Unmanned aerial vehicle-based material transportation loading and unloading device and method

Abstract

The application discloses a kind of based on unmanned aerial vehicle's material transport loading and unloading device and method, the device includes flight platform, feeding module, unloading control module and positioning guide module.Feeding module is vertically through setting along the central axis of flight platform, include hopper feed inlet, material bin and unloading interface;Unloading control module includes electric control switch valve and flexible material guide pipe;Positioning guide module is used to obtain the position deviation of unmanned aerial vehicle and target point and generate control signal.Flight control system adjusts the position of unmanned aerial vehicle based on signal and controls unloading.The method includes loading material, planning route, accurate positioning, delivery operation and termination of return step.The application avoids material blockage through integrated feeding design, combined with high-precision positioning and dynamic attitude adjustment technology, realizes the accurate, efficient, automated delivery of power infrastructure materials in complex environment, solves the problems of low efficiency, high cost and insufficient delivery precision of traditional transportation mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of equipment installed in or on an aircraft, and in particular to a UAV-based material loading and unloading device and method. BACKGROUND

[0002] In the construction and maintenance process of power engineering, a large amount of granular infrastructure materials (such as sand, gravel, etc.) need to be transported to remote mountainous areas, high mountains, large ridges or disaster-damaged areas. At present, the traditional transportation mode is mainly land transportation, but due to the poor road conditions and difficult access in complex terrain, it not only takes a long time to transport, but also requires a large amount of manpower and material resources, which is difficult to meet the timeliness requirements in emergency repair and other scenarios.

[0003] Although the existing general-purpose UAV can be used for short-distance transportation, it still has many adaptability defects. Firstly, the material container is usually a common box structure, which is easy to cause the accumulation and blockage of granular materials, and cannot realize continuous and controllable unloading. Secondly, there is a lack of special guiding and positioning device, and high-altitude wind interference can easily cause the scattering and deviation of materials, which seriously affects the construction progress and quality. Thirdly, it is difficult to clean the residual materials in the cargo hold, and the automatic degree is low under the mode of suspended transportation, which requires frequent manual intervention. Fourthly, the loading efficiency is low, and it cannot match the batch feeding demand of industrial-level feeding equipment. Fifthly, the equipment maintenance process is complex, and the response is slow after the failure of key components, which further affects the continuity of operation.

[0004] In summary, the existing technology cannot meet the needs of the power industry for continuous and stable, automated and precise delivery of granular infrastructure materials, and it is urgent to develop a UAV-based material loading and unloading device and method. SUMMARY

[0005] The purpose of the present application is to provide a UAV-based material loading and unloading device and method, which aims to solve the technical problems of high cost and long cycle of traditional land transportation, as well as material blockage, low unloading precision, low automation degree and complex maintenance of general-purpose UAVs in the prior art.

[0006] In order to solve the above problems, according to one aspect of the present application, a UAV-based material loading and unloading device is provided, which comprises a flight platform, a feeding module, an unloading control module and a positioning and guiding module.

[0007] The feeding module is arranged along the vertical center axis of the flight platform, and comprises a hopper inlet, a material bin and an unloading interface arranged coaxially from top to bottom;

[0008] The unloading control module is installed below the unloading interface, and comprises an electrically controlled on-off valve and a flexible material guide pipe. The inlet of the electrically controlled on-off valve is in sealed connection with the unloading interface, and the outlet is connected with the top end of the flexible material guide pipe.

[0009] The positioning guide module is configured to obtain deviation of real-time position of the UAV from the target delivery point and generate a control signal.

[0010] The flight control system of the flight platform is in communication connection with the positioning guide module and the electrically-controlled on-off valve, and is configured to adjust the hovering position of the UAV and trigger the electrically-controlled on-off valve to open when the delivery condition is met based on the control signal.

[0011] In some embodiments, the funnel feeding port and the material bin are integrally formed into an inverted prism or a conical structure, and the angle between the side wall and the horizontal plane is greater than the repose angle of the installed infrastructure material.

[0012] In some embodiments, the opening of the funnel feeding port is circular, and the diameter ranges from 50 cm to 65 cm.

[0013] In some embodiments, the flight platform includes a central cabin, a plurality of power arms symmetrically distributed around the central cabin, and a power unit arranged at the end of each power arm.

[0014] The feeding module is fixedly installed in the central cabin.

[0015] The projections of the plurality of power arms on the horizontal plane are uniformly distributed, and each power unit includes two groups of coaxially arranged rotors.

[0016] In some embodiments, the bottom of the central cabin is provided with a quick-release connection mechanism for detachable connection with the unloading control module.

[0017] The quick-release connection mechanism includes an annular guide rail, a rotating locking ring, and at least three circumferentially distributed buckles.

[0018] The top of the electrically-controlled on-off valve is provided with a connecting flange matched with the annular guide rail, and the buckles are driven to lock or release the connecting flange by rotating the rotating locking ring.

[0019] In some embodiments, the flexible material guide pipe is a corrugated pipe with a smooth inner surface, and its length is replaceable. The bottom end of the flexible material guide pipe is provided with a gravity guide nozzle made of wear-resistant material, and the center of gravity of the gravity guide nozzle is biased downward to keep it vertically hanging during delivery.

[0020] The bottom of the central cabin is provided with at least three winding devices uniformly distributed in the circumferential direction. The traction ropes wound around the at least three winding devices are connected to the gravity guide nozzle, and the connection points are uniformly distributed in the circumferential direction.

[0021] The corrugated pipe is provided with a plurality of ring groups in axial direction, each ring group comprising at least three rings uniformly distributed in circumferential direction on the outer wall of the corrugated pipe, and the traction ropes of the at least three winding devices are respectively arranged in the at least three rings of each ring group.

[0022] In some embodiments, the positioning guide module comprises an RTK positioning unit, a visual recognition unit and a laser ranging unit.

