CN-122018544-A - Automatic cabin entering method, device, equipment and medium for large unmanned aerial vehicle transport vehicle

CN122018544ACN 122018544 ACN122018544 ACN 122018544ACN-122018544-A

Abstract

The invention discloses an automatic cabin entering method, device, equipment and medium for a large unmanned aerial vehicle transport vehicle, which comprise the steps of acquiring current posture information of the target transport vehicle based on a high-speed camera, determining parameters to be adjusted of the target transport vehicle and determining a longitudinal displacement distance of a guide rail of a cabin box according to the current posture information, wherein the parameters to be adjusted comprise an accelerator and a corner, determining a brake starting point and a brake end point according to a vehicle body identifier of the target transport vehicle after the target transport vehicle is controlled to enter the cabin according to the parameters to be adjusted and the longitudinal displacement distance of the guide rail, and completing a cabin entering process of the target transport vehicle at the brake end point. The invention belongs to the field of cabin entering of transport vehicles. The invention can realize the accurate cabin entering of the unmanned vehicle.

Inventors

WANG JIAN
CHEN LUYUE
ZHU LISHA
XU NINGBO
YANG KAI
XU YUEGANG
CAO WEIZHONG
SU BIN
LUO RUI
WU HAIYAN

Assignees

成都四威高科技产业园有限公司

Dates

Publication Date: 20260512
Application Date: 20251230

Claims (10)

1. An automatic cabin entering method for a large unmanned aerial vehicle transport vehicle is characterized by comprising the following steps of: acquiring current attitude information of a target transport vehicle based on a high-speed camera, wherein the current attitude information comprises coordinates and a current orientation angle; According to the current attitude information, determining parameters to be adjusted of the target transport vehicle and determining the longitudinal displacement distance of a guide rail of a cabin, wherein the parameters to be adjusted comprise an accelerator and a corner; And after the parameters to be adjusted and the longitudinal displacement distance of the guide rail are used for controlling the target transport vehicle to enter the cabin, determining a braking starting point and a braking ending point according to the vehicle body identifier of the target transport vehicle, and completing the cabin entering process of the target transport vehicle at the braking ending point.
2. The method for automatically entering a cabin of a large unmanned aerial vehicle according to claim 1, wherein determining parameters to be adjusted of the target transport vehicle according to the current attitude information comprises: the method for constructing the kinematic model of the target transport vehicle comprises the following steps: , Wherein, the In a global coordinate system for a target transport vehicle The instantaneous speed in the direction of the vehicle, In a global coordinate system for a target transport vehicle The instantaneous speed in the direction of the vehicle, As the current angle of orientation, Is used as a throttle valve, and is provided with a throttle valve, Is a corner; Defining errors, comprising: , Wherein, the Is the longitudinal error of the vehicle body coordinate system, Is the transverse error of the coordinate system of the vehicle body, In the form of a two-dimensional rotation matrix, In a global coordinate system The error in the direction of the light, Of global coordinate system The error in the direction of the light, Is a transposition; A control law comprising: , , Wherein, the In order to achieve a speed proportional gain, Is the euclidean norm of the position error, For the course angle error proportional gain, As the difference between the target heading angle and the current heading angle, Is the lateral error proportional gain.
3. The method for automatically entering a cabin of a large unmanned aerial vehicle according to claim 1, wherein determining the longitudinal displacement distance of the guide rail of the cabin comprises: , Wherein, the For the longitudinal displacement distance of the guide rail, For the current longitudinal distance of the guide rail, Is the wheelbase of the target transport vehicle.
4. The method for automatically entering a cabin of a large unmanned aerial vehicle according to claim 2, wherein determining whether the parameters to be adjusted are available comprises: if the conditions are satisfied: , Wherein, the In a global coordinate system for a target transport vehicle The position of the shaft is determined by the position of the shaft, Is the object of The position of the shaft is determined by the position of the shaft, In a global coordinate system for a target transport vehicle The position of the shaft is determined by the position of the shaft, Is the object of The position of the shaft is determined by the position of the shaft, And All are preset thresholds; the parameters to be adjusted are available; otherwise, the parameters to be adjusted are recalculated.
5. The method for automatically loading a large unmanned aerial vehicle of claim 1, wherein determining a braking start point and a braking end point based on a body identifier of a target transport vehicle comprises: the first camera in the control cabin is used for identifying a vehicle body identifier, and when the vehicle body identifier is identified, the position is used as a braking starting point; and a second camera in the control cabin is used for identifying the vehicle body identifier, and the position is used as a braking end point when the vehicle body identifier is identified, wherein the first camera is positioned closer to a cabin door of the cabin than the second camera.
6. The method for automatically entering a large unmanned aerial vehicle according to claim 2, wherein the controlling the target vehicle to decelerate when traveling to the braking start point comprises: , Wherein, the For the current speed of the target transporter, In order to have moved the distance of the movement, Is the length of the tank.
7. The method for automatically docking a large unmanned aerial vehicle carrier of claim 1, further comprising: and after the cabin entering process of the target transport vehicle is finished, controlling the cabin door of the cabin to be closed.
8. Automatic cabin device that enters of unmanned aerial vehicle transport vechicle, its characterized in that includes: The system comprises a gesture information acquisition module, a target transport vehicle acquisition module and a target control module, wherein the gesture information acquisition module is used for acquiring current gesture information of the target transport vehicle based on a high-speed camera, and the current gesture information comprises coordinates and a current orientation angle; The adjusting module is used for determining parameters to be adjusted of the target transport vehicle and determining the longitudinal displacement distance of the guide rail of the cabin according to the current attitude information, wherein the parameters to be adjusted comprise an accelerator and a corner; and the boxing module is used for determining a braking starting point and a braking ending point according to the vehicle body identifier of the target transport vehicle after controlling the target transport vehicle to enter the cabin according to the parameters to be adjusted and the longitudinal displacement distance of the guide rail, and finishing the cabin entering process of the target transport vehicle at the braking ending point.
9. An electronic device, comprising: A processor; a memory for storing the processor-executable instructions; wherein the processor is configured to execute to implement a large unmanned aerial vehicle transport vehicle automatic docking method as claimed in any one of claims 1 to 7.
10. A non-transitory computer readable storage medium, wherein instructions in the non-transitory computer readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform a method of implementing an automated boarding of a large unmanned vehicle according to any one of claims 1 to 7.

