CN116923762A - Deposit, examine, manage integrative integrated intelligent hangar system - Google Patents
Deposit, examine, manage integrative integrated intelligent hangar system Download PDFInfo
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Abstract
Compared with the prior art, the intelligent hangar system comprises a storage module for uniformly placing unmanned aerial vehicles, a retraction module for orderly receiving and driving out the unmanned aerial vehicles entering the storage module, and a detection module for recording and managing the storage condition of the unmanned aerial vehicles in the storage module. The invention realizes intelligent identification and management and effectively reduces the workload of manual management.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle hangars, in particular to a storage, inspection and management integrated intelligent hangar system.
Background
Along with the wide application of unmanned aerial vehicles in various industries, the demand of people for unmanned aerial vehicles is continuously increased. The unmanned aerial vehicle hangar is a place for storing, maintaining and charging unmanned aerial vehicles, and is one of important facilities for unmanned aerial vehicle operation. The unmanned aerial vehicle hangar can also provide a safer storage environment to protect unmanned aerial vehicles from weather and other external factors. The interior of the hangar can be equipped with appropriate equipment and tools for performing maintenance and repair work of the unmanned aerial vehicle. The unmanned aerial vehicle system is beneficial to prolonging the service life and improving the reliability of the unmanned aerial vehicle, reducing the loss and the risk caused by improper maintenance, and along with the continuous development of unmanned aerial vehicle technology and the expansion of application range, the demand of an unmanned aerial vehicle library is continuously increased, and the unmanned aerial vehicle library becomes an indispensable part in unmanned aerial vehicle management, so that the development and the application of the unmanned aerial vehicle technology are promoted.
The prior art found to exist through extensive searching is as disclosed in the prior art: CN112878772B, CN114212265B, WO2016059555A1 and WO2018227315A1, as disclosed in the prior art, belong to the technical field of unmanned aerial vehicles, and include a hangar outer frame, on the upper side of which a receiving port is formed; a receiving platform is arranged on the inner side of the outer frame of the hangar, and a lifting device for controlling the receiving platform to move up and down along the vertical direction is arranged on the inner side of the outer frame of the hangar and positioned on the lower side of the receiving platform; an automatic homing device for controlling the unmanned aerial vehicle to move to home is arranged on the upper side of the receiving platform; the automatic homing device comprises a single-swivel driving assembly arranged in each mounting cavity; the automatic charging device is characterized in that an automatic charging module is arranged on the inner wall of the outer frame of the hangar, and the automatic charging module can charge the unmanned aerial vehicle after homing.
The invention is designed for solving the problems of low integrated management efficiency of unmanned aerial vehicles, weak self-adaptability to unmanned aerial vehicle receiving management and the like in the prior art.
Disclosure of Invention
The invention aims to provide a storage, inspection and management integrated intelligent hangar system aiming at the defects existing in the prior art.
In order to overcome the defects in the prior art, the invention adopts the following technical scheme:
the intelligent hangar system comprises a storage module for uniformly placing unmanned aerial vehicles, a receiving and releasing module for orderly receiving and driving out unmanned aerial vehicles entering the storage module, and a detection module for recording and managing the storage condition of unmanned aerial vehicles in the storage module,
the storage module comprises a shell, a containing cavity arranged in the shell, a fixing column vertically arranged in the middle of the containing cavity, a plurality of mutually independent chambers which are obtained by isolating and dividing the containing cavity through a plurality of clapboards, outlets which are arranged on the shell and are respectively communicated with the independent chambers, and a control door body which is matched with the outlets and is used for controlling the closing condition of the outlets, wherein the independent chambers are sequentially arranged opposite to the fixing column, each independent chamber is a closed containing cavity formed by mutually connecting and surrounding at least five clapboards and part of the inner wall of the shell, each independent chamber is provided with an outlet,
the retraction module comprises a movable platform which is respectively and horizontally movably matched with the bottom wall of the independent cavity and a movable driving mechanism for driving the movable platform to sequentially move out of the outlet to the outside of the independent cavity, the movable platform is used for supporting the unmanned aerial vehicle, and under the operation of a movable driving machine component, the movable platform is sequentially driven out of the independent cavity to realize the receiving and/or releasing of the movable platform to the unmanned aerial vehicle,
the detection module comprises a plurality of camera devices which are respectively arranged in the independent cavities to acquire images of unmanned aerial vehicles positioned in the independent cavities, a database which is recorded and stored with the corresponding color, shape and size characteristics of unmanned aerial vehicles of different models in advance, and a processing unit which receives the image information acquired by the camera devices and further analyzes the image information based on the database to acquire the conditions of the unmanned aerial vehicles, wherein at least one camera device is arranged in each independent cavity.
