CN115123570A - Integrated unmanned aerial vehicle comprehensive supply system and supply method - Google Patents
Integrated unmanned aerial vehicle comprehensive supply system and supply method Download PDFInfo
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Classifications
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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
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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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
- B64F1/28—Liquid-handling installations specially adapted for fuelling stationary aircraft
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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
Abstract
The invention relates to the technical field of multifunctional supply of unmanned aerial vehicles, in particular to an integrated comprehensive supply system and a supply method of an unmanned aerial vehicle. The quick-change clamp mechanism comprises a battery-replacing pneumatic clamp and a fuel-supplying pneumatic clamp, the storage cabinet is connected with an oiling machine, and an oil pipe arranged on engine oil is communicated with the fuel-supplying pneumatic clamp. The invention solves the problem that the prior art can not rapidly provide enough electric energy for the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of multifunctional supply of unmanned aerial vehicles, in particular to an integrated unmanned aerial vehicle comprehensive supply system and a supply method.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
The replenishing device of current unmanned aerial vehicle bottom, single structure and numerous and diverse leads to the organism occupation space more, and delivery supply article form is single, and it is supplementary not have the illumination when the delivery takes off and land at night, uses very inconveniently, for solving above problem, we provide a unmanned aerial vehicle man-machine replenishing device and unmanned aerial vehicle.
When unmanned operation, often need improve the work efficiency of operation equipment, unmanned aerial vehicle adopts the form of unit power supply at present, the battery of supplying with need charge after power consumptive, and the charging process no matter adopt air cooling heat dissipation or water-cooling mode all need consume certain time, can't realize providing sufficient electric energy for unmanned aerial vehicle fast, and because the restriction of job scene environment can't guarantee again and possess a plurality of unmanned aerial vehicles simultaneously, this work that just causes to need the supplementary completion of unmanned aerial vehicle needs to spend a large amount of times for unmanned aerial vehicle charges, work efficiency is lower.
Disclosure of Invention
The inventor finds out through research that: in the actual work, because unmanned aerial vehicle's electric quantity consumption is very fast, combine current technique, can't in time charge to unmanned aerial vehicle, supply the electric energy, and then when appearing many unmanned aerial vehicles when lining up to charge, also can the assembly charge and block up, the less phenomenon of efficiency.
The utility model aims to provide an integration unmanned aerial vehicle synthesizes supply system and supply method, through setting up six robots, visual identification system, automatic oiling system, storing compartment, silence air compression device and control system, has solved prior art and can't provide the problem of enough electric energy for unmanned aerial vehicle fast.
According to an aspect of the disclosure, an integrated unmanned aerial vehicle comprehensive replenishment system and a replenishment method comprise a six-axis robot, a vision recognition system, an automatic oiling system, a storage cabinet, a silent air compression device and a control system, wherein a walking track is arranged at the bottom of the robot, the walking track is arranged on one side of the storage cabinet, the storage cabinet comprises a top layer and a bottom layer, the top layer is used for placing materials, the control system and the silent air compression device are arranged in the bottom layer, the vision system and the automatic oiling system are connected with the robot, and a quick-change clamp mechanism is arranged at the tail end of the robot.
In some embodiments of the present disclosure, the quick-change clamp mechanism includes a battery-replacement pneumatic clamp and a fuel-supply pneumatic clamp, the storage cabinet is connected to a fuel dispenser, and a fuel line provided on the engine oil is communicated with the fuel-supply pneumatic clamp.
In some embodiments of the present disclosure, the top layer includes a battery compartment and a cartridge compartment, both the battery compartment and the cartridge compartment are made of flexible materials, and both the battery in the battery compartment and the cartridge in the cartridge compartment have visual identification marks; the control system comprises a power switch and an emergency stop button for emergency stop in case of accident.
In some embodiments of this disclosure, still include the installing the system, the installing the system includes mounting platform, the mounting platform surface is including stopping zone and workspace, the stopping zone is used for unmanned aerial vehicle's descending, the workspace is used for the installation six axis robot the storing compartment the silence air compression device.
