A mother-daughter UAV system

Abstract

The present invention discloses a mother-daughter drone system, which relates to the technical field of drones. A mother-daughter drone system includes a daughter drone and a mother drone; a carrying platform is provided at the top of the mother drone, and an arm locking mechanism is provided on the carrying platform; the carrying platform is used for carrying the daughter drone; the arm locking mechanism is used for locking and unlocking the arms of the daughter drone. When the mother drone carries the daughter drone to a designated airspace, the arms of the daughter drone are unlocked through the arm locking mechanism to realize the release of the daughter drone to complete the reconnaissance mission. When the daughter drone completes the mission but the remaining power is not enough to return, the mother drone can be sent to carry the daughter drone back to avoid the daughter drone crashing due to power failure. Therefore, by using the mother drone to carry the daughter drone for departure and return, the power requirement of the daughter drone is effectively reduced, which is beneficial to reducing the volume of the daughter drone, thereby facilitating the improvement of the flight ability of the daughter drone in complex geographical environments.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a mother-daughter unmanned aerial vehicle system. Background Art

[0002] An unmanned aerial vehicle is an unpiloted aircraft controlled by a radio remote control device and a self-provided program control device, or is completely or intermittently autonomously operated by an on-vehicle computer. In order to facilitate the control of multiple unmanned aerial vehicles, the prior art uses a mother-daughter unmanned aerial vehicle system to control multiple unmanned aerial vehicles. However, most of the existing mother-daughter unmanned aerial vehicle systems are drone cluster control technologies or multi-aircraft collaborative alternating work. There is only information connection between the mother aircraft and the daughter aircraft, and the function of the daughter aircraft cannot be enhanced. Moreover, the daughter aircraft needs to fly to a designated airspace and return, and also needs to meet the requirement of performing tasks in the designated airspace for a long time. Therefore, the daughter aircraft has high requirements for power, and the battery occupies a large space, resulting in difficulty in further miniaturizing the existing daughter aircraft and being not conducive to flying in complex geographical environments. Summary of the Invention

[0003] The purpose of the present invention is to provide a mother-daughter unmanned aerial vehicle system to solve the problems that the daughter aircraft has high requirements for power, the battery occupies a large space, resulting in difficulty in further miniaturizing the existing daughter aircraft and being not conducive to flying in complex geographical environments.

[0004] To achieve this purpose, the present invention adopts the following technical solutions: A mother-daughter unmanned aerial vehicle system includes a daughter unmanned aerial vehicle and a mother unmanned aerial vehicle; a carrying platform is provided on the top of the mother unmanned aerial vehicle, and an arm locking mechanism is provided on the carrying platform; the carrying platform is used for carrying the daughter unmanned aerial vehicle; the arm locking mechanism is used for locking and unlocking the arms of the daughter unmanned aerial vehicle.

[0005] As an optional embodiment, the arm locking mechanism includes a base and a locking component; the base includes a supporting portion, and an arm groove with an upward opening is provided on the supporting portion; the locking component includes a driving motor and a locking rod, the driving motor is located on one side of the arm groove, and the output end of the driving motor is located at the top of the driving motor; one end of the locking rod is connected to the output end of the driving motor, and the locking rod is horizontally rotatably located above the arm groove, and the driving motor is used for driving the locking rod to rotate; the arm of the daughter unmanned aerial vehicle is inserted into the arm groove in a clearance fit manner, and the top surface of the arm of the daughter unmanned aerial vehicle is lower than the bottom surface of the locking rod.

[0006] As an optional embodiment, a positioning portion is provided on the top of the supporting portion on the side away from the driving motor, and an avoidance notch with an opening facing the driving motor is provided on the positioning portion, and the end of the locking rod away from the driving motor can be inserted into the avoidance notch in a clearance fit manner.

[0007] As an alternative embodiment, the base further includes a motor mount, and the driving motor is mounted on the motor mount.

[0008] As an alternative embodiment, the supporting portion is respectively provided with inclined guide surfaces on both sides of the opening of the arm groove, the top of the inclined guide surface is far from the arm groove, and the bottom of the inclined guide surface is close to the arm groove.

[0009] As an alternative embodiment, the carrying platform is provided with an alignment positioning portion, the bottom of the sub-unmanned aerial vehicle is provided with an alignment mating portion, and the alignment positioning portion and the alignment mating portion are in concave-convex mating.

[0010] As an alternative embodiment, the arms of the mother unmanned aerial vehicle are in an I shape, two arms of the mother unmanned aerial vehicle are respectively provided with detachable connection seats, and the connection seats are respectively provided with arm locking mechanisms.

