CN106628211A - Ground guiding type unmanned aerial vehicle flying landing system and method based on LED dot matrix - Google Patents
Ground guiding type unmanned aerial vehicle flying landing system and method based on LED dot matrix Download PDFInfo
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- CN106628211A CN106628211A CN201710157166.8A CN201710157166A CN106628211A CN 106628211 A CN106628211 A CN 106628211A CN 201710157166 A CN201710157166 A CN 201710157166A CN 106628211 A CN106628211 A CN 106628211A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
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- 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
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a ground guiding type unmanned aerial vehicle flying landing system and method based on an LED dot matrix. The system comprises an unmanned aerial vehicle and an unmanned aerial vehicle taking-off and landing station. The unmanned aerial vehicle taking-off and landing station comprises a carrying table, a three-axis pan-tilt is installed on the carrying table, and a camera is installed on the three-axis pan-tilt; a lens of the camera is controlled by the three-axis pan-tilt to be always kept upward and unchanged in direction, and the camera is connected with a ground computer; and the ground computer controls the camera to carry out photographing. The ground guiding type unmanned aerial vehicle flying landing system and method based on the LED dot matrix have the beneficial effect that an all-weather centimeter-level precise landing function of the multi-rotor unmanned aerial vehicle is achieved through the color and shape recognition algorithm of the computer vision technology and the multi-section PID control technology.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control technical field, is related to the ground control formula unmanned plane during flying based on LED dot matrix and drops
Fall system and method.
Background technology
With the development of science and technology, multi-rotor unmanned aerial vehicle is widely used, in Aerial photography, electric inspection process, geographical survey
Paint, the application that agricultural plant protection, safety monitoring, the numerous areas such as emergency management and rescue have multi-rotor unmanned aerial vehicle is participated in.Meanwhile, with nobody
The related technology of machine is also rapidly developed, and the lifting of productivity and living standard has been promoted energetically.
At present, flight control technology research of the scientific worker to multi-rotor unmanned aerial vehicle itself is quite deep, and takes
Obtain great successes.But to multi-rotor unmanned aerial vehicle landing phases be precisely controlled also in research starting stage, many rotors without
Man-machine accurate landing function mature and reliable not enough, or it is more using restrictive condition, it is impossible to it is enough round-the-clock to use, and flexibly
Property it is poor, be also applied to the current techique of the accurate landing function of the realization of different unmanned planes.
In computer vision field, single camera vision system quickly grows, especially in characteristic color identification, ad hoc rules shape
Identification aspect technology maturation reliability.As a example by permitting cross-platform computer vision library OpenCV of (increasing income) distribution based on BSD,
After 1999 are set up by Intel, released ripe computer vision storehouses of many generations, can Linux,
Run in the operating systems such as Windows, Android and Mac OS, realize many in terms of image procossing and computer vision
General-purpose algorithm.Computer vision technique is applied into unmanned plane precisely to land, current practices well is to pass camera, ultrasonic wave
Sensor is embedded into inside unmanned plane with high speed processor, captures regular shape by airborne camera and has the black of sharp contrast
White marking thing is recognizing level point.This mode is by integration of equipments in unmanned plane body, it is impossible to exist independently of unmanned plane,
And easily it is subject to the factors such as body shake, light intensity, ground environment to disturb, it is impossible to use at night or low lighting environment, and
Recognition accuracy is relatively low, and precisely landing function realizes that effect is poor.
Prior art exist problem be with defect：
First, prior art is all that camera is arranged on unmanned plane, is captured by the camera of UAV flight
The geographic location feature in level point, so proposes higher requirement to the arithmetic speed of unmanned aerial vehicle onboard processor, need to be using height
The powerful application specific processor of speed carries out image procossing and algorithm is calculated, and then causes the increase of unmanned plane overall power, and this is big
Flying radius during unmanned plane execution task is reduced greatly；
Second, prior art be by camera be arranged on unmanned plane on, unmanned plane during flight, the shake of fuselage
The photo angle and definition of camera can be affected so that image processing algorithm is complicated, difficulty is larger, so as to the essence to unmanned plane
Quasi- landing brings adverse effect；
3rd, prior art is arranged on camera on unmanned plane, extraneous illumination is weaker and night approximate zero illumination
Cisco unity malfunction under strength environment, prior art can not realize round-the-clock accurate landing function.
The content of the invention
The purpose of the present invention is exactly to solve the above problems, there is provided the ground control formula unmanned plane based on LED dot matrix flies
Row landing system and method, by the recognizer of ripe computer vision technique " color+shape ", using multisection type PID
Control technology, realizes the round-the-clock Centimeter Level of multi-rotor unmanned aerial vehicle and precisely lands function.
To achieve these goals, the present invention is adopted the following technical scheme that：
Based on the ground control formula unmanned plane during flying landing system of LED dot matrix, including：
Unmanned plane and unmanned plane rise and fall station；
The unmanned plane rises and falls to stand includes objective table, and the objective table is installed above to aid in being accurately positioned for unmanned plane landing
And fixing device, auxiliary unmanned plane landing be accurately positioned and fixing device on three axle heads, the three axles head are installed
Upper installation camera, the camera remain under three axle cradle head controls camera lens upward, direction it is constant, the camera with
Ground-based computer connects；The ground-based computer control camera is taken pictures；The ground-based computer is by first without line number
Communicated with unmanned plane according to transport module；The ground-based computer is also connected with display terminal；
The unmanned plane includes on-board data processing module, the on-board data processing module and the flight control of unmanned plane bottom
System processed, LED dot matrix screens, the second wireless data transfer module are connected, the unmanned plane bottom flight control system and GPS receiver
Module connects, and during unmanned plane declines, the camera shoots the square LED dot matrix panel immediately below unmanned plane, so
Afterwards the coordinate position of unmanned plane is calculated according to the color characteristic and shape facility of square LED dot matrix panel；Computer is according to nothing
Man-machine current location to unmanned plane sends landing instruction；The unmanned plane finally drops to auxiliary unmanned plane drop according to landing instruction
Fall be accurately positioned and fixing device on, the on-board data processing module also by the second wireless data transfer module and nobody
Machine rise and fall station the first wireless data transfer module communication；
The unmanned plane also includes battery, and the battery is on-board data processing module, LED dot matrix screens, GPS receiver mould
Block, unmanned plane bottom flight control system and the second wireless data transfer module are powered.
The LED dot matrix screens include ultrasonic wave module, and the power supply termination+5V voltage-stabilized power supplies of the ultrasonic wave module are described
The earth terminal ground connection of ultrasonic wave module；The analog signal output of the ultrasonic wave module and the IO1 pins of ARM core processors
Connection；The IO2 pins of the ARM core processors, IO3 pins and IO4 pins are connected with the input of power driver module；Institute
State the power supply termination+5V voltage-stabilized power supplies of ARM core processors, the earth terminal ground connection of the ARM core processors；The power drives
Power supply termination+5V the voltage-stabilized power supplies of dynamic model block, the earth terminal ground connection of the power driver module；The power driver module it is defeated
Go out end to be grounded by several LED lamp bars；The LED lamp bar constitutes LED dot matrix panels.
The ultrasonic sensor is used to gather the height of LED dot matrix screens, the i.e. relative altitude of unmanned plane current location.
What a kind of auxiliary unmanned plane landed is accurately positioned and fixing device, and the device includes locating slot, by multiple spacing
The setting of groove, is accurately positioned to the wing position of unmanned plane.
What a kind of auxiliary unmanned plane landed is accurately positioned and fixing device, including a kind of at least two auxiliary unmanned plane drops
The accurate limiting groove for falling, the bottom of stopper slot is provided with identification point on fixed station in the middle part of fixed station, and unmanned plane passes through
Identification point is positioned to unmanned plane movement, and fixed station is groove structure setting, is easy to subsequent fixed stake, the receiving of slide bar,
The circumferential directions of vertical plane or support along fixed station.
In the positioner, unmanned plane realizes coarse positioning using control system, and coarse positioning is vertical apart from landing platform
The free-falling in the interval of 5--10cm.The bootable unmanned plane of stopper slot in accurate positioning device is reached using inertia landing
To being accurately positioned and fixing, so between two stopper slots, the battery of unmanned plane can be entered manually or using plant equipment
Row is changed, or carries out other follow-up works.
In as optimal case, the quantity of the stopper slot is identical with the quantity of unmanned plane horn, by each machine
The wing it is spacing, it is ensured that unmanned plane position landing precision, control in submillimeter rank.
In another embodiment, when the stopper slot is two, two adjacent stopper slots are spaced a unmanned plane horn and set
Put, such as four wing unmanned planes, stopper slot can be symmetrical arranged two, if six wing unmanned planes, stopper slot can arrange two or three,
One wing in interval or two wings are configured.
If unmanned plane carries picture pick-up device, spud pile is set at the middle part of the fixed station, the identification point is located at fixation
In stake, the imagination equipment that unmanned plane is carried is identified to identification point, and recognition speed is fast, or, arrange on spud pile surface and take the photograph
As equipment, picture pick-up device is connected with controller, to carry out coarse positioning to unmanned plane movement, further, the bottom of the fixed station
, to adjust the position of stopper slot by the rotation of fixed station, rotating mechanism can be electric rotating machine for portion and rotating mechanism fixation,
Unmanned plane carries out the positioning of a point by identification point, compared in conventional art to four points of unmanned plane horn or six
Point carries out location control, realizes that sinking speed is fast, the follow-up work after landing has been effectively ensured and has carried out.
