CN106940566B - Intelligent grabbing and releasing system for unmanned aerial vehicle - Google Patents
Intelligent grabbing and releasing system for unmanned aerial vehicle Download PDFInfo
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- CN106940566B CN106940566B CN201710314738.9A CN201710314738A CN106940566B CN 106940566 B CN106940566 B CN 106940566B CN 201710314738 A CN201710314738 A CN 201710314738A CN 106940566 B CN106940566 B CN 106940566B
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- 230000005484 gravity Effects 0.000 claims description 2
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- 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 utility model provides an unmanned aerial vehicle intelligence system of grabbing and putting, belongs to unmanned aerial vehicle commodity circulation field, including clamping device, voice module, two unification modules of GPRS/GSM, pressure sensor, controller, multiple camera. The clamping device comprises a motor, a screw rod, a polish rod and a clamping plate. The two-dimensional code recognition camera is used for recognizing destination address information of cargos, the image recognition camera is used for searching for a proper landing position, the voice module is interacted with a user, the value of the pressure sensor determines the clamping or loosening of the clamping mechanism, the GPRS transmits flight data to the control center, and a request signal is transmitted to request manual operation when abnormal conditions occur. The controller makes the modules work in coordination. The system integrates artificial intelligence elements, can automatically calculate a proper route to be transmitted to the flight control system to automatically fly to a destination only according to the two-dimension code address information of the object, simultaneously provides a voice and GPRS (general packet radio service) man-machine interaction interface, can intelligently select a proper position and automatically release the object when landing, and is high in intelligent degree and efficiency.
Description
Technical Field
The invention belongs to the technical field of aviation logistics, and particularly relates to an article grabbing and releasing system of an unmanned aerial vehicle for air logistics.
Background
Traditional unmanned aerial vehicle sends article all need manual control throughout, and unmanned aerial vehicle's the system of grabbing and putting adopts the lifting rope formula more and lacks the friendly interactive interface of man-machine. Unbeknownst customers may drag a sling or be too close to the drone when it lands, which is quite dangerous; need call a large amount of unmanned aerial vehicle control personnel when a large amount of article need with unmanned aerial vehicle dispatch to different places, inefficiency and be not in the time development trend.
Disclosure of Invention
The invention aims to invent an unmanned aerial vehicle grabbing and releasing system capable of automatically completing object delivery according to an artificial intelligence era development route and by combining the defects of the unmanned aerial vehicle logistics system.
An intelligent grabbing and releasing system of an unmanned aerial vehicle comprises a grabbing and releasing mechanism, a control system, a sensor system and a client upper computer.
The grabbing and releasing mechanism comprises a trapezoidal motor, a screw rod, a polished rod, a main conical gear, an auxiliary conical gear, a rack, a clamping plate, a spring and a limit switch, wherein positive and negative rotation of the motor indirectly enables the clamping plate to be clamped or loosened, the screw rod, the polished rod, the main conical gear and the auxiliary conical gear are used for transmitting power transmitted by the motor, and the spring is used for separating the unmanned aerial vehicle from the pressure sensor in flight.
The control system comprises a controller, a voice module and a GPRS/GSM two-in-one module. The GPRS/GSM two-in-one module is used for communicating with a client or a master control station, the controller is used for data processing and coordinating data communication among the modules, and the voice module is used for providing a friendly interactive mode with a client or a worker.
The sensor system comprises a two-dimensional code recognition camera, a scene recognition camera and a pressure sensor. The two-dimensional code identification camera is used for transmitting a two-dimensional code label image with customer address information and contact information stored in an article to the controller, and the scene identification camera is used for providing degradable ground information data for the controller.
The client upper computer comprises a client APP and a WeChat platform, and the client can check logistics information through the client and make a reservation on delivery time and other operations.
The motor, the controller, the voice module, the GPRS/GSM two-in-one module and the pressure sensor are arranged on the upper surface of the rack; the trapezoidal screw rod, the polished rod and the two-dimensional code recognition camera are arranged on the lower surface of the rack; the clamping plates are respectively arranged on the trapezoidal screw rods and are respectively arranged on two sides of the polished rod; the controller is connected with the motor, the voice module, the GPRS/GSM two-in-one module, the two-dimensional code recognition camera, the scene recognition camera and the pressure sensor.
The pick-and-place system has high intelligent degree and high efficiency, can reduce manual interference, is friendly to man-machine interaction, and can request manual operation when needed.
Drawings
FIG. 1 is a schematic diagram of a main body axis of the intelligent pick and place system; FIG. 2 is a schematic front view of a main body of the intelligent pick and place system; fig. 3 is a schematic oblique bottom view of the main body of the intelligent grabbing and releasing system.
