阅读说明：本技术 无人机悬挂式负载无人小车的对接装置及方法 (Butt joint device and method for unmanned aerial vehicle suspension type load unmanned trolley ) 是由 汤锃锴 郑恩辉 陈锡爱 徐红伟 于 2020-07-08 设计创作，主要内容包括：本发明提供一种无人机悬挂式负载无人小车的对接装置,包括无人机、无人小车、无人机负载对接机构和小车负载对接机构；所述无人机负载对接机构设置在无人机底部,小车负载对接机构设置在无人小车顶部；所述小车负载对接机构与无人机负载对接机构配合使用,可以实现互相对接；所述小车负载对接机构包括漏斗型对接开口；本发明还提供一种无人机悬挂式负载无人小车的对接方法,对接两端采用了抓钩和漏斗形设计,抓钩形设计结构控制方便简单稳定性好,对接完成后对接程度牢固；漏斗形设计为无人机定位的精度要求提供了偏差值允许,完善了对接系统算法的稳定性,大大提高了对接的精度与成功率。(The invention provides a docking device of a suspended load unmanned aerial vehicle of an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, an unmanned aerial vehicle load docking mechanism and a vehicle load docking mechanism; the unmanned aerial vehicle load docking mechanism is arranged at the bottom of the unmanned aerial vehicle, and the trolley load docking mechanism is arranged at the top of the unmanned trolley; the trolley load docking mechanism and the unmanned aerial vehicle load docking mechanism are matched for use, so that mutual docking can be realized; the trolley load butt joint mechanism comprises a funnel-shaped butt joint opening; the invention also provides a docking method of the unmanned aerial vehicle suspended load unmanned trolley, wherein the two docking ends adopt the design of the grapple and the funnel shape, the grapple-shaped design structure is convenient to control, simple and good in stability, and the docking degree is firm after the docking is finished; the funnel-shaped design provides deviation value permission for the precision requirement of unmanned aerial vehicle positioning, perfects the stability of the butt joint system algorithm, and greatly improves the precision and the success rate of butt joint.)

1. Unmanned aerial vehicle suspension type load unmanned vehicle's interfacing apparatus, its characterized in that: comprises an unmanned aerial vehicle (001), an unmanned trolley (002), an unmanned aerial vehicle load docking mechanism (1) and a trolley load docking mechanism (2);

the unmanned aerial vehicle load docking mechanism (1) is arranged at the bottom of the unmanned aerial vehicle (001), and the trolley load docking mechanism (2) is arranged at the top of the unmanned trolley (002); the trolley load docking mechanism (2) is matched with the unmanned aerial vehicle load docking mechanism (1) for use, and mutual docking can be realized;

the trolley load butt joint mechanism (2) comprises a funnel-shaped butt joint opening (201);

the unmanned aerial vehicle load docking mechanism (1) is sequentially provided with a buffer spring structure (101), a micro driving structure (102) and a grapple structure (103) from top to bottom;

the top of the unmanned aerial vehicle load docking mechanism (1) is fixedly connected with the bottom of an unmanned aerial vehicle (001) through a buffer spring structure (101);

the micro driving motor structure (102) can control the opening and closing of the grapple structure (103);

thereby grapple structure (103) can realize the butt joint of unmanned aerial vehicle (001) and unmanned trolley (002) with the inner wall butt joint of funnel type butt joint opening (201).

2. The docking device of unmanned aerial vehicle suspended load unmanned vehicle as claimed in claim 1, wherein:

the buffer spring structure (101) comprises an upper buffer sheet (1011), a buffer spring (1012), a buffer piston (1013), a lower buffer nut (1014), a buffer groove (1015) and a bottom connecting sheet (1016);

the upper buffer sheet (1011) is fixedly connected with the bottom of the unmanned aerial vehicle (001); the bottom of the upper buffer sheet (1011) is fixedly connected with a buffer piston (1013); a buffer spring (1012) is sleeved on the outer side of the buffer piston (1013);

one end of the buffer spring (1012) is connected with the upper buffer sheet (1011), and the other end of the buffer spring is connected with the lower buffer nut (1014);

the lower buffer nut (1014) is fixedly arranged at the opening of the buffer groove (1015); the buffering piston (1013) extends into the buffering groove (1015);

a bottom connecting sheet (1056) is arranged at the bottom of the buffer groove (1015); the bottom connecting sheet (1056) is connected with the top of the unmanned aerial vehicle load butt joint mechanism (1).

