A device for detecting the replacement of batteries in drones

Abstract

The present invention discloses a device for detecting the replacement of a battery in place of a drone, wherein a driving motor is connected to a battery replacement mechanism through a linear module; the battery replacement mechanism comprises a frame, the frame is connected to a linear module, a battery replacement motor is arranged on the side of the frame, the battery replacement motor is connected to a rotating shaft, the end of the rotating shaft is connected to a buffer assembly, and the buffer assembly is connected to a battery hook; the end of the frame is connected to an in-place detection assembly, the driving motor drives the in-place detection assembly forward or backward through the linear module, the in-place detection assembly advances to carry the battery to be replaced to the drone battery slot; the in-place detection assembly retreats to allow the battery hook to move the battery entering the drone battery slot, and the battery hook moves the battery entering the drone battery slot to allow the in-place detection assembly to be separated from the battery. The present invention solves the problem of batteries not being in place and the risk of falling off that may occur during the drone battery replacement process, making drone battery replacement safer and more reliable.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a detection device for detecting when a battery is in place when replaced in an unmanned aerial vehicle. Background Art

[0002] At present, the technology of UAV is developing rapidly. The reliability and service life of UAV have made great progress, and the price is gradually accepted by the general public. The advantage of UAV in the air provides people with the third transportation and the third perspective in reconnaissance and logistics. With the miniaturization of third-party equipment, various functional modules can be mounted under the UAV, and the required information or functions can be obtained through wireless digital transmission technology and image transmission technology.

[0003] Due to the wireless communication distance limitation of the drone itself, the on-site personnel need to use the remote control to control the drone. The operator needs to arrive at the site and operate the aircraft within a certain distance. Since drones have not yet fully realized unmanned, intelligent and remote flight at long distances, drone airports have emerged to truly realize unmanned deployment on site. When necessary, they only need to be remotely controlled and used through the network at the remote end. Inside the terminal, mechanical components are used to replace the drone battery, turn on the drone, turn off the drone, and other operations.

[0004] At present, when replacing the battery of a drone, the battery is pushed into the drone. The battery slot of the drone has its own snap device. Therefore, simply pushing the drone battery into the battery slot may cause the battery to not be in place and the snap device may not be able to fix it. In this case, there is a risk that the battery will fall off during the subsequent drone takeoff and mission, which may cause a serious accident. There is an urgent need for a technical solution to detect whether the battery is in place when replacing the battery. Summary of the invention

[0005] To this end, the present invention provides a battery replacement detection device for a drone, which solves the problem that the battery may not be in place or there is a risk of falling off during the drone battery replacement process.

[0006] In order to achieve the above-mentioned object, the present invention provides the following technical solutions: a device for detecting the replacement of a battery in place of a drone, comprising a driving motor, wherein the driving motor is connected to a battery replacement mechanism via a linear module; the battery replacement mechanism comprises a frame, wherein the frame is connected to the linear module, a battery replacement motor is arranged on the side of the frame, the battery replacement motor is connected to a rotating shaft, a buffer assembly is connected to the end of the rotating shaft, and the buffer assembly is connected to a battery hook;

[0007] An in-place detection component is connected to the end of the frame, and the drive motor drives the in-place detection component forward or backward through the linear module. The in-place detection component moves forward to carry the battery to be replaced to the battery slot of the drone; the in-place detection component moves backward to allow the battery hook to move the battery entering the battery slot of the drone, and the battery hook moves the battery entering the battery slot of the drone to allow the in-place detection component to detach from the battery.

[0008] As a preferred solution for the drone battery replacement detection device, the battery replacement motor, rotating shaft, buffer assembly and battery hook are each provided with two groups, and the two groups of battery replacement motor, rotating shaft, buffer assembly and battery hook are distributed on both sides of the frame.

[0009] As a preferred solution for the drone battery replacement detection device, the battery replacement motor drives the battery hook to rotate via the rotating shaft, the battery hook rotates to a vertical state to disengage from the battery, and the battery hook rotates to a horizontal state to contact the battery.

[0010] As a preferred solution for the drone battery replacement in-place detection device, the in-place detection components are provided with two groups, the two groups of in-place detection components are symmetrical to the center line of the frame, and the two groups of in-place detection components correspond to the drone battery slots.

