Single light controller aerial automatic replacement device based on UAV platform

Abstract

The present invention discloses an aerial automated replacement device for a single lamp controller based on an unmanned aerial vehicle platform, comprising an unmanned aerial vehicle, a mechanical arm and a controller disassembly and assembly mechanism, wherein the mechanical arm is set up on the unmanned aerial vehicle, and the controller disassembly and assembly mechanism is fixed to the end of the mechanical arm; the controller disassembly and assembly mechanism comprises a rotating motor, a mechanical claw housing, a mechanical claw and a camera assembly for visual positioning when replacing the controller; the mechanical claw housing is fixed to the driving end of the rotating motor, the camera assembly is fixed to the mechanical claw housing, and a mechanical claw motor is arranged on the side of the mechanical claw housing close to the controller. In addition, the device is also equipped with an equipment recovery bin and an equipment replacement bin, which can be used to store recovered parts and replacement parts. The invention realizes the automatic replacement of a plug-in type single lamp controller installed on the top of a street lamp fixture in the air through a unmanned aerial vehicle platform, which greatly reduces the maintenance cost and safety hazards of this type of single lamp controller and improves work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of urban lighting and single lamp control, and in particular to an aerial automatic replacement device for a single lamp controller based on an unmanned aerial vehicle platform. Background Art

[0002] In recent years, single lamp controllers have been widely used in urban road lighting, realizing the intelligent and refined management of urban lighting, and the effect of secondary energy saving is also very obvious. There are three installation forms of single lamp controllers: 1) Using NEMA or Zhaga standard interface, the single lamp controller is screwed and installed on the top of the street lamp; 2) Using wiring method, the single lamp controller is installed inside the street lamp; 3) Using wiring method, the single lamp controller is installed in the inspection port at the bottom of the street lamp pole.

[0003] At present, the single-lamp controller installed by screwing on the lamp head can only be replaced by workers with high-altitude work certificates and electrician certificates using aerial work vehicles. However, there are many street lights in cities, and this maintenance method is costly, inefficient, and also poses a safety hazard. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes an automatic aerial replacement device for a single lamp controller based on an unmanned aerial vehicle platform.

[0005] The present invention includes an unmanned aerial vehicle, a mechanical arm and a controller disassembly and assembly mechanism, wherein the mechanical arm is set up on the unmanned aerial vehicle, and the controller disassembly and assembly mechanism is fixed at the end of the mechanical arm; the controller disassembly and assembly mechanism includes a rotating motor, a mechanical claw housing, a mechanical claw and a camera assembly for visual positioning when replacing the controller; the mechanical claw housing is fixed to the driving end of the rotating motor, and the camera assembly is fixed to the mechanical claw housing, and a mechanical claw motor for driving the mechanical claw to rotate to adjust the clamping diameter is fixed on the side of the mechanical claw housing close to the controller, and the number of the mechanical claw motors is at least three groups and is evenly spaced along the circumferential direction of the axis of the rotating motor, one end of the mechanical claw is fixed to the driving end of the mechanical claw motor, and the other end extends to the outside of the mechanical claw motor and is provided with a clamping part parallel to the axis direction of the rotating motor at the end, forming a clamping area between the clamping parts of the mechanical claw, and the mechanical claw motor drives the corresponding mechanical claws to rotate in the same direction and at the same angle along their respective rotation centers to adjust the clamping radius of the clamping area.

[0006] Preferably, the mechanical claw shell of the present invention includes a shell body and a shell cover, the shell body is fixed on the driving end of the rotating motor, the mechanical claw motor is installed and fixed by a motor fixing plate arranged in the shell cover, and the shell cover is provided with a fixing through hole for the mechanical claw motor to pass through; the camera assembly includes a main camera and a sub-camera, the main camera is arranged on the mounting through hole in the center of the shell cover through the main camera circuit board, and a laser ranging module and an LED fill light module which are also electrically connected to the main camera circuit board are provided on one side of the main camera, and the sub-camera is arranged on the outside of the shell body to provide auxiliary visual positioning when the single-light controller is disassembled and assembled.

