WO2019085151A1

WO2019085151A1 - Unmanned aerial vehicle positioning device and parking apron

Info

Publication number: WO2019085151A1
Application number: PCT/CN2017/115248
Authority: WO
Inventors: 陈鹏; 邓涛
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-10-30
Filing date: 2017-12-08
Publication date: 2019-05-09
Also published as: CN109963786A; CN207466991U

Abstract

Disclosed are an unmanned aerial vehicle positioning device and a parking apron. The unmanned aerial vehicle positioning device (10) comprises: a driving component, a first transmission mechanism (1) cooperating with the driving component, and a second transmission mechanism (2) linked with the first transmission mechanism (1), wherein the first transmission mechanism (1) comprises a first push rod (11), and the second transmission mechanism (2) comprises a second push rod (21), with the second push rod (21) being capable of axially moving along the first push rod (11). Under the drive of the driving component, the first transmission mechanism (1) drives the first push rod (11) to move, and the first transmission mechanism (1) is linked with the second transmission mechanism (2) to drive the second push rod (21) to move, such that the first push rod (11) cooperates with the second push rod (21) to push an unmanned aerial vehicle to a preset position. The first transmission mechanism and the second transmission mechanism operate synchronously by means of the drive of one power source, such that the first push rod cooperates with the second push rod to push an unmanned aerial vehicle to a preset position and realizes active positioning of the unmanned aerial vehicle using simple cooperation between the transmission structures.

Description

UAV positioning device and apron

Technical field

The invention relates to the technical field of unmanned aerial vehicles positioning, in particular to a drone positioning device and an apron.

Background technique

Small-scale UAV (UAV) fixed-point automatic landing and positioning technology, using machine vision and other technologies, to perform fixed-point landing in the absence of operation, and to fix the position of the UAV to the desired exact position after landing. This technology can be used in many applications, such as the UAV drop, the supporting ground device needs to interact with it, such as automatic battery replacement, or automatic load replacement.

In the existing positioning scheme, the landing point on the tarmac needs to be made into a large conical shape, that is, a large conical pit. After the UAV falls, the conical structural features are utilized to automatically slide the UAV to the bottom to achieve positioning. However, this kind of scheme leads to a large volume of the apron and high requirements for the landing accuracy of the drone, and the positioning success rate of the drone is not high.

Summary of the invention

The invention provides a UAV positioning device and an apron with a simple positioning method to solve the above technical problems.

According to a first aspect of the embodiments of the present invention, there is provided a drone positioning apparatus comprising: a driving assembly, a first transmission mechanism cooperating with the driving assembly, and a second arrangement associated with the first transmission mechanism a transmission mechanism, the first transmission mechanism includes a first push rod, and the second transmission mechanism includes a second push rod, the second push rod is movable along an axial direction of the first push rod;

Wherein, driven by the driving assembly, the first transmission mechanism drives the first push rod to move, and the first transmission mechanism interlocks the second transmission mechanism to drive the second push rod to move, Thereby the first push rod and the second push rod cooperate to push the drone to a preset position.

Optionally, the drive assembly includes a drive motor, a transmission rod, and a transmission assembly coupled to the drive motor and the transmission rod, the first transmission mechanism is coupled to the transmission rod; wherein the drive motor passes The transmission assembly drives the transmission rod to rotate about a central axis to drive the first transmission mechanism to operate.

Optionally, the transmission assembly includes a first bevel gear coupled to the drive motor, and a second bevel gear coupled to the transmission rod, the first bevel gear meshingly engaged with the second bevel gear .

Optionally, the first transmission mechanism further includes a first transmission wheel coupled to the transmission rod, a second transmission wheel coupled to the parking platform, and sleeved on the first transmission wheel and the second A timing belt between the drive wheels, the first push rod being fixed to the timing belt.

Optionally, the second transmission mechanism includes a connection base slidably coupled to the first push rod, and a connection arm rotatably coupled to the connection base at one end, and the other end of the connection arm is rotatably coupled to The parking platform, the second push rod is disposed on the connecting base;

Wherein, when the first push rod is driven to move, the connecting base moves in the axial direction of the first push rod under the restriction of the connecting arm.

Optionally, an axial direction of the first push rod is perpendicular to an axial direction of the second push rod.

Optionally, the UAV positioning device further includes a fence that is engaged with the first push rod and the second push rod, wherein the first push rod and the second push rod are in the Under the action of the drive motor, the drone is driven to move to the corner of the fence.

