CN215687488U - Power supply type sweeper and air-ground cooperative device - Google Patents

Abstract

The utility model relates to a power supply type sweeper and an open ground cooperative device. The powered sweeper is for parking the drone, and the powered sweeper includes: the sweeper body is used for sweeping the ground; the sweeper body is provided with a built-in power supply, wherein the built-in power supply is arranged on the sweeper body in a power supply mode and is used for providing electric energy for the sweeper body; and the charging device is arranged on the sweeper body, and the charging device is electrically connected with the built-in power supply so as to berth the unmanned aerial vehicle behind the sweeper body, and the charging device is electrically connected with the unmanned aerial vehicle so as to charge the unmanned aerial vehicle, so that the sweeping efficiency of the sweeper can be improved while the cruising ability of the unmanned aerial vehicle is improved.

Description

Power supply type sweeper and air-ground cooperative device

Technical Field

The utility model relates to the technical field of sweeping robots, in particular to a power supply type sweeper and an open ground cooperative device.

Background

Along with the improvement of living standard, the sweeping robot or the sweeping machine gradually enters the life of people due to simple operation and convenient use, and is closely connected with families or work, thereby becoming a powerful helper of people. The floor sweeping robot is a robot capable of completing cleaning, dust collection or floor mopping work, and although the floor cleaning work can be automatically completed by means of certain artificial intelligence, the floor cleaning robot usually cleans the floor according to a planned path in sequence, so that the mobility is poor and the efficiency is not high. For example, when a sweeping robot is used to sweep a factory building or a garden road with a large area, the sweeping robot will spend a long time to complete the sweeping of the whole floor, which results in an extremely low working efficiency of the sweeping robot and a waste of a large amount of resources and time.

Because the unmanned aerial vehicle has higher maneuverability due to getting rid of the limitation of the ground, if the ground area needing to be cleaned is rapidly detected by utilizing the high maneuverability of the unmanned aerial vehicle and then the sweeping robot is guided to rapidly move to the area needing to be cleaned for cleaning, the cleaning efficiency of the sweeping robot can be greatly improved.

However, unmanned aerial vehicle is limited to the less weight of self, can not be equipped with the power of large capacity, causes its dead time shorter, and the reconnaissance area is less. Especially, in case power electric quantity that unmanned aerial vehicle carried consumes half the time, unmanned aerial vehicle just need return voyage to charge at specific unmanned aerial vehicle charging station, make unmanned aerial vehicle not only can do a lot of useless power, the extravagant resource, but also can be because of can not reconnaissance whole ground area appear "information" blind area, can't provide comprehensive guide for sweeping the floor the robot, make the robot that sweeps the floor clean the quality relatively poor.

SUMMERY OF THE UTILITY MODEL

One advantage of the present invention is to provide a power supply type sweeper and an air-ground cooperative apparatus, which can charge an unmanned aerial vehicle through the power supply type sweeper, so as to improve the cruising ability of the unmanned aerial vehicle and the sweeping efficiency of the sweeper.

Another advantage of the present invention is to provide a powered sweeper and an open-ground cooperative apparatus, wherein, in an embodiment of the present invention, the powered sweeper can park the unmanned aerial vehicle so as to perform sweeping operation while charging the unmanned aerial vehicle.

Another advantage of the present invention is to provide a powered sweeper and an open-ground cooperative apparatus, wherein, in an embodiment of the present invention, the powered sweeper can guide the landing of the drone through a guiding device, so as to ensure that the drone can be accurately parked on the sweeper body.

Another advantage of the present invention is to provide a power supply type sweeper and an open ground cooperative apparatus, wherein in an embodiment of the present invention, the power supply type sweeper can reduce the difficulty of parking an unmanned aerial vehicle through a taper guiding mechanism, so that the unmanned aerial vehicle can be parked on the sweeper body quickly.

Another advantage of the present invention is to provide a powered sweeper and an open-ground cooperative apparatus, wherein in an embodiment of the present invention, the powered sweeper can restrain the drone through the taper guiding mechanism, which helps to improve the parking stability of the drone.