[0007] Preferably, the drone of the present invention is equipped with an operating pod, which includes a pod rod, which is fixed on the drone carrying platform, and a main base is fixed in the middle of the pod rod. A recovery bin for recovering old single-lamp controllers and a replacement bin for storing single-lamp controllers to be replaced are symmetrically provided on both sides of the main base. The mechanical arm is connected to the main base through a shock absorbing assembly, and the recovery bin and the replacement bin both include a shell and a switch assembly arranged on the opening side of the shell, and the top of the shell is detachably connected to the pod rod through a connecting assembly.

[0008] Preferably, the switch assembly of the present invention includes a latch bar and a direct-push electromagnetic switch, the direct-push electromagnetic switch is fixed on the top of the shell, the end of the switch's moving axis passes through the shell and is connected to the latch bar, and the shell is provided with a latch groove at the end of the latch bar for guiding the latch bar when it moves.

[0009] Preferably, a guide groove is provided on the opening side of the shell of the present invention, and a sunken step for supporting the inserted controller is provided behind the guide groove.

[0010] Preferably, the connecting assembly of the present invention includes a fixing buckle, a sliding rail is provided on the side of the fixing buckle close to the shell, an inverted T-shaped sliding groove matching the shape of the sliding rail is opened on the shell, the fixing buckle is slidingly connected with the shell through the inverted T-shaped sliding groove, a buckle matched with the size of the pod rod is provided on the side of the fixing buckle away from the shell, an opening is provided on one side of the buckle, and the pod rod enters the buckle from the opening.

[0011] Preferably, the switch assembly in the recovery bin of the present invention adopts a mechanical switch structure, including a shell, a lock core, a manual operating rod and an elastic reset assembly; the shell is fixed on the shell, and the lock core is slidably inserted into the shell, one end of the manual operating rod is fixed to the lock core by threaded coupling, and the other end passes through the shell and is provided with a handle at the upper end; the elastic reset assembly includes a fixed rod arranged in the shell in a direction parallel to the manual operating rod and a lock core base plate slidably connected to the fixed rod, the lock core base plate is fixedly connected to the lock core, and a lock core spring is sleeved on the fixed rod, one end of the lock core spring abuts against the lock core base plate, and the other end abuts against the shell, when the lock core moves to the side where the shell is located, the lock core spring applies a reset elastic force to the lock core through the lock core base plate; the lock core adopts a wedge-shaped structure, and the beveled surface faces the outside of the shell.

[0012] Preferably, the shock absorbing assembly of the present invention comprises a shock absorbing base and a rubber damper arranged between the shock absorbing base and the main base, and the mechanical arm is fixed on the shock absorbing base.

[0013] Preferably, the robotic arm of the present invention includes a posture maintaining part and an executing part, the controller disassembly and assembly mechanism is installed on the executing part, the posture maintaining part includes a yaw angle motor, a roll angle motor, a pitch angle motor, and a first posture bracket and a second posture bracket sequentially connected to the three motors; the yaw angle motor is fixed on the shock absorbing base, the first posture bracket is connected to the yaw angle motor and the roll angle motor, the second posture bracket is connected to the roll angle motor and the pitch angle motor, the executing part is fixed to the driving end of the pitch angle motor, the executing part includes a plurality of connecting arms and connecting arm motors arranged at the connecting arm connection, and the controller disassembly and assembly mechanism is driven to move by the pitch angle motor and the connecting arm motor.

[0014] Preferably, an electric telescopic rod for pushing the controller disassembly and assembly mechanism to move along the axis direction of the controller is provided on the connecting arm at the end of the actuator of the present invention, the electric telescopic rod is fixed on the connecting arm at the end of the actuator, a load fixing frame is provided at the driving end of the electric telescopic rod, the driving end of the electric telescopic rod is threadedly connected to the load fixing frame, a vertical section along the axis direction of the rod is provided in the threaded area at the end of the rod body of the electric telescopic rod, a locking bolt facing the vertical section is provided on the load fixing frame, and the end of the locking bolt abuts against the vertical section to limit the relative rotation between the electric telescopic rod and the load fixing frame.

