CN110562455A - Intelligent unmanned aerial vehicle automatic charging system - Google Patents

Abstract

The invention discloses an intelligent unmanned aerial vehicle automatic charging system, which comprises an unmanned aerial vehicle and a charging pile, wherein the unmanned aerial vehicle comprises: the system comprises a low-power alarm module, an unmanned aerial vehicle communication module, a positioning module, a flight control module and a charging butt joint module; fill electric pile includes: camera module, FPGA development board module, XY axle servo motor module, wireless module of charging. According to the invention, the unmanned aerial vehicle can land on the unmanned aerial vehicle charging pile and then acquire the image of the lower part of the platform through the image acquisition system, input the image into the FPGA, calculate and identify the characteristic mark of the lower part of the unmanned aerial vehicle by using a corresponding algorithm, calculate the coordinate of the characteristic mark, control the XY-axis servo motor to move the wireless charging plate below the unmanned aerial vehicle, and realize automatic charging. Be applicable to and carry out automatic charging to the unmanned aerial vehicle of multiple model to realize that unmanned aerial vehicle lasts for a long time.

Description

intelligent unmanned aerial vehicle automatic charging system

Technical Field

the invention relates to the technical field of unmanned aerial vehicles, in particular to an intelligent automatic charging system for an unmanned aerial vehicle.

Background

with the high-speed development of frontier defense, ship-borne and vehicle-mounted unmanned aerial vehicles, the unmanned aerial vehicles have obvious over-the-horizon, unmanned and networked trends, and have wide application in the field of national defense, power line patrol, disaster monitoring and the like. The problem that the duration is short is ubiquitous to present unmanned aerial vehicle, because the restriction in the battery technology, unmanned aerial vehicle's duration is general weak, generally only within 30 minutes. If need unmanned aerial vehicle timing or continuous operation, need manual operation and supervision to guarantee it at the course of the work at present, return to the air and descend to charge or change the battery, the manpower demand is big, and is with high costs to seriously influence work efficiency.

at present, unmanned aerial vehicles commonly used in production and life mainly divide into three kinds, fixed wing type flight wing, helicopter type aircraft and many rotor crafts, and many rotor crafts use four rotor crafts as main. Because the multi-rotor aircraft has low requirement on the takeoff field and the aircraft body is light, the multi-rotor aircraft can easily realize hovering and quickly change the course, and is widely applied to production and life. Typically, a complete set of four-rotor aircraft systems includes several subsystems, namely an aircraft system, a ground monitoring station, a communication link, and a payload system.

however, the endurance time of the existing four-rotor aircraft is about 20-30 minutes in the working process, and the endurance time of the aircraft is severely limited by the battery capacity. The common method is to increase the battery capacity, but the increase of the battery capacity causes the increase of the load of the aircraft, the output power rises along with the increase of the battery capacity, the endurance time increases along with the increase of the battery capacity, the manufacturing cost and the battery technology limit the endurance time of the aircraft, and the problem of long-time endurance of the aircraft cannot be fundamentally solved.

at present there has been unmanned aerial vehicle full-automatic ground charging platform abroad, because the air current that receives the change of environment atmospheric pressure wind direction and unmanned aerial vehicle production influences the accurate fixed point that makes unmanned aerial vehicle and descends and become very difficult, for solving above problem, adopt wireless charging technique more at present, adopt non-contact's mode to realize electric energy transmission, reduce the requirement to descending the accuracy.

accordingly, this document presents an automatic wireless charging system for unmanned aerial vehicles. When the aircraft need charge, only need drop to the platform that charges, need not accurate descending, the servo motor system of platform below can remove the transmission section of wireless charger to unmanned aerial vehicle's below, charges for the aircraft group battery through wireless power transmission mode, and the back is accomplished in charging, and the aircraft returns and continues to carry out the work task.

disclosure of Invention

aiming at the defects in the prior art, the invention provides an intelligent automatic charging system of an unmanned aerial vehicle, which aims to solve the problems of poor universality, low efficiency and the like in the prior art.

