CN116513536A

CN116513536A - Unmanned aerial vehicle charging docking system and method

Info

Publication number: CN116513536A
Application number: CN202310061868.1A
Authority: CN
Inventors: 陈涛; 段宇萌; 朱颖; 林卓旻; 许润翰
Original assignee: Guangzhou Huali College
Current assignee: Guangzhou Huali College
Priority date: 2023-01-19
Filing date: 2023-01-19
Publication date: 2023-08-01

Abstract

The invention provides an unmanned aerial vehicle charging docking system and method, the charging docking system includes a base plate and a charging docking device, the charging docking device includes a lifting device, the lifting device moves transversely and longitudinally and lifts vertically on the horizontal plane where the base plate is located; the support columns, the first conductive pieces and the second conductive pieces which are arranged on the bottom plate in a staggered manner are arranged in a staggered manner; active spaces are formed between the adjacent four support columns; the elastic layer is supported on the bottom plate through the support columns, so that the elastic layer is prevented from approaching the support layer under the self gravity; the elastic layer in the movable space approaches to the supporting layer under the action of external force, the first conductive piece is contacted with the second conductive piece to conduct longitudinal conduction, and the conducted second conductive piece is used for outputting a level signal.

Description

Unmanned aerial vehicle charging docking system and method

Technical Field

The invention relates to the field of unmanned aerial vehicle charging, in particular to an unmanned aerial vehicle charging docking device and method.

Background

Unmanned aircraft, which are unmanned aircraft that are operated by means of radio remote control devices and self-contained programming means, or are operated autonomously, either entirely or intermittently, by an on-board computer. The charging platform is a charging technology for supplementing power to the unmanned aerial vehicle by adopting a high-frequency power supply technology. The charging platform has stronger resistance in severe power grid environment conditions, and the reliability and stability are more reliable than those of a common charger. At present unmanned aerial vehicle's charging adopts the mode that has adopted the people to dock generally and charges the step, and unmanned aerial vehicle landing accuracy is low to need manual adjustment of human intervention, can't accomplish independently to adjust and charge.

The patent literature with publication number 202011107808.1 and publication date 2021.2.26 discloses an unmanned aerial vehicle autonomous charging platform, the unmanned aerial vehicle autonomous charging platform comprises a base and an unmanned aerial vehicle, the top fixedly connected with adjustment platform of base, the drive storehouse has all been seted up at the four corners of adjustment platform inner wall, the inner wall fixedly connected with drive arrangement of drive storehouse, the one end fixedly connected with transfer line of drive arrangement output shaft, the one end of transfer line is rotated with the inner wall of adjustment platform and is connected, the fixed surface of transfer line has side shift belt through tooth meshing on the surface of transfer gear, adjustment platform top just is located two side shift belt between fixedly connected with distance sensor, the inside fixedly connected with support frame of adjustment platform, rotatory or side shift adjustment unmanned aerial vehicle through the transmission of side shift belt for unmanned aerial vehicle can realize independently charging.

The charging platform detects the parking angle and the parking position of the unmanned aerial vehicle by using a distance detector; the unmanned aerial vehicle position is determined according to the detection data, so that the precision is low; when the difference between the parking angle of the unmanned aerial vehicle and the angle required for charging is small and the difference between the parking position of the unmanned aerial vehicle and the position required for charging is small, the distance detector cannot accurately detect the accurate position of the unmanned aerial vehicle; then the charging port of the unmanned aerial vehicle is not aligned with the charging bracket as that of you; meanwhile, the unmanned aerial vehicle is driven to rotate through the reverse actions of the two lateral skin moving parts, and the unmanned aerial vehicle is easy to topple in the rotating process; after unmanned aerial vehicle emptys, can't charge it.

Disclosure of Invention

The invention provides a charging docking system and a charging docking method for an unmanned aerial vehicle, which can accurately position the unmanned aerial vehicle and cooperate with a static unmanned aerial vehicle through a movable charging device; the accurate alignment of the unmanned aerial vehicle charging port of the charging device is realized.

In order to achieve the above purpose, the technical scheme of the invention is as follows: the unmanned aerial vehicle charging docking system comprises a bottom plate and a charging docking device, wherein the charging docking device comprises a rotating device, a traversing device, a lifting device and a charging device; the rotating device is fixed at the bottom of the bottom plate, the output end of the rotating device penetrates through the bottom plate to be connected with the fixed end of the traversing device, and the lifting device is arranged on the movable end of the traversing device; the charging device is arranged at the top of the lifting device; the lifting device is used for driving the charging device to vertically move; the rotating device and the traversing device are used for driving the charging device to rotate and horizontally move on the horizontal plane where the bottom plate is located.

The bottom plate comprises a supporting layer and an elastic layer, the elastic layer is arranged above the supporting layer, more than two first conductive pieces are arranged on one side, close to the supporting layer, of the elastic layer, and the adjacent first conductive pieces are arranged at intervals along the width direction of the bottom plate; more than two second conductive pieces are arranged on one side of the supporting layer, which is close to the elastic layer, and the adjacent second conductive pieces are arranged at intervals along the length direction of the bottom plate; the second conductive member is disposed perpendicular to the first conductive member.

More than four support columns are connected between the support layer and the elastic layer; the support columns, the first conductive pieces and the second conductive pieces are arranged in a staggered mode; active spaces are formed between the adjacent four support columns; the elastic layer in the movable space approaches to the supporting layer under the action of external force, the first conductive piece is contacted with the second conductive piece to conduct longitudinal conduction, and the conducted second conductive piece is used for outputting a level signal.

The unmanned aerial vehicle charging docking system is matched with an unmanned aerial vehicle with four supporting feet, and the distance between the two supporting feet of the unmanned aerial vehicle is larger than the limit range of the transverse moving device; the charging port of unmanned aerial vehicle sets up in bottom center and is the same with four spike distances.