[0015] Beneficial effects: The single-lamp controller aerial automatic replacement device based on the UAV platform provided by the present invention has the following beneficial effects:

[0016] 1. The present invention uses a UAV platform, combined with an operating pod, a mechanical arm and a controller disassembly and assembly mechanism, to form an aerial automatic replacement device for a rotary plug-in single-lamp controller, and the two operations of disassembly and replacement can be completed during one launch operation of the UAV, which greatly reduces the maintenance cost and safety hazards of this type of single-lamp controller and improves work efficiency.

[0017] 2. The present invention adjusts the clamping diameter by driving the mechanical claws to rotate synchronously through the mechanical claw motors evenly distributed in the circumferential direction of the rotating motor axis, which can meet the clamping requirements of controllers with different diameters, adapt to the external dimensions of the mainstream plug-in single-lamp controllers on the market, realize the replacement of different controllers, and reduce maintenance costs. At the same time, a drone is used to drive the controller disassembly and assembly mechanism to lift and lower, which is quick to operate and improves replacement efficiency.

[0018] 3. The present invention uses a camera assembly to locate the controller, and cooperates with laser ranging and LED fill light to meet the operating requirements in various external environments and accurately rotate and disassemble the controller.

[0019] 4. The present invention provides switch components in both the replacement bin and the recovery bin, which can effectively limit the controller inside the shell to prevent it from falling.

[0020] 5. The shell of the present invention and the pod rod are detachably connected by fixing buckles, so the pod can be replaced according to needs, which is convenient and quick.

[0021] 6. The switch assembly in the recovery bin of the present invention uses a mechanical switch structure. After the old controller is removed, it is directly placed in the recovery bin and taken out after the UAV lands. The mechanical structure has good reliability and can also reduce the control complexity of the replacement device and simplify the circuit structure.

[0022] 7. The robot arm of the present invention includes a posture maintaining part and an executing part. The executing part is used to roughly adjust the position of the controller disassembly and assembly mechanism so that the mechanical claw faces the side where the controller is located, and the camera component is cooperated to perform fine adjustment. The mechanical claw is driven by the motor of the mechanical claw to clamp the controller, thereby achieving accurate clamping and rotational disassembly of the controller, thereby improving the success rate of replacement.

[0023] 8. The end of the electric telescopic rod of the present invention is provided with a vertical section along the axial direction, and the vertical section cooperates with the locking bolt to limit the position, thereby preventing relative rotation between the load fixing frame and the electric telescopic rod when the controller is disassembled. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0025] Figure 1 It is the overall structure diagram of the present invention;

[0026] Figure 2 This is an exploded view of the disassembly and assembly mechanism of the controller of the present invention;

[0027] Figure 3This is a structural diagram of the operating pod of the present invention;

[0028] Figure 4 This is a structural diagram of a replacement bin of the present invention;

[0029] Figure 5 This is a structural diagram of the recovery bin switch assembly of the present invention;

[0030] Figure 6 This is a structural diagram of the mechanical arm of the present invention;

[0031] Figure 7 This is a partial enlarged view of the end of the electric telescopic rod of the present invention;

[0032] Figure 8 This is a structural diagram of the rotary plug-in single lamp controller of the present invention;

[0033] Among them, 1-UAV, 2-mechanical arm, 3-controller disassembly and assembly mechanism, 4-rotating motor, 5-mechanical claw housing, 6-mechanical claw, 7-mechanical claw motor, 8-clamping part, 9-housing body, 10-shell cover, 11-motor fixing plate, 12-fixing through hole, 13-main camera, 14-secondary camera, 15-installation through hole, 16-main camera circuit board, 17-operating pod, 18-main base, 19-pod rod, 20-recovery bin, 21-replacement bin, 22-housing, 23-door latch bar, 24-direct push electromagnetic switch, 25-door latch slot, 2 6-guide groove, 27-sunken step, 28-fixing buckle, 29-slide rail, 30-inverted T-shaped slide groove, 31-buckle, 32-housing, 33-lock cylinder, 34-manual operation pull rod, 35-fixing rod, 36-lock cylinder bottom plate, 37-lock cylinder spring, 38-shock-absorbing base, 39-rubber damper, 40-yaw angle motor, 41-roll angle motor, 42-pitch angle motor, 43-first posture bracket, 44-second posture bracket, 45-connecting arm, 46-electric telescopic rod, 47-load fixing frame, 48-vertical section, 49-connecting arm motor. DETAILED DESCRIPTION

[0034] The present invention will be described more clearly and completely below by way of a preferred embodiment in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiment.

