A mobile air-ground cooperative unmanned aerial vehicle autonomous charging system and method

Abstract

The application provides a mobile air-ground cooperative unmanned aerial vehicle autonomous charging system, which comprises an unmanned vehicle platform, an unmanned aerial vehicle platform, a positioning unit and a charging unit; the unmanned aerial vehicle platform comprises a multi-rotor unmanned aerial vehicle, a charging interface and an ultrasonic wave emitting device; the unmanned vehicle platform comprises a power supply device, an ultrasonic wave receiving device, a mechanical arm and an unmanned aerial vehicle landing platform, and the unmanned aerial vehicle platform and the unmanned vehicle platform are both provided with a SLAM system; the coarse positioning unit is used for obtaining the relative position of the unmanned vehicle and the unmanned aerial vehicle based on SLAM system back-end optimization positioning; the fine positioning unit is used for obtaining the accurate relative position of the unmanned aerial vehicle and the unmanned vehicle based on ultrasonic wave ranging and Doppler velocity measurement algorithm; the guiding unit guides the unmanned aerial vehicle to the corresponding position; and the charging unit is used for controlling the power supply device to charge the unmanned aerial vehicle landing on the unmanned vehicle platform. The charging process realizes full-process autonomous charging without human operation, and the positioning process does not need to rely on the GNSS system, and the system can work in a complex underground environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle charging, in particular to a mobile air-ground cooperative unmanned aerial vehicle autonomous charging system and method. BACKGROUND

[0002] In view of the demand for underground space detection and mapping in wartime, it is urgent to carry out transformational application research on a sub-mother multi-habitat unmanned SLAM system, which includes an unmanned vehicle SLAM platform and a multi-rotor unmanned aerial vehicle SLAM platform. Both platforms can detect and map, and complement each other. However, due to the energy density of the battery, the endurance time of the multi-rotor unmanned aerial vehicle is generally short, and the battery needs to be frequently replaced by manual operation. Manual charging is time-consuming and labor-intensive, which affects the flight efficiency and greatly limits the application range and working mode of the unmanned aerial vehicle. Therefore, the development of unmanned aerial vehicle autonomous charging technology based on the above problems can greatly solve the above problems. In order to realize the charging function of the unmanned aerial vehicle, the prerequisite is to accurately locate the position of the charging platform and let the unmanned aerial vehicle fly to the top of the charging platform. The existing unmanned aerial vehicle positioning and navigation function needs to rely on the GNSS system, but in the underground space, which has no GNSS signal and weak light, the conventional positioning method of RTK cannot be used. In addition, the existing unmanned aerial vehicle autonomous charging technology can be divided into two categories: contact charging and wireless charging. The contact charging technology arranges exposed metal electrodes on the unmanned aerial vehicle and the charging platform. This scheme has the advantages of high efficiency and low cost. However, the exposed electrodes are prone to wear and tear, and are prone to short circuit and open circuit when used in the wild environment. Wireless charging has the advantages of safety and flexibility, but the charging efficiency is low.

[0003] The above problems are urgent to be solved. SUMMARY

[0004] The present application overcomes at least one of the above-mentioned shortcomings of the prior art, and in a first aspect, provides a mobile air-ground cooperative unmanned aerial vehicle autonomous charging system, which comprises an unmanned vehicle platform, an unmanned aerial vehicle platform, a positioning unit and a charging unit; the unmanned aerial vehicle platform comprises a multi-rotor unmanned aerial vehicle, and the multi-rotor unmanned aerial vehicle is provided with a SLAM system, a charging interface and an ultrasonic wave emitting device; the unmanned vehicle platform comprises a SLAM system, a power supply device, an ultrasonic wave receiving device, a mechanical arm and an unmanned aerial vehicle landing platform arranged on the unmanned vehicle; the positioning unit comprises a coarse positioning unit, a fine positioning unit and a guiding unit; the coarse positioning unit is used to obtain the relative position of the unmanned vehicle and the unmanned aerial vehicle based on the SLAM system back-end optimization positioning respectively arranged on the unmanned aerial vehicle and the unmanned vehicle; the fine positioning unit is used to obtain the accurate relative position of the unmanned aerial vehicle and the unmanned vehicle based on ultrasonic ranging and Doppler velocity measurement algorithm; the guiding unit is used to guide the unmanned aerial vehicle to the vicinity of the unmanned vehicle based on the relative position of the unmanned vehicle and the unmanned aerial vehicle, and to accurately land the unmanned aerial vehicle on the unmanned vehicle platform based on the accurate relative position of the unmanned aerial vehicle and the unmanned vehicle; and the charging unit is used to control the power supply device to charge the unmanned aerial vehicle landed on the unmanned vehicle platform.

