An unmanned aerial vehicle air-to-air docking system and method

Abstract

The application provides a UAV air docking system and method. The system comprises a demand UAV, which is provided with an end execution device; a tool box UAV, which is provided with a plurality of replacement execution devices, each of which comprises a connecting part and a tool part, the bottom surface of the tool part is in the same plane as the connecting part, the connecting part surrounds the tool part, the connecting part is connected with the tool part through a plurality of connecting parts, and the connecting parts are made of flexible materials; the demand UAV is connected with a target execution device in the plurality of replacement execution devices, so that the end execution device of the demand UAV is switched; when the demand UAV is connected with the target execution device, the tool part moves downward, the connecting parts generate a pulling force, and the downward movement of the tool part is hindered. The UAV air docking system and method provided by the application can improve the success rate of UAV air docking.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) aerial docking technology, and more particularly to an UAV aerial docking system and method. Background Technology

[0002] Existing drones are all designed with a fixed type of end effector, which often limits them to performing only a single control task. However, real-world tasks are often diverse, requiring the alternating use of multiple tools to complete the mission.

[0003] On the one hand, the design of fixed end effectors cannot meet the diverse needs of tasks in real-world scenarios. When complex tasks requiring alternating operation of multiple tools are needed, the UAV must return to the ground to change the device, resulting in low operational efficiency. On the other hand, the success rate of electromagnet docking solutions is only about one-third, which is insufficient to meet the reliability requirements of aerial docking. The core problem is that during aerial docking, the UAV is prone to attitude deviations that cause the electromagnet and the magnetizing part to not fully fit together, thus failing to form a stable magnetic connection, which directly affects the docking effect and subsequent operations. Summary of the Invention

[0004] In view of this, this application provides an aerial docking system and method for unmanned aerial vehicles (UAVs) to improve the success rate of aerial docking.

[0005] Specifically, this application is implemented through the following technical solution:

[0006] The first aspect of this application provides an unmanned aerial vehicle (UAV) aerial docking system, the system comprising:

[0007] The requirement is for drones equipped with end effectors;

[0008] The toolbox drone is equipped with multiple replacement execution devices. Each replacement execution device includes a connecting part and a tool part. The bottom surface of the tool part and the connecting part are on the same plane. The connecting part surrounds the tool part and is connected to the tool part through multiple connecting parts, which are made of flexible material. The demand drone connects to the target execution device among the multiple replacement execution devices to realize the switching of the end execution device of the demand drone. When the demand drone connects to the target execution device, the tool part moves downward, and the connecting parts generate a pulling force to prevent the tool part from moving downward.

[0009] A second aspect of this application provides a method for aerial docking of unmanned aerial vehicles (UAVs), the method comprising:

[0010] The requirement is for the drone to acquire real-time images of the outer surface of the toolbox drone;

[0011] Determine the relative positions between the required drone and the toolbox drone based on image information from real-time images;

[0012] Based on the relative position, control the required UAV to dock with the toolbox UAV.

[0013] The UAV aerial docking system and method provided in this application break through the limitations of traditional fixed end effectors on UAVs. The toolbox UAV, equipped with multiple replacement actuators, allows the requesting UAV to switch end effectors in mid-air without returning to the ground, significantly reducing downtime and effectively adapting to the diverse needs of various tasks in real-world scenarios, thus significantly improving operational efficiency and system applicability. The replacement actuator adopts a frustum shape that matches the conical inner cavity of the end effector's interface shape. Even with inaccurate docking at the docking point, it can still slide naturally under the constraint of gravity, expanding the alignment space and increasing the docking success rate. Simultaneously, when contacting the inclined surface, it provides resistance, reducing interference with the stability of the upper and lower UAV fuselages. Furthermore, the external connecting part is elastic, further improving stability during docking. Specifically, the replacement actuator connects the connecting part and the tool part through multiple connecting parts, with the bottom surface of the tool part and the connecting parts initially on the same plane. When the requesting UAV docks with the target actuator and the tool part moves downwards, the connecting parts generate a pulling force to resist downward movement. Because the connecting part is made of a flexible material, it can provide compliance during the docking process, compensate for the relative attitude deviation between the UAV and the replacement actuator, avoid component misalignment caused by hard contact, and, together with the magnetic attraction of the subsequent electromagnet and magnetizing part, ensure that the key components can fit precisely during docking. This solves the problem of insufficient fitting and low success rate caused by attitude deviation in traditional electromagnet docking solutions, and greatly improves the stability and success rate of aerial docking. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of an embodiment of the UAV aerial docking system provided in this application;

[0015] Figure 2 A schematic diagram of the structure of the alternative execution device shown in the exemplary embodiments of this application;

[0016] Figure 3 A schematic diagram of the structure of an end effector shown as an exemplary embodiment of this application;

[0017] Figure 4 This is a flowchart of an embodiment of the UAV aerial docking method provided in this application.

[0018] Explanation of reference numerals in the attached figures:

[0019] 1: End effector;

[0020] 2: Toolbox Drone;

[0021] 3: Replace the actuator;

[0022] 4: Requirement for the bottom of the drone fuselage;

[0023] 5: Robotic arm;

[0024] 31: Electromagnet;

[0025] 32: Guide ramp;

[0026] 33: Positioning post;

[0027] 34: Box body;

[0028] 35: Connecting part;

[0029] 36: Connecting part;

[0030] 11: The inner cavity of the cone;

[0031] 12: Magnetizing section;

[0032] 13: Mounting hole for magnetizing part. Detailed Implementation

[0033] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0034] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used herein are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0035] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0036] The following specific embodiments are given to illustrate the technical solution of this application in detail.

[0037] Figure 1 This is a schematic diagram of the structure of an embodiment of the UAV aerial docking system provided in this application. Please refer to... Figure 1 The system provided in this embodiment includes:

[0038] The requirement is for a drone equipped with an end effector 1;

[0039] The toolbox drone 2 is equipped with multiple replacement execution devices 3. Each replacement execution device 3 includes a connecting part and a tool part. The bottom surface of the tool part and the connecting part are on the same plane. The connecting part surrounds the tool part and is connected to the tool part through multiple connecting parts, which are made of flexible material. The demand drone is connected to the target execution device among the multiple replacement execution devices to realize the switching of the end execution device of the demand drone. When the demand drone is connected to the target execution device, the tool part moves downward, and the connecting part generates a pulling force to prevent the tool part from moving downward.