[0035] like Figure 1-Figure 7The figure shows an aerial automatic replacement device for a single light controller based on an unmanned aerial vehicle platform provided by the present invention, comprising an unmanned aerial vehicle 1, a mechanical arm 2 and a controller disassembly and assembly mechanism 3, wherein the mechanical arm 2 is mounted on the unmanned aerial vehicle 1, and the controller disassembly and assembly mechanism 3 is fixed to the end of the mechanical arm 2; the controller disassembly and assembly mechanism 3 comprises a rotating motor 4, a mechanical claw housing 5, a mechanical claw 6 and a camera assembly for visual positioning when replacing the controller; the mechanical claw housing 5 is fixed to the driving end of the rotating motor 4, and the camera assembly is fixed to the mechanical claw housing 5, and a camera assembly is fixed to the mechanical claw housing 5 on the side of the mechanical claw housing 5 close to the controller. A mechanical claw motor 7 is fixed to drive the mechanical claw 6 to rotate and adjust the clamping diameter. The number of the mechanical claw motors 7 is at least three groups and is evenly spaced along the circumferential direction of the axis of the rotating motor 4. One end of the mechanical claw 6 is fixed to the driving end of the mechanical claw motor 7, and the other end extends to the outside of the mechanical claw motor 7 and is provided with a clamping portion 8 parallel to the axis direction of the rotating motor 4 at the end. A clamping area is formed between the clamping portions 8 of the mechanical claw 6. The mechanical claw motor 7 drives the corresponding mechanical claw 6 to rotate in the same direction and at the same angle along their respective rotation centers to adjust the clamping radius of the clamping area. Preferably, a torque monitoring circuit is integrated in the mechanical claw motor 7 of the present invention to monitor the gripping force, and a rubber claw cover can be put on the clamping portion 8 to enhance the gripping force.

[0036] Specifically, the mechanical claw housing 5 of the present invention includes a housing body 9 and a housing cover 10. The housing body 9 is fixed to the driving end of the rotating motor 4. The mechanical claw motor 7 is installed and fixed by a motor fixing plate 11 arranged in the housing cover 10. The housing cover 10 is provided with a fixing through hole 12 for the mechanical claw motor 7 to pass through. The camera assembly includes a main camera 13 and a secondary camera 14. The main camera 13 is arranged on a mounting through hole 15 in the center of the housing cover 10 through a main camera circuit board 16. A laser ranging module and an LED fill light module which are also electrically connected to the main camera circuit board 16 are arranged on one side of the main camera 13. The secondary camera 14 is arranged on the outside of the housing body 9 to provide auxiliary visual positioning when the single-light controller is disassembled. When the controller is disassembled, the controller is accurately positioned by the camera assembly.

[0037] In order to improve the replacement efficiency, the single lamp controller can be disassembled and replaced in one lifting process, such as Figure 3 and Figure 4As shown, the UAV 1 of the present invention is equipped with an operation pod 17, and the operation pod 17 includes a pod rod 19, the pod rod 19 is fixed on the UAV carrying platform, and a main base 18 is fixed in the middle of the pod rod 19. Specifically, the main base 18 A universal carbon tube clamp is used to relatively fix the pod rod 19. The pod rod 19 is symmetrically provided with a recovery bin 20 for recovering the old single-lamp controller and a replacement bin 21 for storing the single-lamp controller to be replaced on both sides of the main base 18. The mechanical arm 2 is connected to the main base 18 through a shock-absorbing assembly. In a specific embodiment, the shock-absorbing assembly of the present invention includes a shock-absorbing base 38 and a rubber damper 39 arranged between the shock-absorbing base 38 and the main base 18. The mechanical arm 2 is fixed on the shock-absorbing base 38, and the shock-absorbing base 38 and the rubber damper 39 cooperate to perform shock absorption of the mechanical arm; the recovery bin 20 and the replacement bin 21 both include a shell 22 and a switch assembly arranged on the opening side of the shell 22, and the top of the shell 22 is detachably connected to the pod rod 19 through a connecting assembly.

