CN112141354A - Mobile nest for automatically replacing battery of small unmanned aerial vehicle and parking apron thereof - Google Patents
Mobile nest for automatically replacing battery of small unmanned aerial vehicle and parking apron thereof Download PDFInfo
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- CN112141354A CN112141354A CN202010923075.2A CN202010923075A CN112141354A CN 112141354 A CN112141354 A CN 112141354A CN 202010923075 A CN202010923075 A CN 202010923075A CN 112141354 A CN112141354 A CN 112141354A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 210000000078 claw Anatomy 0.000 claims description 26
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- 230000004438 eyesight Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 14
- 230000001276 controlling effect Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 230000000007 visual effect Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
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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
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a mobile nest for automatically replacing a battery of a small unmanned aerial vehicle, which comprises the mobile nest and a control unit; the movable nest comprises a bottom plate, a bottom plate frame, a movable top cover, an apron arranged on the bottom plate, a three-dimensional module unit and a mechanical clamping jaw; a charging bin is arranged in the parking apron; the control unit is including consecutive industrial computer, control module, a plurality of servo controller, and the industrial computer sends the instruction to control module, carries out each servo controller of instruction control of industrial computer by control module, accomplishes accurate descending and fixed, the removal of three-dimensional module unit, mechanical clamping jaw of control unmanned aerial vehicle on the air park and removes the battery to fixed descending position and get between unmanned aerial vehicle and the storehouse of charging and put battery, the battery information in the storehouse of monitoring charging. The invention provides a platform capable of accurately landing and fastening for the unmanned aerial vehicle, can continuously charge the battery of the unmanned aerial vehicle, and is an unmanned and movable unmanned aerial vehicle intelligent parking apron system in a real sense.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a mobile nest for automatically replacing a battery of a small unmanned aerial vehicle and an apron thereof.
Background
At present, the unmanned aerial vehicle is widely applied to a plurality of fields such as power grid inspection, surveying and mapping, cruising, environment monitoring and express delivery, and the accurate landing and the cruising ability of the unmanned aerial vehicle are important factors influencing the application and development of the unmanned aerial vehicle in the current stage in various industries. But receive unmanned aerial vehicle self structure and weight and battery technology's restriction, unmanned aerial vehicle is half hour at most intelligently flying, and the journey is shorter, has seriously influenced unmanned aerial vehicle at the ability of each trade executive task. Therefore, various parking aprons capable of charging, continuing the journey and accurately landing for the unmanned aerial vehicle appear. The positioning technology of current unmanned aerial vehicle descending position mainly implements on unmanned aerial vehicle, through improving unmanned aerial vehicle self positioning accuracy, reaches the purpose of accurate descending, nevertheless uses RTK to reach centimetre level location, to the landing area less and be equipped with the parking apron of wireless charging technique, its precision still is high inadequately.
The invention patent with publication number CN109502039A discloses a vehicle-mounted unmanned aerial vehicle chassis parking device, and a method and a system for automatically replacing batteries, and the method and the system have the following technical defects:
(1) although the casing is arranged on the shutdown box equipment, the problem that the unmanned aerial vehicle is easily interfered by the environment when parked and charged is solved, the periphery of the casing of the shutdown box equipment is closed, the top of the casing is provided with an opening, the landing space range of the unmanned aerial vehicle is greatly limited, airflow backflushing is caused due to the space limitation of the structure in the descending process of the unmanned aerial vehicle, the unmanned aerial vehicle is not easy to be stable, and the landing difficulty of the unmanned aerial vehicle is increased;
(2) unmanned aerial vehicle must fall in the rectangular region that four location slide bars that set up on the parking apron enclose, utilize four location slide bars to promote unmanned aerial vehicle to the assigned position simultaneously, the unmanned aerial vehicle support leg is locked by the starting switch who sets up on the slide bar, set up the slide bar in the parking area on the one hand and influence the steady landing of unmanned aerial vehicle, on the other hand is in the process that is promoted by the location slide bar, stability when can't guarantee unmanned aerial vehicle shuts down, and the fastening effect is poor;
(3) the charging cabinet is arranged at the rear position of the mechanical arm, the mechanical arm clamps the unmanned aerial vehicle battery and then needs to rotate to place the taken-down battery into a charging groove of the charging cabinet, the taking-down stroke and the taking-down difficulty of the mechanical arm are increased, the mechanical arm is positioned by the aid of the telescopic rod, and the positioning precision is very low.
Therefore, the patent still has many problems in practical application, and aiming at the technical problems, a novel intelligent parking apron system of an unmanned aerial vehicle and a movable unmanned aerial vehicle is urgently needed to be provided for solving the problems.
