An autonomous load conveying device based on a flying platform

Abstract

The present invention discloses an autonomous load conveying device based on a flying platform, which relates to the technical field of aircraft logistics distribution, including a flying platform, a traction rope mechanism, a distribution robot, a robot lateral drive mechanism and a visual control system, wherein the flying platform is used to fly above a target location, the traction rope mechanism is arranged below the flying platform, and the top of the distribution robot is connected to the traction rope end of the traction rope mechanism. The present invention solves the problem that a large aerial transportation platform cannot approach a destination; the aerial transportation platform does not require complicated modifications, and only needs to provide suspension cables and power supply; a built-in electric winch drives the traction rope to enable the distribution robot to move up and down quickly, and horizontal movement is achieved by driving propellers around the horizontal area; a variety of sensors and processing units are built-in, which can perform target recognition and flight attitude control; a built-in cargo load carrying, grabbing and releasing mechanism; it can adapt to horizontal ground operations, and can also be operated through windows and balconies.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft logistics distribution, and in particular to an autonomous load conveying device based on a flying platform. Background Art

[0002] Aerial delivery or collection of goods by helicopters, drones, etc. faces a fundamental problem caused by the need to meet many conflicting requirements. The ideal solution is to provide a large, powerful aerial transport platform that provides sufficient payload capacity, range and speed, and is not limited by the space size, noise and safety risks associated with close proximity to the destination. In actual application scenarios, if the delivery drone is powerful enough, it means that the size, wingspan and noise of the drone will be unacceptable for direct delivery at close range, such as strong airflows that will damage ground facilities. Direct airdrops will damage the goods.

[0003] In order to solve the problem of receiving and delivering goods in the last mile, small drones can be used to complete it. The first disadvantage is that frequent take-off of small drones will cause power supply problems. The second disadvantage is that when some single goods are heavy, small drones cannot cope with it.

[0004] The patent application with publication number CN109383800A discloses a precise delivery device for express delivery and take-out food, which includes a visual device, a flying platform, a cable retracting and releasing assembly, a cable movable end positioning assembly, an item storage and selection assembly, and an item precise delivery assembly. The visual device provides environmental information for control, and the flying platform quickly reaches the designated area; then the cable is retracted and released by the cable retracting and releasing assembly, and the cable movable end is accurately delivered to the pickup position by the cable movable end positioning assembly and fixed by the consignee, and then the item storage and selection assembly selects the items to be delivered from the stored items, and finally the express delivery or take-out food is delivered by the item precise delivery assembly. Although the above technical scheme proposes an item precise delivery assembly based on a flying platform that can be retracted and released by the cable retracting and releasing assembly, the item precise delivery assembly does not have a lateral active movement function, and is not competent for application scenarios such as windows, balconies, etc. for the delivery or grabbing of load materials. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an autonomous load conveying device based on a flying platform. The following technical solutions are adopted:

[0006] An autonomous load conveying device based on a flying platform comprises a flying platform, a traction rope mechanism, a delivery robot, a robot lateral drive mechanism and a visual control system. The flying platform is used to fly above a target location. The traction rope mechanism is arranged below the flying platform. The top of the delivery robot is connected to the traction rope end of the traction rope mechanism. When the traction rope of the traction rope mechanism is released, the delivery robot moves downward toward the target. The visual control system captures the bottom target image and controls the execution actions of the flying platform, the traction rope mechanism and the delivery robot respectively according to the target feature recognition result. The robot lateral drive mechanism is provided with four lateral drive components, which are respectively installed around the delivery robot and drive the delivery robot to move lateraly under the control of the visual control system. An electric-controlled gripper is arranged at the bottom of the delivery robot to grip a load to be delivered. When the bottom center of the delivery robot is judged to be directly above the target by the visual control system, the electric-controlled gripper is controlled to release the load to be delivered or to grip the load to be collected.

