Intelligent emergency unmanned aerial vehicle logistics lifting device and method

Abstract

The invention provides an intelligent emergency unmanned aerial vehicle logistics lifting device and method. The lifting device comprises a cable descending winch system and a damping balance frame. The damping balance frame comprises an upper mounting frame and a lower mounting frame which are oppositely arranged up and down, the upper mounting frame and the lower mounting frame are connected through a telescopic damping mechanism, the telescopic damping mechanism comprises at least three telescopic damping units, the three telescopic damping units are uniformly distributed, and the two ends of each telescopic damping unit are movably connected with the upper mounting frame and the lower mounting frame respectively; and the cable descending winch system is fixedly mounted on the lower mounting frame. The three telescopic damping units not only can bear the load of the suspended object, but also can enable the suspended object to be finally transmitted to the three telescopic damping units no matter which horizontal direction deflection force is applied to the suspended object, so that the suspended object is located on the course axis of the intelligent emergency unmanned aerial vehicle as far as possible and can better adapt to external disturbance; therefore, the self-balance of the hoisted object is realized, and the unmanned aerial vehicle is kept stable in the transportation operation process.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV), and in particular to an intelligent emergency UAV logistics hoisting device and method. Background Art

[0002] Intelligent emergency drones are playing an increasingly important role in modern emergency rescue efforts. When ground transportation is blocked, they offer a highly efficient means of delivering supplies and are widely used in emergency transportation. They can quickly deliver food, water, first aid medication, and other relief supplies to disaster-stricken areas, providing much-needed assistance.

[0003] However, during the emergency lifting and delivery of items by emergency drones, as well as during the process of reeling in and releasing lines, the items are prone to violent shaking due to airflow or inertia, causing the center of gravity of the items to deviate from the drone's heading axis, which seriously affects the dynamic balance of the helicopter, causing the entire drone system to become unstable, thereby affecting the drone's control and item delivery. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent emergency drone logistics lifting device and method to solve the technical problems raised in the background technology.

[0005] To achieve the above objectives, in a first aspect, an embodiment of the present invention provides an intelligent emergency drone logistics hoisting device, comprising a rope-dropping winch system and a damping balance frame for mounting the rope-dropping winch system on the bottom of the intelligent emergency drone;

[0006] The damping balance frame includes an upper mounting frame and a lower mounting frame arranged opposite to each other in an upper and lower direction, wherein the upper mounting frame and the lower mounting frame are connected via a telescopic damping mechanism, wherein the telescopic damping mechanism includes at least three telescopic damping units, the three telescopic damping units are evenly distributed, and the ends of the telescopic damping units are movably connected to the upper mounting frame and the lower mounting frame respectively;

[0007] The rope lowering winch system is fixedly mounted on the lower mounting frame.

[0008] Furthermore, the telescopic yangni unit includes two telescopic damping members arranged opposite to each other, and the two telescopic damping members are arranged opposite to each other in an inverted V-shaped structure.

[0009] Furthermore, the telescopic damping member includes a cylinder with sealed ends, a piston rod with one end sliding along the axial direction of the cylinder from one end of the cylinder and inserted into the cylinder, and a spring for bearing the hoisting load;

[0010] Oil is encapsulated in the cylinder; the other end of the cylinder is movably connected to the upper mounting frame;

[0011] A piston is provided on one end of the piston rod located in the cylinder for dividing the interior of the cylinder into two independent spaces. The outer peripheral wall of the piston is provided with a sliding seal with the inner wall of the cylinder. The piston is provided with an oil hole for connecting the two independent spaces.

[0012] The other end of the piston rod is located outside the cylinder, and a seal is set between the piston rod and the end of the cylinder. The other end of the piston rod is rotatably connected to the lower mounting frame; one end of the spring is connected to the piston rod, and the other end is connected to the cylinder.

[0013] Furthermore, the spring is arranged in the cylinder, the spring is sleeved on the piston rod, and the part of the piston rod located in the cylinder is provided with a first limit member, one end of the spring is abutted against the first limit member, and the other end is abutted against the end of the cylinder that is slidably connected to the piston rod.

[0014] Furthermore, a second limiting member is provided in the cylinder barrel at one end close to the end connected to the piston rod, and the spring is provided between the first limiting member and the second limiting member.