Disclosure of Invention
The invention aims to solve the technical problem of providing a mobile nest for automatically replacing a battery of a small unmanned aerial vehicle and an air park thereof, which can realize accurate landing and intelligent charging of the unmanned aerial vehicle.
In order to solve the technical problems, the invention adopts a technical scheme that: the utility model provides a mobile nest for automatically replacing batteries of a small unmanned aerial vehicle, which comprises a mobile nest and a control unit;
the movable nest comprises a bottom plate, a bottom plate frame, a movable top cover connected to the bottom plate frame in a sliding mode, an apron arranged on the bottom plate and a three-dimensional module unit; a charging bin is arranged in the parking apron, and the three-dimensional module unit comprises a mechanical clamping jaw;
the control unit is including consecutive industrial computer, control module, a plurality of servo controller, and the industrial computer sends the instruction to control module, carries out each servo controller of instruction control of industrial computer by control module, accomplishes accurate descending and fixed, the removal of three-dimensional module unit, mechanical clamping jaw of control unmanned aerial vehicle on the air park and removes the battery to fixed descending position and get between unmanned aerial vehicle and the storehouse of charging and put battery, the battery information in the storehouse of monitoring charging.
In a preferred embodiment of the invention, a synchronous belt is arranged above one side of the bottom plate frame, a top cover connecting plate is arranged on the synchronous belt, one end of the synchronous belt is arranged on an output shaft of a stepping motor, and a slide rail is arranged on the bottom plate frame on the side opposite to the synchronous belt;
the movable top cover comprises a first top cover and a second top cover, the first top cover and the second top cover are connected with the bottom plate frame in a sliding mode through a top cover connecting plate and a sliding rail, and when the movable top cover is completely opened, the first top cover and the second top cover are located on two end sides of the sliding rail respectively.
In a preferred embodiment of the present invention, the three-dimensional module unit further comprises an X-axis module, a Y-axis module, a Z1-axis module, and a Z2-axis module;
the X-axis module is arranged on the bottom plate opposite to the charging bin and used for moving the three-dimensional module unit in the horizontal direction;
the Y-axis module is arranged on the bottom plate between the X-axis module and the charging bin and is used for moving the three-dimensional module unit in the vertical direction;
the Z1 shaft module is vertically arranged on the outer side of the X shaft module and is used for realizing the up-and-down movement of a mechanical clamping jaw arranged on the Z1 shaft module on the Z1 shaft module;
the Z2 axle module includes the intermodule connecting piece of sliding connection between X axle module and Z1 axle module for realize the up-and-down motion of Z1 axle module.
Furthermore, a binocular camera is further installed at the top end of the Z1 shaft module and used for identifying the position of the unmanned aerial vehicle landing on the parking apron, assisting the mechanical clamping jaw to complete the taking and placing of the unmanned aerial vehicle battery, and assisting the control unit to monitor the charging state of the battery in the charging bin.
In a preferred embodiment of the present invention, the servo controller comprises a top cover servo controller, a three-dimensional module servo controller, a mechanical clamping jaw servo controller, a parking apron servo controller, and a vision system servo controller;
the top cover servo controller is used for controlling the opening and closing of the top cover;
the three-dimensional module servo controller is used for controlling the movement of the three-dimensional module unit;
the mechanical clamping jaw servo controller is used for controlling the grabbing action of the mechanical clamping jaw;
the parking apron servo controller is used for fixing the unmanned aerial vehicle on the parking apron;
the vision system servo controller is used for controlling the starting and stopping of the binocular camera.
In order to solve the technical problem, the invention adopts another technical scheme that: the parking apron for the automatic battery replacement of the small unmanned aerial vehicle comprises a box body with an opening on the bottom surface;
the front end of box is equipped with the storehouse of charging, and the last top surface of box is equipped with unmanned aerial vehicle's descending platform, and the box that is located descending platform position is inside to be provided with unmanned aerial vehicle frame fastener for unmanned aerial vehicle stops to fall in the position of descending platform and returns to the centre and fix.
In a preferred embodiment of the invention, the charging bin comprises a plurality of charging grooves for charging or accommodating the unmanned aerial vehicle battery, a photoelectric sensor arranged in the charging grooves and a current sensor;
the photoelectric sensor is used for confirming whether the battery is in the charging groove or not;
the current sensor is used for detecting whether the battery is in a charging state and a charging amount.
In a preferred embodiment of the invention, the unmanned aerial vehicle frame fastening device comprises two driving motors and two sets of frame fixing claws;
the driving motors are fixedly arranged in the box body, and the axes of the two driving motors are positioned on the same straight line;
each group of the frame fixing claws comprises two frame fixing claws which are respectively arranged at two ends of a motor shaft of the driving motor.
