CN114889482B - Unmanned aerial vehicle battery replacement automatic positioning method and device - Google Patents
Unmanned aerial vehicle battery replacement automatic positioning method and device Download PDFInfo
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- CN114889482B CN114889482B CN202210450981.4A CN202210450981A CN114889482B CN 114889482 B CN114889482 B CN 114889482B CN 202210450981 A CN202210450981 A CN 202210450981A CN 114889482 B CN114889482 B CN 114889482B
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 37
- 238000004891 communication Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 210000001015 abdomen Anatomy 0.000 claims description 5
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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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
- 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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
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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)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned aerial vehicle power-exchanging automatic positioning method, which comprises the following steps: s1: a first positioning structure is arranged on a fuselage of the unmanned aerial vehicle; s2: a positioning seat and a second positioning structure are arranged on a battery-changing platform of the unmanned aerial vehicle nest; s3: setting a power conversion robot on the power conversion platform, and recording related data information; s4: the unmanned aerial vehicle falls on a positioning seat of the power conversion platform; s5: calculating the position relation between an actuating mechanism of the power conversion robot and an unmanned aerial vehicle battery compartment; s6: and the motor replacing robot realizes the positioning of the unmanned aerial vehicle battery and the like. The invention also discloses an unmanned aerial vehicle power-exchanging automatic positioning device. The positioning method disclosed by the invention is simple in process, high in positioning speed and high in precision, and can effectively improve the power conversion efficiency of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to an unmanned aerial vehicle positioning technology, in particular to an unmanned aerial vehicle battery replacement automatic positioning method and device, which are used for accurately positioning an unmanned aerial vehicle in the process of replacing a battery of the unmanned aerial vehicle.
Background
In recent years, man-machine technology has been developed, and is widely used in various fields, such as: electric power inspection, environmental monitoring, aerial photography, disaster rescue and the like. The existing civil unmanned aerial vehicle is generally powered by a lithium battery, has limited endurance time, and needs to be replaced in time so as to ensure that the unmanned aerial vehicle runs effectively.
The automatic replacement process of the unmanned aerial vehicle battery comprises a series of operations of taking out and replacing the battery, charging the taken-out battery and the like, and is generally completed in a nest of the unmanned aerial vehicle through a manipulator. In this process, need carry out multiple operation to unmanned aerial vehicle's battery compartment, in order to guarantee going on smoothly of operation, accurate location is indispensable.
For this reason, various improvements and attempts have been made. For example, in patent No. 202122122760.8, a chinese utility model patent entitled "a centering structure for an unmanned aerial vehicle nest and an unmanned aerial vehicle nest" discloses a centering structure for an unmanned aerial vehicle nest, wherein the unmanned aerial vehicle is pushed to the vicinity of the middle part of a flight platform by two pairs of push rods which are positioned on the flight platform of the nest and act synchronously. The unmanned aerial vehicle can be positioned at the approximate middle part of the flight platform through the centering structure, so that the position of the unmanned aerial vehicle is determined to a certain extent, but the accuracy of the positioning mode is still not high, and the error of the centimeter level still exists. This can result in the need for multiple positioning operations of the robot during subsequent operations, which greatly reduces the efficiency of the robot battery replacement.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides an unmanned aerial vehicle power-exchanging automatic positioning method and device, which improve the positioning accuracy and thus the power-exchanging efficiency.
