CN110920886A - Many rotor unmanned aerial vehicle remove power supply unit based on vision - Google Patents
Many rotor unmanned aerial vehicle remove power supply unit based on vision Download PDFInfo
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- CN110920886A CN110920886A CN201911156872.6A CN201911156872A CN110920886A CN 110920886 A CN110920886 A CN 110920886A CN 201911156872 A CN201911156872 A CN 201911156872A CN 110920886 A CN110920886 A CN 110920886A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/11—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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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
- B64F1/00—Ground or aircraft-carrier-deck installations
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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
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Arresting gear; Liquid barriers
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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
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/18—Visual or acoustic landing aids
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
Abstract
The vision-based multi-rotor unmanned aerial vehicle mobile power supply device is characterized in that a camera is installed right below an unmanned aerial vehicle; the bottom of the unmanned aerial vehicle is provided with an undercarriage, and the tail end of the undercarriage is provided with a guide block; a guide seat is arranged on the upper side of the surface of the unmanned vehicle; the position of the guide seat corresponds to that of the undercarriage, the guide seat is provided with an inner cavity with an opening at the top, and the bottom of the inner cavity of the guide seat is provided with an electromagnet; when the unmanned aerial vehicle is parked on the unmanned vehicle, the storage battery charges an electric board on the unmanned aerial vehicle; the unmanned aerial vehicle is provided with a first central controller and a first wireless communication module, and a driving motor of the unmanned aerial vehicle is connected with the first central controller; the unmanned vehicle is provided with a second central controller and a second wireless communication module, and a driving device of the unmanned vehicle is connected with the second central controller. Unmanned aerial vehicle guides self to descend on unmanned vehicle through discerning the visual beacon on the unmanned vehicle. The invention can well solve the problem of mobile charging of the multi-rotor unmanned aerial vehicle.
Description
Technical Field
The invention relates to a mobile power supply device for a multi-rotor unmanned aerial vehicle.
Background
Along with the development of many rotor unmanned aerial vehicle technique, many rotor unmanned aerial vehicle have used in each field, for example rescue, electric power are patrolled and examined, the oil gas pipeline is patrolled and examined, security protection is patrolled and examined etc. because oil moves unmanned aerial vehicle bulky, the noise is big, the control degree of difficulty is big and discharge gaseous pollutants, so the overwhelming majority rotor unmanned aerial vehicle is electronic at present. But because battery capacity is limited, and electric unmanned aerial vehicle power consumption is great, electric unmanned aerial vehicle's duration is general very poor, hardly realizes carrying out long time task.
Disclosure of Invention
The invention provides a mobile power supply device of a multi-rotor unmanned aerial vehicle based on vision, aiming at overcoming the problem of poor cruising ability of the existing unmanned aerial vehicle.
According to the unmanned aerial vehicle charging system, a plurality of unmanned aerial vehicles with large-capacity storage batteries are arranged in relevant regions, and corresponding charging interfaces are arranged on the unmanned aerial vehicles to charge the unmanned aerial vehicles, so that the cruising ability of the unmanned aerial vehicles is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a many rotor unmanned aerial vehicle remove power supply unit based on vision, its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle 1 and an unmanned aerial vehicle 2;
the unmanned aerial vehicle 1 is provided with a camera 101, an undercarriage 102 and a guide block 103, and the camera 101 is arranged right below the unmanned aerial vehicle; the bottom of the unmanned aerial vehicle 1 is provided with a plurality of undercarriage 102, and the tail end of the undercarriage 102 is provided with a guide block 103; the guide block 103 is made of conductive magnetic material.