[0007] By adopting the above technical solution, the flight platform can be a small aircraft such as a drone, and a delivery robot is towed and connected to the bottom through a traction rope mechanism. An electric-controlled gripper is arranged at the bottom of the delivery robot, and the number of the electric-controlled grippers can be appropriately adjusted according to the task load. When the flight platform flies to the top of the target under the target position positioning navigation, the traction rope mechanism is controlled to move. The traction rope mechanism can be an autonomously driven cable drum, which controls the delivery robot to descend in a vertical direction. If the target is in an open position, it can directly descend to a certain distance above the target, and the electric-controlled gripper is controlled to drop the load to achieve delivery.

[0008] If the target is indoors, such as a balcony or needs to be entered through a window, or the visual control system identifies other obstructions that prevent the delivery robot from being directly lowered to the target, when the delivery robot descends to the set height, the robot's lateral drive mechanism is turned on, and the four lateral drive components of the robot's lateral drive mechanism can achieve movement in four directions, or can achieve lateral movement in any direction under the drive of any two adjacent lateral drive components. It can move to the balcony or above the target that needs to be entered through a window, and then control the electric-controlled gripper to put down or grab the load, or the electric-controlled gripper can grab the load to be collected;

[0009] After delivery is completed, the delivery robot can be quickly retrieved through the traction rope mechanism;

[0010] The delivery robot, the robot's lateral drive mechanism and the visual control system can all be electrically connected to the flight platform via cables to obtain power supply and achieve communication.

[0011] This equipment allows safe delivery and collection services from a height of 100 meters even in strong winds.

[0012] Optionally, a robot warehouse is provided at the bottom of the flying platform, and there are four vertical slide rails in the robot warehouse. The delivery robot includes an electric-controlled gripper and a main shell. Card slots are respectively provided around the main shell, and the card slots around the main shell are respectively clamped on the four vertical slide rails. The shell of the electric-controlled gripper is installed at the bottom of the main shell, and the visual control system is controlled and connected to the electric-controlled gripper.

[0013] Optionally, at least one pair of robot fixing devices is included, and the robot fixing device includes a pair of micro electric push rods 23. The housings of the pair of micro electric push rods 23 are installed on the inner side of the card slot, and a card slot is provided between the card slot and the vertical slide rail. When the piston rods of the pair of micro electric push rods 23 are extended, the delivery robot is fixed in the robot warehouse.

[0014] By adopting the above technical solution and setting up a robot warehouse, during the high-speed flight of the flight platform, the delivery robot is stably and reliably fixed under the flight platform through the robot fixing device, avoiding the shaking caused by only using the traction rope connection;

[0015] There is a card-mounting gap between the card slot and the vertical slide rail, which is generally a few centimeters, so that the delivery robot can more conveniently enter the card slot around the main shell during recycling.

[0016] Optionally, the robot's transverse drive mechanism includes four transverse drive components and four directional fine-tuning components. Transverse drive mounting positions are respectively provided in the center of the four sides of the main shell, and directional fine-tuning mounting positions are respectively provided at the four corners. The four transverse drive components are respectively installed at the transverse drive mounting positions, and the four directional fine-tuning components are respectively installed at the transverse drive mounting positions. The visual control system is respectively controlled and connected to the four transverse drive components and the four directional fine-tuning components.

[0017] By adopting the above technical solution, the four lateral drive components generally use electronically controlled propellers to provide lateral air thrust to drive the delivery robot to move within a certain lateral distance as a whole. When moving, the traction rope mechanism should cooperate to perform low-damping traction to avoid affecting the stability of the delivery robot. The four directional fine-tuning components can be electric pump thrusters. When recovering the delivery robot, the direction of the delivery robot can be adjusted to be consistent with the four vertical slide rails in the robot warehouse, so as to facilitate the delivery robot to enter the robot warehouse.

