An unmanned aerial vehicle precise alignment device

Abstract

The application provides a precise alignment device for unmanned aerial vehicle, and relates to the technical field of aircraft landing gear, which comprises an unmanned aerial vehicle body, a landing gear and a charging rod, a plurality of adaptive buffer assemblies are installed on the edge of the landing gear, each assembly comprises a hinged seat, a supporting leg and an adjusting arm driven by a motor, forms a multi-bionic leg structure, can be independently adjusted according to the topography, realizes stable and horizontal landing, and the landing gear is also provided with an alignment assembly, which comprises a fixed seat, a floating seat and a lifting seat, the floating seat realizes horizontal universal movement through a connecting rod mechanism driven by a motor, the lifting seat realizes vertical lifting through an electric telescopic rod, and finally drives the charging rod at the bottom to make position fine adjustment, the application solves the problem that the traditional fixed landing gear cannot adapt to the terrain, leading to inaccurate docking, realizes stable landing of the unmanned aerial vehicle on the complex ground and high-precision automatic alignment of the charging rod, and improves the operation efficiency and reliability.

Description

Technical Field

[0001] This invention relates to the field of aircraft landing gear technology, and more particularly to a precise alignment device for unmanned aerial vehicles (UAVs). Background Technology

[0002] Drones are transforming from "niche technology products" into infrastructure tools, and will reshape work efficiency and lifestyles in more fields in the future. Drone spatial positioning technology can enable drones to autonomously land near the target location. In some scenarios, such as when automatically landing to charge, a precise and stable landing is required, and the charging stick needs to be accurately aligned and inserted into the charging platform.

[0003] Traditional drones are mostly equipped with landing gear to cushion the landing and achieve a smooth landing. However, the landing gear of existing drones is mostly a one-piece fixed structure, which cannot be adjusted in angle and height for different terrains. This results in the charging stick not being able to be accurately aligned with the charging platform, affecting charging efficiency. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies, such as the inability of traditional drones to adjust their angle and altitude for different terrains, which leads to the charging stick not being accurately aligned with the charging platform and affecting charging efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a drone precision positioning device, comprising a drone body, landing gear, and a charging rod, wherein a raised mounting plate is fixedly installed on the top of the landing gear, and the landing gear is fixedly installed to the bottom of the drone body via the mounting plate, and further comprising: Multiple adaptive buffer components are installed at the edge of the landing gear, and the multiple adaptive buffer components and the UAV body form a multi-bionic leg structure to achieve a smooth landing. An alignment component mounted on the landing gear is used to adjust the position of the charging rods after the drone body lands.

[0006] In at least some embodiments, the adaptive buffer assembly includes a hinge base and a support leg. The hinge base is rotatably mounted on the landing gear. A first adjusting arm is rotatably connected between the support leg and the hinge base. A power transmission arm is rotatably mounted on the hinge base. A second adjusting arm is rotatably connected between the end of the power transmission arm away from the hinge base and the support leg.

[0007] In at least some embodiments, the connection between the first adjusting arm and the support leg is in the middle of the support leg, and the connection between the second adjusting arm and the support leg is at the top of the support leg. Three motors are installed on the hinge seat to control the rotation of the hinge seat, the first adjusting arm and the power transmission arm respectively.

[0008] In at least some embodiments, a tactile foot is fixedly installed at the bottom of the support leg, and an omnidirectional laser camera is fixedly installed at the bottom of the landing gear to measure vertical and horizontal distances.

[0009] In at least some embodiments, the alignment assembly includes a fixed seat, a floating seat, and a lifting seat. The fixed seat is fixedly mounted on the landing gear. The floating seat has three first universal joints arranged in a circular array. A connecting rod is rotatably mounted on each of the first universal joints. The other end of the connecting rod is directly rotatably connected to a second universal joint on the floating seat. Two motors for driving are mounted on the two first universal joints on the fixed seat, and the driving directions of the two motors are horizontal and vertical, so as to realize the omnidirectional movement of the floating seat in the horizontal direction.