3. The docking device of unmanned aerial vehicle suspended load unmanned vehicle as claimed in claim 2, wherein:

the micro driving motor structure (102) comprises a micro driving motor (1022), a fixing stud (1023), an upper fixing piece (1021) and a lower fixing piece (1024);

the micro driving motor (1022) is fixed between the upper fixing piece (1021) and the lower fixing piece (1024) through the fixing stud (1023), and the unmanned aerial vehicle load butt joint mechanism (1) penetrates through the upper fixing piece (1021) and the lower fixing piece (1024);

a screw rod (1031) is arranged at the bottom of the micro driving motor (1022), the screw rod (1031) penetrates through the lower fixing plate (1024), and the screw rod (1031) and the unmanned aerial vehicle load docking mechanism (1) are arranged in parallel; the screw rod (1031) is connected with the grapple structure (103), and the micro driving motor (1022) can drive the grapple structure (103) to close and open through the screw rod (1031).

4. The docking device of unmanned aerial vehicle suspended load unmanned vehicle as claimed in claim 3, wherein:

the grapple structure (103) comprises a screw rod (1031), a collar (1032), a connecting rod (1033), a hook rod (1034) and a fixed collar (1035);

the upper end of the screw rod (1031) penetrates through a lower fixing plate (1024) of the micro-driving motor structure (102) to be connected with the micro-driving motor (1022) and is driven by the micro-driving motor (1022); the lower end of the screw rod (1031) extends to a fixed sleeve ring (1035), and the fixed sleeve ring (1035) is fixedly sleeved at the bottom of the unmanned aerial vehicle load docking mechanism (1);

the lantern ring (1032) is sleeved on the unmanned aerial vehicle load docking mechanism (1), meanwhile, a screw hole is formed in the lantern ring (1032), the screw rod (1031) penetrates through the screw hole, and the lantern ring (1032) moves up and down under the transmission of the screw rod (1031);

the periphery of the lantern ring (1032) is hinged with the middle positions of the four hook rods (1034) through four connecting rods (1033), the tail ends of the four hook rods (1034) are hinged with the fixed lantern ring (1035), the connecting rods (1033) are inclined outwards, and the hook rods (1034) are inclined inwards; the opening and closing of the grapple structure (103) is realized by the up-and-down movement of the loop (1032).

5. The docking device of unmanned aerial vehicle suspended load unmanned vehicle as claimed in claim 4, wherein:

the trolley load butt joint mechanism (2) comprises a funnel-shaped butt joint opening (201), a funnel-shaped butt joint end (202) and a trolley fixing support (203);

the funnel-shaped butt joint end (202) is fixedly arranged at a funnel opening at the bottom of the funnel-shaped butt joint opening (201), and the periphery of the top of the funnel-shaped butt joint opening (201) is fixedly connected with the top of the unmanned trolley (002) through a trolley fixing support (203).

6. The docking device of unmanned aerial vehicle suspended load unmanned vehicle as claimed in claim 5, wherein:

unmanned aerial vehicle (001) bottom is provided with the airborne camera, and the airborne camera uses with funnel type butt joint opening (201) cooperation.

7. Docking method for unmanned aerial vehicle suspended load unmanned vehicles using docking device for unmanned aerial vehicle suspended load unmanned vehicles according to any of claims 1-6, characterized in that: the method comprises the following steps:

s1: controlling the unmanned aerial vehicle (001) to go to a target unmanned trolley (002) stop position area, and starting to acquire and detect a bottom image of the unmanned aerial vehicle (001) by an airborne camera of the unmanned aerial vehicle (001);

s2: after an airborne camera of an unmanned aerial vehicle (001) identifies and captures a circular mark image of a funnel-shaped docking opening (201) of an unmanned trolley load docking mechanism (2), circle center coordinates are extracted;

s3: according to the height information acquired by the unmanned aerial vehicle (001), the circle center coordinates of the marker funnel-shaped docking opening (201) acquired by the camera and the pixel center coordinates of the camera, control information of the unmanned aerial vehicle (001) is obtained, and the unmanned aerial vehicle (001) is controlled to reach a docking designated position right above the unmanned aerial vehicle (002) according to the control information;