Furthermore, one end of the rack fixing claw is provided with a ferrule, the other end of the rack fixing claw is provided with a hook claw, the ferrule is fixedly connected with a motor shaft of the driving motor, and the middle of the rack fixing claw is provided with a through groove.
Furthermore, the middle part of descending platform is opened has four waist type grooves of array arrangement for the frame stationary dog stretches out the fixed unmanned aerial vehicle frame of waist type groove.
The invention has the beneficial effects that:
(1) the movable nest is provided with the movable and open top cover, so that the problem that the unmanned aerial vehicle is easily interfered by the environment when being parked and charged is solved, the landing space range of the unmanned aerial vehicle is enlarged, and the landing stop difficulty of the unmanned aerial vehicle is effectively reduced; the unmanned aerial vehicle battery is taken and placed between the unmanned aerial vehicle and the charging bin in a full-automatic and intelligent mode, and a continuous charging cruising function is provided for the unmanned aerial vehicle; the control unit controls the unmanned aerial vehicle to accurately land and fix on the parking apron, the three-dimensional module unit to move, the mechanical clamping jaw to take and place the battery between the unmanned aerial vehicle and the charging bin, and the battery information in the charging bin is monitored, so that an unmanned and movable unmanned aerial vehicle intelligent parking apron system is provided in a true sense;
(2) the parking apron not only provides a platform capable of accurately landing and fastening for the unmanned aerial vehicle, but also can continuously charge the battery of the unmanned aerial vehicle, and can be widely applied to mobile nests of various unmanned aerial vehicles; the unmanned aerial vehicle frame fastening device is ingenious in design, and the two groups of frame fixing claws move oppositely at the same time, so that the functions of effectively clamping, fixing and centering the unmanned aerial vehicle are achieved;
(3) the mobile nest is suitable for the halt of the small unmanned aerial vehicle and the automatic battery replacement, has high automation and intelligence degree, can be installed on an automobile, a ship or a truck, can be used on the ground, assists the unmanned aerial vehicle to meet the operation requirements in various environments, and has wide application range.
Drawings
Fig. 1 is a schematic perspective view of a mobile nest for automatically replacing batteries of a small unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic perspective view of the unmanned aerial vehicle with a second top cover removed from a mobile nest for automatically replacing batteries;
fig. 3 is a schematic perspective view of the mobile nest removing mobile top cover for the unmanned aerial vehicle to automatically replace the battery;
FIG. 4 is an enlarged view of portion A of FIG. 3;
FIG. 5 is a schematic view of the internal structure of the apron;
fig. 6 is a schematic structural view of the charging bin;
FIG. 7 is a schematic structural view of the frame fixing claw;
fig. 8 is a schematic block diagram of the structure of the control unit.
The parts in the drawings are numbered as follows: 1. a base plate, 2, a base plate frame, 3, a top cover, 31, a first top cover, 32, a second top cover, 4, a parking apron, 41, a charging bin, 411, a charging slot, 412, a buckle, 42, a box body, 43, a landing platform, 431, a kidney-shaped slot, 432, a position positioning mark, 44, a driving motor, 45, a rack fixing claw, 451, a ferrule, 452, a hook claw, 453, a through slot, 5, a three-dimensional module unit, 51, a mechanical jaw, 52, an X-axis module, 521, an X-axis track, 522, an X-axis link slot, 523, an X-axis module driving motor, 53, a Y-axis module, 531, a Y-axis track, 532, a Y-axis link slot, 533, a Y-axis module driving motor, 534, a limiter, 54, a Z1-axis module, 541, a Z1-axis track, 542, a Z-axis module driving motor, 1-axis module driving motor, 543, an extension plate, 55, a Z2-axis module, 551, 2-to-axis module connection pieces, 552, a Z-, 6. hold-in range, 61, top cap connecting plate, 62, slide bearing, 7, step motor, 71, mounting bracket, 8, slide rail, 9, binocular camera.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Referring to fig. 1 to 3, an embodiment of the present invention includes:
the utility model provides an automatic removal nest of changing battery of unmanned aerial vehicle, includes removal nest, the control unit can set up in the switch board, and the switch board is placed in the below of removing the nest.
The moving nest comprises a bottom plate 1, a bottom plate frame 2, a moving top cover 3 connected to the bottom plate frame 2 in a sliding mode, an apron 4 arranged on the bottom plate 1 and a three-dimensional module unit 5; a charging bin 41 is arranged in the parking apron 4, and the three-dimensional module unit 5 comprises a mechanical clamping jaw 51; the control unit is including consecutive industrial computer, control module, a plurality of servo controller, the industrial computer sends the instruction to control module, each servo controller of instruction control of industrial computer is executed by control module, accomplish the accurate descending and fixed of control unmanned aerial vehicle on air park 4, three-dimensional module unit 5's removal, mechanical clamping jaw 51 removes unmanned aerial vehicle to fixed descending position and gets between unmanned aerial vehicle and the storehouse 41 that charges and put the battery, control the battery information in the storehouse 41 that charges. Preferably, the control module comprises a PLC and a motion control card.