In some embodiments of the present disclosure, the drone performs visual positioning through a high definition 3D visual recognition system; the robot is provided with a camera which is electrically connected with the vision recognition system; the bottom of the mounting platform is provided with a movable supporting leg.
In some embodiments of the present disclosure, the robot is configured with a seventh axis; the top layer is rotatably connected with a sealing cover, and a controllable air spring is arranged between the sealing cover and the top layer.
In some embodiments of the present disclosure, the control system manages and schedules the robot, the vision recognition system, the automatic refueling system, the controllable gas spring and the silent air compression device through an upper computer general control system, and specifically includes unmanned aerial vehicle state monitoring, vision system integration, robot operation control, clamp replacement, workpiece selection, operation management, safety management and communication control with other devices; the unmanned aerial vehicle state monitoring tube commands the unmanned aerial vehicle to land, sends a replenishment starting instruction to the robot system, and identifies and replenishes the robot.
According to another aspect of the present disclosure, an integrated unmanned aerial vehicle comprehensive replenishment method is provided, including the following steps:
s1, alarming the electric quantity of the unmanned aerial vehicle, and informing a control system; s2, the control system dispatches the unmanned aerial vehicle to an installation system with available batteries; s3, the unmanned aerial vehicle falls to a shutdown area on a corresponding mounting platform according to the scheduling, the control system controls the unmanned aerial vehicle to shut down, and feeds back a battery replacement preparing signal; s4, after receiving the battery replacement signal, the master control system starts the robot to act; s5, positioning the unmanned aerial vehicle by the vision positioning system, and confirming the position of the battery compartment and the position of the battery; s6, taking out the unmanned aerial vehicle battery by the robot and placing the unmanned aerial vehicle battery into an idle charging bin; s7, taking out the fully charged battery in the charging bin by the robot and installing the fully charged battery on the unmanned aerial vehicle; s8, the control system informs the unmanned aerial vehicle that the unmanned aerial vehicle can be started after the battery replacement is finished; and S9, starting the unmanned aerial vehicle and executing the next task.
In some embodiments of the present disclosure, in the process of landing the unmanned aerial vehicle from the position above the parking area to the parking area in S3, the robot is located at one end of the walking track away from the parking area; in S6, the battery is mounted vertically.
In some embodiments of the present disclosure, the S5 is specifically that, in S51, the unmanned aerial vehicle reaches the designated position in the parking area, and the robot drives the camera to take a visual photograph; s52, the vision recognition system calculates coordinate data according to the image; s53, the vision recognition system determines the coordinates of the battery in the battery compartment and the coordinates of the battery in the unmanned aerial vehicle; s54, the robot replaces the battery according to the coordinates; and S55, finishing the battery replacement.
The technical scheme of the present disclosure has at least the following advantages and beneficial effects: the invention discloses automatic battery pack replacement, automatic fuel supply and automatic ammunition box replacement which are mainly used for an unmanned aerial vehicle, wherein a six-axis robot is adopted to realize an automatic supply function, a supply workstation is designed in an integral form, the six-axis robot is installed on the supply workstation, battery ammunition and other placing stations and control systems are integrated in a storage cabinet, and an unmanned aerial vehicle parking position is arranged at a designated position on a road beside the workstation.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a second schematic structural diagram of the present invention;
FIG. 3 is a flow chart of the operation of the present invention;
fig. 4 is a schematic diagram of the working range of the robot in the present invention.
Illustration of the drawings:
1-a robot; 2-a walking track; 3-quick-change fixture mechanism;
4-storage cabinet; 5-a top layer; 6, a battery compartment;
7-a cartridge; 8-a bottom layer; 9-silent air compressor;
10-a control system; 11-mounting a platform; 12-a closure cap;
13-controlled aeroelastic; 14-a shutdown zone; 15-working area.
