CN111196172B

CN111196172B - Rotor unmanned aerial vehicle charging system based on street lamp and charging method thereof

Info

Publication number: CN111196172B
Application number: CN202010154019.7A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Guangdong Yasheng Communication Technology Co ltd
Current assignee: Guangdong Yasheng Communication Technology Co ltd
Priority date: 2020-03-07
Filing date: 2020-03-07
Publication date: 2023-06-13
Anticipated expiration: 2040-03-07
Also published as: CN111196172A

Abstract

The invention provides a rotor unmanned aerial vehicle charging system based on a street lamp, which comprises a charging device, a street lamp unit, a rotor unmanned aerial vehicle and a positioning navigation module, wherein the charging system creatively utilizes the rich space of the street lamp and adopts a circular arc surface landing mode, has an automatic deviation correcting function relative to a plane landing mode, and ensures the success rate of landing charging. In addition, the invention discloses a charging method of the rotor unmanned aerial vehicle charging system based on the street lamp, and the method creatively adopts three complementary positioning modes, so that the positioning accuracy of the rotor unmanned aerial vehicle is ensured. Therefore, the invention has the advantages of simple structure, convenient use, accurate positioning, high reliability, high automation degree, flexible combination, easy large-scale arrangement and use and the like, thereby meeting the great demands of urban management and urban life on unmanned aerial vehicles.

Description

Rotor unmanned aerial vehicle charging system based on street lamp and charging method thereof

Technical Field

The invention relates to a rotor unmanned aerial vehicle charging system, in particular to a rotor unmanned aerial vehicle charging system based on a street lamp and a charging method thereof.

Background

As is well known, street lamp facilities are not only as simple as illumination, but also more and more functions are given to multi-path lamp facilities, mainly by adding devices with other functions such as video monitoring, automatic driving positioning, internet of vehicles, fire protection and intelligent city related devices on street lamps or lamp poles thereof, and the devices fully utilize the characteristics of convenience in power-on, large rich space and the like of the street lamp facilities, so that cost investment and occupation of road space are reduced to the greatest extent.

Meanwhile, the application of the unmanned aerial vehicle is also ubiquitous at present, particularly the rotary wing unmanned aerial vehicle is widely applied to various fields of express industry, agriculture, fire protection, aerial photography, rescue, power grid, monitoring and supervision and the like, great convenience is brought to production and life, then the battery endurance of the rotary wing unmanned aerial vehicle is always an important limiting factor, the maximum endurance time of the rotary wing unmanned aerial vehicle in the advanced industry at present is 38 minutes, and the service efficiency of the rotary wing unmanned aerial vehicle is not seriously affected by other high-capacity battery rotary wing unmanned aerial vehicles in general. Therefore, most rotor unmanned aerial vehicles need to be charged back in the task execution process, and the task is executed again after the rotor unmanned aerial vehicles are fully charged.

However, the current rotor unmanned aerial vehicle charging mode is either the simplest manual power-on or is a charging device or platform with a complex mechanical structure, and the charging device or platform has the defects of large occupied space, high structural complexity, high use cost, low positioning precision, low reliability, low automation degree and the like, so that the difficulty in actual popularization and use in cities is high.

Finally, how to combine street lamp facility advantage and unmanned aerial vehicle charging and obtain a simple structure, use cost low, the reliability is high and be applied to the unmanned aerial vehicle charging system of rotor in city has been a problem that needs to solve to satisfy urban management and urban life and to unmanned aerial vehicle's very big demand.

Disclosure of Invention

An object of the present invention is to provide a rotor unmanned aerial vehicle charging system based on street lamps, the rotor unmanned aerial vehicle charging system comprising: charging device, street lamp unit, rotor unmanned aerial vehicle and location navigation module.

The charging device comprises a concave cambered surface body, two grooves which are positioned on the inner side of the concave cambered surface body and are horizontally and symmetrically arranged along the parallel direction of the cambered surface, and a supporting body positioned below the concave cambered surface body; the ground mark is arranged at the center of the inner side of the concave cambered surface and is in an H shape parallel to the cambered surface; and a charging seat is further arranged at the center of the groove.

The street lamp unit comprises a lamp post, a bracket with one end connected with the upper end of the lamp post and the other end connected with the support body, and LED lamps uniformly arranged on the lower side of the support body.

The rotor unmanned aerial vehicle comprises supporting legs, a landing frame connected with the supporting legs, rollers arranged at two ends of the landing frame, a machine body, flight control and power units arranged around the machine body, a GPS module arranged on the upper portion of the machine body, an infrared camera arranged under the machine body and a battery unit.