The invention provides an intelligent unmanned aerial vehicle automatic charging system, which comprises an unmanned aerial vehicle and a charging pile, wherein the unmanned aerial vehicle comprises:

the low-power alarm module is used for monitoring the power of the battery in real time and outputting a signal of a charging request;

The unmanned aerial vehicle communication module is connected with the low-power alarm module and used for sending a charging request signal to the master control station through radio, and sending the position information to the positioning module by the unmanned aerial vehicle communication module after the master control station permits the charging request and sends the charging request to the unmanned aerial vehicle communication module;

the positioning module is connected with the unmanned aerial vehicle communication module and used for navigation and positioning of the unmanned aerial vehicle;

the flight control module is connected with the positioning module and used for controlling the unmanned aerial vehicle to land to a charging pile position which can be used by the general control platform;

The charging butt joint module comprises a wireless coil, is placed below the unmanned aerial vehicle and is used for butt joint with the charging pile wireless charging panel module;

Fill electric pile includes:

and the camera module is used for acquiring an image of the position of the aircraft on the platform in the docking process of the aircraft and the charging station.

the FPGA development board module is used for the camera module to acquire an image of the unmanned aerial vehicle parked at the position of the unmanned aerial vehicle charging pile, the image is input into the FPGA development board, the characteristic mark of the lower part of the unmanned aerial vehicle is calculated and identified by utilizing a corresponding algorithm, the coordinate of the characteristic mark is calculated, the XY-axis servo motor is controlled to move the wireless charging board to the lower part of the unmanned aerial vehicle, and automatic charging is realized.

And the XY-axis servo motor module is used for controlling the wireless charging module to move after receiving the control signal sent by the FPGA development board module, so that the module can freely move below the charging platform, and when the aircraft lands on the charging platform, the wireless charger is moved to a position right below a target, so that the automatic charger of the aircraft is realized.

The wireless charging module is used for being in butt joint charging with a charging butt joint module arranged below the unmanned aerial vehicle.

As a further improvement of the invention, the positioning module comprises an indoor UWB accurate positioning unit and a Beidou positioning unit.

As a further improvement of the present invention, the charging docking module includes a wireless coil, and the wireless charging module includes a Baseus wireless charger, so as to increase the receiving area of the wireless coil to increase the charging speed.

As a further improvement of the invention, the XY-axis servo motor module comprises a cross module sliding table (XY-axis sliding table), so that the driving capability of the cross module sliding table is improved, and the moving speed is increased.

the invention provides an efficient intelligent unmanned aerial vehicle automatic charging system, which realizes that an unmanned aerial vehicle is landed on an unmanned aerial vehicle charging pile, then an image at the lower part of a platform is acquired through an image acquisition system, the image is input into an FPGA (field programmable gate array), a characteristic mark at the lower part of the unmanned aerial vehicle is calculated and identified by using a corresponding algorithm, the coordinate of the characteristic mark is calculated, and an XY-axis servo motor is controlled to move a wireless charging plate to the lower part of the unmanned aerial vehicle, so that automatic charging. Be applicable to and carry out automatic charging to the unmanned aerial vehicle of multiple model to realize that unmanned aerial vehicle lasts for a long time.

drawings

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle automatic charging pile system provided by the invention.

fig. 2 is a schematic diagram of a module structure of the unmanned aerial vehicle system provided by the invention.

fig. 3 is a schematic structural diagram of a module of the automatic charging pile of the unmanned aerial vehicle provided by the invention.

Fig. 4 is a schematic view of connection between a camera module and a display module of the automatic charging pile of the unmanned aerial vehicle provided by the invention.

fig. 5 is a schematic technical implementation diagram of the automatic unmanned aerial vehicle charging pile provided by the invention.