Therefore, the invention adopts the following technical scheme:
An unmanned aerial vehicle battery replacement automatic positioning method is characterized by comprising the following steps of: the method comprises the following steps:
s1: a first positioning structure is arranged on a fuselage of the unmanned aerial vehicle, the position of the first positioning structure on the unmanned aerial vehicle is fixed, and the first positioning structure has a three-dimensional size;
s2: a positioning seat is arranged on a battery-changing platform of the unmanned aerial vehicle nest, and a second positioning structure which can realize mechanical positioning with the first positioning structure is arranged on the positioning seat; the positioning seat is also provided with an autonomous positioning component which can be in wireless communication with the unmanned aerial vehicle and provide the unmanned aerial vehicle with the position data of the positioning seat;
S3: the battery replacement platform is provided with a battery replacement robot, the position of the battery replacement robot on the battery replacement platform is set, a storage module of the battery replacement robot records relative position data between an actuating mechanism of the battery replacement robot and a positioning seat in an initial state and records the relative position data as first position data, and the storage module of the battery replacement robot also stores in advance: A. the relative position data between the first positioning structure of the unmanned aerial vehicle and the unmanned aerial vehicle battery cabin is recorded as second position data; B. the relative position data between the first positioning structure and the positioning seat is recorded as third position data;
s4: when the unmanned aerial vehicle flies to the vicinity of the aircraft nest, receiving the position information of the positioning seat provided by the autonomous positioning component on the power conversion platform, and falling on the positioning seat of the power conversion platform;
S5: the first positioning structure on the unmanned aerial vehicle and the second positioning structure on the positioning seat realize mechanical positioning, the unmanned aerial vehicle is positioned and fixed on the positioning seat, and the operation module of the power conversion robot calculates the position relationship between the execution mechanism of the power conversion robot and the unmanned aerial vehicle battery compartment according to the first position data, the second position data and the third position data;
S6: and the control module of the battery replacing robot sends out an action instruction according to the position relation between the actuating mechanism of the battery replacing robot and the battery compartment of the unmanned aerial vehicle, so that the actuating mechanism moves to the set position of the battery compartment of the unmanned aerial vehicle, and battery replacing operation is executed.
Further, the first positioning structure is a plurality of positioning pins or positioning holes on the unmanned aerial vehicle body, and the second positioning structure is a corresponding positioning hole or positioning pin.
Further, the motor replacing robot further comprises a base, the positioning seat is positioned on the base, and a guiding slope which is inclined inwards and downwards is arranged at the opening of the positioning hole; the first positioning structure is located on the abdomen of the unmanned aerial vehicle or the tripod of the unmanned aerial vehicle.
Further, the autonomous positioning component is a visual recognition device, a laser ranging device or a laser radar.
Further, wireless communication modes of the autonomous positioning assembly and the unmanned aerial vehicle are WiFi, bluetooth, zigBee, lora or 433.
In another aspect of the present invention, there is also provided an automatic positioning device for power conversion of an unmanned aerial vehicle, which is characterized in that: comprising the following steps:
the first positioning structure is positioned at a fixed position on the unmanned aerial vehicle body and has a three-dimensional size;
The power conversion platform is positioned in the unmanned aerial vehicle nest, a positioning seat is arranged on the power conversion platform, a second positioning structure is arranged on the positioning seat, and the second positioning structure can realize mechanical positioning with the first positioning structure; the positioning seat is also provided with an autonomous positioning component which can be in wireless communication with the unmanned aerial vehicle and provide the unmanned aerial vehicle with the position information of the positioning seat;
The battery replacement robot that sets up on changing the electric platform, the battery replacement robot has the actuating mechanism that can change electric operation to unmanned aerial vehicle, the battery replacement robot still includes:
the storage module is used for storing relative position data between an actuating mechanism of the battery-changing robot and the positioning seat in an initial state, recording the relative position data as first position data, and the storage module is further used for storing in advance: A. the relative position data between the first positioning structure of the unmanned aerial vehicle and the unmanned aerial vehicle battery cabin is recorded as second position data; B. the relative position data between the first positioning structure and the positioning seat is recorded as third position data;
the operation module is connected with the storage module and used for calculating position data between an actuating mechanism of the power conversion robot and the battery compartment of the unmanned aerial vehicle according to the first position data, the second position data and the third position data; and
And the control module is connected with the operation module, receives the position data between the actuating mechanism of the battery replacing robot and the battery compartment of the unmanned aerial vehicle, which is sent by the operation module, and sends out an action instruction to enable the actuating mechanism to move to the set position of the battery compartment of the unmanned aerial vehicle, so as to execute battery replacing operation.
