Positioning mechanism, unmanned equipment base station and unmanned aerial vehicle system

Abstract

The present invention discloses a positioning mechanism, an unmanned equipment base station and an unmanned aerial vehicle system, and relates to the technical field of unmanned equipment. The positioning member can include: a parking platform, provided with a guide portion and a target position; the guide portion is used to guide the unmanned equipment to move toward the target position along the X direction; a pushing mechanism, provided with a pushing portion toward the target position; a driving device, used to drive the pushing mechanism to move; wherein, when the pushing portion is used to move in the Y direction, the pushing portion and the guide portion act together on the unmanned equipment to make the unmanned equipment move obliquely to the target position. The unmanned equipment base station includes the positioning mechanism, and the unmanned aerial vehicle system includes the positioning mechanism. The positioning mechanism, the unmanned equipment base station and the unmanned aerial vehicle system of the present invention can realize the positioning of the unmanned equipment in at least two directions through the joint action of the guide portion and the pushing portion, and through a power source, thereby reducing the positioning cost and achieving a good positioning effect.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned equipment, and in particular to a positioning mechanism, an unmanned equipment base station and an unmanned aerial vehicle system. Background Art

[0002] In recent years, the use of unmanned equipment has become increasingly widespread. Drones, a type of unmanned equipment, are used in a variety of fields, including agriculture, forestry, freight, surveying, and meteorology. Drones can carry various instruments to perform various functions. For example, plant protection drones can be equipped with sprayers to apply pesticides or water to agricultural and forestry crops, meeting their growth needs.

[0003] Existing unmanned equipment, such as drones, unmanned vehicles, and intelligent robots, are first parked in a certain parking area through the control system when parking or landing, and then the positioning mechanism is used to park the unmanned equipment at the exact target location to ensure that operations such as recovery, charging, battery replacement, and replacement of the carrying device of the unmanned equipment can be carried out smoothly.

[0004] In related technologies, unmanned vehicles are equipped with two or more drive mechanisms near their target locations. These drive mechanisms provide power to the unmanned vehicle from different directions, moving it to the target location and parking it in the middle, corner, or side of the parking area. However, this method of unmanned vehicle positioning requires the use of two or more drive mechanisms, which is costly and space-consuming. Summary of the Invention

[0005] One of the purposes of the embodiments of the present invention is to provide a positioning mechanism that can realize the positioning of unmanned equipment in at least two directions through a single power source, thereby reducing costs.

[0006] A second objective of the embodiment of the present invention is to provide an unmanned equipment base station, which can reduce the cost of parking and positioning of unmanned equipment and ensure the parking and positioning effect.

[0007] A third purpose of the embodiment of the present invention is to provide a drone system that can achieve landing and positioning of the drone through a single power source, with low cost and good positioning effect.

[0008] To achieve one of the above purposes, the present invention adopts the following technical solutions:

[0009] A positioning mechanism, comprising:

[0010] The parking platform is provided with a guide portion and a target position; the guide portion is used to guide the unmanned equipment to move toward the target position along the X direction;

[0011] a pushing mechanism, comprising a pushing portion directed toward the target position; and

[0012] a driving device, configured to drive the pushing mechanism to move so that the pushing portion moves toward the target position along the Y direction;

[0013] The pushing portion is used to apply a force in the X direction to the unmanned equipment when moving in the Y direction; the pushing portion and the guiding portion act together on the unmanned equipment to move the unmanned equipment to the target position.

[0014] To achieve the second of the above objectives, the present invention adopts the following technical solutions:

[0015] An unmanned equipment base station includes the positioning mechanism described in the above solution.

[0016] To achieve the third of the above objectives, the present invention adopts the following technical solutions:

[0017] A drone system includes a drone and a positioning mechanism as described in the above scheme; the drone is provided with a landing gear, and the pushing part is used to cooperate with the guiding part to move the landing gear to the target position.

[0018] The beneficial effects of the present invention are as follows: after the unmanned equipment is parked on the parking platform, the positioning mechanism cooperates with the guide portion and the push portion to adjust the position of the unmanned equipment in at least two directions through a single power source, thereby positioning the unmanned equipment at a target position and achieving precise positioning of the unmanned equipment; the positioning mechanism uses fewer power sources, reduces costs, and can reduce occupied space;

[0019] The unmanned equipment base station can reduce the cost of unmanned equipment parking and positioning, and ensure the parking and positioning effect;

[0020] The UAV system can realize the landing and positioning of the UAV through a single power source, with low cost and good positioning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0022] Figure 1 Schematic diagram of the overall structure of the positioning mechanism according to an embodiment of the present invention;

[0023] Figure 2 for Figure 1 A magnified view of part A in FIG;

[0024] Figure 3 This is a schematic diagram of the structure of the positioning platform according to an embodiment of the present invention from one angle;

[0025] Figure 4 This is a schematic structural diagram of the positioning platform according to another embodiment of the present invention from another angle;

[0026] Figure 5 This is a schematic structural diagram of the pushing mechanism according to an embodiment of the present invention from one angle;

[0027] Figure 6 This is another structural diagram of the pushing mechanism according to an embodiment of the present invention from another angle;

[0028] Figure 7 This is a schematic structural diagram of the pushing mechanism according to an embodiment of the present invention from another angle;

[0029] Figure 8 A schematic diagram of the coordination relationship of the positioning mechanism according to an embodiment of the present invention;

[0030] Figure 9 A top view of a positioning mechanism according to one embodiment of the present invention;

[0031] Figure 10 A top view of a positioning mechanism according to another embodiment of the present invention;

[0032] Figure 11 This is one of the schematic diagrams of the positioning operation of the positioning mechanism according to one embodiment of the present invention;

[0033] Figure 12 for Figure 11 A magnified view of part B in FIG;

[0034] Figure 13 This is a second schematic diagram of the positioning operation of the positioning mechanism according to one embodiment of the present invention;

[0035] Figure 14 This is a second schematic diagram of the positioning operation of the positioning mechanism according to one embodiment of the present invention;

[0036] In the figure: 10. Parking platform; 11. Main platform body; 111. Guide part; 1111. First guide surface; 1112. Second guide surface; 112. Target position; 12. Mounting part; 20. Pushing mechanism; 21. Pushing part; 211. First pushing structure; 212. Second pushing structure; 22. Bending plate; 23. Mounting groove; 30. Driving device; 311. Screw rod body; 312. Screw nut; 32. Motor; 41. Driving wheel; 42. Driven wheel; 43. Synchronous belt; 90. Unmanned equipment; 91. Parking positioning structure. DETAILED DESCRIPTION

[0037] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present invention more clearly understood, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the described embodiments are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0038] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected" and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; 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 the present invention in specific circumstances.