[0023] The RTK positioning unit is used to obtain the centimeter-level absolute position of the unmanned aerial vehicle.

[0024] The visual recognition unit is used to recognize the preset ground markers to correct the absolute position error.

[0025] The laser ranging unit is used to measure the distance from the unmanned aerial vehicle to the ground, and in combination with the length of the flexible material guide pipe, to determine the starting and stopping time of the delivery.

[0026] The embodiment of the present application also provides a method for using the unmanned aerial vehicle-based material transportation and unloading device as described above, comprising the following steps:

[0027] S1: loading material, loading granular infrastructure material into the material bin through the hopper inlet;

[0028] S2: planning a route, controlling the flight platform to fly over the target delivery point;

[0029] S3: accurate positioning, obtaining the real-time deviation of the unmanned aerial vehicle and the target delivery point by the positioning guide module, and adjusting the position of the unmanned aerial vehicle by the flight control system until the deviation is less than a preset threshold;

[0030] S4: delivery operation, the flight control system triggers the electrically controlled on-off valve to open, and the material falls to the target point through the flexible material guide pipe under the action of gravity;

[0031] S5: termination of return, when it is monitored that the material is unloaded or the delivery amount is reached, the electrically controlled on-off valve is closed, and the unmanned aerial vehicle is controlled to return.

[0032] In some embodiments, in step S4, the flight control system dynamically fine-tunes the hovering position of the unmanned aerial vehicle during the delivery process by continuously receiving the data of the positioning guide module to compensate for the changes in the center of gravity of the unmanned aerial vehicle and the position deviation caused by the reduction of the material and / or wind disturbance.

[0033] In some embodiments, in step S1, the flight control system monitors the total gravity and the center of gravity position of the unmanned aerial vehicle after loading in real time, and compares them with a preset safety envelope, and if they are out of limits, an alarm is issued and takeoff is limited.

[0034] Compared with the prior art, the unmanned aerial vehicle-based material transportation and unloading device has at least the following beneficial effects:

[0035] Through the supply module is arranged along the vertical central axis of the flight platform through, and the combination of funnel-shaped feed port and material bin integrated design, effectively avoid the material accumulation blockage, improve the smoothness of material flow and unloading efficiency, at the same time ensure the center of gravity stability based on unmanned aerial vehicle material handling during flight;

[0036] The unloading control mode of the combination of electric control switch valve and flexible guide pipe is adopted, the precise start and stop and guidance of the unloading process are realized, the leakage and drift of the material in the transportation process are avoided, and the delivery precision and reliability are improved;

[0037] The positioning guide module integrates RTK, visual recognition and laser ranging sensors, realizes the centimeter level accurate positioning and delivery control of unmanned aerial vehicle in complex environment, and significantly improves the alignment accuracy of target delivery point;

[0038] The flight platform adopts multi-rotor symmetrical layout and central cabin structure, which enhances the flight stability and wind resistance, and is suitable for complex operation environment such as mountainous area and high altitude;

[0039] The design of quick release connection mechanism makes the unloading control module can be quickly replaced and maintained, which greatly reduces the equipment maintenance difficulty and time cost in field operation;

[0040] The flight control system has the functions of real-time center of gravity monitoring and dynamic fine adjustment, which can automatically compensate the position deviation caused by material reduction or wind disturbance during delivery, further ensuring the accuracy and safety of delivery.

[0041] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, and can be implemented according to the content of the description, the following will be described in detail with the preferred embodiment of the present application and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical scheme of the embodiment of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description, obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0043] Fig. 1 It is a structural schematic view of the unmanned aerial vehicle based material handling device of the present application;

[0044] Fig. 2 It is another perspective structural schematic view of the unmanned aerial vehicle based material handling device of the present application.

[0045] Explanation of reference signs:

[0046] 1, central cabin; 2, power arm; 3, rotor; 4, funnel feeding port; 5, material bin; 6, unloading control module; 7, flexible material guide pipe; 8, power unit. DETAILED DESCRIPTION

[0047] In order to further clarify the technical means and effects of the present application for achieving the intended purpose, the following will describe in detail the specific embodiments, structures, features and effects according to the present application with reference to the accompanying drawings and preferred embodiments. In the following description, different "an embodiment" or "embodiments" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0048] In the description of the present application, it should be clear that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence; the terms "vertical", "horizontal", "longitudinal", "front", "back", "left", "right", "up", "down", "horizontal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not mean that the device or element referred to must have a particular orientation or position, therefore cannot be understood as a limitation on the present application.

[0049] In the description of the present application, it should be noted that unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] As shown in Figs. 1-2 The present application provides a material loading and unloading device based on unmanned aerial vehicle, comprising: a flight platform, a feeding module, an unloading control module 6 and a positioning guide module;

[0051] The feeding module is disposed along the vertical center axis of the flight platform, comprising a funnel feeding port 4, a material bin 5 and an unloading interface disposed coaxially from top to bottom;

[0052] The unloading control module 6 is installed below the unloading interface, comprising an electrically controlled on-off valve and a flexible material guide pipe 7, the inlet of the electrically controlled on-off valve is sealingly connected with the unloading interface, and the outlet is connected with the top end of the flexible material guide pipe 7;

[0053] The positioning guide module is configured to obtain deviation of real-time position of the unmanned aerial vehicle from the target delivery point and generate a control signal.

[0054] The flight control system of the flight platform is in communication connection with the positioning guide module and the electrically-controlled on-off valve, and is configured to adjust the hovering position of the unmanned aerial vehicle and trigger the electrically-controlled on-off valve to open when the delivery condition is met based on the control signal.