Detailed Description

the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, 2 and 3, the invention discloses an intelligent unmanned aerial vehicle automatic charging system, which comprises an unmanned aerial vehicle 1 and a charging pile 7, wherein the unmanned aerial vehicle 1 is used for matching with the charging pile 7 to complete charging work. A wireless coil is arranged below the unmanned aerial vehicle 1; be equipped with wireless charging panel on the stake of charging 7, wireless charging panel and wireless coil interact accomplish and charge. Fill the wireless platform that charges that electric pile 7 adopted and be the translucent platform of ya keli material, upwards have an image acquisition device from the bottom, gather platform bottom image in real time to carry out image identification. The lower part of the unmanned aerial vehicle is provided with a wireless charging coil for receiving electric quantity. After unmanned aerial vehicle 1 descends to filling the electric pile platform, fill electric pile system discernment target, system control motor system removes wireless charging base to the below of wireless charging coil, carries out wireless charging.

the unmanned aerial vehicle 1 comprises a low-power alarm module 2, a communication module 3, a positioning module 4, a flight control module 5 and a charging butt-joint module 6;

Low power alarm module 2 is used for detecting battery power and outputting the signal whether need charge, and low power alarm module 2 links to each other with communication module 3, and the unmanned aerial vehicle battery is placed inside unmanned aerial vehicle, links to each other with wireless coil, acquires the electric quantity that wireless coil charges and obtains

The communication module 3 is connected with the low-power alarm module 2, after receiving an electric signal sent by the low-power alarm module 2, the communication module 3 sends a charging request signal to a master control station through radio, after the master control station permits, the communication module 3 sends charging pile position information to the unmanned aerial vehicle communication module 3, the communication module 3 sends the charging pile 7 position information to the positioning module 4 in an electric signal mode, the positioning module 4 sends a position information signal to the flight control module 5, and the flight control module 5 controls the unmanned aerial vehicle 1 to land at a target position;

The positioning module 4 is connected with the flight control module 5, the navigation positioning of the unmanned aerial vehicle 1 is realized through the positioning module 4, the positioning module comprises an indoor UWB (ultra wide band) precise positioning unit and a Beidou positioning unit, the UWB precise positioning unit carries out real-time position positioning, the positioning precision can be in a sub-meter level, and the Beidou positioning unit can realize the global positioning function;

Flight control module 5 with orientation module 4 is connected, and flight control module 5 is used for controlling unmanned aerial vehicle 1 to descend to the target location.

the charging docking module 6 is arranged at the bottom of the unmanned aerial vehicle 1 and comprises a wireless coil, and the charging docking module 6 is used for docking with the charging pile wireless charging module 11;

Fill electric pile 7 includes: the system comprises a camera module 8, an FPGA development board module 9, an XY axis servo motor module 10, a display module 11 and a wireless charging module 12

the camera module 8 comprises a CMOS chip image sensor OV5640 camera, is connected with the FPGA development board module 9 to realize image transmission, and is used for acquiring images of the unmanned aerial vehicle 1 on the platform in the butt joint process of the unmanned aerial vehicle 1 and the charging pile 7. When unmanned aerial vehicle 1 descends to charging pile 7, the camera module needs upwards gather the image in charging platform bottom, carries out image recognition, detects the position information that the target aircraft descends to charging platform.

The FPGA development board module 9 comprises a SPARTAN6 series FPGA development board of XILINX company, the model is XC6SLX9-2FTG256C, and is connected with the camera module 8, the XY axis servo motor module 10 and the wireless charging module 11, and the FPGA development board module 9 is connected with the camera module 8 through a DVP interface to realize image transmission and input the image transmission into the FPGA development board. And performing image recognition based on the obtained ideal binary image to obtain the accurate position of the target on the platform, and controlling the XY-axis servo motor module 10 to move the wireless charging plate to the lower part of the unmanned aerial vehicle to realize automatic charging.