Optionally, the first transmission mechanism is two sets, which are respectively disposed at two ends of the transmission rod, and two of the two first transmission mechanisms are respectively connected to any of the synchronizations. The belt is provided; wherein the two first push rods are disposed on opposite belt faces of any of the timing belts.

Optionally, each of the first push rods is provided with two of the second transmission mechanisms, wherein two of the first push rods and four of the second ones are driven by the drive assembly A push rod cooperates to push the drone to a central position of the unmanned positioning device.

According to a second aspect of the present invention, there is provided an apron comprising: an immobilization platform, and the unmanned positioning device according to any one of the preceding claims, wherein the unmanned positioning device is disposed on the parking platform, Used to push the drone to a preset position.

Optionally, the apron further includes a detecting device disposed on the parking platform, wherein when the detecting device detects that the drone is docked at the parking platform, the detecting device triggers the The drive assembly of the human positioning device generates a driving force to push the drone to a preset position.

Optionally, the detecting device comprises an infrared sensor disposed on two sides of the parking platform or a pressure sensor disposed on the parking platform.

The technical solution provided by the embodiment of the present invention may include the following beneficial effects: the present invention designs a simple structure unmanned aerial vehicle positioning device and an apron having the same, driven by a power source to make the first transmission mechanism and the first The second transmission mechanism operates synchronously, thereby making the first push rod and the second The push rod cooperates to push the drone to the preset position, and the simple transmission structure is used to realize the active positioning of the drone.

The above general description and the following detailed description are intended to be illustrative and not restrictive.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a perspective view of a drone positioning device according to an exemplary embodiment of the present invention;

2 is a plan view showing a drone positioning device according to an exemplary embodiment of the present invention;

3 is a plan view showing a drone positioning device according to still another exemplary embodiment of the present invention;

4 is a schematic structural view of an apron according to an exemplary embodiment of the present invention;

FIG. 5 is a partial structural schematic view of an apron according to an exemplary embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, those of ordinary skill in the art are not All other embodiments obtained under the premise of creative work are within the scope of the present invention.

The structure of the UAV positioning device and the apron having the same according to the present invention will be described in detail below with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

As shown in FIG. 1 and FIG. 2, the UAV positioning device 10 of the embodiment of the present invention includes: a driving component, a first transmission mechanism 1 coupled with the driving component, and a second transmission mechanism disposed in linkage with the first transmission mechanism 1. 2. The first transmission mechanism 1 and the second transmission mechanism 2 cooperate under the driving of the drive assembly, so that the drone can be moved in two dimensions and finally reach the preset position. The structure of the UAV positioning device 10 of the present invention is relatively simple, and driving in two dimensions is realized by one power source.

Specifically, the first transmission mechanism 1 includes a first push rod 11 and the second transmission mechanism 2 includes a second push rod 21 that is movable in the axial direction of the first push rod 11. The first push rod 11 and the second push rod 21 can act on the stand or the body of the drone to apply force to the drone, thereby pushing the drone to a preset position. Wherein, driven by the driving assembly, the first transmission mechanism 1 drives the first push rod 11 to move, and the first transmission mechanism 1 interlocks the second transmission mechanism 2 to drive the second push rod 21 to move, that is, at the first push rod 11 During the movement, the second push rod 21 can also move along the axial direction of the first push rod 11, so that the first push rod 11 and the second push rod 21 cooperate to push the drone to the preset position.

The first transmission mechanism 1 can also interlock the second transmission mechanism 2 so that the first push rod 11 and the second push rod 21 are simultaneously away from the preset position under the reverse driving of the driving assembly, so that the first push rod 11 can be made. And the second push rod 21 returns to the initial position, so as to locate the next drone operating.

The drive assembly of the present invention includes a drive motor 31, a transmission rod 32, and a transmission assembly that cooperates with the drive motor 31 and the transmission rod 32. The first transmission mechanism 1 is coupled to the transmission rod 32. The driving motor 31 drives the transmission shaft 32 to rotate with the central shaft as the shaft to drive the first transmission mechanism 1 to operate, so that the first transmission mechanism 1 drives the second transmission mechanism 2 to transmit.

In an alternative embodiment, the transmission assembly includes a first bevel gear 331 coupled to the drive motor 31 and a second bevel gear 332 coupled to the transmission rod 32. The first bevel gear 331 mates with the second bevel gear 332 Engage. The driving motor 31 can be directly connected to the first bevel gear 331. In a specific configuration, the driving motor 31 can also be coupled to the first bevel gear 331 by means of a coupling. During the rotation of the driving motor 31, the first bevel gear 331 is rotated, and the first bevel gear 331 is engaged with the second bevel gear 332 to rotate the transmission rod 32 with the rotation of the driving motor 31.

