A fully autonomous mobile handling and storage method for fixed-wing unmanned aerial vehicles

Abstract

The present invention discloses a fully autonomous mobile handling and storage method for a fixed-wing UAV, including a fixed-wing UAV and an AGV trolley. Both the fixed-wing UAV and the AGV trolley are equipped with an RTK positioning module and a communication module. The communication modules on the fixed-wing UAV and the AGV trolley share the transmission of the RTK positioning module to provide the initial position information of the fixed-wing UAV. The AGV trolley that obtains the initial position information of the fixed-wing UAV starts to travel to a predetermined position. The fixed-wing UAV is provided with a positioning pattern, and the AGV trolley is also equipped with a visual recognition module for identifying the positioning pattern. After the AGV trolley arrives at the predetermined position, the AGV trolley identifies the fixed-wing UAV, and after identification, it approaches to grab and carry it for storage. The present invention uses the AGV trolley to complete the processes of finding the fixed-wing UAV, identifying, grabbing and carrying, etc., has strong site adaptability, greatly improves the efficiency of recovering the fixed-wing UAV, reduces the burden on operators, and improves the level of intelligence.

Description

Technical field:

[0001] The invention relates to the research field of fixed-wing unmanned aerial vehicles, and in particular to a fully autonomous mobile handling and storage method for fixed-wing unmanned aerial vehicles. Background technology:

[0002] With the rapid development of drone technology, drones are increasingly being used in daily life. Drones have the advantages of being able to adapt to complex and harsh environments, not requiring human pilots, not causing huge casualties, and being easy to operate. They can replace humans to complete some difficult tasks. Currently, drone technology is used in many fields such as remote sensing and control, aerial photography and mapping, environmental reconnaissance, and power inspection. With the increase in drone applications, drone technology is becoming more and more popular, and the types of drones are becoming more diverse.

[0003] Drones can be roughly divided into two categories according to their flight principle and structure: multi-rotor drones and fixed-wing drones, of which fixed-wing drones account for a large proportion in the drone field. Fixed-wing drones have advantages in structure and flight principle. The engine does not need to overcome the gravity of the fuselage. In theory, the thrust of the motor can fly as long as it is 1 / 10 of the gravity of the fuselage.

[0004] In the research field of fixed-wing UAVs, there is currently no fixed-wing grasping method with strong site adaptability that can autonomously find the location of the fixed-wing UAV through a small car and grasp it on the car. Summary of the invention:

[0005] In order to remedy the problems of the prior art, the purpose of the present invention is to provide a fully autonomous mobile handling and storage method for fixed-wing UAVs, which has strong site adaptability and can accurately identify fixed-wing UAVs through the AGV trolley and lift them up and fix them, thereby completing the process of the AGV trolley searching for fixed-wing UAVs, greatly improving the efficiency of recovering fixed-wing UAVs, reducing the burden on operators, and improving the level of intelligence.

[0006] The technical solution of the present invention is as follows:

[0007] A fully autonomous mobile handling and storage method for fixed-wing UAVs, comprising a fixed-wing UAV and an AGV trolley, characterized in that the fixed-wing UAV and the AGV trolley are both equipped with an RTK positioning module and a communication module, the communication modules on the fixed-wing UAV and the AGV trolley share and transmit the initial position information of the fixed-wing UAV provided by the RTK positioning module, calculate the predetermined position of the fixed-wing UAV, and the AGV trolley starts to travel to the predetermined position;

[0008] The fixed-wing UAV is provided with a positioning pattern, and the AGV is also equipped with a visual recognition module for identifying the positioning pattern.

[0009] After the AGV arrives at the predetermined position, the AGV identifies the fixed-wing UAV positioning pattern, approaches and grabs it for transportation and storage.

[0010] The fixed-wing UAV fully autonomous mobile handling and storage method is characterized in that the RTK positioning module on the fixed-wing UAV provides position information to the AGV car, and the position information includes longitude and latitude, altitude, and heading, and the AGV car obtains the initial position of the fixed-wing UAV.

[0011] The fixed-wing UAV fully autonomous mobile handling and storage method is characterized in that after the AGV car reaches the predetermined position, the two are calibrated with each other while maintaining an unchanged distance from the fixed-wing UAV, and the AGV car's visual recognition module is aligned with the positioning pattern on the fixed-wing UAV for recognition.

[0012] The fully autonomous mobile handling and storage method for fixed-wing UAVs is characterized in that after the AGV trolley reaches the fixed-wing UAV, it comes into mechanical contact with the fixed-rotor fixed-wing UAV, and the AGV trolley lifts it up and fixes it for transportation through a clamp.

