CN113608549A - Unmanned aerial vehicle patrol scheduling method, device and system for smart city - Google Patents
Unmanned aerial vehicle patrol scheduling method, device and system for smart city Download PDFInfo
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Abstract
The invention discloses a patrol scheduling method of an unmanned aerial vehicle for a smart city, which comprises the following steps: controlling the unmanned aerial vehicle to take off and executing patrol tasks according to a planned route; controlling the unmanned vehicle to adjust the parking position according to the flight parameters of the unmanned vehicle; judging whether the unmanned aerial vehicle reaches a landing condition or not, and obtaining a first judgment result; if the first judgment result is yes, the unmanned aerial vehicle is controlled to be in butt joint with the unmanned vehicle, and the unmanned vehicle is controlled to execute battery replacement operation for the unmanned aerial vehicle. According to the scheduling method, when the electric quantity is lower than the threshold value in the cruising process of the unmanned aerial vehicle, the electric quantity is temporarily supplemented for the unmanned aerial vehicle, and the cruising continuity of the unmanned aerial vehicle is ensured.
Description
Technical Field
The invention relates to the field of patrol of unmanned aerial vehicles, in particular to the field of patrol scheduling methods of unmanned aerial vehicles for smart cities.
Background
Along with the development of communication technology and intelligent industry, intelligent factories, intelligent parks, intelligent properties and the like, all aspects begin to advance like intelligent directions, the concept of smart cities is more and more mature, patrol unmanned planes for smart cities also become main equipment for city patrol, and the intelligent unmanned planes need to consume electric quantity when patrolling, frequently return to the air and have discontinuous patrol tasks, so that a stable and reliable scheduling method is needed.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the patrol scheduling method for the unmanned aerial vehicle for the smart city, and the method can automatically charge the unmanned aerial vehicle when the electric quantity is lower than the threshold value.
The technical scheme is as follows: in order to achieve the purpose, the unmanned aerial vehicle patrol scheduling method for the smart city is characterized by comprising the following steps:
controlling the unmanned aerial vehicle to take off and executing patrol tasks according to a planned route;
controlling the unmanned vehicle to adjust the parking position according to the flight parameters of the unmanned vehicle;
judging whether the unmanned aerial vehicle reaches a landing condition or not, and obtaining a first judgment result;
if the first judgment result is yes, the unmanned aerial vehicle is controlled to be in butt joint with the unmanned vehicle, and the unmanned vehicle is controlled to execute battery replacement operation for the unmanned aerial vehicle.
Further, according to unmanned aerial vehicle's flight parameter control unmanned aerial vehicle adjustment parking position includes:
calculating a predicted parking area where the unmanned aerial vehicle needs to be supplemented with electric quantity according to the flight parameters of the unmanned aerial vehicle;
selecting a target parking point for the unmanned vehicle according to the predicted parking area;
and controlling the unmanned vehicle to reach the target stop point before the unmanned vehicle leans against.
Further, setting a threshold value for the electric quantity of the unmanned aerial vehicle, and calculating a predicted parking area where the unmanned aerial vehicle needs to be supplemented with the electric quantity according to flight parameters of the unmanned aerial vehicle includes:
acquiring coordinates when the electric quantity of the unmanned aerial vehicle is lower than a set threshold value, and setting the coordinates as origin coordinates;
calculating the safe distance that unmanned aerial vehicle electric quantity can fly when being less than the settlement threshold value, use the origin coordinate is the centre of a circle, the circle that safe distance is the radius is the prediction is berthhed the region.
Further, a plurality of preset stop points are arranged for the unmanned vehicle, and the distance between two adjacent preset stop points is smaller than the safety distance, so that at least one preset stop point in the predicted stop area is ensured; the selecting a target stop point for the unmanned vehicle according to the predicted stop area comprises:
and selecting the preset stop point with the closest distance as the target stop point of the unmanned aerial vehicle.
Further, the unmanned vehicle comprises a vehicle body and an unmanned bin, wherein the unmanned bin comprises a bin body assembly, a clamping mechanism and a battery taking module; the cabin body assembly comprises a cabin body, a box cover, a parking pallet assembly and a charging box, wherein the parking pallet assembly is provided with a lifting part for lifting and positioning the unmanned aerial vehicle;
the clamping mechanism is fixed on the lower surface of the parking pallet component and used for clamping and fixing the unmanned aerial vehicle;
get battery module and have the movable module, snatch module and supporting component, snatch the module and can carry out getting of unmanned aerial vehicle battery under the drive of movable module and put, the supporting component is in it plays the supporting role to snatch the module when getting the battery.