The bottom plate frame 2 is a frame formed by four sectional materials and is a main stress point of the whole moving machine nest, and the bottom plate 1 is arranged on the bottom plate frame 2. Synchronous belt 6 is installed to one side top of bottom plate frame 2, is provided with two top cap connecting plates 61 on the synchronous belt 6, and the one end of synchronous belt 6 is installed on the output shaft of step motor 7, and the other end is installed on a slide bearing 62, and step motor 7 installs on the bottom plate frame 2 of one side through an installation bracket 71, and slide bearing 62 installs on the bottom plate frame 2 of opposite side. Install slide rail 8 on the relative one side bottom plate frame 2 of hold-in range 6, for satisfying the length demand, slide rail 8 can adopt the syllogic slide rail.
Referring to fig. 2, the movable top cover 3 includes a first top cover 31 and a second top cover 32, and the first top cover 31 and the second top cover 32 are both slidably connected to the chassis frame 2 through a top cover connecting plate 61 and a sliding rail 8. When portable top cap 3 was all opened, first top cap 31 and second top cap 32 were located the both ends side of slide rail 8 respectively, can shut down for unmanned aerial vehicle and provide a great space range, effectively reduce the descending degree of difficulty of shutting down of unmanned aerial vehicle.
The three-dimensional module unit 5 further comprises an X-axis module 52, a Y-axis module 53, a Z1 axis module 54 and a Z2 axis module 55.
The X-axis module 52 is provided on the base plate 1 opposite to the charging bin 41 for movement of the three-dimensional module unit 5 in the horizontal direction. The X-axis module wiring device comprises an X-axis track 521, an X-axis chain type wiring groove 522 and an X-axis module driving motor 523, wherein the X-axis module driving motor 523 is installed at one end of the X-axis track 521 and provides driving force for the X-axis module 52, and the X-axis chain type wiring groove 522 is installed on one side of the X-axis track 521 and used for wiring of an X-axis module.
The Y-axis module 53 is disposed on the base plate 1 between the X-axis module 52 and the charging bin 41, and is used for movement of the three-dimensional module unit 5 in the vertical direction. Including Y axle track 531, Y axle chain wire casing 532, Y axle module driving motor 533 installs the one end at Y axle track 531, provides drive power for Y axle module 53, and Y axle chain wire casing 532 installs the one side at Y axle track 531 for the wiring of Y axle module.
The Z1 axle module 54 is vertically installed at the outside of the X axle module 52, and comprises a Z1 axle track 541 and a Z1 axle module driving motor 542, and the Z1 axle module driving motor 542 is installed at one end of an extending plate 543 above the Z1 axle track 541, and provides driving force for the Z1 axle module 54. The mechanical clamping jaw 51 is slidably mounted on a Z1 shaft rail 54, and the Z1 shaft module 54 is used for realizing the up-and-down movement of the mechanical clamping jaw 51 on the Z1 shaft module 54. The other end of the extending plate 543 above the Z1 shaft rail 54 is provided with a binocular camera 9 for recognizing the landing position of the unmanned aerial vehicle on the apron 4, assisting the mechanical clamping jaw 51 to complete the taking and placing of the unmanned aerial vehicle battery, and assisting the control unit to monitor the charging state of the battery in the charging bin.
The Z2 axis module 55 includes an inter-module connector 551 slidably connected between the X axis module 52 and the Z1 axis module 54, and a Z2 axis module driving motor 552 mounted on the inter-module connector 551, wherein the inter-module connector 551 not only realizes the left and right movement of the Z1 axis module 54 on the X axis module 52, but also realizes the up and down movement of the Z1 axis module 54. The Z2 axis module drive motor 552 provides the drive force for the Z2 axis module 55.
Furthermore, a pair of stoppers 534 are mounted on the X-axis rail 521, the Y-axis rail 531 and the Z1-axis rail 541, respectively, and are mounted at two ends of the rails, and the distance between the stoppers 534 at the two ends is the stroke range of the rails. The stopper 534 acts as a switch, and the track stops moving when moving to the stopper 534.
Referring to fig. 4 and 5, the apron 4 includes a box 42 having an open bottom, and the box 42 is fixedly installed on the floor 1. The front end of box 42 is equipped with the storehouse 41 that charges, and the last top surface of box 42 is equipped with unmanned aerial vehicle's descending platform 43, is located the inside unmanned aerial vehicle frame fastener that is provided with of box 42 that descends platform 43 position for unmanned aerial vehicle stops to fall in the position of descending platform 43 and returns to the centre and fix.
