CN-122009580-A - Modularized unmanned aerial vehicle parallel operation system

Abstract

The application discloses a modularized unmanned aerial vehicle parallel operation system, which belongs to the technical field of unmanned aerial vehicle logistics and comprises a frame, an unmanned aerial vehicle connection platform, a bearing and transferring mechanism, an integrated operation cabin, a fixed operation station, a goods buffering mechanism, a battery storage and exchange mechanism, an operation mechanical arm and a visual positioning system, wherein the unmanned aerial vehicle connection platform is arranged on the frame and comprises an unmanned aerial vehicle falling position and an unmanned aerial vehicle taking-off position which are arranged in a physical separation mode, the bearing and transferring mechanism is arranged in the frame, the integrated operation cabin is arranged in the frame and is internally provided with the fixed operation station, the bearing and transferring mechanism integrally transfers the unmanned aerial vehicle falling on the falling position to the fixed operation station in the integrated operation cabin, the operation mechanical arm is arranged on the fixed operation station, and at least two operations of unloading, loading and battery replacement are parallelly executed on the unmanned aerial vehicle, and the visual positioning system provides operation positioning for the operation mechanical arm. The application can be flexibly deployed in various logistics network topologies in a plug-and-play manner through the integrated and modularized design of 'whole transfer' and 'parallel operation', and is convenient for rapid expansion.

Inventors

• MAO TIAN
• YANG YI
• YU MIAO
• WEI QIANG
• WANG YINGNI
• CHENG XIAO

Assignees

• 浙江大学
• 浙江大学建筑设计研究院有限公司

Dates

Publication Date

20260512

Application Date

20260209

Claims (15)