The unmanned vehicle 2 comprises a vehicle surface 201, a guide seat 202 and two sets of driving devices 21, wherein the driving devices 21 are respectively arranged at the front end and the rear end of the vehicle surface 201 to form a four-wheel drive system; a guide seat 202 is arranged on the upper side of the vehicle surface 201; the position of the guide seat 202 corresponds to the position of the landing gear 102 when the unmanned aerial vehicle 1 is parked on the unmanned vehicle 2, the guide seat 202 is provided with an inner cavity with an opening at the top, the bottom of the inner cavity of the guide seat 202 is provided with an electromagnet 203, the inner cavity and the guide block 103 are conical bodies with large top and small bottom, the guide block 103 is accommodated in the inner cavity when the unmanned aerial vehicle 1 is parked on the unmanned vehicle 2, and the electromagnet 203 is contacted with the guide block 103;
the unmanned vehicle 2 is provided with a storage battery which is electrically connected with the electromagnet 203; an electric board on the unmanned aerial vehicle 1 is electrically connected with the guide block 103; when the unmanned aerial vehicle 1 is parked on the unmanned vehicle 2, the storage battery charges an electric board on the unmanned aerial vehicle 1;
the unmanned aerial vehicle 1 is provided with a first central controller and a first wireless communication module, and the control end of a driving motor of a propeller of the unmanned aerial vehicle 1 is connected with the first central controller; the unmanned vehicle 2 is provided with a second central controller and a second wireless communication module, and the control end of the driving device 21 of the unmanned vehicle 2 is connected with the second central controller;
the unmanned aerial vehicle 1 and the unmanned vehicle 2 keep real-time communication, respective positions are obtained through an onboard Global Positioning System (GPS), the unmanned aerial vehicle 1 calculates the relative distance between the unmanned aerial vehicle 1 and the unmanned vehicle 2 at the moment when a task is executed, whether the electric quantity of the unmanned aerial vehicle 1 is sufficient for flying and landing on the unmanned vehicle 2 is evaluated, when the electric quantity of the unmanned aerial vehicle 1 is just sufficient or greater than the electric quantity required by the unmanned aerial vehicle 1 for landing on the unmanned vehicle 2, the unmanned aerial vehicle 2 sends the longitude and latitude information of the unmanned aerial vehicle 1 to the unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 flies and supports the unmanned vehicle 2 through the GPS navigation;
the vehicle surface 201 is provided with a visual beacon 3 for visual guidance when the unmanned aerial vehicle 1 lands, each side of the visual beacon 3 is a triangle with a curve, and the interior of the visual beacon 3 is gradually changed in color;
unmanned aerial vehicle 1 flies to near unmanned vehicle 2 back through GPS navigation, and when the vision guide, camera 101 shoots perpendicularly down all the time to the position and the orientation that acquire unmanned vehicle 2 and guide unmanned aerial vehicle 1 to descend are with following step:
the method comprises the following steps: establishing an XY plane coordinate system of an imaging picture of the camera 101, selecting the centroid position of the imaging picture as a coordinate origin, the leftward direction as the positive direction of an X axis, and the upward direction as the positive direction of a Y axis, wherein the coordinate values of the centroid position are pixel values of the corresponding points at intervals from the X axis and the Y axis;
step two: a picture is shot facing the visual beacon 3, then a part containing a beacon pattern is intercepted to be used as a pattern template, the pattern template of the visual beacon 3 is input into a central controller of the unmanned aerial vehicle 1, the shape feature and the gradient feature in the visual beacon 3 are detected through a Camshift tracking algorithm, feature matching is carried out, the feature of the visual beacon 3 in an imaging picture of the camera 101 is automatically detected, and a tracking window is found;
step three: after the tracking window is obtained, only the approximate position of the visual beacon 3 in the imaging picture of the camera 101 can be obtained, and the accurate position and direction cannot be obtained, and the next detection is needed, namely, a 'corner detection' algorithm is operated in the tracking window, wherein the 'corner detection' algorithm is a mature image processing algorithm and can quickly and accurately detect the 'corner' and the coordinate thereof existing in the imaging picture, and only three 'corners', namely the corner 301, the corner 302 and the corner 303, can be detected in the tracking window due to the special design of the visual beacon 3;
