WO2022062174A1 - 用于无人机的位置矫正装置和存储系统 - Google Patents

用于无人机的位置矫正装置和存储系统 Download PDF

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Publication number
WO2022062174A1
WO2022062174A1 PCT/CN2020/133351 CN2020133351W WO2022062174A1 WO 2022062174 A1 WO2022062174 A1 WO 2022062174A1 CN 2020133351 W CN2020133351 W CN 2020133351W WO 2022062174 A1 WO2022062174 A1 WO 2022062174A1
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WO
WIPO (PCT)
Prior art keywords
push rod
unmanned aerial
aerial vehicle
support plate
correction device
Prior art date
Application number
PCT/CN2020/133351
Other languages
English (en)
French (fr)
Inventor
张松
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.)
Filing date
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
Publication of WO2022062174A1 publication Critical patent/WO2022062174A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
    • B65D25/02—Internal fittings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
    • B65D25/02—Internal fittings
    • B65D25/10—Devices to locate articles in containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D85/00—Containers, packaging elements or packages, specially adapted for particular articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the present application relates to the technical field of unmanned aerial vehicles, and in particular to a position correction device and storage system for unmanned aerial vehicles.
  • the purpose of this application is to provide a position correction device and storage system for UAVs, which can automatically limit the UAV to a predetermined position, so that the position of the UAV can be corrected, which is convenient for the subsequent transfer of the UAV to storage. in the device.
  • the present application provides a position correction device for an unmanned aerial vehicle, comprising: a base; a support plate, which is movably connected to the base, and includes a bearing surface for carrying the unmanned aerial vehicle; a limiting component, the first limiting component moves along the first direction on the bearing surface; and a second limiting component, the second limiting component moves along the second direction on the bearing surface, The second direction intersects with the first direction; the support plate, the first limiting component and the second limiting component together form a receiving area, the first limiting component and the The second limiting component pushes the unmanned aerial vehicle to move in the accommodating area and limits the unmanned aerial vehicle to a predetermined position, so that the position of the unmanned aerial vehicle is corrected.
  • the first limiting component and the second limiting component push the drone to move in the accommodating area in the first direction and the second direction respectively, which can automatically limit the drone in the accommodating area.
  • Predetermined position so that the position of the UAV is corrected, which facilitates the subsequent transfer of the UAV to the storage device.
  • first direction and the second direction are perpendicular, and the first limit component and the second limit component push the drone to move in the first and second directions that are perpendicular to each other, and can be the fastest. to adjust the position of the drone.
  • the first limiting component is movably connected to the base, and/or the second limiting component is movably connected to the base. At least one of the first limiting component and the second limiting component is movably connected to the base, so that the position correction device has a more compact structure and better integrity.
  • the first limiting component includes a first push rod and a second push rod arranged at intervals, and the first push rod and the second push rod move relatively in the first direction to push the The drone moves in the first direction.
  • the first push rod and the second push rod By setting the first push rod and the second push rod to move relatively in the first direction to push the drone to move, the coordinate component of the coordinates in the first direction that can push the drone to reach the predetermined position, and then only need to push When the drone reaches the coordinate component of the predetermined position in the second direction, the goal of the drone reaching the predetermined position can be completed.
  • the base includes a bottom plate and a support plate, the support plate is fixed on the bottom plate, the support plate is provided with a first guide rail extending along the first direction, the first push rod and the second push rod relatively slide in the first guide rail.
  • the first guide rail plays a guiding role, and the first push rod and the second push rod slide in the first guide rail, so that the first push rod and the second push rod move in the first direction
  • the resistance is small, and it is easier to push the drone to move.
  • the support plate is movably connected to the bottom plate, the support plate is spaced apart from the bottom plate, and the first side edge of the support plate at least partially extends into the bottom plate and the support between the plates;
  • the second limit assembly includes a third push rod and a fourth push rod, the third push rod is at least partially set on the support plate, and the fourth push rod is set on the support plate the second side of the plate opposite to the first side, the fourth push rod protrudes from the bearing surface, the support plate moves in the second direction relative to the bottom plate and the support plate, The fourth push rod and the third push rod are driven to move relatively.
  • the support plate is movably connected to the bottom plate, and the third push rod is connected to the support plate.
  • the fourth push rod is set on the support plate, and the support plate moves in the second direction relative to the support plate, so that the third push rod and the support plate move in the second direction.
  • the relative movement of the fourth push rod can push the UAV to reach the coordinate component of the coordinates of the predetermined position in the second direction, so as to complete the goal of the UAV reaching the predetermined position.
  • the position correction device for an unmanned aerial vehicle further includes a drive assembly, which is arranged on the base and connected with the first limit assembly and the second limit assembly. , so as to drive the first limit assembly and the second limit assembly to move.
  • a drive assembly By setting the drive assembly, the first limit assembly and the second limit assembly are driven to move, so that the first limit assembly and the second limit assembly limit the drone to a predetermined position, so as to realize the automatic position correction of the drone.
  • the drive assembly includes a first drive assembly
  • the first drive assembly includes a first drive member, a first connection member and a first transmission member
  • the first drive member is provided on the base
  • the first driving part is connected with the first transmission part
  • the first connection part includes a first sub-connection part and a second sub-connection part
  • the first sub-connection part connects the first transmission part and all the The first push rod
  • the second sub-connector connects the first transmission member and the second push rod.
  • the first transmission member is driven to move by the first driving member, the first sub-connector connected with the first transmission member transmits the movement to the first push rod, and the second sub-connection connected with the first transmission member transmits the movement to the first push rod.
  • Two push rods so that the first push rod and the second push rod move, and the structure is simple.
  • the surface of the support plate facing the bottom plate is provided with two mounting seats arranged opposite to each other
  • the first transmission member includes a power adapter, two guide wheels and a rope member, two of the guide
  • the wheels are correspondingly installed on the two mounting seats, the rope pieces are connected end to end and are tightly wound on the two guide wheels, and the two guide wheels rotate so that the rope pieces are on the two guide wheels.
  • Two rope pieces that move in opposite directions are formed between the guide wheels, the extension directions of the two rope pieces are both the first direction, one end of the power adapter is connected with the first driving piece, and the other One end is connected with one of the strands, the first sub-connector is connected with one of the strands, and the second sub-connector is connected with the other strand.
  • the drive assembly further includes a second drive assembly, the second drive assembly includes a second drive member and a connecting portion, the second drive member is connected with the connecting portion, so that the connecting portion and the connecting portion are connected.
  • Relative movement between the second driving members wherein, the second driving member is fixed on the base, the connecting part is fixed on the supporting plate, or the second driving member is fixed on the On the pallet, the connecting portion is fixed on the base.
  • the bottom plate is provided with a support boss
  • the support boss is provided with a second guide rail extending along the second direction
  • the support plate is slidably connected to the second guide rail.
  • the first drive assembly further includes a fixing block, the fixing block is provided with a fixing hole, the fixing block is fixed on the bottom plate or the support plate, and the first driving member includes a housing and a an output shaft, the casing is penetrated through the fixing hole to be fixed with the fixing block, and the output shaft is connected with the power adapter.
  • the fixing block By arranging the fixing block, the first driving member can be conveniently fixed, and the structure is simple.
  • the position correction device for an unmanned aerial vehicle further includes a positioning drawing board, the positioning drawing board is attached to the bearing surface, and a positioning pattern is provided on the positioning drawing board, and the positioning drawing board is provided with a positioning pattern.
