阅读说明：本技术 远程自动无人机抓取出入库系统及方法 (Remote automatic unmanned aerial vehicle grabbing, taking out and warehousing system and method ) 是由 何文其 杨坚 周晨 李剑 陈明旭 应国德 马振宇 赵文浩 陈琳 王晓 颜晨曦 于 2020-03-10 设计创作，主要内容包括：本发明公开了一种远程自动无人机抓取出入库系统及方法,其中系统包括远程控制主机、x轴移动组件、y轴移动组件、主控组件、伸缩组件和抓取组件,所述x轴移动组件包括x轴轨道和x轴驱动,所述y轴移动组件包括y轴轨道和y轴驱动,所述主控组件包括主控支架和安装于主控支架的主控盒,所述抓取组件用于抓取无人机,所述抓取组件连接于伸缩组件下方,所述抓取组件设有采集无人机图像的摄像头,所述伸缩组件驱动抓取组件上下伸缩,所述伸缩组件与主控支架连接,所述y轴驱动用于驱动主控支架沿y轴轨道滑动,所述x轴驱动用于驱动y轴轨道沿x轴轨道滑动。本发明可以远程进行无人机出入库作业,且不需要考虑机型和无人机数量。(The invention discloses a remote automatic unmanned aerial vehicle grabbing and taking-out warehousing system and a method, wherein the system comprises a remote control host, an x-axis moving assembly, a y-axis moving assembly, a main control assembly, a telescopic assembly and a grabbing assembly, the x-axis moving assembly comprises an x-axis track and an x-axis drive, the y-axis moving assembly comprises a y-axis track and a y-axis drive, the main control assembly comprises a main control bracket and a main control box arranged on the main control bracket, the grabbing assembly is used for grabbing the unmanned aerial vehicle, the grabbing component is connected below the telescopic component and is provided with a camera for collecting images of the unmanned aerial vehicle, the telescopic component drives the grabbing component to extend up and down, the telescopic component is connected with the main control bracket, the y-axis drive is used for driving the main control support to slide along the y-axis track, and the x-axis drive is used for driving the y-axis track to slide along the x-axis track. The invention can remotely carry out the operation of unmanned aerial vehicles entering and leaving the warehouse without considering the number of the unmanned aerial vehicles and the types of the unmanned aerial vehicles.)

1. Long-range automatic unmanned aerial vehicle grabs out warehouse entry system, its characterized in that: the unmanned aerial vehicle comprises a remote control host, an x-axis moving assembly, a y-axis moving assembly, a main control assembly, a telescopic assembly and a grabbing assembly, wherein the x-axis moving assembly comprises an x-axis track and an x-axis drive, the y-axis moving assembly comprises a y-axis track and a y-axis drive, the main control assembly comprises a main control support and a main control box arranged on the main control support, the grabbing assembly is used for grabbing an unmanned aerial vehicle, the grabbing assembly is connected below the telescopic assembly, the grabbing assembly is provided with a camera for collecting images of the unmanned aerial vehicle, the telescopic assembly drives the grabbing assembly to vertically extend and retract, the telescopic assembly is connected with the main control support, the y-axis drive is used for driving the main control support to slide along the y-axis track, the x-axis drive is used for driving the y-axis track to slide along the x-axis track, the main control box is provided with a single chip microcomputer, a, the laser ranging module is used for detecting the distance between the laser ranging module and the unmanned aerial vehicle, the single chip microcomputer determines the position of the unmanned aerial vehicle according to the information of the laser ranging module and the camera, and controls the x-axis drive, the y-axis drive, the telescopic assembly and the grabbing assembly to move.

2. The remote automatic unmanned aerial vehicle grabbing and taking-out warehousing system according to claim 1, characterized in that: the x axle track includes two x axle guide rails that set up side by side, the x axle guide rail comprises support guide rail and motion guide rail, the width both sides face that supports the guide rail is equipped with the support guide rail groove, the motion guide rail is equipped with the motion guide rail groove that extends along length direction, the motion guide rail groove is equipped with the motion guide surface in the width both sides of bottom.

3. The remote automatic unmanned aerial vehicle grabbing and taking-out warehousing system according to claim 2, characterized in that: the x-axis drive comprises a base, and supporting pulleys, rolling wheels, a drive motor, a drive gear and a transmission belt which are arranged on the base, wherein the two rows of supporting pulleys are slidably supported in supporting guide rail grooves on two sides of a supporting guide rail, the two rows of rolling wheels are positioned in the moving guide rail grooves and move along the moving guide rail surfaces on two sides, and an output shaft of the drive motor is connected with the drive gear and drives the supporting pulleys through the transmission belt.