[0038] Specifically, the switch assembly includes a latch bar 23 and a direct-push electromagnetic switch 24. The direct-push electromagnetic switch 24 is fixed on the top of the shell 22. The end of the switch's moving axis passes through the shell 22 and is connected to the latch bar 23. The shell 22 is provided with a latch groove 25 at the end of the latch bar 23 for guiding the latch 23 when it moves. The shell 22 is provided with a guide groove 26 on the opening side, and a sunken step 27 is provided behind the guide groove 26 for supporting the inserted controller.

[0039] When replacing the controller, the mechanical claw puts the controller removed from the lamp into the recovery bin 20, and takes a new controller from the replacement bin 21 and installs it on the lamp, and pushes the latch through the direct-push electromagnetic switch 24 to open and close the corresponding bin.

[0040] The connecting assembly of the present invention includes a fixing buckle 28, and a slide rail 29 is provided on the side of the fixing buckle 28 close to the shell 22, and an inverted T-shaped slide groove 30 matching the shape of the slide rail 29 is opened on the shell 22. The fixing buckle 28 is slidably connected with the shell 22 through the inverted T-shaped slide groove 30. To ensure that it is firmly fixed to the shell, a through hole for mutual locking is provided between the slide rail 29 of the fixing buckle of the present invention and the inverted T-shaped slide groove 30. After the slide rail 29 slides into place, the Ningyu anti-slip nuts are mutually locked in the through hole; a buckle 31 matching the size of the pod rod 19 is provided on the side of the fixing buckle 28 away from the shell 22, and an opening is provided on one side of the buckle 31. The pod rod 19 enters the buckle 31 from the opening, so that different silos can be replaced according to needs, and the number of chambers carried can also be changed to achieve continuous replacement, thereby further improving maintenance efficiency.

[0041] Since the recycling bin 20 is used to store the replaced old single lamp controller, it only needs to provide storage operation in the air, and the retrieval operation can be performed manually after reaching the ground. In order to reduce the complexity of operation, Figure 5 As shown, the switch assembly in the recovery bin 20 of the present invention adopts a mechanical switch structure, including a shell 32, a lock core 33, a manual operating rod 34 and an elastic reset assembly; the shell 32 is fixed on the shell 22, the lock core 33 is slidably inserted into the shell 32, one end of the manual operating rod 34 is fixed to the lock core 33 by threaded coupling, the other end passes through the shell 32 and is provided with a handle at the upper end; the elastic reset assembly includes a fixed rod 35 arranged in the shell 32 in a direction parallel to the manual operating rod 34 and a lock core bottom plate 36 slidably connected to the fixed rod 35, the lock core bottom plate 36 is fixedly connected to the lock core 33, a lock core spring 37 is sleeved on the fixed rod 35, one end of the lock core spring 37 abuts on the lock core bottom plate 36, and the other end abuts on the shell 32, when the lock core 33 moves to the side where the shell 32 is located, the lock core spring 37 applies a reset elastic force to the lock core 33 through the lock core bottom plate 36; the lock core 33 adopts a wedge-shaped structure, and the beveled surface faces the outside of the shell 22. When the mechanical claw clamps the single-lamp controller and enters from the open side of the recovery bin 20, the controller contacts the wedge-shaped inclined surface of the lock core 33, pushing the lock core 33 upward. After the controller enters the recovery bin 20, under the thrust of the lock core spring 37, the lock core 33 is driven down by pushing the lock core bottom plate 36, thereby completing the closure of the recovery bin.