Another advantage of the present invention is to provide a power supply type sweeper and an open ground cooperative apparatus, wherein in an embodiment of the present invention, the power supply type sweeper can guide an unmanned aerial vehicle to park on the sweeper body in a predetermined direction through a guide mechanism, so as to prevent the unmanned aerial vehicle from parking in a misaligned position and affecting a charging effect.

Another advantage of the present invention is to provide a powered sweeper and open-ground cooperative apparatus wherein expensive materials or complex structures are not required to be used in the present invention to achieve the above objectives. Therefore, the utility model successfully and effectively provides a solution, not only provides a simple power supply type sweeper and an air-ground cooperative device, but also increases the practicability and reliability of the power supply type sweeper and the air-ground cooperative device.

To achieve at least the above and other advantages and objectives, the present invention provides a powered sweeper, for parking an unmanned aerial vehicle, wherein the powered sweeper comprises:

the sweeper body is used for sweeping the ground;

the sweeper body is provided with a built-in power supply, wherein the built-in power supply is arranged on the sweeper body in a power supply mode and is used for providing electric energy for the sweeper body; and

the charging device is arranged on the sweeper body, and the charging device is connected with the built-in power supply in an electrified mode so that after the unmanned aerial vehicle is parked on the sweeper body, the charging device is connected with the unmanned aerial vehicle in an electrified mode and used for charging the unmanned aerial vehicle.

According to an embodiment of the application, charging device including set up in the guiding mechanism of machine body of sweeping the floor and with built-in power supply electric connection's electric property mechanism, wherein guiding mechanism is used for guiding unmanned aerial vehicle berth with the location in the machine body of sweeping the floor, with through but electric property mechanism circular telegram ground connects unmanned aerial vehicle.

According to an embodiment of the application, the electrical mechanism of the charging device comprises a point electrode and/or a surface electrode, and the point electrode and/or the surface electrode are electrically contacted with a matching electrode of the unmanned aerial vehicle in a point contact and/or surface contact mode to charge.

According to an embodiment of the application, the guiding mechanism of the charging device comprises a guiding groove and/or a guiding head, so that when the unmanned aerial vehicle is parked on the sweeper body, the guiding mechanism is matched with the matching mechanism of the unmanned aerial vehicle in a jogged mode.

According to an embodiment of the present application, the guiding groove of the guiding mechanism is tapered from inside to outside to form a tapered guiding groove.

According to an embodiment of the present application, the guiding head of the guiding mechanism tapers outward from the sweeper body to form a tapered guiding head.

According to an embodiment of the application, the guide groove of the guide mechanism has an annular configuration to form an annular groove.

According to an embodiment of the present application, the electrical mechanism is correspondingly disposed on the guiding mechanism, and the electrical mechanism is a concave electrode or a convex electrode.

According to an embodiment of the application, the charging device is a wireless charging platform for wirelessly charging the unmanned aerial vehicle.

According to an embodiment of the application, the power supply type sweeper further comprises a guiding mechanism, wherein the guiding mechanism is correspondingly arranged on the sweeper body and used for guiding the unmanned aerial vehicle to be in a parking direction relative to the sweeper body, so that the unmanned aerial vehicle is parked on the sweeper body in a preset direction.

According to an embodiment of the application, the guiding mechanism comprises one or more of a light emitter, a light receiver, a feature pattern, a shell texture, a feature profile, and a depth feature.

According to another aspect of the present application, there is further provided an air-ground coordination apparatus, including:

unmanned aerial vehicle and

a powered sweeper, wherein the powered sweeper is to park the unmanned aerial vehicle, and the powered sweeper includes:

the sweeper body is used for sweeping the ground;

the sweeper body is provided with a built-in power supply, wherein the built-in power supply is arranged on the sweeper body in a power supply mode and is used for providing electric energy for the sweeper body; and

the charging device is arranged on the sweeper body, the charging device is connected with the built-in power supply in an electrified mode, and after the unmanned aerial vehicle is parked on the sweeper body, the charging device is connected with the unmanned aerial vehicle in an electrified mode and used for charging the unmanned aerial vehicle.