  • the pattern is used to indicate the landing position of the drone.
  • the positioning drawing board is used as an indicator for the landing of the drone.
  • the present application provides a storage system for an unmanned aerial vehicle, comprising a manipulator and the position correction device for an unmanned aerial vehicle according to any one of the various embodiments of the first aspect, the unmanned aerial vehicle After the drone is landed on the position correction device for the drone and its position is corrected, the manipulator transfers the drone to a storage mechanism.
  • the position correction device provided in the present application to correct the position of the drone, use a manipulator to transfer the drone to the storage mechanism, so as to realize the automatic storage and storage of the drone.
  • FIG. 1 is a schematic three-dimensional structure diagram of a position correction device for an unmanned aerial vehicle according to an embodiment
  • FIG. 2 is a schematic top view of a position correcting device for an unmanned aerial vehicle according to an embodiment
  • FIG. 3 is a schematic three-dimensional structure diagram of another viewing angle of a position correction device for an unmanned aerial vehicle according to an embodiment
  • FIG. 4 is a schematic diagram of an exploded structure of a position correction device for an unmanned aerial vehicle according to an embodiment
  • FIG. 5 is a schematic three-dimensional structural diagram of a position correction device for an unmanned aerial vehicle from another perspective according to an embodiment.
  • 81-Second driving part 811-Second housing, 812-Second output shaft, 82-Connecting part, 83-Second fixing block.
  • a component when referred to as being "fixed to" another component, it can be directly on the other component or there may also be a centered component.
  • a component When a component is considered to be “connected” to another component, it may be directly connected to the other component or there may be a co-existence of an intervening component.
  • an embodiment of the present application provides a position correction device for an unmanned aerial vehicle 60 , which includes a base 10 , a support plate 20 , a first limiting component 30 and a second limiting component 40 .
  • the position correction device for the UAV 60 in this embodiment is used as a landing platform for the UAV 60, and of course, it can also be used as a bearing platform before packaging after the UAV 60 is assembled during the manufacturing process of the UAV 60.
  • the base 10 is used as the bearing base of the position correction device, and can be placed or fixed on the ground or workbench or other positions by means of fasteners such as bolts, so as to provide stable support.
  • the pallet 20 is movably connected to the base 10 and includes a bearing surface 21 for carrying the drone 60 (please refer to FIG. 4 in conjunction).
  • the support plate 20 is used as a structure for supporting the drone 60 , and the support plate 20 is movable relative to the base 10 , which facilitates the adjustment of the position of the drone 60 .
  • the bearing surface 21 is the surface of the pallet 20 facing away from the ground, and the drone 60 is landed or placed on the bearing surface 21 .
  • the bearing surface 21 is substantially flat and located substantially on a horizontal plane.
  • the bearing surface 21 can be an arc surface with a certain arc, and the bearing surface 21 can also form a small angle with the horizontal plane and have a small inclination.
  • the first limiting component 30 moves along the first direction X on the bearing surface 21 to push the drone 60 to move in the first direction X.
  • the second limiting component 40 moves along the second direction Y on the bearing surface 21 to push the drone 60 to move in the second direction Y.
  • the first limiting component 30 is movably connected to the base 10, and/or the second limiting component 40 is movably connected to the base 10, and at least one of the first limiting component 30 and the second limiting component 40 is connected to the base 10.
  • the base 10 is movably connected, so that the position correction device has a more compact structure and better integrity.
  • the second direction Y intersects the first direction X.
  • the included angle of the intersection of the second direction Y and the first direction X may be 60°-120°, further the included angle may be 80°-100°, and some optional specific angles of the included angle are 60°, 70°, 80° °, 90°, 100°, 110°, 120°.
  • the first direction X and the second direction Y are perpendicular, and the first limiting assembly 30 and the second limiting assembly 40 are respectively in the first direction X and the second direction Y that are perpendicular to each other Pushing the drone 60 to move can adjust the position of the drone 60 fastest.
  • the pallet 20, the first limiting component 30 and the second limiting component 40 are jointly enclosed to form a receiving area, and the first limiting component 30 and the second limiting component 40 push the drone 60 to move in the receiving area and unmanned
  • the drone 60 is limited to a predetermined position, so that the position of the drone 60 is corrected.
  • first limiting component 30 and the second limiting component 40 push the drone 60 to move, they push the tripod 61 of the drone 60 to move.
  • the first limiting component 30 and the second limiting component 40 push the drone 60 in the accommodating area in the first direction X and the second direction Y respectively.
  • the movement can automatically limit the UAV 60 to a predetermined position, so that the position of the UAV 60 is corrected, which facilitates the subsequent transfer of the UAV 60 to the storage device.
  • the first limiting component 30 includes a first push rod 31 and a second push rod 32 arranged at intervals, and the first push rod 31 and the second push rod 32 are the accommodating rods 31 and 32 .
  • the two sides of the area in the first direction X, the first push rod 31 and the second push rod 32 move relatively in the first direction X, so as to push the drone 60 to move in the first direction X.
  • the coordinates of the coordinates in the first direction X that can push the drone 60 to the predetermined position Component then just push the drone 60 to reach the coordinate component of the predetermined position in the second direction Y, and then the goal of the drone 60 to reach the predetermined position can be accomplished.
  • the base 10 includes a bottom plate 11 and a support plate 12 , and the bottom plate 11 is used for placing or fixing on the ground or a workbench or other positions by means of fasteners such as bolts.
  • the support plate 12 is fixed on the bottom plate 11 .
  • the support plate 12 can be fixed on the bottom plate 11 through two opposite connecting bosses 13, or both sides of the support plate 12 can be bent to connect with the bottom plate 11.
  • the support plate 12 can also be connected to the bottom plate 11 in other ways.
  • the bottom plate 11 is connected and fixed.
  • the support plate 12 is provided with a first guide rail 15 extending along the first direction X, and the first push rod 31 and the second push rod 32 slide relatively in the first guide rail 15 .
  • the first guide rail 15 may be disposed on the surface of the support plate 12 facing away from the bottom plate 11 , or may be disposed on the surface of the support plate 12 facing the bottom plate 11 or the side of the support plate 12 .
  • the number of the first guide rails 15 is more than one.
  • the number of the first guide rails 15 is two, and the two first guide rails 15 are spaced apart and arranged in parallel.
  • the two guide rails are slidably connected, and the two first guide rails 15 can better support the first push rod 31 and the second push rod 32 .
  • the first push rod 31 and the second push rod 32 are substantially mirror-symmetrical structures.
  • the first push rod 31 includes a rod body 312 and a sliding part 311, the sliding part 311 is slidably connected to the first guide rail 15, the rod body 312 is connected to one end of the sliding part 311, and the extension direction of the rod body 312 can be roughly is the second direction Y.
  • the sliding part 311 and the first guide rail 15 can be connected by the first sliding block 16 , that is, the first sliding block 16 is slidably connected with the first guide rail 15 , and the sliding part 311 is fixedly connected with the first sliding block 16 .
  • the sliding portion 311 can also be directly connected to the first guide rail 15 through its own structures such as protrusions, grooves, etc., without the need to provide the first sliding block 16 . Since the sliding portion 311 is used to connect the first guide rail 15 and serve as a support for the rod body 312 , the shape of the sliding portion 311 may be complicated and the size may be larger. As shown in FIG. 1 , the sliding portion 311 has a substantially pentagonal structure and is provided with various holes for connecting with the first sliding block 16 .
