CN115951620A - Unmanned aerial vehicle intelligent equipment management and control system - Google Patents
Unmanned aerial vehicle intelligent equipment management and control system Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle intelligent equipment management and control system, which comprises a server, an unmanned aerial vehicle, a transfer platform, an interaction module, a power conversion module and a data transmission module, wherein the interaction module, the power conversion module and the data transmission module are all arranged on the transfer platform; trade the electric module and be used for changing the battery on the unmanned aerial vehicle, it is right that interactive module is used for unmanned aerial vehicle carries out the interaction, in order to guide unmanned aerial vehicle descends or the distribution of task, data transmission module be used for with the data that unmanned aerial vehicle gathered are transmitted. According to the unmanned aerial vehicle control system, the evaluation unit and the guide evaluation unit are matched with each other, so that the landing position of the unmanned aerial vehicle can be accurately controlled, the unmanned aerial vehicle can accurately land on the transfer platform and the convenience of battery supplement is ensured, and the whole system has the advantages of high intelligence degree, good interaction comfort and high unmanned aerial vehicle control level.
Description
Technical Field
The invention relates to the technical field of carrying aircrafts, in particular to an unmanned aerial vehicle intelligent equipment management and control system.
Background
In recent years, along with the rapid development of relevant technologies of unmanned aerial vehicles at home and abroad, the unmanned aerial vehicles are more and more widely used, wherein an important application field of the unmanned aerial vehicles is that the unmanned aerial vehicles are used as inspection equipment for safety inspection of rails, production lines, high-voltage lines and the like, the unmanned aerial vehicles used for inspection generally use batteries as energy units, and the endurance time of the unmanned aerial vehicles is an obvious short board;
for example, CN113581052a prior art discloses a modularized wireless charging unmanned aerial vehicle-mounted platform, which is technically characterized in that a fixed recovery charging platform is mainly used, the remote operation condition of the unmanned aerial vehicle cannot be met, the unmanned aerial vehicle has a long stroke to and fro to the fixed platform, which causes the problems of low operation efficiency, small operation range and the like, and the fixed platform has a long control distance, which causes insensitivity in control.
Another typical prior art, such as CN105763230B, discloses an autonomous base station system for a mobile multi-rotor unmanned aerial vehicle, where one of the biggest bottlenecks of multi-rotor unmanned aerial vehicles at present is that the battery endurance is insufficient, and the flight time of most unmanned aerial vehicles does not exceed 40 minutes, which severely limits the application of continuous long-time operation. For another example, in a complex flight mission, the unmanned aerial vehicle and the ground monitoring center are required to have large-scale data transmission, but based on the existing data transmission/image transmission station technology, the wireless transmission bandwidth is low, and the application requirement is difficult to meet.
Referring to CN110856134B, in the method for collecting data in a large-scale wireless sensor network based on an unmanned aerial vehicle, performance indexes of data collection of the unmanned aerial vehicle are mainly considered from the aspects of data delay, energy efficiency, flight time, data quality, and the like, but the index of the collected data information value is rarely considered. In many practical application scenarios, the information collected by each node is not equally important, for example, the temperature collected by a certain temperature sensor in fire monitoring application is far higher than normal temperature, and target endangered animals appear around some nodes in animal tracking application. The information is time-efficient, and the later the unmanned aerial vehicle collects, the lower the data information value.
The invention aims to solve the problems of poor cruising ability, incapability of supplementing batteries, overlong charging time, lack of real-time data collection, large data transmission delay, incapability of time interaction, poor control level and low intelligence degree of the unmanned aerial vehicle and the like in the field.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle intelligent equipment management and control system aiming at the defects at present.
In order to overcome the defects of the prior art, the invention adopts the following technical scheme:
an unmanned aerial vehicle intelligent equipment management and control system comprises a server, an unmanned aerial vehicle and a transfer platform, and further comprises an interaction module, a battery swapping module and a data transmission module,
the server is respectively connected with the interaction module, the battery swapping module and the data transmission module, and the interaction module, the battery swapping module and the data transmission module are all arranged on the transfer platform;
the battery replacement module is used for replacing a battery on the unmanned aerial vehicle, the interaction module is used for interacting the unmanned aerial vehicle so as to guide the unmanned aerial vehicle to land or distribute tasks, and the data transmission module is used for transmitting data acquired by the unmanned aerial vehicle;
the interaction module comprises an interaction unit, a guide unit and a guide evaluation unit, the interaction unit is used for interacting with the unmanned aerial vehicle to obtain flight data of the unmanned aerial vehicle, the guide evaluation unit evaluates the landing of the unmanned aerial vehicle according to the flight data of the unmanned aerial vehicle, and the guide unit enables the unmanned aerial vehicle to land on the transfer platform according to the evaluation result of the guide evaluation unit.
