CN111392050B - Unmanned aerial vehicle outer positioning system - Google Patents
Unmanned aerial vehicle outer positioning system Download PDFInfo
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- CN111392050B CN111392050B CN202010215786.4A CN202010215786A CN111392050B CN 111392050 B CN111392050 B CN 111392050B CN 202010215786 A CN202010215786 A CN 202010215786A CN 111392050 B CN111392050 B CN 111392050B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C35/00—Rigid support of bearing units; Housings, e.g. caps, covers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned aerial vehicle external positioning system, and belongs to the technical field of machinery. The unmanned aerial vehicle external positioning system comprises an unmanned aerial vehicle external positioning device, an all-direction moving platform car, an unmanned aerial vehicle and a clamping position. The invention solves the problems of difficult positioning of the unmanned aerial vehicle, large volume, complex structure, difficult control, high cost, poor adaptability and the like of an unmanned aerial vehicle external positioning system and the problems of complex algorithm, high cost, high external interference resistance and the like of the unmanned aerial vehicle visual positioning in the related technology, and improves the positioning precision, the interference resistance and the compatibility of the unmanned aerial vehicle external positioning system on the basis of reducing the volume, the mass and the cost.
Description
Technical Field
The invention relates to an unmanned aerial vehicle external positioning system, and belongs to the technical field of machinery.
Background
In recent years, the unmanned aerial vehicle technology is rapidly developed, and the unmanned aerial vehicle is widely applied to industrial production and daily life by virtue of the advantages of light volume, wide application, convenience in use and the like. However, because the battery technology of the existing unmanned aerial vehicle does not make substantial breakthrough, the dead time of the multi-rotor unmanned aerial vehicle is about 20-30 minutes generally, and the industrial application requirements can not be met far; preparing multiple batteries to supply a drone is therefore the simplest and relatively low cost way today. The tradition adopts the manual unmanned aerial vehicle battery of carrying on to change, and unmanned aerial vehicle is connected complicacy with the battery, and the battery is changed inconveniently, waste time, inefficiency, also can't arrange the people to stay on duty at the long-range regional in-process of leap road. Therefore, unmanned aerial vehicle battery replacement system has appeared in the market at present, manpower resources are saved, unmanned aerial vehicle trades battery device gradually and prevails, nevertheless no matter what trades battery system, all has higher requirement to unmanned aerial vehicle and trade the relative position precision between the battery device, needs a system that can make unmanned aerial vehicle fix a position for trading battery device accuracy.
Most patents on the market all start from improving unmanned aerial vehicle self positioning accuracy or arranging the camera around, though along with the development of artificial intelligence technique and machine degree of depth learning technique, unmanned aerial vehicle's imaging component and range finding subassembly are all ripe at present stage, but the required accessory price of some high accuracy equipment is not very, and must not enable unmanned aerial vehicle to satisfy the required precision of automatic battery replacement. Therefore, the positioning system of the unmanned aerial vehicle is matched with the external positioning system to position the unmanned aerial vehicle, so that the cost is effectively saved, the system algorithm is simplified, the positioning precision and the external interference resistance are improved, and the requirement of normal industrial production is met.
There are patents related to the external positioning system of the unmanned aerial vehicle, such as patent CN 209617530U, but it puts high demands on the slope and surface friction coefficient of the tapered parts of the four legs of the unmanned aerial vehicle and the external part of the positioning system, and the way of slotting from the inner side of the leg makes the leg of the unmanned aerial vehicle relatively thicker and affects the leg strength.
Therefore, a new method for improving the positioning accuracy of the unmanned aerial vehicle, preventing interference of external factors, and achieving low cost, small occupied area and light volume without affecting the weight and the structure of the unmanned aerial vehicle is urgently needed.