step four: after three 'corner points' are obtained in an imaging picture of the camera 101, calculating the distance between every two corner points, wherein the distance is in direct proportion to the number of pixels separated between the two 'corner points', finding out two 'corner points' which are separated from each other most recently, namely the corner point 301 and the corner point 302 in the second picture, then taking the middle point of the corner point 301 and the corner point 302, connecting the middle point with the rest of the corner points 303, obtaining a straight line, wherein the middle point coordinate of the straight line is the accurate coordinate in the imaging picture of the camera 101 of the visual beacon 3, and the vector from the middle point of the corner point 301 and the corner point 302 to the corner point 303 is the orientation in the imaging picture of the camera 101 of the visual beacon 3;
step five: performing flight control on the unmanned aerial vehicle 1, and in the tracking process, if the coordinate of the visual beacon 3 in the imaging picture of the camera 101 deviates from the original point of the coordinate system, calculating a corresponding X, Y coordinate value, wherein the value is used as a control quantity of the unmanned aerial vehicle 1, X is translated left and right corresponding to the unmanned aerial vehicle 1, Y is translated front and back corresponding to the unmanned aerial vehicle 1, the X value is positive, the unmanned aerial vehicle 1 is adjusted left, the Y value is positive, the unmanned aerial vehicle 1 is adjusted forward, and vice versa, when the expected position, namely the X value and the Y value are both close to 0; when an included angle exists between the direction in the imaging picture of the camera 101 of the visual beacon 3 and the positive direction of the X axis, the unmanned aerial vehicle 1 performs self-rotation to adjust the included angle, and the included angle is expected to be approximately 0;
step six: when the expected position and the expected included angle are smaller than a preset range, the landing condition is met, and when a landing instruction is given, the unmanned aerial vehicle 1 lands on the unmanned vehicle 2; certainly, the unmanned aerial vehicle always adjusts the self pose in the landing process, and the expected position and the expected included angle are kept within the preset error range.
Preferably, there are four of said guide seats 202, symmetrically distributed along the longitudinal and transversal axes of the deck 201. Preferably, the drone 1 is a quad-rotor drone.
Preferably, the driving device 21 is divided into a left driving unit 21a and a left driving unit 21b, wherein the left driving unit 21a includes wheels 211, a driving mounting bracket 212, a suspension upper plate 213, a damping compression spring 214, a suspension lower plate 215, a U-shaped screw 216, a bearing box 217, a driving motor 218, a driving belt 219, a driven pulley 2110, an axle 2111, a driving pulley 2112 and a connecting column 2113; the wheel 211 is fixedly connected with one end of an axle 2111, the axle 2111 is inserted into the bearing box 217, the other end of the axle 2111 extends out of the bearing box and is provided with a driven pulley 2110, the driving motor 218 is arranged on a bracket at the rear side of the bearing box 217, the driving pulley 2112 is fixedly connected with the axle end of the driving motor 218, and the driving belt 219 is arranged on the driving pulley 2112 and the driven pulley 2110 to form a belt transmission system; the driving mounting frame 212 is mounted on a suspension upper plate 213, two damping compression springs 214 are mounted between the suspension upper plate 213 and a suspension lower plate 215, and the suspension lower plate 215 is mounted on the left side of a bearing box 217 through two U-shaped screws 216; the left driving unit 21a and the left driving unit 21b have the same shape and number of parts, and are distributed in a left-right mirror image, and the connection posts 2113 of the two are connected with each other.
The invention has the beneficial effects that:
unmanned vehicles through rational distribution form unmanned aerial vehicle's charging network, and unmanned aerial vehicle and fill to connect reliably between the electric pile, and control cost is low, low in cost, maintain simply, and unmanned aerial vehicle's the work of independently charging of completion that can be fine has expanded unmanned aerial vehicle's duration.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a visual beacon pattern of the present invention;
FIG. 3 is a schematic structural diagram of an adsorption charging device according to the present invention;
fig. 4 is a schematic view of a driving apparatus of the unmanned vehicle of the present invention.