[0018] Optionally, the robot's lateral drive mechanism also includes a delivery posture stabilization component, which includes a posture sensor and four electric telescopic support legs. Telescopic support leg installation cavities are respectively provided at the four corners of the bottom of the main shell. The posture sensor is installed in the main shell to monitor the posture of the delivery robot and communicate with the visual control system. The four electric telescopic support legs are respectively installed in the telescopic support leg installation cavities. The visual control system is controlled and connected with the four electric telescopic support legs 5, and when the visual monitoring detects that the straight-line distance between the bottom of the main shell and the target is less than the telescopic stroke of the electric telescopic support legs, the visual control system controls the four electric telescopic support legs to extend.

[0019] By adopting the above technical solution, during the delivery robot delivery process, especially when the target is indoors, or the visual control system identifies other obstructions and cannot directly lower the delivery robot to the target, due to instability in the lateral movement driven by the four lateral drive components, if the delivery robot posture is not stabilized, it may affect the delivery or grasping process, and in severe cases may cause load damage. Therefore, four electric telescopic support legs are provided. When visual monitoring shows that the straight-line distance between the bottom of the main shell and the target is less than the telescopic stroke of the electric telescopic support legs, the four electric telescopic support legs are extended to quickly support the delivery robot directly above the target. At this time, the electric-controlled grippers are controlled to open or clamp, and the delivery or grasping of the load is more stable.

[0020] Optionally, the four lateral drive components are electrically controlled propellers, the four directional fine-tuning components are electrically driven pump thrusters, and the four electrically driven telescopic support legs are electrically driven push rods.

[0021] Optionally, the traction rope mechanism includes an electric winch, a traction rope and a cable, the casing of the electric winch is installed at the bottom of the flying platform through a bracket and is located in the robot compartment, one end of the traction rope is connected to the turntable of the electric winch, and the other end is connected to the center of the top surface of the main shell of the delivery robot through a hinge, so as to be used for traction connection with the delivery robot;

[0022] One end of the cable passes through the turntable and is electrically connected to the flight platform, and the other end is electrically connected to the top of the delivery robot, so as to supply power to the delivery robot and realize communication.

[0023] By adopting the above technical solution, the electric winch can realize autonomous driving and controlling the delivery robot connected to the other end of the traction rope to rise or fall, and at the same time arrange the cables. The cables can also be combined with the traction rope. The cables are mainly used to power the delivery robot and realize communication.

[0024] Of course, the delivery robot can also be equipped with an independent battery power supply and an independent controller for control.

[0025] Optionally, the visual control system includes a first visual camera module, a second visual camera module, a third visual camera module, a visual analysis chip, a laser radar and a control chip, wherein the first visual camera module is a visual component of the flight platform, and is used to capture visual images around the flight platform; the second visual camera module is installed around the main shell, and is used to capture visual images around the delivery robot; the third visual camera module is installed at the bottom of the main shell, avoiding the electric-controlled clamp, and is used to capture the target visual image downward; the first visual camera module, the second visual camera module and the third visual camera module are respectively communicated with the visual analysis chip, and the visual analysis chip is used to analyze the visual images captured by the first visual camera module, the second visual camera module and the third visual camera module, and transmit the analysis results to the control chip; the laser radar is installed at the bottom of the main shell, and is used to monitor the straight-line distance between the bottom surface of the main shell and the surface where the target is located, and is communicated with the control chip;

[0026] The control chip controls the movement of the robot's lateral drive mechanism based on the analysis results of the visual images taken by the second visual camera module and the third visual camera module, thereby controlling the delivery robot to move laterally to directly above the target, and controlling the execution of the electric-controlled gripper to deliver or grab the load.

[0027] By adopting the above technical scheme, the first visual camera module can be a visual component of the flying platform, which is mainly used to identify the surrounding environment of the flying platform during flight. Because the load delivery area may be a densely built area, there will be many high-rise obstacles, such as high-rise towers, etc., which require visual active obstacle avoidance. The second visual camera module is mainly used to shoot the surrounding images during the delivery process of the delivery robot, realize automatic identification of obstacles during lateral movement, and perform active obstacle avoidance. The third visual camera module is mainly used to shoot the target visual image downward, and can visually identify the characteristics of the target to assist in positioning the target. Of course, a laser radar is also required to measure the straight-line distance between the bottom surface of the main shell and the surface where the target is located. When it is less than the telescopic stroke of the electric telescopic support legs, the control chip controls the four electric telescopic support legs to extend to stabilize the posture of the delivery robot.