s4: the unmanned aerial vehicle (001) descends to a butt joint appointed position, so that the bottom of the unmanned aerial vehicle load butt joint rod (1) is in butt joint with a funnel-shaped butt joint end (202) of a funnel-shaped butt joint opening (201);

s5: the unmanned aerial vehicle (001) sends a docking signal, at the moment, a micro driving motor (1022) in the middle of a load docking rod (1) of the unmanned aerial vehicle starts to work to drive a screw rod (1031) to rotate, a nested docking rod lantern ring (1032) is driven to vertically move downwards through transmission, the lantern ring (1032) moving downwards drives four hook rods (1034) to open downwards through four connecting rods (1033) until the four hook rods (1034) are abutted against the inner wall of the funnel-shaped docking opening (201), and the opening state of the grappling mechanism (103) is realized;

s6: unmanned aerial vehicle (001) and unmanned vehicle (002) have realized being connected through unmanned aerial vehicle load butt joint pole (1) this moment.

8. The docking method for unmanned aerial vehicle suspended load unmanned aerial vehicle as claimed in claim 7, wherein:

the horizontal coordinate displacement difference obtaining method based on the Hough circle transformation technology comprises the following steps of:

step 1: carrying out image graying processing to obtain a grayed processed image;

the processor of the robot can continuously obtain images in front through the vision sensor and then preprocess the read-in pictures; carrying out graying processing on the image by adopting an average value method to obtain a grayed processed image;

assuming that the three components of the color image are R (x, y), G (x, y), and B (x, y), respectively, after the graying process, the grayscale value Gray (x, y) of the image can be expressed as:

step 2: filtering to obtain a filtered image;

filtering the gray-scale processed image to inhibit noise, reduce environmental interference and improve the edge definition of a target pattern; the method adopts a median average filtering method, continuously samples N data, removes a maximum value and a minimum value, and then calculates the arithmetic average value of the N-2 data; the value of N is 3-14;

the average filtered output of the median is:

g(x,y)＝Med{f(x-k,y-2),(k,1)∈W}

wherein f (x, y) and g (x, y) are respectively an original image and a processed image, and W is a two-dimensional sliding window and is generally selected from 3 × 3 and 5 × 5;

and step 3: and extracting the edge and the circle center.

9. The docking method for unmanned aerial vehicle suspended load unmanned aerial vehicle as claimed in claim 8, wherein:

the step of finding the coordinates of the circle center by gradient Hough transform comprises the following steps:

3.1), firstly applying canny edge detection to the filtered image to obtain an edge image;

3.2) then, considering the local gradient of each non-zero point in the edge image, namely calculating the gradient obtained by the first derivative of Sobel in the x and y directions by using a Sobel function;

3.3) the available gradients, each point on a line specified by a slope, where the slope is the distance from a specified minimum value to a specified maximum value, are accumulated in an accumulator;

3.4), simultaneously marking the position of each non-0 pixel in the edge image;

3.5) then selecting from the two-dimensional accumulators the centers of the candidates that are all larger than the given threshold and larger than all of their neighbors, the centers of the candidates being arranged in descending order according to the accumulated value so that the center of the most supported pixel appears first;

3.6), then for each center, consider all non-0 elements;

3.7) these elements are ordered according to their distance from the center; selecting a radius which is not supported by 0 pixel most from the maximum radius to the minimum radius;

3.8), if one center receives the most sufficient support of non-0 pixels of the edge image and has enough distance to the previously selected center, then the coordinates of the center of the circle are obtained.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a docking device and a docking method for a suspended load unmanned aerial vehicle of an unmanned aerial vehicle.

Background

In recent years, unmanned aerial vehicles for short, are increasingly becoming powerful assistants for people to complete various tasks and receiving more and more attention as platforms with great flexibility. The unmanned aerial vehicle has the value of forming an aerial platform, is combined with other parts for expanding application, and replaces human beings to finish aerial operation. Along with the gradual maturity of unmanned aerial vehicle research and development technique, manufacturing cost reduces by a wide margin, and unmanned aerial vehicle has obtained wide application in each field, and except military use, still include civilian fields such as agricultural plant protection, electric power patrol inspection, police law enforcement, geological exploration, environmental monitoring, forest fire prevention and movie & TV aerial photograph, and its application field still expands rapidly.