[0040] For details, please refer to Figure 1 The demand-side UAV is the core carrier for performing aerial operations, and its configured end effector 1 is the core component for docking with replacement effectors and completing operational actions. The function of the end effector is to acquire the tool functions required for different tasks through precise connection with the replacement effector. The toolbox UAV 2 is equipped with multiple replacement effectors 3, each including a connecting part and a tool part. The connecting part and the tool part are fixedly connected by screws. The connecting part connects the tool part to the toolbox UAV, allowing the tool part to be mounted on the toolbox UAV. The connecting part is connected to the tool part through multiple connecting parts. When the demand-side UAV docks with the target replacement effector, the tool part moves downwards during the docking action. At this time, the connecting part generates a reverse tension due to deformation, hindering the downward movement of the tool part. This reverse tension not only prevents structural collision damage caused by excessive or rapid downward movement of the tool part, but also compensates for slight attitude deviations during the docking process through the flexible constraint of a flexible material, such as a rubber band, providing buffering and guidance for subsequent precise docking. Furthermore, the tool part can carry different tools according to different task requirements.

[0041] For further details, please refer to [link / reference]. Figure 1The required drone has a symmetrical multi-rotor structure. A robotic arm 5 is located at the bottom 4 of the fuselage. An end effector 1 is located at the bottom of the robotic arm 5. The end effector 1 has a conical inner cavity, which cooperates with the guide slope of the replacement execution device 3 located on the top of the toolbox drone during docking. The toolbox drone has a storage ring in the middle of the lower part of the fuselage to accommodate multiple replacement execution devices. The replacement execution devices are placed in the storage ring. The tool part of the replacement execution device is fixed to the bottom of the replacement execution device through a connecting part, which is also used to place the replacement execution device in the storage ring.

[0042] Furthermore, before docking, both the tool part and the connecting part of the replacement actuator are stationary with zero speed and zero acceleration. During the visual inspection phase, the UAV maintains a hovering state that is relatively stationary with respect to the toolbox UAV. At this time, the connecting part is in a naturally stretched state with initial deformation, generating an upward initial elastic force according to Hooke's Law. The initial elastic force is always greater than the weight of the tool part, and the resultant force of the two is upward, making the tool part and the connecting part fit tightly together and remain on the same plane. The UAV is subjected to rotor lift, its own weight, and airflow disturbance force. The lift and gravity are balanced, and the disturbance force is compensated in real time by the flight control system to ensure stable hovering attitude.

[0043] During the docking preparation phase, the UAV, based on visual positioning results, approaches the target replacement actuator at a pre-defined docking speed while the replacement actuator remains stationary. At this time, the rotor lift of the UAV changes slightly with altitude adjustment, and thrust is generated horizontally through the difference in rotor speed on one side. The force state of the tool part remains unchanged, and the elasticity of the connecting part maintains its initial elasticity, maintaining attitude stability in balance with gravity. When the end effector and the replacement actuator dock for the first time, a downward impact acceleration is generated at the moment of contact. The tool part increases its speed at the moment of contact, gaining an upward acceleration. At this time, the end effector applies an initial contact force downward to the tool part. The resultant force on the tool part is the sum of the initial contact force and gravity minus the initial elasticity, which is downward. The connecting part is still in a naturally stretched state at this time, and the elasticity has not changed significantly, only buffering the impact through slight material deformation.

[0044] Furthermore, during the sliding docking phase, the contact force on the tool increases, and as the pressure from the end effector continues to move downward, the initial speed increases. Subsequently, due to the increase in the reverse tension of the connecting part, the speed gradually decreases, requiring the UAV to maintain a uniform speed of pressure in the vertical direction to ensure continuous downward movement. At this time, the connecting part is further stretched, the deformation increases, and the reverse tension increases linearly with the downward movement, in the upward direction. The downward pressure of the end effector is dynamically adjusted according to the elasticity of the connecting part, and the resultant force on the tool gradually decreases to 0 (ensuring that the speed smoothly drops to 0). At the same time, the contact between the guide ramp and the inner cavity of the cone generates a lateral component force.

[0045] After docking is completed, the tool section moves down to the preset position and its speed drops to 0, and its acceleration becomes 0. The drone simultaneously stops moving down and its vertical speed returns to zero to ensure final alignment. At this moment, the electromagnet and the magnetizing part come into contact and generate a magnetic attraction force, which balances the opposing pull of the connecting part and the gravity of the tool section. The end effector stops applying pressure and only bears the entire load of the tool section through magnetic attraction.

[0046] Furthermore, during the disengagement phase after docking, the UAV carrying the replacement actuator detaches from the toolbox UAV. Initially, it ascends at a constant speed, and during the operation, the speed is adjusted according to the task requirements. The connecting part naturally contracts as the tool part detaches, reducing the deformation to the initial deformation and restoring the elasticity to the initial elasticity (upward), thus balancing with the gravity of the tool part. The lateral force generated by airflow disturbance is adaptively offset by the flexible deformation of the connecting part, ensuring the stability of the tool part's attitude.

[0047] Furthermore, it can be understood that before docking, the bottom surface of the tool part of the replacement actuator is flush with the connecting part, and the connecting part is in a naturally stretched state. When in a naturally stretched state, the elastic material inside deforms. According to Hooke's Law, within the elastic limit, the magnitude of the elastic force is proportional to the deformation. Therefore, the connecting part will generate elastic force at this time. Before docking, the initial elastic force of the connecting part is greater than the weight of the tool part, which ensures that the tool part and the connecting part are initially coplanar and have stable attitude. The demand UAV determines its relative position with the target replacement actuator through visual detection to prepare for docking flight. When the demand UAV approaches the target replacement actuator and begins docking, the end effector will contact the replacement actuator and apply downward pressure, pushing the tool part downward relative to the connecting part. At this point, the connecting part of the surrounding connection will be further stretched, generating a reverse pull force that hinders the downward movement of the tool part. The reverse pull force can slow down the downward movement speed of the tool part, avoiding structural damage to the end effector or replacement effector due to hard contact. The reverse pull force can also adaptively adjust the attitude of the tool part through flexible deformation, offsetting the slight positional deviation between the demand UAV and the toolbox UAV, ensuring that the core docking structure of the tool part can be precisely aligned with the corresponding structure of the end effector. When the tool part moves down to the preset position, the end effector and the replacement effector complete the attachment and form a fixed position. At this time, the demand UAV can carry the target replacement effector and detach from the toolbox UAV, realizing the switching of the end effector and then carrying out the corresponding operation task. Meanwhile, the connecting part continuously provides stable flexible support for the tool part, ensuring the stability of the tool part's attitude during operation and avoiding tool deviation caused by airflow or other interference.