[0042] like Figure 6-Figure 7 As shown, the robot arm 2 of the present invention includes a posture holding part and an execution part, and the controller disassembly and assembly mechanism 3 is installed on the execution part. The posture holding part includes a yaw angle motor 40, a roll angle motor 41, a pitch angle motor 42, and a first posture bracket 43 and a second posture bracket 44 connected in sequence to the three motors; the yaw angle motor 40 is fixed on the shock-absorbing base 38, and the first posture bracket 43 connects the yaw angle motor 40 and the roll angle motor 41, wherein the driving end of the yaw angle motor 40 is connected to the first posture bracket 43, the roll angle motor 41 is fixed on the first posture bracket 43, and the driving end is connected to the second posture bracket 44, the second posture bracket 44 connects the roll angle motor 41 and the pitch angle motor 42, the pitch angle motor 42 is fixed on the second posture bracket 44, and the execution part is fixed at the driving end of the pitch angle motor 42, and the execution part includes a plurality of connecting arms 45 and a connecting arm motor 49 set at the connection of the connecting arms 45, and the controller disassembly and assembly mechanism 3 is driven to move by the pitch angle motor 42 and the connecting arm motor 49. The above motors all use integrated brushless DC motors with monitoring circuits to achieve closed-loop control; the connecting arm motor 49 uses an integrated motor with a harmonic reduction mechanism.

[0043] The mechanical arm can be used to roughly adjust the spatial position and angle of the controller disassembly and assembly mechanism 3. In order to improve the accuracy of the controller clamping and replacement, the connecting arm at the end of the actuator of the present invention is provided with an electric telescopic rod 46 for pushing the controller disassembly and assembly mechanism 3 to move along the axis direction of the controller. The electric telescopic rod 46 is fixed to the connecting arm at the end of the actuator. A load fixing frame 47 is provided at the driving end of the electric telescopic rod 46. The driving end of the electric telescopic rod 46 is screwed to the load fixing frame 47. A vertical section 48 along the axis direction of the rod is provided in the threaded area at the end of the rod body of the electric telescopic rod 47. The load fixing frame 47 is provided with a locking bolt facing the vertical section. The end of the locking bolt abuts against the vertical section 48 to limit the relative rotation between the electric telescopic rod 46 and the load fixing frame 47. The electric telescopic rod 46 cooperates with the camera assembly to achieve fine adjustment of the distance in the front and rear directions of the mechanical claw, thereby ensuring accurate and automatic disassembly and replacement of the controller.

[0044] The main base 18 and the load-bearing base of the present invention are made of CNC processing and high-strength carbon fiber plates; the load-bearing components such as the connecting arm and the load fixing frame are made of lightweight metal materials and CNC processing; the recovery bin, the replacement bin, the fixing buckle, the mechanical claw shell and other connecting parts are made of 3D printing technology. The present invention can carry different numbers of replacement bins and recovery bins according to needs to realize continuous replacement operations, and as a preference, the recovery bin and the replacement bin are symmetrically distributed on the pod rod and are both within the moving range of the mechanical arm, so as to facilitate the mechanical arm 2 to clamp.

[0045] When the automatic replacement device of the present invention is used, the staff first puts the single lamp controller to be replaced into the replacement compartment 21, and releases the drone 1 to the top of the lamp pole to be replaced. The drone 1 obtains the image through the camera component and identifies the lamp and the single lamp controller through the image recognition algorithm. The staff confirms the single lamp controller to be replaced. The single lamp controller in this embodiment is as follows: Figure 8 As shown, the controller can be separated from the lamp by rotating the main body.

[0046] The drone 1 and the robotic arm 2 position the mechanical claw 6 to a suitable position and angle so that the bottom plane of the shell cover 10 is parallel to the installation horizontal plane of the single-lamp controller; the single-lamp controller is within the camera coverage range of the camera assembly, and then the main camera circuit board 16 and the electric telescopic rod 46 fine-tune the mechanical claw, and then according to the image recognition algorithm, identify the forward mark on the top of the single-lamp controller, and adjust the angle by rotating the motor 4 so that the forward mark is located at the vertical center line of the main camera 13 screen, and then the mechanical claw motor 7 drives the mechanical claw to rotate, so that the mechanical claw grabs the single-lamp controller, and rotates the specified disassembly angle along the disassembly direction of the controller by the rotating motor 4, and the electric telescopic rod 46 attempts to pull the plug-in single-lamp controller 5 out of the base 201.