Disclosure of Invention
A first object of the present invention is to provide an unmanned aerial vehicle external positioning apparatus, comprising: the positioning device comprises a positioning rod, a screw rod, a guide ball, a positioning bearing seat, a motor, a bevel gear, a positioning wheel, a supporting bearing seat and a screw rod nut;
the location bearing frame includes: the bearing comprises a bearing seat head, two symmetrical bearing seat shoulders and two symmetrical bearing seat feet; the bearing seat head is provided with a lead screw nut mounting hole for mounting a lead screw nut and a lead screw through hole for a lead screw to pass through; the positioning bearing seat is provided with a positioning rod fixing through hole which is communicated with the two bearing seat shoulders and is used for fixing a positioning rod; the bearing seat foot is provided with a positioning wheel mounting hole for mounting a positioning wheel, and the positioning wheel can roll freely;
the positioning bearing seats are 4 and are arranged in a cross shape, the number of the positioning rods is 4, the positioning rods penetrate through positioning rod fixing through holes in the corresponding positioning bearing seats and are fixed on the positioning bearing seats, the 4 positioning rods are in a # -shaped structure, guide balls are arranged between intersecting nodes among the positioning rods, each guide ball is in a spherical structure and is provided with two positioning through holes which are vertical to each other, the diameter of each positioning rod fixing through hole is larger than that of each positioning rod, and the positioning rods can freely move along the positioning through holes;
the number of the lead screws is 4, the 4 lead screws respectively penetrate through lead screw through holes in 4 positioning bearing seats, one end of each lead screw is connected with a bevel gear, the other end of each lead screw is connected with a supporting bearing seat through a second bearing hole in the supporting bearing seat, and a lead screw nut is fixed on the positioning bearing seat; the 4 lead screws are arranged in a cross shape, one lead screw is connected with the motor through a coupler, and the tail ends of the other 3 lead screws are fixed with fixing heads; the motor drives the lead screw to rotate, the bevel gears connected with the 4 lead screws are in a cross shape, when one bevel gear rotates, the bevel gear drives two adjacent screws to rotate in opposite directions synchronously, and the other three lead screws are driven to rotate, so that the positioning bearing seat fixed with the lead screw nut crawls along the lead screw, and the positioning rod is moved.
In an embodiment of the present invention, the 4 positioning rods are two pairs of upper and lower parallel positioning rods, the upper and lower pairs are perpendicular to each other, and a distance between one pair of positioning rods is equal to a distance between the other pair of positioning rods.
In an embodiment of the present invention, the bevel gear is disposed in a protective housing, the protective housing is formed by vertically combining a protective housing seat and a protective housing cover having the same structure, the protective housing cover is a square cover-shaped structure, four protective housing through holes are vertically disposed at four corners of the protective housing cover, and the protective housing through holes are used for connecting the protective housing seat and the protective housing cover; the protective housing still includes the lead screw hole that forms, the first bearing hole that forms by the combination of the half hole of protective housing seat and protective housing cover, the lead screw hole is located and is close to the inside one side of protective housing in the lead screw hole, first bearing hole symmetry respectively set up in the horizontal and vertical both sides of protective housing, the lead screw hole is used for passing 4 lead screws, first bearing hole is used for the installation bearing.
In one embodiment of the invention, the protective housing seat and the protective housing cover are connected by a copper pillar.
In one embodiment of the present invention, the positioning rod is made of a carbon fiber material.
A second object of the present invention is to provide an unmanned aerial vehicle positioning apparatus, the system comprising the unmanned aerial vehicle positioning apparatus, further comprising: the device comprises a bottom plate, an all-directional moving platform car, an unmanned aerial vehicle and a clamping position;
the bottom plate is of a cross structure, supporting bearing seat mounting holes for mounting supporting bearing seats are formed in four sides of the cross, and 4 copper column mounting holes for mounting copper columns and a first upper mechanism mounting hole are formed in the middle of the bottom plate; a motor base mounting hole for mounting a motor is also formed in one side of the cross; the bottom plate is matched with 4 second upper mechanism mounting holes on the upper surface of the omnibearing moving platform car through the first upper mechanism mounting holes, and the bottom plate is fixed on the omnibearing moving platform car;
there are four omniwheel all direction wheels all direction movement platform truck bottom, unmanned aerial vehicle has four supporting legs, the screens is installed on four supporting legs of unmanned aerial vehicle, locating lever length sets up to be greater than horizontal and fore-and-aft distance between the unmanned aerial vehicle supporting leg, when unmanned aerial vehicle supporting leg supports the ground, the height of screens is less than the locating lever height for when fixing a position unmanned aerial vehicle, the screens is hugged closely in unmanned aerial vehicle outer positioner's locating lever below, trades the battery in-process at unmanned aerial vehicle and prevents unmanned aerial vehicle rebound.