[0039] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0040] In the related art, the following solutions are generally used to position the unmanned equipment 90: the first is to use four levers to push toward the middle from the front, back, left, and right directions to clamp the unmanned equipment 90 in the middle position; the second is to set a conical cylinder, and when the unmanned equipment 90 stops in the conical cylinder, the unmanned equipment 90 slides to the bottom of the conical cylinder.

[0041] However, in the first positioning solution, multiple power sources are required to drive the lever, so the cost is relatively high; in the second positioning solution, the bottom structure of the unmanned equipment 90 is not easy to adapt to the conical tube, and there are high limitations. For the unmanned equipment 90 with multiple tripods at the bottom, multiple conical tubes are required to simultaneously position the multiple tripods. Although this positioning method has low cost, it has very high requirements for the parking control accuracy of the unmanned equipment 90, and it has a certain correlation with the spacing between the drone tripods. The smaller the tripod spacing, the smaller the conical tube, and the higher the control accuracy requirement for the drone. In addition, the friction between some unmanned equipment 90 and the conical tube surface is large, and it is necessary to add components such as ball bearings to the bottom of the unmanned equipment 90 to achieve smooth sliding positioning, but adding components such as ball bearings will affect the parking of the unmanned equipment 90 in other positions.

[0042] In view of this, the present invention provides a positioning mechanism, which can be used to further accurately position the unmanned equipment 90 parked on the parking platform 10. After the positioning mechanism accurately positions the unmanned equipment 90, it is convenient to recover the unmanned equipment 90, and it is convenient to charge the unmanned equipment 90, replace the battery, disassemble the carrying device, replace the carrying device, install the carrying device, add operating materials, and perform maintenance, which is conducive to the automatic management of the unmanned equipment 90.

[0043] The positioning mechanism of the present invention can adjust and position the unmanned equipment 90 in two directions through a single power source, thereby reducing costs, occupying little space, and having wider applicability.

[0044] The unmanned equipment 90 may be, but is not limited to, a drone, an intelligent robot, or an unmanned vehicle.

[0045] like Figures 1 to 14 As shown, in one embodiment of the positioning mechanism of the present invention, the positioning mechanism includes a parking platform 10, a pushing mechanism 20 and a driving device 30;

[0046] The parking platform 10 is provided with a guide portion 111 and a target position 112. The guide portion 111 is used to guide the unmanned device 90 to move along the X direction toward the target position 112. That is, when the unmanned device 90 stops at the guide portion 111, it can move in the X direction under the guidance of the guide portion 111 to approach the target position 112.

[0047] A pushing portion 21 is provided on the side of the pushing mechanism 20 close to the target position 112. The pushing mechanism 20 is used to move above the parking platform 10 to push the unmanned equipment 90 above the parking platform 10. The pushing portion 21 is driven to move relative to the target position 112 along the Y direction to approach or move away from the target position 112.

[0048] The target position 112 push portion 21 driving device 30 is used to drive the pushing mechanism 20 to move so that the pushing portion 21 moves in the Y direction;

[0049] The pushing portion 21 is used to cooperate with the guiding portion 111 so that when the pushing portion 21 moves in the Y direction, a force in the X direction is applied to the unmanned device 90 to assist and strengthen the guiding effect of the guiding portion 111, so that the unmanned device 90 can move to the target position 112 through the joint action of the guiding portion 111 and the pushing portion 21.

[0050] In this embodiment, the movement of the pushing portion 21 in the Y direction is converted into an oblique movement of the unmanned device 90 to cooperate with the guide portion 111 to achieve the positioning of the unmanned device 90.

[0051] When the unmanned device 90 is parked on the parking platform 10, it is generally in contact with the parking platform 10 via the parking positioning structure 91. The parking positioning structure 91 supports the unmanned device 90 and adjusts the position of the parking positioning structure 91 to achieve the positioning of the entire unmanned device 90. The target position 112 of the parking platform 10 refers to the target position 112 to which the parking positioning structure 91 needs to be moved when the unmanned device 90 is parked to complete the positioning of the entire unmanned device 90, so as to facilitate subsequent operations such as charging, battery replacement, and replacement of the carrying device.

[0052] When the unmanned equipment 90 is provided with a parking positioning structure 91, a matching target position 112 is formed on the parking platform 10. At least one guide portion 111 cooperates with at least one pushing portion 21 to guide and move the parking positioning structure 91 to the target position 112, thereby realizing the positioning of the entire unmanned equipment 90.

[0053] When the unmanned equipment 90 is equipped with two or more parking and positioning structures 91, the target positions 112 formed on the parking platform 10 can be the same as the total number of parking and positioning structures 91, or the number of target positions 112 can be less than the total number of parking and positioning structures 91, as long as the positioning of the entire equipment can be achieved. Each target position 112 is guided and positioned by a set of positioning components, each of which includes at least one guide portion 111 and at least one push portion 21. Different guide portions 111 in different positioning components can be located on the same push mechanism 20.

[0054] This embodiment does not limit the form of the target position 112. Each target position 112 can be an area, a line, or a point. When the target position 112 is an area, the area can be, but is not limited to, a plane or an arc surface. When the target position 112 is a line, the target position 112 can be, but is not limited to, a straight line or an arc. There can be one or more target positions 112 on the parking platform 10.

[0055] It should be noted that Figure 9 、 Figure 10 The position of the target position 112 is indicated by a dotted line in FIG. 1 , but the target position 112 is not limited to the position of the dotted line.

[0056] The positioning mechanism of the present invention, when accurately positioning the unmanned equipment 90 parked on the parking platform 10, can not only adjust the position of the unmanned equipment 90 in one direction through the pushing part 21, but also enhance the guiding effect of the guide part 111 when the pushing part 21 moves to adjust the position of the unmanned equipment 90 in another direction. The guide part 111 cooperates with the pushing part 21 to adjust the position of the unmanned equipment 90 in at least two directions through a power source, so as to position the unmanned equipment 90 to the target position 112, thereby realizing accurate positioning of the unmanned equipment 90; the number of power sources used by the positioning mechanism is reduced, the cost is reduced, and the space occupied can be reduced.

[0057] The unmanned equipment 90 that has completed positioning may be located in the middle area of the parking platform 10, in an area close to the end of the parking platform 10, or in other locations.