[0028] Optionally, the visual analysis chip and control chip are the visual chip and main control chip that come with the flight platform.

[0029] By adopting the above technical solution, the flight control system of the flight platform itself is equipped with a visual chip and a main control chip. Under the communication transmission of the cable, it is entirely possible to perform low-latency transmission of visual data and realize the generation of control instructions for each actuator.

[0030] Optionally, the flying platform is a quadrotor drone.

[0031] In summary, the present invention includes at least one of the following beneficial technical effects:

[0032] 1. Solve the problem that large aerial transport platforms cannot approach their destinations;

[0033] 2. The aerial transport platform does not require complex modifications, only the suspension cables and power supply need to be provided;

[0034] 3. The built-in electric winch drives the traction rope to enable the delivery robot to move up and down quickly, and the horizontal movement is achieved by the propeller drive around the horizontal plane;

[0035] 4. Built-in multiple sensors and processing units, capable of target recognition and flight attitude control;

[0036] 5. Built-in cargo load carrying, grabbing and releasing mechanism;

[0037] 6. It can be adapted to horizontal ground operation, and can also be operated through windows and balconies;

[0038] 7. The autonomous load conveyor can complete the task of delivering or acquiring goods completely autonomously. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a structural schematic diagram of an autonomous load conveying device based on a flying platform of the present invention in a state of dropping a load on a target in an open location;

[0040] Figure 2 It is a structural schematic diagram of an autonomous load conveying device based on a flying platform of the present invention in a lateral movement state of delivering a load to an obstructing target;

[0041] Figure 3 A schematic diagram of the structure of a delivery robot of an autonomous load conveying device based on a flying platform of the present invention;

[0042] Figure 4 It is a structural schematic diagram of a delivery robot of an autonomous load conveying device based on a flying platform in the present invention in a retracted state;

[0043] Figure 5 The present invention is a schematic diagram of the connection principle of electrical components of an autonomous load conveying device based on a flying platform.

[0044] Explanation of the reference numerals in the accompanying drawings: 1. Flying platform; 11. Robot warehouse; 2. Delivery robot; 21. Electric-controlled gripper; 22. Main shell; 221. Card slot; 23. Micro electric push rod; 3. Lateral drive assembly; 4. Direction fine-tuning assembly; 51. Posture sensor; 52. Electric telescopic support leg; 61. Electric winch; 62. Towing rope; 71. First visual camera module; 72. Second visual camera module; 73. Third visual camera module; 74. Visual analysis chip; 75. LiDAR; 76. Control chip. DETAILED DESCRIPTION

[0045] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0046] An embodiment of the present invention discloses an autonomous load conveying device based on a flying platform.

[0047] Reference Figure 1 - Figure 5 Embodiment 1: An autonomous load conveying device based on a flying platform comprises a flying platform 1, a traction rope mechanism, a delivery robot 2, a robot lateral drive mechanism and a visual control system. The flying platform 1 is used to fly above a target location. The traction rope mechanism is arranged below the flying platform 1. The top of the delivery robot is connected to the traction rope end of the traction rope mechanism. When the traction rope of the traction rope mechanism is released, the delivery robot moves downward toward the target. The visual control system captures the bottom target image and controls the execution actions of the flying platform 1, the traction rope mechanism and the delivery robot 2 respectively according to the target feature recognition result. The robot lateral drive mechanism is provided with four lateral drive components 3. The four lateral drive components 3 are respectively installed around the delivery robot 2 and drive the delivery robot 2 to move laterally under the control of the visual control system. An electric-controlled gripper 21 is arranged at the bottom of the delivery robot 2. The electric-controlled gripper 21 grips the load to be delivered. When the bottom center of the delivery robot 2 is directly above the target as determined by the visual control system, the electric-controlled gripper 21 is controlled to release the load to be delivered, or the electric-controlled gripper 21 is controlled to grip the load to be collected.