[0015] Furthermore, the spring is arranged in the cylinder, and the spring is located between the piston and the other end of the cylinder. One end of the spring is connected to the piston rod and the other end is connected to the end of the cylinder. The spring deforms in the moving direction of the piston rod.

[0016] Furthermore, one end of the spring is fixedly connected to the end of the cylinder, and the other end is fixedly connected to the piston rod.

[0017] Furthermore, both ends of the telescopic damping unit are movably connected to the upper mounting frame and the lower mounting frame through universal joints or ball hinges.

[0018] Furthermore, the upper mounting frame and the lower mounting frame have the same structure;

[0019] The upper mounting frame includes a main frame in a three-pointed star-shaped structure, and the three ends of the main frame are each provided with a connecting portion, and the two ends of the telescopic damping unit are respectively rotatably connected to the connecting portion of the upper mounting frame and the connecting portion of the lower mounting frame;

[0020] The descent winch system is installed on the bottom of the connecting portion of the lower mounting frame.

[0021] In a second aspect, an embodiment of the present invention further provides an intelligent emergency drone logistics placement method, comprising:

[0022] The rope-dropping winch system is installed on the bottom of the intelligent emergency drone through a damping balance frame;

[0023] After controlling the intelligent emergency drone to rise to a preset height and hover, controlling the rope-lowering winch system to lower the cable;

[0024] After the distance between the bottom end of the cable and the ground meets a first preset requirement, controlling the rope lowering winch system to stop lowering the cable;

[0025] After hanging an object to be hoisted on the ground on the hook at the bottom end of the cable, controlling the rope lowering winch system to wind the cable to lift the object to a preset position below the rope lowering winch system;

[0026] Controlling the intelligent emergency drone to lift the item to a preset delivery point for delivery;

[0027] Wherein, the damping balance frame is as described in the first aspect.

[0028] The beneficial effects of the present invention are embodied in:

[0029] The three telescopic damping units can not only bear the weight of the hoisted objects, but also ensure that no matter which horizontal deflection force the hoisted objects are subjected to, the force will eventually be transmitted to the three telescopic damping units, so that the hoisted objects are located as close to the heading axis of the intelligent emergency drone as possible, and can better adapt to external disturbances, thereby achieving self-balancing of the hoisted objects and keeping the drone stable during transportation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0031] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0032] Figure 1 A schematic structural diagram of an intelligent emergency drone logistics hoisting device provided by an embodiment of the present invention;

[0033] Figure 2 for Figure 1 Schematic diagram of the structure of the medium damping balance frame;

[0034] Figure 3 Schematic diagram of the first structure of the telescopic damping element;

[0035] Figure 4is a schematic diagram of the second structure of the telescopic damping member;

[0036] Figure 5 This is a flow chart of an intelligent emergency drone logistics placement method provided by an embodiment of the present invention.

[0037] The purpose of this application, its features, and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings. The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and the accompanying text are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of this application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0038] The following embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore only examples and are not intended to limit the scope of protection of the present invention.

[0039] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0040] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0041] In addition, the terms "first," "second," etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. In the description of the present invention, "plurality" means more than two, unless otherwise specifically defined.

[0042] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed or detachable connections, or integration; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0043] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0044] First, as Figure 1 As shown, an embodiment of the present invention provides an intelligent emergency drone logistics hoisting device, comprising a rappelling winch system 100 and a damping balance frame 200 for installing the rappelling winch system 100 on the bottom of the intelligent emergency drone. It can be understood that the rappelling winch technology has significant advantages in the precise delivery of goods by drones, and is particularly suitable for scenarios with complex terrain, inconvenient transportation, or where precise delivery is required. The rappelling winch technology can achieve precise delivery of goods without the need for the drone to land, which helps to improve the efficiency and safety of cargo transportation while reducing transportation costs. In some embodiments, the rappelling winch system 100 can directly adopt an existing rappelling winch system.

[0045] Specifically, such as Figure 2 As shown, in this embodiment, the damping balance frame 200 includes an upper mounting frame 1 and a lower mounting frame 2 disposed in an opposed relationship. The upper mounting frame 1 and the lower mounting frame 2 are connected by a telescopic damping mechanism. The telescopic damping mechanism includes at least three evenly distributed telescopic damping units, each of which is movably connected to the upper mounting frame 1 and the lower mounting frame 2 at its ends. The rappelling winch system 100 is fixedly mounted on the lower mounting frame 2.