The battery pack further comprises a contact coil wound in the middle of the floor stand, and the contact coil is connected with the battery unit through a wire.

The horizontal distance between the grooves is equal to the horizontal distance between the landing frames, and the opening of the grooves is larger than the diameter of the landing frames.

The positioning navigation module comprises a UWB positioning tag positioned below the rotor unmanned aerial vehicle, a UWB positioning base station positioned on the upper part of the lamp post and a UWB positioning server positioned at the far end.

Preferably, the charging seat comprises a shell, a charging contact body penetrating through the groove and a spring with two ends respectively connected with the bottom of the shell and the charging contact body.

Preferably, a pressure sensor is further arranged between the bottom of the shell and the spring.

Preferably, the landing mark is made of infrared reflective material.

Preferably, the surfaces of the concave cambered surface body and the groove are made of insulating smooth ceramic materials.

Preferably, the charging device further comprises a shade.

Preferably, the mask is made of a transparent material.

Preferably, the shade comprises fixed baffles positioned at two sides of the concave cambered surface body, a pair of movable arc-shaped baffles positioned above the concave cambered surface body and arranged along the symmetry line of the concave cambered surface body, and a driving mechanism for driving the arc-shaped baffles to open and close.

Preferably, the driving mechanism is a motor-driven gear transmission mechanism.

The invention also discloses a charging method of the rotor unmanned aerial vehicle charging system, which comprises the following steps:

a) When the electric quantity of the rotor unmanned aerial vehicle is insufficient, the rotor unmanned aerial vehicle starts to fly to the nearest rotor unmanned aerial vehicle charging device under the navigation of the GPS module;

b) When the rotor unmanned aerial vehicle approaches to the rotor unmanned aerial vehicle charging device, the UWB positioning tag is started to transmit UWB pulses, and meanwhile the UWB positioning base station starts to capture and receive UWB pulses;

c) When the UWB positioning base station receives UWB pulses, stopping the GPS module navigation and changing the UWB positioning navigation, and simultaneously transmitting data captured by a plurality of UWB positioning base stations to a remote positioning server in real time;

d) The positioning server further calibrates the acquired data, determines the time difference that the UWB positioning tag reaches different UWB positioning base stations, calculates the position of the UWB positioning tag or the unmanned aerial vehicle by using a TDOA algorithm, and returns the position data to the flight control and power unit in real time;

e) The flight control and power unit navigates the rotor unmanned aerial vehicle to the position right above the appointed idle charging position according to the returned position data, and then stops UWB positioning navigation and changes infrared recognition navigation;

f) Turning on the infrared camera and shooting the landing mark on the charging device of the rotor unmanned aerial vehicle downwards, and always keeping the landing mark near the center of the shot image, so as to ensure that the rotor unmanned aerial vehicle stops near the landing mark;

g) Finally, the rotor unmanned aerial vehicle rolls on the concave cambered surface body due to the gravity of the rotor unmanned aerial vehicle and depends on the roller, so that the falling frame falls into the groove, the pressure sensor is triggered, and then the charging seat is powered on and charges the battery unit through the contact coil and the lead.

The invention has the advantages of simple structure, convenient use, accurate positioning, high reliability, high automation degree, flexible combination, easy large-scale arrangement and use and the like.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.

Drawings

Further objects, functions and advantages of the present invention will be clarified by the following description of embodiments of the present invention with reference to the accompanying drawings, in which:

fig. 1 schematically shows a schematic perspective view of a charging device according to the present invention;

fig. 2 schematically illustrates an overall structural schematic of the charging system of the rotary-wing drone of the present invention;

FIG. 3 schematically shows a schematic view of the structure of a mask in the present invention;

FIG. 4 schematically illustrates a structure of a landing gear, a roller and a charging stand according to the present invention;

fig. 5 schematically shows a schematic perspective view of the legs, the landing gear and the rollers in the present invention.

Detailed Description

The objects and functions of the present invention and methods for achieving these objects and functions will be elucidated by referring to exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; this may be implemented in different forms. The essence of the description is merely to aid one skilled in the relevant art in comprehensively understanding the specific details of the invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

Fig. 1 and fig. 2 schematically show a rotor unmanned aerial vehicle charging system based on a street lamp, which mainly comprises a charging device 1, a street lamp unit 2, a rotor unmanned aerial vehicle 8 matched with the charging device 1 in function and a positioning navigation module 3.

The rotor unmanned aerial vehicle 8 comprises a supporting leg 81, a landing frame 82 connected with the supporting leg 81, rollers 83 positioned at two ends of the landing frame 82, a body 84, a flight control and power unit 85 positioned around the body 84, a GPS module 86 positioned at the upper part of the body 84, an infrared camera 87 positioned under the body 84 and a battery unit 88.