4. The remote automatic unmanned aerial vehicle grabbing and taking-out warehousing system according to claim 3, characterized in that: the y-axis track comprises two support stress tracks which are arranged side by side, and two ends of each support stress track are respectively connected with the two x-axis drives.

5. The remote automatic unmanned aerial vehicle grabbing and taking-out warehousing system according to claim 4, characterized in that: the Y-axis drive comprises a base, and supporting rollers, a driving motor, a driving gear and a transmission belt which are arranged on the base, wherein the supporting rollers are arranged in four rows, one row is respectively arranged on the upper side and the lower side of a single side, the upper row and the lower row of supporting rollers on the same side are clamped on a supporting stress track, and the output shaft of the driving motor is connected with the driving gear and drives the supporting rollers through the transmission belt.

6. The remote automatic unmanned aerial vehicle grabbing and warehousing system according to any one of claims 1 to 5, characterized in that: snatch the subassembly including four that are the cross distribution snatch the slide rail, through the spout with snatch slide rail sliding fit's grapple to and 360 degrees steering wheel and link mechanism, 360 degrees steering wheels pass through the rotation drive link mechanism of steering wheel axle to by four grapple synchronous motion of link mechanism drive, realize snatching unmanned aerial vehicle.

7. The remote automatic unmanned aerial vehicle grabbing and taking-out warehousing system of claim 6, characterized in that: the 360-degree steering engine is installed on the connecting piece, the connecting piece is connected with the telescopic assembly, and cameras are connected to the middle positions of the four grabbing slide rails below the connecting piece.

8. The remote automatic unmanned aerial vehicle grabbing and taking-out warehousing system of claim 6, characterized in that: the telescopic component is an electric telescopic rod.

9. A remote automatic unmanned aerial vehicle grabbing and warehousing method is characterized in that: the remote automatic unmanned aerial vehicle grabbing and taking-out warehousing system is realized by any one of claims 1 to 8, and comprises the following steps:

s1: the remote control host sends an in-out command to the main control box:

s2: the single chip microcomputer is used for controlling the x-axis drive, the y-axis drive and the telescopic assembly to act, so that the grabbing assembly is located at a set position above the unmanned aerial vehicle;

s3: the grabbing component acts to complete the grabbing of the unmanned aerial vehicle;

s4: the single chip microcomputer is used for controlling the x-axis drive and the y-axis drive to move, the unmanned aerial vehicle is transferred to be stored in a warehouse or taken out of the warehouse, the telescopic assembly descends to a set height after reaching a set position, the grabbing assembly is loosened, and the unmanned aerial vehicle is put down.

Technical Field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle warehouse-in and warehouse-out automation technology.

Background

Along with the extensive popularization of unmanned aerial vehicle application, unmanned aerial vehicle's automation is also constantly developing, and unmanned aerial vehicle will gradually get rid of artifical participation remote control link but can not get rid of the manpower yet to some earlier stage work with realizing functions such as a key take off and land, remote control with having gradually, along with the unmanned aerial vehicle operation field of constantly developing of technique, if go out the unmanned aerial vehicle warehouse entry, the unmanned aerial vehicle battery is changed, operations such as unmanned aerial vehicle switching on and shutting down. How to remotely realize the rapid warehouse-out operation of the unmanned aerial vehicle and how to remotely store the unmanned aerial vehicle after the operation is finished in a warehouse is an important link for the development of the intelligent operation of the unmanned aerial vehicle.

Disclosure of Invention

The invention aims to solve the technical problem of providing a remote automatic unmanned aerial vehicle grabbing and warehousing system, which realizes remote control warehousing and warehousing operation of unmanned aerial vehicles of various types and in multiple quantities.