[0013] The fixed-wing UAV fully autonomous mobile handling and storage method is characterized in that the AGV trolley obtains the initial position of the fixed-wing UAV and obtains the predetermined position of the AGV trolley towards the fixed-wing UAV through an algorithm, and the algorithm is as follows:

[0014] Assume that the location of the AGV is the anchor point, and the location of the anchor point has coordinates (x i ,y i ), then i=1,2,3,...,N, where N is the number of anchor points, and the distance from the fixed-wing drone to the anchor point is D i , the position (x, y) of the fixed-wing drone can be calculated by the equation set formed by N anchor points as follows:

[0015]

[0016] When calculating the position of a fixed-wing drone, the error between the actual position and the calculated position is defined as:

[0017]

[0018] The objective function required in the optimization algorithm for calculating the position P of the fixed-wing drone is the mean square error between the calculated position and the position of each of the N anchor points:

[0019]

[0020] Through the above calculations, the location and coordinates of the fixed-wing UAV are obtained, and then the path to the fixed-wing UAV is determined, including:

[0021] First, determine whether there is an obstacle. If there is an obstacle, calculate the distance to the obstacle and determine whether it is blocked by the obstacle:

[0022]

[0023] Where N a ={1,2,...,n a}, d j (t) is the indicator function, is the sight vector, t is the time;

[0024] Then calculate the size of the obstacle:

[0025]

[0026] Among them, (x0, y0, z0) is the three-dimensional position of the obstacle center, p i =(x i ,y i ,z i ) is the three-dimensional coordinate position of the fixed-wing UAV, and the coefficients a, b, and c determine the size of the obstacle; and according to the size of the obstacle, the safe path r of the obstacle is calculated, which is expressed as follows:

[0027] r=p0+d path ,p0≥p min

[0028] Where p0 is the radius of the obstacle, d path The distance that the fixed-wing UAV approaches the obstacle.

[0029] The advantages of the present invention are:

[0030] The present invention uses the AGV trolley to complete the processes of finding, identifying, grabbing and transporting fixed-wing drones, has strong site adaptability, greatly improves the efficiency of recovering fixed-wing drones, reduces the burden on operators, and improves the level of intelligence. Description of the drawings:

[0031] Figure 1 It is a working principle diagram of the present invention. Specific implementation method:

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0033] A fully autonomous mobile handling and storage method for fixed-wing UAVs, comprising a fixed-wing UAV and an AGV trolley, characterized in that the fixed-wing UAV and the AGV trolley are both equipped with an RTK positioning module and a communication module, the communication modules on the fixed-wing UAV and the AGV trolley share and transmit the initial position information of the fixed-wing UAV provided by the RTK positioning module, calculate the predetermined position of the fixed-wing UAV, and the AGV trolley starts to travel to the predetermined position;

[0034] The fixed-wing drone is equipped with a positioning pattern, and the AGV is also equipped with a visual recognition module to identify the positioning pattern.

[0035] After the AGV arrives at the predetermined location, it identifies the fixed-wing UAV positioning pattern, approaches and grabs it for transportation and storage.

[0036] The RTK positioning module on the fixed-wing UAV provides the AGV with location information, including latitude and longitude, altitude, and heading. The AGV obtains the initial position of the fixed-wing UAV.

[0037] After the AGV reaches the predetermined position, it calibrates itself against the fixed-wing UAV while keeping the distance from it unchanged. The AGV's visual recognition module aligns with the positioning pattern on the fixed-wing UAV for recognition.

[0038] After the AGV reaches the fixed-wing UAV, it comes into mechanical contact with the fixed-wing UAV with a fixed rotor, and the AGV lifts it up and fixes it for transportation through a clamp.

[0039] The AGV obtains the initial position of the fixed-wing UAV and uses an algorithm to determine the predetermined position of the AGV to the fixed-wing UAV. The algorithm is as follows:

[0040] Assume that the location of the AGV is the anchor point, and the location of the anchor point has coordinates)x i ,y i ), then i=1,2,3,...,N, where N is the number of anchor points, and the distance from the fixed-wing drone to the anchor point is D i , the position (x, y) of the fixed-wing drone can be calculated by the equation set formed by N anchor points as follows:

[0041]

[0042] When calculating the position of a fixed-wing drone, the error between the actual position and the calculated position is defined as:

[0043]

[0044] The objective function required in the optimization algorithm for calculating the position P of the fixed-wing drone is the mean square error between the calculated position and the position of each of the N anchor points:

[0045]

[0046] Through the above calculations, the location and coordinates of the fixed-wing UAV are obtained, and then the path to the fixed-wing UAV is determined, including:

[0047] First, determine whether there is an obstacle. If there is an obstacle, calculate the distance to the obstacle and determine whether it is blocked by the obstacle:

[0048]

[0049] Where N a ={1,2,...,n a}, d j (t) is the indicator function, is the sight vector, t is the time;

[0050] Then calculate the size of the obstacle:

[0051]

[0052] Among them, (x0, y0, z0) is the three-dimensional position of the obstacle center, p i =(x i ,y i ,z i ) is the three-dimensional coordinate position of the fixed-wing UAV, and the coefficients a, b, and c determine the size of the obstacle; and according to the size of the obstacle, the safe path r of the obstacle is calculated, which is expressed as follows:

[0053] r=p0+d path ,p0·p min

[0054] Where p0 is the radius of the obstacle, d path The distance that the fixed-wing UAV approaches the obstacle.