Drawings

Fig. 1 is a schematic structural diagram of an air-ground cooperative apparatus according to a first embodiment of the present invention;

fig. 2 is a schematic perspective view of a power supply type sweeper in the air-ground coordination device according to the first embodiment of the utility model;

fig. 3 is a schematic perspective view of the unmanned aerial vehicle in the air-ground coordination apparatus according to the first embodiment of the utility model;

figure 4 shows a schematic cross-sectional view of the powered sweeper according to the above-described first embodiment of the present invention;

fig. 5 is a partially enlarged schematic view of the air-ground cooperative apparatus according to the above first embodiment of the present invention;

figure 6 shows a first variant of the powered sweeper according to the above first embodiment of the utility model;

figures 7 and 8 show a second variant of the powered sweeper according to the above-described first embodiment of the utility model;

figure 9 shows a third variant of the powered sweeper according to the above-described first embodiment of the utility model;

figure 10 shows a fourth variant embodiment of the powered sweeper according to the above-described first embodiment of the utility model;

fig. 11 is a schematic structural diagram of an air-ground cooperative apparatus according to a second embodiment of the present invention;

fig. 12 shows a first modified example of the power-supplying type sweeper in the air-ground cooperative apparatus according to the second embodiment of the utility model;

fig. 13 shows a second modified example of the power supply type sweeper according to the second embodiment of the utility model;

fig. 14 shows a third modified example of the power supply type sweeper according to the second embodiment of the utility model;

fig. 15 shows a fourth modified example of the power supply type sweeper according to the second embodiment of the utility model;

fig. 16 shows a fifth modified example of the power supply type sweeper according to the second embodiment of the utility model.

Description of the main element symbols: 1. an air-ground coordination device; 10. an unmanned aerial vehicle; 101. a mating mechanism; 102. a mating electrode; 103. a vision device; 20. a power supply type sweeper; 21. a sweeper body; 22. a built-in power supply; 23. a charging device; 231. a guide mechanism; 2311. a guide groove; 2312. a seeker; 232. an electrical mechanism; 2321. a point electrode; 2322. a face electrode; 233. a wireless charging platform; 24. a guide mechanism; 241. a light emitter; 242. a feature pattern; 2421. a graph; 2422. an image; 243. shell texture; 244. characteristic appearance; 245. a depth feature.

The present invention is described in further detail with reference to the drawings and the detailed description.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "disposed" or "mounted" to another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 5, a first embodiment of the present invention provides an air-ground coordination apparatus 1, wherein the air-ground coordination apparatus 1 may include an unmanned aerial vehicle 10 and a powered sweeper 20 for parking the unmanned aerial vehicle 10, wherein the powered sweeper 20 can charge the unmanned aerial vehicle 10 parked on the powered sweeper 20, so as to improve the cruising ability of the unmanned aerial vehicle 10 and improve the sweeping efficiency of the powered sweeper 20.

Specifically, as shown in fig. 1 and fig. 2, the power supply type sweeper 20 may include a sweeper body 21 for sweeping the ground, a built-in power supply 22 and a charging device 23, wherein the built-in power supply 22 is disposed on the sweeper body 21 in a power supply manner, and is configured to provide electric energy for the sweeper body 21, so that the sweeper body 21 can perform sweeping operation; wherein the charging device 23 is disposed on the sweeper body 21, and the charging device 23 is electrically connected to the built-in power supply 22, so that when the unmanned aerial vehicle 10 is parked at the sweeper body 21, the charging device 23 is electrically connected to the unmanned aerial vehicle 10 to charge the unmanned aerial vehicle 10.

It should be noted that, since the powered sweeper 20 can not only park the unmanned aerial vehicle 10, but also charge the unmanned aerial vehicle 10 parked thereon, the powered sweeper 20 can perform a sweeping operation while charging the unmanned aerial vehicle 10. In other words, this application the air and ground is in coordination device 1 has fully combined unmanned aerial vehicle's high mobility and the high load capacity of machine of sweeping the floor, makes unmanned aerial vehicle 10 can with power supply formula machine of sweeping the floor 20 is interim base, with through power supply formula machine of sweeping the floor 20 does unmanned aerial vehicle 10 charges to the delivery unmanned aerial vehicle 10 to specified area, not only can increase unmanned aerial vehicle's detection scope by a wide margin, reduces and avoids appearing and listen the blind area even, but also can improve unmanned aerial vehicle's duration by a wide margin, all helps improving power supply formula machine of sweeping the floor 20 cleans efficiency.