In one embodiment of the invention, the drone should have the following general configuration: a flight control system is arranged in the unmanned aerial vehicle, the flight control system comprises a gyroscope, a satellite positioning module and a control circuit, the gyroscope is used for sensing the flight posture of the unmanned aerial vehicle, and the satellite positioning module is used for controlling the hovering horizontal position and height of the unmanned aerial vehicle; the omni-directional mobile platform cart also includes the following common configurations: the device comprises a detachable battery switching charging device and an unmanned aerial vehicle external positioning device power supply device, wherein a device control system is arranged in the detachable battery switching charging device, the device control system comprises a visual identification module, a motion control system and a battery switching charging control system, the visual identification module is used for identifying the position of the unmanned aerial vehicle, and the battery switching charging control system is used for controlling the internal operation of the detachable battery switching charging device; the utility model discloses an unmanned aerial vehicle, including unmanned aerial vehicle outer positioner, power supply system, positioning control system, power supply system, and the power supply system is used for the hardware and the motor power supply of locating device outside the unmanned aerial vehicle.
In one embodiment of the invention, the clamping position is a disc structure with an opening in the middle, two cylindrical bosses are arranged above and below the middle of the disc, jackscrew holes are circumferentially formed in the bosses, and the clamping position is fixed on the support legs of the unmanned aerial vehicle through jackscrews.
In one embodiment of the present invention, one of the positioning modes of the positioning system outside the unmanned aerial vehicle is an adaptive mode, and the positioning control system determines whether the unmanned aerial vehicle is positioned according to a load acting on the motor during positioning, so as to control the start and stop of the motor.
In one embodiment of the invention, one of the positioning modes of the unmanned aerial vehicle external positioning system is a preset mode, the positioning control system firstly induces the positioning end point position of the positioning rod through a self-adaptive mode to carry out memory, before the positioning rod approaches four supporting legs of the unmanned aerial vehicle, the positioning control system controls the motor to run quickly, and when the positioning rod approaches the supporting legs, the motor runs slowly until the positioning rod reaches the positioning end point position, and the motor stops running.
The invention provides an unmanned aerial vehicle external positioning device or an unmanned aerial vehicle external positioning system, which is applied to the field of unmanned aerial vehicle positioning.
Has the advantages that:
(1) the unmanned aerial vehicle positioning device is driven by only one power source (motor), and can control the positioning rod to move to be matched with the unmanned aerial vehicle supporting leg so as to accurately position the unmanned aerial vehicle.
(2) According to the unmanned aerial vehicle battery-replacing device, the four clamping positions on the unmanned aerial vehicle supporting legs are matched with the four positioning rods of the positioning device, so that the unmanned aerial vehicle can be limited from moving up and down after being positioned, and the unmanned aerial vehicle is prevented from moving upwards in the battery-replacing process.
(3) The positioning rod is folded inwards when not positioned, and is unfolded outwards to position the unmanned aerial vehicle when positioning the unmanned aerial vehicle, so that the unmanned aerial vehicle is small in size, and the carbon fiber rod for positioning is light in weight and smooth in surface; and utilize lead screw mechanism to remove bigger distance in very little volume, the fault-tolerant rate is bigger, can be used for some unmanned aerial vehicles that can't descend accurately, the simple structure of device, the volume is light, low cost.
(4) The unmanned aerial vehicle has a delicate structure, and the rotation of one lead screw can control the other three lead screws to synchronously rotate so as to enable the lead screw nut to climb along the lead screw, so that the control is simple, two modes are provided, the starting position and the final position of the carbon fiber rod are adjusted by controlling the rotation of the lead screw so as to adapt to unmanned aerial vehicles with different sizes and unmanned aerial vehicles with different landing precisions, the unmanned aerial vehicle can be adjusted and fixed on four feet by matching with screens with different inner diameters, the unmanned aerial vehicle is suitable for the positioning of various types of unmanned aerial vehicles, and the application is wider.