Detailed Description
Referring to fig. 1 to 4 together, the present embodiment provides an integrated unmanned aerial vehicle comprehensive replenishment system and a replenishment method, which are already in actual use.
In the following paragraphs, the different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless clearly indicated to the contrary. In particular, any feature considered to be preferred or advantageous may be combined with one or more other features considered to be preferred or advantageous. The terms "first", "second", and the like in the present invention are merely for convenience of description to distinguish different constituent elements having the same name, and do not denote a sequential or primary-secondary relationship.
Example 1
Referring to fig. 1-4, the invention provides an integrated unmanned aerial vehicle comprehensive replenishment system, which comprises a six-axis robot 1, a vision recognition system, an automatic refueling system, a storage cabinet 4, a silent air compression device 9 and a control system 10, wherein a walking track 2 is arranged at the bottom of the robot 1, the walking track 2 is arranged on one side of the storage cabinet 4, the storage cabinet 4 comprises a top layer 5 and a bottom layer 8, the top layer 5 is used for placing materials, the control system 10 and the silent air compression device 9 are both arranged in the bottom layer 8, the vision system and the automatic refueling system are both connected with the robot 1, and a quick-change clamp mechanism 3 is arranged at the tail end of the robot 1.
It should be noted that, this system mainly used unmanned aerial vehicle's group battery is automatic to be changed, fuel automatic supply, the automatic change of ammunition box, adopts six robots 1 to realize the automatic supply function, and the supply workstation adopts the design of whole form, and six robots 1 install on the supply workstation, and battery ammunition etc. place station and control system 10 integration in storing compartment 4, and unmanned aerial vehicle shut-off position sets up the assigned position on the highway by the workstation. When the device in the whole system is carried, the device is positioned through the specific two-dimensional code or the positioning sensor arranged on the device, the system and the method provided by the invention can directly replace the battery of the unmanned aerial vehicle, so that the unmanned aerial vehicle can directly replace the fully charged battery to ensure the normal operation of the unmanned aerial vehicle, and simultaneously, the rest batteries are charged in the working process of the unmanned aerial vehicle, thereby solving the problem that the prior art can not rapidly provide enough electric energy for the unmanned aerial vehicle. In some embodiments, the weight of the entire system is less than or equal to 5 kg. Adopt high definition 3D visual identification system to carry out vision positioning, carry out the energy supply through six axis robot 1. Specifically, the battery is grabbed and replaced through the arranged robot 1, and the distance between the robot 1 and the unmanned aerial vehicle is adjusted through the walking track 2; the quick-change clamp mechanism 3 is used for realizing the quick change of different grippers so as to realize the gripping of articles with different shapes; the identification prepositioning of the unmanned aerial vehicle, the unmanned vehicle, the battery ammunition to be replaced and other articles is realized through a visual identification system; the fuel oil is stored through an automatic refueling system so as to realize automatic refueling of the unmanned vehicle, and the automatic refueling system has the function of automatic gun jumping when an oil tank is full; the top layer 5 is used to store ready-to-take substances (e.g., batteries, ammunition, etc.) and the bottom layer 8 is used to house a control system 10 and a silent air compressor assembly 9 via the storage case 4. When the unmanned aerial vehicle device reaches a specified position near the unmanned aerial vehicle device, the visual recognition system identifies articles, positions the battery on the unmanned aerial vehicle device, controls the robot 1 to take out the battery and place the battery on the storage cabinet 4 at a corresponding position, then grabs the fully charged battery on the storage cabinet 4 and grabs and installs the battery at a vacant position of a signed battery, namely, the battery replacement work of the unmanned aerial vehicle is completed. When fuel oil needs to be supplemented to the unmanned aerial vehicle, the robot 1 replaces a fuel oil special gripper through a quick-change fixture machine, extracts fuel oil from a started automatic refueling system and injects the fuel oil into a fuel tank of the unmanned aerial vehicle; ammunition replenishment operates in the same manner.
