技术领域technical field
本实用新型属于无人机电力线巡检技术领域，特别涉及一种无人机与机器人空中联动作业平台。The utility model belongs to the technical field of unmanned aerial vehicle power line inspection, in particular to an aerial linkage operation platform of an unmanned aerial vehicle and a robot.
背景技术Background technique
随着无人机系统及其相关技术的不断发展，其应用前景愈加广阔，应用场景也愈加复杂，特别是在一些民用领域比如农林植保，影视航拍，电力巡检等发挥着越来越大的作用。在电力巡检领域中，目前主要是利用无人机搭载可见光拍摄红外、紫外检测等任务，机载设备对输电线路进行飞行巡检，并实时将现场情况回传地面控制系统，以便做出正确判断并人力排除电路故障，但是现阶段还鲜少能做到利用无人机机器系统排除电路故障。而且现有技术还存在如下问题，1.载重轻，一般国内的主流无人机载重能达到5公斤；2.续航能力弱，大多数无人机都不能长时间飞行，一般续航能力都大概只有半个小时，如果利用无人机进行电路故障的排除，那就需要不断对无人机充电；3.不易精准悬停，因此无人机在空中很难对物体施加力的作用。With the continuous development of UAV systems and related technologies, their application prospects are becoming more and more broad, and application scenarios are becoming more and more complex, especially in some civilian fields such as agriculture, forestry and plant protection, film and television aerial photography, power inspection, etc. effect. In the field of electric power inspection, at present, drones are mainly used to carry visible light to take pictures of infrared and ultraviolet detection tasks. Judging and manually troubleshooting circuit faults, but at this stage, it is still rare to use the UAV machine system to troubleshoot circuit faults. Moreover, the existing technology still has the following problems: 1. The load is light, and the load of the mainstream domestic drones can reach 5 kg; 2. The battery life is weak, most drones cannot fly for a long time, and the general battery life is only about For half an hour, if you use the drone to troubleshoot the circuit, you need to charge the drone continuously; 3. It is not easy to hover precisely, so it is difficult for the drone to exert force on objects in the air.
因此，由前述描述可知，如何将无人机系统与机器人作业相结合用于电力作业，并且还能解决无人机续航能力弱、不易精准悬停的问题，成为目前无人机导航控制领域亟待解决的一个课题。Therefore, as can be seen from the foregoing description, how to combine the UAV system with the robot operation for electric power operations, and also solve the problems of the UAV's weak battery life and difficulty in hovering accurately, has become an urgent need in the field of UAV navigation control. a problem to solve.
实用新型内容Utility model content
鉴于以上所述现有技术的缺点，本实用新型的目的在于解决提供一种无人机与机器人空中联动作业平台。In view of the above-mentioned shortcomings of the prior art, the purpose of this utility model is to solve the problem of providing an aerial linkage operation platform for drones and robots.
为实现上述实用新型目的，本实用新型技术方案如下：For realizing above-mentioned utility model object, the utility model technical scheme is as follows:
一种无人机与机器人空中联动作业平台，包括以下部分：An aerial linkage operation platform for drones and robots, comprising the following parts:
八旋翼无人机机体，包括无人机机身、机身内部的无人机驱动电机、机身前端的桨叶；The eight-rotor UAV body, including the UAV body, the UAV drive motor inside the body, and the blades at the front of the body;
地面站控制系统，用于接收无人机状态信息以及作业信息，并发出对无人机的控制指令；The ground station control system is used to receive UAV status information and operation information, and issue control instructions to the UAV;
数据传输系统，用于无人机与地面站控制系统间的控制指令与无人机状态信息的传输；The data transmission system is used for the transmission of control commands and UAV status information between the UAV and the ground station control system;
图像传输系统，所述图像传输系统用于无人机将云台相机所拍摄的工作环境信息传输回地面站控制系统；An image transmission system, the image transmission system is used for the unmanned aerial vehicle to transmit the working environment information taken by the pan-tilt camera back to the ground station control system;
云台相机，所述云台相机安装在减震架上，所述云台相机根据所述地面站控制系统的指令进行旋转和俯仰运动；A pan-tilt camera, the pan-tilt camera is mounted on a shock absorber, and the pan-tilt camera rotates and pitches according to the instructions of the ground station control system;