(5) Make full use of the satellite positioning technique of returning a journey that unmanned aerial vehicle has matured, install the vision recognition system on ground storage battery car, discernment the unmanned aerial vehicle of landing in-process through ground storage battery car, and control storage battery car and make corresponding removal and rotatory the deviation that compensaties unmanned aerial vehicle satellite positioning and return a journey in-process and produce, guaranteed that unmanned aerial vehicle falls in unmanned aerial vehicle outer positioning system positioning range, three-dimensional motion control when descending simultaneously turns into the two-dimensional motion control of all direction movement platform car, reduce the development cost and the degree of difficulty of vision recognition module.
Drawings
Fig. 1 is an overall structural front view of an unmanned aerial vehicle external positioning system according to embodiment 1.
Fig. 2 is a schematic structural view of the omni-directional mobile platform truck according to embodiment 1.
Fig. 3 is a schematic view of the overall structure of the omni-directional mobile platform truck with the unmanned aerial vehicle external positioning system according to embodiment 1.
Fig. 4 is a plan view of the omni-directional mobile platform cart carrying the unmanned aerial vehicle external positioning system according to embodiment 1.
Fig. 5 is a schematic connection diagram of the carbon fiber rod, the positioning bearing seat, and the guide ball of embodiment 1.
Fig. 6 is a top view of the internal structure of the protective case of example 1 with the cover removed.
Fig. 7 is a schematic view of the internal structure of the protective case of embodiment 1 with the cover removed.
Fig. 8 is a schematic structural view of the protective housing seat in embodiment 1.
Fig. 9 is a schematic diagram of a two-dimensional structure of the base plate of embodiment 1.
Fig. 10 is a schematic view of the guide ball structure of embodiment 1.
Fig. 11 is a schematic structural view of a support bearing seat in embodiment 1.
Fig. 12 is a schematic view of an initial position structure of the positioning system outside the robot in embodiment 1.
Fig. 13 is a schematic view of the detent structure of embodiment 1.
Fig. 14 is a schematic view of the positioning system of the unmanned aerial vehicle according to embodiment 1.
Fig. 15 is a flowchart when the unmanned aerial vehicle positioning system according to embodiment 1 positions an unmanned aerial vehicle.
In the figure: the positioning device comprises an unmanned aerial vehicle outer positioning device 1, an omnibearing moving platform vehicle 2, an unmanned aerial vehicle 3, a carbon fiber rod 4, a protective shell 5, a lead screw 6, a guide ball 7, a bottom plate 8, a positioning bearing seat 9, a supporting bearing seat 10, a motor base 11, a motor 12, a bevel gear 13, a positioning wheel 14, a bearing 15, a lead screw nut 16, a fixing head 17, a clamping position 18, a protective shell fixing through hole 19, a lead screw hole 20, a first bearing hole 21, a carbon fiber rod fixing through hole 22, a positioning wheel mounting hole 23, a lead screw through hole 24, a lead screw nut mounting hole 25, a first supporting bearing seat mounting hole 26, a motor base mounting hole 27, a copper column mounting hole 28, a copper column 29, a first upper mechanism mounting hole 30, a second supporting bearing seat mounting hole 31, a second bearing hole 32, a positioning through hole 33, a second upper mechanism mounting hole 34 and a jackscrew hole 35.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1, the present embodiment provides an unmanned aerial vehicle-external positioning system, including: the system comprises an unmanned aerial vehicle external positioning device 1, an omnibearing moving platform truck 2 and an unmanned aerial vehicle 3;
as shown in fig. 3, 4, and 6, the unmanned aerial vehicle external positioning device includes: the device comprises a carbon fiber rod 4, a protective shell 5, a lead screw 6, a guide ball 7, a bottom plate 8, a positioning bearing seat 9, a supporting bearing seat 10, a motor seat 11, a motor 12, a bevel gear 13, a positioning wheel 14, a bearing 15, a lead screw nut 16, a fixing head 17 and a copper column 29;
as shown in fig. 2, 4, and 7, there are 4 positioning bearing blocks 9 uniformly distributed around the bottom plate 8, and the positioning bearing blocks 9 include: the bearing comprises a bearing seat head, two symmetrical bearing seat shoulders and two symmetrical bearing seat feet; the bearing seat head is provided with a lead screw nut mounting hole 25 for mounting the lead screw nut 16 and a lead screw through hole 24 for leading a lead screw to pass through; the positioning bearing seat 9 is provided with a carbon fiber rod fixing through hole 22 which is communicated with the two bearing seat shoulders and is used for fixing the carbon fiber rod 4; the bearing seat foot is provided with a positioning wheel mounting hole 23 for mounting a positioning wheel, and the positioning wheel can roll freely;