The picture pick-up device is effectively reduced the weight of unmanned plane on spud pile, improves the flight of unmanned machine equipment
Time, controller is positioned by picture pick-up device to unmanned plane movement position, to position to unmanned plane movement, a point
Relative four points of positioning positioning for, positioning is relatively easy, then coordinates the coarse positioning of four horns, the landing place degree of accuracy
It is higher.
Further, in order to improve the adaptability of the positioner, the unmanned plane of different horn length is adapted to, described solid
The circumference for determining stake is fixed with slide bar, and slide bar is fixed with slide block, and relative to slide bar slidably, described stopper slot is fixed on cunning to slide block
On block, with by the distance between mobile regulation stopper slot and spud pile of slide block.
Securing member is set on the slide block, and securing member is fixed on slide block on slide bar through slide block, such structure setting,
Slide block can be adjusted relative to the position of slide bar according to the length of horn, also be achieved that stopper slot relative to spud pile namely
The position of unmanned plane movement.
A kind of accurate limiting groove of auxiliary unmanned plane landing, spacing for carrying out to unmanned plane horn, stopper slot includes bottom
What portion was arranged supports, and supports side and is connected with landing face, and landing face is plane or curved surface, and landing face is obliquely installed with supporting, nothing
After man-machine horn supporting leg and landing face come in contact, drop into along landing face and support upper realization and be accurately positioned, by spacing
In groove land face setting, unmanned plane horn is carried out it is spacing, to improve the precision of landing, the locating slot simple structure, positioning
High precision, can reach submillimeter level.
Additionally, the opposite side supported in the stopper slot arranges the second landing face, the second landing face sets with inclination is supported
Put, landing face, support and the second landing face formed V-type shape, it is such two landing face unmanned plane horn is propped up from both direction
Support leg carries out spacing control, has widened range of application, and the stopper slot is the truncated conical shape of hollow handstand.
Or, the stopper slot is U-shaped, when unmanned plane horn supporting leg collides with U-shaped stopper slot inwall, nobody
Machine horn supporting leg is slid to bottom along stopper slot inside.
Vertical plane is set between the landing face and the second landing face；
Further, the draw-in groove for supporting unmanned plane horn is provided with the top of vertical plane described in, by draw-in groove
Arrange, after unmanned plane falls into, unmanned plane is fixed, the height of draw-in groove can be adjusted according to the concrete model of unmanned plane
Save, generally, the height of draw-in groove and the radius more than or equal to unmanned plane horn.
The vertical plane is connected with the landing face, and above-mentioned stopper slot constitutes an open-topped receiving space, or,
The vertical plane is located between the landing face and the second landing face, when unmanned plane lands, if unmanned plane horn is supported
Leg position glances off, and the landing face inner surface in stopper slot comes in contact with unmanned plane horn supporting leg bottom, and supporting leg is received
The reason for power falls downward is dropped into support and is supported, and namely V-type shape is arranged in the landing face on both sides, to supporting leg
Carry out spacing, realize being accurately positioned for unmanned plane, the draw-in groove of cradle top has after the landing of unmanned plane position to horn
Effect is supported and fixed, the position of effective guarantee unmanned plane landing.
Additionally, landing face or the second landing face relative to the angle A for supporting at 30 degree to 80 degree, spacing groove height H can
Change, occurrence depends on the height of unmanned plane supporting leg.
The variable-width that spacing trench bottom is supported, occurrence depends on the width of unmanned plane supporting leg.
Stopper slot draw-in groove variable-width, occurrence depends on the diameter of unmanned plane horn.
If the floor projection distance in landing face is L, L=H/tanA, spacing groove height H and angle A are mutually restricted.
The beneficial effect of above-mentioned technical characteristic is that unmanned plane can accomplish stable landing, it is to avoid nothing during landing
It is collided during man-machine decline.The draw-in groove realizes clamping and fixation to unmanned plane horn, is provided with tight in institute's draw-in groove
Gu cushion block and Shockproof gasket, it is to avoid loosen the generation of phenomenon, with shockproof function, improve tightness, improve to unmanned plane
Protectiveness.
The objective table is the individual platform that rises and falls, and the objective table is lifted relative to replacing cell apparatus automatically, convenient
Automatically cell apparatus are changed battery is changed to unmanned plane.
The unmanned plane gripper shoe allows to replace with unmanned plane bracing frame, and the unmanned plane bracing frame includes rectangular frame,
The diagonal of the rectangular frame is provided with connecting rod.
The objective table install on the ground, on multi-track dolly, AGV dollies or other can carry unmanned plane device
On equipment.
The drive mechanism includes electric rotating machine translational drive mechanism, belt translational drive mechanism, cylinder translational driving machine
Structure or linear electric motors translational drive mechanism.
Based on the ground control formula unmanned plane during flying landing method of LED dot matrix, including：
Step (a1)：Unmanned plane rises and falls the computer starting at station；
Step (a2)：Computer judges whether to receive unmanned plane initialization and completes instruction, if so, then computer to unmanned plane
Transmission has received the first feedback command of instruction；Computer receives offline mode selection instruction, and by selected offline mode
Unmanned plane is sent to, into step (a4)；If it is not, then entering step (a3)；
Step (a3)：Computer judges whether the guiding landing request for receiving unmanned plane, if guiding landing request is received
Landing process is guided, judges whether landing completes, return to step (a2) if completing；Proceed guiding if not completing
Landing is processed；If not receiving guiding landing request, return to step (a2)；
Step (a4)：Computer judges whether the second feedback command for receiving unmanned plane, if receive unmanned plane second feeding back
Instruction, then into step (a5)；If not receiving the feedback command of unmanned plane second, return to step (a2) computer continues to fly
Row mode selection instruction；
Step (a5)：The input instruction of computer RX path planning point, judges whether that input is finished, if then entering step
Suddenly (a6)；If otherwise return to step (a5)；
Step (a6)：Path planning point and the input of path planning point are completed instruction and are sent to unmanned plane by computer, are calculated
Machine receives check results and checks；Judge whether check results are identical, verification is sent if identical by instructing return to step
(a2)；If otherwise return to step (a5)；The check results are the path points and number and the path point and number for receiving for sending
It is whether consistent.
Based on the ground control formula unmanned plane during flying landing method of LED dot matrix, including：
Step (b1)：Unmanned plane is started shooting and is initialized；
Step (b2)：Unmanned plane sends initialization and completes to instruct to the computer on ground, and unmanned plane judges whether to receive ground
First feedback command of face computer, enters step (b3) if receiving；If do not receive being returned to step (b2)；
Step (b3)：Unmanned plane prepares to receive the offline mode selection instruction that computer upload comes, and unmanned plane receives winged
Row mode selection instruction backcasting machine sends the second feedback command；
Step (b4)：Unmanned plane prepares to receive the path planning point selection instruction that computer upload comes, and unmanned plane judges
Whether receive and be sent completely instruction, check results are just sent to computer if receiving and being sent completely instruction, into step (b5)；If
Do not receive and be sent completely instruction and be returned to step (b4)；The check results are the path points and number and the path for receiving for sending
Whether point and number are consistent；
Step (b5)：Judge whether to receive verification by instruction, if so, then the flight of unmanned plane Execution plan path point is appointed
Business, aerial mission is completed, request guiding landing, is terminated；If it is not, then return to step (b4).
It is described guiding landing the step of be：
Step (a30)：Computer judges whether the guiding landing request for receiving unmanned plane, if guiding landing request is received
Landing process is guided, into step (a31)；Unmanned plane is waited to send guiding landing request if not receiving；
Step (a31)：Computer controls unmanned plane rise and fall station camera capture picture；
Step (a32)：Extract the color characteristic and style characteristic of light-emitting zone in picture；Judge color characteristic whether
Match somebody with somebody, the glow color in picture will be captured and matched with the glow color of specified altitude assignment set in advance；If the match is successful just
Into step (a33)；Return to step (a31) if it fails to match；
Step (a33)：Judge whether shape facility matches, judge that the picture of lighting for capturing the LED dot matrix screens in picture is
No if so, then to calculate the coordinate of square picture central point for square, the coordinate of center picture point is unmanned plane and precisely lands institute
The coordinate of needs, and this coordinate is sent into unmanned plane, unmanned plane carries out position adjustment according to coordinate；Return to step (a30).
The coordinate of the square picture central point, refers to：The central point of the square light-emitting zone that LED dot matrix screens are lighted is on ground
Face camera captures pixel coordinate residing in picture.
For example：Camera capture entire image resolution ratio be 800*600, then entire image center point coordinate for (400,
300)。
A kind of method of automatic replacing battery, comprises the steps：
Step (1)：Unmanned plane is landed according to guiding landing instruction；
Step (2)：Objective table rises, and higher than cell apparatus are changed automatically, unmanned plane is dropped in unmanned plane gripper shoe；
Step (3)：Computer receives the signal that unmanned plane has been dropped in unmanned plane gripper shoe；
Step (4)：Objective table declines, and highly equal to cell apparatus are changed automatically, cell apparatus is changed automatically to unmanned plane
Carry out changing battery action or wireless charging.