And the display module 11 is connected with the FPGA development board module 9, so that the visualization function of the system can be realized. The image display device is used for displaying the image acquired by the camera module in real time, and the process of carrying out binarization on the target is also displayed on the image display device. The display module can also adjust the position of the camera.

According to the register setting of the camera module, the image input to the FPGA development board by the camera module is a 16-bit serial signal with the format of RGB565, and finally the image needs to be converted into the format of YUV 888. The following steps are required.

S1, splitting an RGB565 signal into three parts, namely RED-5, GREEN-6 and BLUE-5; according to the format, the 16-bit image signal has blue color signals from 0 th bit to 4 th bit, green color signal lines from 5 th bit to 10 th bit, and red color signal lines from 11 th bit to 15 th bit.

S2, respectively expanding the split red, green and blue signals into 8 bits;

According to the definition of RGB565 to RGB888, only 3 bits and 0 need to be added after the red 5-bit signal, and similarly, 2 and 30 need to be added after the green 6-bit signal and the blue 5-bit signal, respectively. The value range of the 8-bit binary signal is 0-255, and the value range of the last 3-bit signal is 0-7, so that the expansion into 8 bits has little influence on the image color.

s3, conversion is completed through a formula of converting RGB into YUV;

And S4, finally, arranging and combining three 8 bits according to the Y.U.V sequence to form a 24-bit image signal, and outputting a 24-bit serial image signal with V concentration signals from the 0 th bit to the 7 th bit, U chrominance signals from the 8 th bit to the 15 th bit and Y brightness signals from the 16 th bit to the 23 th bit.

An image edge refers to the collection of pixels around an image where the gray level of the pixels changes sharply, which is the most fundamental feature of the image. The Sobel operator uses a first order differential operator to detect the edge of the image, and the first order differential edge operator (gradient edge operator) uses the step property of the image at the edge to detect the edge. In the actual algorithm implementation process, a 3 x 3 template is used as a core to perform convolution calculation with each pixel point of a selected area with the same size in an image, gradient values of the selected image in the horizontal direction and the vertical direction are calculated, and the horizontal gray value and the longitudinal gray value of each pixel point of the image are combined through a corresponding formula to obtain the gradient value of the point in one direction. Since the classical Sobel algorithm is sensitive to noise, the threshold needs to be determined, and misjudgment of the edge point is often caused. To solve this problem, there are many adaptive threshold selection methods, such as histogram method. However, the histogram method requires that the gray histogram of the image after the edge detection by the Sobel algorithm presents obvious double peaks, and the binarization is realized by selecting the gray level corresponding to the valley bottom between the two peaks as the threshold value, so that the selection of the adaptive threshold value by the histogram method is greatly limited. Based on the method, after the image is subjected to convolution gradient value calculation, the median filtering and weighted average method is adopted to realize the calculation of the self-adaptive threshold value so as to realize the binarization of the image.

Because the weighted gray level of the central pixel corresponds to the gray level of the weighted central pixel after the Sobel operator is subjected to gradient transformation, the gray levels of the pixel points at the edge and the pixel points at the non-edge have larger difference, the traditional method is to try to set a fixed threshold value to realize binarization, so the processing is simple but seriously influenced by external factors, in order to realize threshold value self-adaptive adjustment, a 5 x 5 region is selected from an image after convolution operation, and the median value, the secondary minimum value and the minimum value of the region are calculated by using median filtering. And carrying out weighted average on the 3 values, taking the result as a threshold value, and reducing the selection of the weight value along with the increase of the distance from the central pixel point.

And carrying out binarization processing on the image according to the gray level of the image and the data obtained by the edge detection processing.