In military application or civil application, the unmanned aerial vehicle has very important effect of hanging load transportation, and is a vital component of unmanned aerial vehicle application. Unmanned aerial vehicles are the most desirable aircraft for autonomous cargo transport, as well as helicopters. Because they are easy to operate, and their structure is independent and complete, and can vertically take off, land and hover at the designated point. However, the existing unmanned aerial vehicle suspension type transportation mostly carries out transportation tasks after manual installation, costs a large amount of human resources, and is not in line with the development prospect of current automatic operation.

Meanwhile, in recent years, the unmanned trolley technology is rapidly developed and applied to the fields of logistics, family service, industry and the like, and the unmanned trolley with multi-sensor information fusion is more and more widely applied to the fields of industrial production, national defense and military, service industry and the like. Meanwhile, the environment in which unmanned vehicle dispatching cannot be performed manually is increasing. Therefore, how to widely apply the unmanned aerial vehicle suspended transportation technology to the dispatching transportation of unmanned vehicles also becomes a big topic of research in the current field.

Accordingly, there is a need for improvements in the art.

Disclosure of Invention

The invention aims to provide a docking device and a docking method of a suspended load unmanned trolley of an unmanned aerial vehicle, which can realize quick-reading, positioning and docking.

In order to solve the technical problems, the invention provides a docking device of a suspended load unmanned aerial vehicle of an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, an unmanned aerial vehicle load docking mechanism and a vehicle load docking mechanism;

the unmanned aerial vehicle load docking mechanism is arranged at the bottom of the unmanned aerial vehicle, and the trolley load docking mechanism is arranged at the top of the unmanned trolley; the trolley load docking mechanism and the unmanned aerial vehicle load docking mechanism are matched for use, so that mutual docking can be realized;

the trolley load butt joint mechanism comprises a funnel-shaped butt joint opening;

the unmanned aerial vehicle load docking mechanism is sequentially provided with a buffer spring structure, a micro driving structure and a grapple structure from top to bottom;

the top of the unmanned aerial vehicle load docking mechanism is fixedly connected with the bottom of the unmanned aerial vehicle through a buffer spring structure;

the micro driving motor structure can control the opening and closing of the grapple structure;

thereby grapple structure can realize the butt joint of unmanned aerial vehicle and unmanned car with funnel type butt joint open-ended inner wall butt joint.

As an improvement of the docking device of the unmanned aerial vehicle suspension type load unmanned trolley, the invention comprises the following steps:

the buffer spring structure comprises an upper buffer sheet, a buffer spring, a buffer piston, a lower buffer nut, a buffer groove and a bottom connecting sheet;

the upper buffer sheet is fixedly connected with the bottom of the unmanned aerial vehicle; the bottom of the upper buffer sheet is fixedly connected with the buffer piston; a buffer spring is sleeved outside the buffer piston;

one end of the buffer spring is connected with the upper buffer sheet, and the other end of the buffer spring is connected with the lower buffer nut;

the lower buffer nut is fixedly arranged at the opening of the buffer groove; the buffer piston extends into the buffer groove;

a bottom connecting sheet is arranged at the bottom of the buffer groove; the bottom connecting piece is connected with the top of the unmanned aerial vehicle load docking mechanism.

As a further improvement of the docking device of the unmanned aerial vehicle suspended load unmanned trolley, the invention comprises the following steps:

the micro driving motor structure comprises a micro driving motor, a fixing stud, an upper fixing sheet and a lower fixing sheet;

the micro driving motor is fixed between the upper fixing plate and the lower fixing plate through a fixing stud, and the unmanned aerial vehicle load butt joint mechanism penetrates through the upper fixing plate and the lower fixing plate;

a screw rod is arranged at the bottom of the micro driving motor, penetrates through the lower fixing plate and is arranged in parallel with the unmanned aerial vehicle load docking mechanism; the screw rod is connected with the grapple structure, and the micro driving motor can drive the grapple structure to close and open through the screw rod.