Optionally, the battery replacement module includes a battery replacement unit and a charging unit, the battery replacement unit is configured to replace a battery on the unmanned aerial vehicle, and the charging unit is configured to charge the battery that is replaced;
the battery replacement unit comprises a battery replacement component, a rotating component and an identification component, wherein the rotating component is used for detecting the angle of the battery, the identification component is used for identifying the position of a battery compartment of the unmanned aerial vehicle, and the battery replacement component is used for detaching the battery of the unmanned aerial vehicle and preventing a new battery from entering the battery compartment.
Optionally, the data transmission module includes a data transmission unit and a transfer unit, the data transmission unit is configured to acquire polling data transmitted by the unmanned aerial vehicle, and the transfer unit performs relay transmission on the polling data according to the polling data acquired by the data transmission unit;
the data transmission unit comprises a transmitter, a receiver and a data memory, wherein the transmitter is used for sending a transmission instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle transmits inspection data to the receiver, the receiver is used for receiving the inspection data of the unmanned aerial vehicle, and the data memory is used for storing the inspection data received by the receiver.
Optionally, the interaction unit includes a signal sensor and an interaction transmitter, the signal sensor is configured to sense a position signal of the unmanned aerial vehicle, and the interaction transmitter sends an interaction instruction to the unmanned aerial vehicle according to data of the signal sensor, so as to receive flight data of the unmanned aerial vehicle;
and the unmanned aerial vehicle responds to the interactive instruction after receiving the interactive instruction and transmits the flight data of the unmanned aerial vehicle to the interactive transmitter.
Optionally, the guidance evaluation unit obtains flight data of the unmanned aerial vehicle, and calculates an equivalent landing speed V of the unmanned aerial vehicle at the transfer platform:
in the formula, v max For the maximum speed, v, of the vertical landing flight of the unmanned aerial vehicle in the landing process min Is the minimum speed of vertical landing flight in the landing process of the unmanned aerial vehicle, delta i Is the absolute value of the difference between the X axis and the Y axis of the real-time position and the position to be landed of the unmanned aerial vehicle,i=x，y,L 1 distance threshold allowed for vertical landing, L 2 Distance threshold adjusted for low speed of vertical landing, L 3 Adjusting the distance threshold for vertical landing gear change, t being such that L is satisfied 2 ＜△ i ≤L 3 And the later accumulated time T is a deceleration period and meets the following requirements:
after the unmanned aerial vehicle moves to the position above the transfer platform, the guiding unit guides the unmanned aerial vehicle to land on the transfer platform according to the landing speed V.
Optionally, the transfer platform upper end face is provided with four auxiliary marks and a main landing mark, and the four auxiliary marks are symmetrically arranged around the main landing mark to form position calibration marks.
Optionally, the identification component is arranged on the upper end face of the transfer platform, and when the unmanned aerial vehicle is close to the transfer platform, the image data of the unmanned aerial vehicle battery cabin is collected.
The beneficial effects obtained by the invention are as follows:
1. through the cooperation of the interaction unit and the guide unit, the landing process of the unmanned aerial vehicle is more efficient and reliable, the interactivity of the unmanned aerial vehicle and a transfer platform is further promoted, and the unmanned aerial vehicle can be accurately stopped on the transfer platform;
2. through the mutual cooperation of the unmanned aerial vehicle and the transfer platform, the unmanned aerial vehicle and related equipment are assisted to complete the technologies of the unmanned aerial vehicle and the related equipment through the Internet of things, an information physical system and the like, and a full-automatic intelligent unmanned aerial vehicle equipment warehouse management system integrating unmanned aerial vehicle equipment storage, battery intelligent charging and discharging and equipment access is realized and built;
3. the data transmission module receives data transferred and transmitted by the unmanned aerial vehicle, so that the unmanned aerial vehicle can transmit the routing inspection data in the power conversion process, and the efficiency and reliability of data transmission are improved;
4. through the evaluation unit with guide the evaluation unit and mutually support for unmanned aerial vehicle's descending position can be by accurate control, guarantees that unmanned aerial vehicle can accurate descending and carry out the convenience that the battery supplyed on the transfer platform, makes entire system have that intelligent degree is high, mutual travelling comfort is good, unmanned aerial vehicle management and control level is high advantage.