[0055] In the actual operation of the material transport and unloading device based on the unmanned aerial vehicle, the granular power infrastructure materials are first loaded into the material bin 5 through the funnel feeding port 4, and the feeding module is arranged along the vertical central axis of the flight platform. This layout can keep the system gravity near the central axis during the material loading process, effectively avoiding the attitude instability of the flight platform due to gravity deviation. Then, the flight platform flies to the target delivery point according to the preset route, and the positioning guide module continuously obtains the deviation of the real-time position of the unmanned aerial vehicle from the target delivery point during the flight, and converts the deviation information into a control signal and transmits it to the flight control system of the flight platform. The flight control system adjusts the hovering position of the flight platform in real time according to the control signal, until the unmanned aerial vehicle accurately arrives above the target delivery point, and the position deviation meets the delivery requirements. At this time, the flight control system triggers the unloading control module 6 to act, so that the electrically-controlled on-off valve is opened, and the materials in the material bin 5 fall into the flexible material guide pipe 7 under the action of gravity, and finally fall smoothly to the target delivery point. When the material delivery is completed or reaches the preset delivery amount, the flight control system controls the electrically-controlled on-off valve to close, and the flight platform immediately executes the homing program and returns to the take-off point for the next operation.

[0056] In this scheme, the through-type coaxial design of the feeding module in combination with the communication structure of the funnel feeding port 4 and the material bin 5 can greatly reduce the probability of material accumulation and blockage, ensuring smooth material flow; the electrically-controlled on-off valve of the unloading control module 6 can realize precise start and stop of the unloading process, avoiding material leakage during transportation or misoperation during delivery; the flexible material guide pipe 7 can buffer the impact force when the material falls, and can also be replaced in length according to the height of the target delivery point; the linkage of the positioning guide module and the flight control system solves the problem of low unloading precision of traditional unmanned aerial vehicles, and can efficiently complete material transportation even in complex terrain such as remote mountainous areas, high mountains and large ridges in power engineering construction or emergency repair scenes, significantly shortening the transportation period and reducing the transportation cost compared with the traditional land transportation mode.

[0057] The material flow state auxiliary device is arranged inside the feeding module to perform micro-vibration or airflow disturbance on the material during the unloading process to prevent the material from bridging or blocking in the bin. The material flow state auxiliary device solves the core problem of the "bridging" or "mouse hole" phenomenon of granular materials in the bin due to static friction, moisture or static electricity. It is a controlled subsystem.

[0058] A high-frequency electromagnetic vibrator can be installed on the outer wall of the conical section of the material bin 5. The vibrator is driven by the flight control system, and the working frequency can be adjusted (for example, 100-250 Hz), and the amplitude is small (0.1-0.5 mm). This high-frequency micro-vibration can effectively transmit to the inside of the material, destroy the adsorption force between the particles, restore the flowability, and at the same time avoid the influence of violent vibration on the flight stability of the unmanned aerial vehicle.

[0059] A ring-shaped "micro-porous air cushion" can also be provided around the discharge interface at the bottom of the material bin 5. The air cushion is connected to the micro air compressor or air pump on board through a pipeline. During discharge, the flight control system controls the electromagnetic valve to pulse or continuously introduce low-pressure air into the air cushion, and the air flow seeps out of the micro-pores to form an "air film" at the bottom of the material, greatly reducing the frictional resistance of the material sliding down, achieving a similar effect to a fluidized bed.

[0060] The flight control system can select the working mode according to the pre-set material type (such as sand, gravel), and based on the feedback of the discharge rate sensor (such as the weight or photoelectric sensor installed on the material guide pipe), intelligently start and stop and adjust the device power, achieving on-demand, energy-saving fluidization assistance.

[0061] In some embodiments, the funnel inlet 4 and the material bin 5 are integrally formed into an inverted prism or conical structure, and the angle between the side wall and the horizontal plane is greater than the angle of repose of the construction material installed.

[0062] In this embodiment, during the loading material stage, after the granular construction material is poured into the funnel inlet 4, due to the integrally formed inverted prism or conical structure of the funnel inlet 4 and the material bin 5, and the angle between the side wall and the horizontal plane is greater than the angle of repose of the construction material, the material will not accumulate on the side wall surface, but will automatically slide to the discharge interface direction by its own gravity until the material bin 5 is filled, the entire process does not require manual assistance for compaction, and there will be no residual material left in the bin. During flight transportation, the integrally formed structure design enhances the overall strength and sealing performance of the material supply module, even if the flight platform encounters slight vibration, the connection between the funnel inlet 4 and the material bin 5 will not loosen, effectively reducing the risk of material leakage. After entering the discharge link, the material in the bin can continuously and smoothly pass through the discharge interface into the discharge control module 6, without the need for workers to clean the residual material in the bin after discharge, greatly saving the operation time.

[0063] The structural design not only improves the structural stability and sealing performance of the feeding module, solves the problem of easy loosening and material leakage of the traditional split structure, but also fundamentally eliminates the hidden danger of material accumulation and blockage. Compared with ordinary box-type material containers, the net unloading rate can reach more than 98%, greatly reducing the cost of manual cleaning, while ensuring continuous and controllable unloading process, and not affecting the construction progress and quality of power engineering due to material blockage or residue. It perfectly adapts to the particle characteristics of power infrastructure materials, further improves the loading and unloading efficiency.

[0064] The inner wall of the material bin 5 is coated with a wear-resistant and anti-sticking coating, further reducing the risk of material adhesion.

[0065] Ultra-high molecular weight polyethylene (UHMWPE) coating, polytetrafluoroethylene (PTFE) non-stick coating, or ceramic composite coating can be used. These materials have the common characteristics of low surface energy, low friction coefficient, and high wear resistance.

[0066] Low surface energy makes it difficult for wet or small material particles to adhere; low friction coefficient ensures smooth material sliding; high wear resistance ensures that the coating remains effective under long-term abrasion, extending the service life of the feeding module. The coating works together with the fluidization auxiliary device from two aspects of passive prevention of adhesion and active destruction of adhesion, to ensure nearly 100% net unloading rate of the material bin 5.

[0067] In some embodiments, the opening of the funnel feeding port 4 is circular, with a diameter ranging from 50 cm to 65 cm.

