WO2019085151A1 - Dispositif de positionnement de véhicule aérien sans pilote et aire de stationnement - Google Patents

Dispositif de positionnement de véhicule aérien sans pilote et aire de stationnement Download PDF

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Publication number
WO2019085151A1
WO2019085151A1 PCT/CN2017/115248 CN2017115248W WO2019085151A1 WO 2019085151 A1 WO2019085151 A1 WO 2019085151A1 CN 2017115248 W CN2017115248 W CN 2017115248W WO 2019085151 A1 WO2019085151 A1 WO 2019085151A1
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WO
WIPO (PCT)
Prior art keywords
push rod
transmission
transmission mechanism
rod
push
Prior art date
Application number
PCT/CN2017/115248
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English (en)
Chinese (zh)
Inventor
陈鹏
邓涛
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780065070.7A priority Critical patent/CN109963786A/zh
Publication of WO2019085151A1 publication Critical patent/WO2019085151A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
    • 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

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles positioning, in particular to a drone positioning device and an apron.
  • UAV Small-scale 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.
  • the landing point on the tarmac needs to be made into a large conical shape, that is, a large conical pit.
  • the conical structural features are utilized to automatically slide the UAV to the bottom to achieve positioning.
  • 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.
  • the invention provides a UAV positioning device and an apron with a simple positioning method to solve the above technical problems.
  • 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;
  • 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 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.
  • 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 .
  • 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.
  • 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;
  • the connecting base moves in the axial direction of the first push rod under the restriction of the connecting arm.
  • an axial direction of the first push rod is perpendicular to an axial direction of the second push rod.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 is a perspective view of a drone positioning device according to an exemplary embodiment of the present invention.
  • FIG. 2 is a plan view showing a drone positioning device according to an exemplary embodiment of the present invention.
  • FIG. 3 is a plan view showing a drone positioning device according to still another exemplary embodiment of the present invention.
  • FIG. 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. .
  • the driving motor 31 drives the transmission rod 32 to rotate
  • the transmission rod 32 drives the first transmission wheel 12 to rotate
  • 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.
  • the first transmission wheel 12 is located at the end of the transmission rod 32.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. .
  • each of the first push rods 11 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.
  • 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
  • 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.
  • 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.
  • 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.
  • An apron 100 includes: an immobilization platform 101, and an unmanned positioning device as described in various embodiments.
  • 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.
  • the apron 100 further includes a detection device 20 disposed on the parking platform 101.
  • 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.
  • 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.
  • 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.
  • the apron 100 further includes a platform controller (not shown).
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Toys (AREA)
  • Power-Operated Mechanisms For Wings (AREA)

Abstract

La présente invention porte sur un dispositif de positionnement de véhicule aérien sans pilote et sur une aire de stationnement. Le dispositif de positionnement de véhicule aérien sans pilote (10) comprend : un composant d'entraînement, un premier mécanisme de transmission (1) coopérant avec le composant d'entraînement, et un second mécanisme de transmission (2) relié au premier mécanisme de transmission (1), le premier mécanisme de transmission (1) comprenant une première tige de poussée (11) et le second mécanisme de transmission (2) comprenant une seconde tige de poussée (21), la seconde tige de poussée (21) pouvant se déplacer axialement le long de la première tige de poussée (11). Sous l'entraînement du composant d'entraînement, le premier mécanisme de transmission (1) entraîne le déplacement de la première tige de poussée (11) et le premier mécanisme de transmission (1) est relié au second mécanisme de transmission (2) pour entraîner le déplacement de la seconde tige de poussée (21) de telle sorte que la première tige de poussée (11) coopère avec la seconde tige de poussée (21) pour pousser un véhicule aérien sans pilote vers une position prédéfinie. Le premier mécanisme de transmission et le second mécanisme de transmission fonctionnent de manière synchrone au moyen de l'entraînement d'une seule source de puissance de telle sorte que la première tige de poussée coopère avec la seconde tige de poussée pour pousser un véhicule aérien sans pilote vers une position prédéfinie et réalise un positionnement actif du véhicule aérien sans pilote à l'aide d'une simple coopération entre les structures de transmission.
PCT/CN2017/115248 2017-10-30 2017-12-08 Dispositif de positionnement de véhicule aérien sans pilote et aire de stationnement WO2019085151A1 (fr)

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CN201780065070.7A CN109963786A (zh) 2017-10-30 2017-12-08 无人机定位装置及停机坪