In the figure, 1-motor, 2-trapezoidal screw rod, 4-polished rod, 6-main conical gear, 7-auxiliary conical gear, 9-controller, 10-voice module, 11-GPRS/GSM two-in-one module, 12-two-dimensional code recognition camera, 13-scene recognition camera, 15-pressure sensor, 16-frame, 17-clamping plate, 19-spring and 20-limit switch.
Detailed Description
The present invention will now be described in detail with reference to the accompanying drawings 1 to 3: an intelligent grabbing and releasing system comprises a motor 1, a trapezoidal screw rod 2, a polished rod 4, a main conical gear 6, an auxiliary conical gear 7, a controller 9, a voice module 10, a GPRS/GSM two-in-one module 11, a two-dimensional code identification camera 12, a scene identification camera 13, a pressure sensor 15, a rack 16, clamping plates 17 and 18, a spring 19, a limit switch 20 and a client APP; or the client APP is replaced by the WeChat platform.
Before taking off, the two-dimensional code identification camera 12 transmits a two-dimensional code label image with customer address information and contact information stored on an article to the controller 9 and the two-dimensional code label image is processed by the controller 9, firstly, the motor 1 is triggered to rotate, and at the moment, the main conical gear 6 arranged on the main shaft of the motor 1 transmits power to the trapezoidal screw rod 2 through the auxiliary conical gear 7 to enable the clamping plates 17 and 18 on the screw rod to clamp the article. Then the GPRS/GSM two-in-one module 11 sends the dispatching task content obtained by the processing of the controller, including flight routes and time required for reaching a destination to a headquarters console, and the GPRS/GSM two-in-one module sends information to a client to inform the client of approximate pickup time, and finally sends the information to a flight control system on the unmanned aerial vehicle through a serial port to enable the unmanned aerial vehicle to fly according to the routes.
The controller 9 receives GPS positioning information on the unmanned aerial vehicle flight control system in real time in the flight process and sends the information to the headquarters console by the GPRS/GSM two-in-one module, and data collection and monitoring are achieved.
When the destination is to be reached, the controller receives the ground information transmitted by the scene recognition camera 13, processes and recognizes the optional landing point, and the GPRS/GSM two-in-one module 11 sends information to inform the client of getting the piece, the client sees the unmanned aerial vehicle and confirms that the piece can be got, and then the client only needs to click a 'get piece' button on the WeChat platform or the client APP, and the unmanned aerial vehicle starts to land and sends out voice to prompt the client to pay attention to safety.
When landing, spring 19 is compressed, unmanned aerial vehicle's action of gravity is on pressure sensor 15, thereby controller 9 detects the increase of pressure value and control motor 1 and rotates, connects and drive trapezoidal lead screw 2 that is connected with vice conical gear 7 respectively at 1 main epaxial main conical gear of motor and rotates to make the grip block on the lead screw loosen article, unmanned aerial vehicle begins to take off when the grip block touches limit switch and returns according to former route.
The controller may learn the user's preferred landing point based on the user's feedback.
When the system fails to process the problem, request information can be sent to the console to request manual control.
The pick-and-place system has high intelligent degree and high efficiency, can reduce manual interference, is friendly to man-machine interaction, and can request manual operation when needed.
Claims (9)
1. An intelligent unmanned aerial vehicle grabbing and releasing system is characterized by comprising a motor (1), a trapezoidal lead screw (2), a polished rod (4), a main conical gear (6), an auxiliary conical gear (7), a controller (9), a voice module (10), a GPRS/GSM two-in-one module (11), a two-dimensional code recognition camera (12), a scene recognition camera (13), a pressure sensor (15), a rack (16), clamping plates (17) (18), a spring (19), a limit switch (20) and a client APP;
the controller receives GPS positioning information on an unmanned aerial vehicle flight control system in real time in the flight process of the unmanned aerial vehicle and sends the GPS positioning information to the headquarter console through the GPRS/GSM two-in-one module, so that data collection and monitoring are realized; when the user wants to arrive at a destination, the controller receives ground information transmitted by the scene recognition camera (13), processes and recognizes an optional landing point, and simultaneously the GPRS/GSM two-in-one module transmits information to inform a client of preparing pickup, the client sees the unmanned aerial vehicle and confirms that pickup is possible, and then only needs to click a pickup button on the WeChat platform or the client APP, the unmanned aerial vehicle starts to land and simultaneously sends out voice to prompt the client to pay attention to safety; when landing, the spring is compressed, and unmanned aerial vehicle's action of gravity is on pressure sensor (15), thereby the controller detects the increase control motor rotation of pressure value, connects trapezoidal lead screw (2) that main conical gear drive on the motor spindle is connected with vice conical gear (7) respectively and rotates to make the grip block on lead screw (2) loosen article, unmanned aerial vehicle begins to take off when the grip block touches limit switch and returns according to former route.