[0068] When performing material loading operations, the funnel feeding port 4 uses a circular opening with a diameter of 50 cm to 65 cm. This size can directly and accurately interface with the hopper of an industrial-grade feeding device, and the operator does not need to frequently adjust the position of the feeding device. They only need to align the discharge end of the feeding device with the funnel feeding port 4 to achieve batch loading of granular infrastructure materials. The uniform stress of the circular opening can avoid the situation of material jamming and accumulation at the opening edge, ensuring that the material continuously and quickly enters the material bin 5. For example, when using a standardized hopper to pour material into the funnel feeding port 4, the large-diameter opening can accommodate more material entering at the same time, reducing the number of round trips of the feeding device during single loading, and cooperating with the coaxial design of the feeding module to further speed up the loading speed.

[0069] The opening size design can shorten the single loading time to 1 / 3 of the traditional model, support connection with the automatic assembly line, and fully adapt to the transportation needs of large infrastructure materials in power engineering. The structure of the circular opening not only ensures the structural strength of the opening, but also improves the material flowability, can be compatible with various types of industrial-grade feeding equipment, enhances the versatility of the system, reduces the difficulty of equipment adaptation during field operation, especially in power emergency repair scenes, can quickly complete material loading, and saves valuable time for repair operations.

[0070] The opening edge is provided with a quick docking flange for sealed docking with external feeding equipment to support automatic continuous feeding.

[0071] The quick docking flange can be a standardized annular flange or a clamp type structure with a sealing ring (such as an O-shaped rubber ring). Its size (such as diameter) can match the standard discharge port of engineering machinery (such as loaders, concrete mixers).

[0072] Workflow: During loading, only the discharge port of the external feeding equipment needs to be lowered and roughly aligned with the flange, and through the guide structure (such as a conical port) of the flange, self-centering and sealed connection can be achieved. This can effectively prevent dust from escaping during loading and achieve rapid and large-scale automated filling, reducing single loading time to minutes to meet the needs of industrial continuous operation.

[0073] In some embodiments, the flight platform includes a central cabin 1, a plurality of power arms 2 symmetrically distributed around the central cabin 1, and a power unit 8 arranged at the end of each power arm 2;

[0074] The feeding module is fixedly installed in the central cabin 1;

[0075] The projections of the plurality of power arms 2 on the horizontal plane are uniformly distributed, and each power unit 8 includes two groups of coaxially arranged rotors 3.

[0076] After the flight platform is started, the two groups of rotors 3 arranged coaxially on each power unit 8 rotate synchronously to generate upward lift. Since the plurality of power arms 2 are symmetrically distributed around the central cabin 1 and the projections on the horizontal plane are uniform, the lift generated by each group of power units 8 can uniformly act on the central cabin 1, ensuring that the flight platform takes off smoothly. The feeding module is fixedly installed inside the central cabin 1. This layout makes the feeding module coincide with the center of gravity of the flight platform, avoiding attitude loss of control of the flight platform due to deviation of the center of gravity during flight. If a side wind disturbance is encountered during flight, the flight control system can adjust the rotation speed of the rotors 3 of different power units 8 in real time, and the adjustment force is uniformly transmitted to the central cabin 1 through the symmetric distribution of the power arms 2, so as to quickly correct the flight attitude and maintain a stable flight state; during the process of going to the target delivery point, balanced power distribution can also reduce flight energy consumption, prolong the endurance time of the flight platform, and meet the long-distance transportation demand.

[0077] The symmetrically distributed power arms 2 and power units 8, in combination with the two groups of coaxially arranged rotors 3 above and below, significantly improve the anti-side wind capability of the flight platform, and the flight platform can still operate stably even in a wind speed environment below 7 levels, solving the problem of difficult control of the attitude of the traditional suspension transport unmanned aerial vehicle. The fixing effect of the central cabin 1 on the feeding module ensures the stability of the overall center of gravity of the system, avoids flight imbalance, and improves flight safety. The design of multiple power units 8 can provide sufficient power to meet the heavy-load transportation demand of electric power infrastructure materials, and the power distribution is flexible, which can cope with complex flight environments, providing a stable flight basis for subsequent precise delivery.

[0078] The flight control system also has a wind disturbance adaptive control algorithm, which can dynamically adjust the power distribution according to the real-time wind conditions to maintain hovering stability.

[0079] Specifically, the extended Kalman filter (EKF) or disturbance observer (DOB) built in the flight control system can fuse real-time data from IMU (inertial measurement unit), airspeed meter, GPS, etc. to estimate the size and direction of the wind disturbance acting on the unmanned aerial vehicle body.

[0080] Based on the estimated wind disturbance information, the algorithm no longer performs traditional passive feedback control, but performs feedforward compensation control. That is, the compensation torque required by the wind disturbance is calculated in advance, and the rotation speed of each power unit 8 is dynamically distributed to generate additional force / torque to resist the wind disturbance, thereby greatly enhancing the anti-wind disturbance capability and position keeping precision during hovering and flight, and providing important stability guarantee for precise delivery.

[0081] In some embodiments, the bottom of the central cabin 1 is provided with a quick-release connection mechanism for detachable connection with the unloading control module 6;

[0082] The quick-release connection mechanism includes an annular guide rail, a rotating locking ring, and at least three circumferentially distributed buckles.

[0083] The top of the electric control switch valve is provided with a connecting flange matched with the annular guide rail, and the connecting flange is driven by rotating the rotating locking ring to be locked or released by the buckle.

[0084] When the discharge control module 6 is installed, first, the connecting flange at the top of the electric control switch valve matched with the annular guide rail at the bottom of the central cabin body 1 is aligned with the annular guide rail, and the connecting flange is pushed along the guide rail to the specified position, and then the rotating locking ring is rotated to drive at least three circumferentially distributed buckles to move towards the connecting flange until the buckle is completely locked with the connecting flange, completing the fixed connection of the discharge control module 6 with the central cabin body 1. The entire installation process does not require complex tools. When the flexible guide pipe 7 is worn out, the electric control switch valve fails, or the discharge control module 6 needs to be replaced or repaired, the rotating locking ring is reversed to loosen the buckle from the connecting flange, and the discharge control module 6 can be easily removed along the annular guide rail; after replacing the new discharge control module 6, the above installation steps are repeated to quickly restore the operation.