5. Through the mutual cooperation of the charging module and the battery replacing component, the battery in the battery cavity can be charged and actively switched on and off, so that the safety and the reliability of the charging process are improved, and the whole system has the advantages of intelligent charging time control, high battery replacing efficiency and high intelligent degree.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is an overall block diagram of the present invention.
Fig. 2 is a block diagram illustrating alignment of the drone and the landing signs of the present invention.
FIG. 3 is a schematic control flow chart of the alignment camera according to the present invention.
Fig. 4 is a schematic side view of a transfer platform according to the present invention.
Fig. 5 is a schematic front view of a transfer platform according to the present invention.
Fig. 6 is a schematic structural view of the transfer platform, the main landing sign and the auxiliary landing sign according to the present invention.
Fig. 7 is a schematic structural diagram of a view angle of a transfer platform and a collection area according to the present invention.
Fig. 8 is a schematic view of a part of the structure of the power conversion member and the transfer platform of the present invention.
Fig. 9 is a schematic bottom view of the drone of the present invention.
The reference numbers illustrate: 1. an unmanned aerial vehicle main body; 2. a battery compartment; 3. a propeller; 4. an adsorption seat; 5. an adsorption rod; 6. a contact head; 7. a transfer platform; 8. a photovoltaic panel; 9. translating the rail; 10. a translation seat; 11. a storage chamber; 12. a slide rail; 13. a battery; 14. an interaction unit; 15. a limiting seat; 16. lifting the rod; 17. a sliding seat; 18. a battery cavity; 19. a collecting part; 20. a main landing mark; 21. and (4) marking the auxiliary falling.
Detailed Description
The following is a description of embodiments of the present invention with reference to specific embodiments, and those skilled in the art will understand the advantages and effects of the present invention from the disclosure of the present specification. The invention is capable of other and different embodiments and its several details are capable of modifications and various changes in detail without departing from the spirit and scope of the present invention. The drawings of the present invention are for illustrative purposes only and are not intended to be drawn to scale. The following embodiments are further detailed to explain the technical matters related to the present invention, but the disclosure is not intended to limit the scope of the present invention.
The first embodiment is as follows:
according to fig. 1,2,3,4, 5, 6, 7, 8 and 9, the present embodiment provides an unmanned aerial vehicle intelligent device management and control system, which includes a server, an unmanned aerial vehicle, and a transit platform 7, and further includes an interaction module, a battery swapping module, and a data transmission module,
the server is respectively connected with the interaction module, the battery swapping module and the data transmission module, and the interaction module, the battery swapping module and the data transmission module are all arranged on the transfer platform 7;
the battery replacement module is used for replacing a battery 13 on the unmanned aerial vehicle, the interaction module is used for interacting the unmanned aerial vehicle so as to guide the unmanned aerial vehicle to land or distribute tasks, and the data transmission module is used for transmitting data acquired by the unmanned aerial vehicle;
through the mutual cooperation of the unmanned aerial vehicle and the transfer platform 7, the unmanned aerial vehicle and related equipment are assisted to complete the technologies of the unmanned aerial vehicle and the related equipment through the Internet of things, an information physical system and the like, and a full-automatic intelligent unmanned aerial vehicle equipment warehouse management system integrating unmanned aerial vehicle equipment storage, battery 13 intelligent charging and discharging and equipment access is realized and built;
the unmanned aerial vehicle intelligent equipment management and control system further comprises a central processing unit, wherein the central processing unit is respectively used for controlling and connecting the interaction module, the battery swapping module and the data transmission module, and carrying out centralized control on the interaction module, the battery swapping module and the data transmission module based on the central processing unit;
the unmanned aerial vehicle comprises an unmanned aerial vehicle main body 1, propellers 3, a battery cabin 2, an alignment camera and locking members, wherein the battery cabin 2 is arranged on the upper end face of the unmanned aerial vehicle main body 1, the propellers 3 are symmetrically arranged on the unmanned aerial vehicle main body 1 and provide upward lifting force, and the locking members are used for locking batteries 13 in the battery cabin 2 so that the batteries 13 can provide power supply;
