一种无人机自动换电系统的设计

Design of Automatic Battery-Replacement System for UAV

设计了一套室外无人机自动更换电池系统,通过UWB和IMU融合技术获取无人机在空间中的坐标。当无人机电池电量不足时,通过坐标的反馈自动飞至换电站上方。由于融合定位技术受外界环境影响较大,坐标参数容易产生误差,因此通过摄像头识别换电站上的图形标志进行定位以及姿态调整,从而准确落于换电站上。系统的定位误差被控制在0~9 cm左右,并基于此定位要求,设计了一款四旋翼无人机。

An automatic battery replacement system for outdoor drones is designed. The coordinates of UAV in space are obtained by UWB and IMU fusion technology. When the battery of the UAV is low, it will fly to the top of the battery-replacement station automatically through the feedback of coordinates. As the fusion positioning technology is greatly affected by the external environment, the coordinate parameters are prone to errors, so the camera is used to identify the graphic signs on the battery-replacement station for positioning and attitude adjustment, so as to accurately land on the battery-replacement station. The positioning error of the system is controlled within 0-9 cm. Based on this positioning requirement, a quadrotor UAV is designed.