[0085] The design of the quick-release connection mechanism realizes the quick disassembly and assembly of the discharge control module 6, and the replacement and maintenance of the key components can be completed within 5 minutes, effectively solving the problems of complex maintenance and slow response of traditional equipment. The precise matching of the annular guide rail and the connecting flange ensures the positioning accuracy during installation, avoiding the leakage of materials due to installation deviation and loose connection of the discharge interface. The locking mode of at least three circumferential buckles ensures the firmness of the connection between the discharge control module 6 and the central cabin body 1, and even under the continuous action of the material weight, it is not easy to loosen, improving the reliability of the system structure, simplifying the maintenance process, and reducing the intensity of field operation. Especially in the scene of field power repair, it can quickly restore the equipment function and reduce the interruption time of operation.

[0086] The quick-release connection mechanism also integrates an electronic lock state sensor for feeding back the connection state to the flight control system to ensure that the module is reliably locked before discharging.

[0087] Specifically, microswitches or Hall sensors are integrated on the at least three buckles or rotating locking rings. These sensors are triggered and send a "locked" confirmation signal to the flight control system only when all buckles are rotated to the fully locked position.

[0088] The flight control system takes this signal as a necessary prerequisite for the discharge operation. If the signal is not received, the flight control system will determine that the connection of the discharge control module 6 is unreliable, may issue a warning on the UI interface, and prohibit the execution of the command to open the electric control switch valve, thereby fundamentally preventing safety accidents such as in-flight falling or material leakage due to mechanical connection failure.

[0089] In some embodiments, the flexible material guide pipe 7 is a corrugated pipe with smooth inner surface, replaceable in length, and provided with a gravity guide nozzle at the bottom end, which is made of wear-resistant material and has its center of gravity biased downward to keep vertical and droop when delivering.

[0090] According to the actual height of the target delivery point, a flexible material guide pipe 7 of appropriate length is selected and fixed at the top end with the outlet of the electrically controlled on-off valve. After the flight platform arrives and hovers above the target delivery point, the gravity guide nozzle at the bottom end of the flexible material guide pipe 7, which is made of wear-resistant material, can automatically keep vertical and droop due to its center of gravity biased downward, and is not affected by the high-altitude crosswind and deviated. When discharging, the material flows from the electrically controlled on-off valve into the flexible material guide pipe 7, and the smooth inner surface of the corrugated pipe structure greatly reduces the resistance during the flow of the material, avoiding the accumulation and blockage of the material in the pipe; the gravity guide nozzle guides the material to fall vertically, ensuring that the material accurately falls to the target delivery point. If subsequent adjustment of the delivery height is needed, only the old flexible material guide pipe 7 needs to be disassembled and replaced with a new pipe of corresponding length, which is simple to operate.

[0091] The design of the smooth inner surface of the corrugated pipe ensures smooth flow of the material in the pipe, further reducing the risk of blockage; the replaceable length feature enables the system to adapt to different terrain and different height delivery requirements, enhancing the flexibility of the system; the vertical droop design of the gravity guide nozzle, combined with its wear-resistant property, not only controls the positioning error of the delivery within ±0.5 meters, but also prolongs the service life of the component, effectively solving the problems of material deviation caused by high-altitude wind and uncontrollable discharging. At the same time, the replacement cost of the flexible material guide pipe 7 is relatively low, which can further improve the adaptability and durability of the equipment, meeting the delivery requirements of different power engineering scenarios.

[0092] The bottom of the central cabin body 1 is provided with at least three circumferentially distributed winding devices, and the traction ropes wound on the at least three winding devices are connected with the gravity guide nozzle, and the connection points are circumferentially distributed.

[0093] The corrugated pipe is axially spaced apart to form multiple ring sets, each ring set includes at least three rings circumferentially distributed on the outer wall of the corrugated pipe, and the traction ropes of the at least three winding devices are respectively threaded through the at least three rings of each ring set.

[0094] The scheme is developed around the central cabin body 1, the winding device, the traction rope, the gravity guide nozzle, the corrugated pipe and the ring set. The bottom of the central cabin body 1 is provided with at least three circumferentially distributed winding devices, and the traction ropes wound on each winding device are connected with the gravity guide nozzle, and the connection points of the traction ropes and the gravity guide nozzle are also circumferentially distributed. The corrugated pipe is axially spaced apart to form multiple ring sets, each ring set includes at least three rings circumferentially distributed on the outer wall of the corrugated pipe, and the traction ropes of the winding device are respectively threaded through the corresponding rings of each ring set, forming a traction and guide structure for the corrugated pipe.

[0095] During operation, when it is necessary to adjust the position or posture of the gravity guiding nozzle and the bellows, the winding devices at the bottom of the central cabin body 1 are started. Since the winding devices are uniformly distributed in the circumferential direction, and the connection points of the traction ropes and the gravity guiding nozzle are also uniformly distributed in the circumferential direction, the synchronous control of the winding and unwinding speeds of each winding device can make the traction ropes uniformly exert tension or release length, and drive the gravity guiding nozzle to move smoothly. At the same time, the traction ropes pass through the ring groups arranged on the outer wall of the bellows, the rings are spaced along the axial direction of the bellows, and the rings in each ring group are uniformly distributed in the circumferential direction. During the traction rope pulling process, the rings form a limiting guide for the traction rope, avoiding the traction rope from deviating or being directly rubbed with the outer wall of the bellows to cause damage. For example, when it is necessary to move the gravity guiding nozzle in a specific direction, the traction rope is appropriately wound by the winding device in the corresponding direction, and the traction rope is simultaneously fine-tuned to release length by the winding devices in other directions. Under the guidance of the rings, the traction rope drives the bellows to smoothly stretch or contract along the preset path, ensuring that the gravity guiding nozzle always maintains a stable posture, and avoiding deviation or jamming caused by uneven force.