  • the sliding portion 311 and the rod body 312 may be an integral structure, or may be a split structure connected by a structure such as a bolt.
  • the first guide rail 15 plays a guiding role, and the first push rod 31 and the second push rod 32 slide in the first guide rail 15, so that the first push rod 31 and the second push rod 31 and the second push rod 32 slide in the first guide rail 15.
  • the movement resistance of the rod 32 in the first direction X is small, and it is easier to push the drone 60 to move.
  • the support plate 20 is movably connected to the bottom plate 11 , the support plate 12 is spaced apart from the bottom plate 11 , and the first side edge of the support plate 20 at least partially protrudes into the bottom plate 11 . and the support plate 12 to avoid interference with the first push rod 31 and the second push rod 32 of the first limiting assembly 30 .
  • the second limiting assembly 40 includes a third push rod 41 and a fourth push rod 42 , the third push rod 41 is at least partially disposed on the support plate 12 , and the fourth push rod 42 is disposed on the support plate 20 opposite to the first side On the second side of the back, the fourth push rod 42 protrudes from the bearing surface 21 , and the support plate 20 moves in the second direction Y relative to the bottom plate 11 and the support plate 12 , driving the fourth push rod 42 and the third push rod 41 to move relative to each other.
  • the bottom plate 11 is provided with a support boss 17
  • the support boss 17 is provided with a second guide rail 18 extending along the second direction Y
  • the support plate 20 is slidably connected to the second guide rail 18 .
  • the number of support bosses 17 is multiple, and the number of second guide rails 18 is also multiple.
  • the guide rails 18 and the two second guide rails 18 both extend along the second direction Y.
  • the support plate 20 can be connected to the second guide rail 18 through the second sliding block 19 , that is, the second sliding block 19 is slidably connected to the second guide rail 18 , and the support plate 20 is fixedly connected to the second sliding block 19 .
  • the support plate 20 can also be directly slidably connected to the second guide rail 18 through its own structures such as protrusions and grooves.
  • the slider is connected to the support boss 17
  • the second guide rail 18 is arranged on the support plate 20 .
  • all the third push rods 41 are connected and fixed on the support plate 12 .
  • part of the third push rod 41 can be connected and fixed on the support plate 12 , and other parts can be suspended.
  • the third push rod 41 and the support plate 12 are of an integral structure.
  • the third push rod 41 and the support plate 12 may be a separate structure, and the third push rod 41 is integrally formed with the support plate 12 by being fixed on the support plate 12 .
  • the fourth push rod 42 and the support plate 20 are of a separate structure, and the fourth push rod 42 is fixed on the second side of the support plate 20 by fasteners such as bolts.
  • the fourth push rod 42 and the support plate 20 may be an integral structure.
  • the extension direction of the third push rod 41 and the fourth push rod 42 is substantially the first direction X, and may also have a smaller included angle relative to the first direction X.
  • the opposing surfaces of the third push rod 41 and the fourth push rod 42 are substantially parallel.
  • the third push rod 41 and the fourth push rod 42 form the two side boundaries of the accommodation space in the second direction Y.
  • the support plate 20 is movably connected to the bottom plate 11, and the third push rod 41 is connected to the support plate 12.
  • the fourth push rod 42 is arranged on the support plate 20, and the support plate 20 is in the second direction Y relative to the support plate 12. Move up, so that the third push rod 41 and the fourth push rod 42 move relative to each other, which can push the coordinate component of the coordinates of the drone 60 to reach the predetermined position in the second direction Y, and complete the goal of the drone 60 reaching the predetermined position. .
  • the first push rod 31 , the second push rod 32 , the third push rod 41 and the fourth push rod 42 constitute the surrounding boundary of the accommodating space, and the projections of the surfaces of the four push rods facing the side of the accommodating space on the bearing surface 21
  • the shape is a quadrilateral.
  • the quadrilateral can be any one of a parallelogram, a rectangle, a trapezoid, etc.
  • the specific quadrilateral is set according to the shape distribution of the tripod 61 of the drone 60. Do not do too much here. limited.
  • the position correction device further includes a driving component, which is arranged on the base 10 and is connected with the first limiting component 30 and the second limiting component 40 to drive the first limiting component 30 and the second limiting component 40 sports.
  • the drive assembly may adopt any feasible structure, as long as it can drive the first limit assembly 30 and the second limit assembly 40 to move.
  • the first limit assembly 30 and the second limit assembly 40 are driven to move, so that the first limit assembly 30 and the second limit assembly 40 constrain the drone 60 to a predetermined position, so as to realize automatic automatic 60 position correction of man-machine.
  • the drive assembly includes a first drive assembly, and the first drive assembly includes a first drive member 71 , a first connection member 74 and a first transmission member, and is driven by the first drive assembly.
  • the first limiting assembly 30 moves.
  • the first driving member 71 is provided on the base 10, and the first driving member 71 is connected with the first transmission member.
  • the first connecting member 74 includes a first sub-connecting member 741 and a second sub-connecting member 742.
  • the first sub-connecting member 741 connects the first transmission member and the first push rod 31, and the second sub-connecting member 742 connects the first transmission member and the first push rod 31.
  • the second push rod 32 connects the first transmission member and the first push rod 31.
  • the first transmission member is driven to move by the first driving member 71
  • the first sub-connecting member 741 connected with the first transmission member transmits the movement to the first push rod 31
  • the second transmission member connected with the first transmission member transmits the movement to the first push rod 31.
  • the sub-connector 742 transmits the motion to the second push rod 32, so that the first push rod 31 and the second push rod 32 move, and the structure is simple.
  • the first transmission member includes a power adapter 72, two guide pulleys 731 and a rope member 732.
  • the two guide pulleys 731 are correspondingly installed on the two mounting seats 14, and the rope member 732 is connected end to end and tightly wound around the two. on the guide wheel 731.
  • the two guide pulleys 731 are rotated so that the rope member 732 forms two sub-rope members 7321 , 7322 that move in opposite directions between the two guide pulleys 731 .
  • One end of the power adapter 72 is connected to the first driving member 71, and the other end is connected to one of the cord members 7321/7322.
  • the first sub-connector 741 is connected to one sub-string 7321
  • the second sub-connector 742 is connected to another sub-string 7322 .
  • two sub-rod members 7321 and 7322 that move in opposite directions in the first direction X are formed by the cooperation of the two guide pulleys 731 and the rope member 732.
  • the first sub-connecting member 741 and the second sub-connecting member The member 742 is respectively connected with one of the sub-string members 7321/7322, so that the first push rod 31 and the second push rod 32 connected with the first sub-connection member 741 and the second sub-connection member 742, respectively, move in opposite directions, That is relative motion or opposite motion.
  • the tripod 61 of the UAV 60 is first stopped on the bearing surface 21, and then the position of the UAV 60 is adjusted by pushing the tripod 61 of the UAV 60 to move.
  • the first push rod 31 and the second push rod 32 should be driven to move in opposite directions by the first driving member 71 until the accommodating space is large enough.
  • the first driving member 71 drives the first push rod 31 and the second push rod 32 to move in opposite directions, so that the The first push rod 31 and the second push rod 32 push the tripod 61 of the drone 60 to move until the drone 60 reaches a predetermined position and then stops.