Further, the transmission rod 32 is further provided with at least one positioning wheel shaft 34 fixed to the apron to prevent the transmission rod 32 from jumping during the rotation to cause the first bevel gear 331 and the second bevel gear 332. Separate from each other. The positioning axle 34 is disposed adjacent to the second bevel gear 332. Preferably, the positioning axles 34 are two and are disposed on two sides of the second bevel gear 332.

Of course, in the embodiment of the present invention, the transmission component is not limited to the cooperation manner of the first bevel gear 331 and the second bevel gear 332, and the transmission assembly may also be a cooperation mode of the timing belt 14 and the synchronous wheel, or multiple gears. Way and so on. Among them, the transmission assembly that can satisfy the synchronous rotation of the drive motor 31 to drive the transmission rod 32 is suitable for use in embodiments of the present invention.

In an embodiment of the invention, the first transmission mechanism 1 further includes a connection to the transmission rod 32. a first transmission wheel 12, a second transmission wheel 13 connected to the parking platform, and a timing belt 14 sleeved between the first transmission wheel 12 and the second transmission wheel 13. The first push rod 11 is fixed on the timing belt 14. . When the driving motor 31 drives the transmission rod 32 to rotate, the transmission rod 32 drives the first transmission wheel 12 to rotate, and the first transmission wheel 12 drives the second transmission wheel 13 to rotate synchronously through the timing belt 14, and the first push rod 11 follows The timing belt 14 moves.

Wherein, in order to cover the drone positioning device 10 as much as possible on the parking platform, the first transmission wheel 12 is located at the end of the transmission rod 32. In an alternative embodiment, a plurality of couplings 35 can be mated to the transmission rod 32 to increase the length of the transmission rod 32 in order to enhance the transmission force of the transmission rod 32 due to the larger parking platform.

In the embodiment of the present invention, the second transmission mechanism 2 includes a connection base 22 slidably coupled to the first push rod 11, and a connecting arm 23 rotatably coupled to the connection base 22 at one end, and the other end of the connecting arm 23 rotates. Connected to the parking platform, the second push rod 21 is disposed on the connecting base 22, and the second push rod 21 cooperates with the first push rod 11 to form a bent enclosure structure. The axial direction of the first push rod 11 and the axial direction of the second push rod 21 are perpendicular to each other. In the present embodiment, when the first push rod 11 is driven to move, the connecting base 22 moves in the axial direction of the first push rod 11 under the restriction of the connecting arm 23, thus realizing the first transmission mechanism 1 and the first The two transmission mechanisms 2 are linked together.

As shown in FIG. 1 and FIG. 2, in an alternative embodiment, the first transmission mechanism 1 is two sets, which are respectively disposed at two ends of the transmission rod 32, and both ends of the transmission rod 32 can be equipped with a coupling 35, two Two first push rods 11 of the first transmission mechanism 1 are respectively connected to any of the timing belts 14; wherein the two first push rods 11 are respectively disposed on opposite belt sides of any of the timing belts 14, During the rotation of the timing belt 14, the two first push rods 11 can be moved in opposite directions to drive the drone to move to the preset position, or to move in the opposite direction to move the first push rod 11 away from the preset position. .

There are two second transmission mechanisms 2 on each of the first push rods 11. Driven by the drive assembly, the two first push rods 11 cooperate with the four second push rods 21 to push the drone to the center position of the unmanned positioning device (ie, the preset position), thereby in four directions At the same time, the UAV is clamped to achieve positioning. Specifically, in the initial state, one first push rod 11 is located at one end of the first transmission wheel 12, the other first push rod 11 is located at one end of the second transmission wheel 13, and the second push rod 21 is located at the first push rod 11 The end portion, that is, each of the first push rods 11 has a second push rod 21 at both ends thereof. When the driving device drives the transmission rod 32 to rotate, the first transmission wheel 12 drives the timing belt 14 to drive the two first push rods. 11 moves in the opposite direction, at this time, the connecting arm 23 drives the second push rod 21 to move in the middle direction of the first push rod 11, and finally realizes the four sides of the drone through the first push rod 11 and the second push rod 21. Positioning is performed so that the drone can be positioned at the center of the unmanned positioning device regardless of where it landed in the unmanned positioning device.