无人机电动起落架，所述无人机电动起落架安装在无人机机身底部的两侧，与机身的连接处使用数字舵机；所述数字舵机用以控制起落架的收起与张开动作；The electric landing gear of the UAV is installed on both sides of the bottom of the UAV fuselage, and the connection with the fuselage uses a digital steering gear; the digital steering gear is used to control the retraction of the landing gear rise and spread;
探照灯，选用LED灯，包括驱动电路、控制模块，所述探照灯根据环境光线的不同而调节不同的亮度；Searchlight, select LED light for use, including drive circuit, control module, described searchlight adjusts different brightness according to the difference of ambient light;
警示灯，所述警示灯安装在无人机无刷电机座底部，所述警示灯选用三色LED灯，在无人机不同状态下闪烁颜色和频率可变；Warning light, the warning light is installed at the bottom of the brushless motor base of the UAV, and the warning light is a three-color LED light, and the flashing color and frequency are variable under different states of the UAV;
机器人搭载平台，所述机器人搭载平台安装在机器人机身底部，包括移动滑轨、控制器、机器人锁紧机构；The robot carrying platform, the robot carrying platform is installed at the bottom of the robot body, including a moving slide rail, a controller, and a robot locking mechanism;
电池管理系统，所述电池管理系统包括无人机动力电池、电池管理控制器，电池管理控制器用于电荷预估以及动力电池放电管理；所述无人机动力电池为锂电池；A battery management system, the battery management system includes a drone power battery, a battery management controller, and the battery management controller is used for charge estimation and power battery discharge management; the drone power battery is a lithium battery;
无人机飞控系统，所述无人机飞控系统包括惯导单元、磁力计、气压计、GPS，所述惯导单元用以输出无人机姿态角和三轴加速度的值；The UAV flight control system, the UAV flight control system includes an inertial navigation unit, a magnetometer, a barometer, and a GPS, and the inertial navigation unit is used to output the value of the UAV attitude angle and triaxial acceleration;
避障定位系统，所述避障定位系统包括摄像头、雷达、超声波模块，所述摄像头安装于机器人的四周，每个方向安装两个所述摄像头，所述超声波模块安装于机器人机身四周；An obstacle avoidance positioning system, the obstacle avoidance positioning system includes a camera, a radar, and an ultrasonic module, the camera is installed around the robot, two cameras are installed in each direction, and the ultrasonic module is installed around the robot body;
搭载执行机构，所述搭载执行机构由能够完成不同具体功能的机器人组成，所述搭载执行机构安装在所述机器人搭载平台上，所述搭载执行机构以无人机为数据中转点，将其数据传输回地面控制系统。The carrying executive mechanism is composed of robots that can complete different specific functions. The carrying executing mechanism is installed on the robot carrying platform. The carrying executing mechanism takes the drone as a data transfer point and transfers its data Transmitted back to ground control system.
作为优选方式，搭载执行机构包括：树枝修剪机器人、多轴锁紧机器人和除冰机器人其中的一种或多种。As a preferred manner, the carrying actuator includes: one or more of a branch pruning robot, a multi-axis locking robot and a deicing robot.
作为优选方式，地面站控制系统包括数据接收单元和计算机，所述数据接收单元将接收到的数据直接传送到计算机进行处理。As a preferred manner, the ground station control system includes a data receiving unit and a computer, and the data receiving unit directly transmits the received data to the computer for processing.
作为优选方式，所述数据传输系统和所述图像传输系统分别独立使用两个独立的通道，控制指令以及无人机状态信息以及搭载机器人作业信息由所述数据传输系统输送，所述云台相机的信息由图像传输系统进行传输。As a preferred mode, the data transmission system and the image transmission system independently use two independent channels, control instructions, UAV status information and carrying robot operation information are transmitted by the data transmission system, and the pan-tilt camera The information is transmitted by the image transmission system.
作为优选方式，所述云台相机安装于无人机的前端，云台相机的云台在控制指令的控制运动下进行旋转运动和俯仰运动。As a preferred manner, the pan-tilt camera is installed on the front end of the drone, and the pan-tilt of the pan-tilt camera performs rotational motion and pitch motion under the control motion of the control command.
作为优选方式，无人机上设有与无人机驱动电机同轴安装的保护罩，无人机的每一个桨叶都有一个所述保护罩保护，所述无人机保护罩的形状为圆形，材料为碳纤维。As a preferred mode, the UAV is provided with a protective cover coaxially installed with the UAV drive motor, and each blade of the UAV is protected by a protective cover, and the shape of the UAV protective cover is a circle shape, the material is carbon fiber.