  • the first driving member 71 may be a motor, a cylinder or the like, which includes a first casing 711 and a first output shaft 712 , and the first output shaft 712 performs telescopic motion relative to the first casing 711 .
  • the first driving assembly further includes a first fixing block 75 , the first fixing block 75 is provided with a fixing hole 751 , the first fixing block 75 is fixed on the bottom plate 11 or the supporting plate 12 , and the housing of the first driving member 71
  • the first output shaft 712 is connected to the power adapter 72 by passing through the fixing hole 751 to be fixed with the first fixing block 75 .
  • One end of the power adapter 72 is connected to the first output shaft 712 of the first driving member 71 , and the other end is connected to one of the two strand members 7321 / 7322 .
  • the first output shaft 712 of the first driving member 71 performs telescopic motion along the first direction X, driving the power adapter 72 to move in the first direction X, and then the power adapter 72 drives one of the rope members 7321/7322 to move in the first direction X. Move in the first direction X.
  • the two guide pulleys 731 are fixed pulleys, and the rope member 732 is made of flexible material, which can be wound around the two guide pulleys 731 and is in a tight state.
  • the first sub-connecting member 741 and the second sub-connecting member 742 of the first connecting member 74 may have a substantially “L” shape plate-like structure.
  • the first sub-connector 741 as an example, one end of the first sub-connector 741 is fixed to one of the sub-strings 7321 , and the other end is connected to the sliding portion 311 of the first push rod 31 .
  • the first sub-connector 741 When the first sub-connector 741 is connected to the sub-string 7321, it can be fixed by a connecting structure such as a buckle, which is not limited too much.
  • the first sub-connector 741 and the second sub-connector 742 are respectively connected with one of the sub-strings 7321/7322.
  • the first sub-connector 741 or the second sub-connector 742 is opened on the first sub-connector 741 or the second sub-connector 742 Groove and other structures to avoid another strand.
  • the driving component further includes a second driving component
  • the second driving component includes a second driving member 81 and a connecting portion 82
  • the second driving member 81 is connected with the connecting portion 82 to Relative movement between the connecting portion 82 and the second driving member 81 is made.
  • the second driving member 81 is fixed on the base 10 and the connecting portion 82 is fixed on the support plate 20 , or the second driving member 81 is fixed on the support plate 20 and the connecting portion 82 is fixed on the base 10 .
  • the connecting portion 82 and the second driving member 81 move relative to each other, so that the support plate 20 moves and drives the third push rod 41 of the second limiting assembly 40 It moves relatively with the fourth push rod 42 to push the drone 60 to move to reach the predetermined position, and the structure is simple and easy to implement.
  • the second driving member 81 may be similar in structure to the first driving member 71, and also include a second housing 811 and a second output shaft 812, and the second output shaft 812 is connected to the second housing 811 and extends along the second direction Y telescopic movement.
  • the second driving assembly may further include a second fixing block 83 similar to the first driving assembly, the second fixing block 83 is connected with the second housing 811 of the second driving member 81 to fix it to the pallet 20 or the base 10 superior.
  • the second output shaft 812 of the second driving member 82 is connected to the connecting portion 82 , because one of the second housing 811 and the connecting portion 82 of the second driving member 81 is fixed on the base 10 , and the other is connected to the support plate 20 is fixed, so when the second output shaft 812 expands and contracts, it can drive the pallet 20 to move relative to the base 10 .
  • connection manner of the connection portion 82 to the support plate 20 or the base 10 is not limited.
  • two opposite connecting bosses 13 are provided on the bottom plate 11 of the base 10, and the connecting portion 82 Both ends of the connecting portion 81 are connected and fixed to the connecting boss 13 , and the second output shaft 812 of the second driving member 81 is fixed to the middle of the connecting portion 82 .
  • the position correction device further includes a positioning drawing board 50 , the positioning drawing board 50 is attached to the bearing surface 21 , and the positioning drawing board 50 is provided with a positioning pattern. 51.
  • the positioning pattern 51 is used to indicate the landing position of the drone 60.
  • the positioning drawing board 50 is used as an indicator for the landing of the drone 60 .
  • the drone 60 can be made to land on the positioning drawing board 50 according to the instruction of the positioning pattern 51 . Realize precise landing control of UAV 60.
  • the positioning drawing board 50 may be a sticker or an adhesive layer containing the positioning pattern 51 , and a plate with the positioning pattern 51 drawn on the surface thereof, or the like.
  • the positioning pattern 51 is not specifically limited, and can be designed and drawn according to actual needs.
  • an embodiment of the present application further provides a storage system for an unmanned aerial vehicle, including a manipulator (not shown) and the position correction device for an unmanned aerial vehicle provided in the embodiment of the present application, After the drone 60 is landed on the position correcting device for the drone and the position is corrected, the manipulator transfers the drone 60 to the storage mechanism.
  • the storage system is used to automatically transfer the drone 60 to a storage mechanism, such as a packing box.
  • the manipulator executes a preset program and grabs the drone 60 along a predetermined path, and transfers the drone 60 to a storage mechanism set at a predetermined position. Since the position correction device has corrected the position of the drone 60 to a predetermined position, the manipulator can grab the drone 60 at the predetermined position. Therefore, after correcting the position of the drone 60 by using the position correction device provided in the present application, the drone 60 is transferred to the storage mechanism by using a manipulator, so as to realize the automatic storage and storage of the drone 60 .