As a further improvement of the docking device of the unmanned aerial vehicle suspended load unmanned trolley, the invention comprises the following steps:

the grapple structure comprises a screw rod, a lantern ring, a connecting rod, a hook rod and a fixed lantern ring;

the upper end of the screw rod penetrates through a lower fixing piece of the micro driving motor structure to be connected with the micro driving motor and driven by the micro driving motor; the lower end of the screw rod extends to the position of the fixed sleeve ring, and the fixed sleeve ring is fixedly sleeved at the bottom of the unmanned aerial vehicle load docking mechanism;

the lantern ring is sleeved on the unmanned aerial vehicle load docking mechanism, meanwhile, a screw hole is formed in the lantern ring, the screw rod penetrates through the screw hole, and the lantern ring is driven by the screw rod to move up and down;

the periphery of the lantern ring is hinged with the middle positions of the four hook rods through four connecting rods, the tail ends of the four hook rods are hinged with the fixed lantern ring, the connecting rods incline outwards, and the hook rods incline inwards; the grapple structure is closed and opened by moving the lantern ring up and down.

As a further improvement of the docking device of the unmanned aerial vehicle suspended load unmanned trolley, the invention comprises the following steps:

the trolley load butt joint mechanism comprises a funnel-shaped butt joint opening, a funnel-shaped butt joint end and a trolley fixing support;

the funnel-shaped butt joint end is fixedly arranged at a funnel opening at the bottom of the funnel-shaped butt joint opening, and the periphery of the top of the funnel-shaped butt joint opening is fixedly connected with the top of the unmanned trolley through a trolley fixing support.

As a further improvement of the docking device of the unmanned aerial vehicle suspended load unmanned trolley, the invention comprises the following steps:

the unmanned aerial vehicle bottom is provided with the airborne camera, and the airborne camera uses with funnel type butt joint opening cooperation.

The invention also provides a docking method of the unmanned aerial vehicle suspended load unmanned trolley, which comprises the following steps:

s1: controlling the unmanned aerial vehicle to move to a target unmanned trolley staying position area, and starting to acquire and detect a bottom image of the unmanned aerial vehicle by an airborne camera of the unmanned aerial vehicle;

s2: after an airborne camera of the unmanned aerial vehicle identifies and captures a circular sign image of a funnel-shaped docking opening of the unmanned aerial vehicle load docking mechanism, circle center coordinates are extracted;

s3: according to the height information acquired by the unmanned aerial vehicle, the circle center coordinates of the marker funnel-shaped docking opening acquired by the camera and the pixel center coordinates of the camera, unmanned aerial vehicle control information is obtained, and the unmanned aerial vehicle is controlled to reach a docking designated position right above the unmanned trolley according to the control information;

s4: the unmanned aerial vehicle descends to an opposite joint appointed position, so that the bottom of the unmanned aerial vehicle load opposite joint rod is in opposite joint with a funnel-shaped opposite joint end of the funnel-shaped opposite joint opening;

s5: the unmanned aerial vehicle sends a docking signal, at the moment, a micro driving motor in the middle of a load docking rod of the unmanned aerial vehicle starts to work to drive a screw rod to rotate, a nested docking rod lantern ring is driven to vertically move downwards through transmission, the downwards moving lantern ring drives four hook rods to open downwards through the four connecting rods until the four hook rods abut against the inner wall of the funnel-shaped docking opening, and the opening state of the grappling mechanism is realized;

s6: the unmanned aerial vehicle and the unmanned vehicle are connected through the unmanned aerial vehicle load butt joint rod at the moment.

A docking system for a suspended load unmanned vehicle of an unmanned aerial vehicle comprises:

in order to realize accurate identification of the position of the unmanned aerial vehicle, the invention provides an algorithm based on Hough circle transformation to obtain a horizontal coordinate displacement difference, an ultrasonic ranging method to obtain a vertical displacement difference, and the horizontal coordinate displacement difference and the vertical displacement difference are combined to collect and identify the spatial position of the unmanned aerial vehicle relative to the unmanned aerial vehicle and are converted into an unmanned aerial vehicle instruction to control the flight attitude adjustment of the unmanned aerial vehicle, so that the accurate butt joint of the unmanned aerial vehicle and the unmanned aerial vehicle is realized.

The horizontal coordinate displacement difference is acquired by image recognition through a camera carried by the unmanned aerial vehicle and is mainly based on the Hough circle transformation technology. The basic idea of Hough circle detection is to use Hough transform, which is one of basic methods for identifying geometric shapes from images in image processing, and the method has wide application and many improved algorithms. Mainly for separating geometric shapes (such as straight lines, circles, etc.) having certain identical features from the image.