The lifting device is driven to move through the rotating device and the traversing device, so that the lifting device is simple in structure and can simultaneously move transversely and longitudinally on a horizontal plane. The elastic layer is supported on the bottom plate through the support column, so that the elastic layer is prevented from approaching the support layer under the self gravity, and the situation that the first conductive piece and the second conductive piece are in contact conduction when the unmanned aerial vehicle does not fall on the elastic layer is avoided; simultaneously fix the elastic layer through the support column, after unmanned aerial vehicle leaves the elastic layer, the elastic layer resets under the effect of self elasticity.

A coordinate axis is formed by the first conductive piece and the second conductive piece which are vertically arranged; and then the supporting feet of the unmanned aerial vehicle can determine the coordinates of the supporting feet of the unmanned aerial vehicle when the first conductive piece is pressed to conduct the second conductive piece; furthermore, the charging port coordinates of the unmanned aerial vehicle can be calculated through the unmanned arm brace coordinates; realizing the butt joint of the charging device and the charging port; meanwhile, the unmanned aerial vehicle keeps still in the moving process of the charging device, and the position of the unmanned aerial vehicle cannot change; the accurate alignment of the unmanned aerial vehicle charging port of the charging device is realized.

Further, the rotating device is a rotating motor, the rotating motor is fixed on one side, far away from the elastic layer, of the supporting layer, and the rotating motor penetrates through the supporting layer and the elastic layer to be connected with the transverse moving device. The traversing device is driven to rotate by the rotating motor, and the structure is simple.

Further, the transverse moving device comprises a transverse moving bracket, a transverse moving motor and a transverse moving screw rod; the transverse moving motor is fixed at one end of the transverse moving bracket, the transverse moving motor is connected with one end of the transverse moving screw rod, the other end of the transverse moving screw rod is rotatably connected with the other end of the transverse moving bracket, and the transverse moving screw rod is provided with a transverse moving sliding seat; the transverse moving support is provided with a transverse moving sliding rail, the transverse moving sliding seat is provided with a transverse moving sliding block, the transverse moving sliding block is arranged on the transverse moving sliding rail in a sliding mode, the transverse moving motor drives the transverse moving screw rod to rotate, and the transverse moving screw rod drives the transverse moving sliding seat to reciprocate between two ends of the transverse moving support.

The transverse sliding rail is matched with the transverse sliding block to limit the transverse sliding seat to rotate along the circumferential direction of the transverse sliding screw rod, and the rotary transverse sliding screw rod can drive the transverse sliding seat to move.

Further, the lifting device comprises a lifting fixed seat, a lifting movable seat and a lifting motor; a first sliding groove and a first hinge hole are arranged on the lifting fixing seat; a second sliding groove and a second hinge hole are arranged on the lifting moving seat; the first hinge hole is connected with the second sliding groove through a first connecting rod, and one end of the first connecting rod is arranged in the second sliding groove in a sliding way; the second hinge hole is connected with the first sliding groove through a second connecting rod; one end of the second connecting rod is arranged in the first sliding groove in a sliding way.

The lifting motor is fixed on the lifting fixing seat, the lifting motor is connected with the lifting screw rod, the lifting screw rod is provided with a lifting sliding piece in a penetrating way, and the lifting sliding piece is connected with one end of the second connecting rod in a sliding way in the first sliding groove; the lifting motor drives the lifting screw rod to rotate; the lifting sliding piece drives the second connecting rod to slide at one end of the first sliding groove to be close to or far away from the first hinge hole.

The lifting sliding piece is connected with the lifting sliding piece through the second connecting rod, the lifting sliding piece is limited along the circumferential direction of the lifting screw rod, and then the lifting screw rod is driven to move along the axial direction of the lifting screw rod when rotating; the lifting sliding piece drives one end of the second connecting rod in the first sliding groove to approach the first hinge hole; meanwhile, one end of the first connecting rod in the second chute approaches to the second hinge hole; the lifting moving seat is jacked up by the first connecting rod and the second connecting rod.

Further, the charging device comprises a socket and a guide disc arranged at one end of the socket.

Further, the elastic layer is adhered to the support column. Thus, the connection between the elastic layer and the support column is reliable.

Further, the elastic layer is a TPU elastic layer.

The invention also provides an unmanned aerial vehicle charging docking method, which comprises the following steps:

s1, presetting interval time limit which is used for detecting whether the unmanned aerial vehicle falls onto a bottom plate or not; the charging port is pre-installed and is installed in the center of the bottom of the unmanned aerial vehicle, and the distance between the charging port and four supporting feet of the unmanned aerial vehicle is equal; taking the support column at the lowest end of the left side as an origin O, taking the arrangement direction of the second conductive piece as an X axis, and taking the arrangement direction of the first conductive piece as a Y axis to generate a coordinate axis; the second conductive piece is the abscissa of the coordinate axis, and the first conductive piece is the ordinate of the coordinate axis; and generating support coordinates where the support columns are located.

S2, controlling the unmanned aerial vehicle to fall onto the bottom plate, so that the supporting feet of the unmanned aerial vehicle are contacted with the elastic layer.

S3, sequentially electrifying more than two first conductive pieces, and if the second conductive pieces do not output level signals, repeating S2, and controlling the unmanned aerial vehicle to land on the bottom plate again after taking off; if the second conductive member outputs the level signal, S4 is performed.

S4, starting timing of interval time limit, and ending timing of the interval time limit to carry out S5.

S5, sequentially electrifying more than two first conductive pieces, and if the second conductive pieces do not output level signals, repeating S2, and controlling the unmanned aerial vehicle to land on the bottom plate again after taking off; if the second conductive member outputs the level signal, the coordinate data of the coordinate point of the level signal output on the coordinate axis is recorded, and then S6 is performed.