[0011] As a preferred solution of the device for detecting the position of the battery replacement in a drone, the buffer assembly includes a first buffer spring, one end of which is connected to the rotating shaft, and the other end of which is connected to the battery hook.

[0012] As a preferred solution of the device for detecting the arrival of a battery replacement in a drone, the arrival detection component includes a piston, the piston is connected to a second buffer spring, and the end of the piston is connected to a detection sensor.

[0013] As a preferred solution for the device for detecting the replacement of batteries in the unmanned aerial vehicle, the detection sensor adopts a micro switch, and the micro switch contacts or disengages from the battery to send a contact signal.

[0014] As a preferred solution for the device for detecting when a battery is replaced in place in a drone, there is a preset floating stroke between the battery hook and the rotating shaft.

[0015] As a preferred solution of the drone battery replacement arrival detection device, it also includes a controller, and the drive motor, battery replacement motor and arrival detection component are all electrically connected to the controller, and the controller is used to control the position of the battery replacement mechanism and the rotation of the battery replacement motor.

[0016] As a preferred solution of the device for detecting the battery placement of a drone, the controller is also used to determine the placement status of the battery entering the drone battery slot according to the signal of the placement detection component.

[0017] The present invention has the following advantages: the driving motor is connected to the battery replacement mechanism through a linear module; the battery replacement mechanism includes a frame, the frame is connected to the linear module, the side of the frame is provided with a battery replacement motor, the battery replacement motor is connected to a rotating shaft, the end of the rotating shaft is connected to a buffer assembly, and the buffer assembly is connected to a battery hook; the end of the frame is connected to an in-place detection assembly, the driving motor drives the in-place detection assembly forward or backward through the linear module, the in-place detection assembly advances to carry the battery to be replaced to the battery slot of the drone; the in-place detection assembly retreats to allow the battery hook to move the battery entering the drone battery slot, and the battery hook moves the battery entering the drone battery slot to allow the in-place detection assembly to be separated from the battery. The present invention can not only push the drone battery into the drone battery slot, but also detect the battery not in place due to the failure of the buckle device to play a fixing role, avoid the battery falling risk during the subsequent drone take-off and mission execution, and make the drone battery replacement safer and more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0019] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0020] Figure 1 This is a schematic diagram of the structure of a battery replacement detection device for a drone provided in an embodiment of the present invention;

[0021] Figure 2 This is a schematic structural diagram of the initial state of the device for detecting the replacement of batteries in place in a drone provided in an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of the pull-back of the battery replacement detection device for a drone provided in an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of pushing a battery in a battery replacement detection device for a drone provided in an embodiment of the present invention;

[0024] Figure 5 This is a detection action flow chart of the drone battery replacement arrival detection device provided in an embodiment of the present invention.

[0025] In the figure, 1. drive motor; 2. linear module; 3. battery replacement mechanism; 4. frame; 5. battery replacement motor; 6. rotating shaft; 7. buffer assembly; 8. battery hook; 9. in-place detection assembly; 10. drone battery slot; 11. piston; 12. detection sensor; 13. battery. DETAILED DESCRIPTION

[0026] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1 , a device for detecting the replacement of a battery in place of a drone is provided, comprising a driving motor 1, wherein the driving motor 1 is connected to a battery replacement mechanism 3 through a linear module 2, and the driving motor 1 is a servo motor; the battery replacement mechanism 3 comprises a frame 4, wherein the frame 4 is connected to the linear module 2, and a battery replacement motor 5 is arranged on the side of the frame 4, wherein the battery replacement motor 5 adopts a stepping motor, and the battery replacement motor 5 is connected to a rotating shaft 6, wherein a buffer component 7 is connected to the end of the rotating shaft 6, and wherein the buffer component 7 is connected to a battery hook 8;

[0028] The end of the frame 4 is connected to an in-place detection component 9, and the drive motor 1 drives the in-place detection component 9 to move forward or backward through the linear module 2. The in-place detection component 9 moves forward to carry the battery 13 to be replaced to the drone battery slot 10; the in-place detection component 9 moves backward to allow the battery hook 8 to move the battery 13 entering the drone battery slot 10, and the battery hook 8 moves the battery 13 entering the drone battery slot 10 to allow the in-place detection component 9 to detach from the battery 13.