[0058] In one embodiment of the positioning mechanism of the present invention, the pushing mechanism 20 is arranged in the following manner:

[0059] like Figure 1 As shown, the pushing mechanism 20 is disposed above the parking platform 10 and is slidably connected to the parking platform 10 . The pushing mechanism 20 can move relative to the parking platform 10 to drive the pushing portion 21 to move relative to the target position 112 along the Y direction.

[0060] In other embodiments, the pushing mechanism 20 and the parking platform 10 can also be configured as relatively independent structures, that is, there is no need for a connection between the pushing mechanism 20 and the parking platform 10. When the unmanned equipment 90 needs to be positioned, the pushing mechanism 20 is driven to the top of the parking platform 10. When the unmanned equipment 90 does not need to be positioned, the pushing mechanism 20 can be driven to the side of the parking platform 10.

[0061] In one embodiment of the positioning mechanism of the present invention, the X direction and the Y direction are two directions perpendicular to each other in the horizontal direction of the parking platform.

[0062] It should be noted that the X direction and the Y direction are not limited to being defined as two directions perpendicular to each other. As long as it can be achieved that when the pushing part 21 pushes the unmanned device 90, one of the pushing force components acting on the unmanned device 90 is the same as the X direction, the thrust of the pushing part 21 can be used to enhance the guiding effect of the guide part 111 on the unmanned device 90, and the other pushing force component acting on the unmanned device can realize the adjustment and positioning of the unmanned device 90 in another direction.

[0063] In one embodiment of the positioning mechanism of the present invention, in order to enhance the active guiding effect of the guide portion 111 on the unmanned device 90 and reduce the control accuracy requirements of the control system when the unmanned device 90 is parked, the guide portion 111 is configured as follows:

[0064] The guide portion 111 includes a guide head end and a guide tail end; in the vertical direction of the parking platform 10, the guide tail end is located below the guide head end; in the X direction of the parking platform 10, the guide tail end is close to the target position 112 relative to the guide head end. The guide portion 111 is used to guide the unmanned equipment 90 toward the guide tail end so that the unmanned equipment 90 located on the guide portion 111 approaches the target position 112.

[0065] In this embodiment, the unmanned equipment 90 located at the guide portion 111 has a tendency to move toward the guide end under the action of gravity to approach the target position 112 .

[0066] In this embodiment, the vertical direction of the parking platform 10 is defined as the Z direction.

[0067] In this embodiment, the guide portion 111 is inclined from top to bottom toward the target position 112. The guide portion 111 provides guidance for the unmanned device 90 in the X direction, leveraging the weight of the unmanned device 90. Under the guidance of the guide portion 111, the unmanned device 90 can already move in the Z and X directions. Furthermore, when the push portion 21 pushes the unmanned device 90, it can also provide thrust in the Y and X directions. This thrust from the push portion 21 further strengthens the guiding effect of the guide portion 111 on the unmanned device 90. The push portion 21 and the guide portion 111 work together to achieve multi-directional positioning of the unmanned device 90 using a single power source.

[0068] In addition, the pushing portion 21 acts on the unmanned device 90, making it easier for the unmanned device 90 to slide downward in the X direction under the action of gravity. During the process of the unmanned device 90 sliding along the guide portion 111, the pushing portion 21 is more likely to push the unmanned device 90 in the Y direction. That is, the pushing portion 21 and the guide portion 111 work together to cooperate with each other to achieve reliable positioning of the unmanned device 90 under a simple structure.

[0069] This positioning method can ensure that the guide part 111 effectively guides the unmanned equipment 90 without adding a ball component at the bottom of the unmanned equipment 90, reducing the parking control accuracy requirements for the unmanned equipment 90, and has a wider range of applications and occupies a smaller area.

[0070] In this embodiment, the guide portion 111 is a guide inclined surface.

[0071] In other embodiments, the surface of the guide portion 111 may or may not be a plane, and may be a curved surface, etc., as long as the guide portion 111 can cooperate with the pushing portion 21 to move the unmanned device 90 along the X direction and the Y direction.

[0072] In other embodiments, the direction of magnetic attraction or magnetic repulsion may also be used to provide a guiding force for the unmanned device 90 that has landed on the guide portion 111 to move toward the target position 112 .

[0073] In one embodiment of the positioning mechanism of the present invention, Figure 1 、 Figure 2 、 Figure 8 As shown, on the basis of configuring the guide portion 111 to be tilted downward to utilize gravity to provide guiding power to the unmanned equipment 90, in order to reasonably set the guide portion 111 and ensure the guiding effect, the parking platform 10 is set in the following manner:

[0074] The guide portion 111 includes a first guide surface 1111 and a second guide surface 1112 ;

[0075] A parking positioning structure 91 is provided at the bottom of the unmanned device 90. When the unmanned device 90 is an unmanned aerial vehicle, the parking positioning structure 91 can be a support leg or a support frame. By completing the positioning of the parking positioning structure 91, the positioning of the unmanned device 90 is completed.

[0076] The X direction includes an X1 direction and an X2 direction which are opposite to each other. In this embodiment, the X1 direction is the right direction of the parking platform 10, and the X2 direction is the left direction of the parking platform 10. When the parking positioning structure 91 stops at the first guide surface 1111, the target position 112 is located on the right side of the unmanned equipment 90, and the parking positioning structure 91 moves rightward to the target position 112 under the guidance of the first guide surface 1111 and the push of the pushing mechanism 20. When the parking positioning structure 91 stops at the second guide surface 1112, the target position 112 is located on the left side of the parking positioning structure 91, and the parking positioning structure 91 moves leftward to the target position 112 under the guidance of the first guide surface 1111 and the push of the pushing mechanism 20.

[0077] In other embodiments, the X1 direction may be the left direction of the parking platform 10 , and the X2 direction may be the right direction of the parking platform 10 ; and one of the X1 direction and the X2 direction may be the front direction of the parking platform 10 , and the other may be the rear direction of the parking platform 10 .

[0078] In this way, by setting the first guide surface 1111 and the second guide surface 1112 that are inclined in opposite directions, the parking positioning structure 91 of the unmanned equipment 90 can be moved to the target position 112 regardless of whether it lands on the first guide surface 1111 or the second guide surface 1112; compared with setting only one guide surface on one side of the target position 112, in this embodiment, the first guide surface 1111 and the second guide surface 1112 cooperate to provide a larger parking area for the unmanned equipment 90, and also avoid the guide part 111 occupying too large a height of the parking platform 10, thereby ensuring the effective inclination angle of the guide part 111 and the mobile guiding effect provided by the guide part 111 to the unmanned equipment 90.