S6, judging whether a coordinate point generated by the contact of the support leg of the unmanned aerial vehicle and the elastic force comprises a support coordinate, and if not, carrying out S7; if yes, S10 is performed.

S7, judging the number of coordinate points, and if the number of the coordinate points is four, performing S8; if the number of coordinate points exceeds four, S9 is performed.

S8, calculating a first average value between the coordinate point of the maximum abscissa and the coordinate point of the minimum abscissa; calculating a second average value between the coordinate point of the maximum ordinate and the coordinate point of the minimum ordinate; if the first average value is the same as the first average value, the coordinate point corresponding to the first average value is the coordinate point of the charging port of the unmanned aerial vehicle; and then S14 is performed.

S9, respectively setting coordinate points generated by each supporting leg of the unmanned aerial vehicle as data sets, and respectively calculating average data of each data set; a first average value between average data of a maximum abscissa and average data of a minimum abscissa in average data corresponding to the supporting feet; calculating a second average value between the average data of the maximum ordinate and the average data of the minimum ordinate; if the first average value is the same as the first average value, the coordinate point corresponding to the first average value is the coordinate point of the charging port of the unmanned aerial vehicle; and then S14 is performed.

S10, if the coordinate point of the unmanned aerial vehicle supporting foot comprises a supporting coordinate, S11 is carried out; if the coordinate points of the unmanned aerial vehicle supporting feet comprise more than two supporting coordinates, S2 is repeatedly carried out, and the unmanned aerial vehicle is controlled to land on the bottom plate again after taking off.

S11, judging the number of the residual coordinate points, and if the number of the coordinate points is three, performing S12; if the number of coordinate points exceeds three, S13 is performed.

S12, calculating an average value between two coordinate points farthest in distance, wherein the coordinate point corresponding to the average value between the two coordinate points farthest in distance is the coordinate point where the charging port of the unmanned aerial vehicle is located; and then S14 is performed.

S13, respectively setting coordinate points generated by each supporting leg of the unmanned aerial vehicle as data sets, and respectively calculating average data of each data set; calculating an average value between average data corresponding to the two farthest supporting feet, wherein a coordinate point corresponding to the average value between the two average data with the farthest distance is a coordinate point where a charging port of the unmanned aerial vehicle is located; and then S14 is performed.

S14, the rotating device and the traversing device drive the charging device to move to a coordinate point where a charging port of the unmanned aerial vehicle is located, and the lifting device drives the charging device to ascend and contact with the charging port of the unmanned aerial vehicle.

According to the method, the position of the charging port and the distance relation between the charging port and the supporting leg are preset, so that the coordinates of the charging port can be determined through the position of the supporting leg; the method can calculate the coordinates of the charging ports of the unmanned aerial vehicle parked at different positions on the bottom plate, and is applicable to unmanned aerial vehicles with different sizes.

Firstly, a level signal is sent to a first conductive piece, if the second conductive piece does not output the level signal, the unmanned aerial vehicle is indicated not to fall on an elastic layer or four supporting feet of the unmanned aerial vehicle are respectively positioned on a supporting column, and at the moment, the coordinates of a charging port of the unmanned aerial vehicle cannot be calculated; and then the unmanned aerial vehicle needs to be controlled to land on the floor again after taking off.

When the unmanned aerial vehicle is in contact with the elastic layer and the supporting feet of the unmanned aerial vehicle are respectively close to the intersection points of the second conductive piece and the first conductive piece, the first conductive piece closest to the supporting feet of the unmanned aerial vehicle is in contact with the second conductive piece under the pressure of the unmanned aerial vehicle; each supporting leg of the unmanned plane corresponds to one coordinate point respectively; at the moment, the coordinates of the charging port of the unmanned aerial vehicle are determined by calculating the midpoint between the two support feet with the farthest horizontal axis direction distance and the midpoint between the two support feet with the farthest vertical axis direction distance.

The positions of the unmanned aerial vehicle falling onto the bottom plate are different each time; when the supporting feet of the unmanned aerial vehicle are positioned on the second conductive pieces above and between the two first conductive pieces, under the pressure of the unmanned aerial vehicle, the first conductive pieces close to the two sides of the supporting feet of the unmanned aerial vehicle are respectively contacted with the second conductive pieces below, and the supporting feet of the unmanned aerial vehicle correspond to the two coordinate points; setting the two coordinate points as data sets, calculating average data of the data sets, and further determining the accurate coordinates of the supporting feet; and then calculating the midpoint between the two support feet with the farthest horizontal axis direction distance through the accurate coordinates of the support feet, and determining the coordinates of the charging port of the unmanned aerial vehicle through calculating the midpoint between the two support feet with the farthest vertical axis direction distance through the accurate coordinates of the support feet.

When one supporting leg of the unmanned aerial vehicle falls on the supporting column, the distance between the charging port of the unmanned aerial vehicle and any two supporting legs is the same; and determining the coordinate point of the charging port of the unmanned aerial vehicle by calculating the average value between the two coordinate points farthest in distance, so that the coordinate of the charging port can be rapidly determined.

Drawings

Fig. 1 is a schematic perspective view of a charging docking system for a drone.

Fig. 2 is a front view of the unmanned aerial vehicle charging docking system.

Fig. 3 is a perspective view of the traversing device.

Fig. 4 is a schematic perspective view of the connection between the lifting device and the charging device.

Fig. 5 is a cross-sectional view of the charging device.

Fig. 6 is a front view of the base plate.

Fig. 7 is a top view of the support layer and support posts.

Fig. 8 is a schematic view of the unmanned aerial vehicle temple positioned directly over a second conductive member.

Fig. 9 is a schematic view of an unmanned aerial vehicle temple positioned between two second conductive members.

Fig. 10 is a schematic diagram of the first conductive member, the second conductive member and the supporting column.