[0005] Further, the legs of the multi-rotor unmanned aerial vehicle are respectively provided with metal sheets, and the SLAM system comprises a laser radar, a camera and an inertial measurement unit.

[0006] Further, the power supply device comprises an energy storage battery, a charging management circuit and a discharging management circuit, and is used to provide working power for the unmanned vehicle platform; the mechanical arm comprises an intelligent visual recognition system and an illumination system, and a charging circuit and a locking type charging plug connected with the power supply device, and is used to connect the charging plug with the charging interface; and the unmanned aerial vehicle landing platform is arranged at the center of the unmanned vehicle platform and is provided with a pressure detection device and an electromagnet array at the bottom.

[0007] Further, the pressure detection device is used to detect whether the unmanned aerial vehicle lands on the unmanned aerial vehicle landing platform; and the electromagnet array is used to fix the multi-rotor unmanned aerial vehicle landed on the unmanned aerial vehicle landing platform.

[0008] Further, the fine positioning unit is further used to execute a positioning algorithm on the ultrasonic wave signals periodically transmitted by the ultrasonic wave emitting device on the multi-rotor unmanned aerial vehicle and received by the ultrasonic wave receiving device on the unmanned vehicle platform, to obtain the accurate relative position of the unmanned aerial vehicle and the unmanned vehicle.

[0009] Further, the precise positioning unit is further configured to: based on ultrasonic ranging, obtain the distance between the sound source and the receiving end by estimating the time difference of the ultrasonic signal reaching the receiving end; obtain the speed of the multi-rotor unmanned aerial vehicle moving by using the Doppler effect; correct the ranging data by using the Kalman filtering algorithm and combining the measured distance and the speed of the multi-rotor unmanned aerial vehicle moving; and estimate the position of the multi-rotor unmanned aerial vehicle by using the least square method of Taylor series expansion to obtain the precise relative position of the multi-rotor unmanned aerial vehicle and the unmanned vehicle.

[0010] Further, the system further comprises an electric quantity recognition unit configured to recognize whether the electric quantity of the multi-rotor unmanned aerial vehicle is less than an electric quantity threshold value, and start a charging program for the multi-rotor unmanned aerial vehicle when the electric quantity is less than the electric quantity threshold value.

[0011] In a second aspect, the present application provides a mobile air-ground cooperative unmanned aerial vehicle autonomous charging method, which comprises the following steps: obtaining electric quantity information of a multi-rotor unmanned aerial vehicle; starting an autonomous charging program when the electric quantity of the multi-rotor unmanned aerial vehicle is less than a preset electric quantity threshold value; obtaining the relative position of the multi-rotor unmanned aerial vehicle and an unmanned vehicle by optimizing the back end of a SLAM system configured on the multi-rotor unmanned aerial vehicle and the unmanned vehicle; obtaining the precise relative position of the unmanned aerial vehicle and the unmanned vehicle based on ultrasonic ranging and Doppler speed measurement method; landing the multi-rotor unmanned aerial vehicle on the platform of the unmanned vehicle based on the precise relative position; starting an electromagnet array located on the platform of the unmanned vehicle to fix the multi-rotor unmanned aerial vehicle when a pressure sensing device placed on the platform of the unmanned vehicle detects that the multi-rotor unmanned aerial vehicle has landed on the platform of the unmanned vehicle; connecting a plug on the platform of the unmanned vehicle with a socket on the multi-rotor unmanned aerial vehicle by a mechanical arm; charging the multi-rotor unmanned aerial vehicle; and disconnecting the plug on the platform of the unmanned vehicle from the socket on the multi-rotor unmanned aerial vehicle by the mechanical arm when it is detected that the multi-rotor unmanned aerial vehicle is fully charged.