as shown in fig. 4, 5, 9, and 10, the carbon fiber rods 4 have 4 carbon fiber rods, which pass through the carbon fiber rod fixing through holes 22 and are fixed on the positioning bearing block 9, the 4 carbon fiber rods are divided into two pairs of upper and lower parallel carbon fiber rods in a # -shaped structure, the upper and lower pairs are perpendicular to each other, the distance between one pair of carbon fiber rods 4 is equal to the distance between the other pair of carbon fiber rods, a guide ball is arranged at a crossing node between the carbon fiber rods 4, the guide ball is in a spherical structure, and has two positioning through holes 33 perpendicular to each other, the diameter of the through hole is larger than the diameter of the carbon fiber rod, and the carbon fiber rods 4 pass through the positioning through holes 33 and can move freely along the positioning through holes 33; the carbon fiber rod 4 is longer than the distance between two legs of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be accurately positioned when obliquely descending; the bottom plate 8 is of a cross structure, first support bearing seat mounting holes 26 are formed in four sides of the cross, and 4 copper column mounting holes 28 and first upper mechanism mounting holes 30 are formed in the middle of the bottom plate; a motor base mounting hole 27 is also formed in one side of the cross shape; the bottom plate 8 is matched with 4 second upper mechanism mounting holes 34 on the upper surface of the omnibearing moving platform truck 2 through the first upper mechanism mounting holes 30, and the bottom plate 8 is fixed on the omnibearing moving platform truck 2;
as shown in fig. 8, the protective housing 5 is formed by vertically combining a protective housing seat and a protective housing cover with identical structures, the protective housing cover is a square cover-shaped structure, four protective housing through holes 19 are formed in the vertical direction at four corners of the protective housing cover, the protective housing through holes 19 are used for connecting the protective housing seat with the protective housing cover through copper pillars 29, and the copper pillars 29 are connected with the bottom plate 8 through copper pillar mounting holes 28; the protective shell 5 further comprises a screw rod hole 20 formed by combining a protective shell seat and a half hole of the protective shell cover, and a first bearing hole 21 formed by combining a protective shell seat and a half hole of the protective shell cover, wherein the first bearing hole 21 is formed in one side, close to the interior of the protective shell, of the screw rod hole 20, the screw rod hole 20 and the first bearing hole 21 are respectively and symmetrically arranged on the two sides, in the transverse direction and the longitudinal direction, of the protective shell 5, and the first bearing hole 21 is used for mounting a bearing 15;
as shown in fig. 11, the support bearing housing 10 includes: the support bearing seat 10 is mounted on the bottom plate 8 through the first support bearing seat mounting hole 26 and the second support bearing seat mounting hole 31;
as shown in fig. 4, 6 and 7, there are 4 lead screws 6, one end of each lead screw 6 passes through a bearing 15 to be connected with a bevel gear 13, the other end of each lead screw is connected with a supporting bearing seat 10 through a second bearing hole 32, a lead screw nut 16 is fixed on a positioning bearing seat 9 through a lead screw nut mounting hole 25, and the lead screw can drive the positioning bearing seat fixed with the lead screw to crawl along the lead screw along with the lead screw; 4 bevel gears 13 are arranged in the protective shell in a cross shape, when one bevel gear rotates, two adjacent bevel gears are driven to rotate in opposite directions, one of the 4 lead screws 13 is connected with a motor shaft through a coupler, the motor shaft is driven to rotate by a motor 12, and the motor 12 is arranged on a motor base 11 connected to the bottom plate 8 through a motor base mounting hole 27; the tail ends of the other 3 lead screws are fixed with fixed heads 17; the lead screws are driven to rotate by the motor 12, the bevel gears 13 connected with the lead screws rotate, and the adjacent bevel gears are driven to synchronously rotate in opposite directions, so that the rest three lead screws are driven to rotate, the positioning bearing seats 9 fixed with the lead screw nuts 16 crawl along the lead screws, and the carbon fiber rods 4 are further moved.