[0048] Optionally, the tool part includes an electromagnet, a guide ramp, a positioning post, and a housing. The electromagnet, guide ramp, positioning post, and housing are connected sequentially from top to bottom and have the same axis. The electromagnet is located above the guide ramp and is used to generate an attractive force with the magnetizing part of the end effector to fix the guide ramp in the conical cavity. The guide ramp is located directly above the positioning post, and the positioning post is located directly above the housing. The diameter of the lower surface of the guide ramp is the same as the diameter of the positioning post.

[0049] Specifically, Figure 2 This is a schematic diagram of the structure of the replacement execution device shown in the exemplary embodiment of this application. Please refer to... Figure 2 ,like Figure 2 The replacement actuator shown includes a connecting part and a tool part. The tool part includes an electromagnet 31, a guide ramp 32, a positioning post 33, and a housing 34. The connecting part includes a connecting part 35 and a connecting section 36. The electromagnet is directly mounted above the guide ramp, which is installed above the positioning post. The positioning post is installed above the housing. The axes of the electromagnet, guide ramp, positioning post, and housing are aligned. The guide ramp is located between the electromagnet and the positioning post, with its upper surface connected to the electromagnet and its lower surface connected to the upper surface of the positioning post. The diameter of the lower surface of the guide ramp is the same as the diameter of the positioning post. This ensures a seamless, stepless connection between the guide ramp and the positioning post, preventing jamming due to dimensional misalignment during docking and guaranteeing uniform force transmission. The guide ramp serves to correct attitude and guide sliding during docking. Its inclined structure allows for a close, sliding fit with the inner wall of the conical cavity. When the UAV docks with the replacement actuator, if there is a slight attitude deviation (such as misalignment of axes or angle tilt), the guide ramp can smoothly slide along the inner wall of the conical cavity, automatically correcting the deviation through its guiding action until the electromagnet and the magnetizing unit are precisely aligned. It should be noted that... Figure 2 The entire structure is designed to replace the actuator. After the required drone docks with the toolbox drone, it retrieves, for example, from the toolbox drone... Figure 2 The replacement execution device is shown.

[0050] Optionally, the end effector has a conical inner cavity at its bottom, with the opening diameter at the bottom of the conical inner cavity being larger than the diameter of the lower surface of the guide slope in the tool section, and a cylindrical magnetizing part at the upper opening; the replacement actuator has an electromagnet at its top, with a guide positioning post positioned below the electromagnet, the guide positioning post engaging with the conical inner cavity, and the guide positioning post having the same side inclination as the conical inner cavity, the inclination being related to the gravity of the required UAV and the surface roughness. The sliding force between the guide positioning post and the conical inner cavity is also relevant.

[0051] Specifically, the diameter of the lower opening of the conical cavity at the bottom of the end effector is larger than the diameter of the lower surface of the guide ramp of the tool section, providing tolerance space for the entry of the guide positioning post during docking. The cylindrical magnet at the upper opening forms a magnetic attraction with the electromagnet at the top of the replacement effector. The guide positioning post of the replacement effector is located below the electromagnet, and its inclination is consistent with the side of the conical cavity. The inclination parameter is related to the UAV's gravity (the greater the gravity, the smaller the inclination is required to enhance the guidance stability) and the surface roughness (the higher the roughness, the more the inclination needs to be adapted to balance the friction and guidance efficiency). At the same time, the sliding force between the guide positioning post and the conical cavity (affected by inclination, roughness, etc.) directly affects the smoothness of the docking process. The adaptation design of inclination with gravity and roughness, combined with the reasonable control of sliding force, ensures that the guide positioning post can slide smoothly along the conical cavity to correct attitude deviations, and achieves precise fixation through the magnetic attraction between the magnet and the magnet, realizing stable and efficient aerial docking.

[0052] Furthermore, the specific steps for determining the tilt angle include:

[0053] (1) Obtain the gravity and docking speed of the required UAV, and calculate the docking impact force based on the docking speed;

[0054] Specifically, it can be understood that when the demand drone and the toolbox drone dock, the speed of the demand drone is preset. The demand drone is controlled to dock with the toolbox drone according to the preset docking speed. The docking impact force is calculated based on the momentum theorem or a collision model. The higher the docking speed, the higher the impact energy, and the greater the impact force. In other words, given the docking speed, the corresponding docking impact force can be calculated based on the momentum theorem. For details on the steps involved in calculating the docking impact force, please refer to the descriptions in relevant technical documents; they will not be repeated here.

[0055] (2) Obtain the friction coefficient of the guide inclined surface in the guide positioning column, and calculate the maximum static friction force based on the friction coefficient;

[0056] Specifically, you can directly find the friction coefficient of the material used for the guide ramp, and calculate the maximum static friction force between the guide ramp and the inner cavity of the cone by combining the normal force of the ramp and the friction law.

[0057] Specifically, the maximum static friction force can be calculated using the following formula:

[0058] ;

[0059] in, The coefficient of friction;

[0060] N is the normal force on the inclined plane.

[0061] (3) Calculate the component force in the direction of the guide ramp based on the gravity and the docking impact force;

[0062] Specifically, based on the principle of force decomposition, the gravity of the UAV and the impact force of docking are combined along the direction of the guide slope to obtain the sum of the component forces of the two in the direction of the slope. The sum of the component forces refers to the superposition of the component force of gravity and the component force of impact force, which constitutes the resultant force that pushes the contact surface to slide relative to each other. It can be understood that when calculating the sum of the component forces in the direction of the guide slope, the magnitude of the sum of the component forces is related to the inclination of the guide slope.