Control unmanned aerial vehicle with the butt joint of unmanned vehicle includes:
controlling the box cover to be opened;
controlling the unmanned aerial vehicle to land on a liftable portion of the docking pallet assembly;
controlling the elevation portion of the docking pallet assembly to descend;
controlling the clamping mechanism to fix the unmanned aerial vehicle;
control get the battery module and do unmanned aerial vehicle changes the battery.
The utility model provides a smart city is with unmanned aerial vehicle scheduling device that patrols, it includes:
the first control module is used for controlling the unmanned aerial vehicle to take off and executing patrol tasks according to a planned route;
the second control module is used for controlling the unmanned vehicle to adjust the parking position according to the flight parameters of the unmanned vehicle;
the judging module is used for judging whether the unmanned aerial vehicle reaches a landing condition or not and obtaining a first judging result; (ii) a
And the execution module is used for controlling the unmanned aerial vehicle to be in butt joint with the unmanned vehicle and controlling the unmanned vehicle to execute battery replacement operation for the unmanned aerial vehicle when the first judgment result is yes.
An unmanned aerial vehicle patrol scheduling system for a smart city, which comprises an unmanned aerial vehicle, an unmanned vehicle and a scheduling center, wherein the scheduling center can communicate with the unmanned aerial vehicle and the unmanned vehicle, and is used for implementing the unmanned aerial vehicle patrol scheduling method for the smart city according to any one of claims 1-6.
Has the advantages that: according to the patrol scheduling method, device and system for the unmanned aerial vehicle for the smart city, batteries of the unmanned aerial vehicle capable of patrolling the city are temporarily replaced, and the unmanned aerial vehicle automatically replaces the batteries of the unmanned aerial vehicle after the electric quantity of the unmanned aerial vehicle is lower than a set threshold value, so that the unmanned aerial vehicle can perform continuous patrol tasks.
Drawings
FIG. 1 is an overall diagram of a patrol dispatching system of an unmanned aerial vehicle;
FIG. 2 is a flow chart of a patrol scheduling method of an unmanned aerial vehicle for a smart city
FIG. 3 is an overall view of the unmanned aerial vehicle cabin;
FIG. 4 is an interior view of the unmanned aerial vehicle cabin;
FIG. 5 is an overall view of the clamping mechanism;
FIG. 6 is an overall view of the clamping mechanism in an initial state;
FIG. 7 is a partial view of a clamping unit of the clamping mechanism;
FIG. 8 is a front view of the battery module;
FIG. 9 is an oblique view of the battery module;
FIG. 10 is an oblique view of the battery module;
FIG. 11 is a fragmentary view of the support assembly;
FIG. 12 is a first state view of the self-locking assembly;
FIG. 13 is a second state view of the self-locking assembly;
FIG. 14 is a third state view of the self-locking assembly;
FIG. 15 is a fourth state view of the self-locking assembly;
FIG. 16 is a fifth state view of the self-locking assembly;
fig. 17 is a sixth state view of the self-locking assembly.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The patrol scheduling method of the unmanned aerial vehicle for the smart city is based on the patrol scheduling system of the unmanned aerial vehicle for the smart city shown in the attached figure 1, wherein the scheduling system comprises a plurality of unmanned aerial vehicles a, an unmanned vehicle b and a scheduling center; the dispatching center is responsible for dispatching unmanned aerial vehicle a and unmanned vehicle b, makes unmanned aerial vehicle a can accomplish the city task of patrolling as required, ensures that unmanned aerial vehicle a has sufficient electric quantity simultaneously, and the dispatching center still is responsible for the communication between unmanned aerial vehicle a and the unmanned vehicle b.
As shown in fig. 2, the unmanned aerial vehicle a patrol scheduling method for smart cities of the present invention includes the following steps S101 to S104:
step S101, controlling the unmanned aerial vehicle a to take off and executing a patrol task according to a planned route;
in this step, according to the needs of cruising in the city, set up many patrol routes for unmanned aerial vehicle a, this patrol route contains main park, street, tourist attraction, nature protection area etc. in this city, and the air route that unmanned aerial vehicle carried out the patrol task should avoid aircraft air route etc..