Further, the mobile platform includes the movable plate that the level set up, two respectively symmetry be fixed in the guide rail of the both sides chamber wall of independent cavity, a plurality of respectively sliding fit in slider on the guide rail, will the upper block wall of slider and the locking part of the lower plate wall fixed connection of movable plate, a plurality of respectively rotate be fixed in gyro wheel on the chamber diapire of independent cavity and the unmanned aerial vehicle that is located on the movable plate carries out the block unit that adapts to block to on the movable plate, wherein, but the gyro wheel top with the lower plate wall rolling butt of movable plate, the gyro wheel effectively improves the supporting stability to the movable plate in the removal process, wherein the upper plate wall of movable plate evenly divides into the unit area that a plurality of matrix distributes.
Further, the movable driving mechanism comprises at least one through hole which is arranged on the partition plate and is opposite to the outlet, telescopic driving equipment, one end of which is arranged on the fixed column through a fixed seat and the other end of which can horizontally penetrate through the through hole, and a connecting rod, one end of which is fixed on the movable plate and the other end of which is fixed on the telescopic tail end of the telescopic driving equipment, wherein each independent chamber is provided with one through hole and one outlet which are opposite to each other, and each through hole is in penetrating fit with at least one telescopic driving equipment.
Further, the clamping unit comprises matching mechanisms respectively arranged on each unit area, each matching mechanism comprises a micro lifting rod fixed on the unit area, a contact block fixed on the upper end of the micro lifting rod, a flexible pressure sensor applied on the upper block wall of the receiving block, and a processing unit for receiving and further analyzing pressure values obtained by monitoring of the flexible pressure sensors so as to obtain contact conditions of the contact blocks and the unmanned aerial vehicle, wherein each unit area is pre-recorded with a position number for distinguishing the position of the contact block, the flexible pressure sensor and the micro lifting rod are pre-provided with different identification numbers, and the position number of the corresponding unit area, the identification number of the flexible pressure sensor positioned in the corresponding unit area and the identification number of the micro lifting rod positioned in the corresponding unit area are pre-bound and recorded in the system.
Further, the processing unit comprises a microprocessor for receiving the monitoring electric signals of the flexible pressure sensor and further analyzing and processing the monitoring electric signals to obtain pressure values detected by the flexible pressure sensor, an analysis unit for dividing the target block and the idle block according to the pressure values obtained by the microprocessor, and an instruction generation unit for generating a second preset length contraction operation instruction of the miniature lifting rod in the unit area where the target block is located.
The beneficial effects obtained by the invention are as follows:
1. according to the invention, through the design of the separation chamber of the storage module and the automatic operation of the retraction module, the storage efficiency of the unmanned aerial vehicle is effectively improved, meanwhile, the system records and manages the storage condition of the unmanned aerial vehicle through the detection module, and the automatic recording of information such as the model number, storage time and the like of the unmanned aerial vehicle is realized, the intelligent identification and management are realized, the workload of manual management is reduced, and the space utilization rate of a hangar system is higher by adopting the design of the vertically arranged fixed columns and the partition plates.
2. According to the invention, the unmanned aerial vehicle is fixed on the mobile platform through the clamping unit, so that the unmanned aerial vehicle is prevented from shaking and swaying in the moving process, the stability of the unmanned aerial vehicle is improved, the safety of the unmanned aerial vehicle is effectively protected according to different models and sizes of the unmanned aerial vehicle, the clamping unit is adaptive to different unmanned aerial vehicles through self-adaptive adjustment and adaptation, the use flexibility and adaptability of a hangar are improved, and the operation of the whole hangar system is more efficient and smooth.