[0063] Furthermore, assuming the inclination is θ, the gravity is G, and the docking impact force is F, it can be understood that both gravity and the docking impact force are forces directed vertically downwards. According to the principle of force decomposition, the component of gravity in the direction of the guide slope can be calculated as follows:

[0064] ;

[0065] The component of the docking impact force along the guide ramp is:

[0066] ;

[0067] Therefore, the sum of the component forces is:

[0068] ;

[0069] Where G represents the gravity of the drone in question;

[0070] F represents the docking impact force during the docking of the required drones;

[0071] The angle of inclination.

[0072] (4) The tilt angle is calculated based on the component force and the maximum static friction force.

[0073] Specifically, with the component force in the inclined plane and less than the maximum static friction force as constraints, inequality equations are established, and the inclination range of the guide inclined plane is obtained by solving them. This ensures that the sliding tendency during docking is effectively suppressed by friction, thus avoiding attitude loss of control due to sliding. Furthermore, through the precise design of the inclination, the relationship between the guiding correction function and frictional resistance is balanced, ensuring the stability and smoothness of the docking process.

[0074] Specifically, the tilt can be calculated using the following formula:

[0075] ;

[0076] get: .

[0077] Furthermore, in the detailed calculation of the impact force of UAV aerial docking, the core parameters such as the equivalent mass of the docking end of the required UAV, the initial docking speed, and the stiffness coefficient of the connection part are first clarified. Then, the model is modeled in stages from the initial contact stage to the middle deformation stage: In the initial contact stage (the tool part moves slightly downward), the vertical reverse elastic force of the connection part approximates the initial elastic force. Combining the momentum theorem, the average impact force of this stage is calculated using gravity, the initial elastic force, the stage duration, and the initial and final velocities. In the middle deformation stage (the tool part continues to move downward), the vertical reverse elastic force of the connection part increases linearly with the amount of stretching (consistent with Hooke's Law). The elastic force expression is corrected by introducing the real-time downward movement and acceleration. Then, the momentum theorem is integrated to solve the problem, and the average impact force of this stage is obtained through the average elastic force, the stage duration, and the velocity change. This process incorporates the dynamic change of the vertical reverse elastic force of the connection part. Compared with the traditional calculation based solely on velocity, it is more in line with the actual force received, significantly improving the accuracy of the impact force calculation and providing a more reliable mechanical basis for the design of the guide slope inclination.

[0078] Furthermore, the positioning post is installed between the guide ramp and the box body, connecting the lower surface of the guide ramp to the upper surface of the box body. Through the connection with the guide ramp of equal diameter, it continues the coaxial positioning reference, ensuring that the docking force transmitted by the guide ramp can be smoothly transferred to the box body, avoiding excessive local stress. The columnar structure of the positioning post can provide vertical support for the box body, limiting the lateral displacement of the box body during docking or operation, while providing a reasonable space interval between the box body and the guide ramp to avoid interference between the working parts on the box body and the guide ramp. The box body is installed directly below the positioning post, and its bottom surface must be on the same plane as the connection part of the replacement execution device when not docked. Various working components can be integrated inside the box body. At the same time, the bottom plane design of the box body can ensure the overall stability of the tool part when not docked, avoiding the replacement execution device from shifting on the toolbox drone due to uneven bottom, providing a basis for the initial positioning of subsequent docking.

[0079] Furthermore, there are two scenarios during the docking process. The first scenario is that the end effector and the replacement effector are perfectly aligned without any adjustment. The second scenario is when there is an alignment deviation between the end effector and the replacement effector. When the requesting UAV docks with the target replacement effector, firstly, the conical inner cavity of the end effector contacts the guide ramp of the tool part. The guide ramp slides along the inner cavity of the cone, and the positioning post moves synchronously with the guide ramp to maintain the coaxiality of the tool part and prevent the box from shifting. The guide ramp slides to the preset position, and the electromagnet is attached to the magnetizing part of the end effector. When energized, it generates a suction force to fix the guide ramp in the inner cavity of the cone, completing the docking and fixing. The box, as the carrier of the operation function, combines with the requesting UAV along with the tool part to carry out subsequent aerial operations. Throughout the process, the positioning post and the guide ramp support and fixation ensure stable operation posture.

[0080] Furthermore, under perfect alignment, the demand drone initially approaches the toolbox drone at a stable horizontal speed and a stable vertical downward speed towards the target replacement actuator. The horizontal and vertical accelerations are minimal, used only for fine-tuning attitude to ensure stability. During this phase, the demand drone is supported by rotor lift (balancing its own weight) and horizontal thrust (pointing towards the target), while the replacement actuator remains stationary due to the upward elastic force of the connecting part (not less than its own weight). At the moment of contact, the demand drone's vertical speed slows down, generating a downward impact acceleration. The end effector applies a downward contact force to the tool section. The resultant force on the replacement actuator is downward until the electromagnet and the magnetizing part come into contact and are energized, generating an upward magnetic attraction force. This force balances the elastic force of the connecting part and the drone's own weight, completing the fixation.

[0081] Furthermore, when alignment deviations exist, the approach phase is consistent with the case of perfect alignment. After contact, the vertical velocity of the required UAV slows down while a horizontal offset velocity occurs, generating a downward impact acceleration. The guide ramp of the tool slides along the inner cavity of the cone, simultaneously experiencing a lateral force applied by the inner cavity of the cone (the direction corresponds to the deviation direction, used to correct the offset). This generates a horizontal acceleration pointing towards the alignment direction, while the vertical acceleration remains stable. When the guide ramp slides to the preset position, both the horizontal offset velocity and the vertical velocity return to zero, and the horizontal and vertical accelerations gradually decrease to zero. The electromagnet is energized to generate an upward magnetic attraction force, which, combined with the elasticity of the connecting part and the gravity of the tool, achieves fixation. In subsequent operations, the forces on each component remain balanced, and both velocity and acceleration remain at minimum values, ensuring the stability of the tool's attitude.

[0082] Optionally, the end effector includes a robotic arm, which includes a conical cavity 11, a magnetizing part 12, and a magnetizing part mounting hole 13, which are connected in sequence from bottom to top. The conical cavity is used to accommodate the end effector, the magnetizing part is used to generate an attractive force with the electromagnet in the end effector to fix the end effector in the conical cavity, and the magnetizing part mounting hole is used to fix the magnetizing part to the end of the robotic arm. The shape of the conical cavity is compatible with the replacement effector.