[0029] Assistance Figure 2 , Figure 3 and Figure 4In this embodiment, the battery replacement motor 5, the rotating shaft 6, the buffer assembly 7 and the battery hook 8 are each provided with two groups, and the two groups of the battery replacement motor 5, the rotating shaft 6, the buffer assembly 7 and the battery hook 8 are distributed on both sides of the frame 4. The battery replacement motor 5 drives the battery hook 8 to rotate through the rotating shaft 6, and the battery hook 8 rotates to a vertical state to disengage from the battery 13, and the battery hook 8 rotates to a horizontal state to contact the battery 13. The in-place detection assembly 9 is provided with two groups, and the two groups of the in-place detection assembly 9 are symmetrical to the center line of the frame 4, and the two groups of the in-place detection assembly 9 correspond to the drone battery slot 10. The battery hook 8 can rotate driven by the battery replacement motor 5. When the battery is to be replaced, the battery hook 8 rotates to a horizontal direction, so that the battery 13 can be pulled; when the battery hook 8 rotates to a vertical direction, the battery hook 8 can be disengaged from the battery 13, so as to evacuate. The symmetrical design of the battery replacement motor 5, the rotating shaft 6, the buffer assembly 7 and the battery hook 8 can adapt to the battery replacement of the dual batteries 13 of the drone and perform battery replacement detection at the same time.

[0030] Specifically, the buffer assembly 7 includes a first buffer spring, one end of which is connected to the rotating shaft 6, and the other end of which is connected to the battery hook 8. There is a preset floating stroke between the battery hook 8 and the rotating shaft 6. Since the first buffer spring is connected to the battery hook 8, there is a certain floating stroke between the battery hook 8 and the rotating shaft 6, and it is a flexible mechanism, which reduces the probability of damaging the device.

[0031] Specifically, the in-position detection assembly 9 includes a piston 11, the piston 11 is connected to a second buffer spring, and the end of the piston 11 is connected to a detection sensor 12. The detection sensor 12 adopts a micro switch, and the micro switch contacts or disengages from the battery 13 to send a contact signal. The piston 11 cooperates with the second buffer spring to flexibly push the battery 13, and the battery 13 contact surface of the piston 11 is installed with a micro switch to detect whether it is in contact with the battery 13; when the battery 13 is pushed, the piston 11 contacts the battery 13 to trigger the micro switch; when the piston 11 comes back, the piston 11 is separated from the battery 13, and the micro switch has no signal.

[0032] In this embodiment, a controller is also included, and the drive motor 1, the battery replacement motor 5 and the in-place detection component 9 are all electrically connected to the controller, and the controller is used to control the position of the battery replacement mechanism 3 and the rotation of the battery replacement motor 5. The controller is also used to determine the in-place status of the battery 13 entering the drone battery slot 10 according to the signal of the in-place detection component 9. When the host system gives the drone an instruction to install the battery 13, the position information is controlled by the controller to complete the battery replacement and detection actions, and the actions are performed serially. If an error occurs in a certain step, such as the inability to reach the specified position, the entire process is considered to have failed, and the unfinished actions are reported to the host computer. If all the sequential executions are completed, the normal execution end information is reported to the host computer.

[0033] See also Figure 2 , Figure 3 , Figure 4 and Figure 5 , the action process of the present invention is as follows:

[0034] The initial state is set as that there is already a battery 13 in the battery replacement mechanism 3. At this time, both battery hook claws 8 are in a horizontal state (hereinafter referred to as the horizontal state is referred to as screwing in, and the vertical state is referred to as screwing out), that is, the battery 13 can be hooked and pulled.

[0035] Step 1: The driving motor 1 drives the battery replacement mechanism 3 from the initial position s0 to the battery 13 pushing position s1 (the position where the battery 13 is pushed into the drone battery slot 10);

[0036] Step 2: The driving motor 1 drives the battery replacement mechanism 3 to move from the battery 13 pushing position s1 to a position s2 where the piston 11 is separated from the battery 13 after the battery 13 is inserted and the battery 13 is pulled back;

[0037] Step three: If the battery 13 has been pushed into place at this time, the buckle in the battery 13 slot (existing technology) will lock the battery 13, and the battery hook 8 is connected to the rotating shaft 6 by a first buffer spring. After pulling back, the first buffer spring stretches, and the piston 11 will separate from the battery 13. At this time, there is no signal from the microswitch on the piston 11. If there is no signal from the microswitches on both sides, it means that the batteries 13 on both sides have been pushed into place, and there is no danger of the battery 13 falling off. Then move back to the battery 13 pushing position s1. If one or two microswitches have a signal, it means that the battery 13 contacted by the microswitch has not been retracted into place, and the action of step 2 needs to be repeated. If the battery 13 is set to be pushed into place after n (settable) times, the fault information is reported to the upper system.