More specifically, as shown in fig. 1 and 4, the charging device 23 may include a guiding mechanism 231 disposed on the sweeper body 21 and an electrical mechanism 232 electrically connected to the built-in power supply 22, wherein the guiding mechanism 231 is configured to guide the drone 10 to be positionally parked on the sweeper body 21, so as to be electrically connected to the drone 10 through the electrical mechanism 232, so that the built-in power supply 22 can charge the positionally parked drone 10.

For example, as shown in fig. 3 to 5, in the first embodiment of the present application, the electrical mechanism 232 of the charging device 23 may be, but is not limited to be, implemented as a point electrode 2321, and the guiding mechanism 231 of the charging device 23 may be, but is not limited to be, implemented as a guiding slot 2311; accordingly, the drone 10 is provided with an engagement mechanism 101 matching the guide groove 2311 and an engagement electrode 102 matching the point electrode 2321. In this way, when the unmanned aerial vehicle 10 needs to be parked on the sweeper body 21, the engaging mechanism 101 on the unmanned aerial vehicle 10 is engaged with the guiding groove 2311 of the charging device 23 in a fitting manner to guide the unmanned aerial vehicle 10 to be parked on the sweeper body 21 in a positioning manner, so that the engaging electrode 102 on the unmanned aerial vehicle 10 is electrically contacted with the point electrode 2321 of the charging device 23, so as to charge the unmanned aerial vehicle 10 in a wired manner. It can be understood that the engaging mechanism 101 on the drone 10 of the present application is correspondingly implemented as an engaging head to be inserted into the guiding slot 2311 to be securely engaged, that is, the guiding slot 2311 in the powered sweeper 20 can limit the movement of the drone 10 in multiple degrees of freedom to securely park the drone 10 and stably charge the drone 10.

Preferably, the guiding groove 2311 of the charging device 23 has an inverted cone-shaped structure so as to guide the insertion of the mating mechanism 101 on the drone 10 and achieve precise contact between the point electrode 2321 and the mating electrode 102. In other words, the guide groove 2311 of the charging device 23 is tapered from inside to outside, so that the circumferential side wall of the guide groove 2311 has a certain taper to form a tapered guide groove, which helps to guide the unmanned aerial vehicle 10 to accurately park.

More preferably, the point electrode 2321 of the charging device 23 is correspondingly disposed in the guiding groove 2311, and correspondingly, the mating electrode 102 on the unmanned aerial vehicle 10 is correspondingly disposed in the mating mechanism 101, so that the guiding groove 2311 and the point electrode 2321 of the charging device 23 are respectively and synchronously and correspondingly mated with the mating mechanism 101 and the mating electrode 102 on the unmanned aerial vehicle 10, which helps to improve the stability of the electrical connection between the charging device 23 and the unmanned aerial vehicle 10, so as to ensure that the power supply type sweeper 20 stably charges the unmanned aerial vehicle 10.

In particular, the point electrode 2321 of the charging device 23 may be, but is not limited to being, implemented as a convex-type electrode. It can be understood that, since the point electrode 2321 is located in the guiding groove 2311, the charging device 23 of the present application can prevent children or pets from touching the electrode by mistake to a certain extent, and has high safety. It can be understood that, in the first embodiment of the present application, the unmanned aerial vehicle 10 may be parked on the upper surface of the sweeper body 21, or may be parked on the side surface of the sweeper body 21; accordingly, the charging device 23 is correspondingly disposed on the upper surface or the side surface of the sweeper body 21, which is not described herein again.

It should be noted that fig. 6 shows a first variant of the powered sweeper 20 according to the above first embodiment of the present application, and the powered sweeper 20 according to the first variant of the present application differs from the powered sweeper 20 according to the above first embodiment of the present application in that: the point electrode 2321 of the charging device 23 may be implemented as a concave electrode, so as to avoid an electric shock accident caused by a child or a pet touching the electrode by mistake, which helps to improve the safety performance of the power supply type sweeper 20. It is understood that when the point electrode 2321 is implemented as a female-type electrode, even if the point electrode 2321 is installed at a position outside the guide groove 2311, it can function to prevent children or pets from mistakenly touching the electrode to some extent.