3. According to the invention, the analysis unit reduces errors and uncertainty of manual detection by using the flexible pressure sensor and the image processing algorithm, can quickly identify and divide the target blocks in a short time, realizes self-adaptive clamping and fixing of unmanned aerial vehicles of different models on the mobile plate, and improves the receiving work efficiency of the unmanned aerial vehicle.
Drawings
The invention will be further understood from the following description taken 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 a schematic diagram of a storage, inspection and management integrated intelligent hangar system according to the present invention.
Fig. 2 is a schematic top sectional view of a part of the structure of the storage module of the present invention.
Fig. 3 is a schematic front view of a part of the structure of the storage module of the present invention.
Fig. 4 is a flow chart of the operation of the processing unit of the present invention.
Fig. 5 is a flow chart of the operation of the analysis unit of the present invention.
Reference numerals illustrate: 1-a guide rail; 2-moving plate; 3-connecting rods; 4-fixing columns; 5-a through hole; 6-outlet; 7-independent chambers; 8-a sliding block; 9-a telescopic drive device; 10-a shell; 11-roller.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following examples thereof; it is noted that the specific embodiments described herein are for purposes of illustration only and are not intended to be limiting. Other systems, methods, and/or features of the present embodiments will be or become apparent to one with skill in the art upon examination of the following detailed description. And the terms describing the positional relationship in the drawings are merely for illustrative purposes and are not to be construed as limiting the present patent, and specific meanings of the terms can be understood by those of ordinary skill in the art according to specific circumstances.
Embodiment one: with reference to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the present embodiment constructs a storage, inspection and management integrated intelligent hangar system, where the intelligent hangar system includes a storage module for uniformly placing unmanned aerial vehicles, a retraction module for orderly receiving and driving unmanned aerial vehicles entering the storage module, and a detection module for recording and managing storage conditions of unmanned aerial vehicles in the storage module;
the storage module comprises a shell, a containing cavity arranged in the shell, a fixing column vertically arranged in the middle of the containing cavity, a plurality of mutually independent cavities which are obtained by isolating and dividing the containing cavity through a plurality of partition boards, outlets which are arranged on the shell and are respectively communicated with the independent cavities, and a control door body which is matched with the outlets and is used for controlling the closing condition of the outlets, wherein the independent cavities are sequentially arranged opposite to the fixing column, each independent cavity is a closed containing cavity formed by mutually connecting and surrounding at least five partition boards and part of the inner wall of the shell, and each independent cavity is provided with one outlet;
the retraction module comprises a movable platform and a movable driving mechanism, wherein the movable platform is respectively horizontally movably matched with the bottom wall of the independent cavity, the movable driving mechanism is used for driving the movable platform to sequentially move out of the outlet to the outside of the independent cavity, the movable platform is used for supporting the unmanned aerial vehicle, and under the operation of a movable driving machine component, the movable platform is sequentially driven out of the independent cavity so as to realize the receiving and/or releasing of the movable platform to the unmanned aerial vehicle;
the detection module comprises a plurality of camera devices which are respectively arranged in the independent cavities to acquire images of unmanned aerial vehicles positioned in the independent cavities, a database which is recorded and stored with the corresponding color, shape and size characteristics of the unmanned aerial vehicles of different models in advance, and a processing unit which receives the image information acquired by the camera devices and further analyzes the image information based on the database to acquire the conditions of the unmanned aerial vehicles, wherein at least one camera device is arranged in each independent cavity;
the processing unit is completed by the following steps:
s101: receiving indoor images in independent cavities shot by an imaging device, denoising, filtering and color space conversion processing the indoor images,
s102: the unmanned aerial vehicle in the indoor image is automatically identified and positioned by adopting the convolutional neural network, the unmanned aerial vehicle graph in the indoor image is extracted,
s103: extracting the color, shape and size characteristics of the unmanned aerial vehicle graph based on edge detection and morphological transformation technology,
s104: the color, shape and size characteristics are input into a database to further obtain the specific model of the unmanned aerial vehicle, the unmanned aerial vehicle model, the independent chamber where the unmanned aerial vehicle is positioned and the storage time of the unmanned aerial vehicle in the independent chamber are recorded and stored,
s105: for unmanned aerial vehicles which cannot be identified, the images and related information are sent to staff for manual identification and recording,
s106: when the storage time of the unmanned aerial vehicle exceeds a certain threshold, reminding information is generated to related staff so as to remind the related staff to carry out maintenance and/or cleaning operation on the unmanned aerial vehicle;
according to the invention, through the design of the separation chamber of the storage module and the automatic operation of the retraction module, the storage efficiency of the unmanned aerial vehicle is effectively improved, meanwhile, the system records and manages the storage condition of the unmanned aerial vehicle through the detection module, and the automatic recording of information such as the model number, storage time and the like of the unmanned aerial vehicle is realized, the intelligent identification and management are realized, the workload of manual management is reduced, and the space utilization rate of a hangar system is higher by adopting the design of the vertically arranged fixed columns and the partition plates.