Step S102, controlling the unmanned vehicle b to adjust the parking position according to the flight parameters of the unmanned vehicle a;
in this step, unmanned aerial vehicle a and unmanned vehicle b real-time communication, unmanned vehicle b can be according to unmanned aerial vehicle a's position, direction of flight etc. adjustment oneself position, do the adjustment of following on ground.
Step S103, judging whether the unmanned aerial vehicle a reaches a landing condition or not, and obtaining a first judgment result;
and step S104, if the first judgment result is yes, controlling the unmanned aerial vehicle a to be in butt joint with the unmanned vehicle b and controlling the unmanned vehicle b to execute battery replacement operation for the unmanned aerial vehicle a.
In this step, unmanned aerial vehicle a need change the battery, and dispatch center then carries out urgent mobilizing to unmanned aerial vehicle a and unmanned vehicle b, concentrates on arranging the butt joint position for unmanned aerial vehicle a and unmanned vehicle b to supplement the electric quantity for unmanned aerial vehicle a, accomplish the task of cruising.
Preferably, in the step S102, the step of controlling the unmanned vehicle b to adjust the parking position according to the flight parameters of the unmanned vehicle a includes the following steps S201 to S203:
step S201, calculating a predicted parking area of the unmanned aerial vehicle a, which needs to be supplemented with electric quantity, according to the flight parameters of the unmanned aerial vehicle a;
step S202, selecting a target parking point for the unmanned vehicle b according to the predicted parking area;
and S203, controlling the unmanned vehicle b to reach the target stop point before the unmanned vehicle a leans against.
In the above steps S201 to S203, firstly, it is necessary to calculate a range in which the unmanned aerial vehicle a can fly based on the current electric quantity, and determine a predicted parking area, so as to determine a target parking point for replacing the battery, where the target parking point for replacing the battery should be in the predicted parking area of the unmanned aerial vehicle a, so that the unmanned aerial vehicle a can safely fly.
Preferably, in step S201, setting a threshold for the electric quantity of the drone a, and calculating the predicted parking area where the drone a needs to supplement the electric quantity according to the flight parameters of the drone a includes:
step S301, acquiring coordinates when the electric quantity of the unmanned aerial vehicle a is lower than a set threshold value, and setting the coordinates as origin coordinates;
step S302, calculating a safe distance that the unmanned aerial vehicle a can fly when the electric quantity is lower than a set threshold value, and taking the origin coordinate as a circle center, wherein the circle with the safe distance as a radius is the predicted parking area.
In the above steps S301 to S302, a predicted parking area is determined for the unmanned aerial vehicle a, the predicted parking area determination rule is an area where the unmanned aerial vehicle a with the remaining electric energy can fly to reach after the battery electric quantity of the unmanned aerial vehicle a is lower than a set threshold, after the predicted parking area is determined, the docking area of the unmanned aerial vehicle b and the unmanned aerial vehicle a is reduced, a target parking point is determined in the area, and the selection range is greatly reduced.
Preferably, a plurality of preset stop points are arranged for the unmanned vehicle b, and the distance between two adjacent preset stop points is smaller than the safety distance, so as to ensure that at least one preset stop point is arranged in the predicted stop area; in the step S202, the selecting a target stop point for the unmanned vehicle b according to the predicted stop area includes:
preferably, in step S401, the preset stop point closest to the target stop point of the unmanned aerial vehicle a is selected as the target stop point of the unmanned aerial vehicle a.
In this step, adopt adjacent two distance between the predetermined stop is less than safe distance's mode can make unmanned aerial vehicle a when the electric quantity is less than the settlement threshold value, still can land safely, ensures that unmanned aerial vehicle a can find predetermined stop under the condition of effective electric quantity, carries out the electric quantity and supplements.
Preferably, the unmanned vehicle b comprises a vehicle body and an unmanned bin, wherein the unmanned bin comprises a bin body assembly 1, a clamping mechanism 2 and a battery taking module 3; the cabin body assembly 1 comprises a cabin body 11, a box cover 12, a parking pallet assembly 13 and a charging box 14, wherein the parking pallet assembly 13 is provided with a lifting part for lifting and positioning an unmanned aerial vehicle;
the clamping mechanism 2 is fixed on the lower surface of the parking pallet 13 component and used for clamping and fixing the unmanned aerial vehicle a;
get battery module 3 and have mobile module 31, snatch module 32 and supporting component 33, snatch module 32 and can carry out getting of unmanned aerial vehicle battery under mobile module 31's drive and put, supporting component 33 is in it plays the supporting role to snatch module 32 when getting the battery.