the battery 13 is electrically connected with the propeller 3;
the alignment camera is arranged on the lower end face of the unmanned aerial vehicle main body 1 to collect image data of a landing mark on the transfer platform 7 so as to determine whether the unmanned aerial vehicle is aligned with the transfer platform 7;
the interaction module comprises an interaction unit 14, a guiding unit and a guiding evaluation unit, wherein the interaction unit 14 is used for interacting with the unmanned aerial vehicle to obtain flight data of the unmanned aerial vehicle, the guiding evaluation unit evaluates the landing of the unmanned aerial vehicle according to the flight data of the unmanned aerial vehicle, and the guiding unit enables the unmanned aerial vehicle to land on the transfer platform 7 according to the evaluation result of the guiding evaluation unit;
in addition, the interaction module is arranged on the transfer platform 7 and guides and interacts the unmanned aerial vehicle about to land on the transfer platform 7;
meanwhile, the interaction unit 14 is matched with the guide unit, so that the landing process of the unmanned aerial vehicle is more efficient and reliable, the interactivity between the unmanned aerial vehicle and the transfer platform 7 is further promoted, and the unmanned aerial vehicle can be guaranteed to accurately stop on the transfer platform 7;
optionally, the battery replacement module includes a battery replacement unit and a charging unit, the battery replacement unit is configured to replace a battery 13 on the unmanned aerial vehicle, and the charging unit is configured to charge the replaced battery 13;
the battery replacement unit comprises a battery replacement component, a rotating component and an identification component, wherein the rotating component is used for detecting the angle of a battery 13, the identification component is used for identifying the position of a battery compartment 2 of the unmanned aerial vehicle, and the battery replacement component is used for detaching the battery 13 of the unmanned aerial vehicle and preventing a new battery 13 from entering the battery compartment 2;
the rotating member comprises a rotating seat, a rotating driving mechanism and an angle detection piece, the angle detection piece is used for detecting the rotating angle of the rotating seat, the rotating seat is used for adjusting the angle of the battery 13, and the rotating driving mechanism is in driving connection with the rotating seat so that the rotating seat can adjust the angle of the battery 13;
the identification component is arranged on the rotating component and is used for identifying the landing posture of the unmanned aerial vehicle battery cabin 2;
the identification component comprises an identification probe and a data memory, the identification probe is used for acquiring image data of the battery compartment 2 of the unmanned aerial vehicle, and the data memory is used for storing the image data of the battery compartment 2 of the unmanned aerial vehicle acquired by the identification probe;
if the identification component identifies that the position of the battery compartment 2 of the unmanned aerial vehicle is inconsistent with the direction of the battery 13 on the rotating seat, the rotating seat is driven by the rotating driving mechanism to enable the direction of the battery 13 to be consistent with the direction of the battery 13, and then the battery replacement component is triggered to replace the battery 13 of the unmanned aerial vehicle;
optionally, the identification component is arranged on the upper end face of the transfer platform 7, and when the unmanned aerial vehicle approaches the transfer platform 7, image data of the unmanned aerial vehicle battery compartment 2 is acquired;
the battery replacing component comprises a limiting seat 15, a sliding seat 17, a sliding driving mechanism, a lifting rod 16, a lifting driving mechanism, at least four charging cavities, at least four sliding rails 12 and a plurality of position mark pieces, wherein one end of the lifting rod 16 is connected with the upper end face of the sliding seat 17, the other end of the lifting rod 16 is connected with the limiting seat 15 to form a lifting part,