Embodiment two: in addition to the content of the above embodiments, the moving platform comprises a horizontally arranged moving plate, two guide rails respectively symmetrically fixed on two side cavity walls of the independent cavity, a plurality of sliding blocks respectively and slidably matched with the guide rails, a locking piece fixedly connecting an upper block wall of the sliding blocks with a lower plate wall of the moving plate, a plurality of rollers respectively and rotatably fixed on the cavity bottom wall of the independent cavity, and a clamping unit for performing adaptive clamping on an unmanned aerial vehicle positioned on the moving plate onto the moving plate, wherein the upper part of the rollers can be in rolling butt joint with the lower plate wall of the moving plate, and the rollers effectively improve the supporting stability of the moving plate in the moving process, and the upper plate wall of the moving plate is uniformly divided into a plurality of unit areas distributed in a matrix;
the movable driving mechanism comprises at least one through hole which is arranged on the partition board and is opposite to the outlet, telescopic driving equipment, one end of which is arranged on the fixed column through a fixed seat and the other end of which can horizontally penetrate through the through hole, and a connecting rod, one end of which is fixed on the movable plate and the other end of which is fixed on the telescopic tail end of the telescopic driving equipment, wherein each independent chamber is provided with one through hole and an outlet which are opposite, and each through hole is penetrated and matched with at least one telescopic driving equipment;
the clamping unit comprises matching mechanisms respectively arranged on each unit area, each matching mechanism comprises a miniature lifting rod fixed on the unit area, a contact block fixed at the upper end of the miniature lifting rod, a flexible pressure sensor applied on the upper block wall of the receiving block, and a processing unit for receiving and further analyzing pressure values obtained by monitoring the flexible pressure sensors to obtain the contact condition of the contact blocks and the unmanned aerial vehicle, wherein each unit area is pre-recorded with a position number for distinguishing the position of the contact block;
different identification numbers are preset on the flexible pressure sensor and the miniature lifting rod, and the position number of the corresponding unit area, the identification number of the flexible pressure sensor positioned in the corresponding unit area and the identification number of the miniature lifting rod positioned in the corresponding unit area are bound and recorded in the system in advance;
when all the miniature lifting rods of the clamping unit extend to a first preset length, the contact blocks of the clamping unit are driven to the same horizontal height, all the upper block walls of the contact blocks are mutually adjacent to form a receiving surface, the cross section area of the contact blocks is not larger than the area of a unit area where the contact blocks are positioned, and the unmanned aerial vehicle falls onto the receiving surface in the falling process;
when the unmanned aerial vehicle falls to the receiving surface, the landing gear of the unmanned aerial vehicle is supported to the receiving surface, a contact block contacted with the landing support frame is taken as a target block, and a contact block on the receiving vessel which is not contacted with the landing gear is taken as an idle block;
the processing unit comprises a microprocessor for receiving the monitoring electric signals of the flexible pressure sensor and further analyzing and processing the monitoring electric signals to obtain pressure values detected by the flexible pressure sensor, an analysis unit for dividing a target block and an idle block according to the pressure values obtained by the microprocessor, and an instruction generation unit for generating a second preset length contraction operation instruction of a miniature lifting rod in a unit area where the target block is located;
and after the miniature lifter drives the target block to shrink the operation of the second preset length, the upper block wall of the target block is downwards concaved relative to the upper block wall of the idle block, the upper block wall of the target block further forms a concave area for clamping and supporting the landing gear, and when the mobile driving mechanism drives the mobile platform to carry out horizontal movement operation, the concave area is used for effectively improving the stability of the unmanned aerial vehicle on the mobile plate through the clamping of the landing gear of the unmanned aerial vehicle.
