Air-ground cooperative multi-rotor unmanned aerial vehicle automatic connection device and method

Abstract

The invention relates to an air-ground cooperative multi-rotor unmanned aerial vehicle automatic connection device and a connection method thereof. The accurate butt joint of an unmanned aerial vehicle and a ground connection system in a hovering state can be realized. The device comprises an unmanned aerial vehicle connection system frame, a set of unmanned aerial vehicle connection mechanical arm system composed of four mechanical arms, and four connection mechanical claw modules. The unmanned aerial vehicle hovers above the connection system through GNSS positioning and vision assistance, the connection device achieves accurate connection through a mechanical arm and vision assistance, and the operation efficiency and safety of the unmanned aerial vehicle are improved. The technology can be applied to the fields of logistics and the like, and the efficiency of the unmanned aerial vehicle in the automation process can be remarkably improved. The device and the method have the advantages of high efficiency, accuracy, simple and reliable structure, wide application and the like, so that the production cost and the operation difficulty are effectively reduced, high-efficiency and flexible deployment in a flexible scene is realized, large-scale application of the unmanned aerial vehicle is promoted, and green development is promoted.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an automatic docking device for an air-to-ground coordinated multi-rotor unmanned aerial vehicle and a docking method thereof. Background Art

[0002] With the rapid development of drone technology, drones are increasingly used in logistics distribution, emergency rescue, agricultural plant protection and other fields, and the degree of automation of drone operations is increasing. At the same time, ground operations of drones mainly rely on manual operations, which not only increases labor costs but also reduces operating efficiency. Therefore, it is of great practical significance to develop a device that can realize automatic docking of drones.

[0003] In the prior art, the workflow of automated drone swarms generally adopts the method of landing on a plane for docking. This method mainly has the following problems: the landing completion posture is uncertain, and secondary adjustment is required to continue the automated workflow, affecting the efficiency of the process operation; the system reliability is not high and is easily affected by external environmental interference; it relies heavily on manual operation and the degree of automation is not high, which affects the application efficiency of drones. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic docking device for an air-to-ground collaborative multi-rotor UAV and a docking method thereof, aiming to achieve precise docking of the UAV with a ground docking system in a hovering state, improve the docking efficiency and safety of the UAV, and promote the widespread application of UAVs in logistics, rescue, surveying and mapping and other fields.

[0005] To achieve the above object, the present invention provides the following solution: an automatic docking device for an air-to-ground cooperative multi-rotor UAV, comprising:

[0006] UAV docking system framework (100);

[0007] A drone docking robot arm system, the drone docking robot arm system is composed of four sets of identical robot arm systems (200-A) (200-B) (200-C) (200-D), and the drone docking robot arm system cooperates with the four sets of identical robot arm systems (200-A) (200-B) (200-C) (200-D) to move the robot claw module in the drone hovering state so that its position matches the target grasping position on the drone arm;

[0008] Four identical docking mechanical claw modules (207), the docking mechanical claw modules being connected to the mechanical claw joints (206) of the mechanical arm system, and the docking mechanical claw modules docking with the drone arm after the docking mechanical arm moves to a target position;

[0009] A drone (300) suitable for use with the device.

[0010] Preferably, the drone docking system frame (100) includes two longer profiles (103) (104) and two shorter profiles (105) (106), and the four profiles form a rectangle and are fixedly connected. The frame is also provided with two positioning identification marks (101) (102), which are fixedly connected to the two shorter profiles (105) (106) respectively, and are used as visual aids when the drone is hovering.