[0012] In a third aspect, the present application provides a computer readable storage medium, wherein one or more instructions are stored in the computer readable storage medium, and the computer instructions are used to make the computer execute the mobile air-ground cooperative unmanned aerial vehicle autonomous charging method described above.

[0013] In a fourth aspect, the present application provides an electronic device, which comprises a memory and a processor, wherein at least one program instruction is stored in the memory, and the processor loads and executes the at least one program instruction to realize the mobile air-ground cooperative unmanned aerial vehicle autonomous charging method described above.

[0014] The beneficial effects of the present application are: the mobile air-ground cooperative unmanned aerial vehicle autonomous charging system provided by the present application comprises an unmanned vehicle platform, an unmanned aerial vehicle platform, a positioning unit and a charging unit; the unmanned aerial vehicle platform comprises a multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle is provided with a SLAM system, a charging interface and an ultrasonic wave emitting device; the unmanned vehicle platform comprises a SLAM system, a power supply device, an ultrasonic wave receiving device, a mechanical arm and an unmanned aerial vehicle landing platform arranged on the unmanned vehicle; the positioning unit comprises a coarse positioning unit, a fine positioning unit and a guiding unit; wherein the coarse positioning unit is used for obtaining the relative position of the unmanned vehicle and the unmanned aerial vehicle based on the SLAM system rear-end optimization positioning respectively arranged on the unmanned aerial vehicle and the unmanned vehicle; the fine positioning unit is used for obtaining the accurate relative position of the unmanned aerial vehicle and the unmanned vehicle based on ultrasonic ranging and Doppler velocity measurement algorithm; the guiding unit is used for guiding the unmanned aerial vehicle to the vicinity of the unmanned vehicle based on the relative position of the unmanned vehicle and the unmanned aerial vehicle, and making the unmanned aerial vehicle accurately land on the unmanned vehicle platform based on the accurate relative position of the unmanned aerial vehicle and the unmanned vehicle; and the charging unit is used for controlling the power supply device to charge the unmanned aerial vehicle landed on the unmanned vehicle platform. The charging process realizes autonomous charging throughout the process, without human operation, and the positioning process does not need to rely on GNSS system, and can work in underground complex environment. BRIEF DESCRIPTION OF DRAWINGS

[0015] The present application will be further described below in combination with the drawings and examples.

[0016] Figure 1 is a structural schematic diagram of a mobile air-ground cooperative unmanned aerial vehicle autonomous charging system provided by an embodiment of the present application.

[0017] Figure 2 is a structural top view of a multi-rotor unmanned aerial vehicle provided by an embodiment of the present application.

[0018] Figure 3 is a structural top view of an unmanned vehicle platform provided by an embodiment of the present application.

[0019] Figure 4 is a flow chart of a mobile air-ground cooperative unmanned aerial vehicle autonomous charging method provided by an embodiment of the present application.

[0020] Figure 5 is a partial block diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0021] Before any examples are described in further detail, it should be noted that some examples are described as processes or methods depicted as flowcharts. Although the processes are described in a particular sequential order, many of the processes described can be performed concurrently, in parallel, or simultaneously. In addition, the order of the processes can be re-arranged. The processes can be terminated when their operations are completed, but the processes can also end in response to events that are external to the processes. The processes can correspond to methods, functions, procedures, subroutines, subprograms, etc.

[0022] It should be understood that, although the terms "first", "second" etc. can be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the examples. The term "and / or" as used herein includes any and all combinations of one or more of the associated associated items.

[0023] For the sake of subsequent understanding, the professional terms that can appear in the embodiments are explained:

[0024] SLAM system: Simultaneous Localization and Mapping, simultaneous localization and mapping, a robot starts moving from an unknown position in an unknown environment, and during the movement, the robot is positioned according to the position and the map, and an incremental map is built on the basis of the self-positioning, so as to realize the autonomous positioning and navigation of the robot.

[0025] The present application will now be described in detail in connection with the accompanying drawings. The drawing is a simplified schematic diagram, and only illustrates the basic structure of the present application in a schematic manner, and therefore only shows the components related to the present application.

[0026] Embodiment 1

[0027] Please refer to Figures 1-3 The mobile air-ground cooperative unmanned aerial vehicle autonomous charging system structure diagram proposed by the present application.