[0046] The three telescopic damping units can not only bear the weight of the hoisted items, but also ensure that no matter which direction the force is applied to the hoisted items, it will eventually be transmitted to the three telescopic damping units, so that the hoisted items are located as close to the heading axis of the intelligent emergency drone as possible, and can better adapt to external disturbances, thereby achieving self-balancing of the hoisted items and keeping the drone stable during transportation operations.

[0047] In some embodiments, the telescopic yangni unit includes two relatively arranged telescopic damping parts 3, and the two telescopic damping parts 3 are relatively arranged in an inverted V-shaped structure. This can not only improve the load capacity of the entire damping balance frame 200, but also absorb the deflection force in any horizontal direction to the suspended items through damping, so that the suspended items are located as much as possible on the heading axis of the intelligent emergency drone, thereby maintaining the flight stability of the entire drone system.

[0048] Specifically, in some embodiments, Figure 3 、 Figure 4 As shown, the telescopic damping member 3 includes a cylinder 4 with sealed ends, a piston rod 5 with one end slidingly inserted into the cylinder 4 along the axial direction of the cylinder 4 from one end of the cylinder 4, and a spring 6 for bearing the hoisting load. Oil is encapsulated in the cylinder 4. The other end of the cylinder 4 is movably connected to the upper mounting frame 1. A piston 7 is provided on one end of the piston rod 5 located in the cylinder 4 for dividing the interior of the cylinder 4 into two independent spaces. The outer peripheral wall of the piston 7 is slidingly sealed with the inner wall of the cylinder 4, and the piston 7 is provided with an oil hole 8 for connecting the two independent spaces.

[0049] The other end of the piston rod 5 is located outside the cylinder 4. An oil seal 15 is provided between the piston rod 5 and the end of the cylinder 4 to prevent leakage of the oil enclosed in the cylinder 4 and maintain a stable oil pressure in the cylinder 4. The other end of the piston rod 5 is rotatably connected to the lower mounting frame 2. One end of the spring 6 is connected to the piston rod 5, and the other end is connected to the cylinder 4.

[0050] When the piston rod 5 is pulled out of the cylinder 4 or retracted into the cylinder 4 by force, it will push the piston 7 to move along the cylinder 4. Since the interior of the cylinder 4 is divided into two independent spaces by the piston 7 and the internal volume of the cylinder 4 is fixed, during the movement of the piston 7, the oil inside the two spaces can only flow through the oil hole 8 on the piston 7. When the oil flows through the oil hole 8, it will generate a damping force, converting the horizontal swing force of the hoisted object into heat energy and dissipating it, so that the hoisted object is as close to the heading axis of the drone as possible.

[0051] For example, in some embodiments, Figure 3As shown, the spring 6 is arranged in the cylinder 4, and the spring 6 is sleeved on the piston rod 5. The portion of the piston rod 5 located in the cylinder 4 is provided with a first limiter 9. One end of the spring 6 is abutted against the first limiter 9, and the other end is abutted against the end of the cylinder 4 that is slidably connected to the piston rod 5. For example, the first limiter 9 can be provided on a limiter shaft on the piston rod 5, and the axial direction of the limiter shaft is perpendicular to the axial direction of the piston rod 5; or the first limiter 9 can be a convex ring or a plurality of convex blocks coaxially provided on the piston rod 5. In this embodiment, there is no specific limitation on the structure of the first limiter 9. It is understandable that the first limiter 9 does not form a sealing structure with the inner wall of the cylinder 4. The first limiter 9 will not compress the oil during the process of moving along the axial direction of the cylinder 4, that is, the first limiter 9 can move freely relative to the oil in the cylinder 4.

[0052] To prevent the oil seal 15 sealing between the cylinder 4 and the piston rod 5 from being directly subjected to force, which would cause deformation of the oil seal 15 and affect the sealing effect, in some embodiments, a second stopper 10 is provided at the end of the cylinder 4 close to the connection with the piston rod 5, and the spring 6 is located between the first stopper 9 and the second stopper 10. That is, the deformation pressure of the spring 6 is borne by the second stopper 10.

[0053] For example, the second stopper 10 may include a tubular threaded portion and a protruding ring or multiple protrusions coaxially disposed within the threaded portion. The outer wall of the threaded portion has threads. After the threaded portion is threaded onto one end of the cylinder 4, an oil seal 15 is formed to slide between the end of the cylinder 4 and the piston rod 5. The protruding ring or multiple protrusions within the second stopper 10 bear the deformation pressure of the spring 6, preventing the pressure from being transmitted to the oil seal 15, thereby extending the service life of the oil seal 15.