In step S104, the controlling the unmanned aerial vehicle a to dock with the unmanned vehicle b includes:
step S401, controlling the box cover 12 to open;
step S402, controlling the drone a to land on the liftable portion of the docking pallet assembly 13;
step S403, controlling the lifting part of the docking pallet assembly 13 to descend;
step S404, controlling the clamping mechanism 2 to fix the unmanned aerial vehicle;
and S405, controlling the battery taking module 3 to replace the battery of the unmanned aerial vehicle.
In the above steps S401 to S405, when the unmanned vehicle b arrives at the designated location and the unmanned vehicle a lands, the tank cover 12 of the unmanned cabin of the unmanned vehicle b is automatically opened, the unmanned vehicle lands at the position where the landing pallet component 13 can be lifted, and after the unmanned vehicle lands at the position where the landing pallet component 13 can be lifted, the lifting part of the landing pallet component 13 is lifted and lowered to the designated height; the clamping mechanism 2 grabs the supporting rod of the unmanned aerial vehicle a to fix the unmanned aerial vehicle; after the centre gripping is fixed, get battery module 3 and carry out the battery action, it can carry out getting of unmanned aerial vehicle battery under the drive of removal module 31 to snatch module 32 and put, supporting component 33 is in it plays the supporting role when getting the battery to snatch module 32.
Further, the docking pallet assembly 13 includes: a fixed plate 131, a lifting plate 132 and a lifting assembly 133 capable of driving the lifting plate 132 to lift relative to the fixed plate 131; the middle of the fixing plate 131 is provided with a I-shaped hole 131-1, all upper edges of the I-shaped hole 131-1 are provided with chamfers, the I-shaped hole is provided with two longitudinal parts which are parallel to each other and a transverse part which is connected with the two longitudinal parts, and the transverse part is perpendicular to the battery taking and placing direction when the unmanned aerial vehicle stops; the lifting plate 132 has a protrusion 132-1, the shape of which matches the shape of the I-shaped hole 131-1, and when the lifting plate 132 is in the high position, the upper surface of the protrusion 132-1 coincides with the upper surface of the fixing plate 131.
In this embodiment, when the unmanned aerial vehicle needs to land, the box cover 12 is automatically opened, the lifting plate 132 is in a high position, the unmanned aerial vehicle lands on the position of the protrusion 132-1 of the lifting plate 132, the lifting component 133 drives the lifting plate 132 to move downwards, the chamfer of the shaped hole 131-1 accurately guides the unmanned aerial vehicle onto the protrusion 132-1 of the lifting plate 132, the unmanned aerial vehicle descends to a specified position along with the lifting plate 132, and the box cover 12 is automatically closed; when the unmanned aerial vehicle needs to take off, the actions are reversely executed.
Further, as shown in fig. 5 to 10, the clamping mechanism 2 includes: a moving unit 21 and a holding unit 22; the number of the clamping units 22 is two, and the clamping units can move to the positions of the unmanned aerial vehicle supporting inclined rods under the action of the moving units 21 and clamp the unmanned aerial vehicle supporting inclined rods.
Further, the motion unit 21 includes: a first screw 211, both ends of which are rotatably connected to the lower surface of the fixing plate 131, which is disposed at the middle of the horizontal portion of the tooling hole 131-1 and is perpendicular to the horizontal portion of the tooling hole 131-1; the output shaft of the first motor 212 is connected with the first screw rod 211 and is used for driving the first screw rod 211 to rotate; a first lead screw nut 213 engaged with the first lead screw 211; a first slide rail 214 fixed near the lateral part of the I-shaped hole 131-1 and parallel to the same; the first slide rail 214 and the first lead screw 211 are positioned on the same side of the I-shaped hole 131-1; the number of the first sliding blocks 215 is two, the first sliding blocks 215 are symmetrically arranged on two sides of the first screw rod 211, and all the first sliding blocks 215 are matched with the first sliding rail 214; the number of the adapter plates 216 is two, the two adapter plates are respectively fixed on the two first sliding blocks 215, one clamping unit 22 is respectively fixed on each adapter plate 216, and the two clamping units 22 are symmetrically arranged; two first connecting rods 217 are provided, two sides of the first lead screw nut 213 are respectively and rotatably connected with one end of one first connecting rod 217, and the other ends of the two first connecting rods 217 are respectively and rotatably connected to the adapter plate 216 on the side where the first connecting rod 217 is located.