[0047] After the old single-lamp controller is pulled out, the main control circuit board on the main base 18 controls the position and angle of the mechanical arm 2 and the mechanical claw 6, and assists in positioning according to the pre-configured recovery bin distance parameters and the auxiliary camera 14, and puts the old single-lamp controller into the recovery bin 20; then the yaw angle motor 40 rotates the mechanical arm 2 to the bottom of the equipment replacement bin 21, and the gripping part of the mechanical claw is also vertically upward, and then the main control circuit board controls the direct push electromagnetic switch 24 of the replacement bin to lift the door latch bar 23, so that the replacement part can be smoothly taken out of the replacement bin 21.

[0048] Finally, move the robotic arm 2 and the robotic claw 6 again, use the auxiliary camera 14 to perform object recognition and locate the position of the single lamp controller socket 201 and the forward mark, then adjust the robotic claw to the appropriate position and angle, insert the bottom plug of the single lamp controller into the controller socket on the lamp through the electric telescopic rod 46, and then rotate the specified installation angle to achieve the installation of the single lamp controller replacement part.

[0049] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic aerial replacement device for a single light controller based on an unmanned aerial vehicle platform, characterized in that: The invention comprises an unmanned aerial vehicle (1), a mechanical arm (2) and a controller disassembly and assembly mechanism (3), wherein the mechanical arm (2) is mounted on the unmanned aerial vehicle (1), and the controller disassembly and assembly mechanism (3) is fixed to the end of the mechanical arm (2); the controller disassembly and assembly mechanism (3) comprises a rotating motor (4), a mechanical claw housing (5), a mechanical claw (6) and a camera assembly for visual positioning when replacing the controller; the mechanical claw housing (5) is fixed to the driving end of the rotating motor (4), the camera assembly is fixed to the mechanical claw housing (5), and a device for driving the mechanical claw (6) to rotate is fixed on one side of the mechanical claw housing (5) close to the controller. A mechanical claw motor (7) for adjusting the clamping diameter by movement, the number of the mechanical claw motors (7) being at least three and being evenly spaced along the circumferential direction of the axis of the rotating motor (4), one end of the mechanical claw (6) being fixed to the driving end of the mechanical claw motor (7), the other end extending to the outside of the mechanical claw motor (7) and provided with a clamping portion (8) parallel to the axis direction of the rotating motor (4) at the end, a clamping area being formed between the clamping portions (8) of the mechanical claw (6), the mechanical claw motor (7) driving the corresponding mechanical claw (6) to rotate in the same direction and at the same angle along their respective rotation centers, thereby adjusting the clamping radius of the clamping area; The mechanical claw housing (5) comprises a housing body (9) and a housing cover (10), wherein the housing body (9) is fixed to the driving end of the rotating motor (4), and the mechanical claw motor (7) is installed and fixed via a motor fixing plate (11) arranged in the housing cover (10), and a fixing through hole (12) for the mechanical claw motor (7) to pass through is provided on the housing cover (10); the camera assembly comprises a main camera (13) and a secondary camera (14), wherein the main camera (13) is arranged on the mounting through hole (15) in the center of the housing cover (10) via a main camera circuit board (16), and a laser distance measurement module and an LED fill light module which are also electrically connected to the main camera circuit board (16) are provided on one side of the main camera (13), and the secondary camera (14) is arranged on the outside of the housing body (9) to provide auxiliary visual positioning when the single-light controller is disassembled and assembled; The unmanned aerial vehicle (1) is equipped with an operating pod (17), the operating pod (17) comprising a pod rod (19), the pod rod (19) being fixed on the unmanned aerial vehicle carrying platform, a main base (18) being fixed in the middle of the pod rod (19), a recovery bin (20) for recovering an old single-lamp controller and a replacement bin (21) for storing a single-lamp controller to be replaced being symmetrically arranged on both sides of the main base (18), the mechanical arm (2) being connected to the main base (18) via a shock-absorbing assembly, the recovery bin (20) and the replacement bin (21) both comprising a shell (22) and a switch assembly arranged on an opening side of the shell (22), and the top of the shell (22) being detachably connected to the pod rod (19) via a connecting assembly; The switch assembly comprises a latch bar (23) and a direct-push electromagnetic switch (24), wherein the direct-push electromagnetic switch (24) is fixed to the top of the housing (22), the end of the switch movement axis passes through the housing (22) and is connected to the latch bar (23), and the housing (22) is provided with a latch groove (25) at the end of the latch bar (23) for guiding the latch bar (23) when it moves; The switch assembly in the recovery bin (20) adopts a mechanical switch structure, comprising a housing (32), a lock core (33), a manual operating rod (34) and an elastic reset assembly; the housing (32) is fixed to the shell (22), the lock core (33) is slidably inserted into the housing (32), one end of the manual operating rod (34) is fixed to the lock core (33) by threaded coupling, and the other end passes through the housing (32) and is provided with a handle at the upper end; the elastic reset assembly comprises a fixing rod (35) arranged in the housing (32) in a direction parallel to the manual operating rod (34). ) and a lock core bottom plate (36) slidably connected to the fixed rod (35), the lock core bottom plate (36) being fixedly connected to the lock core (33), a lock core spring (37) being sleeved on the fixed rod (35), one end of the lock core spring (37) abutting against the lock core bottom plate (36), and the other end abutting against the housing (32), when the lock core (33) moves toward the side where the housing (32) is located, the lock core spring (37) applies a resetting elastic force to the lock core (33) through the lock core bottom plate (36); the lock core (33) adopts a wedge-shaped structure, and the beveled surface faces the outside of the housing (22).