Further, the first positioning structure is a plurality of positioning pins or positioning holes on the unmanned aerial vehicle body, and the second positioning structure is a corresponding positioning hole or positioning pin.
Further, the motor replacing robot further comprises a base, the positioning seat is positioned on the base, and a guiding slope which is inclined inwards and downwards is arranged at the opening of the positioning hole; the first positioning structure is located on the abdomen of the unmanned aerial vehicle or the tripod of the unmanned aerial vehicle.
Further, the number of the positioning pins is more than 2.
Further, the autonomous positioning component is a visual recognition device, a laser ranging device or a laser radar.
According to the unmanned aerial vehicle power-exchanging automatic positioning method, the first positioning structure is arranged on the unmanned aerial vehicle body, the second positioning structure is arranged on the power-exchanging platform of the unmanned aerial vehicle nest, the second positioning structure can realize mechanical positioning with the first positioning structure, and the second positioning structure is fixed at the position of the power-exchanging platform; meanwhile, the position of the battery replacing robot on the battery replacing platform is also fixed, so that the position relation between the actuating mechanism of the battery replacing robot and the battery compartment of the unmanned aerial vehicle can be obtained through operation, and then the battery replacing robot can accurately position the operation contact point of the battery compartment of the unmanned aerial vehicle in the battery replacing operation process of the unmanned aerial vehicle, the positioning operation complexity of the battery replacing robot can be effectively reduced, the frequency of positioning operation is reduced, and the battery replacing efficiency of the unmanned aerial vehicle is improved. Therefore, the unmanned aerial vehicle battery replacement automatic positioning method is simple in operation, high in positioning speed and high in accuracy, and the efficiency of replacing the battery of the unmanned aerial vehicle can be greatly improved.
The unmanned aerial vehicle battery replacement automatic positioning device is simple in structure, can be modified and upgraded on the existing unmanned aerial vehicle and unmanned aerial vehicle nest, is low in upgrading cost, wide in application range and has wide market application prospects.
Drawings
Fig. 1 is a flowchart of an automatic positioning method for power-exchanging of an unmanned aerial vehicle.
Detailed Description
The invention will be further described with reference to fig. 1 and the detailed description, wherein the same parts as in the prior art will be referred to.
Example 1:
as shown in fig. 1, the automatic positioning method for the power exchange of the unmanned aerial vehicle provided by the invention comprises the following steps:
S1: a first positioning structure is arranged on a fuselage of the unmanned aerial vehicle, the position of the first positioning structure on the unmanned aerial vehicle is fixed, and the first positioning structure has a three-dimensional size; as a specific implementation mode, the first positioning structure is a plurality of positioning pins positioned at the belly of the unmanned aerial vehicle, the first positioning structure can be processed into a shell shape matched with the shape of the bottom of the unmanned aerial vehicle, and the shell is provided with a plurality of positioning pins, so that the structure of the existing unmanned aerial vehicle can be updated, and the application range is wider;
S2: a positioning seat is arranged on a battery-changing platform of the unmanned aerial vehicle nest, and as a specific implementation mode, the positioning seat can be positioned on a base of the battery-changing robot and is of an integrated structure with the base of the battery-changing robot; a second positioning structure which can realize mechanical positioning with the first positioning structure is arranged on the positioning seat; as a specific embodiment, the second positioning structure is a plurality of positioning holes corresponding to the positioning pins; preferably, the opening of the positioning hole may be provided with a guide slope which is inclined downward and inward;
The positioning seat is also provided with an autonomous positioning component which can be in wireless communication with the unmanned aerial vehicle and provide the unmanned aerial vehicle with the position data of the positioning seat; the autonomous positioning component can be an autonomous positioning device in the prior art, such as a visual recognition device, an ultrasonic radar, a laser radar and the like; the wireless communication mode between the autonomous positioning component and the unmanned aerial vehicle can be WiFi, bluetooth, zigBee, lora or 433 communication, and the like, and can be selected according to actual needs;
S3: the battery replacement platform is provided with a battery replacement robot, the position of the battery replacement robot on the battery replacement platform is set, a storage module of the battery replacement robot records relative position data between an actuating mechanism of the battery replacement robot and a positioning seat in an initial state and records the relative position data as first position data, and the storage module of the battery replacement robot also stores in advance: A. the relative position data between the first positioning structure of the unmanned aerial vehicle and the unmanned aerial vehicle battery cabin is recorded as second position data; B. the relative position data between the first positioning structure and the positioning seat is recorded as third position data;