[0083] Specifically, Figure 3 This is a schematic diagram of the structure of an end effector shown as an exemplary embodiment of this application. Please refer to... Figure 3The end effector on the required drone includes a robotic arm. The robotic arm, from bottom to top, has a conical cavity 11, a magnetizing part 12, and a magnetizing part mounting hole 13. The lowest conical cavity 11 is a frustum-shaped cavity, wider at the bottom and narrower at the top, with a smooth inclined inner wall, a circular opening at the bottom, and a circular constriction at the top. Its top surface is completely fitted and fixed to the bottom surface of the magnetizing part 12. The side wall of the cavity contacts the outer wall of the guide inclined surface of the replacement actuator during docking. The magnetizing part 12 is a solid cylindrical structure (made of high magnetic permeability, with smooth upper and lower end surfaces). The top surface of the magnetic part 12 is fitted with the top surface of the magnetic part mounting hole 13 (i.e., the annular stepped surface formed by the large diameter section of the mounting hole at the bottom). The side is fitted with the fastener of the mounting hole through the threaded hole. That is, the magnetic part 12 is installed in the hole of the magnetic part mounting hole 13. The magnetic part mounting hole 13 is a stepped circular hole (large diameter section at the bottom, small diameter section at the top, and internal thread on the inner wall). Its inner wall (small diameter section) is fitted with the external thread surface of the fixing bolt. The whole is fitted surface to surface and coaxially assembled to form a complete functional chain of guidance, magnetic fixation and structural assembly, ensuring docking accuracy and structural rigidity.

[0084] Furthermore, the conical inner cavity is located at the bottom of the end of the robotic arm, with its opening facing downwards. The internal structure is a conical cavity that can accommodate the guide ramp and upper part of the positioning post of the replacement actuator, providing physical space for the docking process. Its shape is perfectly matched with the guide ramp of the replacement actuator. When the replacement actuator approaches, the guide ramp can slide smoothly along the inner wall of the conical inner cavity, automatically correcting the relative attitude deviation between the demanding UAV and the replacement actuator, ensuring that the subsequent magnetizing part and electromagnet can be accurately aligned. The bottom opening size of the conical inner cavity is adapted to the lower surface size of the guide ramp of the replacement actuator, which can also limit the lateral displacement of the replacement actuator during the docking process and avoid docking misalignment.

[0085] The magnetizing unit is installed directly above the inner cavity of the cone. Its lower surface connects to the top of the inner cavity, and its upper surface is fixed to the main body of the robotic arm through the magnetizing unit mounting hole. Its axis is aligned with the inner cavity of the cone, ensuring coaxial alignment with the electromagnet of the replacement actuator. As a magnetic attraction component for docking and fixing, the magnetizing unit is typically made of a magnetically conductive material (such as iron or nickel alloy), generating magnetic attraction with the electromagnet in the replacement actuator. When the guide ramp slides along the inner cavity of the cone to a preset position, the electromagnet is energized and attracts the magnetizing unit, firmly fixing the replacement actuator in the inner cavity of the cone. This prevents the tool from loosening and falling off after docking and ensures the stability of the tool's posture during subsequent operations. The magnetizing unit mounting hole is located at the upper part of the end of the robotic arm, penetrating the main body of the robotic arm and the magnetizing unit. Its axis is perfectly aligned with the lower magnetizing unit and the inner cavity of the cone.

[0086] Optionally, the connecting part is annular, and multiple sets of hollow positioning rings are fixedly provided at corresponding positions of the tool part and the connecting part. The connecting part passes through the corresponding set of positioning rings to connect the tool part and the connecting part; the length of each connecting part is negatively correlated with the mass of the tool part.

[0087] For details, please continue to refer to... Figure 2 The connecting part is circular in shape, and the tool part is located at the center of the connecting part, meaning that the connecting part and the tool part share the same axis. Furthermore, multiple hollow positioning rings are provided in the inner circle of the connecting part near the tool part. On the side of the tool part near the connecting part, a hollow positioning ring is provided opposite to these multiple hollow positioning rings. Thus, two opposite hollow positioning rings on the connecting part and the tool part form a set of hollow positioning rings. Multiple sets of hollow positioning rings are spaced apart around the tool part. The connecting part connects the tool part and the connecting part by passing through a set of hollow positioning rings. It can be understood that the number of connecting parts is the same as the number of sets of hollow positioning rings.

[0088] Furthermore, the length of the connection decreases as the mass of the tool increases and increases as the mass of the tool decreases. It is understandable that a more massive tool requires a shorter connection (under the same material parameters) to generate sufficient initial elastic force to balance gravity and meet the support force constraint when pressed down; while a less massive tool requires a longer connection to avoid excessive elastic force exceeding design limits. Therefore, the two are negatively correlated.

[0089] Optionally, when the end effector and the replacement effector are not docked, the initial elastic force generated by the connecting part is greater than the weight of the tool part; when the end effector and the replacement effector are docked, the downward reaction force generated by the connecting part is less than the resultant force of the weight of the tool part and the maximum support force.

[0090] Specifically, when the end effector and the replacement effector are not docked, the initial elastic force generated by the natural assembly of the connecting part (i.e., the preload when not subjected to external force) must not be less than the weight of the tool part itself. This way, the initial elastic force of the connecting part can offset the weight of the tool part, ensuring the stability of the tool part's posture when not docked. From a structural perspective, it can keep the bottom surface of the tool part and the connecting part on the same plane, preventing the docking surface from shifting due to the tool part drooping under gravity, and providing a precise benchmark for the initial positioning of subsequent docking. From a mechanical perspective, the initial elastic force forms an upward preload, which can offset the slight shaking of the tool part caused by airflow disturbance, ensuring the stability of the replacement effector on the toolbox drone and preventing relative displacement between the tool part and the connecting part.

[0091] Furthermore, when the end effector docks with the replacement effector, the tool part moves downwards during the docking action. The connecting part generates an upward reaction force due to tensile deformation, i.e., a downward reaction force. The downward reaction force is equal to the resultant force of the tool part's gravity (direction downwards) and the maximum support force (direction upwards). Among them, the maximum support force is the safety threshold designed for the system, which is the maximum longitudinal force that the connecting part, tool part, and other structures can withstand. The direction of the maximum support force is opposite to the direction of gravity, which can prevent the connecting part from breaking due to excessive stress or the connecting structure of the tool part and connecting part from being damaged due to excessive reaction force, thus ensuring the integrity of the system's mechanical structure. It can also prevent excessive reaction force from being transmitted to the robotic arm of the end effector, causing the robotic arm to lose control or the docking action to jam. At the same time, it can ensure that the tool part can move smoothly down to the preset position, so that the electromagnet and the magnetizing part can be accurately attached to complete the magnetic attraction fixation.