[0038] Step 4: After the battery 13 is detected in place and pushed back in step 3 above, the battery replacement motor 5 drives the two battery hooks 8 to rotate out, and then the driving motor 1 drives the battery replacement mechanism 3 from the battery 13 pushing position s1 to the initial position s0, withdraws from the aircraft battery replacement area, and reports the completion signal to the upper system, and the UAV can take off to perform the mission.

[0039] In summary, the driving motor 1 of the present invention is connected to the battery changing mechanism 3 through the linear module 2; the battery changing mechanism 3 includes a frame 4, the frame 4 is connected to the linear module 2, the side of the frame 4 is provided with a battery changing motor 5, the battery changing motor 5 is connected to a rotating shaft 6, the end of the rotating shaft 6 is connected to a buffer component 7, and the buffer component 7 is connected to a battery hook 8; the end of the frame 4 is connected to an in-place detection component 9, the driving motor 1 drives the in-place detection component 9 forward or backward through the linear module 2, the in-place detection component 9 moves forward to carry the battery 13 to be replaced to the drone battery slot 10; the in-place detection component 9 moves backward to allow the battery hook 8 to move the battery 13 entering the drone battery slot 10, and the battery hook 8 moves the battery 13 entering the drone battery slot 10 to enable the in-place detection component 9 to separate from the battery 13. During use, the driving motor 1 drives the battery replacement mechanism 3 from the initial position s0 to the battery 13 pushing position s1 (the position where the battery 13 is pushed into the drone battery slot 10); the driving motor 1 drives the battery replacement mechanism 3 from the battery 13 pushing position s1 to a short pullback, which is the position s2 (the position where the battery 13 is pulled back after the battery 13 is inserted, and the piston 11 will be separated from the battery 13); if the battery 13 has been pushed into place at this time, the buckle in the battery 13 slot (existing technology) will lock the battery 13, and the battery hook 8 is connected to the rotating shaft 6 by a first buffer spring. After pulling back, the first buffer spring is stretched, and the piston 11 will be separated from the battery 13. At this time, there is no signal from the microswitch on the piston 11. If there is no signal from the microswitches on both sides, it means that the batteries 13 on both sides have been pushed into place, and there is no danger of the battery 13 falling off. Then move back to the battery 13 pushing position s1. If one or two micro switches have a signal, it means that the battery 13 contacted by the micro switch has not been retracted into place, and the battery 13 needs to be pushed again. If the battery 13 is set to be pushed into place n (settable) times and cannot be pushed into place, the fault information is reported to the upper system. After detecting that the battery 13 is in place and pushing the battery 13 back, the battery replacement motor 5 drives the two battery hooks 8 to rotate out, and then the drive motor 1 drives the battery replacement mechanism 3 from the battery 13 pushing position s1 to the initial position s0, withdraws from the aircraft battery replacement area, and reports the completion signal to the upper system, and the drone can take off to perform the mission. After the upper system gives the drone an instruction to install the battery 13, the position information is controlled by the controller to complete the battery replacement and detection actions, and the actions are performed serially. If an error occurs in a certain step, such as the inability to reach the specified position, the entire process is considered to have failed, and the unfinished actions are reported to the upper computer. If all the sequential executions are completed, the normal execution end information is reported to the upper computer. The present invention can not only push the drone battery 13 into the drone battery slot 10, but also detect the situation where the battery 13 is not in place due to the failure of the snap device to fix it, thereby avoiding the risk of the battery 13 falling off during the subsequent drone takeoff and mission execution, making drone battery replacement safer and more reliable.