作为优选方式，所述机器人搭载平台的移动滑轨安装在与电动起落架平行的方向，搭载机器人在其轨道上面运动，所述机器人锁紧机构由微型数字舵机控制以自主控制机器人的运动，所述控制器用于控制搭载平台的运动以及与所搭载的机器人之间建立通讯。As a preferred mode, the mobile slide rail of the robot carrying platform is installed in a direction parallel to the electric landing gear, and the carrying robot moves on its track, and the locking mechanism of the robot is controlled by a miniature digital steering gear to autonomously control the movement of the robot. The controller is used to control the movement of the carrying platform and establish communication with the carried robot.
作为优选方式，所述无人机飞控系统的惯导单元用以输出无人机姿态角和三轴加速度的值，所述惯导单元安装在无人机机体的几何中心处，当无人机在一个新的环境中使用时，必须要校准磁力计和气压计，所述GPS通过支杆安装于无人机机体外侧。As a preferred mode, the inertial navigation unit of the UAV flight control system is used to output the value of the UAV attitude angle and the three-axis acceleration, and the inertial navigation unit is installed at the geometric center of the UAV body. When the drone is used in a new environment, the magnetometer and the barometer must be calibrated, and the GPS is installed on the outside of the drone body through a pole.
作为优选方式，所述避障定位系统的摄像头安装于无人机机身四周，每个方向安装两个所述摄像头，每一个方向两个摄像头之间距离恒定，所述超声波模块安装于无人机机身四周，每个方向安装一个超声波模块，所述避障定位系统用以实时构建机器人环境三维地图，并且将机器人在周围环境中的坐标传送回地面站控制系统。As a preferred mode, the cameras of the obstacle avoidance positioning system are installed around the fuselage of the UAV, and two cameras are installed in each direction, and the distance between the two cameras in each direction is constant. An ultrasonic module is installed in each direction around the fuselage of the machine. The obstacle avoidance positioning system is used to build a three-dimensional map of the robot environment in real time, and transmit the coordinates of the robot in the surrounding environment back to the ground station control system.
作为优选方式，每个搭载执行机构通过卡槽安装于所述机器人搭载平台上，所述搭载执行机构接受无人机的控制指令，所述搭载执行机构能独立的完成某一项电力线路作业工作。As a preferred mode, each carrying actuator is installed on the robot carrying platform through a card slot, and the carrying executing mechanism accepts the control instructions of the drone, and the carrying executing mechanism can independently complete a certain power line operation work .
本实用新型的有益效果为：与现有技术相比，本实用新型将无人机与机器人作业的优势结合，在保证作业工人安全的前提下，提高了电力作业的效率。The beneficial effects of the utility model are: compared with the prior art, the utility model combines the advantages of unmanned aerial vehicles and robot operations, and improves the efficiency of electric power operations on the premise of ensuring the safety of workers.
附图说明Description of drawings
图1为本实用新型所述无人机与机器人联动空中作业平台整体模块示意图；Figure 1 is a schematic diagram of the overall module of the UAV and robot linkage aerial work platform described in the utility model;
图2为本实用新型所述联动空中作业平台三维立体图。Fig. 2 is a three-dimensional perspective view of the linkage aerial work platform described in the present invention.
图3为本实用新型所述联动空中作业平台主视图。Fig. 3 is a front view of the linkage aerial work platform of the present invention.
图4为本实用新型所述联动空中作业平台侧视图。Fig. 4 is a side view of the linkage aerial work platform of the present invention.
其中，301为云台相机、302为无人机电动起落架、303为无人机保护罩、304为八旋翼无人机机体、305为探照灯、306为警示灯、307为机器人搭载平台、308为电池管理系统、309为无人机飞控系统，310为避障定位系统。Among them, 301 is the pan-tilt camera, 302 is the electric landing gear of the UAV, 303 is the protective cover of the UAV, 304 is the body of the eight-rotor UAV, 305 is the searchlight, 306 is the warning light, 307 is the robot carrying platform, 308 is the battery management system, 309 is the UAV flight control system, and 310 is the obstacle avoidance positioning system.
具体实施方式Detailed ways
以下通过特定的具体实例说明本实用新型的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本实用新型的其他优点与功效。本实用新型还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本实用新型的精神下进行各种修饰或改变。The implementation of the present utility model is described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification. The utility model can also be implemented or applied through other different specific implementation modes, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the utility model.