Curves in the image coordinate space may establish a corresponding parameter space. In the image coordinate space, the equation for a known circle can be expressed as:

(x-a)²+(y-b)²＝r²

wherein (a, b) is the position of the center of the circle, and r is the radius of the circle. Similar to the thought of Hough straight line, a circle on an x-y plane is converted into an a-b-r parameter space, and then a circle passing through (x, y) points in the image space corresponds to a three-dimensional conical surface under the change of the height r in the parameter space, and any point on the circle in the image space is converted into a three-dimensional conical surface corresponding to the parameter space. Thus, different points on the same circle in image space are transformed into parameter space to be different three-dimensional cones, and because r is equal, the points must intersect at a point (a, b, r) in r height. Thus, in the parameter space, the parameter of the circle can be obtained by detecting the intersection point, and then the corresponding circle can be obtained. The equation of the image plane is converted into parameters, and the method is consistent with the idea of line detection. However, the two methods are different from each other, the determination of the circle needs three parameters, and the space after conversion is a three-dimensional space, which has a relatively large calculation amount in practical application and is difficult to be directly used, so the detection of the circle is generally solved by using a hough gradient method.

A ping-pong ball identification method based on a Hough circle transformation technology adopts a gradient Hough transformation method to improve the identification speed. In polar equation

A＝x-rcosθ,B＝y-rsinθ

And representing a circle, wherein x and y are coordinates of a current pixel point, r is a radius, theta is a gradient direction angle, and A and B are possible center coordinates obtained through calculation.

The horizontal coordinate displacement difference obtaining method based on the Hough circle transformation technology comprises the following steps of:

step 1: and performing image graying processing to obtain a grayed image.

The processor of the robot can continuously obtain images in front through the vision sensor and then preprocess the read-in pictures. And carrying out graying processing on the image by adopting an average value method to obtain a grayed processed image.

Assuming that the three components of the color image are R (x, y), G (x, y), and B (x, y), respectively, after the graying process, the grayscale value Gray (x, y) of the image can be expressed as:

step 2: filtering to obtain a filtered image;

and filtering the gray-scale processed image to inhibit noise, reduce environmental interference and improve the edge definition of the target pattern. The invention adopts a median average filtering method to continuously sample N data, removes a maximum value and a minimum value, and then calculates the arithmetic mean of the N-2 data. The value of N is selected to be 3-14.

The average filtered output of the median is:

g(x,y)＝Med{f(x-k,y-2),(k,1)∈W}

where f (x, y) and g (x, y) are the original image and the processed image, respectively, and W is a two-dimensional sliding window, and is generally selected from 3 × 3 and 5 × 5.

And step 3: extracting the edge and the circle center;

the invention adopts a gradient Hough transform-based method to find the circle center. The step of finding the coordinates of the circle center by gradient Hough transform comprises the following steps:

3.1) firstly, applying canny edge detection to the filtered image to obtain an edge image;

3.2) then for each non-zero point in the edge image, consider its local gradient, i.e. the gradient obtained by calculating the first derivative of Sobel in the x and y directions using the Sobel function.

3.3) the available gradients, each point on a line specified by a slope, where the slope is the distance from a specified minimum value to a specified maximum value, are accumulated in an accumulator;

3.4) marking the position of each non-0 pixel in the edge image simultaneously;

3.5) then selecting from the two-dimensional accumulators the centers of the candidates that are all larger than the given threshold and larger than all of their neighbors, the centers of the candidates being arranged in descending order according to the accumulated value so that the center of the most supported pixel appears first;

3.6) Next for each center, consider all non-0 elements

3.7) these elements are ordered by their distance from the center. Selecting a radius which is not supported by 0 pixel most from the maximum radius to the minimum radius

3.8) if a center receives the most sufficient support of non-0 pixels of the edge image and has sufficient distance to the previously selected center, then the coordinates of the center of the circle are obtained.

The center coordinates of the circle of the obtained circular marker and the center coordinates of the camera of the unmanned aerial vehicle are known, so that the pixel coordinate displacement difference can be obtained, including the horizontal displacement difference x and the longitudinal displacement difference y.

Meanwhile, the distance measurement can be carried out through the ultrasonic module of the unmanned aerial vehicle, and the height of the unmanned aerial vehicle, namely the vertical displacement difference H, can be obtained.