[0028] As an example, the system includes an unmanned vehicle platform 1, an unmanned aerial vehicle platform 2, a positioning unit 3, and a charging unit 4; the unmanned aerial vehicle platform 2 includes a multi-rotor unmanned aerial vehicle, and the multi-rotor unmanned aerial vehicle is configured with a SLAM system 201, a charging interface 202, and an ultrasonic wave transmitting device 203; the unmanned vehicle platform 1 includes a SLAM system 101, a power supply device 102, an ultrasonic wave receiving device 103, a mechanical arm 104, and an unmanned aerial vehicle landing platform 105 arranged on the unmanned vehicle.

[0029] Optionally, the legs of the multi-rotor unmanned aerial vehicle are respectively provided with metal sheets 204. In this example, the multi-rotor unmanned aerial vehicle includes four legs, and the four legs are respectively provided with metal sheets 204. The metal sheets 204 facilitate subsequent cooperation with the electromagnet array to fix the multi-rotor unmanned aerial vehicle when the multi-rotor unmanned aerial vehicle lands on the unmanned vehicle platform. The SLAM system includes a laser radar, a camera, and an inertial measurement unit.

[0030] Optionally, the power supply device 102 includes an energy storage battery, a charge management circuit, and a discharge management circuit, for providing working power for the unmanned vehicle platform; the mechanical arm 104 includes an intelligent visual recognition system and an illumination system, and a charging circuit and a locking charging plug connected with the power supply device, for connecting the charging plug with the charging interface; the unmanned aerial vehicle landing platform 105 is arranged at the center of the unmanned vehicle platform 1, and the bottom is provided with a pressure detection device 106 and an electromagnet array 107. The pressure detection device 106 is provided with a pressure sensor for detecting whether the unmanned aerial vehicle lands on the unmanned aerial vehicle landing platform 105; the electromagnet array 107 is used to fix the multi-rotor unmanned aerial vehicle landed on the unmanned aerial vehicle landing platform 105 on the unmanned aerial vehicle landing platform 105 through magnetic attraction with the metal sheets 204 fixed on the legs of the multi-rotor unmanned aerial vehicle, to avoid displacement or sliding of the unmanned aerial vehicle caused by the movement and bumping of the unmanned vehicle. The metal sheet 204 can be an iron sheet. When the multi-rotor unmanned aerial vehicle is fully charged, the electromagnet array 107 is controlled to demagnetize, so that the multi-rotor unmanned aerial vehicle fully charged can successfully separate from the unmanned vehicle platform.

[0031] Optionally, when the unmanned aerial vehicle is fixed on the landing platform, the mechanical arm 104 detects the position of the unmanned aerial vehicle charging interface through the visual recognition device, and then guides the charging plug to connect with the interface. After connection, the locking device on the charging plug is started to ensure stable connection of the charging interface during charging.

[0032] As an example, the positioning unit 3 comprises a coarse positioning unit 301, a fine positioning unit 302 and a guiding unit 303; wherein the coarse positioning unit 301 is configured to obtain the relative position of the unmanned vehicle and the unmanned aerial vehicle based on SLAM system back-end optimization positioning respectively configured on the unmanned vehicle and the unmanned aerial vehicle; the fine positioning unit 302 is configured to obtain the accurate relative position of the unmanned vehicle and the unmanned aerial vehicle based on ultrasonic ranging and Doppler velocity measurement algorithm; the guiding unit 303 is configured to guide the unmanned aerial vehicle to the vicinity of the unmanned vehicle based on the relative position of the unmanned vehicle and the unmanned aerial vehicle, and accurately land the unmanned aerial vehicle on the unmanned vehicle platform based on the accurate relative position of the unmanned vehicle and the unmanned aerial vehicle; and the charging unit is configured to control the power supply device to charge the unmanned aerial vehicle landed on the unmanned vehicle platform.

[0033] Optionally, the fine positioning unit 302 is further configured to execute a positioning algorithm on the ultrasonic wave signals periodically transmitted by the ultrasonic wave transmitter 203 on the multi-rotor unmanned aerial vehicle and received by the ultrasonic wave receiver 103 on the unmanned vehicle platform to obtain the accurate relative position of the unmanned vehicle and the unmanned aerial vehicle. Wherein, the ultrasonic wave receiver 103 can be configured with four, respectively placed inside the four top corners of the unmanned vehicle platform 1.