1. 1. A modular unmanned aerial vehicle parallel operation system, comprising: A frame; the unmanned aerial vehicle connection platform is arranged on the rack and comprises an unmanned aerial vehicle landing position and an unmanned aerial vehicle take-off position which are physically separated; the bearing transfer mechanism is arranged in the rack; The integrated operation cabin is arranged in the rack, and a fixed operation station, a goods buffer mechanism, a battery storage and exchange mechanism, an operation mechanical arm and a visual positioning system are arranged in the integrated operation cabin; the unmanned aerial vehicle loading and transferring mechanism is used for integrally transferring the unmanned aerial vehicle which falls on the falling position to a fixed working station in the integrated working cabin, the working mechanical arm is used for parallelly executing at least two operations of unloading, loading and battery replacement on the unmanned aerial vehicle on the fixed working station, the visual positioning system is used for providing operation positioning for the working mechanical arm, and the loading and transferring mechanism is also used for integrally transferring the unmanned aerial vehicle to the take-off position after the operation is completed.
2. 2. The modular unmanned aerial vehicle parallel operation system according to claim 1, wherein the landing position and the take-off position are independent platforms horizontally arranged in parallel, and the landing position and the take-off position are provided with: v-shaped or conical guide grooves formed on the surface of the connection platform; the electromagnetic locking mechanism is arranged in the connection platform and corresponds to the guide groove; and the liftable interface module is arranged in the central area of the guide groove and is provided with a data communication contact and a power supply contact.
3. 3. The modular unmanned aerial vehicle parallel operation system of claim 1, wherein the load-bearing transfer mechanism comprises: The horizontal moving unit comprises at least one linear guide rail fixed at the bottom of the integrated operation cabin, a moving platform which is in sliding connection with the guide rail and a first driving part which drives the moving platform to move along the guide rail; The base of the vertical lifting unit is fixedly arranged on the mobile platform; The bearing tray is fixedly arranged at the top of the vertical lifting unit; the bearing tray is driven by the vertical lifting unit to perform lifting movement and horizontally moves along with the mobile platform.
4. 4. The parallel operation system of the modularized unmanned aerial vehicle according to claim 3, wherein the top surface of the bearing tray is provided with a profiling bracket, the profiling bracket is provided with a telescopic locating pin and an electromagnetic locking module, the first driving part of the horizontal moving unit is a servo motor and a gear rack mechanism or a synchronous belt mechanism connected with the servo motor, and the vertical lifting unit is a cross shear type lifting frame or a plurality of groups of synchronous electric push rods.
5. 5. The parallel operation system of a modularized unmanned aerial vehicle according to claim 1, wherein the goods buffering mechanism is a stereoscopic warehouse based on a shuttle and a telescopic fork, the stereoscopic warehouse comprises a multi-layer goods shelf, the shuttle horizontally moving on a track in front of the goods shelf, a cargo carrying platform capable of vertically lifting on the shuttle and the telescopic fork which is arranged on the cargo carrying platform and can extend into the goods shelf to take and put a standard container, and the goods buffering mechanism further comprises a fixed cross platform for the operation mechanical arm to cross the container.
6. 6. The modular unmanned aerial vehicle parallel operation system of claim 1, wherein the battery storage and replacement mechanism comprises a matrix multi-bay drawer charging rack, each individual bay of the charging rack being configured to interface with and manage one standardized quick-change battery module.
7. 7. The modular unmanned aerial vehicle parallel operation system according to claim 1, wherein the operation mechanical arm is a six-degree-of-freedom serial joint mechanical arm, and the end effector is provided with a tool quick-change device for changing a cargo clamping jaw and a battery plugging tool.
8. 8. The modular unmanned aerial vehicle parallel operation system according to claim 1, wherein the end effector of the operation mechanical arm is of an integrated duplex structure, and an electric parallel clamping jaw for clamping goods and a battery operation head for plugging and unplugging a battery are integrated in the end effector.
9. 9. The modular unmanned aerial vehicle parallel operation system of claim 7, wherein the battery plugging tool comprises a guide pin, an electrical connector, and a rotating jaw locking mechanism controlled by a miniature servo motor through a worm drive ring cam.
10. 10. The modular unmanned aerial vehicle parallel operation system according to claim 1, wherein a visual positioning system is further arranged in the integrated operation cabin, and the visual positioning system comprises a global visual camera fixedly installed on the cabin roof and a local visual camera integrated on the tail end of the operation mechanical arm.
11. 11. The modular unmanned aerial vehicle parallel operation system of claim 10, wherein the vision positioning system is configured to perform global scanning and coarse positioning of a fixed work station by the global vision camera and local fine positioning and real-time vision servo control by the local vision camera when the work robotic arm approaches a target.
12. 12. The modular unmanned aerial vehicle parallel operation system of claim 1, further comprising a local controller; the local controller is in communication connection with the load transfer mechanism, the operation mechanical arm, the goods buffering mechanism and the battery storage and replacement mechanism and is configured to: Receiving a task instruction and real-time state data of the unmanned aerial vehicle; And generating a working instruction sequence for controlling the working mechanical arm to execute operation based on the task instruction and the real-time state data of the unmanned aerial vehicle.
13. 13. The modular unmanned aerial vehicle parallel operation system of claim 12, wherein the local controller is further configured to autonomously decide whether to include a battery replacement operation in the sequence of operation instructions based on real-time battery data of the unmanned aerial vehicle and a preset safety threshold, and/or to compensate the motion trajectory of the work robot in real time based on feedback from the visual positioning system.
14. 14. The modular unmanned aerial vehicle parallel operation system of claim 1, wherein the integrated operation cabin is further provided with an openable and closable environmental isolation cabin door, and wherein the system further comprises a track planning module in communication with the load transfer mechanism, the operation robot arm, and the vision positioning system, wherein the track planning module is configured to plan a collision-free motion track for the operation robot arm that at least partially overlaps in time with respect to the total operation time, with the total operation time being the shortest.
15. 15. A method of operation based on the modular unmanned aerial vehicle parallel operation system of any of claims 1 to 14, comprising the steps of: the unmanned aerial vehicle falls on the falling position; the bearing transfer mechanism transfers the whole unmanned aerial vehicle to a fixed working station in the integrated working cabin; at the fixed working station, the working mechanical arm performs at least two operations of unloading, loading and battery replacement on the unmanned aerial vehicle in parallel under the assistance of the visual positioning system; The bearing transfer mechanism integrally moves the unmanned aerial vehicle which completes the operation out of the integrated operation cabin and conveys the unmanned aerial vehicle to the take-off position; and the unmanned aerial vehicle takes off from the take-off position.