Represented by H in fig. 8 is the camera focal length, then the vertical displacement difference H, the pixel horizontal displacement difference x, and the camera focal length H are known, by known conditions and formula:

the actual real object horizontal displacement difference X can be obtained. The actual real object longitudinal displacement difference Y can be obtained by the same method.

Therefore, the unmanned aerial vehicle image acquisition, identification and positioning control system acquires the space coordinate difference between the unmanned aerial vehicle and the target position through the camera carried by the unmanned aerial vehicle, takes the coordinate difference as a control signal, and can control the unmanned aerial vehicle to accurately land to a specified position above the target trolley to send a docking signal to control the docking mechanism to complete docking.

The docking device and the docking method for the unmanned aerial vehicle suspended load unmanned trolley have the technical advantages that:

the algorithm for positioning the visual information by the unmanned aerial vehicle to obtain the target marker is simple in structure, can realize rapid real-time positioning adjustment of the unmanned aerial vehicle, and improves the accuracy of a docking system; by adopting the closed-loop control algorithm of the unmanned aerial vehicle, the automation level is improved, and the complexity of manual positioning operation is reduced.

According to the invention, the design of the buffer spring is adopted at the joint of the docking rod, so that the connection between the unmanned aerial vehicle and the docking rod is stabilized, the influence of the loading of the docking rod on the flight attitude of the unmanned aerial vehicle is reduced, meanwhile, a deviation value permission is provided for the height of the unmanned aerial vehicle in a docking state, the docking rod is prevented from generating physical damage to the unmanned vehicle or the unmanned aerial vehicle, and the fault tolerance rate and the safety of a docking process are improved.

In the invention, the two butt joint ends adopt the design of the grapple and the funnel shape, the grapple-shaped design structure is convenient to control, simple and good in stability, and the butt joint degree is firm after the butt joint is finished; the funnel-shaped design provides deviation value permission for the precision requirement of unmanned aerial vehicle positioning, perfects the stability of the butt joint system algorithm, and greatly improves the precision and the success rate of butt joint.

The unmanned aerial vehicle dispatching unmanned cleaning trolley system can be used as an application system of the unmanned aerial vehicle dispatching unmanned cleaning trolley, can be widely applied to scenes such as large photovoltaic power plants, greatly improves the automation level and accuracy, reduces a large amount of manual labor, and provides a new idea for dispatching the cleaning trolley in an area inconvenient by the manual labor.

Drawings

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Fig. 1 is a flow chart of the visual control of the drone in the present invention;

FIG. 2 is a flow chart of the operation of the docking process of the present invention;

FIG. 3(a) is a schematic view of the entire apparatus of the present invention before docking;

FIG. 3(b) is a schematic view of the entire device of the present invention after docking;

fig. 4(a) is a schematic diagram of the unmanned aerial vehicle hanging docking rod grapple mechanism closed in the present invention;

fig. 4(b) is a schematic diagram of the unmanned aerial vehicle hanging docking rod grapple mechanism of the present invention when open;

FIG. 5 is a schematic view of a buffer spring according to the present invention;

FIG. 6 is a schematic view of a grapple of the present invention;

FIG. 7 is a schematic view of the cart and load configuration of the present invention;

fig. 8 is a schematic diagram of the actual real object longitudinal displacement difference obtained from the camera focal length.

In the figure: 001. the unmanned aerial vehicle comprises an unmanned aerial vehicle body 002, an unmanned aerial vehicle body 1, an unmanned aerial vehicle load butt joint mechanism 101, a buffer spring structure 1011, an upper buffer sheet 1012, a buffer spring 1013, a buffer piston 1014, a lower buffer nut 1015, a buffer groove 1016, a bottom connecting sheet 102, a micro driving motor structure 1021, an upper fixing sheet 1022, a micro driving motor 1023, a fixing stud 1023, a 1024 lower fixing sheet 103, a grapple structure 1031, a lead screw, a 1032 collar ring, a 1033, a connecting rod 1034, a hook rod 1035, a fixing collar ring 2, a trolley load butt joint mechanism 201, a funnel-shaped butt joint opening 202, a funnel-shaped butt joint end 203 and a trolley fixing support.

Detailed Description

The invention will be further described with reference to specific examples, but the scope of the invention is not limited thereto.