Fig. 11 is a schematic view of the coordinates of the unmanned aerial vehicle foot located at the intersection of the first conductive member and the second conductive member.

Fig. 12 is a schematic view of an unmanned aerial vehicle temple with an X-coordinate directly above a first conductive member and a Y-coordinate between two second conductive members.

Fig. 13 is a schematic diagram of an unmanned aerial vehicle temple having an X-coordinate positioned between two first conductive members and a Y-coordinate positioned between two second conductive members.

Fig. 14 is a schematic view of a coordinate of a temple of the unmanned aerial vehicle on a support coordinate.

Fig. 15 is another schematic view of a stand of an unmanned aerial vehicle with coordinates on a support coordinate.

Detailed Description

The invention is described in further detail below with reference to the drawings and the detailed description.

As shown in fig. 1-15; an unmanned aerial vehicle charging docking system is used for charging an unmanned aerial vehicle; the unmanned aerial vehicle is an unmanned aerial vehicle with four supporting feet 6 for cooperation, and the distance between the two supporting feet 6 of the unmanned aerial vehicle is larger than the limit range of the transverse moving device 3; the charging port of unmanned aerial vehicle sets up in bottom center and is the same with four spike 6 distances.

The unmanned aerial vehicle charging docking system comprises a bottom plate 1 and a charging docking device, wherein the charging docking device comprises a rotating device 2, a traversing device 3, a lifting device 4 and a charging device 5; the rotating device 2 is fixed at the bottom of the bottom plate 1, the output end of the rotating device 2 passes through the bottom plate 1 and is connected with the fixed end of the traversing device 3, and the lifting device 4 is arranged on the movable end of the traversing device 3; the charging device 5 is arranged at the top of the lifting device 4; the lifting device 4 is used for driving the charging device 5 to move vertically; the rotating device 2 and the traversing device 3 are used for driving the charging device 5 to rotate and horizontally move on the horizontal plane of the base plate 1.

The base plate 1 comprises a supporting layer 11 and an elastic layer 12, wherein the elastic layer 12 is arranged above the supporting layer 11, more than two first conductive pieces 13 are arranged on one side, close to the supporting layer 11, of the elastic layer 12, and adjacent first conductive pieces 13 are arranged at intervals along the width direction of the base plate 1; more than two second conductive pieces 14 are arranged on one side of the supporting layer 11, which is close to the elastic layer 12, and the adjacent second conductive pieces 14 are arranged at intervals along the length direction of the bottom plate 1; the second conductive member 14 is disposed perpendicular to the first conductive member 13. In the present embodiment, the first conductive member 13 and the second conductive member 14 are copper foils.

More than four support columns 15 are connected between the support layer 11 and the elastic layer 12; while the elastic layer 12 is fixed by the support posts 15. In this embodiment, the elastic layer 12 is a TPU elastic layer 12, and the elastic layer 12 is adhered to the support column 15; so that the connection between the spring layer 12 and the support column 15 is reliable. The support columns 15, the first conductive pieces 13 and the second conductive pieces 14 are arranged in a staggered manner; movable spaces 16 are formed between the adjacent four support columns 15; the elastic layer 12 in the movable space 16 approaches to the supporting layer 11 under the action of external force, the first conductive piece 13 contacts with the second conductive piece 14 to conduct longitudinal conduction, and the conducted second conductive piece 14 is used for outputting a level signal.

The lifting device 4 is driven to move through the rotating device 2 and the traversing device 3, the structure is simple, and the lifting device 4 can simultaneously move transversely and longitudinally on the horizontal plane. The elastic layer 12 is supported on the bottom plate 1 through the supporting columns 15, so that the elastic layer 12 is prevented from approaching the supporting layer 11 under the self gravity, and the situation that the first conductive piece 13 is in contact conduction with the second conductive piece 14 when the unmanned aerial vehicle does not fall onto the elastic layer 12 is avoided; when unmanned aerial vehicle's spike 6 and elastic layer contact, the elastic layer is the supporting layer and is close to earlier under unmanned aerial vehicle's gravity effect, and after unmanned aerial vehicle left elastic layer 12, elastic layer 12 reset under the effect of self elasticity.

A coordinate axis is formed by the first conductive piece 13 and the second conductive piece 14 which are vertically arranged; the coordinates of the supporting feet 6 of the unmanned aerial vehicle can be determined when the supporting feet 6 of the unmanned aerial vehicle press the first conductive piece 13 to conduct the second conductive piece 14; furthermore, the charging port coordinates of the unmanned aerial vehicle can be calculated through the coordinates of the unmanned supporting feet 6; realizing the butt joint of the charging device 5 and the charging port; meanwhile, the unmanned aerial vehicle keeps still in the moving process of the charging device 5, and the position of the unmanned aerial vehicle cannot be changed; the precise alignment of the unmanned aerial vehicle charging port of the charging device 5 is achieved.

The rotating device 2 is a rotating motor, the rotating motor is fixed on one side of the supporting layer 11 far away from the elastic layer 12, and the rotating motor penetrates through the supporting layer 11 and the elastic layer 12 to be connected with the traversing device 3. The traversing device 3 is driven to rotate by the rotating motor, and the structure is simple.

The traversing device 3 comprises a traversing bracket 31, a traversing motor 32 and a traversing screw 33; the traversing bracket 31 is connected with the output end of the rotating motor; the transverse moving motor 32 is fixed at one end of the transverse moving bracket 31, the transverse moving motor 32 is connected with one end of the transverse moving screw rod 33, the other end of the transverse moving screw rod 33 is rotatably connected with the other end of the transverse moving bracket 31, and the transverse moving screw rod 33 is provided with a transverse moving sliding seat 34; the traverse support 31 is provided with a traverse slide rail 35, the traverse slide seat 34 is provided with a traverse slide block (not shown in the figure), the traverse slide block is slidably arranged on the traverse slide rail 35, the traverse motor 32 drives the traverse screw 33 to rotate, and the traverse screw 33 drives the traverse slide seat 34 to reciprocate between two ends of the traverse support 31. The traversing slide rail 35 cooperates with the traversing slide block to limit the traversing slide seat 34 along the circumferential rotation of the traversing screw rod 33, and the rotating traversing screw rod 33 can drive the traversing slide seat 34 to move.