The reference numbers in the figures illustrate: 1. an unmanned aerial vehicle; 101. a camera; 102. a landing gear; 103. a guide block; 2. unmanned vehicles; 201. turning a surface; 202. a guide seat; 203. an electromagnet; 21. a drive device; 21a. a left drive unit; 21b. a left drive unit; 211. a wheel; 212. a drive mounting; 213. hanging the upper plate; 214. a damping pressure spring; 215. suspending the lower plate; a U-shaped screw; 217. a bearing housing; 218. a drive motor; 219. a drive belt; 2110. a driven pulley; 2111. an axle; 2112. a driving pulley; 2113. connecting columns; 3. a visual beacon;
Detailed Description
The invention is further described below with reference to the accompanying drawings:
a vision-based multi-rotor unmanned aerial vehicle mobile power supply device comprises an unmanned aerial vehicle 1 and an unmanned vehicle 2;
the unmanned aerial vehicle 1 is provided with a camera 101, an undercarriage 102 and a guide block 103, and the camera 101 is arranged right below the unmanned aerial vehicle; the bottom of the unmanned aerial vehicle 1 is provided with a plurality of undercarriage 102, and the tail end of the undercarriage 102 is provided with a guide block 103; the guide block 103 is made of conductive magnetic material.
The unmanned vehicle 2 comprises a vehicle surface 201, a guide seat 202 and two sets of driving devices 21, wherein the driving devices 21 are respectively arranged at the front end and the rear end of the vehicle surface 201 to form a four-wheel drive system; a guide seat 202 is arranged on the upper side of the vehicle surface 201; the position of the guide seat 202 corresponds to the position of the landing gear 102 when the unmanned aerial vehicle 1 is parked on the unmanned vehicle 2, the guide seat 202 is provided with an inner cavity with an opening at the top, the bottom of the inner cavity of the guide seat 202 is provided with an electromagnet 203, the inner cavity and the guide block 103 are conical bodies with large top and small bottom, the guide block 103 is accommodated in the inner cavity when the unmanned aerial vehicle 1 is parked on the unmanned vehicle 2, and the electromagnet 203 is contacted with the guide block 103;
the unmanned vehicle 2 is provided with a storage battery which is electrically connected with the electromagnet 203; an electric board on the unmanned aerial vehicle 1 is electrically connected with the guide block 103; when the unmanned aerial vehicle 1 is parked on the unmanned vehicle 2, the storage battery charges an electric board on the unmanned aerial vehicle 1;
the unmanned aerial vehicle 1 is provided with a first central controller and a first wireless communication module, and the control end of a driving motor of a propeller of the unmanned aerial vehicle 1 is connected with the first central controller; the unmanned vehicle 2 is provided with a second central controller and a second wireless communication module, and the control end of the driving device 21 of the unmanned vehicle 2 is connected with the second central controller.
Unmanned aerial vehicle 1 and unmanned vehicle 2 keep real-time communication, Global Positioning System (GPS) through the machine of carrying acquires respective position, unmanned aerial vehicle 1 calculates the relative distance with unmanned vehicle 2 at the moment of carrying out the task, and whether aassessment self electric quantity satisfies the flight and descends on unmanned vehicle 2, when unmanned aerial vehicle 1's electric quantity just in time satisfies or is greater than unmanned aerial vehicle 1 and arrives and descend to the required electric quantity on unmanned vehicle 2, unmanned vehicle 2 sends self longitude and latitude information for unmanned aerial vehicle 1, unmanned aerial vehicle 1 flies to support unmanned vehicle 2 through the GPS navigation.
The guide seats 202 are four in number and are symmetrically distributed along the longitudinal axis and the transverse axis of the vehicle surface 201. Unmanned aerial vehicle 1 adopts four rotor unmanned aerial vehicles on the market.