[0034] Optionally, the fine positioning unit 302 is further configured to obtain the distance from the sound source to the receiving end by estimating the time difference of the ultrasonic wave signal arriving at the receiving end based on ultrasonic ranging, obtain the speed of the multi-rotor unmanned aerial vehicle moving by using the Doppler effect, correct the ranging data by using the Kalman filtering algorithm in combination with the measured distance and the moving speed of the multi-rotor unmanned aerial vehicle, and estimate the position of the multi-rotor unmanned aerial vehicle by using the least square method of Taylor series expansion to obtain the accurate relative position of the multi-rotor unmanned aerial vehicle and the unmanned vehicle. Specifically, a coarse-to-fine positioning method is adopted, wherein the coarse positioning is realized by SLAM system back-end optimization positioning, the approximate relative position of the unmanned aerial vehicle and the unmanned vehicle platform is obtained by coarse positioning, and then the unmanned aerial vehicle is guided to fly to the vicinity of the unmanned vehicle platform. The fine positioning is realized based on ultrasonic ranging and Doppler velocity measurement, the ultrasonic wave transmitter on the unmanned aerial vehicle periodically transmits ultrasonic wave signals, the four ultrasonic wave receivers on the unmanned vehicle platform collect data, and a positioning algorithm is executed to finally position and track the unmanned aerial vehicle. Wherein, the positioning algorithm first estimates the speed of the unmanned aerial vehicle by using ultrasonic ranging and Doppler effect, then fuses the ranging and velocity measurement data by using Kalman filtering algorithm, and finally tracks the position of the unmanned aerial vehicle by using the least square method. The accurate relative position of the unmanned aerial vehicle and the unmanned vehicle platform is obtained by fine positioning, so that the unmanned aerial vehicle is accurately landed on the unmanned aerial vehicle charging platform.

[0035] As an example, the system further comprises a power recognition unit 5 for recognizing whether the power of the multi-rotor unmanned aerial vehicle is less than a power threshold value, and starting a charging program for the multi-rotor unmanned aerial vehicle when the power is less than the power threshold value. The power recognition unit 5 is also used to detect whether the power of the multi-rotor unmanned aerial vehicle is fully charged, and to control the mechanical arm 104 to open the locking device to realize the separation of the charger and the charging interface after the multi-rotor unmanned aerial vehicle is fully charged. The power threshold value can be set to 20%, and the specific value is not limited here, and related technical personnel can change the power threshold value based on actual needs.

[0036] Through the above-mentioned embodiments disclosed in the present application, the mobile air-ground cooperative unmanned aerial vehicle autonomous charging system disclosed in the present application realizes full-process autonomous charging in the charging process, without the need for human operation. In the positioning mode, the positioning process does not need to rely on the GNSS system and can work in a complex underground environment. In terms of positioning accuracy, the positioning accuracy reaches the centimeter level, which can ensure that the unmanned aerial vehicle accurately lands on the unmanned vehicle platform. In terms of charging efficiency, the charging mode is wired charging, and the charging process is safer and more efficient. In terms of stability, the charging plug is provided with a locking device, which ensures the stable connection between the charging plug and the interface during the charging process.

[0037] Embodiment 2

[0038] Please refer to Figure 4 The embodiment provides a mobile air-ground cooperative unmanned aerial vehicle autonomous charging method.

[0039] As an example, the method comprises:

[0040] S410: Obtain power information of a multi-rotor unmanned aerial vehicle.

[0041] S420: Start an autonomous charging program when the power of the multi-rotor unmanned aerial vehicle is less than a preset power threshold value.

[0042] S430: Obtain the relative position of the multi-rotor unmanned aerial vehicle and the unmanned vehicle through the SLAM system backend optimization configured on the multi-rotor unmanned aerial vehicle and the unmanned vehicle.

[0043] S440: Obtain the accurate relative position of the unmanned aerial vehicle and the unmanned vehicle based on an ultrasonic ranging and Doppler speed measurement algorithm.

[0044] S450: Land the multi-rotor unmanned aerial vehicle on the unmanned vehicle platform based on the accurate relative position.