As shown in fig. 5, the landing gear 82 is arranged in two in total and horizontally in parallel, and the ends of the landing gear are connected with the rollers 83, so as to realize the rolling function of the rotary unmanned aerial vehicle 8; meanwhile, a contact coil 891 is further wound around the middle part of the floor frame 82, the contact coil 891 is connected with the battery unit 88 through a wire 892, and the battery unit 88 is further charged through contact connection of the contact coil 891 and the charging device 1.

The flight control and power unit 85 is used for adjusting and controlling the flight attitude and power output of the rotary wing unmanned aerial vehicle 8 according to the data of the sensor; the GPS module 86 realizes the GPS positioning function of the rotor unmanned aerial vehicle 8; the infrared camera 87 has the functions of infrared recognition and navigation, emits infrared light to the surrounding and captures infrared reflected light when in use, has lower requirements on the external light intensity, can be applied to light darkness or night navigation, and is mainly used for shooting images in daytime or at night and recognizing specific symbol marks or barriers.

The charging device 1 comprises a concave cambered surface body 11, two grooves 12 which are positioned on the inner side of the concave cambered surface body 11 and are horizontally and symmetrically arranged along the parallel direction of the cambered surface, and a transparent support body 13 positioned below the concave cambered surface body 11. As shown in fig. 2, the rotor unmanned aerial vehicle 8 can freely slide on the concave cambered surface body 11 by means of its own gravity and finally stays at the center of the concave cambered surface body 11, in addition, the horizontal distance between the two grooves 12 is equal to the horizontal distance between the two landing frames 82, and the opening of the grooves 12 is larger than the diameter of the landing frames 82, so that the two landing frames 82 can slide into the grooves 12 easily and simultaneously.

The groove 12 is located below the inner surface of the concave cambered surface body 11 and is in smooth transition with the concave cambered surface body 11, and the surfaces of the concave cambered surface body 11 and the groove 12 are preferably made of insulating smooth ceramic materials. More preferably, the surface of the concave cambered surface body 11 is a smooth flexible solar cell panel, so that the purpose of generating electricity by utilizing solar energy is achieved.

A landing mark 14 in the shape of an "H" parallel to the curved surface is also provided at the center of the inner side of the concave curved surface body 11, and the landing mark 14 is preferably made of an infrared reflective material having a property of being highly reflective to infrared light, such as a hot-melt paint containing metal powder, so that a clear image containing the landing mark 14 is more easily captured by the infrared camera 87.

As shown in fig. 4, a charging stand 15 is further provided at the center of the recess 12, and the charging stand 15 includes a housing 151, a charging contact 153 passing through the recess 12, and springs 152 having both ends connected to the bottom of the housing 151 and the charging contact 153, respectively. The charging function can be realized after the surface of the charging contact 153 is arc-shaped and is communicated with the contact coil 891 in a matching way.

A pressure sensor 154 is preferably arranged between the bottom of the shell 151 and the spring 152, and when the pressure sensor 154 captures the pressure generated by sliding the landing gear 82 into the groove 12 (i.e. when the landing gear 82 slides into the groove 12), an external power source (such as municipal street lamp power supply) is automatically switched on and the battery unit 88 in the unmanned rotorcraft 8 is charged through the charging contact body 153, the contact wire 891 and the lead wire 892; when pressure sensor 154 does not capture pressure (i.e., when the rotorcraft exits recess 12) or when the rotorcraft 8 is finished charging, the external power supply is automatically disconnected to stop the charging.

As shown in fig. 3, the charging device 1 further includes a cover 4 for shielding rain and snow, where the cover 4 includes a fixed baffle 41 located at two sides of the concave cambered surface body 11, a pair of movable arc-shaped baffles 42 located above the concave cambered surface body 11 and arranged along a symmetrical line of the concave cambered surface body 11, and a driving mechanism 43 for driving the pair of arc-shaped baffles 42 to open and close, where the driving mechanism 43 preferably adopts a gear transmission mechanism driven by a small motor, and the fixed baffle 41, the arc-shaped baffles 42 and the concave cambered surface body 11 form an opposite sealed space, and the cover 4 is preferably made of transparent material. The shade 4 preferably adopts a sliding or rolling transmission form, such as a gear transmission and a ball transmission, during the opening and covering processes, thereby achieving the effects of reducing resistance and saving labor.