The driving device 21 is divided into a left driving unit 21a and a left driving unit 21b, wherein the left driving unit 21a comprises wheels 211, a driving mounting frame 212, a suspension upper plate 213, a damping pressure spring 214, a suspension lower plate 215, a U-shaped screw 216, a bearing box 217, a driving motor 218, a driving belt 219, a driven pulley 2110, an axle 2111, a driving pulley 2112 and a connecting column 2113; the wheel 211 is fixedly connected with one end of an axle 2111, the axle 2111 is inserted into the bearing box 217, the other end of the axle 2111 extends out of the bearing box and is provided with a driven pulley 2110, the driving motor 218 is arranged on a bracket at the rear side of the bearing box 217, the driving pulley 2112 is fixedly connected with the axle end of the driving motor 218, and the driving belt 219 is arranged on the driving pulley 2112 and the driven pulley 2110 to form a belt transmission system; the driving mounting frame 212 is mounted on a suspension upper plate 213, two damping compression springs 214 are mounted between the suspension upper plate 213 and a suspension lower plate 215, and the suspension lower plate 215 is mounted on the left side of a bearing box 217 through two U-shaped screws 216; the left driving unit 21a and the left driving unit 21b have the same shape and number of parts, and are distributed in a left-right mirror image, and the connection posts 2113 of the two are connected with each other.
A plurality of unmanned vehicles with large-capacity storage batteries are arranged in related regions, and corresponding charging interfaces are arranged on the unmanned vehicles to charge the unmanned vehicles, so that the cruising ability of the unmanned vehicles is improved.
The visual beacon 3 is a pattern and can be sprayed or adhered to the vehicle surface 201, each side of the visual beacon 3 is a curved triangle, the interior of the visual beacon 3 is a gradual color from blue to yellow, the gradual color is an embodiment of the invention, other gradual colors can be set according to the ground background condition, and the visual beacon 3 is used for visual guidance.
The unmanned aerial vehicle 1 flies to the vicinity of the unmanned vehicle 2 through the GPS navigation, and then the unmanned aerial vehicle 1 acquires the accurate position of the unmanned vehicle 2 by using the visual guidance technology. During visual guidance, the camera 101 always shoots vertically downwards, and the position and orientation of the unmanned vehicle 2 are obtained and the unmanned vehicle 1 is guided to land in the following steps:
the method comprises the following steps: an XY plane coordinate system of an imaging picture of the camera 101 is established, the centroid position of the imaging picture is selected as a coordinate origin, the left direction is the positive direction of an X axis, the upward direction is the positive direction of a Y axis, and coordinate values of the centroid position are pixel values of the corresponding points at intervals from the X axis and the Y axis.
Step two: searching for a target in an imaging picture of the camera through a Camshift tracking algorithm, wherein the Camshift is an improvement of a MeanShift algorithm and is called a continuous adaptive algorithm, the basic idea is that all frames of a video image are operated, a result of a previous frame is used as an initial value of a next frame algorithm, iteration is carried out, before the algorithm is executed, a pattern template of a visual beacon 3 (a picture is shot just opposite to the visual beacon 3, and then a part containing the beacon pattern is cut out to be used as the pattern template) is required to be input into a central controller of the unmanned aerial vehicle 1, then the Camshift algorithm is operated, feature matching is carried out, the features of the visual beacon 3 in the imaging picture of the camera 101 are automatically detected, and a tracking window is found. The Camshift algorithm can accurately detect the tracked target when the shape and the size of the tracked target are obviously changed, but when the external color is rich and is close to the color of the tracked target, the tracking window is enlarged to influence the tracking effect, and in order to solve the problem, the invention designs a reasonable visual beacon 3, detects the shape characteristic and the gradient characteristic in the visual beacon 3 through the Camshift tracking algorithm to obtain the tracking window, and the tracking window is a rectangular area in the imaging area of the camera 101;
step three: after the tracking window is obtained, only the approximate position of the visual beacon 3 in the imaging picture of the camera 101 can be obtained, and the accurate position and direction cannot be obtained, and the next detection is needed, namely, a 'corner detection' algorithm is operated in the tracking window, wherein the 'corner detection' algorithm is a mature image processing algorithm and can quickly and accurately detect the 'corner' and the coordinate thereof existing in the imaging picture, and only three 'corners', namely the corner 301, the corner 302 and the corner 303, can be detected in the tracking window due to the special design of the visual beacon 3;
step four: after three 'corner points' are acquired in an imaging picture of the camera 101, the distances between the three corner points are calculated, the distances are in direct proportion to the number of pixels spaced between the two 'corner points', two 'corner points' which are nearest to each other are found, namely the corner point 301 and the corner point 302 in the second picture, then the middle point of the corner point 301 and the corner point 302 is taken, the middle point is connected with the rest of the corner points 303, a straight line is obtained, the middle point coordinates of the straight line are accurate coordinates in the imaging picture of the camera 101 of the visual beacon 3, and the vector from the middle point of the corner point 301 and the corner point 302 to the corner point 303 is the orientation in the imaging picture of the camera 101 of the visual beacon 3.
