A marking delivery and deployment device and method for assisting unmanned aerial vehicle landing

Abstract

The present invention relates to the technical field of landing scenarios for cooperative targets dropped by unmanned aerial vehicles (UAVs), and particularly relates to a device and method for identifying and deploying for UAV-assisted landing, including a main support frame, an impact block, a rubber ring, a locking buckle, a support rod, a torsion spring, a rotating shaft, a split pin, a locking wire, and a gasket. The impact block passes through the central hole of the main support frame and can slide freely. The rubber ring is sleeved in the groove of the impact block. The locking buckle is connected to the impact block by screws. The support rod is connected to the main support frame by a rotating shaft. The split pin is used to limit the axial movement of the rotating shaft. The torsion spring passes through the rotating shaft and is placed in the inner cavity of the support rod. One end of the locking wire is fixed to the distal end of the support rod, and the other end is fixed to the gasket. The gasket is placed in the four blind holes of the main support frame. The present invention realizes the locking and unfolding of the UAV identification pattern by controlling the relationship between the gravity of the impact block, the friction of the rubber ring, and the torsion of the torsion spring.

Description

Technical Field

[0001] The present invention relates to the technical field of landing scenarios for cooperative targets dropped by unmanned aerial vehicles (UAVs), and particularly to a device and method for identifying and deploying for UAV-assisted landing. Background Art

[0002] In recent years, with the continuous development of artificial intelligence technology and robotics technology, UAVs have more abundant functions and are more intelligent. At the same time, the engineering problems faced by UAV systems have been gradually solved. Common rotor UAVs have system advantages such as small volume, high flexibility, low-altitude hovering flight, and low manufacturing cost, and have been widely used in all aspects of production and life such as military reconnaissance, post-disaster search and rescue, power line inspection, pesticide spraying, and film and television photography.

[0003] The autonomous landing methods of rotor UAVs mainly include two types. One is traditional navigation landing, and the other is visual navigation landing. In traditional navigation and positioning methods, the cumulative error of inertial navigation is relatively large and not suitable for long-term continuous operation; while GPS navigation has significantly weakened signals and is extremely vulnerable to interference in narrow spaces or environments with severe occlusion, making it inconvenient to achieve precise autonomous landing of rotor UAVs. Visual navigation landing obtains cooperative targets in the landing scenario through an on-board camera, uses computer vision and image processing technologies to detect and identify the captured identification patterns, calculates the position and attitude data of the UAV, and realizes the landing task through flight control. The environment where the actual landing task is located is usually unstructured and the texture features of the landing area are not obvious, and artificial additional cooperative targets or specific markers often need to be used. It can be seen that compared with traditional navigation methods, the visual navigation landing method has the advantages of low cost, high precision, anti-electromagnetic interference, easy system implementation, etc., and the entire landing process can be fully autonomous. Therefore, the present invention designs a device for deploying and self-unfolding cooperative targets during the landing stage of UAVs, which is used for locking and unfolding the identification pattern of the UAV during landing, is suitable for landing scenarios where the image texture features of the landing area are not obvious or artificial cooperative targets need to be dropped, and can thus achieve precise and stable landing of the UAV in a narrow space. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a device and method for identifying and deploying for UAV-assisted landing. The unfolding device is driven to unfold by the impact of free fall. When the impact block contacts the ground, the main support frame moves downward due to gravity and inertia, resulting in the release of the spacer limit. The torsion spring in the tightened state relies on the restoration of torsion to drive the support rod to unfold outward, realizing the unfolding of the UAV landing identification pattern, thereby assisting the UAV to complete precise and stable landing.

[0005] The present invention is realized through the following technical solutions:

[0006] A marking delivery and deployment device for assisting the landing of a drone, comprising: a main support frame, an impact block, a locking buckle, a rotating shaft, a support rod, a torsion spring, a locking steel wire and a gasket;

[0007] The impact block is damped and slides through the axial hole of the main support frame, and the locking buckle is provided on the top of the impact block. The top of the main support frame is rotatably connected to the support rod through a rotating shaft. The torsion spring is sleeved on the rotating shaft, and the buckles at both ends of the torsion spring are respectively abutted against the support rod and the main support frame. One end of the locking wire is fixed to the distal end of the support rod, and the other end is tied to the gasket. The gasket is pressed by the locking buckle and placed in a blind hole opened circumferentially on the top of the main support frame.