Referring to fig. 6, the charging chamber 41 includes a plurality of charging slots 411 for charging or accommodating the battery of the unmanned aerial vehicle, a photo sensor disposed in the charging slots 411, and a current sensor (not shown). In this embodiment, the number of charging slot 411 is five, and some in these charging slot 411 are empty for deposit the battery that takes off from unmanned aerial vehicle and charge, and some place and are charging or the battery that the electric quantity is sufficient, in order to supply unmanned aerial vehicle to change. Further, a buckle 412 is arranged in the charging slot 411, when the battery is inserted into the charging slot 411, a button on the battery is matched with the buckle 412 in a structure, that is, the battery can be locked, and similarly, when the battery is taken out from the charging slot 411, the button on the battery is pressed to be separated from the buckle 412 in the charging slot 411, so that the battery can be extracted. The photoelectric sensor is used for confirming whether the battery is in the charging groove or not; the current sensor is used for detecting whether the battery is in a charging state and a charging amount. Preferably, an indicator light (not shown) may be further disposed on the charging slot 411 to indicate a charging state and a charging amount of the battery. The control unit visually perceives the position, the electric quantity information, etc. of the battery by means of the binocular camera 9. The power supply of the charging bin 41 is provided by a control unit, and the control unit can be connected with a vehicle-mounted power supply or an external power supply.
The unmanned aerial vehicle frame fastening device comprises two driving motors 44 and two groups of frame fixing claws 45. The driving motors 44 are fixedly installed in the box 42, and the axes of the two driving motors 44 are located on the same straight line. Preferably, the driving motor 44 is a dual output shaft speed reducing motor. Each set of the frame fixing claws 45 includes two frame fixing claws 45 respectively mounted at both ends of a motor shaft of the drive motor 44. The clamping and loosening of the unmanned aerial vehicle frame are achieved by controlling the forward and reverse rotation of the driving motor 44.
Referring to fig. 7, one end of the frame fixing claw 45 is provided with a ferrule 451, and the other end is provided with a hook 452, and the ferrule 451 is fixedly connected with a motor shaft of the driving motor 44. In order to reduce the weight, a through groove 453 is provided in the middle of the frame fixing claw 45. The hook 452 of the frame fixing claw 45 on the same drive motor 44 is oriented in the same direction, and the hook 452 is oriented outward in the figure. Preferably, the fingers 452 are each inwardly facing with respect to the frame securing fingers 45 on the drive motor 44 to provide an inward clamping force when securing the drone frame.
The middle part of descending platform 43 is opened has four waist type grooves 431 of array arrangement, is located two driving motor 44's both sides respectively for frame stationary dog 45 stretches out waist type groove 431 and fixes the unmanned aerial vehicle frame. When the frame fixing claws 45 move, under the driving of the driving motor 44, the two groups of frame fixing claws 45 move in opposite directions simultaneously so as to clamp, fix and center the unmanned aerial vehicle. Preferably, be equipped with position location mark 432 and direction location mark (not shown in the figure) on descending platform 43, position location mark 432 is as the position reference at unmanned aerial vehicle landing in-process, can design striking colour, and direction location mark is as the direction reference at unmanned aerial vehicle landing in-process to the orientation of adjustment unmanned aerial vehicle.
The fastening of the unmanned aerial vehicle frame is realized through the unmanned aerial vehicle frame fastening device, so that the situation that the unmanned aerial vehicle moves in the process of clamping the unmanned aerial vehicle battery by the mechanical clamping jaw 51 and the battery cannot be clamped is avoided; meanwhile, the stability of the unmanned aerial vehicle stopping on the parking apron is improved.
For further weight reduction, no floor is designed between the three-dimensional module unit 5 and the apron 4.
With reference to fig. 8, the industrial personal computer is the control core of the whole mobile nest, can control the operation of the whole unmanned aerial vehicle nest, and the control module receives each servo controller of the command control of the industrial personal computer, and controls the operation of the motor by the servo controller, thereby controlling the work of the whole device: including the opening and closing of the nest top cover 3, the motion of the three-dimensional module unit 5, the motion of the mechanical clamping jaw 51, the fixing and loosening of the unmanned aerial vehicle frame, and the monitoring of the use condition of the charging slot 411 of the charging bin 41, the charging condition of the rechargeable battery and the like.