[0048] The flying platform 1 can be a small aircraft such as a drone, and a delivery robot 2 is towed and connected at the bottom through a traction rope mechanism. An electric-controlled gripper 21 is arranged at the bottom of the delivery robot 2. The number of the electric-controlled grippers 21 can be appropriately adjusted according to the task load. When the flying platform 1 flies above the target under the target position positioning navigation, the traction rope mechanism is controlled to move. The traction rope mechanism can be an autonomously driven cable drum, which controls the delivery robot 2 to descend in a vertical direction. If the target is in an open position, it can directly descend to a certain distance above the target, and the electric-controlled gripper 21 can be controlled to move to put down the load to achieve delivery, or the electric-controlled gripper 21 can move to grab the load to be collected;

[0049] If the target is indoors, such as a balcony or needs to be entered through a window, or the visual control system identifies other obstructions and cannot directly lower the delivery robot 2 to the target, when the delivery robot 2 descends to the set height, the robot's lateral drive mechanism is turned on, and the four lateral drive components 3 of the robot's lateral drive mechanism can achieve movement in four directions, or can achieve lateral movement in any direction under the combined drive of any two adjacent lateral drive components 3, and can move to the balcony or above the target that needs to be entered through the window, and then control the electric-controlled gripper 21 to put down or grab the load;

[0050] After delivery is completed, the delivery robot 2 can be quickly retrieved through the traction rope mechanism;

[0051] The delivery robot 2, the robot's lateral drive mechanism and the visual control system can all be electrically connected to the flight platform 1 via cables to obtain power supply and achieve communication.

[0052] This equipment allows safe delivery and collection services from a height of 100 meters even in strong winds.

[0053] In embodiment 2, a robot warehouse 11 is provided at the bottom of the flying platform 1, and four vertical slide rails are arranged in the robot warehouse 11. The delivery robot 2 includes an electric-controlled gripper 21 and a main shell 22. Card slots 221 are arranged around the main shell 22. The card slots 221 around the main shell 22 are respectively clamped on the four vertical slide rails. The shell of the electric-controlled gripper 21 is installed at the bottom of the main shell 22, and the visual control system is controlled and connected with the electric-controlled gripper 21.

[0054] Embodiment 3 also includes at least one pair of robot fixing devices, which include a pair of micro electric push rods 23. The housings of the pair of micro electric push rods 23 are installed on the inner side of the card slot 221. A card slot 221 and the vertical slide rail are provided with a card gap. When the piston rods of the pair of micro electric push rods 23 are extended, the delivery robot 2 is fixed in the robot warehouse 11.

[0055] A robot warehouse 11 is provided, and during the high-speed flight of the flight platform 1, the delivery robot 2 is stably and reliably fixed under the flight platform 1 through the robot fixing device, so as to avoid shaking caused by only using a traction rope connection;

[0056] A card-mounting gap is provided between the card slot 221 and the vertical slide rail, and generally the gap may be several centimeters, so that the delivery robot 2 can more conveniently enter the card slot 221 around the main shell 22 during recycling.

[0057] Embodiment 4, the robot's transverse drive mechanism includes four transverse drive components 3 and four directional fine-tuning components 4, transverse drive installation positions are respectively provided in the center of the four sides of the main shell 22, and directional fine-tuning installation positions are respectively provided at the four corners, the four transverse drive components 3 are respectively installed in the transverse drive installation positions, and the four directional fine-tuning components 4 are respectively installed in the transverse drive installation positions, and the visual control system is respectively controlled and connected with the four transverse drive components 3 and the four directional fine-tuning components 4.

[0058] The four lateral drive components 3 generally use electronically controlled propellers to provide lateral air thrust to drive the delivery robot 2 to move within a certain lateral distance as a whole. During movement, the traction rope mechanism should cooperate to perform low-damping traction to avoid affecting the stability of the delivery robot 2. The four directional fine-tuning components 4 can be electric pump propellers. When the delivery robot 2 is recovered, the direction of the delivery robot 2 can be adjusted to be consistent with the four vertical slide rails in the robot warehouse 11, so as to facilitate the delivery robot 2 to enter the robot warehouse 11.