Fig. 7 and 8 show a second variant of the powered sweeper 20 according to the above-described first embodiment of the present application, which differs from the powered sweeper 20 according to the above-described first embodiment of the present application in that: the guiding mechanism 231 of the charging device 23 can also be implemented as, but not limited to, a guiding head 2312, and correspondingly, the mating mechanism 101 on the unmanned aerial vehicle 10 is implemented as a mating groove matched with the guiding head 2312, so that the precise parking of the unmanned aerial vehicle 10 on the power supply type sweeper 20 can still be realized through the mutual engagement between the guiding mechanism 231 and the mating mechanism 101, so as to ensure that the point electrode 2321 of the charging device 23 is electrically connected with the mating electrode 102 of the unmanned aerial vehicle 10 stably.

Preferably, the guidance head 2312 of the charging device 23 is implemented as a tapered guidance head, that is, the guidance head 2312 has a tapered structure, and is tapered outward from the sweeper body 21, so that the peripheral side wall of the guidance head 2312 has a certain taper, which helps to guide the unmanned aerial vehicle 10 to accurately park.

In particular, in this variant example of the present application, the point electrode 2321 of the charging device 23 has a concave structure to avoid an electric shock accident caused by the point electrode 2321 provided on the seeker 2312 being touched by a child or a pet.

It should be noted that, although in the various examples of the present application, the electrical mechanism 232 of the charging device 23 and the mating electrode 102 of the drone 10 are implemented as two or more point electrodes to respectively serve as a positive electrode and a negative electrode, and the electrical connection is realized by means of point contact, in other examples of the present application, the electrical mechanism 232 of the charging device 23 may also be implemented as a surface electrode 2322 to expand the electrical connection range between the charging device 23 and the mating electrode 102.

Specifically, fig. 9 shows a third modified embodiment of the power supply type sweeper 20 according to the above first embodiment of the present application, and compared with the above first embodiment of the present application, the power supply type sweeper 20 according to the third modified embodiment of the present application is different in that: the electrical mechanism 232 of the charging device 23 may include the point electrode 2321 and a surface electrode 2322, wherein the point electrode 2321 and the surface electrode 2322 are disposed at a distance to serve as a positive electrode and a negative electrode. It is understood that, in other examples of the present application, the electrical mechanism 232 of the charging device 23 may also be implemented as two or more surface electrodes 2322, which is not described herein again.

Preferably, the face electrode 2322 has a ring-shaped structure to form a ring-shaped electrode, and the point electrode 2321 is located at the ring center of the face electrode 2322, so that the unmanned aerial vehicle 10 can be parked on the sweeper body 21 along different directions, and at the same time, electrical connection can be achieved to keep charging.

More preferably, the guide groove 2311 of the charging device 23 has a ring-shaped structure to form a ring-shaped groove, and the face electrodes 2322 are annularly arranged along the guide groove 2311 in case a child or a pet erroneously touches the electrodes.

Fig. 10 shows a fourth modified embodiment of the power supply type sweeper 20 according to the first embodiment of the present application, and the power supply type sweeper 20 according to the fourth modified embodiment of the present application is different from the first embodiment of the present application in that: the charging device 23 may also be implemented as a wireless charging platform 233 for wirelessly charging the drone 10. That is to say, the unmanned aerial vehicle 10 is provided with a radio receiving device matched with the wireless charging platform 233, so long as the unmanned aerial vehicle 10 is parked on the sweeper body 21, the unmanned aerial vehicle 10 can be wirelessly charged through the wireless charging platform 233.

It should be noted that in other examples of the present application, when the unmanned aerial vehicle 10 is parked at the sweeper body 21, the built-in power supply 22 may not be powered on immediately with the unmanned aerial vehicle 10, that is, the power supply sweeper 20 does not charge the unmanned aerial vehicle 10 parked thereon, but only charges the unmanned aerial vehicle 10 when the power supply sweeper 20 receives a signal that the charging is required.