[0096] The scheme realizes balanced force control of the gravity guiding nozzle through the circumferentially uniform winding devices and the connection points of the traction ropes, effectively avoids posture deviation caused by single traction, and improves the stability of the moving process. The axially spaced ring groups not only provide accurate guidance for the traction rope, reduce the friction loss of the traction rope and the bellows, and prolong the service life of the components, but also ensure that the bellows maintains a regular shape when stretching or contracting through the limiting action of the rings on the bellows, avoiding wrinkles or twisting. The overall structure adapts to the position adjustment requirements in various working conditions, especially in scenes that require precise control of the posture of the guiding component, improving the reliability and operation accuracy of the equipment, and reducing maintenance costs and failure rates.

[0097] The winding device is an intelligent winding drum driven by a servo motor, which can be linked with a flight control system to automatically adjust the sag length and tension of the material guiding pipe according to the delivery height.

[0098] The core of the winding device is a servo motor and an encoder. The encoder can accurately feedback the winding and unwinding length of the traction rope, and the servo motor can accurately control the winding and unwinding speed and maintain the torque.

[0099] The flight control system knows the absolute height of the unmanned aerial vehicle (from RTK / laser ranging) and the elevation of the target delivery point (preset), and can calculate the real height above ground. The flight control system automatically calculates the required sag length according to the height and the model of the flexible material guiding pipe 7, and instructs each servo motor to wind and unwind synchronously, so that the gravity guiding nozzle always maintains a preset optimal height (such as 0.5 meters) above the ground, thereby ensuring the material delivery accuracy and avoiding the material guiding pipe from touching the ground and being dragged. At the same time, the servo motor can maintain a slight tension to ensure the stability of the material guiding pipe shape and not be affected by turbulence.

[0100] In some embodiments, the positioning guide module comprises an RTK positioning unit, a visual recognition unit and a laser ranging unit;

[0101] The RTK positioning unit is used to obtain the centimeter-level absolute position of the unmanned aerial vehicle;

[0102] The visual recognition unit is used to identify the ground pre-set markers to correct the absolute position error;

[0103] The laser ranging unit is used to measure the distance from the unmanned aerial vehicle to the ground, and in combination with the length of the flexible material guide pipe 7, to determine the starting and stopping time of the delivery.

[0104] During the flight of the flight platform to the target delivery point, the RTK positioning unit obtains real-time centimeter-level absolute position data of the unmanned aerial vehicle, and preliminarily determines the approximate positional relationship between the unmanned aerial vehicle and the target delivery point. When the flight platform approaches the target area, the visual recognition unit is started and begins to identify the pre-set markers on the ground (such as the positioning marks of the construction area), and compares the identification results with the absolute position data obtained by the RTK positioning unit to correct the absolute position error, so that the unmanned aerial vehicle is accurately positioned above the target delivery point. In this process, the laser ranging unit continuously measures the distance from the unmanned aerial vehicle to the ground, and compares the measured distance data with the length of the flexible material guide pipe 7. When the two data match (i.e. the bottom end of the flexible material guide pipe 7 can accurately reach the target delivery point), the laser ranging unit transmits a signal to the flight control system, and the flight control system determines that the delivery conditions are met and triggers the electrically controlled on-off valve to open. During the entire delivery process, the RTK positioning unit and the visual recognition unit continuously work to correct the positional deviation of the unmanned aerial vehicle in real time, and the laser ranging unit continuously monitors the distance change to ensure the stability of the delivery process.

[0105] The centimeter-level positioning accuracy of the RTK positioning unit provides a basic guarantee for the delivery, and the addition of the visual recognition unit further corrects the positional error, so that the dual positioning mechanism greatly improves the positional accuracy. The linkage of the laser ranging unit and the length of the flexible material guide pipe 7 ensures the accuracy of the delivery timing and avoids the material from spilling or failing to reach the target delivery point due to improper height. The cooperative work of the three fundamentally solves the problem of low unloading accuracy of traditional unmanned aerial vehicles, and can achieve accurate delivery of power infrastructure materials even in complex terrain and poor visibility areas, ensuring the construction quality and progress of power projects.

[0106] The visual recognition unit also integrates an AI image processing algorithm, which can identify dynamic environmental obstacles and plan an obstacle avoidance path in real time.

[0107] The AI algorithm is usually a target detection model (such as YOLO, SSD) based on a deep learning convolutional neural network (CNN), which has been pre-trained and optimized with a large number of power scene images (such as tower cranes, power lines, trees, workers).

[0108] During flight and hovering, the visual recognition unit not only recognizes ground markers, but also continuously scans the surrounding environment. Once a dynamic obstacle of a preset category (such as a suddenly appearing vehicle or person) or a static but unrecorded obstacle (such as a temporary scaffold) is identified, the AI algorithm immediately reports its position and speed information to the flight control system. The flight control system then triggers local path re-planning, instructing the UAV to perform a small autonomous avoidance maneuver, and then returns to the original delivery point, greatly improving the safety and automation level of the operation.

[0109] The embodiment of the present application also provides a method for using the unmanned aerial vehicle-based material transportation and unloading device as described above, comprising the following steps:

[0110] S1: loading material, loading granular infrastructure materials into the material bin 5 through the funnel inlet 4;

[0111] S2: planning a route, controlling the flight platform to fly over the target delivery point;

[0112] S3: precise positioning, obtaining the real-time deviation of the UAV and the target delivery point by the positioning guide module, and adjusting the position of the UAV by the flight control system until the deviation is less than a preset threshold;

[0113] S4: delivery operation, the flight control system triggers the electrically controlled on-off valve to open, and the material falls to the target point through the flexible material guide pipe 7 under the action of gravity;

[0114] S5: termination and return, when it is monitored that the material is unloaded or the delivery amount is reached, the electrically controlled on-off valve is closed, and the UAV returns.