[0059] Embodiment 5, the robot's lateral drive mechanism also includes a delivery posture stabilization component, which includes a posture sensor 51 and four electric telescopic support legs 52. Telescopic support leg installation cavities are respectively provided at the four corners of the bottom of the main shell 22. The posture sensor 51 is installed in the main shell 22 to monitor the posture of the delivery robot 2 and communicate with the visual control system. The four electric telescopic support legs 52 are respectively installed in the telescopic support leg installation cavities. The visual control system is controlled and connected with the four electric telescopic support legs 5, and when the visual monitoring detects that the straight-line distance between the bottom of the main shell 22 and the target is less than the telescopic stroke of the electric telescopic support legs 52, the visual control system controls the four electric telescopic support legs 52 to extend.

[0060] During the delivery process of the delivery robot 2, especially when the target is indoors, or when the visual control system identifies other obstructions and cannot directly lower the delivery robot 2 to the target, instability may occur during the lateral movement driven by the four lateral drive components 3. If the posture of the delivery robot 2 is not stabilized, it may affect the delivery or grasping process, and in severe cases may cause load damage. Therefore, four electric telescopic support legs 52 are provided. When it is visually monitored that the straight-line distance between the bottom of the main shell 22 and the target is less than the telescopic stroke of the electric telescopic support legs 52, the four electric telescopic support legs 52 are extended to quickly support the delivery robot 2 directly above the target. At this time, the electric-controlled clamp 21 is controlled to open or clamp, and the delivery or grasping of the load is more stable.

[0061] In Example 6, the four lateral drive components 3 are electrically controlled propellers, the four directional fine-tuning components 4 are electrically driven pump thrusters, and the four electrically driven telescopic support legs 52 are electrically driven push rods.

[0062] Embodiment 7, the traction rope mechanism includes an electric winch 61, a traction rope 62 and a cable. The housing of the electric winch 61 is installed at the bottom of the flying platform 1 through a bracket and is located in the robot compartment 11. One end of the traction rope 62 is connected to the turntable of the electric winch 61, and the other end is connected to the center of the top surface of the main housing 22 of the delivery robot 2 through a hinge, so as to be connected to the delivery robot 2 for traction.

[0063] One end of the cable passes through the turntable and is electrically connected to the flying platform 1, and the other end is electrically connected to the top of the delivery robot 2, so as to supply power to the delivery robot 2 and realize communication.

[0064] The electric winch 61 can realize autonomous driving and controlling the delivery robot 2 connected to the other end of the traction rope 62 to rise or fall, and arrange the cables at the same time. The cables can also be combined with the traction rope 62. The cables are mainly used to supply power to the delivery robot 2 and realize communication.

[0065] Of course, the delivery robot 2 may also be provided with an independent battery for power supply and an independent controller for control.

[0066] Embodiment 8, the visual control system includes a first visual camera module 71, a second visual camera module 72, a third visual camera module 73, a visual analysis chip 74, a laser radar 75 and a control chip 76, the first visual camera module 71 is a visual component of the flight platform 1, used to capture visual images around the flight platform 1, the second visual camera module 72 is installed around the main shell 22, used to capture visual images around the delivery robot 2, and the third visual camera module 73 is installed at the bottom of the main shell 22, avoiding the electric-controlled gripper 21, and used to capture the visual images around the delivery robot 2. The target visual picture is shot downwards, and the first visual camera module 71, the second visual camera module 72 and the third visual camera module 73 are respectively connected to the visual analysis chip 74 for communication. The visual analysis chip 74 is used to analyze the visual pictures shot by the first visual camera module 71, the second visual camera module 72 and the third visual camera module 73, and transmit the analysis results to the control chip 76. The laser radar 75 is installed at the bottom of the main housing 22, and is used to monitor the straight-line distance between the bottom surface of the main housing 22 and the surface where the target is located, and is connected to the control chip 76 for communication;

[0067] The control chip 76 controls the action of the robot's lateral drive mechanism based on the visual image analysis results captured by the second visual camera module 72 and the third visual camera module 73, thereby controlling the delivery robot 2 to move laterally to directly above the target, and controlling the execution action of the electric-controlled gripper 21 to release or grab the load.