一种无人机与机器人空中联动作业平台，包括以下部分：An aerial linkage operation platform for drones and robots, comprising the following parts:
八旋翼无人机机体，包括无人机机身、机身内部的无人机驱动电机、机身前端的桨叶；无人机上设有与无人机驱动电机同轴安装的保护罩，无人机的每一个桨叶都有一个所述保护罩保护，所述无人机保护罩的形状为圆形，材料为碳纤维。The eight-rotor drone body includes the drone body, the drone drive motor inside the fuselage, and the blades at the front end of the fuselage; the drone is equipped with a protective cover coaxially installed with the drone drive motor, without Each blade of the man-machine is protected by a protective cover, and the protective cover of the drone is circular in shape and made of carbon fiber.
地面站控制系统，用于接收无人机状态信息以及作业信息，并发出对无人机的控制指令；地面站控制系统包括数据接收单元和计算机，所述数据接收单元将接收到的数据直接传送到计算机进行处理。The ground station control system is used to receive UAV status information and operation information, and issue control instructions to the UAV; the ground station control system includes a data receiving unit and a computer, and the data receiving unit directly transmits the received data to the computer for processing.
数据传输系统，用于无人机与地面站控制系统间的控制指令与无人机状态信息的传输；The data transmission system is used for the transmission of control commands and UAV status information between the UAV and the ground station control system;
图像传输系统，所述图像传输系统用于无人机将云台相机所拍摄的工作环境信息传输回地面站控制系统；所述数据传输系统和所述图像传输系统分别独立使用两个独立的通道，控制指令以及无人机状态信息以及搭载机器人作业信息由所述数据传输系统输送，所述云台相机的信息由图像传输系统进行传输。Image transmission system, the image transmission system is used for the unmanned aerial vehicle to transmit the working environment information taken by the pan-tilt camera back to the ground station control system; the data transmission system and the image transmission system use two independent channels independently , the control command, the status information of the UAV and the operation information of the equipped robot are transmitted by the data transmission system, and the information of the pan-tilt camera is transmitted by the image transmission system.
云台相机，所述云台相机安装在减震架上，所述云台相机根据所述地面站控制系统的指令进行旋转和俯仰运动；所述云台相机安装于无人机的前端，云台相机的云台在控制指令的控制运动下进行旋转运动和俯仰运动。The cloud platform camera, the cloud platform camera is installed on the shock absorber, and the cloud platform camera rotates and pitches according to the instructions of the ground station control system; the cloud platform camera is installed on the front end of the drone, and the cloud platform camera The pan/tilt of the camera performs rotational motion and pitch motion under the control motion of the control command.
无人机电动起落架，所述无人机电动起落架安装在无人机机身底部的两侧，与机身的连接处使用数字舵机；所述数字舵机用以控制起落架的收起与张开动作；The electric landing gear of the UAV is installed on both sides of the bottom of the UAV fuselage, and the connection with the fuselage uses a digital steering gear; the digital steering gear is used to control the retraction of the landing gear rise and spread;
探照灯，选用LED灯，包括驱动电路、控制模块，所述探照灯根据环境光线的不同而调节不同的亮度；Searchlight, select LED light for use, including drive circuit, control module, described searchlight adjusts different brightness according to the difference of ambient light;
警示灯，所述警示灯安装在无人机无刷电机座底部，所述警示灯选用三色LED灯，在无人机不同状态下闪烁颜色和频率可变；八个电机座下面都各有一个LED灯。机头方向的LED等的颜色一直为绿色。Warning light, the warning light is installed at the bottom of the brushless motor base of the drone, and the warning light is a three-color LED light, and the flashing color and frequency are variable under different states of the drone; each of the eight motor bases has a An LED light. The color of the LEDs in the direction of the nose is always green.
机器人搭载平台，所述机器人搭载平台安装在机器人机身底部，包括移动滑轨、控制器、机器人锁紧机构；所述机器人搭载平台的移动滑轨安装在与电动起落架平行的方向，搭载机器人在其轨道上面运动，所述机器人锁紧机构由微型数字舵机控制以自主控制机器人的运动，所述控制器用于控制搭载平台的运动以及与所搭载的机器人之间建立通讯。The robot carrying platform, the robot carrying platform is installed at the bottom of the robot fuselage, including a moving slide rail, a controller, and a robot locking mechanism; the moving slide rail of the robot carrying platform is installed in a direction parallel to the electric landing gear, and the carrying robot Moving on its track, the robot locking mechanism is controlled by a miniature digital steering gear to autonomously control the movement of the robot, and the controller is used to control the movement of the carrying platform and establish communication with the carried robot.