[0008] Preferably, it also includes a rubber ring, which is embedded in the groove of the impact block. The rubber ring realizes the damping force between the rubber ring and the main support frame, so as to overcome the torsion of the torsion spring before the impact block is impacted, so as to realize the tightening of the support rod.

[0009] Preferably, the locking buckle and the impact block are detachably locked by screws.

[0010] Preferably, the rotating shaft adopts a plug pin structure, and a cotter pin is inserted into the end opening of the plug pin to limit the axial movement of the rotating shaft.

[0011] Preferably, limiting grooves are respectively provided on the main support frame and the support rod for limiting the torsion spring when it is tightened.

[0012] Preferably, the support rods are arranged in four groups and are circumferentially distributed on the top of the main support frame.

[0013] Preferably, the top of the main support frame also includes an axially opened fastening groove, and the fastening groove is located at the outer edge of the axial hole, and the four groups of blind holes are circumferentially opened at the outer edge of the fastening groove.

[0014] Preferably, the torsion spring provides power for the expansion of the support rod, thereby realizing the expansion of the landing mark pattern during free fall in the air.

[0015] Preferably, the opening angle of the support rod in the locked state is achieved by adjusting the length of the locking wire, so that the deployment device can land smoothly and accurately.

[0016] The present invention also provides a technical solution for a method of using the above-mentioned marking delivery and deployment device for assisting the landing of a drone, including the following:

[0017] When the rotary-wing UAV flies to a designated position and hovers at a certain height, the deployment device is thrown out. The deployment device undergoes a free-fall motion for a certain distance in the air. Until the moment when the deployment device touches the ground, the impact block stops moving due to ground limitation. The main support frame continues to move downward under the action of gravity and inertia, breaking through the frictional resistance of the rubber ring, so that the limiting constraints of the gasket and the locking wire are released. Therefore, the support rod spreads outward under the torque action of the torsion spring, realizing the deployment of the UAV landing identification pattern. The rotary-wing UAV then uses computer vision and image processing technologies to detect and identify the captured identification pattern, and finally calculates the position and attitude data of the UAV, and conducts precise landing by controlling the flight of the UAV.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. The deployment device is driven to deploy by free-fall impact. When the impact block touches the ground, the main support frame moves downward due to gravity and inertia, resulting in the release of the gasket limit. The torsion spring in the tightened state relies on torque restoration to drive the support rod to spread outward, realizing the deployment of the UAV landing identification pattern, thereby assisting the UAV to complete precise and stable landing. That is, the present invention realizes the locking and deployment of the UAV identification pattern by controlling the relationship between the gravity of the impact block, the friction force of the rubber ring, and the torque of the torsion spring.

[0020] 2. The present invention uses a rubber ring to overcome the torque of the torsion spring to realize the tightening of the support rod. The structure design is novel and unique, the control is simple, the system is easy to implement, and the working reliability is high.

[0021] 3. The present invention can adjust the opening angle of the support rod in the locked state by adjusting the length of the locking wire, which is convenient for the deployment device to land smoothly and precisely.

[0022] 4. Limiting grooves are provided on both the support rod and the main bracket of the present invention to limit the position when the torsion spring is tightened, preventing the torsion spring from idling. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 It is a schematic diagram of the unfolded state of the overall structure of the present invention;

[0025] Figure 2 It is a top view of the unfolded state of the overall structure of the present invention;

[0026] Figure 3It is a schematic diagram of the locking state of the overall structure of the present invention;

[0027] Figure 4 This is a front view of the overall structure of the present invention in a locked state;

[0028] Figure 5 It is a top view of the overall structure of the present invention in a locked state;

[0029] Figure 6 This is a schematic diagram of the main support frame structure of the present invention;

[0030] Figure 7 It is a schematic diagram of the support rod structure of the present invention.