[0011] Preferably, each set of mechanical arms of the mechanical arm system includes: a mechanical arm rail (201), which is fixedly connected to the profile on the drone docking system frame (100); a mechanical arm slider (212), which can move relatively horizontally on the rail to achieve displacement in the X-axis direction and is controlled by a servo motor (208); a mechanical arm primary joint (202), which is connected to the mechanical arm slider (212) and whose angle is controlled by a servo motor (209); a mechanical arm primary (203); a mechanical arm secondary joint (204), whose angle is controlled by a servo motor (210); a mechanical arm secondary (205); a mechanical claw joint (206), whose angle is controlled by a servo motor (211); and a mechanical claw module (207). By controlling the angles of each joint of the mechanical arm and adjusting the Y-axis and Z-axis positions and angles of the mechanical claw module, accurate grasping of the drone arm can be achieved. The mechanical claw module (207) further comprises a mechanical claw body (207a), a visual assistance camera module (207b) and a rotating base (207c), wherein the rotating base realizes the rotational movement of the mechanical claw so that the angle of the mechanical claw matches the angle of the drone arm. The visual assistance camera module (207b) is used to provide visual assistance during the grasping process.

[0012] Preferably, the drone (300) suitable for the device has auxiliary images (301) fixedly connected to its four arms, with the front facing the ground. When the mechanical claw module grasps the drone arm, the auxiliary images (301) provide visual auxiliary information for the mechanical claw.

[0013] An automatic docking method for an air-to-ground cooperative multi-rotor UAV, based on the automatic docking device for an air-to-ground cooperative multi-rotor UAV, the method includes a UAV docking scene and a UAV release scene;

[0014] The drone response scenario stage includes:

[0015] Preparation stage: The docking device body is ready, the robotic arm system adjusts its posture, and the robotic claw is lowered to the lowest height;

[0016] UAV positioning: The UAV reaches the approximate position above the docking device through the global navigation satellite system (GNSS), and uses the onboard camera module to identify the positioning identification mark (101)(102) on the docking device to achieve accurate positioning;

[0017] Drone hovering: The drone lowers its altitude and, with the assistance of positioning identification marks, hovers within the range of the mechanical claw;

[0018] Robotic arm docking: The four robotic arm systems of the docking device begin to lift up and lift the robotic claw module (207) to the approximate position;

[0019] The visual auxiliary camera module (207b) of the mechanical gripper module accurately locates the target grasping position on the drone arm with the assistance of the drone auxiliary image (301);

[0020] Complete the grabbing: The four mechanical claws move to the accurate target position respectively, the robotic arm system is further lifted, and the mechanical claws close when they touch the drone arm, completing the docking work;

[0021] Drone Propeller Stop: The drone turns off power and the robotic arm system can move the drone.

[0022] The drone launch scenario stage includes:

[0023] Prepare for takeoff: The robotic arm system of the docking device is raised, and the robotic claw module (207) and the fixed drone arm are raised to the takeoff height;

[0024] Drone start: The drone power system starts to obtain sufficient lift.

[0025] Release the fixation: The mechanical claw opens after the UAV obtains the target lift, and the robotic arm system immediately descends to complete the autonomous takeoff of the UAV and prepare for the next docking.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] Efficient and accurate docking: Through the collaboration of the robotic arm system and visual assistance, the UAV can be accurately docked in a hovering state, improving docking efficiency and safety;

[0028] Simple and reliable structure: The device structure is simple in design, and each part of the device has low requirements for processing and assembly accuracy, which reduces production difficulty and cost;

[0029] Wide application: It is suitable for multiple fields such as logistics delivery and emergency rescue. It can meet the needs of drone docking in multiple scenarios. It cooperates with the automated workflow of drones to promote the large-scale application of drones and achieve cost reduction, efficiency improvement and green development. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is an overall schematic diagram of the device of the present invention;

[0031] Figure 2 It is a schematic diagram of the automatic docking device of the present invention;

[0032] Figure 3 This is a schematic diagram of the mechanical claw module of the present invention;

[0033] Figure 4 This is a schematic diagram of the mechanical claw module and the drone arm of the present invention;

[0034] Figure 5 A schematic diagram of a preparatory state of the robot arm system of the present invention;

[0034] Figure 6 is a schematic diagram of the docking state of the robot arm system of the present invention;