The lifting device 4 comprises a lifting fixed seat 41, a lifting movable seat 42 and a lifting motor 43; the lifting fixing seat 41 is connected with the transverse sliding seat 34; a first sliding slot 411 and a first hinge hole (not shown) are provided on the elevation fixing base 41; the first sliding slot 411 is close to one end of the lifting fixing base 41, and the first hinge hole is close to the other end of the lifting fixing base 41. A second sliding groove 421 and a second hinge hole (not shown) are provided on the elevation movement base 42; the second sliding groove 421 is near one end of the elevating moving seat 42, and the second hinge hole is near the other end of the elevating moving seat 42.

The first hinge hole is connected with the second sliding groove 421 through the first link 44, and one end of the first link 44 is slidably disposed in the second sliding groove 421; the second hinge hole is connected with the first sliding slot 411 through a second link 45; one end of the second link 45 is slidably disposed in the first sliding groove.

The lifting motor 43 is fixed on the lifting fixing seat 41, the lifting motor 43 is connected with the lifting screw rod 46, the lifting screw rod 46 is provided with a lifting sliding piece 47 in a penetrating way, and the lifting sliding piece 47 is connected with the second connecting rod 45 in a sliding way at one end of the first sliding groove 411; the lifting motor 43 drives the lifting screw 46 to rotate; the lifting slider 47 drives the second link 45 to slide at one end of the first slide slot 411 toward or away from the first hinge hole. The second connecting rod 45 is connected with the lifting sliding piece 47 to limit the lifting sliding piece 47 along the circumferential direction of the lifting screw rod 46, so that the lifting screw rod 46 drives the lifting sliding piece 47 to move along the axial direction of the lifting screw rod 46 when rotating; the lifting sliding piece 47 drives one end of the second connecting rod 45 in the first sliding groove to approach the first hinge hole; while one end of the first link 44 in the second chute approaches the second hinge hole; the lifting base 42 is lifted by the first link 44 and the second link 45.

The charging device 5 comprises a first universal arm 51, a second universal arm 52, a socket 53, a guide disc 54 and three free arms 55; a first supporting seat 56 is arranged at the top of the lifting moving seat 42, one end of the first universal arm 51 is hinged with the first supporting seat 56, and the other end of the first universal arm 51 is spliced with one end of the second universal arm 52; the second gimbal arm 52 is movable relative to the first gimbal arm 51; the other end of the second universal arm 52 is hinged with a second supporting seat 57, and the first supporting seat 56 and the second supporting seat 57 are connected with a free arm 55 through a fisheye bearing 58; the socket 53 is disposed on the second support base 57, and a guide plate 54 disposed obliquely is disposed at an end of the socket 53 remote from the second support base 57. The first gimbal arm 51 is provided with a spring 59. The socket 53 is connected to a power source.

Providing guidance for the approach of the plug on the charging port of the unmanned aerial vehicle to the socket 53 by arranging a guide disc 54; when the plug on the charging port of the unmanned aerial vehicle approaches to the socket 53 of the charging device 5, the plug approaches to the socket 53 along the inclined direction of the guide disc 54, so as to reduce the abrasion to the plug; the first universal arm 51, the second universal arm 52, the first supporting seat 56, the second supporting seat 57 and the three free arms 55 form a link mechanism; the first universal arm 51 is hinged with the first supporting seat 56, and the second universal arm 52 is hinged with the second supporting seat 57; the second support seat 57 is movable, and the plug drives the second support seat 57 to swing in the moving process; meanwhile, after the plug is plugged into the socket 53, the swinging force of the plug on the second support seat 57 disappears, and the second support seat 57 is driven to reset by the free arm 55 connected with the first support seat 56 and the second support seat 57 through the fisheye bearing 58.

The unmanned aerial vehicle charging docking method comprises the following steps:

s1, presetting interval time limit which is used for detecting whether the unmanned aerial vehicle falls onto a bottom plate 1; the charging port is pre-installed and is installed in the center of the bottom of the unmanned aerial vehicle, and the distance between the charging port and the four supporting feet 6 of the unmanned aerial vehicle is equal; taking the support column 15 at the lowest end of the left side as an origin O, taking the arrangement direction of the second conductive elements 14 as an X axis, and taking the arrangement direction of the first conductive elements 13 as a Y axis to generate coordinate axes; the second conductive element 14 is the abscissa of the coordinate axis, and the first conductive element 13 is the ordinate of the coordinate axis; generating the support coordinates where the support column 15 is located.

S2, controlling the unmanned aerial vehicle to fall onto the bottom plate 1, and enabling the supporting feet 6 of the unmanned aerial vehicle to be in contact with the elastic layer 12.

S3, sequentially electrifying more than two first conductive pieces 13, and if the second conductive pieces 14 do not output level signals, repeating S2, and controlling the unmanned aerial vehicle to land on the bottom plate 1 again after taking off; if the second conductive member 14 outputs the level signal, S4 is performed.

S5, sequentially electrifying more than two first conductive pieces 13, and if the second conductive pieces 14 do not output level signals, repeating S2, and controlling the unmanned aerial vehicle to land on the bottom plate 1 again after taking off; if the second conductive member 14 outputs the level signal, coordinate data of a coordinate point of the level signal output on the coordinate axis is recorded, and then S6 is performed.

S6, judging whether a coordinate point generated by the contact of the unmanned aerial vehicle supporting foot 6 and the elastic force comprises supporting coordinates, and if not, carrying out S7; if yes, S10 is performed.