It should be noted that, when the electrical mechanism 232 of the charging device 23 is implemented as two or more point electrodes 2321, the unmanned aerial vehicle 10 needs to distinguish the positive and negative polarities of the different point electrodes 2321 on the power supply type sweeper 20, so that after the unmanned aerial vehicle 10 is parked at the power supply type sweeper 20, a complete charging path can be formed between the unmanned aerial vehicle 10 and the power supply type sweeper 20 to charge the unmanned aerial vehicle 10. In order to solve the problem, a second embodiment of the present application provides an air-ground coordination apparatus 1, so that the unmanned aerial vehicle 10 can land and stop at the power supply type sweeper 20 according to a predetermined direction, so as to ensure that the power supply type sweeper 20 charges the unmanned aerial vehicle 10.

Specifically, as shown in fig. 11, the air-ground coordination device 1 according to the second embodiment of the present application is different from the above-described first embodiment of the present application in that: the powered sweeper 20 may further include a guiding mechanism 24, wherein the guiding mechanism 24 is correspondingly disposed on the sweeper body 21 for guiding the parking direction of the unmanned aerial vehicle 10 relative to the sweeper body 21, so that the unmanned aerial vehicle 10 can land and park on the sweeper body 21 according to a predetermined direction relative to the sweeper body 21. Correspondingly, the unmanned aerial vehicle 10 needs to be configured with the vision device 103 for identifying the guide mechanism 24, so as to determine the relative orientation of the sweeper body 21 according to the guiding direction of the guide mechanism 24, so that the unmanned aerial vehicle 10 can land and stop at the sweeper body 21 in a predetermined direction, and the power supply type sweeper 20 can normally charge the unmanned aerial vehicle 10.

More specifically, as shown in fig. 11, in the second embodiment of the present application, the guiding mechanism 24 may be implemented as a light emitter 241 for emitting guiding light for the unmanned aerial vehicle 10 to identify and judge the relative orientation of the sweeper body 21, so as to guide the unmanned aerial vehicle 10 to park in the sweeper body 21 according to a predetermined direction. It is understood that the vision device 103 of the drone 10 may be implemented as a light receiver corresponding to the light emitter 241 to receive the guiding light emitted via the light emitter 241.

Illustratively, the guiding mechanism 24 may include two or more light emitters 241, and the light emitters 241 may be implemented as, but not limited to, LED lamps or laser emitters. Optionally, two or more of the light emitters 241 may respectively emit light with the same wavelength, such as red light, so as to let the unmanned aerial vehicle 10 know the position of the sweeper body 21 and the relative position of the sweeper body 21 where the unmanned aerial vehicle 10 is to be guided to park by means of bright and dark, bright and dark flashing or time interval signals emitted at different positions, so that the unmanned aerial vehicle 10 can land and park according to a predetermined direction.

It is understood that in other examples of the present application, two or more light emitters 241 may also respectively emit light with different wavelengths, such as red light, green light, blue light or infrared light (850/940nm), so as to determine the relative orientation between the unmanned aerial vehicle 10 and the sweeper body 21 by means of light signals with different colors or different wavelengths.

Of course, in other examples of the present application, the guiding mechanism 24 can also be implemented as an optical receiver for receiving the optical signal emitted by the drone 10 and still guiding the parking direction of the drone 10 relative to the sweeper body 21, so that the drone 10 can land and park on the sweeper body 21 according to the predetermined direction relative to the sweeper body 21. Accordingly, the vision device 103 of the unmanned aerial vehicle 10 is implemented as an optical transmitter corresponding to the optical receiver to transmit an optical signal for the optical receiver of the powered sweeper 20 to receive, so as to guide the unmanned aerial vehicle 10 to land and stop in a predetermined direction. In other words, the mounting positions of the light receiver and the light emitter may be interchanged.

It should be noted that, in addition to being implemented as the optical emitter or the optical receiver to perform guiding positioning by using light signals, the guiding mechanism 24 of the powered sweeper 20 may also be implemented as features, such as patterns, textures, shapes or concave-convex structures, which can be recognized by the vision device 103, so as to guide the parking direction of the unmanned aerial vehicle 10.