In the transportation feature recognition, three-dimensional feature recognition is performed on objects (batteries, ammunition and the like) for transporting loading and unloading, so that the grabbing and positioning accuracy of the robot 1 is ensured. The unmanned aerial vehicle adopts Ark ark unmanned aerial vehicle and an extremely matching system. The vision recognition system preferably adopts a Mecamann de 3D vision system, and is arranged at the end of the sixth shaft of the robot 1, and the vision recognition positioning is carried out through the arm extension of the robot 1. The robot 1 tooling fixture mechanism adopts a pneumatic fixture to grab. The mute air compressor adopts an ultra-mute air compressor to provide compressed air. The control system 10 performs integrated control on each system to realize the function of automatic energy supply, preferably adopts Siemens PLC to perform logic master control, and configures a Willon HMI.
The quick-change clamp mechanism 3 comprises a battery-replacing pneumatic clamp and a fuel-supplying pneumatic clamp, the storage cabinet 4 is connected with an oiling machine, and an oil pipe arranged on engine oil is communicated with the fuel-supplying pneumatic clamp. It should be noted that the clamp of the robot 1 adopts a pneumatic gripper to grab, and the gripper is automatically replaced through a quick-change system, and the quick-change system of the robot 1 is a tool quick-change device for quickly replacing the end effector, so that different end effectors can be quickly replaced within several seconds, the robot 1 is more flexible and more efficient, the quick-change time is less than 30 seconds, the repeated positioning accuracy is 0.02mm, and the rated load is 25 kg. In some embodiments, the robot 1 fixture includes, but is not limited to, three sets of fixtures, one set for battery capture, one set for ammunition capture, and a set of spare fixtures, and the replacement of the three sets of fixtures is realized by connecting the robot 1 to the quick-change fixture. Wherein the battery is changed air jig and is designed battery tongs according to unmanned aerial vehicle battery structure, satisfies battery on the unmanned aerial vehicle and takes out, the installation function, and cooperation battery compartment 6 realizes functions such as automatic charging, trades the electricity. The oil gun gripper is designed according to the structure of the oil gun, and the clamping function of the robot 1 on the oil gun is met.
In some embodiments, the fuel supply system of the unmanned robot adopts automatic oiling equipment to complete automatic oiling, the length of an oil inlet pipe of the full-automatic oiling machine is 1 meter, the length of an oil outlet pipe of the full-automatic oiling machine is 2 meters, the precision error is +/-0.5 percent, the large flow rate is 60L/min, the oil outlet pipe of the oiling machine is arranged on a quick-change clamp during operation, automatic oiling is realized by grabbing the clamp through the robot 1 and automatically jumping a gun after the automatic oiling machine is filled, the automatic oiling machine is controlled through a PLC (programmable logic controller), and the full-automatic oiling process control is realized
The top layer 5 comprises a battery compartment 6 and an ammunition compartment 7, the battery compartment 6 and the ammunition compartment 7 are both made of flexible materials, visual identification marks are arranged on batteries in the battery compartment 6 and ammunition in the ammunition compartment 7, and visual identification and positioning under various illumination environments can be clearly realized; the control system 10 includes a power switch and an emergency stop button for enabling an emergency stop in the event of an accident. It should be noted that in some embodiments, battery compartment 6 and cartridge compartment 7 are made of EVA sponge foam; the visual identification system identifies and captures the ammunition through visual identification marks on the battery and the ammunition; the control system 10 includes switches and emergency stop buttons by which emergency stops can be made in the event of an accident, avoiding a safety hazard in the case of a crime.