S9, respectively setting coordinate points generated by each supporting leg 6 of the unmanned aerial vehicle as data sets, and respectively calculating average data of each data set; a first average value between the average data of the maximum abscissa and the average data of the minimum abscissa in the average data corresponding to the supporting feet 6; calculating a second average value between the average data of the maximum ordinate and the average data of the minimum ordinate; if the first average value is the same as the first average value, the coordinate point corresponding to the first average value is the coordinate point of the charging port of the unmanned aerial vehicle; and then S14 is performed.

S10, if the coordinate point of the unmanned aerial vehicle supporting foot 6 comprises a supporting coordinate, S11 is carried out; if the coordinate points of the unmanned aerial vehicle supporting feet 6 comprise more than two supporting coordinates, the step S2 is repeated, and the unmanned aerial vehicle is controlled to land on the bottom plate 1 again after taking off.

S13, respectively setting coordinate points generated by each supporting leg 6 of the unmanned aerial vehicle as data sets, and respectively calculating average data of each data set; calculating an average value between average data corresponding to the two farthest supporting feet 6, wherein a coordinate point corresponding to the average value between the two average data with the farthest distance is a coordinate point where a charging port of the unmanned aerial vehicle is located; and then S14 is performed.

S14, the rotating device 2 and the traversing device 3 drive the charging device 5 to move to a coordinate point where a charging port of the unmanned aerial vehicle is located, and the lifting device 4 drives the charging device 5 to ascend to contact with the charging port of the unmanned aerial vehicle.

According to the method, the position of the charging port and the distance relation between the charging port and the supporting leg are preset, so that the coordinates of the charging port can be determined through the position of the supporting leg; the coordinates of the charging ports of the unmanned aerial vehicle which are parked at different positions on the base plate 1 can be calculated, and the method is applicable to unmanned aerial vehicles with different sizes.

Firstly, a level signal is sent to the first conductive piece 13, if the second conductive piece 14 does not output the level signal, the unmanned aerial vehicle is not landed on the elastic layer 12 or the four supporting feet 6 of the unmanned aerial vehicle are respectively positioned on the supporting columns 15, and at the moment, the coordinates of the charging port of the unmanned aerial vehicle cannot be calculated; and then the unmanned aerial vehicle needs to be controlled to land on the floor again after taking off.

When the unmanned aerial vehicle is in contact with the elastic layer 12 and the supporting feet 6 of the unmanned aerial vehicle are respectively close to the intersection points of the second conductive piece 14 and the first conductive piece 13, the first conductive piece 13 closest to the supporting feet 6 of the unmanned aerial vehicle is in contact with the second conductive piece 14 under the pressure of the unmanned aerial vehicle; each supporting leg 6 of the unmanned plane corresponds to one coordinate point respectively; at this time, the coordinates of the charging port of the unmanned aerial vehicle are determined by calculating the midpoint between the two support feet 6 with the farthest distances in the horizontal axis direction and the midpoint between the two support feet 6 with the farthest distances in the vertical axis direction.

The positions of the unmanned aerial vehicle on the base plate 1 are not the same each time; when the supporting feet 6 of the unmanned aerial vehicle are positioned on the second conductive pieces 14 above and between the two first conductive pieces 13, under the pressure of the unmanned aerial vehicle, the first conductive pieces 13 close to the two sides of the supporting feet 6 of the unmanned aerial vehicle are respectively contacted with the second conductive pieces 14 below, and the supporting feet 6 of the unmanned aerial vehicle correspond to the two coordinate points; setting the two coordinate points as data sets, calculating average data of the data sets, and further determining the accurate coordinates of the supporting feet 6; and then calculating the midpoint between the two support feet 6 with the farthest horizontal axis direction distance through the accurate coordinates of the support feet 6, and calculating the midpoint between the two support feet 6 with the farthest vertical axis direction distance through the accurate coordinates of the support feet 6 to determine the coordinates of the charging port of the unmanned aerial vehicle.

When one supporting leg 6 of the unmanned aerial vehicle falls on the supporting column 15, the distance between the charging port of the unmanned aerial vehicle and any two supporting legs 6 is the same; and determining the coordinate point of the charging port of the unmanned aerial vehicle by calculating the average value between the two coordinate points farthest in distance, so that the coordinate of the charging port can be rapidly determined.

This is illustrated by way of example with reference to fig. 10-15.

S1, presetting interval time limit which is used for detecting whether the unmanned aerial vehicle falls onto a bottom plate 1; the charging port is pre-installed and is installed in the center of the bottom of the unmanned aerial vehicle, and the distance between the charging port and the four supporting feet 6 of the unmanned aerial vehicle is equal; taking the support column 15 at the lowest end of the left side as an origin O, taking the arrangement direction of the second conductive elements 14 as an X axis, and taking the arrangement direction of the first conductive elements 13 as a Y axis to generate coordinate axes; the second conductive element 14 is the abscissa of the coordinate axis, and the first conductive element 13 is the ordinate of the coordinate axis; generating the support coordinates where the support column 15 is located. In this embodiment, the interval time period is 30S.

S8, referring to FIG. 11, the coordinates of each supporting leg of the unmanned aerial vehicle correspond to the intersection point of the first conductive piece and the second conductive piece; calculating a first average value (XD, YD) between the coordinate points (XE, YC) of the maximum abscissa and the coordinate points (XA, YE) of the minimum abscissa; calculating a second average value (XC, YD) between the coordinate points (XB, YB) of the maximum ordinate and the coordinate points (XD, YF) of the minimum ordinate; the first average value and coordinate points (XC, YD) corresponding to the first average value are coordinate points where the charging port of the unmanned aerial vehicle is located; and then S14 is performed.