[0054] In other embodiments, Figure 4 As shown, the spring 6 is disposed within the cylinder 4, positioned between the piston 7 and the other end of the cylinder 4. One end of the spring 6 is connected to the piston rod 5, and the other end is connected to the end of the cylinder 4. The spring 6 deforms in the direction of movement of the piston rod 5. For example, one end of the spring 6 is fixedly connected to the end of the cylinder 4 by welding, and a connecting block 14 can be welded to the other end of the spring 6. The connecting block 14 is fixedly connected to the piston rod 5 by threads. In this way, when the piston rod 5 is pulled outward, it can pull the spring 6 to extend, and the deformation of the spring 6 can bear the weight load of the object.

[0055] Placing the spring 6 within the cylinder 4 makes the entire telescopic damping member 3 more compact, facilitates maintenance, and reduces external interference with the spring 6. Of course, in some embodiments, the spring 6 can also be disposed outside the cylinder 4, with both ends of the spring 6 still connected to the cylinder 4 and the piston rod 5, respectively. The operating principle is similar to that of the structure in which the spring 6 is disposed within the cylinder 4, and this embodiment will not be further described here.

[0056] In order to absorb all horizontal swing forces, in this embodiment, both ends of the telescopic damping unit are movably connected to the upper mounting frame 1 and the lower mounting frame 2 through universal joints 11 or ball hinges, so that the lower mounting frame 2 can be universally adjusted.

[0057] In some embodiments, the upper mounting frame 1 and the lower mounting frame 2 have the same structure. For example, the upper mounting frame 1 includes a main frame 12 in a three-pointed star-shaped structure, each of the three ends of the main frame 12 being provided with a connecting portion 13. The ends of the telescopic damping unit are rotatably connected to the connecting portion 13 of the upper mounting frame 1 and the connecting portion 13 of the lower mounting frame 2, respectively.

[0058] The upper and lower mounting frames 1 and 2 utilize a three-pronged star-shaped main frame 12, significantly reducing the material used for each frame, thereby reducing their weight and the unused payload of the drone. The upper and lower mounting frames 1 and 2 can be constructed of carbon fiber, ensuring strength while further reducing weight.

[0059] During installation, the connection portion 13 of the upper mounting frame 1 can be fixedly mounted on the bottom of the drone by means of bolts, and the descent winch system 100 can be fixedly mounted on the bottom of the connection portion 13 of the lower mounting frame 2 by means of bolts.

[0060] In the second aspect, the embodiment of the present invention also provides an intelligent emergency drone logistics lifting method, such as Figure 5 As shown, the method includes the following steps:

[0061] Step S100: Install the rappelling winch system 100 on the bottom of the intelligent emergency drone via the damping balance frame 200; wherein the damping balance frame 200 is as described in the first aspect.

[0062] Step S200: After controlling the intelligent emergency drone to rise to a preset height and hover, controlling the rope lowering winch system 100 to lower the cable.

[0063] Step S300: After the distance between the bottom end of the cable and the ground meets a first preset requirement, the lowering winch system 100 is controlled to stop lowering the cable.

[0064] Step S400 : After hanging the object to be hoisted on the ground on the hook at the bottom end of the cable, control the lowering winch system 100 to wind the cable to lift the object to a preset position below the lowering winch system 100 .

[0065] Step S500: Control the intelligent emergency drone to lift the item to a preset delivery point for delivery.

[0066] Finally, it should be noted that the various technical features of the technical solution of this application can be combined arbitrarily. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0067] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. An intelligent emergency drone logistics hoisting device, comprising a rope lowering winch system (100), characterized in that: It also includes a damping balance frame (200) for installing the rope-dropping winch system (100) on the bottom of the intelligent emergency drone; The damping balance frame (200) comprises an upper mounting frame (1) and a lower mounting frame (2) arranged opposite to each other in an upper and lower direction, wherein the upper mounting frame (1) and the lower mounting frame (2) are connected via a telescopic damping mechanism, wherein the telescopic damping mechanism comprises at least three telescopic damping units, wherein the three telescopic damping units are evenly distributed, and both ends of the telescopic damping units are movably connected to the upper mounting frame (1) and the lower mounting frame (2). The rope lowering winch system (100) is fixedly mounted on the lower mounting frame (2).