S4: when the unmanned aerial vehicle flies to the vicinity of the aircraft nest, receiving the position information of the positioning seat sent by the autonomous positioning component on the power conversion platform, and falling on the positioning seat of the power conversion platform;
S5: the first positioning structure on the unmanned aerial vehicle and the second positioning structure on the positioning seat realize mechanical positioning, and the unmanned aerial vehicle is positioned and fixed on the positioning seat; when the opening of the positioning hole is provided with a guide slope, the positioning pin serving as the first positioning structure slides into the positioning hole through the guide slope, so that the connection and fixation of the first positioning structure and the second positioning structure are realized, and the calculation accuracy of the unmanned aerial vehicle when the unmanned aerial vehicle falls onto the positioning seat of the power conversion platform is reduced; the operation module of the power conversion robot calculates the position relation between the execution mechanism of the power conversion robot and the battery compartment of the unmanned aerial vehicle according to the first position data, the second position data and the third position data;
S6: and the control module of the battery replacing robot sends out an action instruction according to the position relation between the actuating mechanism of the battery replacing robot and the battery compartment of the unmanned aerial vehicle, so that the actuating mechanism moves to the set position of the battery compartment of the unmanned aerial vehicle, and battery replacing operation is executed.
According to the automatic positioning method for the power exchange of the unmanned aerial vehicle, firstly, the mechanical positioning is realized through the first positioning mechanism and the second positioning mechanism, the position of the unmanned aerial vehicle on the power exchange platform is fixed, and the position of the power exchange robot on the power exchange platform is also fixed; the positions of the components on the unmanned aerial vehicle are fixed, and the positions of the components of the power conversion machine can be determined (in an initial state, for example), so that the relative position relation between the components of the unmanned aerial vehicle and the components of the power conversion machine can be converted and provided for the power conversion machine, and the power conversion machine can accurately position the unmanned aerial vehicle; the repeated calculation and positioning of the power conversion robot in the power conversion operation executing process are reduced, and the power conversion efficiency can be greatly improved.
Example 2:
The embodiment provides an unmanned aerial vehicle trades electric automatic positioning device, include:
The first positioning structure is positioned at a fixed position on the unmanned aerial vehicle body and has a three-dimensional size; as a specific implementation mode, the first positioning structure is a plurality of positioning pins positioned at the bottom of the unmanned aerial vehicle, in this embodiment, the number of the positioning pins and the number of the positioning holes are 4, and the opening of the positioning holes is provided with a guiding slope inclined inwards and downwards, so that the positioning pins can slide into the positioning holes in the positioning process conveniently, and positioning is realized. The shell which is matched with the shape of the bottom of the unmanned aerial vehicle can be independently processed outside the unmanned aerial vehicle, and the shell is provided with a plurality of positioning pins, so that the structure of the existing unmanned aerial vehicle can be upgraded, and the application range is wider;
The power conversion platform is positioned in the unmanned aerial vehicle nest, a positioning seat is arranged on the power conversion platform, a second positioning structure is arranged on the positioning seat, and the second positioning structure can realize mechanical positioning with the first positioning structure; the positioning seat is also provided with an autonomous positioning component which can be in wireless communication with the unmanned aerial vehicle and provide the unmanned aerial vehicle with the position information of the positioning seat; as a preferred embodiment, the power-exchanging robot further comprises a base, and the positioning seat can be positioned on the base of the power-exchanging robot and is in an integrated structure with the base of the power-exchanging robot; the positioning seat is also provided with an autonomous positioning component which can be in wireless communication with the unmanned aerial vehicle and provide the unmanned aerial vehicle with the position data of the positioning seat; the autonomous positioning component can be an autonomous positioning device in the prior art, such as a visual recognition device, an ultrasonic radar, a laser radar and the like; the wireless communication mode of the autonomous positioning assembly and the unmanned aerial vehicle can be WiFi, bluetooth, zigBee, lora or 433 communication, and the like, and can be selected according to actual needs.