2. The intelligent unmanned aerial vehicle pick-and-place system of claim 1, wherein: the client APP (22) is replaced by a WeChat platform.
3. The intelligent unmanned aerial vehicle pick-and-place system of claim 1, wherein: the motor (1), the controller (9), the voice module (10), the GPRS/GSM two-in-one module (11) and the pressure sensor (15) are arranged on the upper surface of the rack (16); the trapezoidal screw rod (2), the polished rod (4) and the two-dimensional code recognition camera are arranged on the lower surface of the rack (16); the clamping plates (17) are respectively arranged on the trapezoidal screw rods (2) and are respectively arranged at two sides of the polish rod (4).
4. The intelligent unmanned aerial vehicle pick-and-place system of claim 1 or 2, wherein: the controller (9) is connected with the motor (1), the voice module (10), the GPRS/GSM two-in-one module (11), the two-dimensional code recognition camera (12), the scene recognition camera (13) and the pressure sensor (15).
5. The intelligent unmanned aerial vehicle pick-and-place system of claim 1, 2 or 3, wherein: the two-dimensional code identification camera transmits a two-dimensional code label image with customer address information and contact information stored on an article to the controller and the two-dimensional code label image is processed by the controller, firstly, the motor is triggered to rotate, and at the moment, a main bevel gear arranged on a main shaft of the motor transmits power to a trapezoidal lead screw through an auxiliary bevel gear to enable a clamping plate on the lead screw to clamp the article; then the GPRS/GSM two-in-one module sends the task content of the dispatching obtained by the processing of the controller to a headquarter console, and the GPRS/GSM two-in-one module sends information to a client to inform the client of approximate pickup time; and finally, the data is sent to an unmanned aerial vehicle flight control system through a serial port to enable the unmanned aerial vehicle to fly according to a route.
6. The intelligent unmanned aerial vehicle pick-and-place system of claim 1, 2 or 3, wherein: if the landing point can not be judged or the problem that the system can not solve by itself is encountered, request information is sent to the console through the GPRS/GSM two-in-one module to request manual operation.
7. The intelligent unmanned aerial vehicle pick-and-place system of claim 1, 2 or 3, wherein: the thread lead angle of the trapezoidal screw rod is smaller than the equivalent friction angle.
8. The intelligent unmanned aerial vehicle pick-and-place system of claim 1, 2 or 3, wherein: and the controller learns the landing place preference of the user according to the feedback of the user.
9. The intelligent unmanned aerial vehicle pick-and-place system of claim 1, 2 or 3, wherein: the clamping plate is controlled by three triggering conditions, the first triggering condition is two-dimensional code identification, the second triggering condition is pressure value change, the third triggering condition is confirmation of a user on an APP end or a WeChat platform, the clamping plate clamps the object as long as the two-dimensional code is identified, namely the first triggering condition takes effect, and the second triggering condition is invalid; when the user confirms at the client that the third trigger condition is effective, the first trigger condition is invalid, and the object is released as long as the pressure value is increased to the set value.
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| CN201710314738.9A CN106940566B (en) | 2017-05-06 | 2017-05-06 | Intelligent grabbing and releasing system for unmanned aerial vehicle |
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| CN201710314738.9A CN106940566B (en) | 2017-05-06 | 2017-05-06 | Intelligent grabbing and releasing system for unmanned aerial vehicle |
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| CN106940566B true CN106940566B (en) | 2020-09-29 |
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| CN107320222B (en) * | 2017-08-14 | 2019-01-15 | 侯策 | A kind of intelligent artifucial limb replacement method and its system based on unmanned plane |
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| CN108657431A (en) * | 2018-07-19 | 2018-10-16 | 国网上海市电力公司 | A kind of flight instruments for detecting the vertical ground clearance of high-voltage AC transmission bank |
| CN110379043B (en) * | 2018-08-14 | 2022-01-07 | 北京京东乾石科技有限公司 | Information processing method, mobile device and server |
| CN113031630A (en) * | 2019-12-24 | 2021-06-25 | 广州极飞科技股份有限公司 | Speed control curve acquisition method, speed control method and related device |
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Effective date of registration: 20200904 Address after: No.30 Binhu Avenue, Pizhou hi tech Industrial Development Zone, Xuzhou City, Jiangsu Province Applicant after: Jiangsu ivanol Intelligent Technology Co., Ltd Address before: Foshan City, Guangdong province 528500 city streets Gaoming District No. 78 Jiangwan Road, room 402 Fu Wan Applicant before: FOSHAN SHENFENG AVIATION TECHNOLOGY Co.,Ltd. |
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