Firstly, according to the characteristics of the red LED small lamp which needs to be identified, the obtained target is much brighter than the background of the view field, and the color is red and is more remarkable. Therefore, a predetermined threshold value is set for the brightness, the chromaticity, and the density, which are three parameters Y, U, V, respectively, based on the obtained image YUV data. And when the values of the three parameters in one pixel block are greater than the set threshold value, the pixel block is determined as a target pixel block, and if one of the three parameters does not meet the requirement, the pixel block is determined not to meet the requirement and is not the target pixel block. According to the actual image and the matlab simulation result, when the brightness is greater than 250, the concentration is greater than 210 and the chroma is greater than 200, more than 98% of interference noise can be removed on the premise of extracting the target image.

Then, the result obtained by the self-adaptive threshold edge detection is utilized to process the image,

And performing cross comparison on the results of the two image processing, determining that the results are correct judgment when the results of the two image processing are consistent, and determining that the results obtained by default image gray scale processing are correct judgment when the results of the two image processing are inconsistent.

And the image is stored by writing an FIFO program by using the FPGA. Because the image data volume is large, the storage of one frame of image data cannot be completed inside the FPGA, and therefore the dual-port RAM is generated for caching by using the inherent IP core on the FPGA. In order to solve the problem of image smear, a ping-pong structure is adopted to read and write image data. The SDRAM on the development board is divided into two areas, namely a Bank0 area and a Bank1 area, and when data collected by the camera is written into a Bank0 area of the SDRAM, the image processing module reads the data from the Bank1 area of the SDRAM to process the data. When one-frame image writing of the camera is completed, Bank exchange of SDRAM reading and writing is performed.

In order to extract the target coordinates, the features of the target need to be analyzed. In the picture where binarization has been completed, most of the background, i.e. white, is targeted to a black solid circle, meaning that there will be blocks of pixels of consecutive rows and columns appearing black, and the following algorithm is designed.

And establishing a rectangular coordinate system by taking the upper left corner of the LCD screen as an original point, and traversing one frame of image by one pixel point. Two signals are defined, a row-sequential signal and a column-sequential signal, respectively, for indicating whether or not to traverse to consecutive black pixel blocks.

The XY-axis servo motor module 10 comprises an XY stepping motor sliding table group and is used for determining position information of the unmanned aerial vehicle 1 on an XY axis of the charging pile 7 through an image recognition module 8 after the unmanned aerial vehicle 1 lands on the unmanned aerial vehicle automatic charging pile 7, transmitting the position information to an FPGA development board module 9 through an electric signal, sending the electric signal to control the FPGA development board module 9 to move a wireless charging module 12 below the unmanned aerial vehicle 1, and sending the electric signal to the FPGA development board module 9;

The low-power alarm module 2 can detect the power utilization condition of the unmanned aerial vehicle 1, when the power is too low, a signal needing to be charged is output to the communication module 3, the communication module 3 sends a signal to the general control station through radio to request charging, the general control station can send position information to the charging pile 7 to the communication module 3 after allowing the charging request, the communication module 3 sends the position information to the positioning module 4, the positioning module 4 positions the position and sends the signal to the flight control module 5, and the flight control module 5 controls the unmanned aerial vehicle to search the position of the charging pile according to the unmanned aerial vehicle positioning module 4 and control the charging pile to fly to a specified place; when arriving the position, unmanned aerial vehicle 1 berths at the translucent platform that loads the ya keli material, and unmanned aerial vehicle 1 obtains the image of unmanned aerial vehicle 1 position on the platform with filling 7 butt joints in-process of electric pile. When the unmanned aerial vehicle 1 lands on the charging pile 7, the camera module needs to upwards collect images at the bottom of the charging platform to perform image recognition, the position of the target aircraft landing on the charging platform is detected, the camera module 8 is connected with the FPGA development board module 9 through a DVP interface to realize image transmission, the images are input into the FPGA development board, the results obtained by the image processing part and the self-adaptive threshold image binarization and the target characteristic value binarization are compared by utilizing the characteristics of the image processing part and the self-adaptive threshold image binarization and the target characteristic value binarization, most of interference noise points are eliminated, and a final binarization image is obtained. And carrying out image recognition based on the obtained ideal binary image to obtain the accurate position of the target on the platform, and controlling the XY-axis servo motor module 10 to move the wireless charging module 12 to the lower part of the unmanned aerial vehicle to realize automatic charging.