Description

Modularized unmanned aerial vehicle parallel operation system Technical Field The invention relates to the technical field of unmanned aerial vehicle logistics, in particular to a modularized unmanned aerial vehicle parallel operation system. Background With the continuous development of unmanned aerial vehicle logistics technology and the deepening of application scenes, the automation level and the operating efficiency of ground transfer nodes become key factors for restricting the overall efficiency of a logistics network. In order to meet the logistics operation requirements of large-scale and high-frequency unmanned aerial vehicles, an automation machine nest (or unmanned aerial vehicle airport) is used as a ground core infrastructure, and the unmanned aerial vehicle has full-flow automatic processing capabilities of efficient unmanned aerial vehicle receiving, cargo transferring, energy supplementing, takeoff again and the like. At present, the common automation machine nest technology focuses on the basic functions of self-help berthing, charging, cargo loading and unloading of a single unmanned aerial vehicle. In a typical workflow, a serial mode of operation is typically employed in which after the drone is dropped, the delivered cargo is first removed by a robotic arm or other actuator, then battery replaced or charged, and finally a new cargo to be delivered is recharged. The one-step-by-one operation mode realizes automation, but all links must be executed sequentially, so that the whole processing period of a single unmanned aerial vehicle on a node is longer, the throughput capacity of the node is limited, and the efficiency requirement under a high-flow logistics scene is difficult to meet. In addition, the design of the existing automation machine nest is often tightly combined with the specific logistics network architecture served by the existing automation machine nest, and the universality and the flexibility are lacking. Most systems have been developed for customization of specific network topologies (e.g., single hub radial), failing to form a highly standardized, modular base work unit. This drawback makes it difficult for existing nests to adapt to diverse network morphologies, such as star, linear, or grid (including cellular) logistics networks of different topologies, limiting rapid deployment, replication, and networked expansion of ground infrastructure, and increasing the complexity and cost of network construction and post-tuning. Therefore, the prior art has two major bottlenecks, namely low node processing efficiency caused by the serial operation mode of the existing automation machine nest and too tight coupling of the design and a specific network, and lack of a standardized module capable of being used as a general construction unit. An innovative design scheme of the machine nest is needed, so that the single-node processing efficiency can be remarkably improved through parallel operation, the machine nest can be used as a plug-and-play standardized module and can be flexibly integrated into logistics networks with different topological structures, and foundation support is provided for constructing efficient and extensible unmanned aerial vehicle logistics networks. Disclosure of Invention The invention aims to provide a modularized unmanned aerial vehicle parallel operation system, which solves the problems of low efficiency, insufficient reliability, lack of standardization, insufficient resource utilization and the like of the existing automation machine nest. In order to achieve the above purpose, the present application adopts the following technical scheme: The application provides a modularized unmanned aerial vehicle parallel operation system, which comprises: A frame; the unmanned aerial vehicle connection platform is arranged on the rack and comprises an unmanned aerial vehicle landing position and an unmanned aerial vehicle take-off position which are physically separated; the bearing transfer mechanism is arranged in the rack; The integrated operation cabin is arranged in the rack, and a fixed operation station, a goods buffer mechanism, a battery storage and exchange mechanism, an operation mechanical arm and a visual positioning system are arranged in the integrated operation cabin; the unmanned aerial vehicle loading and transferring mechanism is used for integrally transferring the unmanned aerial vehicle which falls on the falling position to a fixed working station in the integrated working cabin, the working mechanical arm is used for parallelly executing at least two operations of unloading, loading and battery replacement on the unmanned aerial vehicle on the fixed working station, the visual positioning system is used for providing operation positioning for the working mechanical arm, and the loading and transferring mechanism is also used for integrally transferring the unmanned aerial vehicle to the take-off position after the operation is comp