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Abstract

一种用于无人机（60）的位置矫正装置和存储系统，位置矫正装置包括基座（10）、托板（20）、第一限位组件（30）以及第二限位组件（40），托板（20）与基座（10）可移动连接，并包括用于承载无人机（60）的承载面（21）；第一限位组件（30）在承载面（21）上沿第一方向移动；第二限位组件（40）在承载面（21）上沿第二方向移动，第二方向与第一方向相交；托板（20）、第一限位组件（30）和第二限位组件（40）共同围合形成容纳区域，第一限位组件（30）和第二限位组件（40）推动无人机（60）在容纳区域移动并将无人机（60）限位在预定位置，使得无人机（60）的位置被矫正。通过设置托板（20）相对基座（10）可移动，第一限位组件（30）和第二限位组件（40）分别在第一方向和第二方向上推动无人机（60）在容纳区域移动，能自动地将无人机（60）限位在预定位置，使得无人机（60）的位置被矫正，便于后续无人机（60）转移到存储装置中。

Description

用于无人机的位置矫正装置和存储系统
本申请要求于2020年09月28日提交中国专利局、申请号为202022182226.1、申请名称为“用于无人机的位置矫正装置和存储系统”的中国专利申请的优先权，上述在先申请的内容以引入的方式并入本文本中。
技术领域
本申请涉及无人机技术领域，具体涉及一种用于无人机的位置矫正装置和存储系统。
背景技术
无人机完成飞行任务后，需要将无人机降落并收纳到存储箱中。常规的无人机降落平台通常不具有位置矫正功能，难以实现自动化的无人机位置矫正，以便后续转移到存储箱的操作。
发明内容
本申请的目的是提供一种用于无人机的位置矫正装置和存储系统，自动地将无人机限位在预定位置，使得无人机的位置被矫正，便于后续无人机转移到存储装置中。
为实现本申请的目的，本申请提供了如下的技术方案：
第一方面，本申请提供了一种用于无人机的位置矫正装置，包括：基座；托板，与所述基座可移动连接，并包括用于承载无人机的承载面；第一限位组件，所述第一限位组件在所述承载面上沿第一方向移动；以及第二限位组件，所述第二限位组件在所述承载面上沿第二方向移动，所述第二方向与所述第一方向相交；所述托板、所述第一限位组件和所述第二限位组件共同围合形成容纳区域，所述第一限位组件和所述第二限位组件推动所述无人机在所述容纳区域移动并将所述无人机限位在预定位置，使得所述无人机的位置被矫正。
通过设置托板相对基座可移动，第一限位组件和第二限位组件分别在第一方向和第二方向上推动无人机在容纳区域移动，能自动地将无人机限位在预定位置，使得无人机的位置被矫正，便于后续无人机转移到存储装置中。
可选的，所述第一方向和所述第二方向垂直，第一限位组件和第二限位组件分别在相互垂直的第一方向和第二方向上推动无人机移动，能最快的调整无人机的位置。
可选的，所述第一限位组件与所述基座可移动连接，和/或，所述第二限位组件与所述基座可移动连接。第一限位组件和第二限位组件的至少一者与基座可移动连接，使得该位置矫正装置具有更加紧凑的结构，整体性更好。
可选的，所述第一限位组件包括间隔设置的第一推杆和第二推杆，所述第一推杆和所述第二推杆在所述第一方向上相对移动，以推动所述无人机在所述第一方向上移动。通过设置第一推杆和第二推杆在第一方向上相对移动，以推动无人机移动，能推动无人机到达该预定位置的坐标在第一方向上的坐标分量，后续只需推动无人机到达该预定位置在第二方向上的坐标分量，即可完成无人机到达预定位置的目标。
可选的，所述基座包括底板和支撑板，所述支撑板固定于所述底板上，所述支撑板上设有沿所述第一方向延伸的第一导轨，所述第一推杆和所述第二推杆在所述第一导轨中相对滑动。通过在支撑板上设第一导轨，第一导轨起到导向作用，第一推杆和第二推杆在第一导轨中滑动，使得第一推杆和第二推杆在第一方向上移动的阻力小，更容易推动无人机移动。
可选的，所述托板与所述底板可移动连接，所述支撑板相对于所述底板间隔设置，且所述托板的第一侧边缘至少部分地伸入所述底板和所述支撑板之间；所述第二限位组件包括第三推杆和第四推杆，所述第三推杆至少部分地设于所述支撑板上，所述第四推杆设于所述托板之与所述第一侧相背的第二侧，所述第四推杆突出于所述承载面，所述托板相对所述底板和所述支撑板在所述第二方向上移动，带动所述第四推杆和所述第三推杆相对移动。通过设置托板与底板可移动连接，并通过设置第三推杆和支撑板连接，第四推杆设置在托板上，托板相对支撑板在第二方向上移动，使得第三推杆和第四推杆相对移动，能推动无人机到达该预定位置的坐标在第二方向上的坐标分量，完成无人机到达预定位置的目标。
可选的，所述用于无人机的位置矫正装置还包括驱动组件，所述驱动组件设于所述基座上，并与所述第一限位组件和所述第二限位组件连接，以驱动所述第一限位组件和所述第二限位组件运动。通过设置驱动组件，驱动第一限位组件和第二限位组件运动，以使第一限位组件和第二限位组件限位无人机到预定位置，实现自动化的无人机位置矫正。
可选的，所述驱动组件包括第一驱动组件，所述第一驱动组件包括第一驱动件、第一连接件和第一传动件，所述第一驱动件设于所述基座，且所述第一驱动件与所述第一传动件连接，所述第一连接件包括第一子连接件和第二子连接件，所述第一子连接件连接所述第一传动件和所述第一推杆，所述第二子连接件连接所述第一传动件和所述第二推杆。通过第一驱动件驱动第一传动件运动，与第一传动件连接的第一子连接件将运动传递到第一推杆，与第一传动件连接的第二子连接件将运动传递到第二推杆，从而使得第一推杆和第二推杆运动，结构简单。
可选的，所述支撑板之朝向所述底板的表面设有相对设置的两个安装座，所述第一传动件包括动力转接件、两个导轮和绳件，两个所述导轮对应地安装在两个所述安装座上，所述绳件首尾连接并紧绷地绕设于两个所述导轮上，两个所述导轮转动以使得绳件在两个所述导轮之间形成反向运动的两根子绳件，两个所述子绳件的延伸方向均为所述第一方向，所述动力转接件的一端与所述第一驱动件连接，另一端和其中一根所述子绳件连接，所述第一子连接件连接一根所述子绳件，所述第二子连接件连接另一根所述子绳件。通过两个导轮及绳件的配合形成两个在第一方向上沿相反方向运动的两根子绳件，第一子连接件和第二子连接件分别与其中一根子绳件连接，从而使得分别与第一子连接件和第二子连接件连接的第一推杆和第二推杆沿相反的方向移动，即相对运动或相背运动。
可选的，所述驱动组件还包括第二驱动组件，所述第二驱动组件包括第二驱动件和连接部，所述第二驱动件与所述连接部连接，以使所述连接部和所述第二驱动件之间相对运动；其中，所述第二驱动件固定在所述基座上，所述连接部固定在所述托板上，或，所述第二驱动件固定在所述托板上，所述连接部固定在所述基座上。通过设置第二驱动件和连 接部，连接部和第二驱动件之间相对运动，使得托板移动，带动第二限位组件的第三推杆和第四推杆相对移动，从而推动无人机移动而到达预定位置，结构简单，容易实现。
可选的，所述底板上设有支撑凸台，所述支撑凸台上设有沿所述第二方向延伸的第二导轨，所述托板与所述第二导轨滑动连接。通过设置支撑凸台及沿第二方向延伸的第二导轨，一方面能对托板进行支撑，另一方面第二导轨能导向，能使得托板在第二方向上滑动，实现第三推杆和第四推杆的相对移动。
可选的，所述第一驱动组件还包括固定块，所述固定块开设有固定孔，所述固定块固定在所述底板或所述支撑板上，所述第一驱动件包括壳体和输出轴，所述壳体穿设于所述固定孔而与所述固定块固定，所述输出轴与所述动力转接件连接。通过设置固定块，能方便的固定第一驱动件，结构简单。