The automatic replacing cell apparatus include：Battery clamp device；
The battery clamp device, including clip claw mechanism, the clip claw mechanism includes jaw body, and the jaw body connects
The first gripper jaw part and the second gripper jaw part are connected to, first gripper jaw part is fixedly connected with the first handgrip, second folder
Tine and the second handgrip are fixedly connected；The opposite face of first handgrip and the second handgrip is equipped with zigzag block.
The battery clamp device of the present invention, drives handle component to clamp battery, jaw and battery by clip claw mechanism
Clamping coordinates more reliable；By arranging zigzag block on two handgrips, contact friction of the handgrip with battery when battery is clamped
Power is bigger, and clamping is more consolidated, it is to avoid the problem that battery gripping is glanced off.
Further, the jaw body is chimeric is arranged in fixture block, and the fixture block is with the card with jaw body fits
Groove.Draw-in groove is set on fixture block, the setting-in combination of draw-in groove and jaw body is realized, can be with fast and reliable connection.
Further, the jaw body is also fixedly connected by securing member with fixture block.Pass through draw-in groove clamping in fixture block
Under the premise of jaw body, jaw body can be fixedly secured using securing member, effectively keep mobile and change jaw in cell process
Mechanism stablizes.
Further, the clip claw mechanism is connected with power set.Clip claw mechanism folding is driven by power set, and then
The folding of two handgrips is realized, realization grips or lays down battery.
Further, first handgrip with the first gripper jaw part cooperation at arrange the first groove, the first gripper jaw part
It is entrenched in the first groove.First groove is set on the first handgrip, the setting-in group of the first handgrip and the first gripper jaw part is realized
Close, can be with fast and reliable connection.
Further, first gripper jaw part is also fastenedly connected by securing member with the first handgrip.In the first handgrip
Under the premise of by first the first gripper jaw part of groove clamping, the first gripper jaw part can be fixedly secured using securing member, effectively be protected
Hold and mobile change stablizing for the first handgrip in cell process.
Further, second handgrip with the second gripper jaw part cooperation at arrange the second groove, the second gripper jaw part
It is entrenched in the second groove.Second groove is set on the second handgrip, the setting-in group of the second handgrip and the second gripper jaw part is realized
Close, can be with fast and reliable connection.
Further, second gripper jaw part is also fastenedly connected by securing member with the second handgrip.In the second handgrip
Under the premise of by second the second gripper jaw part of groove clamping, the second gripper jaw part can be fixedly secured using securing member, effectively be protected
Hold and mobile change stablizing for the second handgrip in cell process.
Preferably, first handgrip or the second handgrip are provided with cell switch cooperation by motion block, and battery sidepiece is arranged
The sawtooth lamellar body coordinated with zigzag block.Motion block is pressed by arranging on the first handgrip or the second handgrip, electricity can changed
Cell switch is first closed before pond, it is to avoid damage of the warm swap to battery；Arrange and zigzag block on handgrip in battery sidepiece
The zigzag lamellar body of cooperation, it is ensured that the cooperation steadiness of handgrip and battery, effectively solving battery is glanced off in movement
Problem.
For the problem for overcoming prior art battery altering efficiency low, present invention offer one kind is applied to unmanned plane and independently continues
The battery replacement device of boat, including battery clamp device as above, the battery clamp device is equipped with Y-axis movement
In mechanism, the Y-axis moving mechanism is equipped with Z axis travel mechanism, and the Z axis travel mechanism is equipped with and is moved in X-axis
On motivation structure.
The not high problem of battery altering precision in order to overcome prior art, the present invention provides one kind and is applied to unmanned plane certainly
The method of work of the battery replacement device of main continuation of the journey, comprises the following steps：
(1) X-axis travel mechanism, Z axis travel mechanism and Y-axis moving mechanism are operated successively, drive the movement of battery clamp device
To unmanned plane battery location；
Cell switch is touched by motion block on (2) first handgrips or the second handgrip, battery is closed；
(3) clip claw mechanism drives the sawtooth of the first handgrip and the second handgrip clamping battery, zigzag block and battery sidepiece
Lamellar body coordinates；
(4) X-axis travel mechanism, Z axis travel mechanism and Y-axis moving mechanism are operated successively, drive the movement of battery clamp device
To battery compartment, battery is returned and is put in battery compartment；
(5) X-axis travel mechanism, that Y-axis moving mechanism and Z axis travel mechanism drive battery clamp device to be moved to battery compartment is another
The position of one battery, repeat step (3), battery is taken out；
(6) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism drive battery clamp device to be moved to unmanned electromechanics
Chi Cangweizhichu, by motion block cell switch is touched, and opens battery；
(7) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism return initial position.
The unmanned plane is multi-rotor unmanned aerial vehicle.
The camera is from zoom vision camera.
The unmanned plane bottom flight control system is used to realize unmanned plane stabilized flight task itself that it to respond airborne number
According to the instruction of processing module, realize the roll angle (Roll) to body, the angle of pitch (Pitch), the control of yaw angle (Yaw) and
The control of the component velocity of each axle, displacement component under cartesian coordinate system.It is mainly by Inertial Measurement Unit (IMU), digital compass
(magnetic compass), electronic barometer are constituted.IMU can continuously provide the information such as displacement, speed, attitude, but error can with when
Between passage and accumulate；GPS receiver module can receive the information such as the longitude and latitude and speed of GPS system offer, can realize
The coarse localization of multi-rotor unmanned aerial vehicle；Digital compass (magnetic compass) can determine unmanned plane compared to positive north or due south direction
Yaw angle；Electronic barometer can provide elevation information for unmanned plane.
The core of on-board data processing module is the arm processor of Cortex M4 kernels, and with reference to peripheral circuit ARM is constituted
Processor minimum system.It passes through the second wireless data transfer module and unmanned plane station of rising and falling and communicates, and information flow is being compiled
After code and decoding process, coordinate key instruction when path planning is instructed and precisely landed is parsed.Additionally, on-board data is processed
Module is connected by USART interfaces with unmanned plane bottom flight control system, and in serial communication form the position to unmanned plane is realized
The control of shifting, speed and attitude.
ARM core processor minimum systems are engaged with ultrasonic sensor, can gather the relative altitude of current location.
Square color LED dot matrix panel can arbitrarily change light-emitting zone and light-emitting area under the control of ARM core processors.
During work, when unmanned plane is more than 4 meters compared to the height on ground, ARM core processors control square color LED
Dot matrix panel all light so as to which, with maximum light-emitting area, color is redness；
When unmanned plane is less than 4 meters compared to the height on ground more than 3 meters, color LED dot matrix panel closes surrounding LED
Lampet so as to which light-emitting area reduces, luminous component color is changed into yellow；
With the continuous decline of unmanned plane height, the light-emitting area of LED dot matrix panels also reduces therewith, and color also changes therewith
Become.
After unmanned plane is highly less than 0.5 meter, if error amount enters the error threshold scope permitted, unmanned plane just lands
To ground.
Light-emitting area proportion in camera view is setting value, and the big of light-emitting area is determined according to setting value
It is little.In order to resolving of the ground-based computer to unmanned plane real-time coordinates.Meanwhile, in a disguised form increase vision camera high in unmanned plane
Field range when spending relatively low.
Second wireless data transfer module is on-board data processing module to rise and fall the bridge of station information flow with unmanned plane, is responsible for
The transmission of information.Second wireless data transfer module is made up of the wireless data sending submodule for matching, using asynchronous serial communication mould
Formula, is relatively transmitting terminal and receiving terminal.Power supply mode is 5V direct currents, and carrier frequency is 433MHz, and serial port baud rate is
9600bps。
Unmanned plane rise and fall station complete unmanned plane real-time coordinates parsing with unmanned plane condition monitoring task.
In order to overcome and solve problem described in background technology, the present invention calculates identification LED points using by ground-based computer
Battle array screen center position coordinates are unmanned plane coordinate, then by codes co-ordinates and by the first wireless data transfer module, the second nothing
Line data transmission module is sent to on-board data processing module, realizes the guiding to the accurate landing of unmanned plane.Display terminal can be with
The information such as coordinate information and boot state of unmanned plane in bootup process is shown in real time, is easy to ground-based administrators to grasp accurate
The situation that descent is realized.Camera is connected by data wire with computer, and its bottom is arranged on three axles from steady head,
In bootup process, camera is remained vertically upward in three axles under the assistance of steady head, and the lens plane of camera keeps
Level, and camera lens flutter catch LED dot matrix screens image coordinate system it is consistent with the world coordinate system of unmanned plane horizontal movement, and energy
Automatic focusing.Flutter and catch picture clearly, be easy to ground-based computer real time processed images, parse unmanned plane coordinate.