2. The single lamp controller aerial automatic replacement device based on the UAV platform according to claim 1 is characterized in that: A guide groove (26) is provided on the opening side of the housing (22), and a sunken step (27) for supporting an inserted controller is provided behind the guide groove (26).

3. The single lamp controller aerial automatic replacement device based on the UAV platform according to claim 1 is characterized in that: The connection assembly comprises a fixing buckle (28), a slide rail (29) is provided on a side of the fixing buckle (28) close to the shell (22), an inverted T-shaped slide groove (30) matching the shape of the slide rail (29) is provided on the shell (22), the fixing buckle (28) is connected to the shell (22) by sliding fit via the inverted T-shaped slide groove (30), a buckle (31) matching the size of the pod rod (19) is provided on a side of the fixing buckle (28) facing away from the shell (22), an opening is provided on one side of the buckle (31), and the pod rod (19) enters the buckle (31) from the opening.

4. The single lamp controller aerial automatic replacement device based on the UAV platform according to claim 1 is characterized in that: The shock absorbing assembly comprises a shock absorbing base (38) and a rubber damper (39) arranged between the shock absorbing base (38) and the main base (18); the mechanical arm (2) is fixed on the shock absorbing base (38).

5. The single lamp controller aerial automatic replacement device based on the UAV platform according to claim 4 is characterized in that: The mechanical arm (2) comprises a posture holding part and an execution part, the controller disassembly and assembly mechanism (3) is installed on the execution part, the posture holding part comprises a yaw angle motor (40), a roll angle motor (41), a pitch angle motor (42), and a first posture bracket (43) and a second posture bracket (44) which are sequentially connected to the three motors; the yaw angle motor (40) is fixed on a shock-absorbing base (38), the first posture bracket (43) is connected to the yaw angle motor (40) and the roll angle motor (41), the second posture bracket (44) is connected to the roll angle motor (41) and the pitch angle motor (42), the execution part is fixed to the driving end of the pitch angle motor (42), the execution part comprises a plurality of connecting arms (45) and a connecting arm motor (49) provided at the connection of the connecting arms (45), and the controller disassembly and assembly mechanism (3) is driven to move by the pitch angle motor (42) and the connecting arm motor (49).

6. The single lamp controller aerial automatic replacement device based on the UAV platform according to claim 5 is characterized in that: An electric telescopic rod (46) for pushing the controller disassembly and assembly mechanism (3) to move along the axis direction of the controller is provided on the connecting arm at the end of the actuator. The electric telescopic rod (46) is fixed to the connecting arm at the end of the actuator. A load fixing frame (47) is provided at the driving end of the electric telescopic rod (46). The driving end of the electric telescopic rod (46) is threadedly connected to the load fixing frame (47). A vertical section (48) along the axis direction of the rod is provided in a threaded area at the rod end of the electric telescopic rod (46). A locking bolt facing the vertical section is provided on the load fixing frame (47). The end of the locking bolt abuts against the vertical section (48) to limit relative rotation between the electric telescopic rod (46) and the load fixing frame (47).

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