[0040] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A device for detecting when a drone battery is replaced, characterized in that: The invention comprises a driving motor (1), wherein the driving motor (1) is connected to a battery replacement mechanism (3) via a linear module (2); the battery replacement mechanism (3) comprises a frame (4), wherein the frame (4) is connected to the linear module (2), a battery replacement motor (5) is arranged on the side of the frame (4), the battery replacement motor (5) is connected to a rotating shaft (6), a buffer component (7) is connected to the end of the rotating shaft (6), and the buffer component (7) is connected to a battery hook (8); The end of the frame (4) is connected to an in-place detection component (9); the drive motor (1) drives the in-place detection component (9) to move forward or backward through the linear module (2); the in-place detection component (9) moves forward to carry the battery (13) to be replaced to the drone battery slot (10); the in-place detection component (9) moves backward to enable the battery hook (8) to move the battery (13) entering the drone battery slot (10); the battery hook (8) moves the battery (13) entering the drone battery slot (10) to enable the in-place detection component (9) to be separated from the battery (13); The battery replacement motor (5), the rotating shaft (6), the buffer assembly (7) and the battery hook (8) are each provided in two groups, and the two groups of the battery replacement motor (5), the rotating shaft (6), the buffer assembly (7) and the battery hook (8) are distributed on both sides of the frame (4); The battery replacement motor (5) drives the battery hook (8) to rotate via the rotating shaft (6); the battery hook (8) rotates to a vertical state to be separated from the battery (13); and the battery hook (8) rotates to a horizontal state to contact the battery (13); The in-place detection components (9) are provided with two groups, the two groups of in-place detection components (9) are symmetrical to the center line of the frame (4), and the two groups of in-place detection components (9) correspond to the drone battery slots (10); The buffer assembly (7) comprises a first buffer spring, one end of the first buffer spring is connected to the rotating shaft (6), and the other end of the first buffer spring is connected to the battery hook (8); The in-position detection component (9) comprises a piston (11), the piston (11) is connected to a second buffer spring, and the end of the piston (11) is connected to a detection sensor (12); There is a preset floating stroke between the battery hook (8) and the rotating shaft (6); The action process is as follows: The initial state is set as a battery (13) already being in the battery replacement mechanism (3); at this time, both battery hook claws (8) are in a horizontal state, that is, the battery (13) can be hooked and pulled; Step 1: The driving motor (1) drives the battery replacement mechanism (3) from the initial position s 0 , move to the push battery (13) position 1 , the battery (13) is pushed into the position of the drone battery slot (10); Step 2: The driving motor (1) drives the battery replacement mechanism (3) to push the battery (13) from position s 1 , move to a position where the piston (11) is pulled back a short distance, which is position s2, where the piston (11) is separated from the battery (13) after the battery (13) has been inserted and the battery (13) is pulled back; Step 3: If the battery (13) has been pushed into place at this time, the buckle in the battery (13) slot locks the battery (13), and the battery hook (8) is connected to the rotating shaft (6) by a first buffer spring. After pulling back, the first buffer spring stretches, and the piston (11) will be separated from the battery (13). At this time, the micro switch on the piston (11) has no signal. If the micro switches on both sides have no signal, it means that the batteries (13) on both sides have been pushed into place and there is no danger of the battery (13) falling off. Then move back to the battery (13) pushing position s1. If one or two micro switches have a signal, it means that the battery (13) contacted by the micro switch has not been put back into place, and the action of step 2 needs to be repeated. If the battery (13) cannot be pushed into place after n times of pushing, the fault information is reported to the upper system; Step 4: After the battery (13) is detected in place and pushed back in step 3, the battery replacement motor (5) drives the two battery hooks (8) to rotate out, and then the drive motor (1) drives the battery replacement mechanism (3) to move from the battery (13) pushing position s1 to the initial position s0, withdraw from the aircraft battery replacement area, report the completion signal to the upper system, and the UAV can take off to perform the mission.

2. The device for detecting the replacement of a battery in a drone according to claim 1, characterized in that: The detection sensor (12) adopts a micro switch, and the micro switch contacts or separates from the battery (13) to send a contact signal.

3. The device for detecting the replacement of a battery in a drone according to claim 1, characterized in that: It also includes a controller, and the drive motor (1), the battery replacement motor (5) and the position detection component (9) are all electrically connected to the controller, and the controller is used to control the position of the battery replacement mechanism (3) and the rotation of the battery replacement motor (5).

4. The device for detecting the replacement of a battery in a drone according to claim 3, characterized in that: The controller is also used to determine the position of the battery (13) entering the drone battery slot (10) based on the signal of the position detection component (9).

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