[0010] In at least some embodiments, guide rod sleeves are symmetrically fixedly welded onto the floating seat, the lifting seat is located at the bottom of the floating seat, and a plug rod is fixedly welded to the top of the lifting seat and movably inserted into the guide rod sleeve. An electric telescopic rod is rotatably connected between the center of the fixed seat and the lifting seat, and a second universal joint is installed at both ends of the electric telescopic rod between the fixed seat and the lifting seat.

[0011] In at least some embodiments, a charging base is fixedly welded to the center of the bottom of the lifting seat, the charging rod is fixedly inserted into the charging base, and the charging rod is electrically connected to the drone body.

[0012] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, by setting up multiple independently adjustable adaptive buffer components to form a multi-bionic leg structure, the length and angle of each support leg can be adjusted in real time according to the terrain slope and height difference of the landing site, so that the UAV body automatically maintains horizontal stability after landing, which significantly improves the stability and adaptability of landing on complex or uneven ground, and provides a stable basic platform for subsequent high-precision docking operations.

[0013] In this invention, by setting up an alignment component consisting of a horizontal moving mechanism and a vertical lifting mechanism, the position of the charging rod can be precisely fine-tuned in the horizontal direction (X, Y axes) and the vertical direction (Z axis) after the UAV lands. This design effectively compensates for residual positional deviations after landing, ensuring rapid and accurate alignment and connection of the charging rod with the ground charging platform interface, thereby improving the success rate of charging docking and the efficiency of automated operation. Attached Figure Description

[0014] Figure 1 This invention provides an overall three-dimensional schematic diagram of a drone precision alignment device; Figure 2 This invention provides a schematic diagram of the installation of the landing gear and alignment components in a precise alignment device for unmanned aerial vehicles (UAVs). Figure 3 This invention provides a schematic diagram of the landing gear structure in a precise positioning device for unmanned aerial vehicles (UAVs). Figure 4 This invention presents a schematic diagram of the structure of an adaptive buffer component in a UAV precision alignment device; Figure 5 This invention provides a schematic diagram of the support leg structure in a drone precision alignment device; Figure 6 This invention provides a schematic diagram of the installation of the alignment component and the charging rod in a drone precision alignment device; Figure 7 This invention presents a schematic diagram of the alignment component in a drone precision alignment device.

[0015] Legend: 1. The drone itself; 2. Landing gear; 201. Mounting plate; 3. Adaptive buffer assembly; 301. Hinge seat; 302. Support leg; 303. First adjusting arm; 304. Second adjusting arm; 305. Power transmission arm; 306. Touch-sensitive foot; 4. Alignment assembly; 401. Fixed seat; 402. Floating seat; 403. Lifting seat; 404. Connecting rod; 405. Guide rod sleeve; 406. Insert rod; 407. Electric telescopic rod; 408. Charging base.

[0016] 5. Charging stick. Detailed Implementation

[0017] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0018] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and therefore the invention is not limited to the specific embodiments disclosed in the following specification.

[0019] Example, according to Figures 1-7 The present invention provides a drone precision alignment device comprising a drone body 1, landing gear 2, and charging rod 5, as shown in the embodiments of the present invention. Figures 1-3As shown, a raised mounting plate 201 is fixedly installed on the top of the landing gear 2. The landing gear 2 is fixedly installed to the bottom of the UAV body 1 through the mounting plate 201. It also includes multiple adaptive buffer components 3 installed at the edge of the landing gear 2. The multiple adaptive buffer components 3 and the UAV body 1 form a multi-bionic leg structure to achieve a smooth landing. The alignment component 4 installed on the landing gear 2 is used to adjust the position of the charging rod 5 after the UAV body 1 lands. The raised design of the mounting plate 201 provides sufficient space for the alignment component 4 and the adaptive buffer components 3 below to move, avoiding interference between the components and the UAV body 1 during movement.

