The invention discloses a crawler-type unmanned vehicle for battery replacement of an unmanned aerial vehicle and a battery replacement method, belongs to the technical field of unmanned aerial vehicle charging, and aims to solve the problem of lack of an autonomous mobile inorganic battery replacement platform. The unmanned vehicle comprises an unmanned vehicle main body, a crawler chassis, a navigation sensing unit, a battery replacement operation platform and a master-slave control unit, two crawler chassis are symmetrically arranged on the unmanned vehicle main body; a navigation sensing unit is arranged on the front portion of the unmanned vehicle body, a battery replacement operation platform is arranged on the middle rear portion of the unmanned vehicle body, and a master-slave control unit is embedded in the unmanned vehicle body. The navigation sensing unit is used for sensing the external environment to estimate the pose of the unmanned vehicle; the master-slave control unit performs path planning according to the position of the unmanned vehicle in combination with an electronic map, and guides the unmanned vehicle to avoid obstacles and navigate to a destination; the battery replacement operation platform comprises a cross-shaped sliding table, a mechanical clamping jaw unit and a landing platform; the cross-shaped sliding table is used for driving the mechanical clamping jaw unit to move to the position of the unmanned aerial vehicle on the landing platform along the xyz three axes, and the battery replacement operation of the unmanned aerial vehicle is achieved.

    用于无人机换电的履带式无人车及换电方法,属于无人机充电技术领域,本发明为解决缺少自主移动无机换电平台的问题。本发明无人车,包括无人车主体、履带底盘、导航感知单元、换电操作平台和主从控制单元;无人车主体对称设置两条履带底盘;无人车主体前部设置导航感知单元,无人车主体中后部设置换电操作平台,无人车主体内部嵌有主从控制单元;导航感知单元用于感知外界环境实现对无人车的位姿估计;主从控制单元根据无人车位姿结合电子地图进行路径规划,并指导无人车避障导航至目的地;换电操作平台包括十字滑台、机械夹爪单元和降落平台;十字滑台用于驱动机械夹爪单元沿xyz三轴移动至降落平台上无人机位置,并实现无人机的换电操作。


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    Title :

    Crawler-type unmanned vehicle for battery replacement of unmanned aerial vehicle and battery replacement method


    Additional title:

    用于无人机换电的履带式无人车及换电方法


    Contributors:
    CHEN YONGHENG (author) / WANG MINGXIN (author) / XIE YU (author) / DU YINAN (author) / LI ZHIHUI (author) / ZHOU SHIRUI (author) / WEI WEI (author) / LIU ZHUOJIAN (author)

    Publication date :

    2024-11-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge



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