Step five: performing flight control on the unmanned aerial vehicle 1, and in the tracking process, if the coordinate of the visual beacon 3 in the imaging picture of the camera 101 deviates from the original point of the coordinate system, calculating a corresponding X, Y coordinate value, wherein the value is used as a control quantity of the unmanned aerial vehicle 1, X is translated left and right corresponding to the unmanned aerial vehicle 1, Y is translated front and back corresponding to the unmanned aerial vehicle 1, the X value is positive, the unmanned aerial vehicle 1 is adjusted left, the Y value is positive, the unmanned aerial vehicle 1 is adjusted forward, and vice versa, when the expected position, namely the X value and the Y value are both close to 0; when there is an included angle between the orientation in the imaging picture of the camera 101 of the visual beacon 3 and the positive direction of the X axis, the unmanned aerial vehicle 1 will spin to adjust the included angle, and it is expected that the included angle is also approximately 0.
Step six: when the expected position and the expected included angle are small to the preset range, the landing condition is met, and when a landing instruction is given, the unmanned aerial vehicle 1 will land on the unmanned vehicle 2. Certainly, the unmanned aerial vehicle always adjusts the self pose in the landing process, and the expected position and the expected included angle are kept within the preset error range.
After the 6 steps are completed, the landing is performed, and in the landing process, the outer conical surface of the guide block 103 and the inner conical surface of the guide seat 202 are matched with each other to play a guiding role, so that certain errors exist in the visual guiding process. After descending is accomplished, the electro-magnet 203 circular telegram will adsorb the guide seat 202 that has magnetism in the guide seat 202, guarantees that unmanned aerial vehicle 2 can not lead to unmanned aerial vehicle 1 to topple and drop because of jolting when marcing, and guide seat 202 and electro-magnet 203 are electrically conductive material in addition, can charge for unmanned aerial vehicle 1 after both tightly adsorb, and it can to choose two sets of electrodes that charge as in four groups guide seat 202 and electro-magnet 203. After charging is completed, the electromagnet 203 is powered off, and the unmanned aerial vehicle 1 can take off to continue executing tasks.
This embodiment landing precision is high, and the charging process is reliable and stable, the many rotor unmanned aerial vehicle's of solution removal problem of charging that can be fine.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as may occur to those skilled in the art upon consideration of the present inventive concept.
Claims (3)
1. Many rotor unmanned aerial vehicle removes power supply unit based on vision, its characterized in that: comprises an unmanned aerial vehicle (1) and an unmanned vehicle (2);
a camera (101) and an undercarriage (102) are arranged on the unmanned aerial vehicle (1), and the camera (101) is installed right below the unmanned aerial vehicle (1); the bottom of the unmanned aerial vehicle (1) is provided with a plurality of landing gears (102), and the tail ends of the landing gears (102) are provided with guide blocks (103); the guide block (103) is made of conductive magnetic materials;
the unmanned vehicle (2) comprises a vehicle surface (201), guide seats (202) and driving devices (21), wherein two sets of driving devices (21) are respectively arranged at the front end and the rear end of the vehicle surface (201) to form a four-wheel drive system; a guide seat (202) is arranged on the upper side of the vehicle surface (201); the position of the guide seat (202) corresponds to the position of the landing gear (102) when the unmanned aerial vehicle (1) is parked on the unmanned vehicle (2), the guide seat (202) is provided with an inner cavity with an opening at the top, an electromagnet (203) is installed at the bottom of the inner cavity of the guide seat (202), the inner cavity and the guide block (103) are conical bodies with large top and small bottom, the guide block (103) is accommodated in the inner cavity when the unmanned aerial vehicle (1) is parked on the unmanned vehicle (2), and the electromagnet (203) is in contact with the guide block (103);