可选的，所述用于无人机的位置矫正装置还包括定位图板，所述定位图板贴设在所述承载面上，且所述定位图板上设有定位图案，所述定位图案用于指示所述无人机的降落位置。定位图板用作无人机降落的指示标志，通过设置特定的定位图案，能使得无人机根据该定位图案的指示降落到定位图板上，可实现无人机的精准降落控制。
第二方面，本申请提供一种用于无人机的存储系统，包括机械手和如第一方面各种实施方式中任一项所述的用于无人机的位置矫正装置，所述无人机降落在所述用于无人机的位置矫正装置上并被矫正位置后，所述机械手将所述无人机转移至存储机构。通过使用本申请提供的位置矫正装置将无人机位置矫正后，使用机械手将无人机转移到存储机构，实现无人机的自动化的收纳存储。
附图说明
图1是一种实施例的用于无人机的位置矫正装置的立体结构示意图；
图2是一种实施例的用于无人机的位置矫正装置的俯视结构示意图；
图3是一种实施例的用于无人机的位置矫正装置的另一视角的立体结构示意图；
图4是一种实施例的用于无人机的位置矫正装置的爆炸结构示意图；
图5是一种实施例的用于无人机的位置矫正装置的另一视角的立体结构示意图。
附图标记说明
X-第一方向，Y-第二方向；
10-基座，11-底板，12-支撑板，13-连接凸台，14-安装座，15-第一导轨，16-第一滑块，17-支撑凸台，18-第二滑轨，19-第二滑块；
20-托板，21-承载面；
30-第一限位组件，31-第一推杆，311-滑动部，312-杆体，32-第二推杆；
40-第二限位组件，41-第三推杆，42-第四推杆；
50-定位图板，51-定位图案；
60-无人机，61-脚架；
71-第一驱动件，711-第一壳体，712-第一输出轴，72-动力转接件，731-导轮，732-绳件，7321/7322-子绳件，74-第一连接件，741-第一子连接件，742-第二子连接件，75-第一 固定块，751-固定孔；
81-第二驱动件，811-第二壳体，812-第二输出轴，82-连接部，83-第二固定块。
具体实施例
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1和图2，本申请实施例提供一种用于无人机60的位置矫正装置，包括基座10、托板20、第一限位组件30和第二限位组件40。
本实施例的用于无人机60的位置矫正装置用作无人机60降落平台，当然，也可作为无人机60生产制造过程中，无人机60装配完成后包装前的承载平台。
其中，基座10作为该位置矫正装置的承载基础，可放置或通过螺栓等紧固件固定在地面或工作台等位置，以提供稳定的支撑。
托板20与基座10可移动连接，并包括用于承载无人机60的承载面21(请结合参考图4)。托板20用作支撑无人机60的结构，托板20相对基座10可移动，方便调整无人机60的位置。承载面21为托板20之背向地面的表面，无人机60降落或放置在承载面21上。本实施例中，承载面21大致为平面，并大致位于水平面。其他实施例中，承载面21可为有一定弧度的弧面，承载面21也可与水平面呈一较小的夹角而有较小的倾斜。
第一限位组件30在承载面21上沿第一方向X移动，以推动无人机60在第一方向X移动。
第二限位组件40在承载面21上沿第二方向Y移动，以推动无人机60在第二方向Y移动。
第一限位组件30与基座10可移动连接，和/或，第二限位组件40与基座10可移动连接，第一限位组件30和第二限位组件40的至少一者与基座10可移动连接，使得该位置矫正装置具有更加紧凑的结构，整体性更好。
其中，第二方向Y与第一方向X相交。第二方向Y和第一方向X相交的夹角可为60°-120°，进一步该夹角可为80°-100°，该夹角可选的一些具体角度为60°、70°、80°、90°、100°、110°、120°。其中，当该夹角为90°时，第一方向X和第二方向Y垂直， 第一限位组件30和第二限位组件40分别在相互垂直的第一方向X和第二方向Y上推动无人机60移动，能最快的调整无人机60的位置。
托板20、第一限位组件30和第二限位组件40共同围合形成容纳区域，第一限位组件30和第二限位组件40推动无人机60在容纳区域移动并将无人机60限位在预定位置，使得无人机60的位置被矫正。
可以理解的是，第一限位组件30和第二限位组件40推动无人机60移动时，是推动无人机60的脚架61移动。
本实施例中，通过设置托板20相对基座10可移动，第一限位组件30和第二限位组件40分别在第一方向X和第二方向Y上推动无人机60在容纳区域移动，能自动地将无人机60限位在预定位置，使得无人机60的位置被矫正，便于后续无人机60转移到存储装置中。
一种实施例中，请参考图1和图2，第一限位组件30包括间隔设置的第一推杆31和第二推杆32，第一推杆31和第二推杆32为该容纳区域在第一方向X上的两侧边界，第一推杆31和第二推杆32在第一方向X上相对移动，以推动无人机60在第一方向X上移动。
通过设置第一推杆31和第二推杆32在第一方向X上相对移动，以推动无人机60移动，能推动无人机60到达该预定位置的坐标在第一方向X上的坐标分量，后续只需推动无人机60到达该预定位置在第二方向Y上的坐标分量，即可完成无人机60到达预定位置的目标。
请参考图3，基座10包括底板11和支撑板12，底板11用于放置或通过螺栓等紧固件固定在地面或工作台等位置。支撑板12固定于底板11上。具体的，支撑板12可通过相对的两个连接凸台13固定在底板11上，也可设置支撑板12的两侧弯折至与底板11连接，当然，支撑板12还可通过其他方式与底板11连接固定。
请参考图4和图5，支撑板12上设有沿第一方向X延伸的第一导轨15，第一推杆31和第二推杆32在第一导轨15中相对滑动。其中，第一导轨15可设置在支撑板12之背向底板11的表面，也可设置在支撑板12朝向底板11的表面或支撑板12的侧面。第一导轨15的数量为1条以上，可选的，第一导轨15的数量为2条且该2条第一导轨15间隔并平行设置，第一推杆31和第二推杆32同时与该2条导轨滑动连接，2条第一导轨15能更好的支撑第一推杆31和第二推杆32。
第一推杆31和第二推杆32大致呈镜像对称的结构。以第一推杆31为例，第一推杆31包括杆体312和滑动部311，滑动部311与第一导轨15滑动连接，杆体312连接在滑动部311的一端，杆体312的延伸方向可大致为第二方向Y。滑动部311与第一导轨15之间可通过第一滑块16连接，即第一滑块16与第一导轨15滑动连接，滑动部311与第一滑块16固定连接。滑动部311也可通过自身的凸起、凹槽等结构与第一导轨15直接连接，而不需要设置第一滑块16。由于滑动部311用于连接第一导轨15和作为杆体312的支撑，滑动部311的形状可较为复杂、尺寸可较大。如图1所示的滑动部311大致呈五边形结构，其上设有各种用于与第一滑块16连接的孔。滑动部311与杆体312之间可为一体式结构，也可为通过如螺栓等结构连接的分体式结构。
通过在支撑板12上设第一导轨15，第一导轨15起到导向作用，第一推杆31和第二推杆32在第一导轨15中滑动，使得第一推杆31和第二推杆32在第一方向X上移动的阻 力小，更容易推动无人机60移动。
一种实施例中，请参考图3至图5，托板20与底板11可移动连接，支撑板12相对于底板11间隔设置，且托板20的第一侧边缘至少部分地伸入底板11和支撑板12之间，以避免干涉第一限位组件30的第一推杆31和第二推杆32。