The servo controller comprises a top cover servo controller, a three-dimensional module servo controller, a mechanical clamping jaw servo controller, an apron servo controller and a vision system servo controller. The top cover servo controller is used for controlling the opening and closing of the top cover 3; the three-dimensional module servo controller is used for controlling the movement of the three-dimensional module unit 5; the mechanical clamping jaw servo controller is used for controlling actions of the mechanical clamping jaw 51 for grabbing the unmanned aerial vehicle and the battery; the parking apron servo controller is used for fixing the unmanned aerial vehicle on the parking apron 4; the vision system servo controller is used for controlling the start and stop of the binocular camera 9.
The control process of the control unit is described below with reference to a specific structure:
(1) opening and closing of the nest top cover:
when the unmanned aerial vehicle returns to the mobile nest, the return information is sent to the industrial personal computer, the industrial personal computer sends an instruction to the control module to the top cover servo controller, the top cover servo controller controls the step motor to work, and the top cover 3 is controlled to be opened to a preset position;
when unmanned aerial vehicle takes off, will take off information transmission and give the industrial computer, the industrial computer assigns the instruction control module to top cap servo controller, and top cap servo controller control step motor work controls top cap 3 closed.
(2) Movement of the three-dimensional module unit and the mechanical clamping jaw:
mainly accomplish the location of unmanned aerial vehicle position and the change of battery, specifically include following content:
1) unmanned aerial vehicle falls on the parking apron, send shutdown information for the industrial computer, the industrial computer assigns control module to visual system servo controller with the instruction, visual system servo controller control binocular camera 9 begins work, calculate unmanned aerial vehicle's landing position, convert the visual system coordinate into unmanned aerial vehicle's mechanical coordinate, the industrial computer is according to unmanned aerial vehicle's mechanical coordinate, send the instruction to three-dimensional module servo controller and mechanical clamping jaw servo controller, X axle module driving motor 523 work, control the removal about three-dimensional module unit 5, Y axle module driving motor 533 work, control the back-and-forth movement of three-dimensional module unit 5, Z1 axle module driving motor 542 work, control mechanical clamping jaw 51 reciprocates relatively three-dimensional module unit 5, Z2 axle module driving motor 552 work, control reciprocating of Z1 axle module 54 and mechanical clamping jaw 51. After the three-dimensional module unit 5 and the mechanical clamping jaw 51 reach the designated positions, the mechanical clamping jaw servo controller receives an instruction issued by the control module to start working, the upper end face and the lower end face of the unmanned aerial vehicle battery are clamped, the unmanned aerial vehicle is integrally moved to the fixed landing positions, namely the four waist-shaped grooves 431 of the landing platform 43, and the precise positioning of the unmanned aerial vehicle is completed;
2) after the unmanned aerial vehicle is accurately positioned on the parking apron, namely after the mechanical clamping jaw 51 finishes the action of grabbing the unmanned aerial vehicle, the industrial personal computer sends an instruction to send a control module to a servo controller of the parking apron, controls two driving motors 44 of a frame fastening device of the unmanned aerial vehicle to start working, and fixes the unmanned aerial vehicle at a fixed position;
3) after unmanned aerial vehicle is fixed, the industrial computer gives an instruction, and mechanical clamping jaw 51 accomplishes the battery extraction on the unmanned aerial vehicle and moves into the storehouse of charging under three-dimensional module unit 5's cooperation, charges for the battery, and mechanical clamping jaw 51 gets back to the primary importance (the position that unmanned aerial vehicle descended) again. Meanwhile, after the batteries in the charging bin 41 are fully charged, the batteries are judged by the industrial personal computer to be automatically powered off, so that the safety is ensured, and the fully charged batteries are in standby;
4) the industrial personal computer issues a battery replacement command, the three-dimensional module and the vision system servo controller receive the command, the full-charge battery is grabbed and inserted into the charging bin 41 of the unmanned aerial vehicle, the charging bin 41 buckle 412 of the unmanned aerial vehicle fastens the battery, and the mechanical clamping jaw 51 returns to the original position to complete the replacement of the battery;
5) when unmanned aerial vehicle need take off, unmanned aerial vehicle's information send to industrial computer or industrial computer give down when taking off order to unmanned aerial vehicle, two driving motor 44 of air park servo controller control unmanned aerial vehicle frame fastener begin work, loosen the unmanned aerial vehicle frame, unmanned aerial vehicle takes off.
(3) Actions of the visual perception system:
information is acquired through sensor sensing equipment such as the binocular camera 9, the photoelectric sensor and the current sensor and is fed back to the industrial personal computer, and therefore operation of the equipment is controlled. In an example, the sensor further comprises a sensor of the opening and closing position of the top cover and a sensor of the opening and closing position of the mechanical clamping jaw.
Furthermore, the industrial personal computer can also be connected with external equipment through a 4G network, WIFI, a wired network and the like, and the industrial personal computer comprises a mobile phone, a ground station and the like and controls the mobile machine nest together.