[0079] In this embodiment, the parking platform 10 includes a main platform body 11, and the guide portion 111 is a groove provided on the main platform body 11. The bottom end of the first guide surface 1111 is connected to the bottom end of the second guide surface 1112 to form a groove. The opening of the groove is formed at the top of the main platform body 11. When the unmanned equipment 90 is parked on the parking platform 10, the parking positioning structure 91 of the unmanned equipment 90 falls into the groove. With the cooperation of the first guide surface 1111 and the pushing portion 21, or with the cooperation of the second guide surface 1112 and the pushing portion 21, the parking positioning structure 91 of the unmanned equipment 90 is moved and positioned to the target position 112 in the groove.

[0080] In this embodiment, the bottom end of the first guide surface 1111 is connected to the bottom end of the second guide surface 1112 , and the guide portion 111 is a guide groove.

[0081] It should be noted that the bottom end of the first guide surface 1111 and the bottom end of the second guide surface 1112 can be connected to each other in a superimposed manner, or can be indirectly connected through a positioning surface. The positioning surface can be configured to match the shape of the parking positioning structure 91 of the unmanned equipment 90. For example, the positioning surface can be a curved surface or a flat surface (such as Figure 3 、 Figure 4 、 Figure 8 shown).

[0082] In this embodiment, the edges of the groove of the guide portion 111, that is, the top of the first guide surface 1111 and the top of the second guide surface 1112 can be rounded, which is conducive to the parking positioning structure 91 of the unmanned equipment 90 sliding along the rounded part into the groove of the guide portion 111.

[0083] In this embodiment, the groove is a V-shaped structure.

[0084] In other embodiments, the groove may also be a U-shaped structure, an arc-shaped structure, etc.

[0085] Since some unmanned equipment 90 are generally equipped with two parking positioning structures 91 at the bottom, the two parking positioning structures 91 are respectively arranged on opposite sides of the equipment body, while other unmanned equipment 90 are respectively equipped with parking positioning structures 91 at the four corners.

[0086] In one embodiment, in order to reliably guide and locate the unmanned device 90, the following configuration is used:

[0087] like Figures 1-4 、 Figures 8-14 As shown, the guide portion 111 is a groove, and the parking platform 10 includes two guide portions 111 spaced apart in the X direction. The guide portions 111 are parallel to each other, that is, the length directions of the guide portions 111 are the same.

[0088] In this way, when the unmanned equipment 90 includes two parking positioning structures 91, the two parking positioning structures 91 fall into the two guide part 111 grooves respectively, and the two parking positioning structures 91 are positioned and guided at the same time through the two guide part 111 grooves, achieving a more stable positioning effect and preventing the unmanned equipment 90 from spinning.

[0089] like Figure 11-14 As shown, when the unmanned equipment 90 is provided with parking positioning structures 91 at the four corner points, every two parking positioning structures 91 form a group and fall into the groove of the same guide portion 111, thereby achieving a more stable positioning effect and preventing the unmanned equipment 90 from spinning.

[0090] In this embodiment, at least one target position 112 is provided in a groove of a guide portion 111 , that is, each groove of the guide portion 111 is used for at least one parking and positioning structure 91 of the unmanned equipment 90 to fall into.

[0091] In other embodiments, the number of guide portions 111 provided on the parking platform 10 may also be three or more, and the positions and number of the guide portions 111 may be matched and set according to the parking positioning structure 91 of the unmanned equipment 90 .

[0092] In one embodiment, based on the structure of the parking platform 10 being provided with two or more guide portions 111 , the pushing mechanism 20 includes at least two pushing portions 21 spaced apart in the X direction, and the pushing portions 21 correspond to the guide portions 111 one by one.

[0093] like Figure 1 、 Figure 2 、 Figure 5 、 Figure 7 、 Figure 10-14 As shown, the pushing portion 21 includes a first pushing structure 211 and a second pushing structure 212;

[0094] When the parking and positioning structure 91 of the unmanned device 90 stops at the first guide surface 1111, the first pushing structure 211 is used to push the unmanned device 90 in the Y direction and the X1 direction, so as to act together with the first guide surface 1111 on the parking and positioning structure 91 of the unmanned device 90;

[0095] When the unmanned device 90 stops at the second guide surface 1112 , the second pushing structure 212 is used to push the unmanned device in the Y direction and the X2 direction, thereby acting together with the second guide surface 1112 on the unmanned device 90 to bring the unmanned device 90 close to the target position 112 .

[0096] The pushing portion 21 is used to push the unmanned equipment 90 , and can be an inclined surface or an edge in a prism; that is, the first pushing structure 211 can be a surface or an edge, and similarly, the second pushing structure 212 can be a surface or an edge.

[0097] In this embodiment, Figure 1 、 Figure 9 、 Figure 11-14 As shown, the pushing portion 21 on the pushing mechanism 20 is matched with the guide portion 111 on the parking platform 10 in a one-to-one correspondence;

[0098] In order to ensure effective cooperation between the guide portion 111 and the pushing portion 21, when the pushing portion 21 pushes the parking positioning structure 91 of the unmanned device 90, the unmanned device 90 can move in the direction of the guide portion 111 toward the target position 112, and to prevent the thrust of the pushing portion 21 from hindering the unmanned device 90 from moving toward the end of the guide portion 111, the pushing portion 21 is configured as follows:

[0099] The first guide surface 1111 is located on the left side of the guide portion 111, and the second guide surface 1112 is located on the right side of the guide portion 111; the first pushing structure 211 is located on the left side of the pushing portion 21; and the second pushing structure 212 is located on the right side of the pushing portion 21;

[0100] The first guide surface 1111 is tilted rightward from top to bottom; in the Y direction, the end of the first pushing structure 211 close to the target position 112 is the first pushing head end, and the end away from the target position 112 is the first pushing end end; the first pushing structure 211 is tilted rightward from the first pushing head end to the first pushing end end;

[0101] The second guide surface 1112 is tilted to the left from top to bottom; in the Y direction, the end of the second pushing structure 212 close to the target position 112 is the second pushing head end, and the end away from the target position 112 is the second pushing end end; the second pushing structure 212 is tilted to the left from the second pushing head end to the second pushing end end.