The present invention the course of work be：Unmanned plane start after, first computer by the first wireless data transfer module to
Unmanned plane transmission plan path point, in transmitting procedure, on-board data processing module is decoded and verified to the information flow for transmitting, really
It is identical with the path point for receiving to protect the path point for sending.After end of transmission, surface personnel's carrying according to display terminal is needed
Show and confirmed, afterwards unmanned plane just carries out aerial mission under the control of on-board data processing module.Performing aerial mission
Period, the bottom flight control system control flight attitude of unmanned plane itself and stablizing for body by unmanned plane.In unmanned plane
After having performed the path point aerial mission of planning, just into landing state.On-board data processing module calculating earthward first
Machine sends landing boot request, while it is 6 meters to control unmanned plane compared to the height on ground, and causes square color LED dot matrix
Panel all light so as to which, with maximum light-emitting area, color is redness.Computer receives the landing boot request from unmanned plane
Afterwards, just begin through ground camera and flutter and catch the multi-colored led dot matrix screen of airborne variable illumination area, by regarding for " color+shape "
Feel Processing Algorithm, parse the center position coordinates of LED dot matrix panels, and it is encoded, pass finally by the first wireless data
Defeated module, the second wireless data transfer module send guidance information stream to on-board data processing module.On-board data processes mould
Block is received after coordinate guidance information, carries out decoding verification operation, parses the changing coordinates of unmanned plane, and by changing coordinates with set
It is poor that position fixing is carried out, and obtains error amount, and the input control quantity of unmanned plane motion is calculated to reduce error by pid algorithm.
Whole control process frequency is 10Hz.With the continuous decline of unmanned plane height, the light-emitting area of LED dot matrix panels also subtracts therewith
Little, color also changes therewith, meanwhile, pid parameter value also gradually changes, and constitutes multisection type PID control.Highly it is less than in unmanned plane
After 0.5 meter, if error amount enters the error threshold scope permitted, unmanned plane just drop to ground, while locked motor.
Compared with prior art, the invention has the beneficial effects as follows：The present invention by the way of ground control, camera bottom
Installed in three axles from steady head, camera is remained vertically upward, and lens plane keeps level, and this can make full use of letter
Clean sky background, it is also possible to avoid the factors such as body shake, ground environment from disturbing.Meanwhile, label (LED dot matrix screens)
Fly control independently of unmanned plane bottom with control module (on-board data processing module) to exist, different model and pattern can be applied to
Multi-rotor unmanned aerial vehicle, realize technical versatility, can promote the use of on a large scale.The signature thing of the present invention is using variable
The LED dot matrix screens of light-emitting area and color, it can be according to the reduction adaptively changing light-emitting area of present level and color, just
Image procossing is carried out in computer, is solved the problems, such as because height reduces so that label easily overflows camera view, in a disguised form
Improve flutterring for ground camera and catch scope.Simultaneously as LED dot matrix screens being capable of self-luminous so that precisely landing function can
Use at night, reach the round-the-clock effect for using.The present invention in terms of unmanned plane coordinate identification, using computer vision technique
The ripe recognizer of " color+shape ", improves recognition accuracy of the computer vision system to signature thing, subtracts significantly
Lack because the interference of background environment causes to recognize or the frequency of occurrences of wrong identification problem, improve the work of identifying system
Reliability.In unmanned plane body movement control aspect, different pid parameters is adopted according to differing heights, constitute multisection type PID controls
Algorithm processed, improves the stationarity of unmanned plane motion control, the precision of precisely landing is greatly improved, with great practicality
Value.The present invention provides a kind of modular battery clamp device, can be suitable for the machine that any unmanned plane changes battery that is coupled to
In construction system, have wide range of applications, and efficient, reliable, high-precision can realize battery altering.
Description of the drawings
Fig. 1 is the structure composition block diagram of the present invention；
Fig. 2 is unmanned plane inner function module figure；
Fig. 3 is unmanned plane frame for movement schematic diagram；
Fig. 4 is the multi-colored led dot matrix panel schematic diagram of airborne variable illumination area of the invention；
Fig. 5 is the multi-colored led dot matrix panel itself connection figure of airborne variable illumination area of the invention；
Fig. 6 (a) is ground handling station of the present invention workflow schematic diagram；
Fig. 6 (b) is unmanned plane workflow schematic diagram of the present invention；
Fig. 7 is " color+shape " computer vision algorithms make flow chart of the invention；
Fig. 8 is battery clamp device top view of the present invention；
Fig. 9 is battery clamp device front view of the present invention；
Figure 10 is fixture block schematic diagram of the present invention；
Figure 11 is the overall structure diagram of fixing device of the present invention；
Figure 12 is the schematic diagram of stopper slot of the present invention；
Figure 13 is the overall structure diagram two of fixing device of the present invention；
Wherein, 1. fixed station, 2. the first stopper slot, 3. slide block, 4. slide bar, 5. spud pile, face of 6. landing, 7. support, 8.
First draw-in groove, 9. vertical plane, 10. the second stopper slot, 11. supports；
Wherein, 1-1 jaws body, the gripper jaw parts of 1-2 first, the gripper jaw parts of 1-3 second, the handgrips of 1-4 first, 1-5 second
Handgrip, 1-6 zigzag blocks, 1-7 fixture blocks, 1-8 securing members, 1-9 servomotors, the grooves of 1-10 first, 1-11 presses motion block, 1-12
Second draw-in groove, 1-13 screw sliders.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described with embodiment.
As shown in figure 1, the ground control formula unmanned plane during flying landing system based on LED dot matrix, including：Unmanned plane and nobody
Machine rises and falls station, unmanned plane station of rising and falling includes objective table, and the objective table auxiliary unmanned plane landing installed above is accurately determined
Position and fixing device, auxiliary unmanned plane landing be accurately positioned and fixing device on three axle heads, the three axles cloud are installed
Camera is installed on platform, the camera remain under cradle head control camera lens upward, direction it is constant, the camera and ground
Face computer connection；The ground-based computer control camera is taken pictures；The ground-based computer passes through the first wireless data
Transport module is communicated with unmanned plane；The computer is also connected with display terminal；
As shown in Fig. 2 the unmanned plane includes on-board data processing module, the on-board data processing module and unmanned plane
Bottom flight control system, LED dot matrix screens, the second wireless data transfer module are connected, the unmanned plane bottom flight control system
System is connected with GPS receiver module, and during unmanned plane declines, the camera shoots the square LED immediately below unmanned plane
Dot matrix screen, then calculates the coordinate position of unmanned plane according to the color characteristic and shape facility of square LED dot matrix screens；The machine
Carry data processing module also to rise and fall by the second wireless data transfer module and unmanned plane first wireless data transfer module at station
Communication；
The unmanned plane also includes battery, and the battery is on-board data processing module, LED dot matrix screens, unmanned plane bottom
Flight control system and the second wireless data transfer module are powered.As shown in figure 3, under the LED dot matrix screens are located at unmanned plane just
Side.
As shown in figure 4, the LED dot matrix screens include ultrasonic wave module.As shown in figure 5, the LED dot matrix screens include ultrasound
Ripple module, the power supply termination+5V voltage-stabilized power supplies of the ultrasonic wave module, the earth terminal ground connection of the ultrasonic wave module；It is described super
The analog signal output of sound wave module is connected with the IO1 pins of ARM core processors；The IO2 of the ARM core processors draws
Pin, IO3 pins and IO4 pins are connected with the input of power driver module；Power supply termination+the 5V of the ARM core processors
Voltage-stabilized power supply, the earth terminal ground connection of the ARM core processors；Power supply termination+5V the voltage-stabilized power supplies of the power driver module,
The earth terminal ground connection of the power driver module；The output end of the power driver module is grounded by several LED lamp bars；Institute
State LED lamp bar composition LED dot matrix panels.The ultrasonic sensor is used to gather LED dot matrix screens, i.e. unmanned plane current location
Relative altitude.
As shown in Fig. 6 (a), based on the ground control formula unmanned plane during flying landing method of LED dot matrix panels, including：
Step (a1)：Unmanned plane rises and falls the computer starting at station；
Step (a2)：Computer judges whether to receive unmanned plane initialization and completes instruction, if so, then computer to unmanned plane
Transmission has received the first feedback command of instruction；Computer receives offline mode selection instruction, and by selected offline mode
Unmanned plane is sent to, into step (a4)；If it is not, then entering step (a3)；
Step (a3)：Computer judges whether the guiding landing request for receiving unmanned plane, if guiding landing request is received
Landing process is guided, judges whether landing completes, return to step (a2) if completing；Proceed guiding if not completing
Landing is processed；If not receiving guiding landing request, return to step (a2)；
Step (a4)：Computer judges whether the second feedback command for receiving unmanned plane, if receive unmanned plane second feeding back
Instruction, then into step (a5)；If not receiving the feedback command of unmanned plane second, return to step (a2) computer continues to fly
Row mode selection instruction；
Step (a5)：The input instruction of computer RX path planning point, judges whether that input is finished, if then entering step
Suddenly (a6)；If otherwise return to step (a5)；
Step (a6)：Path planning point and the input of path planning point are completed instruction and are sent to unmanned plane by computer, are calculated
Machine receives check results and checks；Judge whether check results are identical, verification is sent if identical by instructing return to step
(a2)；If otherwise return to step (a5)；The check results are the path points and number and the path point and number for receiving for sending
It is whether consistent.
