Research On Autonomous Charging System For Rotor UAV

The rotor UAV has a wide range of applications in various industries due to its good maneuverability and smooth handling.However,complex application scenarios have exposed the shortcomings of current rotor drones in terms of battery life.Manual charging is time-consuming and laborious,affecting the efficiency of flight work,and greatly limits the application range and working mode of the rotorcraft.Therefore,in order to solve the problems,this paper designed a autonomous charging system for Rotor UAV.Firstly,the quad-rotor UAV is used as the representative to study its structure and flight principle.The mathematical model of the quad-rotor UAV's axis motion and translational motion is built according to the reference coordinate system.The control of the quad-rotor UAV is analyzed.The principle lays the foundation for the flight parameter setting and position control algorithm design of the drone.Secondly,an autonomous flight control scheme based on monocular vision is designed.In the monocular vision part,HARRIS corner detection is used for feature extraction.The target recognition algorithm is designed based on the corner information,and the relative position signal output scheme based on image information is designed.In the autonomous flight control part,the control scheme based on DJI Onboard SDK is selected,and the position control algorithm of the drone based on Onboard SDK is designed.The control parameters are set for the drone based on the theoretical basisThirdly,the UAV power management scheme was designed.According to the charge-discharge characteristics of lithium-ion battery,the battery SOC model is built,and the charging decision-making scheme is designed according to the relationship between power and maximum flight distance.The equalization module and wireless charging module are designed.Finally,in order to verify the feasibility of the system,the real-time performance of the HARRIS corner detection algorithm and the accuracy of the target detection algorithm are verified by image processing experiments.The autonomous flight of the drone based on monocular vision is also carried out through the ground station platform.Control experiments,the experimental results meet the design requirements,confirm the feasibility of the system program.