[0035] Among them, 100 is the framework of the UAV docking system; 101, 102 are positioning identification marks; 103, 104, 105, 106 are frame profiles; 200-A, 200-B, 200-C, 200-D are robotic arm systems; 201 is the robotic arm guide rail; 202 is the first-level joint of the robotic arm; 203 is the first-level robotic arm; 204 is the second-level joint of the robotic arm; 205 is the second-level robotic arm; 206 is the mechanical claw joint; 207 is the mechanical claw module; 207a is the mechanical claw body; 207b is the visual auxiliary camera module; 207c is the mechanical claw rotating base; 208, 209, 210, 211, 212 are servo motors; 300 is the UAV; 301 is the UAV auxiliary image identification. DETAILED DESCRIPTION

[0036] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. Obviously, the specific implementation described here is only used to illustrate and explain a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0037] Reference Figure 1 As shown, the drone docking system frame (100) is formed into a rectangular frame by four profiles, including two longer profiles (103) (104) and two shorter profiles (105) (106) forming a rectangle, and the rectangle is fixedly connected at four corners.

[0038] Reference Figure 1 As shown, the frame is provided with positioning identification marks (101) (102), which are respectively fixed on two shorter profiles and are provided with QR code identification marks.

[0039] Reference Figure 1 As shown, there are four sets of robot arm systems (200-A) (200-B) (200-C) (200-D), which are respectively installed at the four corners of the frame. The guide rails (201) of each robot arm system are fixed on the two longer profiles.

[0040] Reference Figure 2 The robot arm slider (212) shown can move horizontally on the robot arm guide rail (201) to achieve displacement of the robot arm system in the X-axis direction, and is driven by a servo motor (208). The robot arm primary joint (202) is connected to the robot arm slider (212), and its rotation angle is controlled by a servo motor (209) to achieve movement in the YZ plane. The robot arm primary (203) is connected to the primary joint (202) and the secondary joint (204). The robot arm secondary joint (204) is controlled by a servo motor (210) to adjust the posture of the robot arm secondary (205). The robot arm secondary (205) is connected to the secondary joint (204) and the mechanical claw joint (206). The mechanical claw joint (206) is controlled by a servo motor (211) to rotate at an angle and is connected to the mechanical claw module (207).

[0041] Reference Figure 3 and Figure 4 The mechanical claw module (207) shown includes: a mechanical claw body (207a) for grasping the arm of the drone (300). A visual auxiliary camera module (207b) is installed on the mechanical claw body (207a) for identifying the auxiliary image (301) on the drone arm to provide accurate positioning information. A rotating base (207c) connects the mechanical claw joint (206) and the mechanical claw body (207a) to allow the mechanical claw to rotate in a horizontal plane to adapt to the angle of the drone arm. The drone (300) is suitable for the multi-rotor drone of the present invention, and its four arms are respectively installed with auxiliary images (301) for providing visual auxiliary information during the docking process. A camera module (302) is installed on one pair of arms for realizing the hovering of the drone during the docking process.

[0042] The drone docking phase includes:

[0043] Preparation stage: When the grabbing operation starts, the docking device is started, the robotic arm system is in the initial position, and the mechanical claw module (207) is lowered to the lowest height to wait for the drone. Drone in position: The drone flies to the top of the docking device through GPS and other navigation systems. When approaching the docking area, the drone uses the onboard camera to identify the positioning identification mark (101) (102) on the docking device, performs precise positioning and posture adjustment, and hovers at an appropriate position above the docking device to ensure that it is within the working range of the robotic arm system. Robotic arm docking: The four sets of robotic arm systems (200-A) (200-B) (200-C) (200-D) start working after the drone is in place. The servo motors (208) (209) (210) (211) are coordinated to control the mechanical claw module (207) to move along the three directions of X, Y, and Z, and adjust the angle of the mechanical claw. The camera module (207b) on the mechanical claw module identifies the auxiliary image (301) on the drone arm, and corrects the position and posture of each mechanical claw in real time to ensure relative stillness with the drone arm. Grasping is completed: When the mechanical claw module (207) reaches the predetermined position, the mechanical claw body (207a) closes and firmly grasps the arm of the drone. At this time, the four mechanical arm systems jointly support the weight of the drone. Drone propeller stop: The drone shuts down the power system and the propeller stops rotating. The mechanical arm system can smoothly move the drone to the designated position to complete the docking process.