2. The intelligent emergency drone logistics lifting device according to claim 1, characterized in that: The telescopic yangni unit comprises two telescopic damping members (3) arranged opposite to each other, and the two telescopic damping members (3) are arranged opposite to each other in an inverted V-shaped structure.

3. The intelligent emergency drone logistics lifting device according to claim 2, characterized in that: The telescopic damping member (3) comprises a cylinder (4) with sealed ends, a piston rod (5) with one end sliding along the axial direction of the cylinder (4) from one end of the cylinder (4) and inserted into the cylinder (4), and a spring (6) for bearing a hoisting load. Oil is encapsulated in the cylinder (4); the other end of the cylinder (4) is movably connected to the upper mounting frame (1); A piston (7) is provided on one end of the piston rod (5) located in the cylinder (4) for dividing the interior of the cylinder (4) into two independent spaces. The outer peripheral wall of the piston (7) is provided with a sliding seal with the inner wall of the cylinder (4). An oil hole (8) is provided on the piston (7) for connecting the two independent spaces. The other end of the piston rod (5) is located outside the cylinder (4), and a seal is provided between the piston rod (5) and the end of the cylinder (4). The other end of the piston rod (5) is rotatably connected to the lower mounting frame (2); one end of the spring (6) is connected to the piston rod (5), and the other end is connected to the cylinder (4).

4. The intelligent emergency drone logistics lifting device according to claim 3, characterized in that: The spring (6) is arranged in the cylinder (4), and the spring (6) is sleeved on the piston rod (5). The portion of the piston rod (5) located in the cylinder (4) is provided with a first limiting member (9). One end of the spring (6) is abutted against the first limiting member (9), and the other end is abutted against the end of the cylinder (4) slidably connected to the piston rod (5).

5. The intelligent emergency drone logistics lifting device according to claim 4, characterized in that: A second limiting member (10) is provided in the cylinder (4) at one end close to the end connected to the piston rod (5), and the spring (6) is provided between the first limiting member (9) and the second limiting member (10).

6. The intelligent emergency drone logistics lifting device according to claim 3, characterized in that: The spring (6) is arranged in the cylinder (4), and the spring (6) is located between the piston (7) and the other end of the cylinder (4). One end of the spring (6) is connected to the piston rod (5), and the other end is connected to the end of the cylinder (4). The spring (6) deforms along the moving direction of the piston rod (5).

7. The intelligent emergency drone logistics lifting device according to claim 6, characterized in that: One end of the spring (6) is fixedly connected to the end of the cylinder (4), and the other end is fixedly connected to the piston rod (5).

8. The intelligent emergency drone logistics lifting device according to claim 1, characterized in that: Both ends of the telescopic damping unit are movably connected to the upper mounting frame (1) and the lower mounting frame (2) via universal joints (11) or ball hinges.

9. The intelligent emergency drone logistics lifting device according to claim 1, characterized in that: The upper mounting frame (1) and the lower mounting frame (2) have the same structure; The upper mounting frame (1) comprises a main frame (12) in a three-pointed star-shaped structure, and the three ends of the main frame (12) are each provided with a connecting portion (13), and the two ends of the telescopic damping unit are respectively rotatably connected to the connecting portion (13) of the upper mounting frame (1) and the connecting portion (13) of the lower mounting frame (2); The rope lowering winch system (100) is installed on the bottom of the connecting portion (13) of the lower mounting frame (2).

10. An intelligent emergency drone logistics placement method, characterized in that: include: The rope-dropping winch system (100) is installed on the bottom of the intelligent emergency drone via a damping balance frame (200); After the intelligent emergency drone is controlled to rise to a preset height and hover, the rope lowering winch system (100) is controlled to lower the cable; After the distance between the bottom end of the cable and the ground meets a first preset requirement, controlling the lowering winch system (100) to stop lowering the cable; After hanging an object to be hoisted on the ground on a hook at the bottom end of the cable, controlling the rope-dropping winch system (100) to wind the cable to lift the object to a preset position below the rope-dropping winch system (100); Controlling the intelligent emergency drone to lift the item to a preset delivery point for delivery; Wherein, the damping balance frame (200) is as described in any one of claims 1-9.

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