[0045] S460: When the pressure sensing device placed on the unmanned vehicle platform detects that the multi-rotor unmanned aerial vehicle has landed on the unmanned vehicle platform, start the electromagnet array located on the unmanned vehicle platform to fix the multi-rotor unmanned aerial vehicle.

[0046] S470: connecting the plug on the unmanned vehicle platform to the socket on the multi-rotor unmanned aerial vehicle by the mechanical arm.

[0047] S480: charging the multi-rotor unmanned aerial vehicle.

[0048] S490: disconnecting the plug on the unmanned vehicle platform from the socket on the multi-rotor unmanned aerial vehicle by the mechanical arm when it is detected that the multi-rotor unmanned aerial vehicle is fully charged.

[0049] Embodiment 3

[0050] The embodiment of the present application also provides a storage medium, and the storage medium stores the mobile air-ground collaborative unmanned aerial vehicle autonomous charging method. The mobile air-ground collaborative unmanned aerial vehicle autonomous charging program is executed by the processor to realize the steps of the mobile air-ground collaborative unmanned aerial vehicle autonomous charging method described above. Since the storage medium adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described here.

[0051] Embodiment 4

[0052] Please refer to Figure 5 The embodiment of the present application also provides an electronic device, which comprises a memory and a processor. The memory stores at least one program instruction. The processor loads and executes the at least one program instruction to realize the mobile air-ground collaborative unmanned aerial vehicle autonomous charging method provided in Embodiment 2.

[0053] The memory 502 and the processor 501 are connected in a bus mode. The bus can include any number of interconnected buses and bridges. The bus connects various circuits of one or more processors 501 and memories 502 together. The bus can also connect various other circuits such as peripheral devices, voltage stabilizers and power management circuits together, which are well known in the art, and thus will not be further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements such as multiple receivers and transmitters, which provide a unit for communicating with various other devices on a transmission medium. The data processed by the processor 501 is transmitted on a wireless medium through the antenna, and further, the antenna also receives data and transmits the data to the processor 501.

[0054] The processor 501 is responsible for managing the bus and general processing, and can also provide various functions including timing, peripheral interface, voltage regulation, power management and other control functions. The memory 502 can be used to store data used by the processor 501 in performing operations.

[0055] The above is the ideal embodiment of the present application, and the above description can be changed and modified without departing from the scope of the present application. The technical scope of the present application is not limited to the above description, and should be determined by the scope of the claims.

Claims

1. A mobile air-ground cooperative unmanned aerial vehicle autonomous charging system, characterized in that, The system comprises an unmanned vehicle platform, an unmanned aerial vehicle platform, a positioning unit and a charging unit; The unmanned aerial vehicle platform comprises a multi-rotor unmanned aerial vehicle, wherein the multi-rotor unmanned aerial vehicle is provided with a SLAM system, a charging interface and an ultrasonic wave emitting device; The unmanned vehicle platform comprises a SLAM system, a power supply device, an ultrasonic wave receiving device, a mechanical arm and an unmanned aerial vehicle landing platform; The positioning unit comprises a coarse positioning unit, a fine positioning unit and a guiding unit; the coarse positioning unit is used to obtain the relative position of the unmanned vehicle and the unmanned aerial vehicle based on the SLAM system back-end optimization positioning respectively arranged on the unmanned aerial vehicle and the unmanned vehicle; The fine positioning unit is used to obtain the accurate relative position of the unmanned aerial vehicle and the unmanned vehicle based on ultrasonic wave ranging and Doppler velocity measurement algorithm; The guiding unit is used to guide the unmanned aerial vehicle to the vicinity of the unmanned vehicle based on the relative position of the unmanned aerial vehicle and the unmanned vehicle, and accurately land the unmanned aerial vehicle on the unmanned vehicle platform based on the accurate relative position of the unmanned aerial vehicle and the unmanned vehicle; The charging unit is used to control the power supply device to charge the unmanned aerial vehicle landed on the unmanned vehicle platform.

2. The mobile air-ground cooperative unmanned aerial vehicle autonomous charging system according to claim 1, wherein, The legs of the multi-rotor unmanned aerial vehicle are respectively provided with metal sheets, and the SLAM system comprises a laser radar, a camera and an inertial measurement unit.