第二限位组件40包括第三推杆41和第四推杆42，第三推杆41至少部分地设于支撑板12上，第四推杆42设于托板20之与第一侧相背的第二侧，第四推杆42突出于承载面21，托板20相对底板11和支撑板12在第二方向Y上移动，带动第四推杆42和第三推杆41相对移动。
本实施例中，底板11上设有支撑凸台17，支撑凸台17上设有沿第二方向Y延伸的第二导轨18，托板20与第二导轨18滑动连接。支撑凸台17的数量为多个，第二导轨18的数量亦为多个，可选的，支撑凸台17为4个，第二导轨18为2条，2个支撑凸台171条第二导轨18，2条第二导轨18均沿第二方向Y延伸。托板20可通过第二滑块19与第二导轨18连接，即第二滑块19与第二导轨18滑动连接，托板20与第二滑块19固定连接。托板20也可通过自身的凸起、凹槽等结构与第二导轨18直接滑动连接。或者，滑块与支撑凸台17连接，第二导轨18设置在托板20上。通过设置支撑凸台17及沿第二方向Y延伸的第二导轨18，一方面能对托板20进行支撑，另一方面第二导轨18能导向，能使得托板20在第二方向Y上滑动，实现第三推杆41和第四推杆42的相对移动。
本实施例中，第三推杆41全部连接固定在支撑板12上。其他实施例中，第三推杆41可部分连接固定在支撑板12上，其他部分悬空设置，例如，第三推杆41上设有凸起，凸起与支撑板12连接固定。
本实施例中，第三推杆41与支撑板12为一体式结构。其他实施例中，第三推杆41可与支撑板12为分体式结构，通过将第三推杆41固定在支撑板12上而与支撑板12形成整体。
本实施例中，第四推杆42与托板20为分体式结构，第四推杆42通过如螺栓等紧固件固定在托板20的第二侧。其他实施例中，第四推杆42可与托板20为一体式结构。
第三推杆41和第四推杆42的延伸方向大致为第一方向X，也可相对第一方向X具有一较小的夹角。第三推杆41和第四推杆42的相对的表面大致平行。第三推杆41和第四推杆42形成该容纳空间在第二方向Y上的两侧边界。
通过设置托板20与底板11可移动连接，并通过设置第三推杆41和支撑板12连接，第四推杆42设置在托板20上，托板20相对支撑板12在第二方向Y上移动，使得第三推杆41和第四推杆42相对移动，能推动无人机60到达该预定位置的坐标在第二方向Y上的坐标分量，完成无人机60到达预定位置的目标。
第一推杆31、第二推杆32、第三推杆41和第四推杆42构成容纳空间的四周边界，该四个推杆的朝向容纳空间一侧的表面在承载面21上的投影形状为四边形，可选的，该四边形可为平行四边形、矩形、梯形等任一种，具体设置何种四边形，根据无人机60的脚架61的形状分布而定，此处不做过多限定。
该位置矫正装置还包括驱动组件，驱动组件设于基座10上，并与第一限位组件30和第二限位组件40连接，以驱动第一限位组件30和第二限位组件40运动。
驱动组件可采用任意可行的结构，只要能满足驱动第一限位组件30和第二限位组件40运动即可。通过设置驱动组件，驱动第一限位组件30和第二限位组件40运动，以使第一限位组件30和第二限位组件40限位无人机60到预定位置，实现自动化的无人机60位置矫正。
下面提供一些驱动组件的具体实施例。
一种实施例中，请参考图3至图5，驱动组件包括第一驱动组件，第一驱动组件包括第一驱动件71、第一连接件74和第一传动件，通过第一驱动组件驱动第一限位组件30运动。
具体的，第一驱动件71设于基座10，且第一驱动件71与第一传动件连接。第一连接件74包括第一子连接件741和第二子连接件742，第一子连接件741连接第一传动件和第一推杆31，第二子连接件742连接第一传动件和第二推杆32。
本实施例中，通过第一驱动件71驱动第一传动件运动，与第一传动件连接的第一子连接件741将运动传递到第一推杆31，与第一传动件连接的第二子连接件742将运动传递到第二推杆32，从而使得第一推杆31和第二推杆32运动，结构简单。
具体的，支撑板12之朝向底板11的表面设有相对设置的两个安装座14。第一传动件包括动力转接件72、两个导轮731和绳件732，两个导轮731对应地安装在两个安装座14上，绳件732首尾连接并紧绷地绕设于两个导轮731上。两个导轮731转动以使得绳件732在两个导轮731之间形成反向运动的两根子绳件7321、7322，两个子绳件7321、7322的延伸方向均为第一方向X。动力转接件72的一端与第一驱动件71连接，另一端和其中一根子绳件7321/7322连接。第一子连接件741连接一根子绳件7321，第二子连接件742连接另一根子绳件7322。
本实施例中，通过两个导轮731及绳件732的配合形成两个在第一方向X上沿相反方向运动的两根子绳件7321、7322，第一子连接件741和第二子连接件742分别与其中一根子绳件7321/7322连接，从而使得分别与第一子连接件741和第二子连接件742连接的第一推杆31和第二推杆32沿相反的方向移动，即相对运动或相背运动。
由于矫正无人机60位置时，都是先将无人机60的脚架61停在承载面21上，再通过推动无人机60的脚架61移动而调整无人机60的位置，故在进行无人机60位置矫正前，应当通过第一驱动件71驱动第一推杆31和第二推杆32沿相背的方向运动，直至容纳空间足够大。之后，进行无人机60位置矫正时，将无人机60放置或降落在承载面21上后，第一驱动件71驱动第一推杆31和第二推杆32沿相对的方向移动，使得第一推杆31和第二推杆32推动无人机60的脚架61移动，直至无人机60达到预定位置后停止。
对于第一驱动组件的各个结构而言，可不做过多限定。
可选的，第一驱动件71可为马达、气缸等结构，其包括第一壳体711和第一输出轴712，第一输出轴712相对第一壳体711做伸缩运动。第一驱动件71与基座10固定的方式可采用任意可行的方式。可选的，第一驱动组件还包括第一固定块75，第一固定块75开设有固定孔751，第一固定块75固定在底板11或支撑板12上，第一驱动件71的壳体穿设于固定孔751而与第一固定块75固定，第一输出轴712与动力转接件72连接。通过设置第一固定块75，能方便的固定第一驱动件71，结构简单。
动力转接件72的一端与第一驱动件71的第一输出轴712连接，另一端与两根子绳件7321/7322的其中一根连接。第一驱动件71的第一输出轴712沿第一方向X做伸缩运动，带动动力转接件72在第一方向X上移动，进而动力转接件72带动其中一根子绳件7321/7322在第一方向X上移动。
两个导轮731都为定滑轮，绳件732为柔性材质，能绕在两个导轮731上并呈紧绷状态。
第一连接件74的第一子连接件741和第二子连接件742可大致呈“L”形板状结构。以第一子连接件741为例，第一子连接件741的一端与其中一根子绳件7321固定，另一端与第一推杆31的滑动部311连接。第一子连接件741与子绳件7321连接时，可通过如卡扣等连接结构实现固定，具体不做过多限定。可以理解的是，第一子连接件741和第二子连接件742分别与其中一根子绳件7321/7322连接，为避免干涉，在第一子连接件741或第二子连接件742上开设凹槽等结构以避开另一根子绳件。
一种实施例中，请参考图3至图5，驱动组件还包括第二驱动组件，第二驱动组件包括第二驱动件81和连接部82，第二驱动件81与连接部82连接，以使连接部82和第二驱动件81之间相对运动。其中，第二驱动件81固定在基座10上，连接部82固定在托板20上，或，第二驱动件81固定在托板20上，连接部82固定在基座10上。
本实施例中，通过设置第二驱动件81和连接部82，连接部82和第二驱动件81之间相对运动，使得托板20移动，带动第二限位组件40的第三推杆41和第四推杆42相对移动，从而推动无人机60移动而到达预定位置，结构简单，容易实现。