电池管理系统，所述电池管理系统包括无人机动力电池、电池管理控制器，电池管理控制器用于电荷预估以及动力电池放电管理；所述无人机动力电池为锂电池；A battery management system, the battery management system includes a drone power battery, a battery management controller, and the battery management controller is used for charge estimation and power battery discharge management; the drone power battery is a lithium battery;
无人机飞控系统，所述无人机飞控系统包括惯导单元、磁力计、气压计、GPS，所述惯导单元用以输出无人机姿态角和三轴加速度的值；所述无人机飞控系统的惯导单元用以输出无人机姿态角和三轴加速度的值，所述惯导单元安装在无人机机体的几何中心处，当无人机在一个新的环境中使用时，必须要校准磁力计和气压计，所述GPS通过支杆安装于无人机机体外侧。The UAV flight control system, the UAV flight control system includes an inertial navigation unit, a magnetometer, a barometer, and GPS, and the inertial navigation unit is used to output the value of the UAV attitude angle and triaxial acceleration; The inertial navigation unit of the drone flight control system is used to output the value of the drone's attitude angle and three-axis acceleration. The inertial navigation unit is installed at the geometric center of the drone body. When the drone is in a new environment When used in the drone, the magnetometer and the barometer must be calibrated, and the GPS is installed on the outside of the drone body through a pole.
避障定位系统，所述避障定位系统包括摄像头、雷达、超声波模块，所述避障定位系统的摄像头安装于无人机机身四周，每个方向安装两个所述摄像头，每一个方向两个摄像头之间距离恒定，所述超声波模块安装于无人机机身四周，每个方向安装一个超声波模块，所述避障定位系统用以实时构建机器人环境三维地图，并且将机器人在周围环境中的坐标传送回地面站控制系统。An obstacle avoidance positioning system, the obstacle avoidance positioning system includes a camera, a radar, and an ultrasonic module. The cameras of the obstacle avoidance positioning system are installed around the fuselage of the drone, and two cameras are installed in each direction, and two cameras are installed in each direction. The distance between the two cameras is constant, the ultrasonic module is installed around the fuselage of the drone, and one ultrasonic module is installed in each direction. The coordinates are sent back to the ground station control system.
搭载执行机构，所述搭载执行机构由能够完成不同具体功能的机器人组成，所述搭载执行机构安装在所述机器人搭载平台上，所述搭载执行机构以无人机为数据中转点，将其数据传输回地面控制系统。搭载执行机构包括：树枝修剪机器人、多轴锁紧机器人和除冰机器人其中的一种或多种。每个搭载执行机构通过卡槽安装于所述机器人搭载平台上，所述搭载执行机构接受无人机的控制指令，所述搭载执行机构能独立的完成某一项电力线路作业工作。The carrying executive mechanism is composed of robots that can complete different specific functions. The carrying executing mechanism is installed on the robot carrying platform. The carrying executing mechanism takes the drone as a data transfer point and transfers its data Transmitted back to ground control system. The carrying actuators include: one or more of branch pruning robots, multi-axis locking robots and deicing robots. Each carrying actuator is installed on the robot carrying platform through a card slot, and the carrying executing mechanism accepts the control instructions of the drone, and the carrying executing mechanism can independently complete a certain power line operation.