[0020] like Figure 4 and Figure 5 As shown, the adaptive buffer assembly 3 includes a hinge seat 301 and a support leg 302. The hinge seat 301 is rotatably mounted on the landing gear 2. A first adjusting arm 303 is rotatably connected between the support leg 302 and the hinge seat 301. A power transmission arm 305 is rotatably mounted on the hinge seat 301. A second adjusting arm 304 is rotatably connected between the end of the power transmission arm 305 away from the hinge seat 301 and the support leg 302. The first adjusting arm 303, the second adjusting arm 304, the power transmission arm 305, and the support leg 302 together constitute a four-bar linkage adjustment mechanism. The connection between the first adjusting arm 303 and the support leg 302 is in the middle of the support leg 302, and the connection between the second adjusting arm 304 and the support leg 302 is at the top of the support leg 302. Three motors are installed on the hinge seat 301 to control the rotation of the hinge seat 301, the first adjusting arm 303 and the power transmission arm 305 respectively. By controlling the rotation motor of the hinge seat 301, the horizontal orientation of the entire support leg 302 can be changed to adapt to slopes in different directions. By coordinating the control of the rotation motors of the first adjusting arm 303 and the power transmission arm 305, the extension length and tilt angle of the support leg 302 relative to the hinge seat 301 can be precisely adjusted, thereby realizing independent adjustment of the height and posture of a single leg. The bottom of the support leg 302 is fixedly equipped with a tactile foot 306, and the bottom of the landing gear 2 is fixedly equipped with an omnidirectional laser camera to measure vertical and horizontal distances. The tactile foot 306 is made of flexible damping material, which can absorb landing impact and provide ground contact feedback. The omnidirectional laser camera scans the ground in real time during landing to obtain the terrain height difference, slope, and relative horizontal distance and height difference between the landing gear 2 and the target charging platform around the landing point. This data is transmitted to the UAV flight control system, which generates commands to drive the motors of each adaptive buffer component 3 to perform coordinated actions, so that the multiple support legs 302 can extend, retract, and compensate for angles. Ultimately, this ensures that the UAV remains in a horizontal and stable state after landing, creating the basic conditions for subsequent precise alignment.

[0021] like Figure 6 and Figure 7 As shown, the alignment component 4 includes a fixed seat 401, a floating seat 402, and a lifting seat 403. The fixed seat 401 is fixedly installed on the landing gear 2. Three first universal joints are installed in a circular array on the floating seat 402. A connecting rod 404 is rotatably installed on the first universal joint. The other end of the connecting rod 404 is directly rotatably connected to the floating seat 402 by a second universal joint. Two motors for driving are installed on the two first universal joints on the fixed seat 401. The driving directions of the two motors are horizontal and vertical, so as to realize the omnidirectional movement of the floating seat 402 in the horizontal direction. This structure constitutes a horizontal parallel motion mechanism. The two motors can drive the corresponding connecting rods 404 to move. Through the pushing and pulling of the connecting rods 404, the floating seat 402 is driven to translate in the plane where the fixed seat 401 is located in two degrees of freedom: forward and backward and left and right. This adjusts the X and Y coordinate positions of the charging rod 5 on the horizontal plane. Guide rod sleeves 405 are symmetrically fixedly welded onto the floating seat 402. The lifting seat 403 is located at the bottom of the floating seat 402. A plug rod 406 is fixedly welded to the top of the lifting seat 403 and is movably inserted into the guide rod sleeve 405. An electric telescopic rod 407 is rotatably connected between the center of the fixed seat 401 and the lifting seat 403. A second universal joint is installed at both ends of the electric telescopic rod 407 between the fixed seat 401 and the lifting seat 403. The cooperation between the guide rod sleeve 405 and the plug rod 406 guides the up and down movement of the lifting seat 403 and prevents torsion, ensuring its movement stability. The extension and retraction of the electric telescopic rod 407 drives the lifting seat 403 to move in the vertical direction (Z-axis). The second universal joints at both ends ensure that the connection points at both ends of the electric telescopic rod 407 can rotate freely when the floating seat 402 moves horizontally, avoiding structural interference. Thus, the lifting seat 403 can achieve independent vertical lifting and lowering movement. A charging base 408 is fixedly welded to the center of the bottom of the lifting seat 403. The charging rod 5 is fixedly inserted into the charging base 408. The charging rod 5 is electrically connected to the UAV body 1. When the UAV lands, if the body has been leveled by the adaptive buffer component 3, but there is still a slight deviation between the interface of the charging rod 5 and the ground charging platform, the flight control system can control the two horizontal motors and the electric telescopic rod 407 of the alignment component 4 to work together based on the deviation signal fed back by the sensor (such as the visual target or proximity sensor set on the charging platform). This drives the floating seat 402 and the lifting seat 403 to move, thereby causing the charging base 408 and the charging rod 5 on it to make fine adjustments in the horizontal plane (X, Y direction) and vertical direction (Z direction) until the interface of the charging rod 5 and the charging platform are completely aligned and inserted, achieving precise docking and charging.