[0102] If the first propulsion structure 211 is configured to tilt leftward from the first propulsion start end to the first propulsion end, based on the first guide surface 1111 being configured to tilt rightward from top to bottom, the unmanned device 90 will move leftward under the action of the first propulsion structure 211, hindering the unmanned device 90 on the first guide surface 1111 from moving rightward to the target position 112. Therefore, in order to ensure that the first propulsion structure 211 can work together with the first guide surface 1111 to act on the unmanned device 90 and position the unmanned device 90 at the target position 112, the first propulsion structure 211 is correspondingly configured to tilt rightward from the first propulsion start end to the first propulsion end.

[0103] Similarly, the second guide surface 1112 tilts leftward from top to bottom, and the second pushing structure 212 tilts leftward from the second pushing head end to the second pushing end end, which can ensure that the unmanned equipment 90 on the second guide surface 1112 of the unmanned equipment 90 is positioned to the target position 112.

[0104] The X direction and the Y direction are perpendicular to each other. In this embodiment, the X direction includes an X1 direction and an X2 direction that are opposite to each other, and the Y direction includes a Y1 direction and a Y2 direction that are opposite to each other.

[0105] In this embodiment, the X1 direction is the right direction, the X2 direction is the left direction, the Y direction includes parallel and opposite Y1 directions and Y2 directions, the Y1 direction is the forward direction, and the Y2 direction is the backward direction. The driving device 30 can drive the pushing mechanism 20 located at the rear end of the parking platform 10 to move in the Y1 direction to approach the target position 112.

[0106] The following provides an example of the positioning process of the unmanned device 90:

[0107] When the parking and positioning structure 91 of the unmanned device 90 stops at the first guide surface 1111, the pushing mechanism 20 moves forward. Since the first pushing structure 211 is tilted to the right from front to back, the parking and positioning structure 91 of the unmanned device 90 is pushed forward on the one hand and pushed to the right on the other hand. At the same time, the first guide surface 1111 is tilted to the right from top to bottom. Therefore, the parking and positioning structure 91 of the unmanned device 90 can move downward and rightward under the action of gravity. Under the combined action of the first pushing structure 211 and the first guide surface 1111, the unmanned device 90 moves forward, rightward, and downward to approach the target position 112.

[0108] Similarly, when the parking positioning structure 91 of the unmanned equipment 90 stops at the second guide surface 1112 , under the joint action of the first pushing structure 211 and the second guide surface 1112 , the unmanned equipment 90 moves forward, left, and downward to approach the target position 112 .

[0109] In one embodiment, in this embodiment, the parking positioning structure 91 of the unmanned equipment 90 falls to the bottom of the groove of the guide portion 111, and the unmanned equipment 90 is moved to the front end of the parking platform 10, thereby completing the positioning of the unmanned equipment 90.

[0110] Figures 11 to 14 In the embodiment, an example is provided in which the positioning mechanism positions the unmanned equipment 90 when the parking positioning structure 91 falls onto the first guide surface 1111 of the guide portion 111. Figure 14 In the embodiment, the unmanned equipment 90 is positioned to the front end of the parking platform 10. In other embodiments, the unmanned equipment 90 can also be positioned to other positions of the parking platform 10 according to needs.

[0111] In one embodiment, if Figure 1 、 Figure 2 、 Figure 5 、 Figure 7 As shown, the pushing portion 21 is a notch formed on a side of the pushing mechanism 20 close to the target position 112 .

[0112] The gap includes a first pushing structure 211 and a second pushing structure 212 with opposite inclination directions; the first pushing structure 211 is inclined rightward from the first pushing head end to the first pushing end end; the second pushing structure 212 is inclined leftward from the second pushing head end to the second pushing end end.

[0113] In this embodiment, Figure 14 As shown, when the unmanned device 90 is located at the target position 112 , the parking positioning structure 91 of the unmanned device 90 is stuck between the first pushing structure 211 and the second pushing structure 212 , and can also reliably keep the unmanned device 90 positioned at the current target position 112 .

[0114] In this embodiment, by arranging the first pushing structure 211 that can provide the unmanned equipment 90 with a force to move in the X1 direction, and the second pushing structure 212 that can provide the unmanned equipment 90 with a force to move in the X2 direction in the same gap, no matter whether the landing position of the unmanned equipment 90 deviates in the X1 direction or the X2 direction relative to the target position 112, it can be reliably moved and positioned to the target position 112 under the action of the pushing part 21 of the pushing mechanism 20 during the process of the driving device 30 driving the pushing mechanism 20 to move along the Y direction.

[0115] The notch is a combination of one or more of a V-shaped structure, a U-shaped structure, and an arc-shaped structure.

[0116] In one embodiment, in order to increase the adjustment area of the positioning mechanism for the unmanned device 90, reduce the control difficulty, and ensure that the unmanned device 90 that falls to the top edge of the guide portion 111 can be reliably moved and positioned to the target position 112, the guide portion 111 and the push portion 21 are arranged in any of the following ways:

[0117] The pushing portion 21 includes a pushing head end and a pushing tail end; in the X direction, the pushing head end is away from the target position 112 relative to the pushing tail end;

[0118] In the X direction, the pushing head end is flush with the guiding head end, or the pushing head end is away from the target position 112 relative to the guiding head end; when the unmanned device 90 is pushed by the pushing head end, it moves toward the direction close to the pushing end and the guiding end, so that the pushing part 21 and the guiding part 111 act together on the unmanned device 90.

[0119] In this way, when the parking positioning structure 91 of the unmanned equipment 90 stops on the guide part 111 but is adjacent to the edge of the guide part 111, or when the parking positioning structure 91 of the unmanned equipment 90 stops outside the guide part 111 but is adjacent to the guide part 111, when the pushing mechanism 20 moves forward, the parking positioning structure 91 can be pushed by the pushing part 21, and the thrust component parallel to the X direction of the pushing part 21 acts on the unmanned equipment 90, pushing the parking positioning structure 91 of the unmanned equipment 90 to the main area (non-edge area) of the guide part 111; after the parking positioning structure 91 of the unmanned equipment 90 is pushed back to the guide part 111, the guide part 111 can effectively cooperate with the pushing part 21 to ensure that the unmanned equipment 90 can reliably move to the target position 112.

[0120] In this way, it is possible to prevent the positioning mechanism from being unable to move the unmanned device 90 to the target position 112 when the parking positioning structure 91 of the unmanned device 90 falls onto the edge of the guide portion 111 .