[0068] The first visual camera module 71 may be a visual component of the flight platform 1, and is mainly used to identify the surrounding environment of the flight platform 1 during flight. Because the load delivery area may be a densely built area with many high-rise obstacles, such as high-rise towers, etc., visual active obstacle avoidance is required. The second visual camera module 72 is mainly used to shoot the surrounding images during the delivery process of the delivery robot 2, to automatically identify obstacles during the lateral movement, and to perform active obstacle avoidance. The third visual camera module 73 is mainly used to shoot the target visual image downward, and can visually identify the characteristics of the target to assist in positioning the target. Of course, a laser radar 75 is also required to measure the straight-line distance between the bottom surface of the main shell 22 and the surface where the target is located. When it is less than the telescopic stroke of the electric telescopic support leg 52, the control chip 76 controls the four electric telescopic support legs 52 to extend to stabilize the posture of the delivery robot 2.

[0069] In Example 9, the visual analysis chip 74 and the control chip 76 are the visual chip and the main control chip provided by the flight platform 1 .

[0070] The flight control system of the flight platform 1 itself is equipped with a visual chip and a main control chip. Under the communication transmission of the cable, it is entirely possible to perform low-latency transmission of visual data and realize the generation of control instructions for each actuator.

[0071] In Embodiment 10, the flight platform 1 is a quad-rotor UAV.

[0072] Quadrotors are small in size and can flexibly deliver or collect payloads, solving the problem that large aerial transport platforms cannot get close to their destinations.

[0073] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An autonomous load conveying device based on a flying platform, characterized in that: The invention comprises a flying platform (1), a traction rope mechanism, a delivery robot (2), a robot transverse driving mechanism and a visual control system. The flying platform (1) is used to fly above a target location. The traction rope mechanism is arranged below the flying platform (1). The top of the delivery robot is connected to the end of the traction rope of the traction rope mechanism. When the traction rope of the traction rope mechanism is released, the delivery robot moves downward to approach the target. The visual control system takes a picture of the target at the bottom and controls the execution of the flying platform (1), the traction rope mechanism and the delivery robot (2) according to the target feature recognition result. The robot transverse driving mechanism is provided with four transverse driving components (3). The four transverse driving components (3) are respectively installed around the delivery robot (2) and drive the delivery robot (2) to move transversely under the control of the visual control system. An electric-controlled clamp (21) is arranged at the bottom of the delivery robot (2). The electric-controlled clamp (21) clamps the load to be delivered. When the center of the bottom of the delivery robot (2) is judged to be directly above the target by the visual control system, the electric-controlled clamp (21) is controlled to release the load to be delivered, or the electric-controlled clamp (21) is controlled to clamp the load to be collected. A robot warehouse (11) is provided at the bottom of the flying platform (1), and four vertical slide rails are arranged in the robot warehouse (11). The delivery robot (2) comprises an electric-controlled gripper (21) and a main housing (22). The main housing (22) is provided with card slots (221) on the four sides thereof. The card slots (221) on the four sides of the main housing (22) are respectively mounted on the four vertical slide rails. The housing of the electric-controlled gripper (21) is mounted at the bottom of the main housing (22), and the visual control system is control-connected to the electric-controlled gripper (21). The robot transverse drive mechanism comprises four transverse drive components (3) and four directional fine-tuning components (4); transverse drive installation positions are respectively arranged in the middle of the four sides of the main housing (22); directional fine-tuning installation positions are respectively arranged at the four corners; the four transverse drive components (3) are respectively installed at the transverse drive installation positions; the four directional fine-tuning components (4) are respectively installed at the transverse drive installation positions; and the visual control system is respectively connected to the four transverse drive components (3) and the four directional fine-tuning components (4); The robot transverse drive mechanism also includes a delivery posture stabilizing component, which includes a posture sensor (51) and four electric telescopic support legs (52). The four corners of the bottom of the main shell (22) are respectively provided with telescopic support leg installation cavities. The posture sensor (51) is installed in the main shell (22) for monitoring the posture of the delivery robot (2) and communicating with the visual control system. The four electric telescopic support legs (52) are respectively installed in the telescopic support leg installation cavities. The visual control system is control-connected with the four electric telescopic support legs (52). When visual monitoring detects that the straight-line distance between the bottom of the main shell (22) and the target is less than the telescopic travel of the electric telescopic support legs (52), the visual control system controls the four electric telescopic support legs (52) to extend.