Exemplarily, fig. 12 shows a first modified example of the power supply type sweeper 20 according to the above second embodiment of the present application, and the power supply type sweeper 20 according to the first modified example of the present application is different from the above second embodiment of the present application in that: the guiding mechanism 24 of the power supply type sweeper 20 can be implemented as a feature pattern 242 provided on the surface of the sweeper body 21, and is used for the vision device 103 of the unmanned aerial vehicle 10 to acquire features of the feature pattern 242, so as to identify the orientation of the unmanned aerial vehicle 10 relative to the sweeper body 21, and further guide the unmanned aerial vehicle 10 to land and stop at the sweeper body 21 according to a predetermined direction. It can be understood that, in this modified example of the present application, the vision device 103 of the unmanned aerial vehicle 10 can be, but is not limited to be, implemented as an image capturing device such as a camera, for capturing an image of the characteristic pattern 242, and performing image processing to analyze the orientation of the unmanned aerial vehicle 10 relative to the sweeper body 21, so as to align and position the unmanned aerial vehicle 10.

Preferably, as shown in fig. 12, the feature pattern 242 may be implemented as a graphic 2421 having a directional feature, such as a cross graphic and/or an arrow, etc. It is understood that the graphic 2421 of the present application may be a single graphic containing direction information, or may be a combination of two or more single graphics not containing direction information to form a combined graphic containing direction information.

Fig. 13 shows a second modified example of the power supply type sweeper 20 according to the second embodiment of the present application, and the power supply type sweeper 20 according to the second modified example of the present application is different from the first modified example of the present application in that: the feature pattern 242 may also be implemented as an image 2422 with a directional feature, such as a brand Logo on the sweeper body 21, for the vision device 103 of the unmanned aerial vehicle 10 to capture the image 2422, and perform image processing to analyze the orientation of the unmanned aerial vehicle 10 relative to the sweeper body 21, so as to align and position the unmanned aerial vehicle 10.

Fig. 14 shows a third modified example of the power feeding type sweeper 20 according to the second embodiment of the present application, and the power feeding type sweeper 20 according to the third modified example of the present application is different from the first modified example of the present application in that: the guiding mechanism 24 can be implemented as a shell texture 243 of the sweeper body 21, and the shell texture 243 of the sweeper body 21 includes a directional feature, such as a metal texture or a plastic texture, so that the vision device 103 of the unmanned aerial vehicle 10 acquires an image of the shell texture 243, and the image is processed to analyze the orientation of the unmanned aerial vehicle 10 relative to the sweeper body 21, so as to align and position the unmanned aerial vehicle 10.

Fig. 15 shows a fourth modified example of the power supply type sweeper 20 according to the second embodiment of the present application, and the power supply type sweeper 20 according to the fourth modified example of the present application is different from the first modified example of the present application in that: the guiding mechanism 24 can be implemented as a feature shape 244 of the sweeper body 21, and the feature shape 244 of the sweeper body 21 includes a directional feature, so that the vision device 103 of the unmanned aerial vehicle 10 acquires an image of the feature shape 244 and performs image processing to analyze the orientation of the unmanned aerial vehicle 10 relative to the sweeper body 21, thereby aligning and positioning the unmanned aerial vehicle 10. It can be understood that the feature shape 244 of the guiding mechanism 24 can be a shape feature of the sweeper body 21 itself, such as a function key with a direction feature, or a shape feature additionally provided on the sweeper body 21, such as various notches and the like.

Fig. 16 shows a fifth modified example of the power feeding type sweeper 20 according to the second embodiment of the present application, and the power feeding type sweeper 20 according to the fifth modified example of the present application is different from the first modified example of the present application in that: the guiding mechanism 24 may be implemented as a depth feature 245 provided on the sweeper body 21, and the depth feature 245 includes a directional feature for the vision device 103 of the unmanned aerial vehicle 10 to acquire depth information of the depth feature 245 and to perform depth image processing to analyze the orientation of the unmanned aerial vehicle 10 relative to the sweeper body 21, so as to align and position the unmanned aerial vehicle 10. It is understood that in this variant example of the present application, the vision device 103 of the drone 10 may be implemented, but not limited to, as a device capable of extremely small depth detection, such as a TOF camera, lidar, binocular camera or structured light camera.