This system still includes the installing the system, and the installing the system includes mounting platform 11, and mounting platform 11 surfaces are including shutting down district 14 and workspace 15, and shutting down district 14 is used for unmanned aerial vehicle's descending, and workspace 15 is used for installing six axis robot 1, storing compartment 4, silence air compression device 9. It should be noted that all devices are installed on the installation platform 11 in a centralized manner, and the positioning mechanism is used for realizing quick positioning, and all designs are integrated on the installation platform 11 by adopting the platform modularized design, so that the transportation is convenient and the field installation is completed. In some embodiments, the size of the installation platform 11 is preferably 2500mm × 2100mm × 1500mm, the working devices such as the six-axis robot 1, the storage cabinet 4, the silent air compression device and the like are arranged in the working area 15 in a centralized manner, the working structures may interfere with the driving route of the unmanned aerial vehicle due to over-dispersed structures, the occurrence of unnecessary safety accidents can be avoided due to the centralized arrangement, the safety distance between the working area 15 and the unmanned aerial vehicle parking area 14 is preferably 700mm, and the unmanned aerial vehicle can be guaranteed to have a positioning accuracy of ± 50 mm. In some embodiments, the mounting platform 11 is welded with high strength steel structures to provide platform strength, preferably with steel structures having dimensions of 2500mm 2100mm 250 mm.
In some embodiments, each independent structure such as the storage cabinet 4 and the walking track 2 is detachably connected with the mounting platform 11 through 2.9-level high-strength bolts, so that the stability of the whole system can be ensured to the greatest extent while the storage cabinet is convenient to disassemble and assemble. The whole system is designed in an integral mode, the material bin is designed above, the control system 10 is arranged below, after the whole debugging of the system is completed, the surfaces of all equipment are uniformly subjected to surface painting treatment, the whole assembly and debugging are performed after the painting is completed, meanwhile, the whole packaging is performed during the transportation of the system, the damage and scratch of the surface of a paint film of the equipment are prevented, in some embodiments, the color of the paint is ice gray which is used as the color of a main machine of the equipment, and if a user has special requirements, the color of the paint is customized according to the color scale provided by the user.
The unmanned aerial vehicle carries out visual positioning through a high-definition 3D visual recognition system; the robot 1 is provided with a camera which is electrically connected with a vision recognition system; the bottom of the mounting platform 11 is provided with a movable supporting foot. It should be noted that, the bottom of the mounting platform 11 is provided with a supporting foot, and the supporting foot has a locking function and is used for quickly positioning and fixing the whole system. Unmanned aerial vehicle stops at the assigned position through self positioning system is accurate, guarantees that robot 1 covers unmanned aerial vehicle battery range, is the electricity to be connected between the system that unmanned aerial vehicle self positioning system and robot 1 disposed simultaneously, wherein just including the camera that sets up on the robot 1, the electricity is connected between vision recognition system and the unmanned aerial vehicle positioning system. In some embodiments, the drone preferably has a resolution of 1920x1200, a working distance range of 500-1000mm, a proximal field of view of 350-220 mm, a distal field of view of 690-430 mm, an external dimension of 270-72-130 mm, a calibration accuracy of ± 0.1mm, a working temperature of 0-40 ℃, an ethernet communication interface, a working voltage of 24V DC, and a protection rating of IP 65.