The street lamp unit 2 comprises a lamp post 21, a bracket 22 with one end connected with the upper end of the lamp post 21 and the other end connected with the supporting body 13, and LED lamps which are uniformly arranged and are positioned between the concave cambered surface body 11 and the supporting body 13. The urban street lamp facility has the characteristics of convenience in electrifying, large abundant space, no shielding in the upper air, convenience in maintenance and the like, and the cost investment of unmanned aerial vehicle charging facilities and the occupation of road space can be reduced to the greatest extent.

The positioning navigation module 3 comprises a UWB positioning tag 31 positioned below the rotary-wing unmanned aerial vehicle, a UWB positioning base station 32 positioned on the upper portion of the street lamp pole 21 and a positioning server 33 positioned at the far end, wherein a plurality of UWB positioning base stations 32 are arranged on the street lamp poles 21, a plurality of UWB positioning base stations 32 exist in a further road area, and therefore more accurate positioning effect is achieved. The UWB positioning tag 31, the UWB positioning base station 32, and the positioning server 33 together constitute a UWB positioning system for short-distance positioning, UWB (Ultra Wide band) is a carrier-free communication technology, and uses non-sinusoidal narrow pulses of nanosecond to microsecond order to transmit data, and has the advantages of high dynamics, high capacity, and low power consumption.

The positioning functions of GPS positioning, UWB positioning and infrared identification positioning are mutually offset, and the positioning accuracy is sequentially enhanced. The GPS civil positioning can realize the positioning of about 10m in a large range, and is used for navigating the unmanned rotorcraft 8 to fly to the vicinity of the charging device 1 in a long distance; the UWB positioning accuracy is 10-30cm, and the rotor unmanned aerial vehicle 8 is further navigated to the position above the target charging device 1 (namely the currently idle charging device automatically distributed by the system); the infrared recognition positioning of the infrared camera 87 can realize a close-range landing positioning function within 10cm, and finally the rotor unmanned aerial vehicle 8 is landed near the landing mark 14 on the target charging device 1.

Meanwhile, the application also discloses a positioning method of the rotor unmanned aerial vehicle charging system, which comprises the following steps:

a) When the electric quantity of the rotor unmanned aerial vehicle 8 is insufficient, the rotor unmanned aerial vehicle starts to fly to the nearest charging device 1 under the navigation of the GPS module 86;

b) When the rotor unmanned aerial vehicle 8 approaches the charging device 1, the UWB positioning tag 31 is started to transmit UWB pulses, and the UWB positioning base station 32 starts to capture and receive UWB pulses;

c) When the UWB positioning base station 32 receives UWB pulses, the GPS module 86 is stopped from navigating and is changed from UWB positioning navigation, and meanwhile, data captured by a plurality of UWB positioning base stations 32 are sent to the remote positioning server 33 in real time;

d) Further, the positioning server 33 calibrates the acquired data, determines the time difference that the UWB positioning tag 31 reaches different UWB positioning base stations 32, calculates the position of the UWB positioning tag 31 or the rotor unmanned aerial vehicle 8 by using a TDOA algorithm, and returns the position data to the flight control and power unit 85 in real time;

e) The flight control and power unit 85 adjusts the gesture and direction according to the returned position data and navigates the rotor unmanned aerial vehicle 8 to the position right above the appointed idle charging position, and then stops UWB positioning navigation and changes infrared recognition navigation;

f) Turning on the infrared camera 87 and shooting the landing mark 14 on the charging device 1 downwards, and always keeping the landing mark 14 near the center of the shot image, so as to ensure that the rotary-wing unmanned aerial vehicle 8 stops near the landing mark 14;

g) Finally, the rotor unmanned aerial vehicle 8 further realizes that the landing frame 82 falls into the groove 12 due to the self gravity and the rolling action of the concave cambered surface body 11 by the roller 83, so as to trigger the pressure sensor 154, and then the charging seat 15 is connected with an external power supply and charges the battery unit 88 through the contact coil 891 and the lead 892.

Through the charging method, the rotor unmanned aerial vehicle 8 can accurately land on the target charging device 1 without personnel on duty, can be widely applied to the fields of industries such as express industry, agriculture, aerial photography and monitoring, and has the advantages of strong practicability and large-scale use.

In summary, the charging system and the charging device of the rotor unmanned aerial vehicle creatively adopt the mode of landing on the arc surface, and have the function of automatically correcting deviation relative to the plane landing mode, wherein the automatic correcting deviation means that when a small deviation occurs on landing of the landing frame 82, the rolling of the roller on the arc surface can be utilized to automatically correct the deviation, so that the landing charging is ensured to be in good condition; meanwhile, the characteristics of convenience in electrifying, no shielding in the overhead, large space, convenience in maintenance and the like of the urban street lamp are fully utilized, and the urban street lamp has strong practicability and application value.