[0115] When the operation starts, the loading material step is performed, granular infrastructure materials are loaded into the material bin 5 through the funnel inlet 4, the material bin 5 is automatically filled under the action of gravity, and there is no residue; then the route planning is performed, the optimal flight route is set in the flight control system according to the position, terrain and other information of the target delivery point, and the flight platform is controlled to fly along the planned route to fly over the target delivery point; then the precise positioning stage is entered, the real-time deviation of the UAV and the target delivery point is obtained by the positioning guide module, the hovering position of the UAV is adjusted by the flight control system according to the deviation data until the deviation is less than a preset threshold; then the delivery operation is started, the flight control system triggers the electrically controlled on-off valve to open, and the material falls to the target delivery point through the flexible material guide pipe 7 under the action of gravity; finally, the termination and return step is performed, when it is monitored that the material in the material bin 5 is unloaded or the preset delivery amount is reached, the flight control system controls the electrically controlled on-off valve to be closed, and controls the UAV to return to the take-off point along the original route or a newly planned return route.

[0116] The delivery method forms a complete operation closed loop from loading to returning, each step closely linked, ensuring that the operation is orderly and efficient. The smoothness of the loading stage reduces the material preparation time, the flight route planning improves the flight efficiency, the precise positioning guarantees the delivery accuracy, the controllable unloading avoids material waste, and the timely return saves energy consumption. The whole method adapts to the needs of power engineering construction and emergency repair in complex terrains such as remote mountainous areas and high mountains, and greatly improves the transportation efficiency, reduces the transportation cost and cycle compared with the traditional transportation method.

[0117] In step S4, the flight control system dynamically controls the start-stop and intensity of the fluidization auxiliary device according to the material characteristics, ensuring continuous and uniform flow of the material.

[0118] In some embodiments, in step S4, the flight control system dynamically fine-tunes the hovering position of the UAV during the delivery process by continuously receiving data from the positioning guide module to compensate for changes in the center of gravity of the UAV and positional deviations caused by material reduction and / or wind disturbance.

[0119] In the delivery operation step, as the material continuously falls from the material bin 5 through the flexible guide pipe 7, the total weight of the flight platform gradually decreases, causing a slight change in the center of gravity of the system; at the same time, the side wind disturbance that may exist at high altitudes will also cause the UAV to deviate from its position. At this time, the flight control system continuously receives real-time position data and deviation information transmitted by the positioning guide module, quickly analyzes the influence of the change in the center of gravity and wind disturbance on the position of the UAV, and adjusts the hovering position of the UAV in real time, for example, by adjusting the rotation speed of the rotors 3 of different power units 8 to balance the moment difference caused by the change in the center of gravity, or correcting the positional deviation caused by the side wind, to ensure that the UAV always stably hovers above the target delivery point, and the material can be continuously and accurately dropped to the target point.

[0120] This dynamic fine-tuning mechanism effectively solves the problem of center of gravity imbalance caused by material reduction and the problem of positional deviation caused by side wind disturbance during the delivery process, avoiding the attitude loss of control and material spillage that may occur in traditional UAVs during unloading. By adjusting the hovering position in real time, the stability and accuracy of the delivery process are guaranteed, even in complex wind environments or under the condition of continuous material reduction, the delivery accuracy can be maintained at a high level, further improving the adaptability of the system in complex outdoor scenarios.

[0121] The fine-tuning process uses a predictive control algorithm to predict the trend of the change in the center of gravity and make a feedforward compensation.

[0122] The model predictive control (MPC) algorithm built into the flight control system has a dynamic model of the UAV and the material system. The algorithm knows the initial weight and center of gravity of the UAV, and according to the opening state of the electrically controlled on-off valve, it can predict the speed of material reduction and the amount and trend of the change in the center of gravity caused by it in real time.

[0123] Based on this prediction, the MPC algorithm can calculate the required compensation control amount (such as the adjustment amount of each motor speed) in advance before the UAV attitude has deviated significantly, and feed it forward to the power system. This control method is smoother, faster and more accurate than traditional PID feedback control, and can almost "unconsciously" compensate for the disturbance of the center of gravity caused by unloading, maintaining the ultimate hovering stability.

[0124] In some embodiments, in step S1, the flight control system monitors the total weight and the center of gravity of the loaded UAV in real time, and compares it with the preset safety envelope. If it exceeds the limit, an alarm is issued and takeoff is restricted.

[0125] In the loading step, as the granular infrastructure materials continuously enter the material bin 5 through the funnel inlet 4, the flight control system collects the total weight data of the flight platform in real time (through the built-in weighing sensor), and monitors the change of the center of gravity of the system as a whole according to the coaxial design of the feeding module and the distribution of the materials in the material bin 5. The flight control system compares the real-time total weight data and the center of gravity position data with the preset safety envelope (pre-set according to the maximum load capacity of the flight platform, power limit and stable flight requirements). If the total weight exceeds the maximum load limit of the flight platform, or the center of gravity position is out of the safety range (which may cause attitude loss of control during flight), the flight control system immediately issues an alarm signal (such as an audible and visual alarm), and automatically locks the takeoff control function to restrict the flight platform from taking off; until the operating personnel reduce the amount of material loading, so that the total weight and the center of gravity position of the flight platform return to the safety envelope range, the alarm signal is removed, and the flight platform can normally take off to perform the transportation task.

[0126] This safety monitoring mechanism avoids the safety risks of overloading and center of gravity imbalance from the source, and solves the problem of equipment failure or flight accident caused by human error in loading capacity during the loading process of traditional UAVs. The linkage of the alarm function and the takeoff restriction function forces the loading operation process to be standardized, ensuring the flight safety of the flight platform and prolonging the service life of the equipment. Especially in the transportation of power infrastructure materials, the materials are mostly granular and the single transportation volume is large. This mechanism can effectively prevent safety hazards caused by overloading or center of gravity deviation, and provides reliable safety protection for subsequent precise delivery.