The robot 1 is provided with a seventh axis; the top layer 5 is rotatably connected with a closed cover 12, and a controllable gas spring 13 is arranged between the closed cover 12 and the top layer 5. It should be noted that the robot 1 provided by the present system is configured with a FANUC system, the end payload of which is 25Kg, and the maximum extension range of which is 1831 mm. The robot 1 system comprises a robot 1 body, a robot 1 control cabinet, a robot 1 external shaft, a teaching box, a power supply cable and the like, wherein the robot 1 is a 6-shaft articulated robot 1, 6 freedom AC servo motors are adopted as the servo motors, Siemens and Lorentz motors are adopted as the servo motors, each motor is provided with independent servo drive control, if one servo drive control has problems, only a single servo drive controller needs to be replaced, compared with other robots 1 which adopt 3-axis one servo package or 6-axis one servo package, the robot 1 has the advantages of more convenient and reliable later maintenance and low maintenance cost, the novel alternating current servo motor adopted by the robot 1 provided by the invention has the characteristics of compact structure, high output, fast response, high reliability and the like, therefore, the robot 1 is compact and flexible, and has larger motion space, better stability and higher repeated positioning precision. In detail, the robot 1 provided by the invention adopts an absolute position encoder, all shafts are provided with band-type brakes and have a soft servo follow-up function, the design of specific load and motion inertia ensures that the speed and the motion characteristics are optimized, the additional load of the arm part has no motion limit on the rated load, and a cable with the length of 7m is arranged between the body and the controller and can be expanded and stretched as required. In some embodiments, the respective robot 1 control system 10 is taught and operated by an ergonomically designed hand-held manipulator, acting as a human-machine interface. Specifically, the control panel has an 8 "full color display screen, which is VGA resolution, 640x 480; the diagnosis from the operation of the control system 10 of the robot 1 to the programming to the program control and all the control steps can be directly finished on the robot 1, and meanwhile, a Windows interface suitable for running on a control panel guides all the working steps for a user and enables the programming to be more rapid and efficient, and the swinging mode and the swinging waveform can be edited. It has the following characteristics: LCD color display, VGA mode, 640X480,256 color, and numeric and alphabetical keyboard, which is convenient for naming the working program; 6D space mouse, and keyboard motion control. The teaching process is simple, convenient and quick, and is just like game operation; the three-position enabling switch is easy to operate safely; the four working modes can be selected to communicate with the PC through the Canbus according to actual needs, and the real-time performance is higher. The robot 1 is provided with a seventh axis function, and the seventh axis length is 2500 mm. Can effectively prevent dust to battery and ammunition through the closing cap 12 that sets up, open and close it through air spring control between closing cap 12 and the top layer 5 simultaneously, different manual operations further improve its intellectuality.
The control system 10 manages and dispatches the robot 1, the vision recognition system, the automatic oiling system, the controllable gas spring 13 and the mute air compression device 9 through an upper computer master control system, and specifically comprises unmanned aerial vehicle state monitoring, vision system integration, robot 1 operation management and control, clamp replacement, workpiece selection, operation management, safety management and communication control with other equipment; the unmanned aerial vehicle state monitoring tube commands the unmanned aerial vehicle to land, sends a replenishment starting instruction to the robot 1 system, and the robot 1 identifies and replenishes. It should be noted that the automatic replenishment system manages and schedules the devices in the entire replenishment system through the master control software of the upper computer, wherein the automatic replenishment system includes unmanned aerial vehicle state monitoring, visual system integration, robot 1 operation management and control, fixture replacement workpiece selection, operation management, safety management, communication control with other devices, and the like. The management and control system commands the unmanned aerial vehicle to land, the unmanned vehicle to arrive, and then sends a replenishment starting instruction to the robot 1 system, and carries out identification and replenishment. In some embodiments, the robot 1, the vision recognition system, the automatic oiling system, the controllable gas spring 13, the mute air compression device 9 and other structures adopt a unified communication interface; local area network connection is carried out between each part of equipment such as the robot 1, the vision recognition system, the automatic oiling system, the controllable gas spring 13 spring, the mute air compression device 9 and the like and the control system 10 by adopting RJ45 interfaces through six types of network cables; the network communication protocol adopts a standard TCP transmission control protocol, and the data structure adopts a JSON format; the communication message data type is String, and consists of a data name and a value; and the specific communication content and format are adjusted according to specific conditions during later project debugging.
Example 2
On the basis of embodiment 1, the integrated unmanned aerial vehicle comprehensive supply method is provided, and comprises the following steps:
s1, alarming the electric quantity of the unmanned aerial vehicle, and simultaneously informing the control system 10;
s2, the control system 10 dispatches the unmanned aerial vehicle to an installation system with available batteries;
s3, the unmanned aerial vehicle descends to a shutdown area 14 on the corresponding mounting platform 11 according to the schedule, the control system 10 controls the unmanned aerial vehicle to shut down, and feeds back a battery replacement preparing signal;
s4, after receiving the battery replacement signal, the master control system 10 starts the robot 1 to act;
s5, the visual positioning system positions the unmanned aerial vehicle and confirms the position of the battery compartment 6 and the position of the battery;
s6, taking out the unmanned aerial vehicle battery by the robot 1 and placing the unmanned aerial vehicle battery into an idle charging bin;
s7, the robot 1 takes out the fully charged battery in the charging bin and installs the fully charged battery on the unmanned aerial vehicle;
s8, the control system 10 informs the unmanned aerial vehicle that the unmanned aerial vehicle can be started after the battery replacement is finished;
and S9, starting the unmanned aerial vehicle and executing the next task.