As shown in Fig. 6 (b), based on the ground control formula unmanned plane during flying landing method of LED dot matrix, including：
Step (b1)：Unmanned plane is started shooting and is initialized；
Step (b2)：Unmanned plane sends initialization and completes to instruct to the computer on ground, and unmanned plane judges whether to receive ground
First feedback command of face computer, enters step (b3) if receiving；If do not receive being returned to step (b2)；
Step (b3)：Unmanned plane prepares to receive the offline mode selection instruction that computer upload comes, and unmanned plane receives winged
Row mode selection instruction backcasting machine sends the second feedback command；
Step (b4)：Unmanned plane prepares to receive the path planning point selection instruction that computer upload comes, and unmanned plane judges
Whether receive and be sent completely instruction, check results are just sent to computer if receiving and being sent completely instruction, into step (b5)；If
Do not receive and be sent completely instruction and be returned to step (b4)；The check results are the path points and number and the path for receiving for sending
Whether point and number are consistent；
Step (b5)：Judge whether to receive verification by instruction, if so, then the flight of unmanned plane Execution plan path point is appointed
Business, aerial mission is completed, request guiding landing, is terminated；If it is not, then return to step (b4).
As shown in fig. 7, the step of guiding landing is：
Step (a30)：Computer judges whether the guiding landing request for receiving unmanned plane, if guiding landing request is received
Landing process is guided, into step (a31)；Unmanned plane is waited to send guiding landing request if not receiving；
Step (a31)：Computer controls unmanned plane rise and fall station camera capture picture；
Step (a32)：Extract the color characteristic and style characteristic of light-emitting zone in picture；Judge color characteristic whether
Match somebody with somebody, the glow color in picture will be captured and matched with the glow color of specified altitude assignment set in advance；If the match is successful just
Into step (a33)；Return to step (a31) if it fails to match；
Step (a33)：Judge whether shape facility matches, judge that the picture of lighting for capturing the LED dot matrix screens in picture is
No if so, then to calculate the coordinate of square picture central point for square, the coordinate of center picture point is unmanned plane and precisely lands institute
The coordinate of needs, and this coordinate is sent into unmanned plane, unmanned plane carries out position adjustment according to coordinate；Return to step (a30).
The coordinate of the square picture central point, refers to：The central point of the square light-emitting zone that LED dot matrix screens are lighted is on ground
Face camera captures pixel coordinate residing in picture.It is 800*600 that camera captures the resolution ratio of entire image, then view picture figure
Inconocenter point coordinates for (400,300).
In a kind of typical embodiment of the application, as shown in Fig. 8, Fig. 9 and Figure 10, there is provided one kind is applied to nobody
The battery clamp device that machine is independently continued a journey, including clip claw mechanism, clip claw mechanism includes jaw body 1-1, jaw body 1-1 connections
There are the first gripper jaw part 1-2 and the second gripper jaw part 1-3, the first gripper jaw part 1-2 to be fixedly connected with the first handgrip 1-4, second
Gripper jaw part 1-3 and the second handgrip 1-5 are fixedly connected；The opposite face of the first handgrip 1-4 and the second handgrip 1-5 is equipped with saw
Dentation block 1-6.Handle component is driven by clip claw mechanism to clamp battery, jaw coordinates more reliable with the clamping of battery；It is logical
The setting zigzag block on two handgrips is crossed, the contact friction force of handgrip and battery is bigger when battery is clamped, clamped more steady
Gu, it is to avoid the problem that battery gripping is glanced off.
Clip claw mechanism can adopt electronic jaw or Pneumatic clamping jaw etc., can effectively drive handgrip to be opened and closed, while can pass through
Control module is controlled it, it is ensured that the precision of battery altering, can be selected according to gripping required by task chucking power when using
Suitable electronic jaw or Pneumatic clamping jaw, it is cost-effective.
Jaw body 1-1 is chimeric to be arranged in fixture block 1-7, and fixture block 1-7 is with the second draw-in groove 1- with jaw body fits
12.Second draw-in groove is set on fixture block, the setting-in combination of the second draw-in groove and jaw body is realized, can be with fast and reliable connection.
In order to more firm stationary jaw body, jaw body 1-1 is also fixed by securing member 1-8 with fixture block 1-7
Connection, securing member 1-8 can be using screw etc.；Silk hole is all set on jaw body 1-1 and fixture block 1-7, by screw or screw
Being fastened and fixed for the two is completed Deng securing member through the silk hole of the two.Pass through the second draw-in groove clamping jaw body premise in fixture block
Under, jaw body can be fixedly secured using securing member, clip claw mechanism stablizes effectively in the mobile replacing cell process of holding.
Clip claw mechanism is connected with power set, and power set adopt servomotor 1-9 in the present embodiment.By power set
Drive clip claw mechanism folding, and then the folding of two handgrips is realized, realization grips or lays down battery.When needing to grip battery, lead to
Cross controller and be signaled to driver, servomotor 1-9 runnings drive clip claw mechanism to drive the first handgrip and the second handgrip folder
Changed in power taking pond.First handgrip 1-4 with the first gripper jaw part 1-2 cooperations at arrange the first groove 1-10, the first jaw
Part 1-2 is entrenched in the first groove 1-10.First groove is set on the first handgrip, the first handgrip and the first jaw portion is realized
The setting-in combination of part, can be with fast and reliable connection.In order to more firm the first gripper jaw part of fixing, the first gripper jaw part 1-
2 are also fastenedly connected by securing member with the first handgrip 1-4, and on the first gripper jaw part 1-2 and the first handgrip 1-4 silk is all arranged
Hole, being fastened and fixed for the two is completed by securing members such as screw or screws through the silk hole of the two.It is recessed by first in the first handgrip
Under the premise of the gripper jaw part of groove clamping first, the first gripper jaw part can be fixedly secured using securing member, effectively keep mobile and change
The first handgrip stablizes in cell process.
Second handgrip 1-5 with the second gripper jaw part 1-3 cooperations at arrange the second groove, the second gripper jaw part 1-3 be fitted together to
In the second groove.Second groove is set on the second handgrip, the setting-in combination of the second handgrip and the second gripper jaw part is realized, can
With fast and reliable connection.In order to more firm the second gripper jaw part of fixing, the second gripper jaw part 1-3 also by securing member with
Second handgrip 1-5 is fastenedly connected, and silk hole is all arranged on the second gripper jaw part 1-3 and the second handgrip 1-5, by screw or screw etc.
Securing member completes being fastened and fixed for the two through the silk hole of the two.Pass through second the second gripper jaw part of groove clamping in the second handgrip
Under the premise of, the second gripper jaw part can be fixedly secured using securing member, effectively keep mobile and change the second handgrip in cell process
Stablize.
First handgrip 1-4 or the second handgrip 1-5 be provided with cell switch coordinate by motion block 1-11, battery sidepiece arrange with
The sawtooth lamellar body that zigzag block 1-6 coordinates.Arrange on the first handgrip or the second handgrip and press motion block, can be before battery be changed
First close cell switch, it is to avoid damage of the warm swap to battery；Arrange in battery sidepiece and coordinate with zigzag block on handgrip
Zigzag lamellar body, it is ensured that the cooperation steadiness of handgrip and battery, what effectively solving battery was glanced off in movement asks
Topic, the sawtooth lamellar body of battery sidepiece both can be affixed on it is on battery, or integrally formed with battery.On the inside of handgrip
With zigzag block, with the dentation piece mates on battery, effectively solve in actual motion, under gripping battery occurs
It is sliding, cause battery to grip the problem of deflection.
In the typical embodiment of another kind of the application, there is provided a kind of battery for being applied to the autonomous continuation of the journey of unmanned plane is more
Changing device, including battery clamp device as above, battery clamp device is equipped with Y-axis moving mechanism, Y-axis moving mechanism
It is equipped with Z axis travel mechanism, Z axis travel mechanism is equipped with X-axis travel mechanism.Fixture block 1-7 can be I-shaped
Stationary jaw body 1-1 is blocked in type, upside with the second draw-in groove 1-12, and fixture block 1-7 blocks fixed silk in downside with another draw-in groove
Thick stick slide block 1-13, screw slider 1-13 are connected with Y-axis moving mechanism.Certainly, three axle travel mechanisms in battery replacement device
Can replace can drive the mechanism that battery clamp device moves in cubic space using other.
Some are needed to need to pinpoint the region maked an inspection tour often, the automatic inspection of unmanned plane, tour personnel can be carried out
Or other staff only need to send corresponding instruction in control room, unmanned plane will automatic takeoff respective regions are maked an inspection tour, work as nothing
When man-machine electricity is less than arranges value, unmanned plane can drop to the unmanned plane station being disposed about, and carry out autonomous battery altering, continue
Into the task of tour.This process is required very strictly, according to the mechanical gripper of prior art, in reality the clamp device of battery
During border is tested, by taking three axle travel mechanisms as an example, X-axis travel mechanism, Y-axis moving mechanism, Z axis travel mechanism is all according to setting
Surely run to unmanned plane and change the position of battery, gripping battery extract after, due to clamp device gripping it is insecure, battery not by
The side of clamping glides, even if in the case where X-axis travel mechanism and Z axis travel mechanism are constant, only passing through Y-axis moving mechanism handle
Battery peace also cannot be realized installing to unmanned plane battery compartment.And adopt after the battery clamp device of the present invention, X-axis travel mechanism,
Y-axis moving mechanism, Z axis travel mechanism coordinates with clip claw mechanism can be changed with reliable retention battery, be not in that battery is inclined
Tiltedly, replacing battery that can be quick, stable, and can guarantee that the precision of battery altering.