In order to solve the technical problems, the invention adopts the following technical scheme:

the remote automatic unmanned aerial vehicle grabbing warehouse-in and warehouse-out system comprises a remote control host, an x-axis moving assembly, a y-axis moving assembly, a main control assembly, a telescopic assembly and a grabbing assembly, wherein the x-axis moving assembly comprises an x-axis track and an x-axis drive, the y-axis moving assembly comprises a y-axis track and a y-axis drive, the main control assembly comprises a main control support and a main control box arranged on the main control support, the grabbing assembly is used for grabbing an unmanned aerial vehicle, the grabbing assembly is connected below the telescopic assembly, the grabbing assembly is provided with a camera for collecting images of the unmanned aerial vehicle, the telescopic assembly drives the grabbing assembly to vertically extend and retract, the telescopic assembly is connected with the main control support, the y-axis drive is used for driving the main control support to slide along the y-axis track, the x-axis drive is used for driving the y-axis track to slide along the x-axis track, the network communication module is in communication connection with the remote control host and used for receiving warehouse entry and exit instructions of the remote control host, the laser ranging module is used for detecting the distance between the laser ranging module and the unmanned aerial vehicle, the single chip microcomputer determines the position of the unmanned aerial vehicle according to the information of the laser ranging module and the camera, and controls the x-axis drive, the y-axis drive, the telescopic assembly and the grabbing assembly to move.

Preferably, the x axle track includes two x axle guide rails that set up side by side, the x axle guide rail comprises support guide rail and motion guide rail, the width both sides face of support guide rail is equipped with the support guide rail groove, the motion guide rail is equipped with the motion guide rail groove that extends along length direction, the motion guide rail groove is equipped with the motion guide surface in the width both sides of bottom.

Preferably, the x-axis drive comprises a base, and support pulleys, rolling wheels, a drive motor, a drive gear and a transmission belt which are arranged on the base, wherein the two rows of support pulleys are slidably supported in support guide rail grooves on two sides of the support guide rail, the two rows of rolling wheels are positioned in the motion guide rail grooves and move along the motion guide rail surfaces on two sides, and an output shaft of the drive motor is connected with the drive gear and drives the support pulleys through the transmission belt.

Preferably, the y-axis track comprises two support stress tracks arranged side by side, and two ends of each support stress track are respectively in driving connection with the two x axes.

Preferably, the y-axis drive comprises a base, and supporting rollers, a drive motor, a drive gear and a transmission belt which are arranged on the base, wherein the supporting rollers are arranged in four rows, one row is respectively arranged on the upper side and the lower side of a single side, the upper row and the lower row of supporting rollers on the same side are clamped on a supporting stress track, and an output shaft of the drive motor is connected with the drive gear and drives the supporting rollers through the transmission belt.

Preferably, snatch the subassembly including four that are the cross distribution snatch the slide rail, through the spout with snatch slide rail sliding fit's grapple to and 360 degrees steering wheel and link mechanism, 360 degrees steering wheel pass through the rotation drive link mechanism of steering wheel axle to by four grapple synchronous motion of link mechanism drive, realize snatching unmanned aerial vehicle.

Preferably, the 360-degree steering engine is installed on the connecting piece, the connecting piece is connected with the telescopic assembly, and cameras are connected to the middle positions of the four grabbing slide rails below the connecting piece.

Preferably, the telescopic assembly is an electric telescopic rod.

The invention also provides a remote automatic unmanned aerial vehicle grabbing and warehousing method, which is realized by the remote automatic unmanned aerial vehicle grabbing and warehousing system and comprises the following steps:

s1: the remote control host sends an in-out command to the main control box:

s2: the single chip microcomputer is used for controlling the x-axis drive, the y-axis drive and the telescopic assembly to act, so that the grabbing assembly is located at a set position above the unmanned aerial vehicle;

s3: the grabbing component acts to complete the grabbing of the unmanned aerial vehicle;

s4: the single chip microcomputer is used for controlling the x-axis drive and the y-axis drive to move, the unmanned aerial vehicle is transferred to be stored in a warehouse or taken out of the warehouse, the telescopic assembly descends to a set height after reaching a set position, the grabbing assembly is loosened, and the unmanned aerial vehicle is put down.

The technical scheme adopted by the invention is applied to realizing the automatic warehousing and ex-warehousing function of the remote unmanned aerial vehicle, realizes remote control through network communication, determines the accurate position of the unmanned aerial vehicle through the laser ranging module and the camera, controls the action of the mechanical arm assembly through the singlechip to realize the grabbing and warehousing and ex-warehousing transfer actions of the unmanned aerial vehicle, and flexibly controls, rapidly moves and grabs a plurality of unmanned aerial vehicles.

The invention has the beneficial effects that: remote control, commonality are strong, the suitability is high, can carry out unmanned aerial vehicle warehouse entry operation by remote distance, and need not consider model and unmanned aerial vehicle quantity.