the limiting seats 15 are used for limiting the batteries 13, the limiting seats 15 are arranged above the sliding seats 17 and move along with the movement of the sliding seats 17, the position markers are respectively arranged at the head end and the tail end of the sliding rails 12 so as to mark the sliding positions of the sliding seats 17, one ends of at least four sliding rails 12 extend into at least four charging cavities respectively, one ends of at least four sliding rails 12 are converged to form a converging part 19, the sliding seats 17 are slidably connected with the sliding rails 12 and slide back and forth along the length direction of each sliding rail 12, and the sliding driving mechanism is used for driving and connecting the sliding seats 17 so that the sliding seats 17 can transport the batteries 13 in each charging cavity along the direction of each sliding rail 12, so that the batteries 13 in each charging cavity can be transported into the converging part 19, and the batteries 13 on the unmanned aerial vehicle can be replaced under the lifting operation of the lifting rods 16 and the lifting driving mechanism;
meanwhile, in the process of replacing (detaching) the battery 13 of the unmanned aerial vehicle, the battery 13 of the unmanned aerial vehicle needs to be detached, the empty retainer 15 is lifted to the position right below the battery compartment 2 of the unmanned aerial vehicle through the lifting part, and interacts with the unmanned aerial vehicle through the interaction unit 14 to unlock the battery 13 from the battery compartment 2 of the unmanned aerial vehicle, so that the retainer 15 can receive the battery 13, the detached battery 13 is transferred to the empty battery 13 cavity after the retainer 15 receives the battery 13, the sliding seat 17 moves to the collection part 19 and transfers the battery 13 in the other battery 13 cavity to the collection part 19 along the other sliding rail 12, and the replaced battery 13 is loaded into the battery compartment 2 of the unmanned aerial vehicle through the lifting part after the detached battery 13 is transferred to the empty battery 13 cavity;
in addition, during the process of replacing (loading) the battery 13 of the unmanned aerial vehicle, the battery 13 fully charged in the battery compartment 2 is slid along the sliding rail 12 through the cooperation of the limit seat 15 and the sliding seat 17, so that the battery 13 can move to the collecting part 19, the limit seat 15 and the battery 13 are lifted through the lifting part, and the locking member locks the battery 13 through activating the locking member of the unmanned aerial vehicle, so that the loading of the battery 13 is completed;
in addition, when the battery 13 is replaced, the battery bin 2 is charged, so that the cruising ability of the battery 13 is improved, and the inspection efficiency of the unmanned aerial vehicle is further ensured;
in this embodiment, the data transmission module is disposed on the transfer platform 7 to receive data transferred by the unmanned aerial vehicle, so that the unmanned aerial vehicle can transmit patrol data in the power conversion process, thereby improving the efficiency and reliability of data transmission;
simultaneously, trade the electric component still including adsorbing seat 4, absorption pole 5, flexible actuating mechanism, the one end of absorption pole 5 with flexible actuating mechanism drive connection forms the drive division, the other end of absorption pole 5 is equipped with adsorbs the piece, and the orientation is kept away from the one end of drive division stretches out perpendicularly, adsorb seat 4 sets up unmanned aerial vehicle's screw 3 lower terminal surface makes adsorb the piece can with adsorb seat 4 adsorbs, and is right in order to realize unmanned aerial vehicle's fixed or spacing, with stable unmanned aerial vehicle.
Optionally, the data transmission module includes a data transmission unit and a transfer unit, the data transmission unit is configured to acquire polling data transmitted by the unmanned aerial vehicle, and the transfer unit performs relay transmission on the polling data according to the polling data acquired by the data transmission unit;
the data transmission unit comprises a transmitter, a receiver and a data memory, the transmitter is used for sending a transmission instruction to the unmanned aerial vehicle to enable the unmanned aerial vehicle to transmit the patrol data to the receiver, the receiver is used for receiving the patrol data of the unmanned aerial vehicle, and the data memory is used for storing the patrol data received by the receiver;
the transfer unit comprises a signal intensity detector and an executable program, wherein the signal intensity detector is used for detecting the signal intensity of the unmanned aerial vehicle when the unmanned aerial vehicle approaches the transfer platform 7, and when the signal intensity exceeds a set detection threshold value Monitor, the executable program is triggered to execute, so that the transmitter can send a transmission instruction to the unmanned aerial vehicle;
optionally, the interaction unit 14 includes a signal sensor and an interaction transmitter, the signal sensor is configured to sense a position signal of the unmanned aerial vehicle, and the interaction transmitter sends an interaction instruction to the unmanned aerial vehicle according to data of the signal sensor, so as to receive flight data of the unmanned aerial vehicle;