具体地，云台相机301通过钥匙扣挂载在无人机正下方；无人机电动起落架302安装在机身侧面；每一个无人机机翼上面都安装无人机保护罩303；探照灯305和警示灯306都设置在机身正上方，以方便操作者起飞时进行控制；电池管理系统308、无人机飞控系统309安装在机身下方的盒子里，下面搭载机器人搭载平台307；避障定位系统安装在无人机的GPS正下方以方便数据传输。正常工作时，无人机机器人搭载平台307上搭载树枝修剪机器人或者多轴锁紧机器人飞向电线，当靠近电线时，无人机电动起落架302上面的机械爪做出反应紧紧抓住电线，无人机只需要调整俯仰姿态就可以使上面搭载的执行机构向电线运动或者返回无人机，这样就完成了整个过程。Specifically, the pan-tilt camera 301 is mounted directly below the UAV through a keychain; the electric landing gear 302 of the UAV is installed on the side of the fuselage; the UAV protective cover 303 is installed on each UAV wing; the searchlight Both 305 and warning lights 306 are set directly above the fuselage to facilitate the operator to control when taking off; the battery management system 308 and the UAV flight control system 309 are installed in the box below the fuselage, and the robot carrying platform 307 is mounted below; The obstacle avoidance positioning system is installed directly under the GPS of the drone to facilitate data transmission. When working normally, the drone robot carrying platform 307 is equipped with a branch pruning robot or a multi-axis locking robot and flies towards the wire. When it is close to the wire, the mechanical claw on the drone’s electric landing gear 302 responds and grabs the wire tightly. , the UAV only needs to adjust the pitch attitude to make the actuator on it move to the wire or return to the UAV, thus completing the whole process.
在本实用新型的一个实施例中，地面站控制系统主要用于人机交互以及工作人员完成多无人机的监控指挥。在计算机中安装所开发的地面站软件，所述地面站软件包括两个窗口。第一个窗口为控制指令窗口，另一个窗口为数据显示窗口。通过所述数据显示窗口可以实时观测无人机以及机器人状态信息，包括剩余电量、传感器状态、工作进度等。除此之外，云台相机拍摄回来的视频信息也会在该窗口显示出来。所述命令控制窗口的指令可以由计算机键盘输入，也可以由无人机遥控器输入。In one embodiment of the utility model, the ground station control system is mainly used for human-computer interaction and for the staff to complete the monitoring and command of multiple drones. The developed ground station software is installed in the computer, and the ground station software includes two windows. The first window is the control instruction window, and the other window is the data display window. Through the data display window, the status information of the UAV and the robot can be observed in real time, including remaining power, sensor status, work progress, etc. In addition, the video information captured by the PTZ camera will also be displayed in this window. The instructions in the command control window can be input by a computer keyboard, or by a drone remote control.
在本实用新型的一个实施例中，无人机的行进状态有两种模式，分别为全自动模式和手动模式。全自动模式包括一键返航、定点检测、巡线检测。所述一键返航适用于无人机根据起飞时刻设定的返回坐标在完成任务后自动返回该点。尤其是当出现无人机数据链中断等特殊情况时，无人机会自动切换到一键返航状态，避免无人机发生事故。所述定点检测用于无人机检测杆塔等特定的坐标，可以设置检测高度和检测半径。所述巡线检测用于当无人机搭载红外等巡线模块时，可以自动在高空中搜索输电线路完成自动巡检任务。In one embodiment of the present utility model, there are two modes in the traveling state of the drone, which are fully automatic mode and manual mode. The fully automatic mode includes one-button return, fixed-point detection, and line inspection. The one-key return is suitable for the UAV to automatically return to this point after completing the task according to the return coordinates set at the take-off time. Especially when there are special circumstances such as interruption of the UAV data link, the UAV will automatically switch to the one-button return state to avoid accidents of the UAV. The fixed-point detection is used for drones to detect specific coordinates such as poles and towers, and the detection height and detection radius can be set. The line inspection detection is used to automatically search for transmission lines in high altitude to complete the automatic inspection task when the UAV is equipped with an infrared line inspection module.
在本实用新型的一个实施例中，无人机的通讯通道有两个，分别为数据传输和图像传输。在正常状态下，所述两个通道互不干扰，各自完成各自的任务。当其中一个通道发生数据链中断时，两个数据链会自动切换共用一个数据传输通道，但是数据传输优先。In one embodiment of the present invention, there are two communication channels of the UAV, which are data transmission and image transmission respectively. In a normal state, the two channels do not interfere with each other, and each completes its own task. When a data link interruption occurs in one of the channels, the two data links will automatically switch to share a data transmission channel, but the data transmission will take priority.
在本实用新型的一个实施例中，云台相机安装于减震机构上，减震连接为柔性连接，可以克服无人机抖动带来的画面不清晰等问题。所述云台可以进行俯仰和旋转。在手动模式操作完成任务时，云台相机可以选择不安装。在选择安装云台相机，尤其是在环境较暗的环境下工作的时候可以打开探照灯进行补光。In one embodiment of the present invention, the pan-tilt camera is installed on the shock-absorbing mechanism, and the shock-absorbing connection is a flexible connection, which can overcome problems such as unclear pictures caused by the shaking of the drone. The platform can be pitched and rotated. When the task is completed in manual mode operation, the gimbal camera can be selected not to be installed. When you choose to install a PTZ camera, especially when working in a dark environment, you can turn on the searchlight for supplementary light.