[0031] In the figure: 1-main support frame, 11-axial hole, 12-fastening groove, 13-blind hole, 2-impact block, 3-rubber ring, 4-locking buckle, 5-rotating shaft, 6-support rod, 7-torsion spring, 8-open pin, 9-locking wire, 10-gasket. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Embodiment 1:

[0034] See also Figures 1 to 7 As shown: The embodiment of the present invention provides a technical solution of a marking delivery and deployment device for assisting the landing of a UAV, comprising: a main support frame 1, an impact block 2, a locking buckle 4, a rotating shaft 5, a support rod 6, a torsion spring 7, a locking wire 9 and a gasket 10;

[0035] An impact block 2 is damped and slides through the axial hole 11 of the main support frame 1, and a locking buckle 4 is provided on the top of the impact block 2. The top of the main support frame 1 is rotatably connected to the support rod 6 through a rotating shaft 5. A torsion spring 7 is sleeved on the rotating shaft 5, and the buckles at both ends of the torsion spring 7 are respectively abutted against the support rod 6 and the main support frame 1. One end of the locking wire 9 is fixed to the distal end of the support rod 6, and the other end is tied to the gasket 10. The gasket 10 is pressed by the locking buckle 4 and placed in a blind hole 13 opened circumferentially on the top of the main support frame 1.

[0036] In a specific embodiment of the present invention, a rubber ring 3 is also included. The rubber ring 3 is embedded in the groove of the impact block 2. The rubber ring 3 realizes the damping force between the rubber ring 3 and the main support frame 1, so as to overcome the torsion of the torsion spring 7 before the impact block 2 is not impacted, so as to realize the tightening of the support rod 6.

[0037] In a specific embodiment of the present invention, the locking buckle 4 and the impact block 2 are detachably locked by screws.

[0038] In a specific embodiment of the present invention, the rotating shaft 5 adopts a plug pin structure, and a cotter pin 8 is inserted into the end opening of the plug pin to limit the axial movement of the rotating shaft 5 .

[0039] In a specific embodiment of the present invention, limiting grooves are respectively provided on the main support frame 1 and the support rod 6 for limiting the torsion spring 7 when it is tightened.

[0040] In a specific embodiment of the present invention, the support rods 6 are arranged in four groups and are circumferentially distributed on the top of the main support frame 1 .

[0041] In a specific embodiment of the present invention, the top of the main support frame 1 also includes an axially opened fastening groove 12, and the fastening groove 12 is located at the outer edge of the axial hole 11, and four groups of blind holes 13 are circumferentially opened at the outer edge of the fastening groove 12.

[0042] In a specific embodiment of the present invention, the torsion spring 7 provides power for the expansion of the support rod 6, so as to realize the expansion of the landing mark pattern during the free fall in the air.

[0043] In a specific embodiment of the present invention, the opening angle of the support rod 6 in the locked state is achieved by adjusting the length of the locking wire 9, so as to facilitate the smooth and accurate landing of the deployment device.

[0044] Embodiment 2:

[0045] The embodiment of the present invention also provides a technical solution for a method of using the above-mentioned marking delivery and deployment device for assisting the landing of a drone, including the following:

[0046] When the rotor UAV flies to the specified position and hovers at a certain height, the deployment device is thrown out and performs free fall in the air for a distance until the deployment device touches the ground. The impact block 2 stops moving due to the ground limit, and the main support frame 1 breaks through the friction resistance of the rubber ring 3 under the action of gravity and inertia and continues to move downward, so that the limit constraints of the gasket 10 and the locking wire 9 are released. Therefore, the support rod 6 opens outward under the torsion of the torsion spring 7, realizing the deployment of the UAV landing identification pattern; the rotor UAV then uses computer vision and image processing technology to detect and identify the photographed identification pattern, and finally calculates the position and attitude data of the UAV, and controls the flight of the UAV for precise landing.