Embodiment III: in addition to the above embodiments, with reference to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the workflow of the analysis unit is as follows:
s201: obtaining a pressure value of each flexible pressure sensor, wherein the pressure value of each flexible pressure sensor in a unit area of an x row and a y column of the receiving surface is SUPx, y,
s202: generating a generated image with preset specification, wherein the generated image is divided into a plurality of sub-patterns matched with the number and matrix distribution of the unit areas, each sub-pattern comprises n multiplied by n unit pixels, the number of rows and columns of the sub-patterns is consistent with that of the flexible pressure sensor, each sub-pattern is displayed with corresponding target gray level,
s203: to be used forRepresenting the preliminary gray values of the sub-patterns correspondingly matched with the unit areas positioned on the x row and the y column as follows:
，
wherein,,greater than 1->，/>For the differential pressure correction factor, c is the priority related parameter of the differential pressure correction factor, +.>For the maximum pressure value in all flexible pressure sensors, < +.>For the minimum pressure value of all flexible pressure sensors,
s204: with TARGV x，y The target gray values expressed as the sub-graphic displays corresponding to and matched with the unit areas positioned on the x-th row and the y-th column are shown as follows:
INT(/>) Wherein INT (x) is a Gaussian integer function,
s205: binarizing the generated image to obtain a binarized image, and representing the gray level of the x-th column and y-th row of the binarized image as a sub-graph of F (x, y):
，
the PATH is a division threshold value that is set to be equal to the division threshold value,
s206: extracting a graph with gray level of 255 from the binarized graph as a closed graph, respectively acquiring the position numbers of the unit areas corresponding to all sub-graphs in the closed graph, dividing the contact block of the unit areas in the closed graph into target blocks, taking the miniature lifting rod in the unit areas in the closed graph as a target rod, and acquiring the number information of the target rod;
wherein,,PATH is obtained by those skilled in the art based on historical experience and a number of repeated experimental training, and will not be described in detail herein;
the instruction generating unit further receives the coding information of each target rod obtained by the analyzing unit, and drives the target rods to shrink by a second preset length to form a concave area for self-adaptive clamping and fixing of the landing gear of the unmanned aerial vehicle;
the analysis unit reduces errors and uncertainty of manual detection by using the flexible pressure sensor and the image processing algorithm, can quickly identify and divide the target block in a short time, realizes self-adaptive clamping fixation of unmanned aerial vehicles of different models on the mobile plate, and improves the work efficiency of unmanned aerial vehicle receiving.
While the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications can be made without departing from the scope of the invention. That is, the methods, systems and devices discussed above are examples. Various configurations may omit, replace, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in a different order than described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, such as different aspects and elements of the configurations may be combined in a similar manner. Furthermore, as the technology evolves, elements therein may be updated, i.e., many of the elements are examples, and do not limit the scope of the disclosure or the claims. And it is understood that various changes and modifications may be made by those skilled in the art after reading the description of the invention, and such equivalent changes and modifications are intended to fall within the scope of the invention as defined in the appended claims.