Preferably, the depth feature 245 is implemented as a concave-convex structure on the surface of the sweeper body 21, and the depth information of the concave-convex structure can embody the directional feature of the sweeper body 21. It can be understood that the concave-convex structure of the present application can be implemented as the existing structure with depth of the sweeper body 21, such as a laser radar or a power button, and can also be implemented as a groove structure or a protrusion structure additionally provided on the sweeper body 21.

It is noted that the guiding mechanism 24 of the present application may include two or more of the light emitter 241, the light receiver, the feature pattern 242, the shell texture 243, the feature profile 244, and the depth feature 245 at the same time.

In addition, when the unmanned aerial vehicle 10 is parked at the powered sweeper 20, the powered sweeper 20 may perform other operations, such as data transmission, in addition to being electrically connected to the unmanned aerial vehicle 10 for charging. It is understood that the signals transmitted by the data transmission mentioned in the present application may include, but are not limited to: audio signals, indicator light signals, case signals, data communication signals, and sensor signals, among others.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (11)

1. Power supply formula machine of sweeping floor for berth unmanned aerial vehicle, its characterized in that, power supply formula machine of sweeping floor includes:

the sweeper body is used for sweeping the ground;

the sweeper body is provided with a built-in power supply, wherein the built-in power supply is arranged on the sweeper body in a power supply mode and is used for providing electric energy for the sweeper body; and

the charging device is arranged on the sweeper body, and the charging device is connected with the built-in power supply in an electrified mode so that after the unmanned aerial vehicle is parked on the sweeper body, the charging device is connected with the unmanned aerial vehicle in an electrified mode and used for charging the unmanned aerial vehicle.

2. The powered sweeper of claim 1, wherein the charging device comprises a guiding mechanism disposed on the sweeper body and an electrical mechanism electrically connected to the internal power source, wherein the guiding mechanism is configured to guide the drone to be positionally parked on the sweeper body for electrically connecting the drone via the electrical mechanism.

3. The powered sweeper of claim 2, wherein the electrical mechanism of the charging device comprises a point electrode and/or a surface electrode for electrically contacting a mating electrode of the drone for charging via point contact and/or surface contact.

4. A powered sweeper according to claim 3, wherein the guiding mechanism of the charging device includes a guiding slot and/or a guiding head, such that when the drone is parked on the sweeper body, the guiding mechanism engages in a mating engagement with the mating mechanism of the drone.

5. The powered sweeper of claim 4, wherein the guide slot of the guide mechanism is tapered from inside to outside to form a tapered guide slot.

6. The powered sweeper of claim 4, wherein the guidance head of the guidance mechanism tapers outwardly from the sweeper body to form a tapered guidance head.

7. The powered sweeper of claim 4, wherein the guide slot of the guide mechanism has an annular configuration to form an annular groove.

8. The powered sweeper according to any one of claims 5 to 7, wherein the electrical mechanism is correspondingly disposed on the guiding mechanism, and the electrical mechanism is a concave electrode or a convex electrode.

9. The powered sweeper of any one of claims 1-7 further comprising a guiding mechanism, wherein the guiding mechanism is correspondingly disposed on the sweeper body for guiding the parking direction of the drone relative to the sweeper body such that the drone is parked on the sweeper body in a predetermined direction.

10. The powered sweeper of claim 9, wherein the guiding mechanism comprises one or more of a light emitter, a light receiver, a feature pattern, a housing texture, a feature profile, and a depth feature.

11. An air-ground coordination device, comprising:

unmanned aerial vehicle and

a powered sweeper, wherein the powered sweeper is to park the unmanned aerial vehicle, and the powered sweeper includes:

the sweeper body is used for sweeping the ground;

the sweeper body is provided with a built-in power supply, wherein the built-in power supply is arranged on the sweeper body in a power supply mode and is used for providing electric energy for the sweeper body; and

the charging device is arranged on the sweeper body, the charging device is connected with the built-in power supply in an electrified mode, and after the unmanned aerial vehicle is parked on the sweeper body, the charging device is connected with the unmanned aerial vehicle in an electrified mode and used for charging the unmanned aerial vehicle.

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