[0044] The drone takeoff phase includes:

[0045] Prepare for takeoff: The mechanical arm system is raised to lift the mechanical claw module (207) that fixes the drone arm to the takeoff height. Start the power motor: The drone starts the power system, and the propeller begins to rotate to generate lift. Release the fixation: When the drone generates enough lift, the mechanical claw body (207a) opens to release the drone arm. The mechanical arm system descends rapidly to avoid interference with the drone. Drone takes off: The drone autonomously flies away from the docking device.

[0046] In the description of the present invention, it is necessary to understand that the terms "X-axis", "Y-axis", "Z-axis", "horizontal", "vertical", "up", "down", "front", "back", "left", "right", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An automatic docking device for air-to-ground cooperative multi-rotor drones, characterized in that: include: UAV docking system framework (100); A drone docking robot arm system, the drone docking robot arm system is composed of four sets of identical robot arm systems (200-A) (200-B) (200-C) (200-D), and the drone docking robot arm system cooperates with the four sets of identical robot arm systems (200-A) (200-B) (200-C) (200-D) to move the robot claw module in the drone hovering state so that its position matches the target grasping position on the drone arm; Four identical docking mechanical claw modules (207), the docking mechanical claw modules being connected to the mechanical claw joints (206) of the mechanical arm system, and the docking mechanical claw modules docking with the drone arm after the docking mechanical arm moves to a target position; A drone (300) suitable for use with the device.

2. The automatic docking device for multi-rotor drones with air-to-ground coordination according to claim 1 is characterized in that: The drone docking system framework (100) includes: two longer profiles (103) (104), two shorter profiles (105) (106), and a positioning identification mark (101) (102).

3. The automatic docking device for multi-rotor drones with air-to-ground coordination according to claim 2 is characterized in that: The two longer profiles (103) (104) and the two shorter profiles (105) (106) enclose a rectangle and are fixedly connected.

4. The automatic docking device for multi-rotor drones with air-to-ground coordination according to claim 2 is characterized in that: The two positioning identification marks (101) (102) are respectively fixedly connected to two shorter profiles (105) (106) of the docking system frame (100) and are used as visual assistance for the hovering of the drone.

5. The automatic docking device for multi-rotor drones with air-to-ground coordination according to claim 1 is characterized in that: In the four sets of identical robotic arms (200-A) (200-B) (200-C) (200-D), each set of robotic arms includes: a robotic arm guide rail (201), a robotic arm slider (212), a robotic arm primary joint (202), a robotic arm primary (203), a robotic arm secondary joint (204), a robotic arm secondary (205), a robotic claw joint (206), a robotic claw module (207), a servo motor (208), a servo motor (209), a servo motor (210), and a servo motor (211).

6. The automatic docking device for multi-rotor drones with air-to-ground coordination according to claim 1 is characterized in that: The drone docking mechanical arm system is composed of four sets of identical mechanical arm systems, and the guide rails (201-A) (201-B) (201-C) (201-D) of the four sets of identical mechanical arms are respectively fixedly connected to two longer profiles (103) (104) on the frame of the drone docking system. Specifically, the two guide rails (201) respectively configured in the mechanical arms (200-A) and the mechanical arms (200-B) in the four sets of identical mechanical arms are fixedly connected to the profile (103), and the two guide rails (201) respectively configured in the mechanical arms (200-C) and the mechanical arms (200-D) in the four sets of identical mechanical arms are fixedly connected to the profile (104).