[0092] Furthermore, based on the above description, the force equation for the elastic material of the connection can be constructed:

[0093] ;

[0094] Solving this equation yields:

[0095] ;

[0096] Where S is the cross-sectional area of ​​the connection part;

[0097] This is the distance between two hollow positioning rings in a set of hollow positioning rings;

[0098] Y is the Young's modulus of the material of the connecting part;

[0099] This is the original length of the connecting part;

[0100] It is the acceleration due to gravity;

[0101] For the quality of the tooling section.

[0102] Therefore, the length limit of the connecting part can be obtained both when it is not connected and when it is connected.

[0103] The UAV aerial docking system provided in this embodiment is based on a dual-UAV cooperation mode combining a demand-side UAV and a toolbox UAV. It breaks the limitations of traditional UAVs with fixed end effectors. The multiple replacement execution devices carried by the toolbox UAV allow the demand-side UAV to quickly switch tools in the air without returning to the ground for replacement, greatly reducing operation interruption time. It effectively adapts to the diverse tasks in scenarios such as construction, security, and power line inspection that require the alternating use of different tools, significantly improving work efficiency. The replacement execution devices connect the connecting part and the tool part through a flexible ring connector. When not docked, the initial elastic force of the connector is greater than the weight of the tool part, ensuring that the tool part and the connecting part are initially coplanar and have stable attitude. When docking, the downward reaction force of the connector is less than the resultant force of the weight of the tool part and the maximum support force, avoiding structural damage and docking jamming. Meanwhile, the conical inner cavity of the end effector and the guide ramp of the replacement effector form a matching structure with the same inclination, which can automatically correct docking attitude deviations. Combined with the magnetic attraction and fixation of the electromagnet and the magnetizing part, it solves the problem of insufficient fit caused by attitude deviations in traditional electromagnet docking. In addition, key parameters are optimized through mechanical calculations. The length of the connecting part is negatively correlated with the mass of the tool part, ensuring the elasticity adaptation of tools with different masses. The inclination of the guide ramp is solved in combination with the gravity of the required UAV, the roughness of the contact surface, and the docking impact force (including the vertical reverse elastic force correction of the connecting part) to ensure that the component force is less than the maximum static friction force. This avoids slippage and loss of control and ensures smooth guidance. Ultimately, it achieves a significant improvement in the stability and success rate of aerial docking, providing reliable technical support for complex aerial operations.

[0104] Corresponding to the aforementioned embodiment of an aerial docking system for unmanned aerial vehicles (UAVs), this application also provides an embodiment of an aerial docking method for UAVs.

[0105] Figure 4 This is a flowchart of an embodiment of the UAV aerial docking method provided in this application. Please refer to... Figure 4 The method provided in this embodiment includes:

[0106] S101, The required UAV acquisition toolbox provides a real-time image of the UAV's outer surface.

[0107] Specifically, the required drone needs to be equipped with visual acquisition devices (such as high-definition cameras, infrared cameras, etc.) to continuously acquire real-time images of the outer surface of the toolbox drone as it approaches it.

[0108] S102. Determine the relative position between the required drone and the toolbox drone based on the image information from the real-time image.

[0109] Specifically, the system uses image recognition algorithms (such as feature point detection and contour matching) to locate the reference features of the toolbox drone from the image (such as the shell shape of the replacement actuator, specific markings on the body of the toolbox drone, etc.), and determines the coordinates of these reference features in the image coordinate system. Combining the intrinsic parameters (such as focal length and pixel size) and extrinsic parameters of the vision acquisition device, the system uses a coordinate transformation algorithm to convert the coordinates of the reference features in the image coordinate system into the relative position parameters of the demand drone and the toolbox drone in the actual three-dimensional space, including the relative distance (the straight-line distance between the two), the relative angle (the angle between the axes of the demand drone and the toolbox drone, the horizontal azimuth angle), and the relative height difference (the height deviation between the two in the vertical direction), and finally forms complete relative position data.

[0110] S103. Control the required UAV to dock with the toolbox UAV according to the relative position.

[0111] Specifically, the flight control system of the required UAV uses the calculated relative position data to generate flight control commands, driving its own power system (such as propellers) to adjust its flight attitude and speed, smoothly approaching the toolbox UAV until it enters the docking preparation area. A closed-loop control strategy is adopted, comparing the current relative position with the preset docking preparation position in real time. If a deviation exists, the power output is automatically adjusted. For example, when the relative distance is greater than the preset value, the propeller speed is increased to improve flight speed; when there is a horizontal angular deviation, the speed of one propeller is adjusted to correct the heading; when there is an altitude difference, the vertical power is adjusted to achieve altitude alignment.

[0112] Furthermore, obtain the location of the target. and the speed of the target The closed-loop tracking control of the operational UAV can be calculated using the following formula:

[0113] ;

[0114] in, For operational drones, the desired generalized speed is, and ;

[0115] The speed of the target;

[0116] This represents the error between the robotic arm's end effector and the target position.

[0117] The attitude rotation matrix of the operational drone;

[0118] It is a diagonal matrix;

[0119] Location of the operational drone;

[0120] The position of the end effector of the drone's robotic arm in the body coordinate system;

[0121] For the Jacobian matrix of the operational drone, This is the generalized inverse of the Jacobian matrix. For details on the calculation process of the Jacobian matrix, please refer to the description in the relevant technical documents. It will not be repeated here.

[0122] As an antisymmetric transformation, it converts a vector into an antisymmetric matrix.

[0123] Furthermore, according to The definitions can be obtained separately. and By integrating these values, we can obtain the desired positions of the flight platform and the robotic arm's end effector in the body coordinate system. Sending the desired positions of the flight platform to the flight controller, and the desired positions of the robot's end effector in the body coordinate system to the inverse kinematics and robotic arm controller of the robotic arm, allows us to complete the docking control for the target.