the unmanned aerial vehicle responds to the interactive instruction after receiving the interactive instruction, and transmits flight data of the unmanned aerial vehicle to the interactive transmitter;
optionally, the guidance evaluation unit obtains flight data of the unmanned aerial vehicle, and calculates an equivalent landing speed V of the unmanned aerial vehicle at the transfer platform:
in the formula, v max Maximum speed v for vertical landing flight in the landing process of unmanned aerial vehicle min Is the minimum speed of vertical landing flight in the landing process of the unmanned aerial vehicle, delta i I = X, Y, L, absolute value of X and Y axis difference between real-time position of the drone and position to be landed 1 Distance threshold allowed for vertical landing, L 2 Distance threshold adjusted for low speed of vertical landing, L 3 Adjusting the distance threshold for vertical landing gear change, t being such that L is satisfied 2 ＜△ i ≤L 3 And the later accumulated time T is a deceleration period and meets the following requirements:
after the unmanned aerial vehicle moves above the transfer platform 7, the guiding unit guides the unmanned aerial vehicle to land on the transfer platform 7 according to the landing speed V;
optionally, the upper end surface of the transfer platform 7 is provided with four auxiliary marks and a main landing mark 20, and the four auxiliary marks are symmetrically arranged around the main landing mark 20 to form position calibration marks;
in addition, when the unmanned aerial vehicle lands on the transfer platform 7, the unmanned aerial vehicle needs to be aligned with the transfer platform 7 so as to ensure that the unmanned aerial vehicle can accurately land on the transfer platform 7;
meanwhile, after the unmanned aerial vehicle is aligned with the position calibration mark, the unmanned aerial vehicle is controlled to take off and land vertically so as to realize accurate landing of the unmanned aerial vehicle;
wherein, the guide evaluation unit acquires unmanned aerial vehicle aim at the camera and gather the image data of the landing mark of position calibration mark to handle the image data of the landing mark of position calibration mark, wherein, processing includes graying, binaryzation and edge extraction, in order to extract the marginal pixel profile in the rectangle acquisition area in the collection vision of aiming at the camera, the marginal pixel point of four vice marks R1, R2, R3, R4 to the distance calculation unmanned aerial vehicle of four summits in acquisition area according to R1, R2, R3, R4 with the orientation index posing of transfer platform:
in the formula, a j Marking R1 pairs to four vertexes of the collection areaDistance, j =1,2,3,4, and, similarly, b k K =1,2,3,4, c for the distance of the R2 secondary marker to the four vertices of the acquisition region u For R3 secondary markers, the distances from the four vertexes of the collection area are set, and u =1,2,3,4, d s The distances from the R4 pairs of marks to the four vertexes of the acquisition area are s =1,2,3,4;
if the Positioning index locating is smaller than a set Landing threshold value Landing, guiding the unmanned aerial vehicle to vertically land on the transfer platform at a speed V;
the set Landing threshold is set by the system or the operator, which is a technical means well known to those skilled in the art, and thus is not described in detail in this embodiment;
distances a from R1 to four vertices of the edge pixel outline of the rectangular acquisition region 1 、a 2 、a 3 、a 4 ：
In the formula (u) a ，v a ) The pixel coordinate of the edge pixel R1 which is a secondary mark, (x) 1 ,y 1 ) (x) pixel coordinates of the first vertex of the edge pixel outline of the rectangular acquisition area 2 ,y 2 ) (x) pixel coordinate of the second vertex of the edge pixel outline of the rectangular acquisition area 3 ,y 3 ) (x) pixel coordinate of the third vertex of the edge pixel outline of the rectangular acquisition area 4 ,y 4 ) The pixel coordinate of the fourth vertex of the edge pixel outline of the rectangular acquisition area is shown;
distances b from R2 to four vertexes of the edge pixel outline of the rectangular acquisition area 1 、b 2 、b 3 、b 4 And the distances c from the R3 to four vertexes of the edge pixel outline of the rectangular acquisition area 1 、c 2 、c 3 、c 4 And the distances d from the R4 to four vertexes of the edge pixel outline of the rectangular acquisition area 1 、d 2 、d 3 、d 4 The calculation can be performed in the above manner, which is not described in detail;
through evaluation unit and guide evaluation unit mutually support, make unmanned aerial vehicle's descending position can be guaranteed that unmanned aerial vehicle can accurately descend by accurate control the convenience that the battery supplyed is gone up and is carried out on the transfer platform for entire system has that intelligent degree is high, mutual travelling comfort is good, unmanned aerial vehicle management and control is competent advantage.