[0011] As an alternative embodiment, the connection seat includes an upper connection portion and a lower connection portion. The upper connection portion is provided with a first installation groove with an opening facing downwards, and the front end and the rear end of the upper connection portion are respectively provided with first detachable connection portions; the lower connection portion is provided with a second installation groove with an opening facing upwards, and the front end and the rear end of the lower connection portion are respectively provided with second detachable connection portions; the first detachable connection portion and the second detachable connection portion are detachably connected, and the first installation groove and the second installation groove are opposite to form an installation cavity, and the installation cavity is fixedly sleeved on the arm of the mother unmanned aerial vehicle.

[0012] One of the above technical solutions has the following advantages or beneficial effects:

[0013] In the embodiment of the present invention, when the sub-unmanned aerial vehicle lands on the carrying platform, the arms of the sub-unmanned aerial vehicle are locked by the arm locking mechanism, so that the mother unmanned aerial vehicle can stably carry the sub-unmanned aerial vehicle. When the mother unmanned aerial vehicle carries the sub-unmanned aerial vehicle to a designated airspace, the arms of the sub-unmanned aerial vehicle are unlocked by the arm locking mechanism to realize the release of the sub-unmanned aerial vehicle to complete the reconnaissance mission. Using the mother unmanned aerial vehicle to carry the sub-unmanned aerial vehicle to a designated airspace enables the sub-unmanned aerial vehicle to fly to the designated airspace without consuming power, achieving the effect of improving the long-term mission execution of the sub-unmanned aerial vehicle. When the sub-unmanned aerial vehicle has completed the mission but the remaining power is not enough to return, the mother unmanned aerial vehicle can be sent to carry the sub-unmanned aerial vehicle back to avoid the sub-unmanned aerial vehicle crashing due to power failure. Therefore, by using the mother unmanned aerial vehicle to carry the sub-unmanned aerial vehicle for departure and return, the power demand of the sub-unmanned aerial vehicle is effectively reduced, the sub-unmanned aerial vehicle can reduce the volume of the battery, which is beneficial to reducing the volume of the sub-unmanned aerial vehicle, and thus beneficial to improving the flight ability of the sub-unmanned aerial vehicle in complex geographical environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic structural diagram of one embodiment of the present invention;

[0015] Figure 2 is a schematic top view of the mother drone in one embodiment of the present invention;

[0016] Figure 3 is a schematic view of the structure of the connecting seat in one embodiment of the present invention;

[0017] Figure 4 is a schematic view of the structure of the arm locking mechanism in one embodiment of the present invention;

[0018] Figure 5 is a schematic view of the bottom structure of the sub-drone in one embodiment of the present invention;

[0019] In the drawings: 100 - sub-drone, 110 - alignment and mating part, 200 - mother drone, 210 - carrying platform, 220 - arm locking mechanism, 230 - base, 231 - supporting part, 232 - arm groove, 233 - inclined guide surface, 234 - positioning part, 235 - avoidance notch, 236 - motor mounting seat, 240 - locking component, 241 - driving motor, 242 - locking rod, 250 - alignment and positioning part, 260 - connecting seat, 261 - upper connecting part, 262 - first mounting groove, 263 - first detachable connecting part, 264 - lower connecting part, 265 - second mounting groove, 266 - second detachable connecting part, 267 - mounting cavity. Detailed Description of the Invention

[0020] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features, used to distinguish and describe the features, without order or weight.

[0022] The following will be combined with Figures 1 to 5, A mother-daughter UAV system according to an embodiment of the present invention is described, including a daughter UAV 100 and a mother UAV 200; a carrying platform 210 is provided at the top of the mother UAV 200, and an arm locking mechanism 220 is provided on the carrying platform 210; the carrying platform 210 is used to carry the daughter UAV 100; the arm locking mechanism 220 is used to lock and unlock the arms of the daughter UAV 100. Among them, the arm locking mechanism 200 can be an electric gripper. After the daughter UAV 100 lands on the carrying platform 210, the electric gripper grabs the arm of the daughter UAV 100 to lock the daughter UAV 100, so that the mother UAV 200 can stably carry the daughter UAV 100. When it is necessary to release the daughter UAV 100, the electric gripper is opened to unlock the arm of the daughter UAV 100, so that the daughter UAV 100 can leave the carrying platform 210.