As shown in FIG. 3, in still another alternative embodiment, the drone positioning device 10 includes a first transmission mechanism 1 and a second transmission mechanism 2, the UAV positioning device 10 further including a first push rod 11 and the second push rod 21 cooperate with the enclosed fence 4. Wherein, the first push rod 11 and the second push rod 21 drive the drone to move to the corner of the fence 4 (ie, the upper right corner in FIG. 3) under the action of the driving motor 31, so that the first push rod is 11. The second push rod 21 and the fence 4 constitute a preset position of the drone.

The invention designs a simple unmanned aerial vehicle positioning device, which is driven by a power source to synchronize the first transmission mechanism and the second transmission mechanism, so that the first push rod and the second push rod cooperate with each other. The machine is pushed to the preset position, and the simple transmission structure is used to realize the active positioning of the drone.

As shown in Figure 1 in conjunction with Figures 4 and 5, in accordance with yet another aspect of an embodiment of the present invention, An apron 100 includes: an immobilization platform 101, and an unmanned positioning device as described in various embodiments. Wherein, the unmanned positioning device is disposed on the parking platform 101, and uses the cooperation of the first transmission mechanism 1 and the second transmission mechanism 2 to realize driving of two dimensions through a power source for pushing the drone 200 to the pre-preparation Set the location.

Further, the apron 100 further includes a detection device 20 disposed on the parking platform 101. Wherein, when the detecting device 20 detects that the drone 200 is parked on the parking platform 101, the detecting device 20 triggers the driving component of the unmanned positioning device to generate a driving force to push the drone 200 to the preset position. In an alternative embodiment, the detection device 20 includes an infrared sensor disposed on either side of the parking platform 101 or a pressure sensor disposed on the parking platform 101. Of course, the detecting device 20 of the present invention is not limited thereto, and the structure and the device that can satisfy the detection of the drone 200 landing on the parking platform 101 are applicable to the embodiment of the present invention.

In the embodiment of the present invention, the apron 100 further includes a platform controller (not shown). When the detecting device 20 detects that the drone 200 landed on the parking platform 101, the detecting device 20 sends a trigger signal to the platform. a controller, the platform controller is configured to control the driving motor 31 to be turned on, and the driving motor 31 drives the transmission rod 32 to rotate through the transmission component, thereby driving the first transmission mechanism 1 to operate, and the first transmission mechanism 1 drives the second transmission mechanism 2 to operate, thereby The first push rod 11 is engaged with the second push rod 21 to push the drone 200 to a preset position. For the structural features and manners of the first transmission mechanism 1 and the second transmission mechanism 2, please refer to the embodiment of the positioning device 10 of the UAV 200, and the detailed description thereof will not be repeated here.

The invention designs a simple unmanned aerial vehicle positioning device, which is driven by a power source to synchronize the first transmission mechanism and the second transmission mechanism, so that the first push rod and the second push rod cooperate with each other. Pushing the machine to the preset position, using a simple transmission structure to achieve the unmanned Active positioning of the machine.

Other embodiments of the invention will be apparent to those skilled in the <RTIgt; The present application is intended to cover any variations, uses, or adaptations of the present invention, which are in accordance with the general principles of the present invention and include common general knowledge or conventional technical means in the art that are not disclosed in the present invention. . The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the invention

It is to be understood that the invention is not limited to the details of the details of The scope of the invention is limited only by the appended claims.

Claims

An unmanned aerial vehicle positioning device, comprising: a driving component, a first transmission mechanism engaged with the driving component, and a second transmission mechanism disposed in linkage with the first transmission mechanism, the first transmission The mechanism includes a first push rod, and the second transmission mechanism includes a second push rod, the second push rod is movable along an axial direction of the first push rod;

Wherein, driven by the driving assembly, the first transmission mechanism drives the first push rod to move, and the first transmission mechanism interlocks the second transmission mechanism to drive the second push rod to move, Thereby the first push rod and the second push rod cooperate to push the drone to a preset position.
The drone positioning device according to claim 1, wherein the driving assembly comprises a driving motor, a transmission rod, and a transmission assembly coupled to the driving motor and the transmission rod, wherein the first transmission mechanism cooperates In the transmission rod; wherein the driving motor drives the transmission rod to rotate on the central axis by the transmission assembly to drive the first transmission mechanism to operate.
The UAV positioning apparatus according to claim 2, wherein said transmission assembly includes a first bevel gear coupled to said drive motor, and a second bevel gear coupled to said transmission rod, said The first bevel gear meshes with the second bevel gear.
The UAV positioning device according to claim 2, wherein the first transmission mechanism further comprises a first transmission wheel coupled to the transmission rod, a second transmission wheel coupled to the parking platform, and a sleeve a timing belt disposed between the first transmission wheel and the second transmission wheel, the first push rod being fixed on the timing belt.
The UAV positioning device according to claim 4, wherein the second transmission mechanism comprises a connection base slidably coupled to the first push rod, and a rotary connection at one end The connecting arm of the connecting base, the other end of the connecting arm is rotatably connected to the parking platform, and the second push rod is disposed on the connecting base;