The battery replacement robot that sets up on changing the electric platform, the battery replacement robot has the actuating mechanism that can change electric operation to unmanned aerial vehicle, the battery replacement robot still includes:
the storage module is used for storing relative position data between an actuating mechanism of the battery-changing robot and the positioning seat in an initial state, recording the relative position data as first position data, and the storage module is further used for storing in advance: A. the relative position data between the first positioning structure of the unmanned aerial vehicle and the unmanned aerial vehicle battery cabin is recorded as second position data; B. the relative position data between the first positioning structure and the positioning seat is recorded as third position data;
the operation module is connected with the storage module and used for calculating position data between an actuating mechanism of the power conversion robot and the battery compartment of the unmanned aerial vehicle according to the first position data, the second position data and the third position data; and
And the control module is connected with the operation module, receives the position data between the execution mechanism of the battery replacing robot and the battery compartment of the unmanned aerial vehicle, which is sent by the operation module, sends out an action instruction, so that the execution mechanism moves to the set position of the battery compartment of the unmanned aerial vehicle, and performs battery replacing operation.
According to actual needs, the battery replacing robot can be provided with a battery replacing executing mechanism and a battery replacing auxiliary mechanism, and the battery replacing executing mechanism mainly executes the operations of taking out the battery of the unmanned aerial vehicle and putting the charged battery into the unmanned aerial vehicle again; the power-changing auxiliary mechanism assists in completing operations such as the shutdown of the unmanned aerial vehicle before the power change, the opening of a battery compartment lock, pushing the battery to a set position after the power change is completed, closing the battery compartment lock, starting the unmanned aerial vehicle and the like; the power conversion actuating mechanism and the power conversion auxiliary mechanism can adopt the prior art. The automatic positioning device for the power change of the unmanned aerial vehicle can provide positioning operation for the power change executing mechanism and/or the power change auxiliary mechanism, and is convenient for the accurate proceeding of the next operation.
Of course, the present application also has other embodiments, and the above embodiments are only preferred examples of the present application, and are not intended to limit the scope of the present application, and all equivalent changes and modifications made by the disclosure of the present application shall fall within the technical scope of the present application.