Further, the grip unit 22 includes: the guide seat 221 is fixedly arranged on the adapter plate 216, and the guide seat 221 is provided with a guide hole which is parallel to the first slide rail 214 in orientation; a first guide rod 222, which is matched with the guide seat 221, wherein one end far away from the first screw rod 211 is fixedly provided with a push block 223, and the other end is provided with a connecting block 224; a first spring 225, which is sleeved with the first guide rod 222 and is disposed between the guide seat 221 and the push block 223; the number of the clamping rods 226 is two, and two ends of the connecting block 224 are respectively rotatably connected with one end of one clamping rod 226; two second connecting rods 227, wherein two sides of the guide seat 221 are respectively rotatably connected to one end of one second connecting rod 227, the middle of each clamping rod 226 is respectively rotatably connected to the other end of the second connecting rod 227 at the side where the clamping rod 226 is located, and a plane formed by all the clamping rods 226 and the second connecting rods 227 is parallel to the plane of the fixing plate 131.
In this embodiment, as shown in fig. 6 to 7, in the initial state, the first lead screw nut 213 is located away from the i-shaped hole 131-1, the two first sliders 215 are located relatively close to each other, and the two clamping levers 226 are in the open state; when the battery needs to be taken and placed, the support diagonal rod of the unmanned aerial vehicle needs to be clamped firstly, so that the first lead screw nut 213 approaches to the direction of the I-shaped hole 131-1 under the action of the first motor 212 and the first lead screw 211, and the first lead screw nut 213 pushes the two first sliding blocks 215 to move in the direction away from each other through the first connecting rod 217; in the motion process, two ejector pads 223 contact the unmanned aerial vehicle support down tube of its place side respectively, and ejector pad 223 receives reaction force, and first spring 225 is compressed, and ejector pad 223 is close to guide holder 221, and clamping rod 226 is closed under the drive of second connecting rod 227 this moment, presss from both sides the tight pole of unmanned aerial vehicle clamp (as shown in fig. 5).
After the battery is taken and placed, the first lead screw nut 213 moves in the direction away from the i-shaped hole 131-1 under the action of the first motor 212 and the first lead screw 211, the two first sliding blocks 215 are driven by the first connecting rod 217 to be away from the unmanned aerial vehicle supporting diagonal rod, the push block 223 is driven by the first spring 225 to be away from the guide seat 221, and at the moment, the clamping rod 226 is driven by the second connecting rod 227 to be opened and is away from the unmanned aerial vehicle supporting diagonal rod (as shown in fig. 6).
Further, as shown in fig. 4, the moving module 31 includes two X-axis modules 311 symmetrically disposed in parallel in the middle of the box 11, and the direction of the X-axis modules is the same as the battery taking and placing direction when the unmanned aerial vehicle lands; the Y-axis module 312 is fixedly arranged in the middle of the two X-axis modules 311 and can move along the X-axis modules 311 under the driving of the X-axis modules 311; a plurality of auxiliary supporting rollers 313 which are rotatably connected to the bottom of the box body 11 in an array and support the Y-axis module 312 when moving,
further, as shown in fig. 8-11, the grasping module 32 includes: a support base 321 fixed to a moving end of the Y-axis module 312; two ends of the second screw rod 322 are rotatably connected to the middle position of the support seat 321, and the direction of the second screw rod is the same as that of the X-axis module 311; the second motor 323 is fixedly arranged on the support seat 321, and an output shaft of the second motor is rotationally connected with the second screw rod 322; a second lead screw nut 324 engaged with the second lead screw 322; a moving plate 325 fixedly provided on the second lead screw nut 324; two second slide rails 3210, which are fixedly disposed on two sides of the support base 321 in parallel and parallel to the second screw rod 322; two second sliders 3211 are fixed to the moving plate 325 and slidably engage with the second slide rails 3210.