[0124] Furthermore, after controlling the required UAV to dock with the toolbox UAV based on the relative position, the method further includes:

[0125] (1) The conical inner cavity of the control end effector makes initial contact with the guide slope of the replacement effector;

[0126] Specifically, the end effector has a conical inner cavity at its bottom. The guide ramp of the replacement end effector is the key contact component for docking. Due to airflow disturbances and attitude deviations during aerial docking, it is difficult to achieve perfect coaxial alignment between the conical inner cavity and the guide ramp during the initial contact. Therefore, the design dictates that the area near the magnet at the bottom of the end effector (around the magnetizing part) contacts the sidewall of the conical boss first. Utilizing the inclined structure of the sidewall of the conical boss, even with slight horizontal offsets or angular tilts, an initial positioning fulcrum can be formed through sidewall contact, avoiding docking failures caused by requiring perfect alignment for contact and providing a basis for subsequent attitude correction. At the same time, the initial elasticity of the flexible connection can buffer the impact force at the moment of contact during the initial contact, avoiding component damage caused by hard contact, while maintaining the initial attitude of the tool part to ensure a smooth transition into the sliding phase after contact.

[0127] (2) The end effector applies downward pressure to make the conical boss slide along the inner wall of the conical cavity until the electromagnet on the conical boss is in close contact with the magnetizing part under the conical cavity.

[0128] Specifically, after the initial contact is completed, the end effector applies downward pressure, driving the conical boss of the replacement effector to slide along the inner wall of the cone cavity until the electromagnet and the magnetizing part are in close contact. The downward pressure of the end effector provides the power for the sliding, while the consistent inclination of the sides of the cone cavity and the conical boss provides guidance for the sliding. During the sliding process, the side wall of the conical boss always fits against the inner wall of the cone cavity. Utilizing the guiding effect of the inclined plane, it automatically corrects the posture deviation (such as horizontal offset or axial tilt) at the initial contact: if there is a horizontal offset, the conical boss will automatically align with the center of the cone cavity along the inclined plane during sliding; if there is an axial tilt, the contact of the inclined plane will gradually adjust the angle of the conical boss until it is coaxial with the cone cavity.

[0129] As the sliding continues, the conical boss drives the electromagnet of the replacement actuator to gradually approach the magnetizing part of the end effector. When the conical boss slides to the end of the conical cavity (the end of the inclined surface), the electromagnet is exactly in contact with the magnetizing part below the conical cavity. At this point, the electromagnet is energized and generates a magnetic attraction force, firmly fixing the conical boss in the conical cavity, ensuring the structural stability after docking, and laying the foundation for subsequent operations where the UAV carries the replacement actuator.

[0130] Furthermore, based on the relative position, control the required UAV to dock with the toolbox UAV; including:

[0131] (1) Determine the instruction memory parameters according to the historical operation instructions of each tool in the toolbox UAV, and store them in the memory bank accordingly;

[0132] Specifically, the system collects historical control commands for each replacement actuator on the toolbox UAV, extracts command memory parameters, and stores them in a pre-set memory bank. Historical control commands include complete command sequences used during past docking processes to control the robotic arm to perform actions such as approaching, contacting, and fixing. These commands cover key control parameters such as the robotic arm's attitude adjustment angles (e.g., pitch and yaw corrections), movement speeds (e.g., vertical / horizontal speeds when approaching the tool), pressure output values ​​(e.g., the downward pressure of the end effector during docking), and the timing of electromagnet energization. Core parameters strongly correlated with docking success rates are selected from the historical commands, such as the optimal approach speed of 1.2 m / s for a specific grasping tool, the robotic arm attitude correction threshold of ±3°, and the preset downward pressure value of 8 N. A one-to-one tool-parameter correspondence storage method is used, assigning a unique identifier to each tool and associating its corresponding command memory parameters (e.g., speed, angle, pressure threshold) for easy and rapid subsequent retrieval. Dynamic parameter updates are also supported, allowing for optimization of parameter accuracy with each docking attempt.

[0133] (2) During the docking process, the target tool is determined according to the task, and the target instruction memory parameters of the target tool are obtained from the memory bank;

[0134] Specifically, during the actual docking process, the system first needs to determine the target replacement execution device based on the current task. The target replacement execution device includes the target tool. Then, it retrieves the target instruction memory parameters corresponding to the target tool from the memory bank. Compared to starting from scratch to test the robot arm control parameters for each docking, directly retrieving historically verified target instruction memory parameters can quickly clarify the baseline control range for the current docking. For example, for the target detection tool, it can directly obtain parameters such as the optimal initial posture angle of the robot arm and the speed threshold when the guide slope contacts during its historical docking. This avoids docking jams or component collisions caused by blindly setting parameters and provides a reliable basis for subsequent real-time instruction generation.

[0135] (3) Based on the target instruction memory parameters and the preset memory function, generate real-time manipulation instructions that meet the memory parameter constraints, and control the robot arm docking based on the real-time manipulation instructions.

[0136] Specifically, the memory function is a built-in algorithm model with the core function of correction and adaptation. On the one hand, it dynamically adjusts the target command memory parameters based on real-time environmental parameters of the current docking scenario (such as airflow intensity and the real-time relative position deviation between the demand drone and the toolbox drone). For example, when a large airflow disturbance is detected, the memory function reduces the approach speed of the robotic arm (e.g., from the historical 1.2m / s to 0.8m / s) to ensure attitude stability. On the other hand, it converts the adjusted parameters into a command format that the robotic arm can execute, such as converting "attitude correction angle 2°" into a rotation pulse signal for the robotic arm motor. The generated real-time control commands must strictly follow the constraints of the target command memory parameters and are continuously optimized through closed-loop feedback. During the execution of commands by the robotic arm, the docking status is collected in real time (e.g., the degree of contact between the guide ramp and the inner cavity of the cone, and the distance between the electromagnet and the magnetizing part). If the actual state is found to deviate from the expected command by more than a threshold (e.g., the contact position shifts by 1.5cm), the command is corrected again based on the memory function until the robotic arm completes a stable docking, achieving efficient and precise control based on historical experience and adapted to the current scenario.