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CN201721418211.2U CN207466991U (zh) 2017-10-30 2017-10-30 无人机定位装置及停机坪

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CN111367306A (zh) * 2020-03-19 2020-07-03 上海陆根智能传感技术有限公司 一种无人机定位装置
CN111776244A (zh) * 2020-08-05 2020-10-16 北京云圣智能科技有限责任公司 推动装置和飞行器定位结构
CN111874249A (zh) * 2020-07-20 2020-11-03 复亚智能科技(太仓)有限公司 一种无人机收桨装置
CN111942266A (zh) * 2020-09-11 2020-11-17 中国人民解放军陆军炮兵防空兵学院 一种无人机起降平台
CN111977008A (zh) * 2019-05-24 2020-11-24 中科灵动航空科技成都有限公司 旋翼无人机回收承载台、回收车及回收方法
WO2021152427A1 (fr) 2020-01-29 2021-08-05 Robotopia Uab Plate-forme d'atterrissage et système de positionnement et d'alignement de véhicule aérien sur celle-ci
CN113799996A (zh) * 2021-09-18 2021-12-17 河北工业大学 基于限位开关的无人机复位平台
CN113815877A (zh) * 2021-08-20 2021-12-21 广州中科云图智能科技有限公司 一种无人机基站
CN113955137A (zh) * 2021-10-28 2022-01-21 上海航天测控通信研究所 一种可实现同步运动的无人机归位装置
CN114109107A (zh) * 2021-11-22 2022-03-01 北京煜邦电力技术股份有限公司 一种无人机的升降归中机构及无人机机库
DE102021001842A1 (de) 2020-10-16 2022-04-21 Phoenix-Wings GmbH Automatisches Drohnen-Positionierungssystem
CN115743664A (zh) * 2022-11-24 2023-03-07 中科蓝光科技(广州)有限公司 一种便携式无人机停机坪
CN116692070A (zh) * 2023-07-28 2023-09-05 中冶建筑研究总院（深圳）有限公司 一种无人机自动归中智能机库

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CN111977008A (zh) * 2019-05-24 2020-11-24 中科灵动航空科技成都有限公司 旋翼无人机回收承载台、回收车及回收方法
CN110685476A (zh) * 2019-11-20 2020-01-14 上海汇聚自动化科技有限公司 一种汽车自动对中的机构
WO2021152427A1 (fr) 2020-01-29 2021-08-05 Robotopia Uab Plate-forme d'atterrissage et système de positionnement et d'alignement de véhicule aérien sur celle-ci
CN111367306A (zh) * 2020-03-19 2020-07-03 上海陆根智能传感技术有限公司 一种无人机定位装置
CN111874249A (zh) * 2020-07-20 2020-11-03 复亚智能科技(太仓)有限公司 一种无人机收桨装置
CN111874249B (zh) * 2020-07-20 2024-06-07 复亚智能科技(太仓)有限公司 一种无人机收桨装置
CN111776244A (zh) * 2020-08-05 2020-10-16 北京云圣智能科技有限责任公司 推动装置和飞行器定位结构
CN111942266A (zh) * 2020-09-11 2020-11-17 中国人民解放军陆军炮兵防空兵学院 一种无人机起降平台
DE102021001842A1 (de) 2020-10-16 2022-04-21 Phoenix-Wings GmbH Automatisches Drohnen-Positionierungssystem
DE102021001842B4 (de) 2020-10-16 2023-06-01 Marc Schwarzbach Automatisches Drohnen-Positionierungssystem
CN113815877A (zh) * 2021-08-20 2021-12-21 广州中科云图智能科技有限公司 一种无人机基站
CN113799996B (zh) * 2021-09-18 2023-05-23 河北工业大学 基于限位开关的无人机复位平台
CN113799996A (zh) * 2021-09-18 2021-12-17 河北工业大学 基于限位开关的无人机复位平台
CN113955137A (zh) * 2021-10-28 2022-01-21 上海航天测控通信研究所 一种可实现同步运动的无人机归位装置
CN114109107A (zh) * 2021-11-22 2022-03-01 北京煜邦电力技术股份有限公司 一种无人机的升降归中机构及无人机机库
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CN115743664B (zh) * 2022-11-24 2023-06-06 中科蓝光科技(广州)有限公司 一种便携式无人机停机坪
CN116692070A (zh) * 2023-07-28 2023-09-05 中冶建筑研究总院（深圳）有限公司 一种无人机自动归中智能机库

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