The self-locking assembly 326 comprises a third slide rail 3261 which is fixedly arranged in the middle of the moving plate 325 and is parallel to the second screw rod 322; a third slide block 3262, which is slidably engaged with the third slide rail 3261, has a cavity therein, and starts a first slide groove 3262-1 and a second slide groove 3262-2 on two adjacent surfaces, respectively, where the two slide grooves are communicated, the first slide groove 3262-1 is located on a side surface of the third slide block 3262, the second slide groove 3262-2 is located on the third slide block 3262, a surface of the second slide groove 3262-2 away from the i-shaped hole 131-1 is referred to as an a surface, and a surface opposite to the a surface is referred to as a B surface; a fixing member 3263 fixedly disposed on the moving plate 325 and located at one side of the first sliding groove 3262-1; the locking piece 3264 is rotationally connected to the fixing piece 3263, is in an X shape, is provided with two V-shaped grooves which are symmetrically arranged, and is respectively a groove I and a groove II, two convex teeth formed by the groove I are respectively called as teeth a and b, two convex teeth formed by the groove II are respectively called as teeth C and D, one surface shared by the teeth a and C is called as a surface C, one surface shared by the teeth b and D is called as a surface D, and the locking piece 3264 can slide in a cavity of the third sliding block 3262; a push piece 3265 fixed on a side of the cavity of the third slide block 3262 away from the i-shaped hole 131-1, wherein the push piece 3265 is located on a lower side of a rotation center of the locking piece 3264 and is used for pushing the locking piece 3264 to rotate; a second spring 3266 disposed between the third slider 3262 and the moving plate 325 for restoring the third slider 3262.
The guide plate 327 is fixedly installed on one side, close to the I-shaped hole 131-1, of the third slide block 3262, a first groove guide 327-1 is formed in the guide plate 327, and a protrusion 327-2 is arranged in the middle of the guide plate 327; the number of the battery clamping rods 328 is two, the two battery clamping rods 328 are symmetrically arranged at two ends of the first groove guide 327-1, one end of each battery clamping rod 328 slides in the first groove 327-1, the surface of each battery clamping rod 328, which is in contact with the battery, is provided with an elastic pre-pressing structure, and pressing force is generated when the battery is clamped; two second guide grooves 329 are formed, two of the second guide grooves 329 are symmetrically arranged on the moving plate 325, the other end of each battery clamping rod 328 slides in the second guide groove 329 on the side of the battery clamping rod 328, and each second guide groove 329 is obliquely arranged, so that the battery clamping rods 328 can perform reciprocating opening and closing motions.
In this embodiment, as shown in fig. 7-8, (the direction of the drone is defined as front, and the direction of the corresponding Y-axis module 312 is defined as rear), when the drone needs to take the battery, the mobile module 31 brings the battery taking and placing module 2 to a position near the drone battery, and the mobile module 31 stops moving; the moving plate 325 is driven by a second motor 323 through a second lead screw 322 and a second lead screw nut 324 to move to the position of the unmanned aerial vehicle battery, at the moment, the two battery clamping rods 328 are in an open state, the two battery clamping rods 328 penetrate into two sides of the unmanned aerial vehicle battery in the moving process, a protrusion 327-2 of the guide plate 327 impacts the unmanned aerial vehicle body, the guide plate 327 is subjected to a reaction force to drive the two battery clamping rods 328 to slide backwards and relatively close to the second guide groove 329, and at the moment, the battery clamping rods 328 clamp the battery;
meanwhile, in the initial state, as shown in fig. 12: the locking member 3264 is positioned behind the second slide groove 3262-2, the surface a is close to and parallel or nearly parallel to the upper surface of the first slide groove 3262-1, and the groove I is positioned at the side far from the second slide groove 3262-2;
when the protrusion 327-2 collides for the first time, the third slider 3262 is driven to move backward, in the moving process, the pushing element 3265 contacts with the oblique edge of the d-tooth of the groove II, so that the locking element 3264 rotates and pushes the tip of the a-tooth out of the second sliding groove 3262-2, while the b-tooth is still located in the cavity of the third slider 3262, at this time, the pushing element 3265 cannot move continuously by the oblique edge of the d-tooth and the latch of the c-tooth (as shown in fig. 13), that is, the third slider 3262 stops moving backward; at the moment, the second motor 323 drives the moving plate 325 to move backwards for a short distance, under the action of a second spring 3266, the third sliding block 3262 rebounds forwards for a short distance, at the moment, the pushing