As shown in fig. 12, fig. 13, unmanned aerial vehicle has four supporting legs, screens 18 is the disc structure of middle part trompil, there are two cylinder bosss about the disc middle part, boss circumference is opened there is the jackscrew hole, screens 18 are fixed in on the unmanned aerial vehicle supporting leg through jackscrew 35, when unmanned aerial vehicle supporting leg supports the ground, screens 18 highly is less than 4 heights of carbon fiber pole for when fixing a position unmanned aerial vehicle, the screens is hugged closely in 1 carbon fiber pole below of unmanned aerial vehicle outer positioner, trades the battery in-process at unmanned aerial vehicle and prevents unmanned aerial vehicle rebound.
As shown in fig. 2, four omnidirectional wheels are arranged at the bottom of the omnidirectional moving platform vehicle 2, a detachable battery switching charging device and an unmanned aerial vehicle external positioning device power supply device are further arranged inside the omnidirectional moving platform vehicle 2, a device control system is arranged inside the detachable battery switching charging device, the device control system comprises a visual identification module, a motion control system and a battery switching charging control system, the visual identification module is used for identifying the position of the unmanned aerial vehicle, and the battery switching charging control system is used for controlling the internal operation of the detachable battery switching charging device; the power supply device of the unmanned aerial vehicle external positioning device is internally provided with a positioning control system and a power supply system, wherein the positioning control system is used for controlling the positioning action of the unmanned aerial vehicle after landing to the unmanned aerial vehicle and stopping the action when the positioning moment of the unmanned aerial vehicle is sensed, and the power supply system is used for supplying power to hardware and a motor of the unmanned aerial vehicle external positioning device; the inside flight control system that is equipped with of unmanned aerial vehicle, flight control system contains gyroscope, satellite positioning module and control circuit, and the unmanned aerial vehicle flight posture is perceivable to the gyroscope, and the steerable unmanned aerial vehicle of satellite positioning module hovers horizontal position and height.
The following specifically explains, with reference to fig. 12, 14, and 15, a positioning process of the unmanned aerial vehicle positioning system before and after changing the pool of the unmanned aerial vehicle, where the positioning process includes:
(1) when the unmanned aerial vehicle takes off, the satellite positioning module can roughly record the position of the omnibearing moving platform vehicle 2, and at the moment, the unmanned aerial vehicle external positioning system is in an initial state as shown in figure 8;
(2) when the unmanned aerial vehicle loses a remote controller signal or receives a remote controller one-key return instruction, a flight control system in the unmanned aerial vehicle controls the unmanned aerial vehicle to automatically return to the position of the omnibearing moving platform vehicle 2 to hover, a vision recognition system of the omnibearing moving platform vehicle recognizes patterns on the unmanned aerial vehicle, the unmanned aerial vehicle moves to the position right below the unmanned aerial vehicle and rotates to adjust the position required by battery replacement, and the unmanned aerial vehicle starts to slowly land on the ground around the external positioning system of the unmanned aerial vehicle;
(3) the unmanned aerial vehicle external positioning system receives the unmanned aerial vehicle landing signal, the motor acts to drive the lead screw connected with the motor shaft to rotate, the bevel gears connected with the head of the lead screw drive the other three bevel gears to synchronously rotate, and the four positioning bearing seats are driven by the lead screw nuts fixed on the four positioning bearing seats to crawl outwards along the lead screw; the positioning control system judges whether the unmanned aerial vehicle is positioned according to the load acting on the motor during positioning so as to command the motor to stop acting; another kind of mode is the preset mode, and the carbon fiber pole location terminal point position of the form response location usefulness of positioning control system through first mode earlier remembers, and the motor can all be close to the unmanned aerial vehicle four-legged preceding snap action at the carbon fiber pole under the condition of not resetting or switching mode to slowly be close to when pressing close to and stop, it is more swift for first mode.