Wherein, when the first push rod is driven to move, the connecting base moves in the axial direction of the first push rod under the restriction of the connecting arm.
The drone positioning device according to claim 5, wherein an axial direction of the first push rod is perpendicular to an axial direction of the second push rod.
The UAV positioning device according to claim 5, wherein the UAV positioning device further comprises a fence that is engaged with the first push rod and the second push rod, wherein the The first push rod and the second push rod drive the drone to move to the corner of the fence under the action of the drive motor.
The UAV positioning device according to claim 5, wherein the first transmission mechanism is two sets, which are respectively disposed at two ends of the transmission rod, and two of the two first transmission mechanisms are The first push rods are respectively connected to any of the timing belts; wherein the two first push rods are respectively disposed on opposite belt faces of any of the timing belts.
The UAV positioning device according to claim 8, wherein each of said first push rods is provided with two said second transmission mechanisms, wherein, driven by said drive assembly, two The first push rod cooperates with the four second push rods to push the drone to a central position of the unmanned positioning device.
An apron, comprising: an immobilization platform and a drone positioning device, wherein the drone positioning device is disposed on the parking platform, the drone positioning device comprises a driving component, and the driving component a first transmission mechanism that cooperates, and a second transmission mechanism that is disposed in linkage with the first transmission mechanism, the first transmission mechanism includes a first push rod, and the second transmission machine The structure includes a second push rod movable along an axial direction of the first push rod;

Wherein, driven by the driving assembly, the first transmission mechanism drives the first push rod to move, and the first transmission mechanism interlocks the second transmission mechanism to drive the second push rod to move, Thereby the first push rod and the second push rod cooperate to push the drone to a preset position.
The tarmac according to claim 10, wherein said drive assembly comprises a drive motor, a transmission rod, and a transmission assembly coupled to said drive motor and said transmission rod, said first transmission mechanism being coupled to said a transmission rod; wherein the drive motor drives the transmission rod to rotate with the central shaft as a shaft to drive the first transmission mechanism through the transmission assembly.
The tarmac according to claim 11, wherein said transmission assembly includes a first bevel gear coupled to said drive motor, and a second bevel gear coupled to said transmission rod, said first cone The gear meshes with the second bevel gear.
The apron according to claim 11, wherein said first transmission mechanism further comprises a first transmission wheel coupled to said transmission rod, a second transmission wheel coupled to the parking platform, and a sleeve A timing belt between the first transmission wheel and the second transmission wheel, the first push rod being fixed on the timing belt.
The apron according to claim 13, wherein the second transmission mechanism comprises a connection base slidably coupled to the first push rod, and a connecting arm rotatably coupled to the connection base at one end, The other end of the connecting arm is rotatably connected to the parking platform, and the second push rod is disposed on the connecting base;

Wherein, when the first push rod is driven to move, the connecting base moves in the axial direction of the first push rod under the restriction of the connecting arm.
The apron according to claim 14, wherein said first pusher The axial direction is perpendicular to the axial direction of the second push rod.
The apron according to claim 14, wherein the drone positioning device further comprises a fence that is engaged with the first push rod and the second push rod, wherein the first push The rod and the second push rod drive the drone to move to the corner of the fence under the action of the drive motor.
The apron according to claim 14, wherein the first transmission mechanism is two sets, which are respectively disposed at two ends of the transmission rod, and two of the two first transmission mechanisms are first The push rods are respectively connected to any of the timing belts; wherein the two first push rods are respectively disposed on opposite belt faces of any of the timing belts.
The tarmac according to claim 17, wherein each of said first push rods is provided with two said second transmission mechanisms, wherein said two said said drive unit A push rod cooperates with the four second push rods to push the drone to a center position of the unmanned positioning device.
The apron according to any one of claims 10 to 18, wherein the apron further comprises a detecting device provided on the parking platform, wherein the detecting device detects that the drone is docked When the platform is stopped, the detecting device triggers a driving component of the unmanned positioning device to generate a driving force to push the drone to a preset position.
The apron according to claim 19, wherein the detecting means comprises an infrared sensor disposed on both sides of the parking platform or a pressure sensor disposed on the parking platform.