In the typical embodiment of another of the application, there is provided a kind of battery for being applied to the autonomous continuation of the journey of unmanned plane is more
The method of work of changing device, comprises the following steps：(1) X-axis travel mechanism, Z axis travel mechanism and Y-axis moving mechanism are transported successively
Make, drive battery clamp device to be moved at unmanned plane battery location；Touching by motion block on (2) first handgrips or the second handgrip
Cell switch, closes battery；(3) clip claw mechanism drives the first handgrip and the second handgrip clamping battery, zigzag block and battery
The sawtooth lamellar body of sidepiece coordinates；(4) X-axis travel mechanism, Z axis travel mechanism and Y-axis moving mechanism are operated successively, drive battery folders
Take device to be moved at battery compartment, battery is returned and is put in battery compartment；(5) X-axis travel mechanism, Y-axis moving mechanism and Z axis movement
Mechanism drives battery clamp device to be moved to the position of another battery of battery compartment, and repeat step (3) takes out on battery；(6) X-axis
Travel mechanism, Y-axis moving mechanism and Z axis travel mechanism drive battery clamp device to be moved at unmanned plane battery bin location, press
Motion block touches cell switch, opens battery；(7) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism return initial bit
Put.In order that those skilled in the art can clearly understand the technical scheme of the application, below with the work of this device
The present invention is described in detail for industry process：Battery clamp device is equipped with Y-axis moving mechanism, and Y-axis moving mechanism is matched somebody with somebody
Conjunction is arranged in Z axis travel mechanism, and Z axis travel mechanism is equipped with X-axis travel mechanism.Unmanned plane drops to fixed support
On, X-axis travel mechanism drives Z axis travel mechanism to move to the position of unmanned plane battery compartment in x-axis direction.Complete in x-axis action
Afterwards, Z axis travel mechanism drives Y-axis moving mechanism to be moved downwardly in the z-axis direction with unmanned plane battery compartment with high.It is dynamic in z-axis
After the completion of work, Y-axis moving mechanism drives battery clamp device to run forward on the y axis.
Cell switch is touched by motion block 1-11, battery is closed, afterwards clip claw mechanism closure, the first handgrip 1-4 and second is grabbed
Hand 1-5 catches the sawtooth lamellar body snap-fit of battery, the zigzag block on the first handgrip 1-4 and battery side, the second handgrip
The sawtooth lamellar body snap-fit of zigzag block and battery opposite side on 1-5.
Y-axis moving mechanism drives battery clamp device to withdraw in y-axis direction, and after the completion of action, Z axis travel mechanism drives Y
Axle travel mechanism is lifted in the z-axis direction, and after the completion of action, X-axis travel mechanism drives Z axis travel mechanism to return in the direction of the x axis
Backhaul dynamic.X-axis travel mechanism, Y-axis moving mechanism, Z axis travel mechanism coordinate running to put battery into battery compartment, and from the next one
Battery compartment power taking pond, gets battery and moves to unmanned plane battery bin location, installs battery, and by motion block 1-11 unmanned machine battery is opened
Switch.X-axis travel mechanism, Y-axis moving mechanism, Z axis travel mechanism return initial position.
In a kind of typical embodiment of the application, as shown in figure 12, what a kind of auxiliary unmanned plane landed is accurately positioned
And fixing device, including for carrying out the first spacing stopper slot to unmanned plane horn, the both sides of the first stopper slot opposition are V-shaped
Arrangements, the another both sides of the first stopper slot are each vertically arranged as vertical plane, wherein, the side that the first stopper slot is vertically arranged sets
There is the first draw-in groove for supporting unmanned plane horn, the first draw-in groove 8 is circle-arc profile, and in the first draw-in groove rubber blanket is arranged,
To protect to horn, meanwhile, by the setting of rubber blanket, because of the elastic reaction of rubber blanket, can further be fixedly secured nothing
Man-machine, the height of the first draw-in groove can be adjusted according to the concrete model of unmanned plane, generally, the height of the first draw-in groove
With the radius more than or equal to unmanned plane horn, therefore the shape of the shape of the first draw-in groove and unmanned plane horn is close, is round
Arc shape.
First stopper slot 2 includes supporting 7, supports in elongated rectangular shape shape, and the both sides for supporting 7 respectively arrange a landing face 6, and another two
Side respectively arranges described vertical plane 9.
Above-mentioned first stopper slot 2 constitutes an open-topped receiving space, when unmanned plane lands, in the first stopper slot
The inner surface of landing face 6 come in contact with unmanned plane horn supporting leg bottom, supporting leg stress falls downward is dropped into and supported
Be supported, and the reason for namely V-type shape is arranged in the landing face on both sides 6, supporting leg is carried out it is spacing, effective guarantee nobody
The position of machine landing.
Additionally, landing face relative to the angle A for supporting at 30 degree to 80 degree, accordingly even when unmanned plane horn bottom supporting leg
Deviation position can guarantee that effectively to drop into farther out, also and support, it is ensured that the precision approach of unmanned plane, spacing groove height H is variable
Change, occurrence depends on the height of unmanned plane supporting leg.
The variable-width that spacing trench bottom is supported, occurrence depends on the width of unmanned plane supporting leg, it is preferable that
The width is identical with the diameter of unmanned plane supporting leg.
Stopper slot the first draw-in groove variable-width, occurrence depends on the diameter of unmanned plane horn, it is preferable that the width
Degree is identical with the diameter of unmanned plane horn.
If the floor projection distance in landing face is L, L=H/TanA, spacing groove height H and angle A are mutually restricted.
In order to realize the restriction to wing bottom supporting leg, the stopper slot be U-shaped shape either funnel shaped or on
Portion is square, and bottom is funnel shaped.
In order to overcome the deficiencies in the prior art, present invention also offers it is a kind of auxiliary unmanned plane landing be accurately positioned groove,
The setting that the locating slot passes through stopper slot, unmanned plane horn is carried out it is spacing, to improve the precision of landing, positioning slot structure letter
Single, positioning precision is high.
What a kind of auxiliary unmanned plane landed is accurately positioned and fixing device, including spacing for carrying out to unmanned plane horn
Second stopper slot 10, the second stopper slot includes supporting, and the both sides for supporting opposition respectively arrange a landing face, and two landing faces constitute V-type
Shape, in the side for supporting support 11 is vertically arranged, and support is L-type shape, and bottom is easy to fix, and cradle top is provided with for propping up
First draw-in groove of support unmanned plane horn, additionally, in order to avoid landing produces interference in the face of changing battery, a face in face of landing
Bending is divided to arrange towards horn, as shown in figure 13.Above-mentioned second stopper slot constitutes an open-topped receiving space, when nobody
When machine lands, the landing face inner surface in the second stopper slot comes in contact with unmanned plane horn supporting leg bottom, supporting leg stress
The reason for falls downward is dropped into support and is supported, and namely V-type shape is arranged in the landing face on both sides, enters to supporting leg
Row is spacing, and the first draw-in groove of cradle top carries out effective support, effective guarantee unmanned plane to horn after the landing of unmanned plane position
The position of landing, support connects setting with described supporting.Additionally, the application another embodiment, additionally provides a kind of auxiliary
Being accurately positioned and fixing device for unmanned plane landing is helped, the device includes the locating slot in above-mentioned two scheme, by multiple limits
The setting of position groove, is accurately positioned to the wing position of unmanned plane.
What a kind of auxiliary unmanned plane landed is accurately positioned and fixing device, including the one kind described at least two aids in nobody
What machine landed is accurately positioned groove, and the bottom of the stopper slot is supported and be fixed with fixed station by bolt on fixed station,
Fixed station is that groove structure is arranged, and is easy to subsequent fixed stake, the receiving of slide bar, as illustrated in figures 11 and 13.
In the positioner, unmanned plane realizes coarse positioning using control system, and coarse positioning is vertical apart from landing platform
The free-falling in the interval of 5--10cm.The bootable unmanned plane of stopper slot in accurate positioning device is reached using inertia landing
To being accurately positioned and fixing, so between two stopper slots, the battery of unmanned plane can be entered manually or using plant equipment
Row is changed, or carries out other follow-up works.As optimum embodiment, the quantity of the stopper slot and the number of unmanned plane horn
Amount is identical, by the spacing of each wing, it is ensured that the precision of unmanned plane position landing, controls in submillimeter rank.Separately
In one embodiment, when stopper slot is two, adjacent two stopper slots are spaced a unmanned plane horn and arrange, such as four wings nobody
Machine, stopper slot can be symmetrical arranged two, if six wing unmanned planes, stopper slot can arrange two or three, be spaced a wing
Or two wings are configured.
Spud pile 5 is set at the middle part of the fixed station 1, spud pile, the mark are set at the middle part of the fixed station
Point, by the setting of an identification point, is capable of achieving the coarse positioning of unmanned plane movement, on spud pile surface located at the middle part of spud pile
Picture pick-up device is set, and picture pick-up device is connected with controller, to carry out coarse positioning to unmanned plane, then coordinates the setting of stopper slot, reality
Now to the positioning of unmanned plane horn supporting leg position, and effectively unmanned plane horn is supported by the first draw-in groove, it is described
, to adjust the position of stopper slot by the rotation of fixed station, rotating mechanism can be for the bottom of fixed station and rotating mechanism fixation
Electric rotating machine.