其中，第二驱动件81可和第一驱动件71的结构类似，也包括第二壳体811和第二输出轴812，第二输出轴812与第二壳体811连接并沿第二方向Y伸缩运动。第二驱动组件还可包括与第一驱动组件类似的第二固定块83，第二固定块83与第二驱动件81的第二壳体811连接以将其固定到托板20或基座10上。第二驱动件82的第二输出轴812与连接部82连接，由于第二驱动件81的第二壳体811和连接部82的其中一者固定在基座10上，另一者与托板20固定，故第二输出轴812伸缩时，能带动托板20相对基座10移动。
连接部82与托板20或基座10的连接方式不限。可选的，以第二驱动件81与托板20固定，连接部82与基座10固定为例说明，在基座10的底板11上设有相对的两个连接凸台13，连接部82的两端与该连接凸台13连接固定，第二驱动件81的第二输出轴812与连接部82的中部固定。
一种实施例中，请参考图1、图2和图4，该位置矫正装置还包括定位图板50，定位图板50贴设在承载面21上，且定位图板50上设有定位图案51，定位图案51用于指示无人机60的降落位置。
本实施例中，定位图板50用作无人机60降落的指示标志，通过设置特定的定位图案51，能使得无人机60根据该定位图案51的指示降落到定位图板50上，可实现无人机60的精准降落控制。
其中，定位图板50可为一包含有定位图案51的贴纸、胶层，表面绘制有定位图案51的板件等结构。定位图案51不做具体限定，可根据实际需要设计和绘制。
请参考图1至图5，本申请实施例还提供一种用于无人机的存储系统，包括机械手(未 图示)和本申请实施例中提供的用于无人机的位置矫正装置，无人机60降落在用于无人机的位置矫正装置上并被矫正位置后，机械手将无人机60转移至存储机构。
本实施例中，该存储系统用于自动地将无人机60转移到存储机构中，存储机构例如为包装箱。具体的，通过机械手执行预设程序并沿预定路径抓取无人机60，并将无人机60转移到设置在预定位置的存储机构中。由于位置矫正装置已将无人机60的位置矫正到预定位置，故机械手能在该预定位置抓取到无人机60。因此，通过使用本申请提供的位置矫正装置将无人机60位置矫正后，使用机械手将无人机60转移到存储机构，实现无人机60的自动化的收纳存储。
以上对本申请所提供的一种云台组件进行了详细介绍，本文中应用了具体个例对本申请的原理及实施例进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施例及应用范围上均会有改变之处，综上，本说明书内容不应理解为对本申请的限制。

Claims (14)

  1. 一种用于无人机的位置矫正装置，其特征在于，包括：
    基座；
    托板，与所述基座可移动连接，并包括用于承载无人机的承载面；
    第一限位组件，所述第一限位组件在所述承载面上沿第一方向移动；以及
    第二限位组件，所述第二限位组件在所述承载面上沿第二方向移动，所述第二方向与所述第一方向相交；
    所述托板、所述第一限位组件和所述第二限位组件共同围合形成容纳区域，所述第一限位组件和所述第二限位组件推动所述无人机在所述容纳区域移动并将所述无人机限位在预定位置，使得所述无人机的位置被矫正。
  2. 根据权利要求1所述的用于无人机的位置矫正装置，其特征在于，所述第一方向和所述第二方向垂直。
  3. 根据权利要求1所述的用于无人机的位置矫正装置，其特征在于，所述第一限位组件与所述基座可移动连接，和/或，所述第二限位组件与所述基座可移动连接。
  4. 根据权利要求1或3所述的用于无人机的位置矫正装置，其特征在于，所述第一限位组件包括间隔设置的第一推杆和第二推杆，所述第一推杆和所述第二推杆在所述第一方向上相对移动，以推动所述无人机在所述第一方向上移动。
  5. 根据权利要求4所述的用于无人机的位置矫正装置，其特征在于，所述基座包括底板和支撑板，所述支撑板固定于所述底板上，所述支撑板上设有沿所述第一方向延伸的第一导轨，所述第一推杆和所述第二推杆在所述第一导轨中相对滑动。
  6. 根据权利要求5所述的用于无人机的位置矫正装置，其特征在于，所述托板与所述底板可移动连接，所述支撑板相对于所述底板间隔设置，且所述托板的第一侧边缘至少部分地伸入所述底板和所述支撑板之间；
    所述第二限位组件包括第三推杆和第四推杆，所述第三推杆至少部分地设于所述支撑板上，所述第四推杆设于所述托板之与所述第一侧相背的第二侧，所述第四推杆突出于所述承载面，所述托板相对所述底板和所述支撑板在所述第二方向上移动，带动所述第四推杆和所述第三推杆相对移动。
  7. 根据权利要求6所述的用于无人机的位置矫正装置，其特征在于，所述用于无人机的位置矫正装置还包括驱动组件，所述驱动组件设于所述基座上，并与所述第一限位组件和所述第二限位组件连接，以驱动所述第一限位组件和所述第二限位组件运动。
  8. 根据权利要求7所述的用于无人机的位置矫正装置，其特征在于，所述驱动组件包括第一驱动组件，所述第一驱动组件包括第一驱动件、第一连接件和第一传动件，所述第一驱动件设于所述基座，且所述第一驱动件与所述第一传动件连接，所述第一连接件包括第一子连接件和第二子连接件，所述第一子连接件连接所述第一传动件和所述第一推杆，所述第二子连接件连接所述第一传动件和所述第二推杆。
  9. 根据权利要求8所述的用于无人机的位置矫正装置，其特征在于，所述支撑板之朝向所述底板的表面设有相对设置的两个安装座，所述第一传动件包括动力转接件、两个导轮和绳件，两个所述导轮对应地安装在两个所述安装座上，所述绳件首尾连接并紧绷地绕设于两个所述导轮上，两个所述导轮转动以使得绳件在两个所述导轮之间形成反向运动的两根子绳件，两个所述子绳件的延伸方向均为所述第一方向，所述动力转接件的一端与所述第一驱动件连接，另一端和其中一根所述子绳件连接，所述第一子连接件连接一根所述子绳件，所述第二子连接件连接另一根所述子绳件。
  10. 根据权利要求7至9任一项所述的用于无人机的位置矫正装置，其特征在于，所述驱动组件还包括第二驱动组件，所述第二驱动组件包括第二驱动件和连接部，所述第二驱动件与所述连接部连接，以使所述连接部和所述第二驱动件之间相对运动；其中，所述第二驱动件固定在所述基座上，所述连接部固定在所述托板上，或，所述第二驱动件固定在所述托板上，所述连接部固定在所述基座上。
  11. 根据权利要求6所述的用于无人机的位置矫正装置，其特征在于，所述底板上设有支撑凸台，所述支撑凸台上设有沿所述第二方向延伸的第二导轨，所述托板与所述第二导轨滑动连接。
  12. 根据权利要求8所述的用于无人机的位置矫正装置，其特征在于，所述第一驱动组件还包括固定块，所述固定块开设有固定孔，所述固定块固定在所述底板或所述支撑板上，所述第一驱动件包括壳体和输出轴，所述壳体穿设于所述固定孔而与所述固定块固定，所述输出轴与所述动力转接件连接。
  13. 根据权利要求1所述的用于无人机的位置矫正装置，其特征在于，所述用于无人机的位置矫正装置还包括定位图板，所述定位图板贴设在所述承载面上，且所述定位图板上设有定位图案，所述定位图案用于指示所述无人机的降落位置。
  14. 一种用于无人机的存储系统，其特征在于，包括机械手和如权利要求1至13任一项所述的用于无人机的位置矫正装置，所述无人机降落在所述用于无人机的位置矫正装置上并被矫正位置后，所述机械手将所述无人机转移至存储机构。
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