(4) According to any mode set in the above mode, the carbon fiber rod fixed on the positioning bearing seat moves outwards along with the positioning bearing seat, and the carbon fiber rod is pushed outwards when meeting four feet of the unmanned aerial vehicle; after four feet of the unmanned aerial vehicle are clamped by the four carbon fiber rods, the motor stops rotating, the clamping position on the unmanned aerial vehicle leg is clung to the positioning device, the unmanned aerial vehicle is lightly pressed on the ground under stress, and the unmanned aerial vehicle is accurately positioned;
(5) unmanned aerial vehicle carries out the battery change.
(6) After the battery is replaced, the positioning system outside the unmanned aerial vehicle receives signals, the motor rotates reversely, each screw nut extends the screw to crawl inwards, the positioning system outside the unmanned aerial vehicle resets, and the unmanned aerial vehicle starts.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An unmanned aerial vehicle outer positioning device, comprising: the positioning device comprises a positioning rod, a screw rod, a guide ball, a positioning bearing seat, a motor, a bevel gear, a positioning wheel, a supporting bearing seat and a screw rod nut;
the location bearing frame includes: the bearing comprises a bearing seat head, two symmetrical bearing seat shoulders and two symmetrical bearing seat feet; the bearing seat head is provided with a lead screw nut mounting hole for mounting a lead screw nut and a lead screw through hole for a lead screw to pass through; the positioning bearing seat is provided with a positioning rod fixing through hole which is communicated with the two bearing seat shoulders and is used for fixing a positioning rod; the bearing seat foot is provided with a positioning wheel mounting hole for mounting a positioning wheel, and the positioning wheel can roll freely;
the positioning bearing seat is provided with 4 positioning bearing seats which are arranged in a square shape, the number of the positioning rods is 4, the positioning rods penetrate through positioning rod fixing through holes in the corresponding positioning bearing seats and are fixed on the positioning bearing seats, the 4 positioning rods are in a # -shaped structure, guide balls are arranged between intersecting nodes among the positioning rods, each guide ball is in a spherical structure and is provided with two positioning through holes which are vertical to each other, the diameter of each positioning rod fixing through hole is larger than that of each positioning rod, and the positioning rods can freely move along the positioning through holes;
the number of the lead screws is 4, the 4 lead screws respectively penetrate through lead screw through holes in 4 positioning bearing seats, one end of each lead screw is connected with a bevel gear, the other end of each lead screw is connected with a supporting bearing seat through a second bearing hole in the supporting bearing seat, and a lead screw nut is fixed on the positioning bearing seat; the 4 lead screws are arranged in a cross shape, one lead screw is connected with the motor through a coupler, and the tail ends of the other 3 lead screws are fixed with fixing heads; the motor drives the lead screw to rotate, the bevel gears connected with the 4 lead screws are in a cross shape, when one bevel gear rotates, the bevel gear drives two adjacent screws to rotate in opposite directions synchronously, and the other three lead screws are driven to rotate, so that the positioning bearing seat fixed with the lead screw nut crawls along the lead screw, and the positioning rod is moved.
2. The positioning device of claim 1, wherein the 4 positioning rods are two pairs of upper and lower parallel to each other, and the upper and lower pairs are perpendicular to each other, and the distance between one pair of positioning rods is equal to the distance between the other pair of positioning rods.
3. The unmanned aerial vehicle positioning device of claim 1, wherein the bevel gear is disposed in a protective housing, the protective housing is formed by vertically combining a protective housing seat and a protective housing cover which are identical in structure, the protective housing cover is a square cover-shaped structure, four protective housing through holes are vertically formed at four corners of the protective housing cover, and the protective housing through holes are used for connecting the protective housing seat and the protective housing cover; the protective housing still includes the lead screw hole that forms, the first bearing hole that forms by the combination of the half hole of protective housing seat and protective housing cover, the lead screw hole is located and is close to the inside one side of protective housing in the lead screw hole, first bearing hole symmetry respectively set up in the horizontal and vertical both sides of protective housing, the lead screw hole is used for passing 4 lead screws, first bearing hole is used for the installation bearing.