S9, referring to FIG. 12; if the X coordinate of the unmanned aerial vehicle supporting foot is located right above the first conductive piece, the Y coordinate is located between the two second conductive pieces. The supporting feet drive the two first conductive pieces to move downwards to be in contact with the second conductive pieces. Each arm brace 6 of the unmanned aerial vehicle corresponds to two coordinates respectively.

The coordinates of one data set are (XA, YE) and (XA, YD), and the average data are (XA, YD-YE); the coordinates of the other data set are (XB, YB) and (XB, YA), and the average data is (XB, YA-YB); the coordinates of the other data set are (XD, YF) and (XD, YE), and the average data is (XD, YE-YF); the coordinates of the other data set are (XE, YC) and (XE, YB); average data are (XE, YB-YC); a first average value (XC, YC-YD) between the average data (XE, YB-YC) of the maximum abscissa and the average data (XA, YD-YE) of the minimum abscissa in the average data corresponding to the temple 6; calculating a second average (XC, YC-YD) between the average data (XB, YA-YB) of the largest ordinate and the average data (XD, YE-YF) of the smallest ordinate; coordinate points (XC, YC-YD) corresponding to the first average value and the first average value are coordinate points where the charging port of the unmanned aerial vehicle is located; and then S14 is performed.

Referring to fig. 13; if the X coordinate of the unmanned aerial vehicle supporting leg is located between the two first conductive pieces, the Y coordinate is located between the two second conductive pieces. The supporting feet drive the two first conductive pieces to move downwards to be in contact with the two second conductive pieces. Each arm brace 6 of the unmanned aerial vehicle corresponds to four coordinates respectively.

The coordinates of one data set are (XA, YE), (XA, YD), (XB, YE), (XB, YD), and the average data are (XB-XA, YD-YE).

The other data set has coordinates (XB, YB), (XB, YA), (XC, YB), (XC, YA), and the average data is (XC-XB, YA-YB).

The coordinates of the other data set were (XD, YF), (XD, YE), (XE, YF), (XE, YE), and the average data were (XE-XD, YE-YF).

The coordinates of the other data set are (XE, YC), (XE, YB), (XF, YC), (XF, YB); the average data are (XF-XE, YB-YC).

A first average value (XD-XC, YC-YD) between the average data (XF-XE, YB-YC) of the maximum abscissa and the average data (XB, XA, YD-YE) of the minimum abscissa in the average data corresponding to the supporting feet 6; calculating a second average (XD-XC, YC-YD) between the average data (XC-XB, YA-YB) of the maximum ordinate and the average data (XE-XD, YE-YF) of the minimum ordinate; coordinate points (XD-XC, YC-YD) corresponding to the first average value and the first average value are coordinate points where the charging port of the unmanned aerial vehicle is located; and then S14 is performed.

S13, referring to FIG. 14, if the coordinates of the remaining two feet of the unmanned aerial vehicle are located at the intersection point of the first conductive member and the second conductive member; the X coordinate of the rest of the supporting feet is positioned between the two first conductive pieces, and the Y coordinate is positioned between the two second conductive pieces.

One of the data sets has coordinates (XA, YC) and the average data has coordinates (XA, YC).

The coordinates of the other data set are (XC, YE), (XC, YD), (XD, YE), (XD, YD), and the average data are (XD-XC, YD-YE).

The coordinates of the other data set are (XE, YB), and the average data are (XE, YB).

Calculating average values (XC, YB-YC) between average data (XA, YC) corresponding to the two farthest supporting feet 6 and average values (XE, YB) between the two average data with the farthest distance, wherein coordinate points (XC, YB-YC) corresponding to the average values between the two average data with the farthest distance are coordinate points where an unmanned aerial vehicle charging port is located; and then S14 is performed.

Referring to fig. 15, if the X coordinates of the remaining three feet of the unmanned aerial vehicle are located between the two first conductive members, the Y coordinates are located between the two second conductive members; the remaining three feet 6 of the unmanned aerial vehicle correspond to four coordinates respectively.

The coordinates of one data set are (XB, YF), (XB, YE), (XC, YF), (XC, YE), and the average data are (XC-XB, YE-YF).

The other data set has coordinates (XE, YC), (XE, YB), (XF, YC), (XF, YB) and the average data is (XF-XE, YB-YC).

The coordinates of the other data set are (XE, YF), (XE, YE), (XF, YF), (XF, YE), and the average data are (XF-XE, YE-YF).

Calculating average values (XD, YD) between average data (XC-XB, YE-YF) corresponding to the two farthest supporting feet 6 and average values (XF-XE, YB-YC), wherein coordinate points (XD, YD) corresponding to the average values between the two average data with the farthest distance are coordinate points where an unmanned aerial vehicle charging port is located; and then S14 is performed.

Claims

1. Unmanned aerial vehicle docking system that charges, its characterized in that: the charging docking device comprises a rotating device, a traversing device, a lifting device and a charging device; the rotating device is fixed at the bottom of the bottom plate, the output end of the rotating device penetrates through the bottom plate to be connected with the fixed end of the traversing device, and the lifting device is arranged on the movable end of the traversing device; the charging device is arranged at the top of the lifting device; the lifting device is used for driving the charging device to vertically move; the rotating device and the traversing device are used for driving the charging device to rotate and horizontally move on the horizontal plane where the bottom plate is positioned;

the bottom plate comprises a supporting layer and an elastic layer, the elastic layer is arranged above the supporting layer, more than two first conductive pieces are arranged on one side, close to the supporting layer, of the elastic layer, and the adjacent first conductive pieces are arranged at intervals along the width direction of the bottom plate; more than two second conductive pieces are arranged on one side of the supporting layer, which is close to the elastic layer, and the adjacent second conductive pieces are arranged at intervals along the length direction of the bottom plate; the second conductive piece is arranged perpendicular to the first conductive piece;

2. The unmanned aerial vehicle charging docking system of claim 1, wherein: the rotating device is a rotating motor, the rotating motor is fixed on one side, far away from the elastic layer, of the supporting layer, and the rotating motor penetrates through the supporting layer and the elastic layer to be connected with the transverse moving device.