In housing, windproof and dustproof to carry out, controller is connected controller with meteorological sensor, and meteorological sensor is real-time
Measurement external environment, including wind direction, wind speed, precipitation, temperature and humidity are sent to station internal controller, by with network weather
Key element is compareed, and real-time analysis environments affect, and determines that whether unmanned plane landing controls.Controller is by cloud server and monitoring
Central server is in communication with each other, and monitoring central server is also connected with display module, by monitoring central server come monitor in real time
The work state information of intelligent landing station system.Additionally, the adaptability in order to improve the positioner, adapts to different horn length
Unmanned plane, be fixed with slide bar 4 in the circumference of the spud pile, slide bar 4 is fixed with slide block 3, and slide block 3 can be slided relative to slide bar 4
Dynamic, stopper slot is fixed on slide block 3；
Securing member is set on the slide block, and securing member is fixed on slide block 3 on slide bar 4 through slide block 3, and such structure sets
Put, slide block 3 can be adjusted relative to the position of slide bar 4 according to the length of horn, be also achieved that stopper slot relative to movement position
Adjustment.Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not to present invention protection model
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need the various modifications made by paying creative work or deformation still within protection scope of the present invention.
Claims (10)
1. the ground control formula unmanned plane during flying landing system based on LED dot matrix, is characterized in that, including：
Unmanned plane and unmanned plane rise and fall station；
The unmanned plane rises and falls to stand includes objective table, and the objective table is installed above to aid in being accurately positioned and solid for unmanned plane landing
Determine device, the auxiliary unmanned plane landing be accurately positioned and fixing device on three axle heads are installed, pacify on the three axles head
Dress camera, the camera remain under three axle cradle head controls camera lens upward, direction it is constant, the camera and ground
Computer connects；The ground-based computer control camera is taken pictures；The ground-based computer is passed by the first wireless data
Defeated module is communicated with unmanned plane；The ground-based computer is also connected with display terminal；
The unmanned plane includes on-board data processing module, the on-board data processing module and unmanned plane bottom flight control system
System, LED dot matrix screens, the second wireless data transfer module are connected, the unmanned plane bottom flight control system and GPS receiver module
Connection, during unmanned plane declines, the camera shoots the square LED dot matrix screens immediately below unmanned plane, then basis
The color characteristic and shape facility of square LED dot matrix screens calculate the coordinate position of unmanned plane；Computer is current according to unmanned plane
Position to unmanned plane sends landing instruction；The unmanned plane finally drops to the accurate of auxiliary unmanned plane landing according to landing instruction
In positioning and fixing device, the on-board data processing module is also risen and fallen station by the second wireless data transfer module and unmanned plane
The first wireless data transfer module communication；
The unmanned plane also includes battery, and the battery is on-board data processing module, LED dot matrix screens, GPS receiver module, nothing
Man-machine bottom flight control system and the second wireless data transfer module are powered.
2. the ground control formula unmanned plane during flying landing system based on LED dot matrix as claimed in claim 1, is characterized in that,
The LED dot matrix screens include ultrasonic wave module, the power supply termination+5V voltage-stabilized power supplies of the ultrasonic wave module, the ultrasound
The earth terminal ground connection of ripple module；The analog signal output of the ultrasonic wave module connects with the IO1 pins of ARM core processors
Connect；The IO2 pins of the ARM core processors, IO3 pins and IO4 pins are connected with the input of power driver module；It is described
Power supply termination+5V the voltage-stabilized power supplies of ARM core processors, the earth terminal ground connection of the ARM core processors；The power drive
Power supply termination+5V the voltage-stabilized power supplies of module, the earth terminal ground connection of the power driver module；The output of the power driver module
End is grounded by several LED lamp bars；The LED lamp bar constitutes LED dot matrix panels.
3. the ground control formula unmanned plane during flying landing system based on LED dot matrix as claimed in claim 1, is characterized in that,
What the auxiliary unmanned plane landed is accurately positioned and fixing device, and the device includes locating slot, by multiple stopper slots
Arrange, the wing position of unmanned plane is accurately positioned.
4. the ground control formula unmanned plane during flying landing system based on LED dot matrix as claimed in claim 1, is characterized in that,
It is described auxiliary unmanned plane landing be accurately positioned and fixing device, including at least two a kind of auxiliary unmanned plane landing
Accurate limiting groove, the bottom of stopper slot is provided with identification point on fixed station in the middle part of fixed station, and unmanned plane is by mark
Point is positioned to unmanned plane movement, and fixed station is that groove structure is arranged, and is easy to subsequent fixed stake, the receiving of slide bar, vertically
The circumferential directions of face or support along fixed station；The middle part of the fixed station arranges spud pile；
Be fixed with slide bar in the circumference of the spud pile, slide bar is fixed with slide block, slide block relative to slide bar slidably, described limit
Position groove is fixed on slide block, with by the distance between mobile regulation stopper slot and spud pile of slide block；
Securing member is set on the slide block, and securing member is fixed on slide block on slide bar through slide block.
5. the ground control formula unmanned plane during flying landing system based on LED dot matrix as claimed in claim 4, is characterized in that, limit
Position groove, spacing for carrying out to unmanned plane horn, stopper slot includes supporting for bottom setting, supports side and is connected with landing face,
Landing face is plane or curved surface, and landing face is obliquely installed with supporting, suitable after unmanned plane horn supporting leg comes in contact with landing face
The landing face of wearing drops into support and realizes being accurately positioned, and by the setting in face of landing in stopper slot, unmanned plane horn is limited
Position, to improve the precision of landing, the locating slot simple structure, positioning precision is high, can reach submillimeter level；
Additionally, the opposite side supported in the stopper slot arranges the second landing face, the second landing face is obliquely installed with supporting, and drops
Fall face, support and the second landing face formed V-type shape, such two landing face is entered from both direction to the supporting leg of unmanned plane horn
The spacing control of row, has widened range of application, and the stopper slot is the truncated conical shape of hollow handstand；
Or, the stopper slot is U-shaped, when unmanned plane horn supporting leg collides with U-shaped stopper slot inwall, unmanned plane machine
Arm supporting leg is slid to bottom along stopper slot inside；
Vertical plane is set between the landing face and the second landing face；
Further, the draw-in groove for supporting unmanned plane horn is provided with the top of vertical plane described in, by the setting of draw-in groove,
After unmanned plane falls into, unmanned plane is fixed, the height of draw-in groove can be adjusted according to the concrete model of unmanned plane, typically
In the case of, the height of draw-in groove with more than or equal to unmanned plane horn radius；
The vertical plane is connected with the landing face, and above-mentioned stopper slot constitutes an open-topped receiving space, or, it is described
Vertical plane is located between the landing face and the second landing face, when unmanned plane lands, if unmanned plane horn supporting leg position
Put and glance off, the landing face inner surface in stopper slot comes in contact with unmanned plane horn supporting leg bottom, supporting leg stress to
The reason for decline is dropped into support and is supported, and namely V-type shape is arranged in the landing face on both sides, is carried out to supporting leg
It is spacing, being accurately positioned for unmanned plane is realized, the draw-in groove of cradle top is effectively propped up horn after the landing of unmanned plane position
Support and fixed, the position of effective guarantee unmanned plane landing.
6. the ground control formula unmanned plane during flying landing method based on LED dot matrix, is characterized in that, including：
Step (a1)：Unmanned plane rises and falls the computer starting at station；
Step (a2)：Computer judges whether that receiving unmanned plane initialization completes instruction, and if so, then computer sends to unmanned plane
The first feedback command of instruction has been received；Computer receives offline mode selection instruction, and selected offline mode is sent
To unmanned plane, into step (a4)；If it is not, then entering step (a3)；
Step (a3)：Computer judges whether the guiding landing request for receiving unmanned plane, carries out if guiding landing request is received
Guiding landing is processed, and judges whether landing completes, return to step (a2) if completing；Proceed guiding landing if not completing
Process；If not receiving guiding landing request, return to step (a2)；
Step (a4)：Computer judges whether the second feedback command for receiving unmanned plane, if receiving the feedback command of unmanned plane second,
Then enter step (a5)；If not receiving the feedback command of unmanned plane second, return to step (a2) computer continues to flight mould
Formula selection instruction；
Step (a5)：The input instruction of computer RX path planning point, judges whether that input is finished, if then entering step
(a6)；If otherwise return to step (a5)；
Step (a6)：Path planning point and the input of path planning point are completed instruction and are sent to unmanned plane by computer, and computer connects
Receive check results and check；Judge whether check results are identical, verification is sent if identical by instruction return to step (a2)；If
Otherwise return to step (a5)；The check results are the path point that sends and number and the path point and number for receiving whether
Cause.