Description

Automatic cabin entering method, device, equipment and medium for large unmanned aerial vehicle transport vehicle Technical Field The invention relates to the field of cabin entering of transport vehicles, in particular to an automatic cabin entering method, device, equipment and medium for a large unmanned aerial vehicle transport vehicle. Background The large unmanned aerial vehicle is large in size and complex in structure, and usually needs to be disassembled into a machine body, wings and other parts in transition transportation, and the parts are respectively loaded on a special transportation trolley, and then the parts are integrally pushed into a standard container to carry out highway, railway, sea transportation or air transportation. However, due to the fact that the whole set of system is large in weight and high in inertia, the traditional mode of pushing the container by means of manual or simple winches is high in labor intensity and low in operation efficiency, potential safety hazards such as inaccurate positioning and collision damage exist, and urgent requirements of a modern unmanned aerial vehicle on quick transition, efficient boxing, safety and reliability in the scenes of test flight verification, emergency response or combat deployment and the like are difficult to meet. Disclosure of Invention The invention provides the method, the device, the equipment and the medium for automatically entering the cabin of the large unmanned aerial vehicle transport vehicle, solves the technical problem of low accuracy of entering the cabin of the transport vehicle in the prior art, and achieves the technical effect of improving the automatic entering of the cabin. In a first aspect, the invention provides an automatic cabin entering method for a large unmanned aerial vehicle transport vehicle, comprising the following steps: acquiring current attitude information of a target transport vehicle based on a high-speed camera, wherein the current attitude information comprises coordinates and a current orientation angle; According to the current attitude information, determining parameters to be adjusted of the target transport vehicle and determining the longitudinal displacement distance of the guide rail of the cabin, wherein the parameters to be adjusted comprise an accelerator and a corner; after the parameters to be adjusted and the longitudinal displacement distance of the guide rail are used for controlling the target transport vehicle to enter the cabin, determining a braking starting point and a braking ending point according to the vehicle body identifier of the target transport vehicle, and completing the cabin entering process of the target transport vehicle at the braking ending point. Further, determining parameters to be adjusted of the target transport vehicle according to the current attitude information, including: constructing a kinematic model of the target transport vehicle, comprising: The automatic cabin entering method of the large unmanned aerial vehicle carrier vehicle is characterized by comprising the steps of determining parameters to be adjusted of the target carrier vehicle according to the current attitude information, and comprising the following steps: the method for constructing the kinematic model of the target transport vehicle comprises the following steps: , Wherein, the In a global coordinate system for a target transport vehicleThe instantaneous speed in the direction of the vehicle,In a global coordinate system for a target transport vehicleThe instantaneous speed in the direction of the vehicle,As the current angle of orientation,Is used as a throttle valve, and is provided with a throttle valve,Is a corner; Defining errors, comprising: , Wherein, the Is the longitudinal error of the vehicle body coordinate system,Is the transverse error of the coordinate system of the vehicle body,In the form of a two-dimensional rotation matrix,In a global coordinate systemThe error in the direction of the light,Of global coordinate systemThe error in the direction of the light,Is a transposition; A control law comprising: , , Wherein, the In order to achieve a speed proportional gain,Is the euclidean norm of the position error,For the course angle error proportional gain,As the difference between the target heading angle and the current heading angle,Is the lateral error proportional gain. Further, determining a rail longitudinal displacement distance of the pod comprises: , Wherein, the For the longitudinal displacement distance of the guide rail,For the current longitudinal distance of the guide rail,Is the wheelbase of the target transport vehicle. Further, determining whether the parameter to be adjusted is available includes: if the conditions are satisfied: , Wherein, the In a global coordinate system for a target transport vehicleThe position of the shaft is determined by the position of the shaft,Is the object ofThe position of the shaft is determined by the