In the S3, in the process that the unmanned aerial vehicle lands from the position above the parking area 14 to the parking area 14, the robot 1 is located at one end, far away from the parking area 14, of the walking track 2; in S6, the battery is mounted vertically. It should be noted that, when unmanned aerial vehicle descended and shut down, robot 1 was in dodging the state, left bigger space for unmanned aerial vehicle as far as possible and made things convenient for unmanned aerial vehicle to descend, and the whole transportation of installation platform 11 is passed through in the automatic supply of unmanned aerial vehicle battery, and robot 1 system was in mechanical zero coordinate when transporting, practices thrift the transportation space.
The specific example of S5 is,
s51, when the unmanned aerial vehicle reaches the designated position of the parking area 14, the robot 1 drives a camera to take a visual picture;
s52, the vision recognition system calculates coordinate data according to the image;
s53, the vision recognition system determines the coordinates of the battery in the battery compartment 6 and the coordinates of the battery in the unmanned aerial vehicle;
s54, the robot 1 carries out battery replacement according to the coordinates;
and S55, finishing the battery replacement.
It should be noted that, the vision system can perform full-freedom positioning and picking on the object position with a large measurement depth and range through the robot 1 vision guidance system developed based on the structured light measurement technology and the object recognition technology, and has higher application flexibility and a larger detection range. After the warning takes place for the unmanned aerial vehicle electric quantity is not enough, inform the control cabinet, the control cabinet accepts supply station information, with near unmanned aerial vehicle dispatch supply station that has available battery, the accurate descending position of unmanned aerial vehicle, the automatic energy supply that carries on of supply station. The system and the method provided by the invention can directly replace the battery of the unmanned aerial vehicle, so that the unmanned aerial vehicle can directly replace the fully charged battery to ensure the normal operation of the unmanned aerial vehicle, and simultaneously charge the rest batteries in the working process of the unmanned aerial vehicle, thereby solving the problem that the prior art can not rapidly provide enough electric energy for the unmanned aerial vehicle.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. Supply system is synthesized to integration unmanned aerial vehicle, its characterized in that includes: six robots (1), vision recognition system, automatic oiling system, storing compartment (4), silence air compressor arrangement (9) and control system (10), robot (1) bottom has walking track (2), walking track (2) set up storing compartment (4) one side, storing compartment (4) include top layer (5) and bottom (8), top layer (5) are used for placing the material, control system (10) with silence air compressor arrangement (9) all set up in bottom (8), the vision system do not the system automatic oiling system all with robot (1) connects, robot (1) end has quick change anchor clamps mechanism (3).
2. The integrated unmanned aerial vehicle comprehensive replenishment system according to claim 1, wherein the quick-change clamp mechanism (3) comprises a battery replacement pneumatic clamp and a fuel replenishment pneumatic clamp, the storage cabinet (4) is connected with a fuel dispenser, and a fuel pipe arranged on the fuel dispenser is communicated with the fuel replenishment pneumatic clamp.
3. The integrated unmanned aerial vehicle integrated replenishment system according to claim 1, wherein the top layer (5) comprises a battery compartment (6) and a cartridge compartment (7), the battery compartment (6) and the cartridge compartment (7) are both made of flexible materials, and visual identification marks are provided on batteries in the battery compartment (6) and on ammunition in the cartridge compartment (7); the control system (10) includes a power switch and an emergency stop button for emergency stop in case of accident.