在本实用新型的一个实施例中，无人机电池管理系统负责整机运动电池电荷的预估以及放电管理，在无人机执行任务的过程中，所述电池管理系统会实时检测剩余电量，根据无人机任务强度反馈剩余工作时长。在执行任务前，操作人员可以设置剩余电量报警阈值，当电量低于设置的阈值时，警示灯闪烁红灯，闪烁频率加快。当剩余电量严重不足时，无人机切换到自动返航状态。In one embodiment of the present invention, the UAV battery management system is responsible for the estimation and discharge management of the battery charge of the whole machine. During the mission execution process of the UAV, the battery management system will detect the remaining power in real time, Feedback the remaining working hours according to the drone task intensity. Before performing the task, the operator can set the remaining power alarm threshold. When the power is lower than the set threshold, the warning light will flash red, and the flashing frequency will be accelerated. When the remaining power is seriously insufficient, the UAV switches to the automatic return state.
在本实用新型的一个实施例中，避障定位系统可以通过搭载的传感器构建环境三维图像，特别的，在构建的三维地图中可以精确的表示无人机在空间中的坐标。在无人机与机器人配合作业过程中，无人机为了配合机器人，需要精度极高的微调运动。自带的避障系统在无人机快要触碰到障碍物时可以发出报警信号。In an embodiment of the present invention, the obstacle avoidance positioning system can construct a three-dimensional image of the environment through the mounted sensors, and in particular, the coordinates of the UAV in space can be accurately represented in the constructed three-dimensional map. In the process of cooperation between drones and robots, in order to cooperate with robots, drones need extremely high-precision fine-tuning movements. The built-in obstacle avoidance system can send out an alarm signal when the drone is about to touch an obstacle.
在本实用新型的一个实施例中，机器人搭载平台用于搭载执行机构。所述的机器人搭载平台可以对所搭载的机器人进行位置控制。无人机与机器人的配合主要包括以下3种方式：In one embodiment of the present invention, the robot carrying platform is used to carry the actuator. The robot carrying platform can control the position of the carried robot. The cooperation between drones and robots mainly includes the following three methods:
(1)、无人机作为空中投放装置，将执行某种特定任务的机器人投放于高空的杆塔或者输电线路上进行作业。(1) UAV is used as an aerial delivery device, which will launch a robot that performs a specific task on a high-altitude tower or transmission line for operation.
(2)、无人机辅助机器人配合完成空中作业任务。无人机利用自带的摄像头以及传感器可以对机器人的运动进行反馈及修正。(2) UAV-assisted robots cooperate to complete aerial tasks. UAVs use their own cameras and sensors to provide feedback and corrections to the movement of the robot.
(3)、无人机和机器人共同协作完成空中作业任务。(3) UAVs and robots work together to complete aerial tasks.
下面具体结合无人机与机器人的一种协作方式来介绍本实用新型的应用。在该实施例中无人机搭载树枝修建机器人完成对输电线路周围的树枝的修剪任务。The application of the present utility model will be introduced in detail below in conjunction with a cooperative mode of the unmanned aerial vehicle and the robot. In this embodiment, the drone is equipped with a branch pruning robot to complete the task of pruning the branches around the power transmission line.
首先在无人机起飞前检查各个执行器的状态是否完好，检查执行任务的树枝修建机器人状态。按照起飞前检查顺序依次检查系统的各个子系统。First, check whether the status of each actuator is intact before the drone takes off, and check the status of the branch repairing robot performing the task. Inspect each subsystem of the system in sequence according to the pre-flight inspection sequence.
分别打开地面站监控系统、无人机系统、树枝修剪机器人的电源开关，检查地面站控制系统与无人机通讯是否正常。然后校准传感器。等待程序自检。Turn on the power switches of the ground station monitoring system, UAV system, and branch pruning robot respectively, and check whether the communication between the ground station control system and the UAV is normal. Then calibrate the sensor. Wait for the program to self-test.