2. The autonomous load conveying device based on a flying platform according to claim 1, characterized in that: The invention also comprises at least one pair of robot fixing devices, wherein the robot fixing devices comprise a pair of micro electric push rods (23), wherein the housings of the pair of micro electric push rods (23) are mounted on the inner side of the card slot (221), and a card slot gap is provided between the card slot (221) and the vertical slide rail, and when the piston rods of the pair of micro electric push rods (23) are extended, the delivery robot (2) is fixed in the robot bin (11).

3. The autonomous load conveying device based on a flying platform according to claim 1, characterized in that: The four lateral drive components (3) are respectively electrically controlled propellers, the four directional fine-tuning components (4) are respectively electric pump propellers, and the four electric telescopic support legs (52) are respectively electric push rods.

4. The autonomous load conveying device based on a flying platform according to claim 1, characterized in that: The traction rope mechanism comprises an electric winch (61), a traction rope (62) and a cable. The housing of the electric winch (61) is installed at the bottom of the flying platform (1) through a bracket and is located in the robot compartment (11). One end of the traction rope (62) is connected to the turntable of the electric winch (61), and the other end is connected to the center of the top surface of the main housing (22) of the delivery robot (2) through a hinge, so as to be used for traction connection with the delivery robot (2). One end of the cable passes through the turntable and is electrically connected to the flying platform (1), and the other end is electrically connected to the top of the delivery robot (2), so as to supply power to the delivery robot (2) and realize communication.

5. The autonomous load conveying device based on a flying platform according to claim 4, characterized in that: The visual control system comprises a first visual camera module (71), a second visual camera module (72), a third visual camera module (73), a visual analysis chip (74), a laser radar (75) and a control chip (76); the first visual camera module (71) is a visual component of the flight platform (1) and is used to capture visual images around the flight platform (1); the second visual camera module (72) is installed around the main housing (22) and is used to capture visual images around the delivery robot (2); the third visual camera module (73) is installed at the bottom of the main housing (22) to avoid the electric-controlled gripper (21) and is used to capture visual images around the delivery robot (2); The target visual picture is photographed downwards, the first visual camera module (71), the second visual camera module (72) and the third visual camera module (73) are respectively connected to the visual analysis chip (74) for communication, the visual analysis chip (74) is used to analyze the visual pictures photographed by the first visual camera module (71), the second visual camera module (72) and the third visual camera module (73), and transmit the analysis results to the control chip (76), the laser radar (75) is installed at the bottom of the main shell (22), is used to monitor the straight-line distance between the bottom surface of the main shell (22) and the surface where the target is located, and is connected to the control chip (76) for communication; The control chip (76) controls the action of the robot's lateral drive mechanism based on the results of visual image analysis captured by the second visual camera module (72) and the third visual camera module (73), thereby controlling the delivery robot (2) to move horizontally to directly above the target, and controlling the execution action of the electric-controlled gripper (21) to release or grab the load.

6. The autonomous load conveying device based on a flying platform according to claim 5, characterized in that: The visual analysis chip (74) and the control chip (76) are the visual chip and the main control chip provided by the flight platform (1).

7. The autonomous load conveying device based on a flying platform according to claim 6, characterized in that: The flying platform (1) is a quad-rotor drone.

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