[0121] In one embodiment of the positioning mechanism of the present invention, in order to achieve rapid positioning of the unmanned device 90 or to ensure that the unmanned device 90 remains reliably at the target position 112, the positioning mechanism is configured as follows:

[0122] The device includes two pushing mechanisms 20 spaced apart in the Y direction, the pushing portions 21 on the two pushing mechanisms 20 are arranged facing each other, and the target position 112 is located between the two pushing mechanisms 20; the Y direction includes a Y1 direction and a Y2 direction that are opposite to each other;

[0123] The driving device 30 is used to drive one of the pushing mechanisms 20 to push in the Y1 direction, and / or to drive the other pushing mechanism 20 to push in the Y2 direction, so as to position the unmanned equipment 90 between the two pushing mechanisms 20 .

[0124] When the positioning of the unmanned device 90 is completed, the unmanned device 90 is clamped between the first pushing mechanism 20 and the second pushing mechanism 20, thereby realizing the limitation of the unmanned device 90 in the Y1 direction and the Y2 direction, and then through the cooperation of the first guide part 111 and the second guide part 111, the limitation of the unmanned device 90 in the X1 direction and the Y2 direction is realized, and then through the action of gravity, the limitation of the unmanned device 90 in the Z direction is realized. In this way, after the positioning mechanism adjusts the unmanned device 90 to the target position 112, the unmanned device 90 can be reliably restricted and maintained at the target position 112, ensuring the smooth charging of the subsequent operations of the unmanned device 90.

[0125] Of the two pushing mechanisms 20, one can be movable while the other is fixed, or the two pushing mechanisms 20 can be moved toward each other. When the two pushing mechanisms 20 approach each other under the drive of the drive device 30, the unmanned device 90 can be positioned in the center area of the parking platform 10. When one of the two pushing mechanisms 20 is movable while the other is fixed, the fixed pushing mechanism 20 can position the unmanned device 90 at the front or rear end of the parking platform 10, or can act on the parking positioning structure 91 of the unmanned device 90 to maintain the unmanned device 90 at the target position 112.

[0126] Of course, in other embodiments, the number of the pushing mechanisms 20 may also be one or more.

[0127] In one embodiment of the positioning mechanism of the present invention, the drive device 30 is a linear drive device 30, which is in transmission connection with the propulsion mechanism 20. The linear drive device 30 can achieve linear motion of the propulsion mechanism 20 along the Y direction. The linear drive device 30 and the propulsion mechanism 20 are in transmission connection with each other, which can improve driving efficiency.

[0128] In this embodiment, the linear drive device 30 is connected to the pushing mechanism 20 in a transmission manner, and can drive the pushing mechanism 20 to move in the Y1 direction and the Y2 direction. In this way, the unmanned equipment 90 can be positioned and limited, and the pushing mechanism 20 can be reset to facilitate the evacuation of the unmanned equipment 90.

[0129] In one embodiment of the positioning mechanism of the present invention, the driving mechanism 20 is reliably driven by a power source, and the linear drive device 30 is configured as follows:

[0130] The linear drive device 30 includes a screw assembly and a motor 32; the screw assembly includes a screw body 311 and a screw nut 312 that is sleeved on the outside of the screw body 311 and can move along the length direction of the screw body 311 when the screw body 311 rotates; the screw nut 312 is connected to the driving mechanism 20;

[0131] The motor 32 is in transmission connection with the screw rod 311 to drive the screw rod 311 to rotate, thereby driving the pushing mechanism 20 to move along the length direction of the screw rod 311; the length direction of the screw rod 311 is the Y direction;

[0132] The motor 32 is in transmission connection with the screw rod body 311 to drive the screw rod body 311 to rotate, so that the screw nut 312 moves along the length direction of the screw rod body 311 , thereby driving the pushing mechanism 20 to move along the length direction of the screw rod body 311 .

[0133] It should be noted that the principle of screw transmission is a conventional technology in this field and will not be described in detail here.

[0134] In this embodiment, the motor 32 cooperates with the screw rod to realize the linear motion driving of the pushing mechanism 20, which has a simple structure, low cost, large transmittable axial force and high positioning accuracy.

[0135] In other embodiments, a driving device 30 such as a cylinder or a hydraulic motor may be used to drive the pushing mechanism 20 to move.

[0136] In one embodiment of the positioning mechanism of the present invention, when the pushing mechanism 20 is provided with two or more pushing portions 21 spaced apart in the longitudinal direction, in order to ensure that the driving device 30 can provide a reliable and stable thrust to the pushing mechanism 20 when the same power source is used, the pushing mechanism 20 is driven in the following manner:

[0137] The driving device 30 is provided with two sets of screw assemblies, and the two sets of screw assemblies are connected by a synchronous transmission assembly. The two sets of screw assemblies are respectively arranged at the opposite ends in the length direction of the driving mechanism. In this way, when the motor 32 drives one screw assembly to work actively, the other screw assembly works passively, and the opposite ends of the pushing mechanism 20 move synchronously in the Y direction, thereby ensuring that the multiple pushing parts 21 on the pushing mechanism 20 move synchronously in the Y direction, so as to reliably move the unmanned equipment 90 to the target position 112.

[0138] In this embodiment, the driving device 30 is configured in the following manner:

[0139] The driving device 30 includes two sets of screw rod assemblies, and the two screw nuts 312 in the two sets of screw rod assemblies are fixedly connected to the opposite ends of the length direction of the pushing mechanism 20, that is:

[0140] The screw nut 312 in one screw assembly is connected to and relatively fixed to one end of the pushing mechanism 20 in the length direction, and the screw nut 312 in the other screw assembly is connected to and relatively fixed to the other end of the pushing mechanism 20 in the length direction;

[0141] The positioning mechanism also includes a synchronous transmission assembly, wherein the screw rod body 311 in one screw assembly is synchronously connected to the screw rod body 311 in another screw assembly through the synchronous transmission assembly; the motor 32 is connected to the screw rod body 311 in its screw assembly.

[0142] In this embodiment, the synchronous transmission assembly includes a synchronous wheel, a synchronous belt 43 and a driven wheel 42. The synchronous wheel is connected to its lead screw rod body 311, and the driven wheel 42 is connected to the other lead screw rod body 311. The two ends of the synchronous belt 43 are respectively sleeved on the driving wheel 41 and the driven wheel 42. When one lead screw rod body 311 rotates under the drive of the motor 32, it drives the driving wheel 41 to rotate, thereby driving the driven wheel 42 to rotate through the synchronous belt 43, thereby driving the other lead screw rod body 311 to rotate. In this way, the two lead screw nuts 312 can be moved synchronously in the Y direction, ensuring that the pushing mechanism 20 moves stably in the Y direction.