4. The integrated unmanned aerial vehicle comprehensive replenishment system according to claim 1, further comprising a mounting system, wherein the mounting system comprises a mounting platform (11), the surface of the mounting platform (11) comprises a stopping area (14) and a working area (15), the stopping area (14) is used for landing of the unmanned aerial vehicle, and the working area (15) is used for mounting the six-axis robot (1), the storage cabinet (4) and the silent air compression device (9).
5. The integrated unmanned aerial vehicle integrated replenishment system of claim 4, wherein the unmanned aerial vehicle is visually positioned by a high definition 3D visual recognition system; the robot (1) is provided with a camera which is electrically connected with the vision recognition system; the bottom of the mounting platform (11) is provided with a movable supporting leg.
6. The integrated unmanned aerial vehicle integrated replenishment system according to claim 1, wherein the robot (1) is configured with a seventh axis; the top layer (5) is rotatably connected with a closed cover (12), and a controllable gas spring (13) is arranged between the closed cover (12) and the top layer (5).
7. The integrated unmanned aerial vehicle comprehensive replenishment system according to claim 6, wherein the control system (10) manages and dispatches the robot (1), the vision recognition system, the automatic refueling system, the controllable gas spring (13) and the silent air compression device (9) through an upper computer master control system, and specifically comprises unmanned aerial vehicle state monitoring, vision system integration, robot (1) operation control, clamp replacement, workpiece selection, operation management, safety management and communication control with other equipment; the unmanned aerial vehicle state monitoring tube commands the unmanned aerial vehicle to land, sends a replenishment starting instruction to the robot (1) system, and identifies and replenishes the robot (1).
8. The integrated unmanned aerial vehicle comprehensive supply method is applied to the integrated unmanned aerial vehicle comprehensive supply system of any one of claims 1-7, and comprises the following steps:
s1, alarming the electric quantity of the unmanned aerial vehicle, and informing a control system (10) at the same time;
s2, the control system (10) dispatches the unmanned aerial vehicle to an installation system with available batteries;
s3, the unmanned aerial vehicle falls to a shutdown area (14) on the corresponding installation platform (11) according to the scheduling, the control system (10) controls the unmanned aerial vehicle to shut down, and feeds back a battery replacement preparing signal;
s4, after receiving the battery replacement signal, the master control system (10) starts the robot (1) to act;
s5, the vision positioning system positions the unmanned aerial vehicle and confirms the position of the battery compartment (6) and the position of the battery;
s6, taking out the unmanned aerial vehicle battery by the robot (1) and placing the unmanned aerial vehicle battery into an idle charging bin;
s7, taking out the fully charged battery in the charging bin by the robot (1) and installing the fully charged battery on the unmanned aerial vehicle;
s8, the control system (10) informs the unmanned aerial vehicle that the unmanned aerial vehicle can be started after the battery replacement is finished;
and S9, starting the unmanned aerial vehicle and executing the next task.
9. The integrated unmanned aerial vehicle comprehensive replenishment method according to claim 8, wherein in the step S3, the robot (1) is located at one end of the walking track (2) far away from the parking area (14) in the process of landing the unmanned aerial vehicle from the position above the parking area (14) to the parking area (14); in S6, the battery is mounted vertically.
10. The integrated unmanned aerial vehicle comprehensive replenishment method according to claim 8, wherein the S5 is specifically,
s51, when the unmanned aerial vehicle reaches the designated position of the parking area (14), the robot (1) drives a camera to take a visual photograph;
s52, the vision recognition system calculates coordinate data according to the image;
s53, the vision recognition system determines the coordinates of the battery in the battery compartment (6) and the coordinates of the battery in the unmanned aerial vehicle;
s54, the robot (1) replaces the battery according to the coordinates;
and S55, finishing battery replacement.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116135590A (en) * | 2023-04-18 | 2023-05-19 | 安徽绿舟科技有限公司 | New energy automobile trades power station |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116135590A (en) * | 2023-04-18 | 2023-05-19 | 安徽绿舟科技有限公司 | New energy automobile trades power station |
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