[0023] In an embodiment of the present invention, when the daughter UAV 100 lands on the carrying platform 210, the arm of the daughter UAV 100 is locked by the arm locking mechanism 220, so that the mother UAV 200 can stably carry the daughter UAV 100. When the mother UAV 200 carries the daughter UAV 100 to a specified airspace, the arm of the daughter UAV 100 is unlocked by the arm locking mechanism 220 to release the daughter UAV 100 to complete the reconnaissance mission.

[0024] Using the mother UAV 200 to carry the daughter UAV 100 to a specified airspace enables the daughter UAV 100 to fly to the specified airspace without consuming power, achieving the effect of improving the long-term mission execution ability of the daughter UAV 100. When the daughter UAV 100 has completed the mission but has insufficient remaining power to return, the mother UAV 200 can be dispatched to carry the daughter UAV 100 back to avoid the daughter UAV 100 crashing due to power failure. Therefore, by using the mother UAV 200 to carry the daughter UAV 100 for departure and return, the power requirement of the daughter UAV 100 is effectively reduced, enabling the daughter UAV 100 to reduce the volume of the battery, which is beneficial for the daughter UAV 100 to reduce its volume, and thus beneficial for improving the flight ability of the daughter UAV 100 in complex geographical environments.

[0025] In an alternative embodiment, the arm locking mechanism 220 includes a base 230 and a locking assembly 240; the base 230 includes a supporting portion 231, and the supporting portion 231 is provided with an arm slot 232 with an upward opening; the locking assembly 240 includes a driving motor 241 and a locking rod 242, the driving motor 241 is located on one side of the arm slot 232, and the output end of the driving motor 241 is located at the top of the driving motor 241; one end of the locking rod 242 is connected to the output end of the driving motor 241, and the locking rod 242 is horizontally rotatably located above the arm slot 232, and the driving motor 241 is used to drive the locking rod 242 to rotate; the arm of the sub-unmanned aerial vehicle 100 is inserted into the arm slot 232 in an interference fit manner, and the top surface of the arm of the sub-unmanned aerial vehicle 100 is lower than the bottom surface of the locking rod 242.

[0026] In this embodiment, when the sub-unmanned aerial vehicle 100 lands on the carrying platform 210, the arm of the sub-unmanned aerial vehicle 100 is inserted into the arm slot 232 from top to bottom in an interference fit manner, and the arm slot 232 is used to limit the movement of the sub-unmanned aerial vehicle 100. At the same time, the driving motor 241 drives the locking rod 242 to rotate, so that the rotating locking rod 242 rotates above the arm slot 232, realizing that the locking rod 242 covers the arm of the sub-unmanned aerial vehicle 100, achieving the effect of restricting the upward movement of the sub-unmanned aerial vehicle 100, thereby realizing the locking of the arm of the sub-unmanned aerial vehicle 100. When it is necessary to unlock the arm of the sub-unmanned aerial vehicle 100, the driving motor 241 drives the locking rod 242 to rotate and reset, so that the locking rod 242 leaves above the arm slot 232, opening the arm slot 232, realizing the unlocking of the arm of the sub-unmanned aerial vehicle 100, and removing the restriction on the upward flight of the sub-unmanned aerial vehicle 100. It should be noted that the locking assembly 240 locks the arm of the sub-unmanned aerial vehicle 100 through the driving motor 241 and the locking rod 242, and there is no need for additional transmission accessories to lock the arm of the sub-unmanned aerial vehicle 100, which has the advantages of high transmission efficiency, few failure points, simple structure and convenient control.

[0027] It should be noted that in some existing mother-daughter unmanned aerial vehicle systems, the technical solution for releasing the daughter aircraft is to regard the daughter aircraft as a part of the aerodynamic shape of the mother aircraft. After the daughter aircraft is separated from the mother aircraft, it has a great impact on the mother aircraft, which is not conducive to the flight stability of the mother aircraft. There is also the use of electromagnetic force as the release mechanism, which will affect the navigation equipment of the unmanned aerial vehicle. In this embodiment, the arm of the sub-unmanned aerial vehicle 100 is locked and unlocked through the supporting portion 231, the driving motor 241 and the locking rod 242, which has a simple structure, convenient control, and is also conducive to ensuring the flight stability of the sub-unmanned aerial vehicle 100 and the mother unmanned aerial vehicle 200, and will not affect their respective navigation equipment, effectively solving the defects existing in the prior art after the daughter aircraft is released in the mother-daughter system.