[0127] The safety envelope can be dynamically adjusted according to real-time weather data and battery status, improving the intelligence and safety of takeoff decision.

[0128] The flight control system obtains weather information (such as real-time wind speed, gust, and rainfall forecast in the airport area) and monitors its own battery status (such as voltage, capacity, internal resistance, and temperature) in real time through data link.

[0129] The preset algorithm in the flight control system dynamically calculates and shrinks the current allowed "safety envelope" according to the real-time data. For example, when it is monitored that the current wind speed approaches the design limit, the system will automatically reduce the maximum allowed load; when it is found that the battery health is declining or the temperature is too high, the system will also reduce the load or power output limit accordingly. Only when the weight and center of gravity after loading are located in the "dynamically shrunk" safety envelope, the flight control system allows take-off. This realizes the intelligent leap from "flyable" to "safely fly", greatly enhancing the robustness and reliability of the system.

[0130] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the devices, apparatuses and units described above can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0131] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A material handling and loading / unloading device based on unmanned aerial vehicles (UAVs), characterized in that, include: Flight platform, feeding module, unloading control module (6) and positioning guidance module; The feeding module is installed along the vertical central axis of the flight platform and includes a funnel inlet (4), a material bin (5) and a discharge port, which are coaxially connected from top to bottom. The funnel inlet (4) and the material bin (5) are integrally formed inverted frustum or conical structures, and the angle between their side walls and the horizontal plane is greater than the angle of repose of the installed infrastructure material. The opening of the funnel inlet (4) is circular, and its diameter ranges from 50cm to 65cm. The unloading control module (6) is installed below the unloading interface. It includes an electrically controlled switch valve and a flexible guide pipe (7). The inlet of the electrically controlled switch valve is sealed to the unloading interface, and the outlet is connected to the top of the flexible guide pipe (7). The flexible guide pipe (7) is a smooth corrugated pipe with a replaceable length. It has a gravity guide nozzle at its bottom end. The gravity guide nozzle is made of wear-resistant material and its center of gravity is lower to keep it vertically hanging during delivery. The bottom of the central chamber (1) is provided with at least three winding devices evenly distributed along the circumference. The traction ropes wound on the at least three winding devices are connected to the gravity guide nozzle, and the connection points are evenly distributed along the circumference. The corrugated pipe is provided with multiple collar groups at intervals along the axial direction. Each collar group includes at least three collars evenly distributed along the circumference on the outer wall of the corrugated pipe. The traction ropes of the at least three winding devices are respectively threaded through the at least three collars of each collar group. The positioning and guidance module is used to obtain the deviation between the real-time position of the UAV and the target delivery point, and to generate control signals; The positioning guidance module includes an RTK positioning unit, a visual recognition unit, and a laser ranging unit; The RTK positioning unit is used to obtain the absolute position of the UAV at the centimeter level; The visual recognition unit is used to identify preset ground markings in order to correct absolute position errors; The laser ranging unit is used to measure the distance from the UAV to the ground, and in combination with the length of the flexible guide tube (7), to determine the timing of delivery start and stop; The flight control system of the flight platform is communicatively connected to the positioning and guidance module and the electronically controlled switch valve, and is configured to: adjust the hovering position of the UAV based on the control signal and trigger the opening of the electronically controlled switch valve when the delivery conditions are met; and during the unloading process, the flight control system dynamically fine-tunes the hovering position of the UAV by continuously receiving data from the positioning and guidance module to compensate for changes in the center of gravity and positional deviation of the UAV caused by material reduction and / or wind disturbance.

2. The material handling and loading device based on unmanned aerial vehicles according to claim 1, characterized in that: The flight platform includes a central cabin (1), multiple power arms (2) symmetrically distributed around the central cabin (1), and a power unit (8) located at the end of each power arm (2). The feeding module is fixedly installed inside the central cabin (1); The projections of the multiple power arms (2) on the horizontal plane are evenly distributed, and each power unit (8) includes two sets of rotors (3) arranged coaxially on the upper and lower sides.

3. The material handling and loading / unloading device based on unmanned aerial vehicles according to claim 2, characterized in that: The bottom of the central cabin (1) is provided with a quick-release connection mechanism for detachably connecting to the unloading control module (6); The quick-release connection mechanism includes an annular guide rail, a rotary locking ring, and at least three circumferentially distributed buckles. The top of the electrically controlled switch valve is provided with a connecting flange that matches the annular guide rail. The connecting flange can be locked or released by rotating the rotary locking ring.

4. A method for using the UAV-based material handling and loading device according to any one of claims 1-3, characterized in that, Includes the following steps: S1: Loading materials: Granular infrastructure materials are loaded into the material bin (5) through the funnel feed port (4). The flight control system monitors the total weight and center of gravity of the UAV after loading in real time and compares them with the preset safety envelope. If the limit is exceeded, an alarm is issued and takeoff is restricted. S2: Plan the flight path and control the flight platform to fly to the target delivery point; S3: Precise positioning. The positioning guidance module obtains the real-time deviation between the UAV and the target delivery point, and the flight control system adjusts the UAV's position until the deviation is less than a preset threshold. S4: Delivery operation, the flight control system triggers the opening of the electronically controlled switch valve, and the material falls to the target point through the flexible guide tube (7) under the action of gravity. The flight control system continuously receives data from the positioning and guidance module and dynamically fine-tunes the hovering position of the UAV during the delivery process to compensate for the change in the center of gravity and position shift of the UAV caused by the reduction of material and / or wind disturbance. S5: Terminate return to base. When the material is detected to be unloaded or the delivery volume is reached, the electronic control switch valve is closed to control the drone to return to base.

Images