[0047] The deployment device relies on free-fall impact drive for deployment. When the impact block 2 contacts the ground, the main support frame 1 moves downward due to gravity and inertia, resulting in the release of the limit of the gasket 10. The torsion spring 7 in the tightened state drives the support rod 6 to deploy outward by relying on the restoration of torsion, realizing the deployment of the landing identification pattern of the drone, thereby assisting the drone to complete accurate and stable landing.

[0048] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A marking placement and deployment device for drone assisted landing, characterized in that: Comprising: A main support frame (1), an impact block (2), a locking buckle (4), a rotating shaft (5), a support rod (6), a torsion spring (7), a locking wire (9) and a gasket (10); The impact block (2) is damping-slidably passed through the axial hole (11) of the main support frame (1). The locking buckle (4) is arranged on the top of the impact block (2). The periphery of the top of the main support frame (1) is rotatably connected with the support rod (6) through the rotating shaft (5). The torsion spring (7) is sleeved on the rotating shaft (5), and the two ends of the torsion spring (7) are respectively abutted against the support rod (6) and the main support frame (1) by snap fasteners. One end of the locking wire (9) is fixed at the distal end of the support rod (6), and the other end is tied to the gasket (10). The gasket (10) is pressed and placed in a blind hole (13) circumferentially opened at the top of the main support frame (1) through the locking buckle (4); It further includes a rubber ring (3). The rubber ring (3) is embedded in the groove of the impact block (2). The damping force between the rubber ring (3) and the main support frame (1) is used to overcome the torsion force of the torsion spring (7) before the impact block (2) is impacted, so as to realize the tightening of the support rod (6).

2. The marking placement and deployment device for assisting the landing of a UAV according to claim 1 is characterized in that: The locking buckle (4) and the impact block (2) are detachably locked by screws.

3. The marking placement and deployment device for assisting the landing of a UAV according to claim 1 is characterized in that: The rotating shaft (5) adopts the structure of a plug pin, and an opening pin (8) is also inserted into the opening of the end of the plug pin to limit the axial movement of the rotating shaft (5).

4. The marking placement and deployment device for assisting the landing of a drone according to claim 1 is characterized in that: The main support frame (1) and the support rod (6) are respectively provided with limiting grooves for limiting the torsion spring (7) when it is tightened.

5. The marking placement and deployment device for assisting the landing of a UAV according to claim 1 is characterized in that: The number of the support rods (6) is four groups, and they are circumferentially distributed on the top of the main support frame (1).

6. The marking placement and deployment device for assisting the landing of a UAV according to claim 1 is characterized in that: The top of the main support frame (1) further includes a fastening groove (12) axially opened, and the fastening groove (12) is located at the outer edge of the axial hole (11). The four blind holes (13) are circumferentially opened at the outer edge of the fastening groove (12).

7. The marking placement and deployment device for assisting the landing of a UAV according to claim 1 is characterized in that: The torsion spring (7) provides power for the unfolding of the support rod (6), so as to realize the unfolding of the landing identification pattern during the free fall in the air.

8. The marking placement and deployment device for assisting the landing of a drone according to claim 1 is characterized in that: By adjusting the length of the locking wire (9), the opening angle of the support rod (6) in the locked state can be realized, so as to facilitate the stable and accurate landing of the unfolding device.

9. A method for using the marking placement and deployment device for assisting the landing of a drone according to any one of claims 1 to 8, characterized in that: Including the following: When the rotary-wing UAV flies to the designated position and hovers at a certain height, the deployment device is thrown out. The deployment device undergoes a free-fall motion for a certain distance in the air. Until the moment when the deployment device touches the ground, the impact block (2) stops moving due to ground limitation. The main support frame (1) continues to move downward under the action of gravity and inertia force, breaking through the frictional resistance of the rubber ring (3), so that the limiting constraints of the gasket (10) and the locking wire (9) are released. Therefore, the support rod (6) spreads outwards under the torque action of the torsion spring (7), realizing the deployment of the UAV landing identification pattern. The rotary-wing UAV then uses computer vision and image processing technologies to detect and identify the captured identification pattern, and finally calculates the position and attitude data of the UAV, and controls the UAV flight for precise landing.

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