[0022] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A precise positioning device for unmanned aerial vehicles (UAVs), comprising a UAV body (1), landing gear (2), and a charging rod (5), characterized in that: The landing gear (2) is fixedly mounted on a raised mounting plate (201) at the top. The landing gear (2) is fixedly mounted to the bottom of the UAV body (1) via the mounting plate (201). It also includes: Multiple adaptive buffer components (3) are installed at the edge of the landing gear (2). The multiple adaptive buffer components (3) and the UAV body (1) form a multi-bionic leg structure to achieve a smooth landing. The alignment component (4) is installed on the landing gear (2) to adjust the position of the charging rod (5) after the UAV body (1) lands.

2. The UAV precise positioning device according to claim 1, characterized in that: The adaptive buffer assembly (3) includes a hinge base (301) and a support leg (302). The hinge base (301) is rotatably mounted on the landing gear (2). A first adjusting arm (303) is rotatably connected between the support leg (302) and the hinge base (301). A power transmission arm (305) is rotatably mounted on the hinge base (301). A second adjusting arm (304) is rotatably connected between the end of the power transmission arm (305) away from the hinge base (301) and the support leg (302).

3. The UAV precise positioning device according to claim 2, characterized in that: The connection between the first adjusting arm (303) and the support leg (302) is in the middle of the support leg (302), and the connection between the second adjusting arm (304) and the support leg (302) is at the top of the support leg (302). Three motors are installed on the hinge seat (301) to control the rotation of the hinge seat (301), the first adjusting arm (303), and the power transmission arm (305).

4. The UAV precise positioning device according to claim 3, characterized in that: The bottom of the support leg (302) is fixedly equipped with a tactile foot (306), and the bottom of the landing gear (2) is fixedly equipped with an omnidirectional laser camera to measure vertical and horizontal distances.

5. The UAV precise positioning device according to claim 1, characterized in that: The alignment component (4) includes a fixed seat (401), a floating seat (402), and a lifting seat (403). The fixed seat (401) is fixedly installed on the landing gear (2). Three first universal joints are installed in a circular array on the floating seat (402). A connecting rod (404) is rotatably installed on the first universal joint. The other end of the connecting rod (404) is directly rotatably connected to the floating seat (402) by a second universal joint. Two motors for driving are installed on the two first universal joints on the fixed seat (401), and the driving directions of the two motors are horizontal and vertical, so as to realize the omnidirectional movement of the floating seat (402) in the horizontal direction.

6. The UAV precise positioning device according to claim 5, characterized in that: The floating seat (402) is symmetrically fixedly welded with guide rod sleeves (405). The lifting seat (403) is located at the bottom of the floating seat (402). The top of the lifting seat (403) is fixedly welded with a plug rod (406) that is movably inserted into the guide rod sleeve (405). An electric telescopic rod (407) is rotatably connected between the center of the fixed seat (401) and the lifting seat (403). A second universal joint is installed at both ends of the electric telescopic rod (407) between the fixed seat (401) and the lifting seat (403).

7. A precise positioning device for unmanned aerial vehicles according to claim 6, characterized in that: A charging base (408) is fixedly welded to the center of the bottom of the lifting seat (403), and the charging rod (5) is fixedly inserted into the charging base (408). The charging rod (5) is electrically connected to the drone body (1).

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