3. The mobile air-ground cooperative unmanned aerial vehicle autonomous charging system according to claim 1, wherein, The power supply device comprises an energy storage battery, a charging management circuit and a discharging management circuit, and is used to provide working power for the unmanned vehicle platform; The mechanical arm comprises an intelligent visual recognition system and an illumination system, and a charging circuit and a locking type charging plug connected with the power supply device, and is used to connect the charging plug with the charging interface; The unmanned aerial vehicle landing platform is arranged at the center of the unmanned vehicle platform, and the bottom is provided with a pressure detection device and an electromagnet array.

4. The mobile air-ground cooperative unmanned aerial vehicle autonomous charging system according to claim 3, wherein, The pressure detection device is used to detect whether the unmanned aerial vehicle lands on the unmanned aerial vehicle landing platform; The electromagnet array is used to fix the multi-rotor unmanned aerial vehicle landed on the unmanned aerial vehicle landing platform.

5. The mobile air-ground cooperative unmanned aerial vehicle autonomous charging system according to claim 1, wherein, The fine positioning unit is also used to: perform a positioning algorithm on the ultrasonic wave signals periodically transmitted by the ultrasonic wave emitting device on the multi-rotor unmanned aerial vehicle received by the ultrasonic wave receiving device on the unmanned vehicle platform, to obtain the accurate relative position of the unmanned aerial vehicle and the unmanned vehicle.

6. The mobile air-ground cooperative unmanned aerial vehicle autonomous charging system according to claim 5, wherein, The fine positioning unit is also used to: obtain the distance of the sound source from the receiving end by estimating the time difference of the ultrasonic wave signals reaching the receiving end based on ultrasonic wave ranging; obtain the moving speed of the multi-rotor unmanned aerial vehicle by using the Doppler effect; correct the ranging data by using the Kalman filtering algorithm in combination with the measured distance and the moving speed of the multi-rotor unmanned aerial vehicle; estimate the position of the multi-rotor unmanned aerial vehicle by using the least square method of Taylor series expansion, to obtain the accurate relative position of the multi-rotor unmanned aerial vehicle and the unmanned vehicle.

7. The mobile air-ground cooperative unmanned aerial vehicle autonomous charging system according to claim 1, wherein The system further comprises a power recognition unit, which is used to identify whether the power of the multi-rotor unmanned aerial vehicle is less than a power threshold, and start a charging program for the multi-rotor unmanned aerial vehicle when the power is less than the power threshold.

8. A mobile air-ground cooperative unmanned aerial vehicle autonomous charging method, characterized in that, The method comprises: obtaining the power information of the multi-rotor unmanned aerial vehicle; starting an autonomous charging program when the power of the multi-rotor unmanned aerial vehicle is less than a preset power threshold; obtaining the relative position of the multi-rotor unmanned aerial vehicle and the unmanned vehicle through a SLAM system backend optimization configured on the multi-rotor unmanned aerial vehicle and the unmanned vehicle; obtaining the accurate relative position of the unmanned aerial vehicle and the unmanned vehicle based on ultrasonic ranging and Doppler speed measurement methods; landing the multi-rotor unmanned aerial vehicle on the unmanned vehicle platform based on the accurate relative position; starting an electromagnet array located on the unmanned vehicle platform to fix the multi-rotor unmanned aerial vehicle when a pressure sensing device placed on the unmanned vehicle platform detects that the multi-rotor unmanned aerial vehicle has landed on the unmanned vehicle platform; connecting a plug on the unmanned vehicle platform to a socket on the multi-rotor unmanned aerial vehicle through a mechanical arm; charging the multi-rotor unmanned aerial vehicle; disconnecting the plug on the unmanned vehicle platform from the socket on the multi-rotor unmanned aerial vehicle through the mechanical arm when it is detected that the multi-rotor unmanned aerial vehicle is fully charged.

9. A computer-readable storage medium having stored therein one or more instructions, wherein The computer instructions are used to make the computer execute the mobile air-ground collaborative unmanned aerial vehicle autonomous charging method of claim 8.

10. An electronic device, comprising: comprise: a memory and a processor; at least one program instruction is stored in the memory; the processor loads and executes the at least one program instruction to realize the mobile air-ground collaborative unmanned aerial vehicle autonomous charging method of claim 8.

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