piece 3265 is separated from the locking piece 3264 to provide a space for the rotation of the locking piece 3264, as the tip of the tooth a extends out of the outer side of the second sliding groove 3262-2, the surface a contacts the tooth a in the forward movement process of the third sliding block 3262, the locking piece 3264 is pushed to rotate, the tooth b abuts against the upper surface of the first sliding groove 3262-1 after the tooth a small angle is rotated, at the moment, the third sliding block 3262 is locked by the locking piece 3264 (as shown in fig. 14), the battery clamping rod 328 still keeps a clamping state under the action of an elastic pre-pressing structure, and the moving plate 325 is far away from the battery position of the unmanned aerial vehicle under the actions of the second motor 323, the second lead screw 322 and the second lead screw nut 324 to take out the battery;
after the battery is taken out, the battery needs to be placed in the charging box 14 for charging, the battery taking and placing module 2 is driven by the moving module 31 to move to the position of the charging box 14, the moving plate 325 is driven by the second motor 323 through the second lead screw 322 and the second lead screw nut 324 to approach the charging box 14, during the approach process, the projection 327-2 hits the charging case 14 to generate a second hit, the third slider 3262 moves backward by the hit, the push piece 3265 contacts the B surface of the locking piece 3264, and at this time, due to the backward movement of the third slider 3262, the locking piece 3264 has a rotation space, and rotates by the pushing piece 3265, the tips of the two teeth a and b of the slot I are exposed to the outside of the second sliding groove 3262-2, when the face C contacts the face B, the locking element 3264 is locked by the face B and the pushing element 3265 (as shown in fig. 15), and the battery is pushed into the charging compartment; the moving plate 325 moves backwards under the action of the second motor 323, the second lead screw 322 and the second lead screw nut 324, the third slider 3262 moves forwards under the action of the second spring 3266, the pushing element 3265 disengages from the locking element 3264, the surface a of the third slider 3262 contacts the surface D of the locking element 3264 to drive the locking element 3264 to rotate (as shown in fig. 16), the locking element 3264 enters the first sliding groove 3262-1 (as shown in fig. 17), the moving plate 325 continues to drive the guide plate 327 to move backwards, the battery clamping rod 328 slides relatively far away along the second guide groove 329 and the first guide groove 327-1, finally disengages from the battery, and the cell discharge action is completed.
Further, the support assembly 33 includes two sets of link assemblies 331 symmetrically disposed on the bottom side of the moving plate 325, and the link assemblies 331 include:
a third motor 3311 fixedly disposed at one end of the moving plate 325 near the Y-axis module 312;
a third link 3312 having one end fixedly connected to an output shaft of the third motor 3311;
a fourth motor 3313 fixedly provided at the other end of the moving plate 325;
a fourth link 3314 having one end fixedly connected to an output shaft of the fourth motor 3314;
a fifth link 3315 having one end rotatably connected to one end of the third link 3311 and the other end rotatably connected to the other end of the fourth link 3312;
and a support wheel 3316 rotatably connected to a position where the second link 3312 is rotatably connected to the third link 3313.
The present invention also provides a scheduling apparatus, comprising: the first control module is used for controlling the unmanned aerial vehicle to take off and executing patrol tasks according to a planned route; the second control module is used for controlling the unmanned vehicle to adjust the parking position according to the flight parameters of the unmanned vehicle; the judging module is used for judging whether the unmanned aerial vehicle reaches a landing condition or not and obtaining a first judging result; (ii) a And the execution module is used for controlling the unmanned aerial vehicle to be in butt joint with the unmanned vehicle and controlling the unmanned vehicle to execute battery replacement operation for the unmanned aerial vehicle when the first judgment result is yes.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. An unmanned aerial vehicle patrol scheduling method for a smart city is characterized by comprising the following steps:
controlling the unmanned aerial vehicle to take off and executing patrol tasks according to a planned route;
controlling the unmanned vehicle to adjust the parking position according to the flight parameters of the unmanned vehicle;
judging whether the unmanned aerial vehicle reaches a landing condition or not, and obtaining a first judgment result;
if the first judgment result is yes, the unmanned aerial vehicle is controlled to be in butt joint with the unmanned vehicle, and the unmanned vehicle is controlled to execute battery replacement operation for the unmanned aerial vehicle.