7. the ground control formula unmanned plane during flying landing method based on LED dot matrix, is characterized in that,
Step (b1)：Unmanned plane is started shooting and is initialized；
Step (b2)：Unmanned plane sends initialization and completes to instruct to the computer on ground, and unmanned plane judges whether to receive ground meter
First feedback command of calculation machine, enters step (b3) if receiving；If do not receive being returned to step (b2)；
Step (b3)：Unmanned plane prepares to receive the offline mode selection instruction that computer upload comes, and unmanned plane receives flight mould
Formula selection instruction backcasting machine sends the second feedback command；
Step (b4)：Unmanned plane prepares to receive the path planning point selection instruction that computer upload comes, and unmanned plane judges whether
Receive and be sent completely instruction, check results are just sent to computer if receiving and being sent completely instruction, into step (b5)；If not receiving
Step (b4) is returned to instruction is sent completely；The check results be send path point and number with receive path point and
Whether number is consistent；
Step (b5)：Judge whether to receive verification by instruction, if so, then unmanned plane Execution plan path point aerial mission, fly
Row task is completed, request guiding landing, is terminated；If it is not, then return to step (b4).
8. the ground control formula unmanned plane during flying landing method based on LED dot matrix as claimed in claim 6, is characterized in that,
It is described guiding landing the step of be：
Step (a30)：Computer judges whether the guiding landing request for receiving unmanned plane, carries out if guiding landing request is received
Guiding landing is processed, into step (a31)；Unmanned plane is waited to send guiding landing request if not receiving；
Step (a31)：Computer controls unmanned plane rise and fall station camera capture picture；
Step (a32)：Extract the color characteristic and style characteristic of light-emitting zone in picture；Judge whether color characteristic matches, will
The glow color captured in picture is matched with the glow color of specified altitude assignment set in advance；If the match is successful being put into step
Suddenly (a33)；Return to step (a31) if it fails to match；
Step (a33)：Judge whether shape facility matches, judge that whether the picture of lighting for capturing the LED dot matrix screens in picture is
It is square, the coordinate of square picture central point is if so, then calculated, the coordinate of center picture point is unmanned plane and precisely lands required
Coordinate, and this coordinate is sent into unmanned plane, unmanned plane carries out position adjustment according to coordinate；Return to step (a30).
9. the ground control formula unmanned plane during flying landing method based on LED dot matrix as claimed in claim 8, is characterized in that,
The coordinate of the square picture central point, refers to：The central point of the square light-emitting zone that LED dot matrix screens are lighted is taken the photograph on ground
As head captures pixel coordinate residing in picture.
10. a kind of method of automatic replacing battery, is characterized in that, comprise the steps：
Step (1)：Unmanned plane is landed according to guiding landing instruction；
Step (2)：Objective table rises, and higher than cell apparatus are changed automatically, unmanned plane is dropped in unmanned plane gripper shoe；
Step (3)：Computer receives the signal that unmanned plane has been dropped in unmanned plane gripper shoe；
Step (4)：Objective table declines, and highly equal to cell apparatus are changed automatically, cell apparatus are changed automatically to be carried out to unmanned plane
Change battery action or wireless charging；The automatic replacing cell apparatus include：Battery clamp device；
The battery clamp device, including clip claw mechanism, the clip claw mechanism includes jaw body, and the jaw body is connected with
First gripper jaw part and the second gripper jaw part, first gripper jaw part is fixedly connected with the first handgrip, the second jaw portion
Part and the second handgrip are fixedly connected；The opposite face of first handgrip and the second handgrip is equipped with zigzag block；
Battery clamp device, drives handle component to clamp battery by clip claw mechanism, and jaw coordinates with the clamping of battery more may be used
Lean on；By arranging zigzag block on two handgrips, when battery is clamped, the contact friction force of handgrip and battery is bigger, and clamping is more
Plus it is firm, it is to avoid the problem that battery gripping is glanced off；
Further, the jaw body is chimeric is arranged in fixture block, and the fixture block is with the draw-in groove with jaw body fits.
Draw-in groove is set on fixture block, the setting-in combination of draw-in groove and jaw body is realized, can be with fast and reliable connection；
Further, the jaw body is also fixedly connected by securing member with fixture block.Pass through draw-in groove clamping jaw in fixture block
Under the premise of body, jaw body can be fixedly secured using securing member, effectively keep mobile and change clip claw mechanism in cell process
Stablize；
Further, the clip claw mechanism is connected with power set.Clip claw mechanism folding is driven by power set, and then is realized
The folding of two handgrips, realization grips or lays down battery；
Further, first handgrip with the first gripper jaw part cooperation at arrange the first groove, the first gripper jaw part be fitted together to
In the first groove；First groove is set on the first handgrip, the setting-in combination of the first handgrip and the first gripper jaw part is realized, can
With fast and reliable connection；
Further, first gripper jaw part is also fastenedly connected by securing member with the first handgrip.Pass through in the first handgrip
Under the premise of first the first gripper jaw part of groove clamping, the first gripper jaw part can be fixedly secured using securing member, effectively keep moving
The first handgrip stablizes in dynamic replacing cell process；
Further, second handgrip with the second gripper jaw part cooperation at arrange the second groove, the second gripper jaw part be fitted together to
In the second groove；Second groove is set on the second handgrip, the setting-in combination of the second handgrip and the second gripper jaw part is realized, can
With fast and reliable connection；
Further, second gripper jaw part is also fastenedly connected by securing member with the second handgrip.Pass through in the second handgrip
Under the premise of second the second gripper jaw part of groove clamping, the second gripper jaw part can be fixedly secured using securing member, effectively keep moving
The second handgrip stablizes in dynamic replacing cell process；
Preferably, first handgrip or the second handgrip are provided with cell switch cooperation by motion block, and battery sidepiece is arranged and saw
The sawtooth lamellar body that dentation block coordinates；Motion block is pressed by arranging on the first handgrip or the second handgrip, can be before battery be changed
First close cell switch, it is to avoid damage of the warm swap to battery；Arrange in battery sidepiece and coordinate with zigzag block on handgrip
Zigzag lamellar body, it is ensured that the cooperation steadiness of handgrip and battery, what effectively solving battery was glanced off in movement asks
Topic；
The method of work of the battery replacement device that unmanned plane is independently continued a journey is applied to, is comprised the following steps：
(1) X-axis travel mechanism, Z axis travel mechanism and Y-axis moving mechanism are operated successively, drive battery clamp device to be moved to nothing
At man-machine battery location；
Cell switch is touched by motion block on (2) first handgrips or the second handgrip, battery is closed；
(3) clip claw mechanism drives the sawtooth lamellar body of the first handgrip and the second handgrip clamping battery, zigzag block and battery sidepiece
Coordinate；
(4) X-axis travel mechanism, Z axis travel mechanism and Y-axis moving mechanism are operated successively, drive battery clamp device to be moved to electricity
Chi Cangchu, battery is returned and is put in battery compartment；
(5) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism drive battery clamp device to be moved to another electricity of battery compartment
The position in pond, repeat step (3), battery is taken out；
(6) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism drive battery clamp device to be moved to unmanned plane battery compartment
At position, cell switch is touched by motion block, open battery；
(7) X-axis travel mechanism, Y-axis moving mechanism and Z axis travel mechanism return initial position.
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| CN113655804A (en) * | 2020-05-12 | 2021-11-16 | 北京三快在线科技有限公司 | Method and system for guiding unmanned aerial vehicle to land, auxiliary positioning system and unmanned aerial vehicle |
| CN113655804B (en) * | 2020-05-12 | 2023-07-07 | 北京三快在线科技有限公司 | Method and system for guiding unmanned aerial vehicle to land, auxiliary positioning system and unmanned aerial vehicle |
| CN113086192A (en) * | 2021-04-09 | 2021-07-09 | 滁州学院 | Remote sensing monitoring system for monitoring growth vigor of crops |
| CN113671979A (en) * | 2021-08-24 | 2021-11-19 | 国网黑龙江省电力有限公司哈尔滨供电公司 | Unmanned aerial vehicle reset fixing device and landing positioning method applying same |
| CN113671979B (en) * | 2021-08-24 | 2024-03-08 | 国网黑龙江省电力有限公司哈尔滨供电公司 | Unmanned aerial vehicle resetting and fixing device and landing positioning method using same |
| CN117842405A (en) * | 2024-03-07 | 2024-04-09 | 河南德久建设工程有限公司 | Camera hanging device for surveying and mapping aerial photography |
| CN117842405B (en) * | 2024-03-07 | 2024-05-17 | 河南德久建设工程有限公司 | Camera hanging device for surveying and mapping aerial photography |
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Inventor after: Sun Wenxu Inventor after: Zhang Baishun Inventor after: Li Jingang Inventor after: Wang Yong Inventor after: Wang Junfeng Inventor after: Ding Weijie Inventor after: Zhao Yue Inventor after: Chen Xianghai Inventor after: Ding Weifei Inventor after: Chen Yuanfang Inventor after: Ma Xiaojing Inventor after: Ma Sile Inventor before: Ma Sile Inventor before: Zhang Baishun Inventor before: Li Jingang Inventor before: Wang Yong Inventor before: Wang Junfeng Inventor before: Ding Weijie Inventor before: Zhao Yue Inventor before: Chen Xianghai Inventor before: Ding Weifei Inventor before: Chen Yuanfang Inventor before: Ma Xiaojing Inventor before: Sun Wenxu |