Preferably, the positioning module 4 comprises a Beidou positioning unit and a UWB positioning unit. Through the mutual cooperation of indoor accurate positioning unit of UWB and big dipper positioning unit, compound navigation carries out, realizes accurate location, and sub-meter level can be accomplished to positioning accuracy, ensures that unmanned aerial vehicle 1 stops in reasonable position, reduces the error.

Preferably, wireless charging module 12, including wireless charging panel for the wireless coil butt joint of placing with the unmanned aerial vehicle below charges, and its efficiency is greater than wired charging, and the convenience is high moreover.

preferably, XY axle servo motor module 10 is used for removing wireless charging panel to the unmanned aerial vehicle below after 1 landing of unmanned aerial vehicle through image recognition confirm the XY epaxial positional information of unmanned aerial vehicle on filling electric pile, and this servo motor system comprises direct current 5V power, direct current 24V power, controller, drive plate, driver, XY step motor slip table group. The controller can realize the functions of manually controlling the four-way movement and manual reset of the sliding table and the like, and is connected with the driving plate through 8pin flat cables; the driving plate is a booster circuit which can boost the +5V or +3.3V voltage output by the controller to 24V and is connected to the driver through a copper wire; the driver is a driving device of the stepping motor, can change the dynamic current state, half-current or full-current state, rotating speed and other parameters of the stepping motor by changing the arrangement and combination of 8 toggle switches of the driver, and is connected with the XY stepping motor sliding table group through a copper wire; the XY stepping motor sliding table group is composed of mutually vertical and same sliding table groups, a black platform is arranged on the Y-axis sliding table and can change positions along with the movement of the XY stepping motor sliding table group, and the working range of the platform is a horizontal square of 50CM x 50 CM. The XY axis servo motor module 10 has the characteristics of high response speed, high moving speed, small error and the like, and meanwhile, in order to ensure the stability of the system, the structure of the servo motor module cannot be complex and can work for a long time.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims (8)

1. The utility model provides an automatic charging system of intelligent unmanned aerial vehicle which characterized in that: including unmanned aerial vehicle and fill electric pile, unmanned aerial vehicle includes:

The low-power alarm module is used for monitoring the power of the battery in real time and outputting a signal of a charging request;

The unmanned aerial vehicle communication module is connected with the low-power alarm module and used for sending a charging request signal to the master control station through radio, and sending the position information to the positioning module by the unmanned aerial vehicle communication module after the master control station permits the charging request and sends the charging request to the unmanned aerial vehicle communication module;

The positioning module is connected with the unmanned aerial vehicle communication module and used for navigation and positioning of the unmanned aerial vehicle;

The flight control module is connected with the positioning module and used for controlling the unmanned aerial vehicle to land to a charging pile position which can be used by the general control platform;

the charging butt joint module comprises a wireless coil, is placed below the unmanned aerial vehicle and is used for butt joint with the charging pile wireless charging plate module;

Fill electric pile includes: the camera module is used for acquiring an image of the position of the aircraft on the platform in the docking process of the aircraft and the charging station;

The FPGA development board module is used for acquiring an image of the unmanned aerial vehicle at the position where the unmanned aerial vehicle stops at the unmanned aerial vehicle charging pile by the camera module, inputting the image into the FPGA development board, calculating and identifying a characteristic mark at the lower part of the unmanned aerial vehicle by using a corresponding algorithm, calculating the coordinate of the characteristic mark, and controlling the XY-axis servo motor to move the wireless charging board below the unmanned aerial vehicle so as to realize automatic charging;

The XY axis servo motor module is used for controlling the wireless charging module to move after receiving a control signal sent by the FPGA development board module, so that the module can freely move below the charging platform, and when the aircraft lands on the charging platform, the wireless charger is moved to a position right below a target, so that the automatic charger of the aircraft is realized;

The wireless charging module is used for being in butt joint charging with a charging butt joint module arranged below the unmanned aerial vehicle.