7. The automatic docking device for multi-rotor drones in air-to-ground coordination according to claim 5 is characterized in that: In the four sets of identical mechanical arms, the servo motor (208) controls the mechanical arm slider (212) to achieve relative horizontal movement on the guide rail (201), that is, movement on the X-axis.

8. The automatic docking device for multi-rotor drones in air-to-ground coordination according to claim 5 is characterized in that: In the four sets of identical robotic arms, the robotic arm slider (212) is fixedly connected to the robotic arm primary joint (202).

9. The automatic docking device for multi-rotor drones in air-to-ground coordination according to claim 5 is characterized in that: In the four sets of identical robotic arms, the servo motor (209) controls the angle of the primary joint (202) of the robotic arm, the servo motor (210) controls the angle of the secondary joint (204) of the robotic arm, and the servo motor (211) controls the angle of the mechanical claw joint (206). The Y-axis and Z-axis positions and angles of the mechanical claw module are adjusted by controlling the angles of the three robotic arm joints.

10. The automatic docking device for multi-rotor drones in air-to-ground coordination according to claim 5, characterized in that: In the four sets of identical robotic arms, the robotic claw module (207) includes: a robotic claw body (207a), a visual auxiliary camera module (207b), and a rotating base (207c).

11. The automatic docking device for multi-rotor drones in air-to-ground coordination according to claim 10, characterized in that: The mechanical claw module rotating base (207c) in the four sets of identical mechanical arms realizes the rotational movement of the mechanical claw, so that the angle of the mechanical claw matches the angle of the drone arm.

12. The air-to-ground coordinated multi-rotor UAV automatic docking device according to claim 10, characterized in that: The mechanical claw module visual auxiliary camera module (207b) in the four sets of identical mechanical arms is fixedly connected to the mechanical claw body.

13. The automatic docking device for multi-rotor drones in air-to-ground coordination according to claim 1 is characterized in that: On the drone (300) suitable for this device, there are four auxiliary images (301) respectively fixedly connected to the four arms of the drone, with the front of the auxiliary images facing the ground, providing visual assistance to the mechanical claw when the mechanical claw module grasps the drone arm.

14. An automatic docking method for multi-rotor drones in air-ground coordination, characterized in that: The device used for assembling using any one of claims 1 to 14 above, in the scenario of drone reception, comprises the following steps: A1. Before starting the docking task, the device body completes preparation. Specifically, the UAV docking mechanical arm system adjusts its posture to lower the mechanical claw to the lowest height; A2, the UAV reaches the approximate position above the multi-rotor UAV automatic docking device through the global navigation satellite system (GNSS), identifies the positioning identification mark (101) (102) on the multi-rotor UAV automatic docking device through the airborne camera module of the UAV, and realizes positioning with the help of the mark; A3, the drone lowers its altitude and hovers within the range of the mechanical claw with the assistance of the positioning identification mark (101) (102) of the multi-rotor drone automatic docking device; A4. The four mechanical arm systems of the multi-rotor UAV automatic docking device begin to lift up, and lift the four mechanical claw modules (207) to a rough position. The visual auxiliary camera modules (207b) of the four mechanical claw modules respectively locate the target grasping positions on the four UAV arms with the assistance of the auxiliary image (301) on the UAV. A5. The four mechanical claws are moved to their accurate target positions respectively, the four sets of mechanical arm systems are lifted respectively, and the mechanical claws are closed when they touch the drone arms, completing the docking work; A6. The propellers of the drone are stopped, and the robotic arm system can move the drone.

15. An automatic docking method for multi-rotor drones in air-ground coordination, characterized in that: The device used for assembling using any one of claims 1 to 14 above, in the scenario of a drone taking off, comprises the following steps: B1. The four mechanical arm systems of the multi-rotor drone automatic docking device begin to lift, and lift the four mechanical claw modules (207) and the drone arms they are fixed to a rough position; B2. The UAV power motor is started, and the mechanical claw is opened after the UAV obtains the target lift. At the same time, the mechanical arm system immediately descends to complete the release work and prepare for the next docking work.

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