse moving screw rod driving motor is arranged in the cross beam (5), and the transverse moving screw rod driving motor is connected with one end of the transverse moving screw rod; and the transverse moving screw rod driving motor is connected with the first control module.
4. An aerial charging unmanned aerial vehicle as claimed in claim 2, wherein:
the left longitudinal movement mechanism comprises a left longitudinal movement screw rod (8) and a left longitudinal movement sliding block (7); the left longitudinal moving screw rod (8) extends along the length direction of the left longitudinal sliding groove and is rotatably arranged in the left longitudinal sliding groove; the left longitudinal sliding block (7) is arranged in the left longitudinal sliding groove and is matched with the left longitudinal sliding screw rod (8); the left end of the cross beam (5) is connected with a left longitudinally moving slide block (7); a left longitudinal moving screw rod driving motor is arranged in the left longitudinal sliding groove; the left longitudinal moving screw rod driving motor is connected with one end of the left longitudinal moving screw rod (8); the left longitudinal moving screw rod driving motor is connected with the first control module;
the right longitudinal movement mechanism comprises a right longitudinal movement screw rod (3) and a right longitudinal movement sliding block (4); the right longitudinal moving screw rod (3) extends along the length direction of the right longitudinal sliding groove and is rotatably arranged in the right longitudinal sliding groove; the right longitudinal sliding block (4) is arranged in the right longitudinal sliding groove and is matched with the right longitudinal sliding screw rod (3); the right end of the cross beam (5) is connected with the right longitudinal moving sliding block (4); a right longitudinal moving screw rod driving motor is arranged in the right longitudinal sliding groove; the right longitudinal moving screw rod driving motor is connected with one end of the right longitudinal moving screw rod (3), and the right longitudinal moving screw rod driving motor is connected with the first control module.
5. The aerial charging unmanned aerial vehicle of claim 1, wherein: the jacking mechanism (1) comprises an outer cylinder (102), an outer rotating shaft (101), an inner rotating shaft (104) and a jacking motor (103) which are arranged in the mobile platform (2);
the outer cylinder (102) is vertically communicated, and the upper end of the outer cylinder (102) penetrates through the top of the mobile platform (2) and is level with the top surface of the mobile platform (2); the lower end of the outer cylinder (102) is fixedly arranged at the bottom of the mobile platform (2);
the outer rotating shaft (101) is arranged in the outer cylinder (102), and the outer wall of the outer rotating shaft (101) is in threaded connection with the inner wall of the outer cylinder (102); the upper end of the inner rotating shaft is inserted into the outer rotating shaft (101) from the lower end of the outer rotating shaft (101), the outer rotating shaft (101) and the inner rotating shaft are circumferentially fixed, and the axial direction can relatively move; the lower end of the inner rotating shaft is connected with a jacking motor (103), the jacking motor (103) is positioned in the outer cylinder (102), and the jacking motor (103) is fixedly arranged at the bottom of the mobile platform (2); the jacking motor (103) is connected with the first control module.
6. The aerial charging unmanned aerial vehicle of claim 5, wherein: the outer rotating shaft (101) is connected with the inner rotating shaft (104) through a spline connection mode.
7. The aerial charging unmanned aerial vehicle of claim 1, wherein: the first unmanned aerial vehicle comprises a first unmanned aerial vehicle body (9) which is square, and each side surface of the first unmanned aerial vehicle body (9) is connected with a first rotor wing mechanism (10) through a connecting rod; each rotor wing mechanism I (10) is connected with the control module I;
a horizontal partition plate (6) is arranged in the first machine body (9), and the horizontal partition plate (6) divides the interior of the first machine body (9) into an upper cavity and a lower cavity; the mobile platform (2), the translation mechanism and the camera are arranged in the upper cavity; the camera is fixedly arranged on the side wall of the upper cavity or the horizontal partition board (6);
the first control module, the first power module and the first positioning module are arranged in the lower cavity.
8. The aerial charging unmanned aerial vehicle of claim 1, wherein:
the electromagnet (11) is annular, and the electromagnet (11) is embedded into the top surface of the first machine body (9); the electromagnet (11) is arranged around the butt joint hole, and the circle center of the electromagnet (11) coincides with the circle center of the butt joint hole.
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| 无人机智能巡视关键技术的研究和设计;王木华;中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑(第02期);第1-65页 * |
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