2. The intelligent unmanned aerial vehicle automatic charging system of claim 1, wherein: the positioning module comprises an indoor UWB (ultra wide band) accurate positioning unit and a Beidou positioning unit.

3. The intelligent unmanned aerial vehicle automatic charging system of claim 1, wherein: the charging docking module comprises a wireless coil, and the wireless charging module comprises a Baseus wireless charger.

4. The intelligent unmanned aerial vehicle automatic charging system of claim 1, wherein: XY axle servo motor module includes cross module slip table, promotes the driving force improvement translation rate of cross module slip table.

5. The intelligent unmanned aerial vehicle automatic charging system of claim 1, wherein: the camera module comprises a CMOS chip image sensor OV5640 camera, is connected with the FPGA development board module to realize image transmission, and is used for acquiring an image of the position of the unmanned aerial vehicle on the platform in the butt joint process of the unmanned aerial vehicle and the charging pile; when unmanned aerial vehicle lands on filling electric pile, the camera module need upwards gather the image in charging platform bottom, carries out image recognition, detects the position information that the target aircraft descends to charging platform.

6. The intelligent unmanned aerial vehicle automatic charging system of claim 1, wherein: the FPGA development board module comprises a SPARTAN6 series FPGA development board of XILINX company, is connected with the camera module, the XY axis servo motor module and the wireless charging module, is of XC6SLX9-2FTG256C in model, is used for connecting the camera module with the FPGA development board module through a DVP interface to realize image transmission, inputs the image transmission into the FPGA development board, compares results obtained by the image processing part and the self-adaptive threshold image binarization and target characteristic value binarization, eliminates most interference noise points and obtains a final binarization image; and carrying out image recognition based on the obtained ideal binary image to obtain the accurate position of the target on the platform, and controlling the XY-axis servo motor module to move the wireless charging plate to the lower part of the unmanned aerial vehicle to realize automatic charging.

7. The intelligent unmanned aerial vehicle automatic charging system of claim 1, wherein: the display module is connected with the FPGA development board module to realize the visualization function of the system; the image acquisition device is used for displaying an image acquired by the camera module in real time, and the process of carrying out binarization on the target is also displayed; the display module can also adjust the position of the camera.

8. The intelligent unmanned aerial vehicle automatic charging system of claim 1, wherein:

According to the register setting of the camera module, the image input to the FPGA development board by the camera module is a 16-bit serial signal with a format of RGB565, and finally the image needs to be converted into a format of YUV 888; the following steps are required;

s1, splitting an RGB565 signal into three parts, namely RED-5, GREEN-6 and BLUE-5; according to the format name, the 16-bit image signal, the 0 th to 4 th bits are blue signals, the 5 th to 10 th bits are green signal lines, and the 11 th to 15 th bits are red signal lines;

s2, respectively expanding the split red, green and blue signals into 8 bits;

According to the definition of RGB565 to RGB888, only 3 bits of 0 are needed to be added behind the red 5-bit signal, and similarly, 2 and 30 are added behind the green 6-bit signal and the blue 5-bit signal respectively; the value range of 8-bit binary signals is 0-255, and the value range of the last 3-bit signals is 0-7, so that the influence of expanding 8 bits on the image color is small;

s3, conversion is completed through a formula of converting RGB into YUV;

And S4, finally, arranging and combining three 8 bits according to the Y.U.V sequence to form a 24-bit image signal, and outputting a 24-bit serial image signal with V concentration signals from the 0 th bit to the 7 th bit, U chrominance signals from the 8 th bit to the 15 th bit and Y brightness signals from the 16 th bit to the 23 th bit.