Claims (5)
1. The intelligent hangar system is characterized by comprising a storage module for uniformly placing unmanned aerial vehicles, a receiving and releasing module for orderly receiving and expelling the unmanned aerial vehicles entering the storage module, and a detection module for recording and managing the storage condition of the unmanned aerial vehicles in the storage module;
the storage module comprises a shell, a containing cavity arranged in the shell, a fixing column vertically arranged in the middle of the containing cavity, a plurality of mutually independent cavities which are obtained by isolating and dividing the containing cavity through a plurality of partition boards, outlets which are arranged on the shell and are respectively communicated with the independent cavities, and a control door body which is matched with the outlets and is used for controlling the closing condition of the outlets, wherein the independent cavities are sequentially arranged opposite to the fixing column, each independent cavity is a closed containing cavity formed by mutually connecting and surrounding at least five partition boards and part of the inner wall of the shell, and each independent cavity is provided with one outlet;
the retraction module comprises a movable platform and a movable driving mechanism, wherein the movable platform is respectively horizontally movably matched with the bottom wall of the independent cavity, the movable driving mechanism is used for driving the movable platform to sequentially move out of the outlet to the outside of the independent cavity, the movable platform is used for supporting the unmanned aerial vehicle, and under the operation of a movable driving machine component, the movable platform is sequentially driven out of the independent cavity so as to realize the receiving and/or releasing of the movable platform to the unmanned aerial vehicle;
the detection module comprises a plurality of camera devices which are respectively arranged in the independent cavities to acquire images of unmanned aerial vehicles positioned in the independent cavities, a database which is recorded and stored with the corresponding color, shape and size characteristics of unmanned aerial vehicles of different models in advance, and a processing unit which receives the image information acquired by the camera devices and further analyzes the image information based on the database to acquire the conditions of the unmanned aerial vehicles, wherein at least one camera device is arranged in each independent cavity.
2. The integrated intelligent hangar system for storing, checking and managing according to claim 1, wherein the moving platform comprises a horizontally arranged moving plate, two guide rails respectively symmetrically fixed on two side cavity walls of the independent cavity, a plurality of sliding blocks respectively in sliding fit with the guide rails, locking pieces fixedly connecting an upper block wall of the sliding blocks with a lower plate wall of the moving plate, a plurality of rollers respectively fixed on the cavity bottom wall of the independent cavity in a rotating manner, and a clamping unit for performing adaptive clamping on an unmanned aerial vehicle positioned on the moving plate onto the moving plate, wherein the upper part of the rollers can be in rolling butt joint with the lower plate wall of the moving plate, and the rollers effectively improve the supporting stability of the moving plate in the moving process, wherein the upper plate wall of the moving plate is uniformly divided into a plurality of unit areas distributed in a matrix manner.
3. The integrated intelligent hangar system of claim 2, wherein the moving driving mechanism comprises at least one through hole which is arranged on the partition board and is opposite to the outlet, a telescopic driving device, one end of which is arranged on the fixed column through a fixed seat and the other end of which can horizontally penetrate through the through hole, and a connecting rod, one end of which is fixed on the moving plate and the other end of which is fixed on the telescopic tail end of the telescopic driving device, wherein each independent chamber is provided with one through hole and one outlet which are opposite, and each through hole is in penetrating fit with at least one telescopic driving device.
4. The integrated intelligent hangar system for storing, detecting and managing as in claim 3, wherein the clamping unit comprises matching mechanisms respectively arranged on each unit area, each matching mechanism comprises a micro lifting rod fixed on the unit area, a contact block fixed on the upper end of the micro lifting rod, a flexible pressure sensor applied on the upper block wall of the receiving block, and a processing unit for receiving and further analyzing and processing the pressure value obtained by monitoring each flexible pressure sensor to obtain the contact condition of each contact block and the unmanned aerial vehicle, wherein each unit area is pre-recorded with a position number for distinguishing the position of each contact block, the flexible pressure sensor and the micro lifting rod are pre-provided with different identification numbers, and the position number of the corresponding unit area, the identification number of the flexible pressure sensor positioned in the corresponding unit area and the identification number of the micro lifting rod positioned in the corresponding unit area are pre-bound and recorded in the system.
5. The integrated intelligent hangar system of storage, inspection and management according to claim 4, wherein the processing unit comprises a microprocessor for receiving the monitored electric signal of the flexible pressure sensor and further analyzing and processing the monitored electric signal to obtain the pressure value detected by the flexible pressure sensor, an analyzing unit for dividing the target block and the idle block according to the pressure value obtained by the microprocessor, and an instruction generating unit for generating a second preset length contraction operation instruction of the micro lifting rod in the unit area where the target block is located.
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