Claims (10)
1. An unmanned aerial vehicle battery replacement automatic positioning method is characterized by comprising the following steps of: the method comprises the following steps:
s1: a first positioning structure is arranged on a fuselage of the unmanned aerial vehicle, the position of the first positioning structure on the unmanned aerial vehicle is fixed, and the first positioning structure has a three-dimensional size;
s2: a positioning seat is arranged on a battery-changing platform of the unmanned aerial vehicle nest, and a second positioning structure which can realize mechanical positioning with the first positioning structure is arranged on the positioning seat; the positioning seat is also provided with an autonomous positioning component which can be in wireless communication with the unmanned aerial vehicle and provide the unmanned aerial vehicle with the position data of the positioning seat;
S3: the battery replacement platform is provided with a battery replacement robot, the position of the battery replacement robot on the battery replacement platform is set, a storage module of the battery replacement robot records relative position data between an actuating mechanism of the battery replacement robot and a positioning seat in an initial state and records the relative position data as first position data, and the storage module of the battery replacement robot also stores in advance: A. the relative position data between the first positioning structure of the unmanned aerial vehicle and the unmanned aerial vehicle battery cabin is recorded as second position data; B. the relative position data between the first positioning structure and the positioning seat is recorded as third position data;
s4: when the unmanned aerial vehicle flies to the vicinity of the aircraft nest, receiving the position information of the positioning seat provided by the autonomous positioning component on the power conversion platform, and falling on the positioning seat of the power conversion platform;
S5: the first positioning structure on the unmanned aerial vehicle and the second positioning structure on the positioning seat realize mechanical positioning, the unmanned aerial vehicle is positioned and fixed on the positioning seat, and the operation module of the power conversion robot calculates the position relationship between the execution mechanism of the power conversion robot and the unmanned aerial vehicle battery compartment according to the first position data, the second position data and the third position data;
S6: and the control module of the battery replacing robot sends out an action instruction according to the position relation between the actuating mechanism of the battery replacing robot and the battery compartment of the unmanned aerial vehicle, so that the actuating mechanism moves to the set position of the battery compartment of the unmanned aerial vehicle, and battery replacing operation is executed.
2. The unmanned aerial vehicle battery replacement automatic positioning method according to claim 1, wherein the method comprises the following steps: the first positioning structure is a plurality of positioning pins or positioning holes on the unmanned aerial vehicle body, and the second positioning structure is a corresponding positioning hole or positioning pin.
3. The unmanned aerial vehicle battery replacement automatic positioning method according to claim 2, wherein: the motor replacing robot further comprises a base, the positioning seat is positioned on the base, and a guiding slope which is inclined inwards and downwards is arranged at the opening of the positioning hole of the first positioning structure or the second positioning structure; the first positioning structure is located on the abdomen of the unmanned aerial vehicle or the tripod of the unmanned aerial vehicle.
4. The unmanned aerial vehicle battery replacement automatic positioning method according to claim 1, wherein the method comprises the following steps: the autonomous positioning component is a visual identification device, a laser ranging device or a laser radar.
5. The unmanned aerial vehicle battery replacement automatic positioning method according to claim 1, wherein the method comprises the following steps: the wireless communication mode of the autonomous positioning assembly and the unmanned aerial vehicle is WiFi, bluetooth, zigBee, lora or 433.
6. An unmanned aerial vehicle trades electric automatic positioning device, its characterized in that: comprising the following steps:
the first positioning structure is positioned at a fixed position on the unmanned aerial vehicle body and has a three-dimensional size;
The power conversion platform is positioned in the unmanned aerial vehicle nest, a positioning seat is arranged on the power conversion platform, a second positioning structure is arranged on the positioning seat, and the second positioning structure can realize mechanical positioning with the first positioning structure; the positioning seat is also provided with an autonomous positioning component which can be in wireless communication with the unmanned aerial vehicle and provide the unmanned aerial vehicle with the position information of the positioning seat;
The battery replacement robot that sets up on changing the electric platform, the battery replacement robot has the actuating mechanism that can change electric operation to unmanned aerial vehicle, the battery replacement robot still includes:
The storage module is used for storing relative position data between an actuating mechanism of the battery-changing robot and the positioning seat in an initial state, recording the relative position data as first position data, and the storage module is further used for storing in advance: A. the relative position data between the first positioning structure of the unmanned aerial vehicle and the unmanned aerial vehicle battery cabin is recorded as second position data; B. the relative position data between the first positioning structure and the positioning seat is recorded as third position data;
the operation module is connected with the storage module and used for calculating position data between an actuating mechanism of the power conversion robot and the battery compartment of the unmanned aerial vehicle according to the first position data, the second position data and the third position data; and
And the control module is connected with the operation module, receives the position data between the actuating mechanism of the battery replacing robot and the battery compartment of the unmanned aerial vehicle, which is sent by the operation module, and sends out an action instruction to enable the actuating mechanism to move to the set position of the battery compartment of the unmanned aerial vehicle, so as to execute battery replacing operation.