[0055] The implementation steps of this embodiment are as follows:

[0056] First, the fixed-wing UAV calculates an initial predetermined position through the RTK positioning module and sends it to the AGV car through the communication module. The AGV car that obtains the initial position information starts to drive to the predetermined position. When the AGV car reaches the predetermined position, the two calibrate their directions while keeping the distance between the fixed-wing UAV and the AGV car unchanged. The AGV car accurately identifies the identification mark on the fixed-wing UAV through the visual recognition module and continues to approach it. After the AGV car and the fixed-wing UAV have mechanical technology, the fixed-wing UAV is lifted and fixed by the clamp for transportation and storage, thus completing the fully automated process of the car looking for the fixed-wing UAV.

[0057] The present invention uses an AGV car to obtain the position information of the RTK positioning module on the fixed-wing UAV to complete the process of autonomously searching for the fixed-wing UAV.

[0058] The invention has strong site adaptability, greatly improves work efficiency, and also improves the safety and stability of fixed-wing UAV recovery, reduces the configuration of operating personnel and the burden on operators, and improves the level of automation.

[0059] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully autonomous mobile handling and storage method for a fixed-wing UAV, comprising a fixed-wing UAV and an AGV vehicle, characterized in that: The fixed-wing UAV and AGV are both equipped with RTK positioning modules and communication modules. The communication modules on the fixed-wing UAV and AGV share the fixed-wing UAV initial position information provided by the RTK positioning module, calculate the initial predetermined position of the fixed-wing UAV, and the AGV starts to drive to the predetermined position. The fixed-wing UAV is provided with a positioning pattern, and the AGV is also equipped with a visual recognition module for identifying the positioning pattern. After the AGV arrives at the predetermined position, the AGV identifies the fixed-wing UAV positioning pattern, approaches and grabs it for transportation and storage. The AGV obtains the initial position of the fixed-wing UAV and uses an algorithm to determine the predetermined position of the AGV to drive to the fixed-wing UAV. The algorithm is as follows: Assume that the location of the AGV is the anchor point, and the location of the anchor point has coordinates (x i ,y i ), then i=1,2,3,...,N, where N is the number of anchor points, and the distance from the fixed-wing drone to the anchor point is D i , the position (x, y) of the fixed-wing drone can be calculated by the equation set formed by N anchor points as follows: When calculating the position of a fixed-wing drone, the error between the actual position and the calculated position is defined as: The objective function required in the optimization algorithm for calculating the position P of the fixed-wing drone is the mean square error between the calculated position and the position of each of the N anchor points: Through the above calculations, the location and coordinates of the fixed-wing UAV are obtained, and then the path to the fixed-wing UAV is determined, including: First, determine whether there is an obstacle. If there is an obstacle, calculate the distance to the obstacle and determine whether it is blocked by the obstacle: Where N a ={1,2,...,n a }, d j (t) is the indicator function, is the sight vector, t is the time; Then calculate the size of the obstacle: Among them, (x0, y0, z0) is the three-dimensional position of the obstacle center, p i =(x i ,y i ,z i ) is the three-dimensional coordinate position of the fixed-wing UAV, and the coefficients a, b, and c determine the size of the obstacle; and according to the size of the obstacle, the safe path r of the obstacle is calculated, which is expressed as follows: Where p0 is the radius of the obstacle, d path The distance that the fixed-wing UAV approaches the obstacle.

2. The fully autonomous mobile transport and storage method for fixed-wing UAV according to claim 1 is characterized in that: The RTK positioning module on the fixed-wing UAV provides the AGV with location information, including latitude and longitude, altitude, and heading, and the AGV obtains the initial position of the fixed-wing UAV.

3. The fully autonomous mobile transport and storage method for fixed-wing UAV according to claim 1 is characterized in that: After the AGV reaches the predetermined position, the AGV calibrates itself with the fixed-wing UAV while keeping the distance between the AGV and the fixed-wing UAV unchanged. The visual recognition module of the AGV aligns with the positioning pattern on the fixed-wing UAV for recognition.

4. The fully autonomous mobile transport and storage method for fixed-wing UAV according to claim 3 is characterized in that: After the AGV reaches the fixed-wing UAV, it comes into mechanical contact with the fixed-wing UAV with fixed rotors, and the AGV lifts it up and fixes it for transportation through a clamp.

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