In addition, the charging method of the charging device 1 creatively adopts three complementary positioning modes, effectively solves the problem of positioning accuracy existing in the conventional mode, and ensures the positioning accuracy of the rotor unmanned aerial vehicle 8; therefore, the invention has the advantages of simple structure, convenient use, accurate positioning, high reliability, high automation degree, flexible combination, easy large-scale arrangement and use and the like, thereby meeting the great demands of urban management and urban life on unmanned aerial vehicles.

The figures are merely schematic and are not drawn to scale. While the invention has been described in connection with preferred embodiments, it is to be understood that the scope of the invention is not limited to the embodiments described herein.

Other embodiments of the invention will be apparent to and understood by those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

Claims

1. Rotor unmanned aerial vehicle charging system based on street lamp, rotor unmanned aerial vehicle charging system includes: the system comprises a charging device, a street lamp unit, a rotor unmanned aerial vehicle and a positioning navigation module; wherein, the liquid crystal display device comprises a liquid crystal display device,

the charging device comprises a concave cambered surface body, two grooves which are positioned on the inner side of the concave cambered surface body and are horizontally and symmetrically arranged along the parallel direction of the cambered surface, and a supporting body positioned below the concave cambered surface body; the ground mark is arranged at the center of the inner side of the concave cambered surface and is in an H shape parallel to the cambered surface; a charging seat is also arranged at the center of the groove;

the street lamp unit comprises a lamp post, a bracket, and an LED lamp, wherein one end of the bracket is connected with the upper end of the lamp post, and the other end of the bracket is connected with a support body;

the rotor unmanned aerial vehicle comprises supporting legs, a landing frame connected with the supporting legs, rollers positioned at two ends of the landing frame, a machine body, flight control and power units positioned around the machine body, a GPS module positioned at the upper part of the machine body, an infrared camera positioned under the machine body and a battery unit;

the rotor unmanned aerial vehicle charging system further comprises a contact coil wound in the middle of the landing frame, and the contact coil is connected with the battery unit through a wire;

the horizontal distance between the grooves is equal to the horizontal distance between the landing frames, and the opening of the grooves is larger than the diameter of the landing frames;

the positioning navigation module comprises a UWB positioning tag positioned below the rotor unmanned aerial vehicle, a UWB positioning base station positioned at the upper part of the lamp post and a positioning server positioned at the far end;

the charging seat comprises a shell, a charging contact body penetrating through the groove and springs with two ends respectively connected with the bottom of the shell and the charging contact body;

a pressure sensor is arranged between the bottom of the shell and the spring; the landing mark is made of infrared reflective materials; the surfaces of the concave cambered surface body and the groove are made of insulating smooth ceramic materials; the charging device also comprises a shade; the mask is made of transparent material;

the shade comprises fixed baffles positioned at two sides of the concave cambered surface body, a pair of movable arc-shaped baffles positioned above the concave cambered surface body and arranged along the symmetry line of the concave cambered surface body, and a driving mechanism for driving the arc-shaped baffles to open and close; the driving mechanism is a gear transmission mechanism driven by a motor;

the two grounding brackets are horizontally arranged in parallel, the end parts of the grounding brackets are connected with the rollers, the grooves are positioned below the inner surface of the concave cambered surface body and smoothly transition with the concave cambered surface body, the infrared reflecting material is hot-melt paint containing metal powder, and the surface of the charging contact body is arc-shaped and is communicated with the contact ring in a matching way to realize the charging function;

the charging method of the rotor unmanned aerial vehicle charging system comprises the following steps of:

b) When the rotor unmanned aerial vehicle approaches to the rotor unmanned aerial vehicle charging device, the UWB positioning tag is started to transmit UWB pulses, and meanwhile the UWB positioning base station starts to capture and receives the UWB pulses;

c) When the UWB positioning base station receives the UWB pulse, stopping navigation of the GPS module and changing the navigation by UWB positioning, and simultaneously transmitting data captured by a plurality of UWB positioning base stations to the remote positioning server in real time;

d) The positioning server further calibrates the acquired data, determines the time difference that the UWB positioning tag reaches different UWB positioning base stations, calculates the position of the UWB positioning tag or the rotor unmanned aerial vehicle by using a TDOA algorithm, and returns the position data to the flight control and power unit in real time;

e) The flight control and power unit navigates the rotor unmanned aerial vehicle to the position right above the appointed idle charging position according to the returned position data, and then stops the UWB positioning navigation and changes the infrared recognition navigation;