The following detailed description of the present invention will be provided in conjunction with the accompanying drawings.

Drawings

The invention is further described with reference to the accompanying drawings and the detailed description below:

fig. 1 is a schematic view of the overall structure of the unmanned aerial vehicle warehousing and ex-warehousing mechanical grabbing device;

FIG. 2 is a schematic structural view of an x-axis guide rail;

FIG. 3 is a first schematic view of the mating structure of the x-axis drive and the x-axis guide rail;

FIG. 4 is a schematic diagram of a second mating structure of the x-axis drive and the x-axis guide rail;

FIG. 5 is a schematic view of the mating structure of the support slide assembly and the x-axis support track;

FIG. 6 is a schematic view of the mating structure of the y-axis drive and the y-axis track;

FIG. 7 is a schematic structural diagram of a main control assembly;

FIG. 8 is a schematic structural view of the telescoping assembly;

FIG. 9 is a first schematic structural view of a grasping element;

fig. 10 is a structural schematic diagram of a second grasping assembly.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be appreciated by those skilled in the art that features from the examples and embodiments described below may be combined with each other without conflict.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Words such as "upper," "lower," "x," "y," and the like, which indicate orientation or positional relationship, are based only on the orientation or positional relationship shown in the drawings and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices/elements must have a particular orientation or be constructed and operated in a particular orientation and, therefore, should not be taken as limiting the present invention.

Referring to fig. 1 to 8, the remote automatic unmanned aerial vehicle grabbing and taking-out warehousing system comprises a mechanical arm assembly, wherein the mechanical arm assembly comprises an x-axis moving component 1, a y-axis moving component 2, a main control component 3, a telescopic component 4 and a grabbing component 5. Wherein, the x axle removes subassembly 1 and includes x axle track and x axle drive 12, y axle removes subassembly 2 and includes y axle track and y axle drive 22, main control assembly 3 includes main control support 31 and installs in main control support's main control box 32, it is used for snatching unmanned aerial vehicle to snatch subassembly 5, it connects in the 4 below of flexible subassembly to snatch subassembly 5, flexible subassembly drive snatchs the subassembly and stretches out and draw back from top to bottom, flexible subassembly and main control leg joint, y axle drive is used for driving main control support and slides along y axle track, x axle drive is used for driving y axle track and slides along x axle track. The main control box is used for controlling the actions of the x-axis drive, the y-axis drive, the telescopic assembly and the grabbing assembly.

Wherein, the x-axis track includes two x-axis guide rails 11 that set up side by side. Referring to fig. 2, the x-axis guide rail 11 is composed of a support guide rail 111 and a motion guide rail 112, wherein support guide rail grooves 1111 are formed on two sides of the width of the support guide rail, the motion guide rail 112 is provided with motion guide rail grooves 1121 extending along the length direction, and motion guide rail surfaces are formed on two sides of the width of the bottom of the motion guide rail grooves. The support guide rail 111 is used for supporting the x-axis drive, plays a role of stress and is called as a support guide rail; the motion rail is used to guide the x-axis drive motion and is referred to as the motion rail.

Referring to fig. 3 and 4, the x-axis driver 12 includes a base 121, and a support pulley 122, a rolling wheel, a driving motor, a driving gear 123 and a transmission belt 124 mounted on the base, wherein two rows of support pulleys are located at two sides in the y direction and slidably supported in support guide grooves at two sides of the support guide, two rows of rolling wheels are located in the movement guide grooves and move along movement guide surfaces at two sides, two rows of rolling wheels are mounted on the rolling support blocks, an output shaft of the driving motor is connected with the driving gear, the support pulley is connected with a pulley shaft, and then the driving gear is driven by a pulley coaxially connected with the driving gear through the transmission belt, and the support pulley is driven by the transmission belt.

In addition, the x-axis moving assembly 1 further comprises an x-axis supporting track 13 and a supporting sliding assembly 14, wherein the x-axis supporting track 13 is arranged between two x-axis guide rails and is parallel to the two x-axis guide rails, and is used for guiding the supporting sliding assembly 14 to move and bear certain device tension. Referring to FIG. 5, the support slide assembly is coupled to the y-axis track and slides along the x-axis support track. The supporting sliding assembly comprises rolling wheels, a connecting piece and a supporting piece, the supporting piece 142 is fixedly connected between two supporting stress tracks, the connecting piece 141 is connected with the supporting piece and the rolling wheels, the x-axis supporting track is provided with a supporting track groove extending along the length direction, the supporting track groove is provided with supporting guide surfaces on two sides of the width of the bottom, two rows of rolling wheels are arranged on the rolling supporting blocks, the connecting piece 141 is connected with the rolling supporting blocks, and the two rows of rolling wheels are positioned in the supporting track groove and move along the supporting guide surfaces on two sides.