[0028] In an alternative embodiment, a positioning portion 234 is provided at the top of the supporting portion 231 on the side away from the driving motor 241. The positioning portion 234 is provided with an avoidance notch 235 with an opening facing the driving motor 241. One end of the locking rod 242 away from the driving motor 241 is fitted in the avoidance notch 235 with a clearance fit. In this embodiment, when the driving motor 241 drives the locking rod 242 to rotate and lock the arm of the sub-unmanned aerial vehicle 100, one end of the locking rod 242 away from the driving motor 241 is horizontally rotatably fitted in the avoidance notch 235, so that the locking rod 242 straddles the arm slot 232, increasing the contact area between the locking rod 242 and the arm of the sub-unmanned aerial vehicle 100, so as to avoid stress concentration when the arm of the sub-unmanned aerial vehicle 100 abuts against the locking rod 242, thereby causing damage to the arm of the sub-unmanned aerial vehicle 100. Preferably, a sensor can be provided in the avoidance notch 235 to sense whether the locking rod 242 enters the avoidance notch 235. After the arm of the sub-unmanned aerial vehicle 100 is inserted into the arm slot 232, the sensor is used to sense whether the locking rod 242 enters the avoidance notch 235 to determine whether the arm locking mechanism 220 locks the arm of the sub-unmanned aerial vehicle 100 properly.

[0029] In an alternative embodiment, the base 230 further includes a motor mounting seat 236, and the driving motor 241 is mounted on the motor mounting seat 236. By providing the motor mounting seat 236 on the base 230, the driving motor 241 mounting seat 236 can be mounted on the base 230, so as to integrate the driving component on the base 230, facilitating the installation of the arm locking mechanism 220 on the carrying platform 210 according to requirements.

[0030] In an alternative embodiment, the supporting portion 231 is respectively provided with inclined guide surfaces 233 on both sides of the opening of the arm slot 232. The top of the inclined guide surface 233 is away from the arm slot 232, and the bottom of the inclined guide surface 233 is close to the arm slot 232. In this embodiment, the supporting portion 231 increases the opening width of the arm slot 232 by respectively providing inclined guide surfaces 233 on both sides of the opening of the arm slot 232, reducing the fitting degree of the arm of the sub-unmanned aerial vehicle 100 inserted into the arm slot 232, which is conducive to the arm of the sub-unmanned aerial vehicle 100 being inserted into the arm slot 232 from top to bottom.

[0031] In an optional embodiment, the carrying platform 210 is provided with an alignment and positioning portion 250, and the bottom of the sub-drone 100 is provided with an alignment and matching portion 110, and the alignment and positioning portion 250 and the alignment and matching portion 110 are concave and convex. Specifically, in this embodiment, the top of the carrying platform 210 is provided with a relatively raised alignment and positioning portion 250, and the bottom of the sub-drone 100 is provided with a concave alignment and matching portion 110. When the sub-drone 100 lands on the carrying platform 210, the sub-drone 100 and the mother drone 200 remain stationary, and the alignment and matching portion 110 is located above the alignment and positioning portion 250; then the sub-drone 100 descends relative to the mother drone 200, so that the alignment and matching portion 110 covers the alignment and positioning portion 250, so that the sub-drone 100 lands at a preset position on the carrying platform 210, so that the arm locking mechanism 220 can lock the arm of the sub-drone 100. More specifically, the alignment and positioning portion 250 can be a raised cylinder, and the alignment and matching portion 110 can be a concave cavity that matches the alignment and positioning portion 250. In some preferred embodiments, a charging circuit board is provided inside the mother drone 200, and the outer wall of the alignment and positioning portion 250 can also be provided with a first charging contact, which is electrically connected to the charging circuit board. The inner wall of the alignment and matching portion 110 is provided with a second charging contact, which is electrically connected to the battery of the child drone 100. When the child drone 100 lands on the carrying platform 210, the first charging contact and the second charging contact can be electrically connected, allowing the mother drone 200 to charge the child drone 100.

[0032] In an optional embodiment, the arms of the mother drone 200 are in an I-shape, and the two arms of the mother drone 200 are respectively provided with detachable connecting seats 260, and the connecting seats 260 are respectively provided with arm locking mechanisms 220. Specifically, Figure 2 In the illustrated embodiment, the carrying platform 210 is composed of the wings of the mother drone 200 and the fuselage of the mother drone 200. The daughter drone 100 is equipped with four arms arranged in an X-shape. Four arm locking mechanisms 220 are provided, two each on the connecting sockets 260 on either side. In this embodiment, the arm locking mechanisms 220 are mounted on the connecting sockets 260, which are removably attached to the two arms of the mother drone 200. This simple structure facilitates the conversion of existing drones into the mother drone 200. When the connecting sockets 260 are removed from the mother drone 200, the mother drone 200 becomes a standard drone, which can be assembled as needed to meet specific usage requirements.