[0143] In this embodiment, the longitudinal direction of the pushing mechanism 20 is the X direction.

[0144] In other embodiments, the length direction of the pushing mechanism 20 may also be other directions.

[0145] In other embodiments, the screw nut 312 may also be connected to the middle area of the pushing mechanism 20 .

[0146] In one embodiment of the positioning mechanism of this embodiment, when the positioning mechanism includes two pushing mechanisms 20, in order to achieve the two pushing mechanisms 20 moving toward each other through the same power source, the positioning mechanism is configured in the following manner:

[0147] The screw rod body 311 is designed to include two sections of threads, and the spiral directions of the two sections are opposite. Two screw nuts 312 are sleeved on the same screw rod body 311, and the two screw nuts 312 are fixed one-to-one with the two pushing mechanisms 20. In this way, when the motor 32 drives the screw rod body 311 on the left to rotate, the screw nut 312 located at the rear side of the screw rod body 311 moves forward, and the screw nut 312 located at the front side of the screw rod body 311 moves backward. Therefore, by driving the screw rod body 311 to rotate by one motor 32, one pushing mechanism 20 can be driven forward and the other pushing mechanism 20 can be driven backward. The movement of the two pushing mechanisms 20 is achieved by a single power source, and the positioning of the unmanned device 90 in multiple directions is achieved, which is conducive to positioning the unmanned device 90 between the two pushing mechanisms 20. Compared with the movement of only one pushing mechanism 20, the positioning of the unmanned device 90 can be achieved more quickly.

[0148] In one embodiment of the positioning mechanism of the present invention, in order to ensure that the pushing mechanism 20 can stably push the unmanned device 90 and ensure that the unmanned device 90 moves along the preset path to the target position 112, the pushing mechanism 20 cooperates with the parking platform 10 through a sliding guide structure to ensure the stability of the moving path of the pushing mechanism 20. This embodiment is configured in the following manner:

[0149] The parking platform 10 includes a main platform body 11 and mounting portions 12 connected to opposite ends of the main platform body 11 in the X direction;

[0150] The pushing mechanism 20 includes a main plate portion and a bent plate portion 22 connected to opposite ends of the main plate portion, and a mounting groove 23 is formed between the bent plate portion 22 and the main plate portion;

[0151] When installing the pushing mechanism 20, the mounting portion 12 is inserted into the mounting groove 23 to realize a sliding connection between the pushing mechanism 20 and the parking platform 10; through the sliding guide cooperation between the mounting portion 12 and the mounting groove 23, the pushing mechanism 20 can move stably on the parking platform 10.

[0152] In this embodiment, the guide portion 111 is provided on the main platform 11 ; and the notch is provided on the main plate portion.

[0153] In other embodiments, the parking platform 10 and the pushing mechanism 20 may also be slidably engaged with each other through a guide rail or a roller assembly.

[0154] The present invention also proposes an unmanned equipment 90 base station, which may include a positioning mechanism as provided in any of the above embodiments.

[0155] It should be noted that this embodiment does not limit the other components included in the unmanned equipment 90 base station, which may vary according to the different functions of the unmanned equipment 90 base station. For example, the unmanned equipment 90 base station can be a charging base station, a maintenance base station, a recycling base station, a carrying device replacement base station, a material supply base station, etc.

[0156] In one embodiment of the unmanned equipment 90 base station, the unmanned equipment 90 base station further includes an operating device. The operating device may be different depending on the function of the unmanned equipment 90 base station.

[0157] In one embodiment of the base station of the unmanned equipment 90, the base station of the unmanned equipment 90 also includes an in-place detection device, which is used to detect whether the unmanned equipment 90 is parked at the target position 112. When the unmanned equipment 90 is parked at the target position 112, the controller receives the in-place information of the detection device and controls the operating device to move to a preset position to operate the unmanned equipment 90.

[0158] In one embodiment of the unmanned equipment 90 base station, the unmanned equipment 90 base station is a drone base station.

[0159] In other embodiments, the unmanned equipment 90 base station may also be an intelligent robot base station or a small unmanned vehicle base station, etc.

[0160] The present invention also provides an unmanned aerial vehicle system, which may include a positioning mechanism as provided in any of the above embodiments.

[0161] In one embodiment of the drone system of the present invention, the drone system includes the positioning mechanism provided in any of the above embodiments, and the unmanned device 90 is a drone.

[0162] In one embodiment of the drone system of the present invention, the drone includes a parking positioning structure 91. When the drone lands on the parking platform 10, the parking positioning structure 91 abuts against the parking platform 10. Under the joint action of the pushing part 21 and the guiding part 111, the parking positioning structure 91 moves to the target position 112, thereby completing the positioning of the drone.

[0163] In this embodiment, the parking and positioning structure 91 of the UAV is a landing gear; and the positioning mechanism is a helipad.

[0164] It should be noted that, in this embodiment, the model, structure and main application field of the drone are not limited.

[0165] Figure 11 In the embodiment, the arrangement of the parking and positioning structure 91 of the UAV is provided. Of course, in other embodiments, the landing gear of the UAV can also be arranged in other ways.

[0166] In one embodiment of the UAV system of the present invention, the UAV includes a flight control system, which controls the UAV to land on the guide portion 111 of the parking platform 10 .

[0167] The flight control system can land the aircraft on the guide portion 111 through positioning systems such as vision, RTK (real-time differential positioning), and GPS.

[0168] In one embodiment of the drone system of the present invention, the landing gear may be configured to cooperate with the positioning mechanism to achieve more precise positioning of the accessories.

[0169] In the description herein, it should be understood that terms such as "upper," "lower," "left," and "right" are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0170] In this specification, reference to terms such as "one embodiment" or "example" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0171] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0172] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and are not to be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will readily conceive of other specific embodiments of the present invention without inventive effort, and such embodiments will fall within the scope of protection of the present invention.