7. The unmanned aerial vehicle battery replacement automatic positioning device of claim 6, wherein: the first positioning structure is a plurality of positioning pins or positioning holes on the unmanned aerial vehicle body, and the second positioning structure is a corresponding positioning hole or positioning pin.
8. The unmanned aerial vehicle battery replacement automatic positioning device of claim 7, wherein: the motor replacing robot further comprises a base, the positioning seat is positioned on the base, and a guiding slope which is inclined inwards and downwards is arranged at the opening of the positioning hole of the first positioning structure or the second positioning structure; the first positioning structure is located on the abdomen of the unmanned aerial vehicle or the tripod of the unmanned aerial vehicle.
9. The unmanned aerial vehicle battery replacement automatic positioning device of claim 7, wherein: the number of the locating pins is more than 2.
10. The unmanned aerial vehicle battery replacement automatic positioning device of claim 7, wherein: the autonomous positioning component is a visual identification device, a laser ranging device or a laser radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210450981.4A CN114889482B (en) | 2022-04-24 | 2022-04-24 | Unmanned aerial vehicle battery replacement automatic positioning method and device |
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| CN202210450981.4A CN114889482B (en) | 2022-04-24 | 2022-04-24 | Unmanned aerial vehicle battery replacement automatic positioning method and device |
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| CN114889482A CN114889482A (en) | 2022-08-12 |
| CN114889482B true CN114889482B (en) | 2024-06-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110733663A (en) * | 2019-10-29 | 2020-01-31 | 华软科技股份有限公司 | unmanned aerial vehicle automatic battery changing device and method |
| CN110936846A (en) * | 2019-12-31 | 2020-03-31 | 深圳前海达闼云端智能科技有限公司 | Battery replacing method, battery replacing robot and storage medium |
| CN111845430A (en) * | 2019-04-22 | 2020-10-30 | 上海汽车集团股份有限公司 | Method and system for replacing unmanned aerial vehicle battery |
| CN213423774U (en) * | 2020-12-02 | 2021-06-11 | 深圳市多翼创新科技有限公司 | Unmanned aerial vehicle trades electric positioner, trades electric installation and berths system |
| CN213734662U (en) * | 2020-12-02 | 2021-07-20 | 深圳市多翼创新科技有限公司 | Automatic battery replacement device and landing system for unmanned aerial vehicle |
| CN113859041A (en) * | 2021-10-27 | 2021-12-31 | 中苏科技股份有限公司 | Unmanned aerial vehicle battery replacing system and method |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111845430A (en) * | 2019-04-22 | 2020-10-30 | 上海汽车集团股份有限公司 | Method and system for replacing unmanned aerial vehicle battery |
| CN110733663A (en) * | 2019-10-29 | 2020-01-31 | 华软科技股份有限公司 | unmanned aerial vehicle automatic battery changing device and method |
| CN110936846A (en) * | 2019-12-31 | 2020-03-31 | 深圳前海达闼云端智能科技有限公司 | Battery replacing method, battery replacing robot and storage medium |
| CN213423774U (en) * | 2020-12-02 | 2021-06-11 | 深圳市多翼创新科技有限公司 | Unmanned aerial vehicle trades electric positioner, trades electric installation and berths system |
| CN213734662U (en) * | 2020-12-02 | 2021-07-20 | 深圳市多翼创新科技有限公司 | Automatic battery replacement device and landing system for unmanned aerial vehicle |
| CN113859041A (en) * | 2021-10-27 | 2021-12-31 | 中苏科技股份有限公司 | Unmanned aerial vehicle battery replacing system and method |
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