在所有人为检查和程序自检完成后，设置无人机一键返航点，将无人机的运行状态切换到手动模式。然后操作手使用遥控器将搭载树枝修剪机器人的无人机起飞，飞临需要修剪的树枝的输电线路上空。After all human inspections and program self-inspections are completed, set the drone's one-key home point and switch the drone's operating status to manual mode. Then the operator uses the remote control to take off the drone carrying the branch pruning robot and fly over the transmission line of the branch that needs to be trimmed.
此时无人机切换到自动与手动结合的状态飞行，无人机自动巡航模式打开，该模式可以控制无人机与输电线路相距一定的距离而运动。人为控制树枝修剪机器人的修剪模式。在有树枝的航行阶段打开树枝修剪功能。在执行任务的过程中，无人机搭载树枝修剪机器人始终按照与输电线路固定的相对距离而运动，因此可以将伸入该范围内的树枝修剪掉。At this time, the drone switches to the state of automatic and manual flight, and the automatic cruise mode of the drone is turned on. This mode can control the movement of the drone and the power transmission line at a certain distance. The pruning mode of the human-controlled branch pruning robot. Turns on branch pruning during a voyage with branches. During the execution of the mission, the branch pruning robot carried by the UAV always moves at a fixed relative distance from the power transmission line, so the branches that extend into this range can be trimmed off.
在无人机和树枝修剪机器人配合执行树枝修剪任务的时候，无人机搭载的云台相机等其他设备会将检测到的周围环境信息反馈回地面站。When the UAV and the branch pruning robot cooperate to perform the branch pruning task, other equipment such as the pan-tilt camera on the UAV will feed back the detected surrounding environment information to the ground station.
在完成任务或者电量不足的时候，无人机启动返航功能，根据地面站反馈回来的信息也可以手动控制无人机的返回。自动返回将返回到无人机的出发点。手动返回坐标可以根据实际情况而确定。When the task is completed or the battery is low, the drone starts the return function, and the return of the drone can also be manually controlled according to the information fed back from the ground station. Auto return will return to the starting point of the drone. The coordinates returned manually can be determined according to the actual situation.
上述实施例仅例示性说明本实用新型的原理及其功效，而非用于限制本实用新型。任何熟悉此技术的人士皆可在不违背本实用新型的精神及范畴下，对上述实施例进行修饰或改变。因此，凡所属技术领域中具有通常知识者在未脱离本实用新型所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本实用新型的权利要求所涵盖。The above-mentioned embodiments only illustrate the principles and effects of the present utility model, but are not intended to limit the present utility model. Anyone familiar with this technology can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed in the utility model should still be covered by the claims of the utility model.
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| CN201721105573.6UCN207249489U (en) | 2017-08-31 | 2017-08-31 | A kind of unmanned plane and robot link job platform in the air |
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| CN201721105573.6UCN207249489U (en) | 2017-08-31 | 2017-08-31 | A kind of unmanned plane and robot link job platform in the air |
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| CN107329487A (en)* | 2017-08-31 | 2017-11-07 | 西南交通大学 | A kind of unmanned plane and robot link job platform in the air |
| CN108490977A (en)* | 2018-05-05 | 2018-09-04 | 大连葆光节能空调设备厂 | A kind of positioning cruise monitoring device |
| CN109358638A (en)* | 2018-09-10 | 2019-02-19 | 南京航空航天大学 | Visual Obstacle Avoidance Method for UAV Based on Distributed Map |
| CN109444876A (en)* | 2018-12-13 | 2019-03-08 | 广州极飞科技有限公司 | Operating equipment and its method of adjustment and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107329487A (en)* | 2017-08-31 | 2017-11-07 | 西南交通大学 | A kind of unmanned plane and robot link job platform in the air |
| CN108490977A (en)* | 2018-05-05 | 2018-09-04 | 大连葆光节能空调设备厂 | A kind of positioning cruise monitoring device |
| CN110291012A (en)* | 2018-07-23 | 2019-09-27 | 深圳市大疆创新科技有限公司 | Searchlight control method and device, searchlight control device, aircraft and flight system |
| CN110291012B (en)* | 2018-07-23 | 2022-01-07 | 深圳市大疆创新科技有限公司 | Searchlight control method and device, searchlight control device, aircraft and flight system |
| CN109358638A (en)* | 2018-09-10 | 2019-02-19 | 南京航空航天大学 | Visual Obstacle Avoidance Method for UAV Based on Distributed Map |
| CN109444876A (en)* | 2018-12-13 | 2019-03-08 | 广州极飞科技有限公司 | Operating equipment and its method of adjustment and device |
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