the unmanned vehicle (2) is provided with a storage battery which is electrically connected with the electromagnet (203); an electric board on the unmanned aerial vehicle (1) is electrically connected with the guide block (103); when the unmanned aerial vehicle (1) is parked on the unmanned vehicle (2), the storage battery charges an electric board on the unmanned aerial vehicle (1);
the unmanned aerial vehicle (1) is provided with a first central controller and a first wireless communication module, and the control end of a driving motor of a propeller of the unmanned aerial vehicle (1) is connected with the first central controller; the unmanned vehicle (2) is provided with a second central controller and a second wireless communication module, and the control end of a driving device (21) of the unmanned vehicle (2) is connected with the second central controller;
the unmanned aerial vehicle (1) and the unmanned vehicle (2) keep real-time communication, respective positions are obtained through an airborne Global Positioning System (GPS), the relative distance between the unmanned aerial vehicle (1) and the unmanned vehicle (2) is calculated at the moment when the unmanned aerial vehicle (1) executes a task, whether the electric quantity of the unmanned aerial vehicle (1) is sufficient for flying and landing on the unmanned vehicle (2) is evaluated, when the electric quantity of the unmanned aerial vehicle (1) is just sufficient or greater than the required electric quantity for the unmanned aerial vehicle (1) to arrive and land on the unmanned vehicle (2), the unmanned vehicle (2) sends the longitude and latitude information of the unmanned aerial vehicle (1), and the unmanned aerial vehicle (1) flies to the unmanned vehicle (2) through GPS navigation;
the visual beacon (3) used for visual guidance when the unmanned vehicle (2) lands is arranged on the vehicle surface (201), each side of the visual beacon (3) is a triangle with a curve, and the interior of the visual beacon is gradually changed in color;
unmanned aerial vehicle (1) flies near unmanned vehicle (2) through GPS navigation after, when the vision guide, camera (101) are perpendicular shooting down all the time to the position and the orientation that acquire unmanned aerial vehicle (1) and guide unmanned aerial vehicle (1) to descend:
the method comprises the following steps: establishing an XY plane coordinate system of an imaging picture of a camera (101), selecting the centroid position of the imaging picture as a coordinate origin, the leftward direction as the positive direction of an X axis, and the upward direction as the positive direction of a Y axis, wherein the coordinate values of the centroid position are pixel values of the corresponding points at intervals from the X axis and the Y axis;
step two: a picture is shot facing the visual beacon (3), then a part containing a beacon pattern is intercepted to be used as a pattern template, the pattern template of the visual beacon (3) is input to a central controller of the unmanned aerial vehicle (1), the shape feature and the gradient feature in the visual beacon (3) are detected through a Camshift tracking algorithm, the feature of the visual beacon (3) in an imaging picture of the camera (101) is automatically detected through feature matching, and a tracking window is found;
step three: after the tracking window is obtained, only the approximate position of the visual beacon (3) in an imaging picture of the camera (101) can be obtained, and the accurate position and direction cannot be obtained, and the next detection is needed, namely, a corner detection algorithm is operated in the tracking window, wherein the corner detection algorithm is a mature image processing algorithm and can quickly and accurately detect the corner and the coordinate of the corner existing in the imaging picture, and only three corners, namely the corner (301), the corner (302) and the corner (303), can be detected in the tracking window due to the special design of the visual beacon (3);
step four: after three 'corner points' are obtained in an imaging picture of the camera (101), calculating the distance between every two of the three corner points, wherein the distance is in direct proportion to the number of pixels spaced between the two 'corner points', finding out two 'corner points' which are spaced closest to each other, namely the corner point (301) and the corner point (302) in the picture II, then taking the middle point of the corner point (301) and the corner point (302), connecting the middle point with the rest of the corner points (303), obtaining a straight line, wherein the middle point coordinate of the straight line is the accurate coordinate in the imaging picture of the camera (101) of the visual beacon (3), and the vector from the middle point of the corner point (301) and the corner point (302) to the corner point (303) is the orientation in the imaging picture of the camera (101) of the visual beacon (3);