The working process of the mobile nest is described in detail below, including:
(1) unmanned aerial vehicle descending process:
the unmanned aerial vehicle returns to the instruction is received to the aircraft nest → the step motor 7 of the aircraft nest top cover 3 begins to work → two top covers 3 are opened respectively to preset positions → the unmanned aerial vehicle descends to the air park 4 → the binocular camera 9 that the aircraft nest was equipped begins to work, calculate the position that the unmanned aerial vehicle descends, convert the visual system coordinate into the mechanical coordinate of unmanned aerial vehicle → the industrial computer calculates the difference between this coordinate and the fixed position of descending according to the mechanical coordinate of unmanned aerial vehicle, send out the execution instruction → the instruction of industrial computer of three-dimensional module unit 5, X, Y, Z1, Z2 axle module adjust corresponding position under corresponding driving motor → arrive after the designated position, mechanical clamping jaw 51 begins to work, mechanical clamping jaw 51 presss from both sides upper and lower two terminal surfaces of unmanned aerial vehicle battery → mechanical clamping jaw 51 moves the unmanned aerial vehicle wholly to the fixed position of descending under the cooperation of three.
(2) Unmanned aerial vehicle extraction battery process:
after unmanned aerial vehicle descends air park 4, under the effect of mechanical clamping jaw 51, move to fixed position → the unmanned aerial vehicle frame returns in, driving motor 44 begins to start, under the fastening of frame stationary dog 45, fixes unmanned aerial vehicle in this position department → mechanical clamping jaw 51 is under the cooperation of three-dimensional module unit 5, takes the unmanned aerial vehicle storehouse that charges out the unmanned aerial vehicle battery to move to the storehouse 41 that charges of battery → battery charging, mechanical clamping jaw 51 returns the primary importance.
(3) The battery replacing process of the unmanned aerial vehicle:
after the battery is full of in the storehouse 41 of charging, judge through the industrial computer, auto-power-off, guarantee safety, the battery standby after full charge → mechanical clamping jaw 51 snatchs the battery of full charge under three-dimensional module unit 5 and visual system's control, insert the battery in the unmanned aerial vehicle storehouse of charging → the buckle 412 in unmanned aerial vehicle storehouse of charging with the battery fastening → mechanical clamping jaw 51 returns the original point, accomplish the battery change → unmanned aerial vehicle standby → unmanned aerial vehicle accepts the instruction of taking off → unmanned aerial vehicle frame fastener loosens → unmanned aerial vehicle takes off.
The mobile nest is suitable for the shutdown and the autonomous battery replacement of small unmanned aerial vehicles, is especially suitable for a Dajiang fairy 4 unmanned aerial vehicle aiming at polarity, has high automation and intelligence degree, can be installed on automobiles, ships or trucks, can also be used on the ground, assists the unmanned aerial vehicle to realize the operation requirements under various environments, and has wide application range. For example, when the mobile nest is installed on an automobile, after the unmanned aerial vehicle finishes all polling tasks, the unmanned aerial vehicle sends an instruction request to the industrial personal computer to return, the industrial personal computer acquires the current information of the vehicle, the vehicle position information is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle finishes landing on the vehicle-mounted mobile nest.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A mobile nest for automatically replacing batteries of a small unmanned aerial vehicle is characterized by comprising the mobile nest and a control unit;
the movable nest comprises a bottom plate, a bottom plate frame, a movable top cover connected to the bottom plate frame in a sliding mode, an apron arranged on the bottom plate and a three-dimensional module unit; a charging bin is arranged in the parking apron, and the three-dimensional module unit comprises a mechanical clamping jaw;
the control unit is including consecutive industrial computer, control module, a plurality of servo controller, and the industrial computer sends the instruction to control module, carries out each servo controller of instruction control of industrial computer by control module, accomplishes accurate descending and fixed, the removal of three-dimensional module unit, mechanical clamping jaw of control unmanned aerial vehicle on the air park and removes the battery to fixed descending position and get between unmanned aerial vehicle and the storehouse of charging and put battery, the battery information in the storehouse of monitoring charging.
2. The mobile nest for automatically replacing batteries of a small unmanned aerial vehicle according to claim 1, wherein a synchronous belt is mounted above one side of the bottom plate frame, a top cover connecting plate is arranged on the synchronous belt, one end of the synchronous belt is mounted on an output shaft of a stepping motor, and a slide rail is mounted on the bottom plate frame on the side opposite to the synchronous belt;
the movable top cover comprises a first top cover and a second top cover, the first top cover and the second top cover are connected with the bottom plate frame in a sliding mode through a top cover connecting plate and a sliding rail, and when the movable top cover is completely opened, the first top cover and the second top cover are located on two end sides of the sliding rail respectively.