[0137] Furthermore, the core function of the memory bank is to record in detail the manipulation commands of each tool during task execution and their evolution trajectory over time (i.e., command curves). It is not merely a static database, but rather a system capable of dynamically capturing and storing key data points from historical operations. To achieve intelligent command control and constraints, a memory function is used as the core processing unit. This memory function not only predicts or generates operation commands, but also actively limits the amplitude (e.g., position, force) and speed (e.g., movement speed, rotation speed) of the output operation commands based on real-time conditions and historical experience, ensuring that operations are always performed within safe physical boundaries. The memory function takes the form of a second-order transfer function, which can be expressed by the following formula:

[0138] ;

[0139] in, This is the steady-state amplitude;

[0140] The frequency of the rounded corners;

[0141] is the damping ratio.

[0142] Furthermore, to limit the amplitude and velocity, amplitude limits and velocity limits are introduced. The limiting functions can be expressed as:

[0143] ;

[0144] It should be noted that amplitude limits and speed limits are memory parameters of the operation memory bank. The memory parameters are different for each tool, and the memory parameters of the operation memory bank need to be determined based on the specific operation type and prior information.

[0145] Furthermore, after successful docking, the required drone uses the tools to perform the task. After completion, it docks with the toolbox drone according to the docking process described above to reset the tools.

[0146] The specific implementation process of the functions and roles of each unit in the above method can be found in the implementation process of the corresponding steps in the above system, and will not be repeated here.

[0147] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An aerial docking system for unmanned aerial vehicles (UAVs), characterized in that, The system includes: The system includes a demand drone equipped with an end effector. The end effector has a conical cavity at its bottom, with the opening diameter at the bottom of the cavity larger than the diameter of the lower surface of the guide ramp in the tool section. A cylindrical magnet is located at the upper opening. An electromagnet is located at the top of the replacement actuator, and a guide positioning post is positioned below the electromagnet. The guide positioning post engages with the conical cavity, and the side inclination of the guide positioning post and the conical cavity is the same. This inclination is related to the weight of the demand drone and the surface roughness. The sliding force between the guide positioning post and the conical cavity is also relevant. The system further includes: Obtain the gravity and docking speed of the required drone, and calculate the docking impact force based on the docking speed; Obtain the friction coefficient of the guide inclined surface in the guide positioning post, and calculate the maximum static friction force based on the friction coefficient; Calculate the component force in the direction of the guide ramp based on the gravity and the docking impact force; The tilt angle is calculated based on the component force and less than the maximum static friction force; wherein, in the initial contact stage, the average impact force in the initial contact stage is calculated by gravity, initial elastic force, stage duration and initial and final velocities; in the middle of deformation stage, the average impact force in the middle of deformation stage is obtained by average elastic force, stage duration and velocity change, thereby realizing the dynamic calculation of the vertical reverse elastic force of the connection part. The force equation for the elastic material of the connecting part is: ； Solving the force equations yields the length limitations of the connection section both before and after docking: ； Where S is the cross-sectional area of ​​the connection part; This is the distance between two hollow positioning rings in a set of hollow positioning rings; Y is the Young's modulus of the material of the connecting part; This is the original length of the connecting part; It is the acceleration due to gravity; For the quality of the tooling part; The toolbox drone is equipped with multiple replacement execution devices. Each replacement execution device includes a connecting part and a tool part. The bottom surface of the tool part and the connecting part are on the same plane. The connecting part surrounds the tool part and is connected to the tool part through multiple connecting parts, which are made of flexible material. The demand drone connects to the target execution device among the multiple replacement execution devices to realize the switching of the end execution device of the demand drone. When the demand drone connects to the target execution device, the tool part moves downward, and the connecting parts generate a pulling force to prevent the tool part from moving downward.

2. The system according to claim 1, characterized in that, The connecting part is annular, and multiple sets of hollow positioning rings are fixed at corresponding positions of the tool part and the connecting part. The connecting part passes through the corresponding set of positioning rings to connect the tool part and the connecting part; the length of each connecting part is negatively correlated with the mass of the tool part.

3. The system according to claim 1, characterized in that, When the end effector and the replacement effector are not docked, the initial elastic force generated by the connecting part is greater than the weight of the tool part. When the end effector and the replacement effector are docked, the downward reaction force generated by the connecting part is less than the resultant force of the weight of the tool part and the maximum support force.

4. The system according to claim 1, characterized in that, The tool includes an electromagnet, a guide ramp, a positioning post, and a housing. The electromagnet, guide ramp, positioning post, and housing are connected sequentially from top to bottom and have the same axis. The electromagnet is located above the guide ramp and is used to generate an attractive force with the magnetizing part of the end effector to fix the guide ramp in the conical cavity. The guide ramp is located directly above the positioning post, and the positioning post is located directly above the housing. The diameter of the lower surface of the guide ramp is the same as the diameter of the positioning post.

5. The system according to claim 1, characterized in that, The end effector includes a robotic arm, which comprises a conical cavity, a magnetizing part, and a magnetizing part mounting hole, connected sequentially from bottom to top. The conical cavity is used to accommodate the end effector, the magnetizing part is used to generate an attractive force with the electromagnet in the end effector to fix the end effector in the conical cavity, and the magnetizing part mounting hole is used to fix the magnetizing part to the end of the robotic arm. The shape of the conical cavity is compatible with the replacement actuator.

6. A method for aerial docking of unmanned aerial vehicles (UAVs), characterized in that, The method is implemented based on the system of any one of claims 1-5, and the method includes: The requirement is for the drone to acquire real-time images of the outer surface of the toolbox drone; Determine the relative positions between the required drone and the toolbox drone based on image information from real-time images; Based on the relative position, control the required UAV to dock with the toolbox UAV.

7. The method according to claim 6, characterized in that, After controlling the required UAV to dock with the toolbox UAV based on the relative position, the method further includes: The conical inner cavity of the control end effector makes initial contact with the guide ramp of the replacement effector; The end effector applies downward pressure, causing the conical boss to slide along the inner wall of the conical cavity until the electromagnet on the conical boss comes into close contact with the magnetizing part under the conical cavity.

8. The method according to claim 6, characterized in that, The step of controlling the required UAV to dock with the toolbox UAV based on the relative position includes: The command memory parameters are determined based on the historical operation commands of each tool in the toolbox UAV, and stored in the memory bank accordingly; During the docking process, the target tool is determined according to the task, and the target instruction memory parameters of the target tool are retrieved from the memory bank; Based on the target instruction memory parameters and the preset memory function, real-time manipulation instructions that meet the constraints of the memory parameters are generated, and the robotic arm is controlled to dock based on the real-time manipulation instructions.

Images