4. The positioning apparatus as claimed in claim 3, wherein the protective housing seat and the protective housing cover are connected by copper posts.
5. The positioning device of any one of claims 1-4, wherein the positioning rod is made of carbon fiber.
6. An unmanned-machine-external-positioning system, comprising the unmanned-machine-external-positioning device according to any one of claims 1-5, further comprising: the device comprises a bottom plate, an all-directional moving platform car, an unmanned aerial vehicle and a clamping position;
the bottom plate is of a cross structure, supporting bearing seat mounting holes for mounting supporting bearing seats are formed in four sides of the cross, and 4 copper column mounting holes for mounting copper columns and a first upper mechanism mounting hole are formed in the middle of the bottom plate; a motor base mounting hole for mounting a motor is also formed in one side of the cross; the bottom plate is matched with 4 second upper mechanism mounting holes on the upper surface of the omnibearing moving platform car through the first upper mechanism mounting holes, and the bottom plate is fixed on the omnibearing moving platform car;
the four omnidirectional wheels are arranged at the bottom of the omnidirectional moving platform truck, a detachable battery switching charging device and an unmanned aerial vehicle external positioning device power supply device are further arranged inside the omnidirectional moving platform truck, a device control system is arranged inside the detachable battery switching charging device, the device control system comprises a visual identification module, a motion control system and a battery switching charging control system, the visual identification module is used for identifying the position of the unmanned aerial vehicle, and the battery switching charging control system is used for controlling the internal operation of the detachable battery switching charging device; the power supply device of the unmanned aerial vehicle external positioning device is internally provided with a positioning control system and a power supply system, wherein the positioning control system is used for controlling the positioning action of the unmanned aerial vehicle after landing to the unmanned aerial vehicle and stopping the action when the positioning moment of the unmanned aerial vehicle is sensed, and the power supply system is used for supplying power to hardware and a motor of the unmanned aerial vehicle external positioning device; a flight control system is arranged in the unmanned aerial vehicle and comprises a gyroscope, a satellite positioning module and a control circuit, the gyroscope can sense the flight posture of the unmanned aerial vehicle, and the satellite positioning module can control the hovering horizontal position and height of the unmanned aerial vehicle;
unmanned aerial vehicle has four supporting legs, the screens is installed on four supporting legs of unmanned aerial vehicle, locating lever length sets up to be greater than horizontal and fore-and-aft distance between the unmanned aerial vehicle supporting leg, when unmanned aerial vehicle supporting leg supported the ground, the height of screens is less than the locating lever height for when fixing a position unmanned aerial vehicle, the screens is hugged closely in unmanned aerial vehicle outer positioner's locating lever below, trades the battery in-process at unmanned aerial vehicle and prevents unmanned aerial vehicle rebound.
7. The unmanned aerial vehicle outer positioning system of claim 6, characterized in that the screens is the disk structure of middle part trompil, and there are two cylinder bosss about the disk middle part, and the boss circumference is opened there is the jackscrew hole, and the screens is fixed in the unmanned aerial vehicle supporting leg through the jackscrew.
8. The system of claim 7, wherein one of the positioning modes of the positioning system is an adaptive mode, and the positioning control system determines whether the drone is positioned according to a load acting on the motor during positioning, so as to control the start and stop of the motor.
9. The unmanned aerial vehicle positioning system of claim 8, wherein one of the positioning modes of the unmanned aerial vehicle positioning system is a preset mode, the positioning control system senses the positioning end position of the positioning rod in an adaptive mode, memorizes the positioning end position, controls the motor to run fast before the positioning rod approaches four support legs of the unmanned aerial vehicle, and enables the motor to run slowly when the positioning rod approaches the support legs until the positioning rod stops running when reaching the positioning end position.
10. Use of the unmanned aerial vehicle positioning device of any of claims 1-5 or the unmanned aerial vehicle positioning system of any of claims 6-9 in the field of unmanned aerial vehicle positioning.
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