3. The mobile nest for automatic battery replacement of small unmanned aerial vehicles according to claim 1, wherein the three-dimensional module unit further comprises an X-axis module, a Y-axis module, a Z1-axis module, a Z2-axis module;
the X-axis module is arranged on the bottom plate opposite to the charging bin and used for moving the three-dimensional module unit in the horizontal direction;
the Y-axis module is arranged on the bottom plate between the X-axis module and the charging bin and is used for moving the three-dimensional module unit in the vertical direction;
the Z1 shaft module is vertically arranged on the outer side of the X shaft module and is used for realizing the up-and-down movement of a mechanical clamping jaw arranged on the Z1 shaft module on the Z1 shaft module;
the Z2 axle module includes the intermodule connecting piece of sliding connection between X axle module and Z1 axle module for realize the up-and-down motion of Z1 axle module.
4. The mobile nest for automatic battery replacement of small unmanned aerial vehicles according to claim 3, wherein a binocular camera is further installed on the top end of the Z1 axis module, and is used for recognizing the landing position of the unmanned aerial vehicle on the apron, assisting the mechanical clamping jaws to complete the taking and placing of the unmanned aerial vehicle battery, and assisting the control unit to monitor the charging state of the battery in the charging bin.
5. The mobile nest for automatic battery replacement for small unmanned aerial vehicles according to claim 1, wherein the servo controller comprises a top cover servo controller, a three-dimensional module servo controller, a mechanical clamping jaw servo controller, an apron servo controller, a vision system servo controller;
the top cover servo controller is used for controlling the opening and closing of the top cover;
the three-dimensional module servo controller is used for controlling the movement of the three-dimensional module unit;
the mechanical clamping jaw servo controller is used for controlling the grabbing action of the mechanical clamping jaw;
the parking apron servo controller is used for fixing the unmanned aerial vehicle on the parking apron;
the vision system servo controller is used for controlling the starting and stopping of the binocular camera.
6. An apron for automatically replacing batteries of a small unmanned aerial vehicle is characterized by comprising a box body with an opening on the bottom surface;
the front end of box is equipped with the storehouse of charging, and the last top surface of box is equipped with unmanned aerial vehicle's descending platform, and the box that is located descending platform position is inside to be provided with unmanned aerial vehicle frame fastener for unmanned aerial vehicle stops to fall in the position of descending platform and returns to the centre and fix.
7. The small unmanned aerial vehicle apron for automatic battery replacement according to claim 6, wherein the charging bin comprises a plurality of charging slots for charging or accommodating the unmanned aerial vehicle battery, a photoelectric sensor and a current sensor arranged in the charging slots;
the photoelectric sensor is used for confirming whether the battery is in the charging groove or not;
the current sensor is used for detecting whether the battery is in a charging state and a charging amount.
8. The small unmanned aerial vehicle apron for automatic battery replacement according to claim 6, wherein the unmanned aerial vehicle frame fastening device comprises two driving motors and two sets of frame fixing claws;
the driving motors are fixedly arranged in the box body, and the axes of the two driving motors are positioned on the same straight line;
each group of the frame fixing claws comprises two frame fixing claws which are respectively arranged at two ends of a motor shaft of the driving motor.
9. The parking apron for the automatic battery replacement of the small unmanned aerial vehicle as claimed in claim 8, wherein one end of the frame fixing claw is provided with a ferrule, the other end of the frame fixing claw is provided with a hook claw, the ferrule is fixedly connected with a motor shaft of the driving motor, and a through groove is formed in the middle of the frame fixing claw.
10. The apron of automatic battery change of unmanned aerial vehicle of claim 8 or 9, characterized in that, open at the middle part of descending platform has four waist type grooves of array arrangement for the frame stationary dog stretches out waist type groove and fixes the unmanned aerial vehicle frame.
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| CN202010923075.2A CN112141354A (en) | 2020-09-04 | 2020-09-04 | Mobile nest for automatically replacing battery of small unmanned aerial vehicle and parking apron thereof |
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| CN202010923075.2A CN112141354A (en) | 2020-09-04 | 2020-09-04 | Mobile nest for automatically replacing battery of small unmanned aerial vehicle and parking apron thereof |
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| CN112960132A (en) * | 2021-03-26 | 2021-06-15 | 中国能源建设集团江苏省电力设计院有限公司 | Distributed shared nest and unmanned aerial vehicle inspection method for power line of distributed shared nest |
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| WO2024016767A1 (en) * | 2022-07-19 | 2024-01-25 | 比亚迪股份有限公司 | Nest for unmanned aerial vehicle, vehicle and control method |
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