3. The unmanned aerial vehicle charging docking system of claim 1, wherein: the transverse moving device comprises a transverse moving bracket, a transverse moving motor and a transverse moving screw rod; the transverse moving motor is fixed at one end of the transverse moving bracket, the transverse moving motor is connected with one end of the transverse moving screw rod, the other end of the transverse moving screw rod is rotatably connected with the other end of the transverse moving bracket, and the transverse moving screw rod is provided with a transverse moving sliding seat; the transverse moving support is provided with a transverse moving sliding rail, the transverse moving sliding seat is provided with a transverse moving sliding block, the transverse moving sliding block is arranged on the transverse moving sliding rail in a sliding mode, the transverse moving motor drives the transverse moving screw rod to rotate, and the transverse moving screw rod drives the transverse moving sliding seat to reciprocate between two ends of the transverse moving support.

4. The unmanned aerial vehicle charging docking system of claim 1, wherein: the lifting device comprises a lifting fixed seat, a lifting movable seat and a lifting motor; a first sliding groove and a first hinge hole are arranged on the lifting fixing seat; a second sliding groove and a second hinge hole are arranged on the lifting moving seat; the first hinge hole is connected with the second sliding groove through a first connecting rod, and one end of the first connecting rod is arranged in the second sliding groove in a sliding way; the second hinge hole is connected with the first sliding groove through a second connecting rod; one end of the second connecting rod is arranged in the first sliding groove in a sliding way;

5. The unmanned aerial vehicle charging docking system of claim 1, wherein: the charging device comprises a socket and a guide disc arranged at one end of the socket.

6. The unmanned aerial vehicle charging docking system of claim 1, wherein: the elastic layer is adhered to the support column.

7. The unmanned aerial vehicle charging docking system of claim 1, wherein: the elastic layer is a TPU elastic layer.

8. The unmanned aerial vehicle charging docking method of any of claims 1-7, wherein: the method comprises the following steps:

s1, presetting interval time limit which is used for detecting whether the unmanned aerial vehicle falls onto a bottom plate or not; the charging port is pre-installed and is installed in the center of the bottom of the unmanned aerial vehicle, and the distance between the charging port and four supporting feet of the unmanned aerial vehicle is equal; taking the support column at the lowest end of the left side as an origin O, taking the arrangement direction of the second conductive piece as an X axis, and taking the arrangement direction of the first conductive piece as a Y axis to generate a coordinate axis; the second conductive piece is the abscissa of the coordinate axis, and the first conductive piece is the ordinate of the coordinate axis; generating a support coordinate where the support column is located;

s2, controlling the unmanned aerial vehicle to fall onto the bottom plate, so that the supporting feet of the unmanned aerial vehicle are contacted with the elastic layer;

s3, sequentially electrifying more than two first conductive pieces, and if the second conductive pieces do not output level signals, repeating S2, and controlling the unmanned aerial vehicle to land on the bottom plate again after taking off; if the second conductive piece outputs the level signal, S4 is performed;

s4, starting timing of interval time limit, and ending timing of the interval time limit to carry out S5;

s5, sequentially electrifying more than two first conductive pieces, and if the second conductive pieces do not output level signals, repeating S2, and controlling the unmanned aerial vehicle to land on the bottom plate again after taking off; if the second conductive piece outputs the level signal, recording coordinate data of a coordinate point of the level signal output on the coordinate axis, and then performing S6;

s6, judging whether a coordinate point generated by the contact of the support leg of the unmanned aerial vehicle and the elastic force comprises a support coordinate, and if not, carrying out S7; if yes, S10 is carried out;

s7, judging the number of coordinate points, and if the number of the coordinate points is four, performing S8; if the number of the coordinate points exceeds four, S9 is carried out;

s8, calculating a first average value between the coordinate point of the maximum abscissa and the coordinate point of the minimum abscissa; calculating a second average value between the coordinate point of the maximum ordinate and the coordinate point of the minimum ordinate; if the first average value is the same as the first average value, the coordinate point corresponding to the first average value is the coordinate point of the charging port of the unmanned aerial vehicle; then S14 is carried out;

s9, respectively setting coordinate points generated by each supporting leg of the unmanned aerial vehicle as data sets, and respectively calculating average data of each data set; a first average value between average data of a maximum abscissa and average data of a minimum abscissa in average data corresponding to the supporting feet; calculating a second average value between the average data of the maximum ordinate and the average data of the minimum ordinate; if the first average value is the same as the first average value, the coordinate point corresponding to the first average value is the coordinate point of the charging port of the unmanned aerial vehicle; then S14 is carried out;

s10, if the coordinate point of the unmanned aerial vehicle supporting foot comprises a supporting coordinate, S11 is carried out; if the coordinate points of the support feet of the unmanned aerial vehicle comprise more than two support coordinates, repeating S2, and controlling the unmanned aerial vehicle to land on the bottom plate again after taking off;

s11, judging the number of the residual coordinate points, and if the number of the coordinate points is three, performing S12; if the number of the coordinate points exceeds three, S13 is carried out;

s12, calculating an average value between two coordinate points farthest in distance, wherein the coordinate point corresponding to the average value between the two coordinate points farthest in distance is the coordinate point where the charging port of the unmanned aerial vehicle is located; then S14 is carried out;

s13, respectively setting coordinate points generated by each supporting leg of the unmanned aerial vehicle as data sets, and respectively calculating average data of each data set; calculating an average value between average data corresponding to the two farthest supporting feet, wherein a coordinate point corresponding to the average value between the two average data with the farthest distance is a coordinate point where a charging port of the unmanned aerial vehicle is located; then S14 is carried out;