The invention provides a mobile air-ground cooperative unmanned aerial vehicle autonomous charging system. The mobile air-ground cooperative unmanned aerial vehicle autonomous charging system comprises an unmanned vehicle platform, an unmanned aerial vehicle platform, a positioning unit and a charging unit, the unmanned aerial vehicle platform comprises a multi-rotor unmanned aerial vehicle, a charging interface and an ultrasonic transmitting device; the unmanned vehicle platform comprises a power supply device, an ultrasonic receiving device, a mechanical arm and an unmanned aerial vehicle landing platform, and the unmanned aerial vehicle platform and the unmanned vehicle platform are each provided with an SLAM system; the coarse positioning unit is used for obtaining the relative position of the unmanned vehicle and the unmanned aerial vehicle based on SLAM system back-end optimization positioning; the precise positioning unit is used for obtaining precise relative positions of the unmanned aerial vehicle and the unmanned vehicle based on ultrasonic ranging and Doppler velocity measurement algorithms; the guiding unit guides the unmanned aerial vehicle to a corresponding position; the charging unit is used for controlling the power supply device to charge the unmanned aerial vehicle landing on the unmanned vehicle platform. The whole-course autonomous charging is realized in the charging process, manual control is not needed, the positioning process does not need to depend on a GNSS system, and the system can work in an underground complex environment.

    本发明提供了一种移动式空地协同无人机自主充电系统,包括无人车平台、无人机平台、定位单元和充电单元;无人机平台包括多旋翼无人机,充电接口和超声波发射装置;无人车平台包括电源装置、超声波接收装置、机械臂和无人机降落平台,无人机平台和无人车平台均配置有SLAM系统;粗定位单元用于基于SLAM系统后端优化定位获得无人车和无人机的相对位置;精定位单元用于基于超声波测距和多普勒测速算法获得无人机和无人车的精准相对位置;引导单元将无人机引导至相应位置;充电单元用于控制电源装置对降落至无人车平台的无人机进行充电。充电过程实现全程自主充电,无需人为操控,并且定位过程无需依靠GNSS系统,可在地下复杂环境中工作。


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    Title :

    Mobile air-ground cooperative unmanned aerial vehicle autonomous charging system and method


    Additional title:

    一种移动式空地协同无人机自主充电系统和方法


    Contributors:
    LI JIAN (author) / CUI HAO (author) / YANG JUNTAO (author) / HU QINGWU (author) / MAO QINGZHOU (author) / LI HUANTAO (author) / TAO YIWEN (author)

    Publication date :

    2023-12-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U



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