step five: carrying out flight control on the unmanned aerial vehicle (1), in the tracking process, if the coordinate of the visual beacon (3) in an imaging picture of the camera (101) deviates from the original point of a coordinate system, calculating a corresponding X, Y coordinate value, wherein the value is used as a control quantity of the unmanned aerial vehicle (1), X corresponds to the unmanned aerial vehicle (1) to translate left and right, Y corresponds to the unmanned aerial vehicle (1) to translate front and back, the X value is positive, the unmanned aerial vehicle (1) is adjusted left, the Y value is positive, the unmanned aerial vehicle (1) is adjusted forward, and vice versa, when the expected position is that the X value and the Y value are both close to 0; when an included angle exists between the direction in an imaging picture of a camera (101) of the visual beacon (3) and the positive direction of an X axis, the unmanned aerial vehicle (1) spins to adjust the included angle, and the included angle is expected to be approximately 0;
step six: when the expected position and the expected included angle are smaller than a preset range, the landing condition is met, and when a landing instruction is given, the unmanned aerial vehicle (1) lands on the unmanned aerial vehicle (2); certainly, the unmanned aerial vehicle always adjusts the self pose in the landing process, and the expected position and the expected included angle are kept within the preset error range.
2. The vision-based multi-rotor drone mobile power supply of claim 1, characterized in that: the guide seats (202) are four and are symmetrically distributed along the longitudinal axis and the transverse axis of the vehicle surface (201).
3. The vision-based multi-rotor drone mobile power supply of claim 1, characterized in that: the driving device (21) is divided into a left driving unit (21a) and a left driving unit (21b), wherein the left driving unit (21a) comprises wheels (211), a driving installation frame (212), a suspension upper plate (213), a damping pressure spring (214), a suspension lower plate (215), a U-shaped screw (216), a bearing box (217), a driving motor (218), a driving belt (219), a driven pulley (2110), an axle (2111), a driving pulley (2112) and a connecting column (2113); the wheel (211) is fixedly connected to one end of an axle (2111), the axle (2111) is inserted into the bearing box (217), the other end of the axle (2111) extends out of the bearing box and is provided with a driven pulley (2110), the driving motor (218) is arranged on a support at the rear side of the bearing box (217), the driving pulley (2112) is fixedly connected to the shaft end of the driving motor (218), and the driving belt (219) is arranged on the driving pulley (2112) and the driven pulley (2110) to form a belt transmission system; the driving mounting frame (212) is mounted on a suspension upper plate (213), two damping compression springs (214) are mounted between the suspension upper plate (213) and a suspension lower plate (215), and the suspension lower plate (215) is mounted on the left side of a bearing box (217) through two U-shaped screws (216); the shapes and the numbers of the parts of the left driving unit (21a) and the left driving unit (21b) are the same, the parts are distributed in a left-right mirror image mode, and connecting columns (2113) of the left driving unit and the left driving unit are connected with each other.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821645A (en) * | 2020-06-14 | 2020-10-27 | 于刚 | Trampoline safety protection platform and method |
| CN113110573A (en) * | 2021-04-12 | 2021-07-13 | 上海交通大学 | Mooring unmanned aerial vehicle system capable of being used as automobile automatic driving sensor carrying platform |
| WO2023124434A1 (en) * | 2021-12-31 | 2023-07-06 | 蜂巢航宇科技（北京）有限公司 | Multi-rotor dronebox |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821645A (en) * | 2020-06-14 | 2020-10-27 | 于刚 | Trampoline safety protection platform and method |
| CN113110573A (en) * | 2021-04-12 | 2021-07-13 | 上海交通大学 | Mooring unmanned aerial vehicle system capable of being used as automobile automatic driving sensor carrying platform |
| WO2023124434A1 (en) * | 2021-12-31 | 2023-07-06 | 蜂巢航宇科技（北京）有限公司 | Multi-rotor dronebox |
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