2. The unmanned aerial vehicle patrol scheduling method for the smart city according to claim 1, wherein the controlling of the unmanned vehicle to adjust the parking position according to the flight parameters of the unmanned aerial vehicle comprises:
calculating a predicted parking area where the unmanned aerial vehicle needs to be supplemented with electric quantity according to the flight parameters of the unmanned aerial vehicle;
selecting a target parking point for the unmanned vehicle according to the predicted parking area;
and controlling the unmanned vehicle to reach the target stop point before the unmanned vehicle leans against.
3. The patrol scheduling method for unmanned aerial vehicles for smart cities as claimed in claim 2, wherein a threshold is set for the electric quantity of the unmanned aerial vehicles, and the calculating the predicted parking area where the unmanned aerial vehicles need to be supplemented with the electric quantity according to the flight parameters of the unmanned aerial vehicles comprises:
acquiring coordinates when the electric quantity of the unmanned aerial vehicle is lower than a set threshold value, and setting the coordinates as origin coordinates;
calculating the safe distance that unmanned aerial vehicle electric quantity can fly when being less than the settlement threshold value, use the origin coordinate is the centre of a circle, the circle that safe distance is the radius is the prediction is berthhed the region.
4. The unmanned aerial vehicle patrol scheduling method for the smart city according to claim 3, wherein a plurality of preset stop points are set for the unmanned vehicle, and the distance between two adjacent preset stop points is smaller than the safety distance, so as to ensure that at least one preset stop point is located in the predicted stop area; the selecting a target stop point for the unmanned vehicle according to the predicted stop area comprises:
and selecting the preset stop point with the closest distance as the target stop point of the unmanned aerial vehicle.
5. The unmanned aerial vehicle patrol scheduling method for the smart city according to claim 4, wherein the unmanned vehicle comprises a vehicle body and an unmanned bin, and the unmanned bin comprises a bin body assembly, a clamping mechanism and a battery taking module; the cabin body assembly comprises a cabin body, a box cover, a parking pallet assembly and a charging box, wherein the parking pallet assembly is provided with a lifting part for lifting and positioning the unmanned aerial vehicle;
the clamping mechanism is fixed on the lower surface of the parking pallet component and used for clamping and fixing the unmanned aerial vehicle;
get battery module and have the movable module, snatch module and supporting component, snatch the module and can carry out getting of unmanned aerial vehicle battery under the drive of movable module and put, the supporting component is in it plays the supporting role to snatch the module when getting the battery.
Control unmanned aerial vehicle with the butt joint of unmanned vehicle includes:
controlling the box cover to be opened;
controlling the unmanned aerial vehicle to land on a liftable portion of the docking pallet assembly;
controlling the elevation portion of the docking pallet assembly to descend;
controlling the clamping mechanism to fix the unmanned aerial vehicle;
control get the battery module and do unmanned aerial vehicle changes the battery.
6. The utility model provides a wisdom city is with unmanned aerial vehicle scheduling device that patrols, its characterized in that, it includes:
the first control module is used for controlling the unmanned aerial vehicle to take off and executing patrol tasks according to a planned route;
the second control module is used for controlling the unmanned vehicle to adjust the parking position according to the flight parameters of the unmanned vehicle;
the judging module is used for judging whether the unmanned aerial vehicle reaches a landing condition or not and obtaining a first judging result;
and the execution module is used for controlling the unmanned aerial vehicle to be in butt joint with the unmanned vehicle and controlling the unmanned vehicle to execute battery replacement operation for the unmanned aerial vehicle when the first judgment result is yes.
7. An unmanned aerial vehicle patrol scheduling system for a smart city, which comprises an unmanned aerial vehicle, an unmanned vehicle and a scheduling center, wherein the scheduling center can communicate with the unmanned aerial vehicle and the unmanned vehicle, and is used for implementing the unmanned aerial vehicle patrol scheduling method for the smart city according to any one of claims 1-6.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117129637A (en) * | 2023-10-25 | 2023-11-28 | 北京英视睿达科技股份有限公司 | Urban NO2 monitoring method based on mobile unmanned aerial vehicle nest |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117129637A (en) * | 2023-10-25 | 2023-11-28 | 北京英视睿达科技股份有限公司 | Urban NO2 monitoring method based on mobile unmanned aerial vehicle nest |
| CN117129637B (en) * | 2023-10-25 | 2024-01-12 | 北京英视睿达科技股份有限公司 | Urban NO2 monitoring method based on mobile unmanned aerial vehicle nest |
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