Referring to fig. 6, the y-axis track includes two supporting force-bearing tracks 21 arranged side by side, and two ends of the supporting force-bearing tracks are respectively connected with the two x-axis drives 12. The two support stressed rails 21 are responsible for the y-axis driven motion and stress and are called support stressed rails, which move together with the x-axis drive 12 and at the same time serve as the y-axis driven motion and stressed rails. The y-axis drive comprises a base, and supporting rollers 222, a driving motor 221, a driving gear and a transmission belt which are arranged on the base, wherein the supporting rollers are arranged in four rows, one row is respectively arranged on the upper side and the lower side of a single side, the upper row and the lower row of supporting rollers on the same side are clamped on a supporting stress track, and an output shaft of the driving motor is connected with the driving gear and drives the supporting rollers through the transmission belt.

Referring to fig. 7, the main control box 32 mainly includes a single chip, an OLED display, a network communication module, a laser ranging module, etc., and is responsible for the control portion of the entire system, and controls the operation of the entire robot arm assembly through the single chip and the sensors such as laser ranging.

Referring to fig. 8, the telescopic assembly 4 may be an electric telescopic rod, and the main control box 32 controls the telescopic assembly, so that the height of the grabbing assembly can be adjusted by using a telescopic function.

Referring to fig. 9 and 10, the grabbing assembly 5 includes four grabbing slide rails 52 distributed in a crisscross manner, grabbing hooks 56 slidably fitted with the grabbing slide rails 52 through sliding grooves 55, and a 360-degree steering engine and a link mechanism 53, wherein the 360-degree steering engine drives the link mechanism 53 through rotation of a steering engine shaft, and the four grabbing hooks 56 are driven by the link mechanism to move synchronously, so that the unmanned aerial vehicle is grabbed. The connecting rod mechanism 53 comprises a cross connecting rod 57 and a driving connecting rod, the center of the cross connecting rod is fixed with the steering engine shaft, the end of the cross connecting rod is hinged with one end of the driving connecting rod, and the other end of the driving connecting rod is hinged with the grapple 56.

Specifically, the 360-degree steering engine is installed on a connecting piece 51, the connecting piece 51 is connected with the telescopic assembly 4, and cameras 54 are connected to the middle positions of the four grabbing slide rails 52 below the connecting piece. Utilize the camera to gather unmanned aerial vehicle's image, through the processing to the image, confirm unmanned aerial vehicle's position, prior art can be referred to the concrete principle.

Whole device uses the main control box as control center, utilize single chip microcomputer control x, the inside driving motor of y axle drive realizes that whole motion grabbing device is at x, the epaxial motion of y, confirm unmanned aerial vehicle's approximate scope as distance feedback unit through the laser rangefinder module, carry out accurate location to unmanned aerial vehicle through the camera module of grabbing on the subassembly, and snatch the height of subassembly through the telescopic link adjustment, utilize 360 steering wheel control grapples to accomplish unmanned aerial vehicle when highly suitable and snatch.

The method for grabbing and putting in and out of the warehouse by the remote automatic unmanned aerial vehicle is realized by the system for grabbing, taking out and putting in the warehouse by the remote automatic unmanned aerial vehicle, and comprises the following steps:

s1: the remote control host sends an in-out command to the main control box:

s2: the single chip microcomputer is used for controlling the x-axis drive, the y-axis drive and the telescopic assembly to act, so that the grabbing assembly is located at a set position above the unmanned aerial vehicle;

s3: the grabbing component acts to complete the grabbing of the unmanned aerial vehicle;

s4: the single chip microcomputer is used for controlling the x-axis drive and the y-axis drive to move, the unmanned aerial vehicle is transferred to be stored in a warehouse or taken out of the warehouse, the telescopic assembly descends to a set height after reaching a set position, the grabbing assembly is loosened, and the unmanned aerial vehicle is put down.

While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in other forms without departing from the spirit or essential characteristics thereof. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.