Claims

1. A positioning mechanism, characterized in that: include: The parking platform (10) is provided with a guide portion (111) and a target position (112); the guide portion (111) is used to guide the unmanned equipment (90) to move toward the target position (112) along the X direction; A pushing mechanism (20) is provided with a pushing portion (21) on a side close to the target position (112); the pushing portion (21) is driven to move relative to the target position (112) along the Y direction; the pushing portion (21) is used to act together with the guide portion (111) on the unmanned device (90) to move the unmanned device (90) to the target position (112); The pushing portion (21) is used to cooperate with the guiding portion (111) so as to apply a force in the X direction to the unmanned equipment (90) when the pushing portion (21) moves in the Y direction; The guide portion (111) includes a first guide surface (1111) and a second guide surface (1112); the X direction includes an X1 direction and an X2 direction that are opposite to each other; when the unmanned device (90) stops at the first guide surface (1111), the unmanned device (90) is adapted to move in the X1 direction under the guidance of the first guide surface (1111) to approach the target position (112); when the unmanned device (90) stops at the second guide surface (1112), the unmanned device (90) is adapted to move in the X2 direction under the guidance of the second guide surface (1112) to approach the target position (112); The parking platform (10) comprises at least two guide portions (111) spaced apart in the X direction, and the guide portions (111) are parallel to each other.

2. The positioning mechanism according to claim 1, wherein: The guide portion (111) includes a guide head end and a guide tail end; in the vertical direction of the parking platform (10), the guide tail end is located below the guide head end; in the X direction, the guide tail end is closer to the target position (112) relative to the guide head end; The guide portion (111) is used to guide the unmanned equipment (90) toward the guide end, so that the unmanned equipment (90) approaches the target position (112).

3. The positioning mechanism according to claim 1, wherein: The guide portion (111) is a groove formed on the parking platform (10), and the groove is a combination of one or more of a V-shaped structure, a U-shaped structure, and an arc-shaped structure.

4. The positioning mechanism according to claim 1, wherein: The pushing mechanism (20) comprises at least two pushing portions (21) spaced apart in the X direction, and the pushing portions (21) correspond one-to-one to the guiding portions (111).

5. The positioning mechanism according to claim 1, characterized in that: The pushing portion (21) includes a first pushing structure (211) and a second pushing structure (212); When the unmanned device (90) stops at the first guide surface (1111), the first pushing structure (211) is used to push the unmanned device (90) in the Y direction and the X1 direction, so as to act together with the first guide surface (1111) on the unmanned device (90) to make the unmanned device (90) approach the target position (112); When the unmanned device (90) stops at the second guide surface (1112), the second pushing structure (212) is used to push the unmanned device in the Y direction and the X2 direction, so as to act together with the second guide surface (1112) on the unmanned device (90) to make the unmanned device (90) approach the target position (112).

6. The positioning mechanism according to claim 5, characterized in that: The first guide surface (1111) is located on the left side of the guide portion (111), and the second guide surface (1112) is located on the right side of the guide portion (111); the first pushing structure (211) is located on the left side of the pushing portion (21); and the second pushing structure (212) is located on the right side of the pushing portion (21); The first guide surface (1111) is inclined rightward from top to bottom; in the Y direction, the end of the first pushing structure (211) close to the target position (112) is a first pushing head end, and the end away from the target position (112) is a first pushing end end; the first pushing structure (211) is inclined rightward from the first pushing head end to the first pushing end end; The second guide surface (1112) is inclined to the left from top to bottom; in the Y direction, the end of the second pushing structure (212) close to the target position (112) is the second pushing head end, and the end away from the target position (112) is the second pushing end end; the second pushing structure (212) is inclined to the left from the second pushing head end to the second pushing end end.

7. The positioning mechanism according to claim 5, characterized in that: The pushing portion (21) is a notch formed on a side of the pushing mechanism (20) close to the target position (112), and the notch is a combination of one or more of a V-shaped structure, a U-shaped structure, and an arc-shaped structure.

8. The positioning mechanism according to claim 2, characterized in that: The pushing portion (21) includes a pushing head end and a pushing tail end; in the X direction, the pushing head end is away from the target position (112) relative to the pushing tail end; In the X direction, the pushing head end is flush with the guiding head end, or the pushing head end is away from the target position (112) relative to the guiding head end; when the unmanned device (90) is pushed by the pushing head end, it moves in a direction close to the pushing end end and the guiding end end, so that the pushing part (21) and the guiding part (111) act together on the unmanned device (90).

9. The positioning mechanism according to any one of claims 1 to 8, characterized in that: The invention comprises two pushing mechanisms (20) spaced apart in the Y direction, the pushing parts (21) on the two pushing mechanisms (20) are arranged facing each other, and the target position (112) is located between the two pushing mechanisms (20); the Y direction comprises a Y1 direction and a Y2 direction which are opposite to each other; The driving device (30) is used to drive one of the pushing mechanisms (20) to push in the Y1 direction, and / or to drive the other pushing mechanism (20) to push in the Y2 direction, so as to position the unmanned equipment (90) between the two pushing mechanisms (20).

10. The positioning mechanism according to any one of claims 1 to 8, characterized in that: It also includes a driving device (30), and the driving device (30) is used to drive the pushing mechanism (20) to move relative to the target position (112) along the Y direction.

11. The positioning mechanism according to claim 10, characterized in that: The driving device (30) is a linear driving device (30), and the linear driving device (30) is transmission-connected to the pushing mechanism (20).

12. The positioning mechanism according to claim 11, characterized in that: The driving device (30) includes a screw assembly and a motor (32); the screw assembly includes a screw rod body (311) and a screw nut (312) sleeved on the outside of the screw rod body (311); the screw nut (312) is connected to the pushing mechanism (20); the length direction of the screw rod body (311) is the Y direction; The motor (32) is in transmission connection with the screw rod body (311) to drive the screw rod body (311) to rotate, so that the screw nut (312) moves along the length direction of the screw rod body (311), thereby driving the pushing mechanism (20) to move along the length direction of the screw rod body (311).

13. The positioning mechanism according to claim 12, characterized in that: The driving device (30) includes two sets of screw rod assemblies, wherein the screw rod nut (312) in one screw rod assembly is connected to one end of the pushing mechanism (20), and the screw rod nut (312) in the other screw rod assembly is connected to the other end of the pushing mechanism (20); The positioning mechanism further comprises a synchronous transmission assembly, wherein the screw rod body (311) in one screw rod assembly is synchronously transmission-connected with the screw rod body (311) in another screw rod assembly via the synchronous transmission assembly; and the motor (32) is transmission-connected with the screw rod body (311) in one screw rod assembly.

14. An unmanned equipment base station, characterized in that: Comprising a positioning mechanism as described in any one of claims 1-13.

15. A drone system, characterized in that: It comprises a drone and a positioning mechanism as described in any one of claims 1 to 13; the drone is provided with a landing gear, and the pushing portion (21) is used to cooperate with the guiding portion (111) to move the landing gear to the target position (112).

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