Example two:
the present embodiment should be understood to include at least all the features of any one of the foregoing embodiments, and further modified based on that, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, and fig. 9, the unmanned aerial vehicle intelligent device management and control system further includes a charging module, where the charging module is configured to charge the battery 13 placed in the cavity of the battery 13, so that the replaced battery 13 can be charged to maintain the cruising ability of the battery 13;
the charging module comprises a charging unit and a photovoltaic charging unit, the charging unit is used for charging the battery 13 in the cavity of the battery 13, and the photovoltaic charging unit is used for receiving light rays of the environment of the transfer platform 7 so as to charge the battery 13;
the photovoltaic charging unit is arranged on the transfer platform 7 and receives light energy in the environment so as to convert the light energy into electric energy;
the photovoltaic charging unit comprises at least four photovoltaic panels 8 and at least four sliding members, each sliding member is used for adjusting the position of each photovoltaic panel 8, so that the at least four photovoltaic panels 8 can be unfolded from an initial position, and the at least four photovoltaic panels 8 are used for receiving light energy in the environment to convert the light energy into electric energy to charge the battery 13;
at least four photovoltaic panels 8 are hidden on the side wall of the transfer platform 7, storage cavities 11 for the photovoltaic panels 8 to be placed are formed in the side wall, and meanwhile, the storage cavities 11 are matched with the photovoltaic panels 8;
in the present embodiment, the photovoltaic panel 8 is set to the initial state when hidden in the storage cavity 11;
the sliding component comprises a translation rail 9, a sliding driving mechanism and a translation seat 10, the translation seat 10 is used for adjusting the position of the photovoltaic panel 8, the translation seat 10 is connected with the translation rail 9 in a sliding manner, and the sliding driving mechanism is arranged on the translation seat 10 and drives the translation seat 10 to slide along the translation rail 9;
after receiving a control command of a central processing unit, the sliding driving mechanism drives the sliding seat 17 to slide along the translation rail 9, so that the photovoltaic panel 8 is unfolded at 30-60 degrees;
it is noted that, in the present embodiment, the translation rail 9 has a slope of 30-60 degrees;
in addition, the charging units are correspondingly arranged in the charging cavities
The charging unit comprises a charging contact 6 and a charging member, wherein the charging contact 6 is used for contacting a charging contact piece of the battery 13, and the charging member is used for charging the battery 13 in the cavity of the battery 13;
the charging member may adopt a form of charging the storage battery 13, and may also adopt a form of supplying power by alternating current, which is a technical means well known by those skilled in the art, and thus, details are not repeated in this embodiment;
the charging module further comprises a charging control unit for controlling the charging member to stop charging the battery 13 in the charging chamber;
the charge control unit calculates a Duty ratio Duty _ cycle of the pulse sufficient point current according to the following formula:
in the formula, T f For a pulsed charging time and of constant value, the value of which is determined according to the intrinsic parameters of the charging means, T 0 For charging stop time, the charging stop time T is carried out along with the charging 0 Will become longer graduallyA value equal to the time it takes for the negative rate of increase of voltage to be less than 3 (millivolts per second, mV/s), below which the battery is fully charged;
if the Duty ratio Duty _ cycle is lower than a set Range threshold value Range, the battery is considered to be fully charged, and charging is stopped;
the set Range threshold Range is set by an operator or a system, which is well known to those skilled in the art, and thus is not described in detail in this embodiment;
through the mutual cooperation of the charging module and the battery replacing component, the battery in the battery cavity can be charged and actively switched on and off, so that the safety and the reliability of the charging process are improved, and the whole system has the advantages of intelligent charging time control, high battery replacing efficiency and high intelligent degree.
The disclosure is only a preferred embodiment of the invention, and is not intended to limit the scope of the invention, so that all equivalent technical changes made by using the contents of the specification and the drawings are included in the scope of the invention, and further, the elements thereof can be updated as the technology develops.