[0033] In an alternative embodiment, the connection base 260 includes an upper connection portion 261 and a lower connection portion 264. The upper connection portion 261 is provided with a first installation groove 262 with an opening facing downward, and first detachable connection portions 263 are respectively provided at the front end and the rear end of the upper connection portion 261. The lower connection portion 264 is provided with a second installation groove 265 with an opening facing upward, and second detachable connection portions 266 are respectively provided at the front end and the rear end of the lower connection portion 264. The first detachable connection portion 263 is detachably connected to the second detachable connection portion, and the first installation groove 262 and the second installation groove 265 are opposite to form an installation cavity 267, and the installation cavity 267 is fixedly sleeved on the arm of the mother drone 200. Specifically, in this embodiment, the first detachable connection portion 263 and the second detachable connection portion are detachably connected to the upper connection portion 261 and the lower connection portion 264 by means of a threaded connection. More specifically, when the upper connection portion 261 covers the top of the arm of the mother drone 200 through the first installation groove 262 and the lower connection portion 264 sleeves the bottom of the arm of the mother drone 200 through the second installation groove 265, the first detachable connection portion 263 is fixedly connected to the second detachable connection portion, so as to fix the connection base 260 on the arm of the mother drone 200. There is no need to provide corresponding connection holes on the mother drone 200, which ensures that it is further beneficial to modify the existing drone into the mother drone 200. Of course, in other embodiments, the first detachable connection portions at the front and rear ends of the upper connection portion 261 and the second detachable connection portions 266 at the front and rear ends of the lower connection portion 264 can also be detachably connected by means of snap fasteners.

[0034] Other components and operations of a mother-daughter drone system according to an embodiment of the present invention are known to those of ordinary skill in the art, and will not be described in detail here.

[0035] In the description of this specification, the descriptions referring to the terms "embodiment", "example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0036] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and purposes of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A mother-daughter UAV system, characterized in that: It includes a sub - drone and a mother - drone; The mother - drone carries the sub - drone for departure and return; A carrying platform is provided at the top of the mother - drone, and the carrying platform is provided with an arm locking mechanism; The carrying platform is used to carry the sub - drone; The arm locking mechanism is used to lock and unlock the arms of the sub - drone; The arm locking mechanism includes a base and a locking component; The base includes a supporting part, and an arm groove with an upward - opening is provided on the supporting part; The locking component includes a driving motor and a locking rod. The driving motor is located on one side of the arm groove, and the output end of the driving motor is located at the top of the driving motor; One end of the locking rod is connected to the output end of the driving motor, and the locking rod is horizontally rotatably located above the arm groove. The driving motor is used to drive the locking rod to rotate; The arm of the sub - drone is inserted into the arm groove in a clearance - fit manner, and the top surface of the arm of the sub - drone is lower than the bottom surface of the locking rod; The arms of the mother - drone are in an I - shape. Removable connecting seats are respectively provided on the two arms of the mother - drone, and the connecting seats are respectively provided with arm locking mechanisms; A positioning part is provided at the top of the supporting part on the side far from the driving motor. The positioning part is provided with an avoidance notch with an opening facing the driving motor, and the end of the locking rod far from the driving motor can be inserted into the avoidance notch in a clearance - fit manner; The connecting seat includes an upper connecting part and a lower connecting part. The upper connecting part is provided with a first installation groove with a downward - opening, and first detachable connecting parts are respectively provided at the front end and the rear end of the upper connecting part; The lower connecting part is provided with a second installation groove with an upward - opening, and second detachable connecting parts are respectively provided at the front end and the rear end of the lower connecting part; The first detachable connecting part is detachably connected to the second detachable connecting part, and the first installation groove and the second installation groove are opposite to form an installation cavity, and the installation cavity is fixedly sleeved on the arm of the mother - drone.

2. The mother-son UAV system according to claim 1, characterized in that: The base further includes a motor mounting seat, and the driving motor is mounted on the motor mounting seat; 3. The mother-daughter UAV system according to claim 1, characterized in that: On both sides of the opening of the arm groove of the supporting part, inclined guide surfaces are respectively provided. The top of the inclined guide surface is far from the arm groove, and the bottom of the inclined guide surface is close to the arm groove; 4. The mother-daughter UAV system according to claim 1, wherein: The carrying platform is provided with an alignment positioning part, and the bottom of the sub - drone is provided with an alignment mating part. The alignment positioning part and the alignment mating part are in a concave - convex fit.

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