Claims (7)
1. An unmanned aerial vehicle intelligent equipment management and control system comprises a server, an unmanned aerial vehicle and a transfer platform, and is characterized by further comprising an interaction module, a battery replacement module and a data transmission module,
the server is respectively connected with the interaction module, the battery swapping module and the data transmission module, and the interaction module, the battery swapping module and the data transmission module are all arranged on the transfer platform;
the battery replacement module is used for replacing a battery on the unmanned aerial vehicle, the interaction module is used for interacting the unmanned aerial vehicle so as to guide the unmanned aerial vehicle to land or distribute tasks, and the data transmission module is used for transmitting data acquired by the unmanned aerial vehicle;
the interaction module comprises an interaction unit, a guide unit and a guide evaluation unit, the interaction unit is used for interacting with the unmanned aerial vehicle to obtain flight data of the unmanned aerial vehicle, the guide evaluation unit evaluates the landing of the unmanned aerial vehicle according to the flight data of the unmanned aerial vehicle, and the guide unit enables the unmanned aerial vehicle to land on the transfer platform according to the evaluation result of the guide evaluation unit.
2. The unmanned aerial vehicle intelligent device management and control system of claim 1, wherein the battery swapping module comprises a battery swapping unit and a charging unit, the battery swapping unit is used for replacing a battery on the unmanned aerial vehicle, and the charging unit is used for charging the replaced battery;
the battery replacement unit comprises a battery replacement component, a rotating component and an identification component, wherein the rotating component is used for detecting the angle of the battery, the identification component is used for identifying the position of a battery compartment of the unmanned aerial vehicle, and the battery replacement component is used for detaching the battery of the unmanned aerial vehicle and preventing a new battery from entering the battery compartment.
3. The unmanned aerial vehicle intelligent device management and control system of claim 2, wherein the data transmission module comprises a data transmission unit and a transfer unit, the data transmission unit is used for collecting the patrol data transmitted by the unmanned aerial vehicle, and the transfer unit is used for performing relay transmission on the patrol data according to the patrol data collected by the data transmission unit;
the data transmission unit includes transmitter, receiver, data memory, the transmitter be used for to unmanned aerial vehicle sends the transmission instruction, makes unmanned aerial vehicle will patrol and examine data transmission extremely on the receiver, the receiver is used for receiving unmanned aerial vehicle patrols and examines data, data memory is used for the storage the receiver is received patrols and examines data.
4. The unmanned aerial vehicle intelligent device management and control system of claim 3, wherein the interaction unit comprises a signal sensor and an interaction transmitter, the signal sensor is used for sensing a position signal of the unmanned aerial vehicle, and the interaction transmitter sends an interaction instruction to the unmanned aerial vehicle according to data of the signal sensor so as to receive flight data of the unmanned aerial vehicle;
and the unmanned aerial vehicle responds to the interactive instruction after receiving the interactive instruction and transmits flight data of the unmanned aerial vehicle to the interactive transmitter.
5. The unmanned aerial vehicle intelligent device management and control system of claim 4, wherein the guidance evaluation unit obtains flight data of the unmanned aerial vehicle and calculates an equivalent landing speed V of the unmanned aerial vehicle landing on the transfer platform:
in the formula, v max Maximum speed v for vertical landing flight in the landing process of unmanned aerial vehicle min Is the minimum speed of vertical landing flight in the landing process of the unmanned aerial vehicle, delta i I = X, Y, L, absolute value of X and Y axis difference between real-time position of the drone and position to be landed 1 Distance threshold allowed for vertical landing, L 2 Distance threshold adjusted for low speed of vertical landing, L 3 Adjusting the distance threshold for vertical landing gear change, t being such that L is satisfied 2 ＜△ i ≤L 3 And the later accumulated time T is a deceleration period and meets the following conditions:
after the unmanned aerial vehicle moves to the position above the transfer platform, the guiding unit guides the unmanned aerial vehicle to land on the transfer platform according to the landing speed V.
6. The unmanned aerial vehicle intelligent equipment management and control system of claim 5, wherein the transfer platform upper end face is provided with four auxiliary marks and a main landing mark, and the four auxiliary marks are symmetrically arranged around the main landing mark to form position calibration marks.
7. The unmanned aerial vehicle intelligent device management and control system of claim 6, wherein the identification component is disposed on the transfer platform upper end surface and collects image data of the unmanned aerial vehicle battery compartment when the unmanned aerial vehicle approaches the transfer platform.
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