A docking mechanism and a docking system for unmanned aerial vehicles in a shaking environment

Abstract

The embodiment of the present application provides a docking mechanism and a docking system for a drone in a shaking environment, which is used to improve the docking accuracy of the drone, and the docking mechanism includes a first docking block and a second docking block; the first docking block includes a docking male head protrusion, and the second docking block includes a docking female head concave block; or, the first docking block includes the docking female head concave block, and the second docking block includes the docking male head protrusion; the docking male head protrusion includes a Lero tetrahedron, and the docking female head concave block includes a Lero tetrahedron groove, and the Lero tetrahedron and the Lero tetrahedron groove can be embedded. In the embodiment of the present application, a Lero tetrahedron is used in the docking mechanism. Since the Lero tetrahedron has an arc surface, the docking process is smooth and jamming is avoided during the docking process; compared with a hemisphere, the Lero tetrahedron can achieve smoothness without jamming while accurately controlling the docking angle, so that the docking male head protrusion and the docking female head concave block can dock at a specific angle.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of drones, and specifically to a docking mechanism and a docking system for a drone in a shaking environment. Background Art

[0002] At present, equipment such as drones, unmanned vehicles, and unmanned boats often need to dock with other equipment when performing landing or parking, as well as other tasks. Common scenarios include air-to-ground docking, air-to-sea docking, sea-to-land docking, air-to-air docking, sea-to-sea docking, and land-to-land docking. Air-to-ground docking includes a drone landing on the ground or on a moving vehicle, air-to-sea docking includes a drone landing on a ship, sea-to-land docking includes an unmanned boat docking on the shore, air-to-air docking includes two drones docking in the air, sea-to-sea docking includes two unmanned boats docking on the sea, and land-to-land docking includes two unmanned vehicles docking while moving.

[0003] The prior art provides a docking mechanism for use on a drone, including a landing cone, an outer wall of a landing cone, a parallelogram zoom rod group, a push cylinder, a push rod, a slide rail with symmetrically arranged sliders, an air flow guide hole, a drone center assist landing sleeve, a drone functional lower layer, a drone control system upper layer, a drone landing buffer cylinder, a drone landing push rod and a landing platform. Among them, the multi-axis rotor UAV is composed of an upper layer of a UAV control system and a lower layer of UAV functions which are arranged from top to bottom. A UAV center assist landing sleeve which has a shape and position restriction relationship with the landing cone is arranged at the center. A UAV landing buffer cylinder and a UAV landing push rod with one end sleeved in the UAV landing buffer cylinder are arranged below each axis rotor of the multi-axis rotor UAV. The other end of the UAV landing push rod is a free end and is arranged downward; slide rails of multiple symmetrically arranged sliders are evenly arranged around the bottom of the landing cone, and the outer wall of the landing cone is hinged to the slide rails of the symmetrically arranged sliders. The parallelogram scaling rod group, the push cylinder and the push rod are all arranged in the landing cone. The top of the parallelogram scaling rod group is hinged to the top of the landing cone, and the bottom is connected to one end of the push rod. The other end of the push rod is sleeved in the push cylinder, and the push cylinder is hinged to the slide rails of the symmetrically arranged sliders.

[0004] The docking mechanism provided by the existing technology uses a "landing cone" or a "UAV center assisted landing sleeve" to achieve docking, but the conical structure can easily cause problems such as jamming or even freezing during the docking process. Summary of the invention

[0005] The embodiments of the present application provide a docking mechanism and a docking system for a drone in a shaking environment, which are used to improve the docking accuracy of the drone.

[0006] A first aspect of an embodiment of the present application provides a docking mechanism in a shaking environment, comprising a first docking block and a second docking block;

[0007] The first docking block includes a docking protrusion, and the second docking block includes a docking female concave block; or the first docking block includes the docking female concave block, and the second docking block includes the docking protrusion;

[0008] The docking protrusion includes a Leroy tetrahedron, and the docking female head recess includes a Leroy tetrahedron groove, and the Leroy tetrahedron and the Leroy tetrahedron groove can be embedded.

[0009] In the embodiment of the present application, a Leuleaux tetrahedron is used in the docking mechanism. Since the Leuleaux tetrahedron has an arc surface, the docking process is smooth and jamming is avoided. Compared with a hemispherical sphere, the Leuleaux tetrahedron can not only achieve smoothness and no jamming, but also accurately control the docking angle, so that the docking protrusion and the docking female head recess can be docked at a specific angle.

[0010] Based on the first aspect of the embodiment of the present application, in a first implementation of the first aspect of the embodiment of the present application, the docking mechanism further includes a rope retracting and releasing mechanism and a first rope;

[0011] The rope-retracting and -releasing mechanism is fixedly connected to the first docking block, and is connected to the second docking block via the first rope;

[0012] The rope-retracting and releasing mechanism is used to release the first rope so that the second docking block contacts and is fixed to the docking body; the rope-retracting and releasing mechanism is also used to reel in the first rope after the second docking block is fixed to the docking body, so as to pull the first docking block and the second docking block to engage with each other through the first rope.

[0013] Based on the first aspect of the embodiment of the present application or the first implementation of the first aspect, in the second implementation of the first aspect of the embodiment of the present application, the second docking block includes a tether anchor point, and the first rope is connected to the second docking block through the tether anchor point.

[0014] Based on any one of the first aspect, the first implementation method and the second implementation method of the first aspect of the embodiment of the present application, in the third implementation method of the first aspect of the embodiment of the present application, the edge lines of the Reuleaux tetrahedron are rounded, and the edge lines of the Reuleaux tetrahedron grooves are rounded grooves.

[0015] Based on the first aspect of the embodiment of the present application, and any one of the first to third implementations of the first aspect, in the fourth implementation of the first aspect of the embodiment of the present application, the fillet radius of the edge line of the Reuleaux tetrahedron is in the range of 1 / 12 to 1 / 14 of the radius of the spherical surface of the Reuleaux tetrahedron;

[0016] The fillet radius of the edge of the Reuleaux tetrahedron groove is in the range of 1 / 12 to 1 / 14 of the spherical radius of the Reuleaux tetrahedron groove, and the fillet radius of the edge of the Reuleaux tetrahedron groove is smaller than the fillet radius of the edge of the Reuleaux tetrahedron.

[0017] Based on the first aspect of the embodiment of the present application, and any one of the first to fourth implementations of the first aspect, in the fifth implementation of the first aspect of the embodiment of the present application, the groove edge of the Leuleaux tetrahedron groove is provided with an edge guide chamfer.

[0018] Based on the first aspect of the embodiment of the present application, and any one of the first to fifth implementation methods of the first aspect, in the sixth implementation method of the first aspect of the embodiment of the present application, the docking female head recess block includes a tether anchor point, and the tether anchor point is arranged at the bottom of the Lelo tetrahedron groove, and the top corner of the Lelo tetrahedron is provided with an avoidance process concave surface, and when the docking female head recess block is engaged with the docking protrusion, the avoidance process concave surface accommodates the tether anchor point.

[0019] A second aspect of the embodiments of the present application provides a docking system for a drone, comprising a drone and the docking mechanism in a shaking environment as described in the first aspect;

[0020] The first docking block is disposed at the bottom of the drone, and the second docking block can be fixed to the carrier platform of the drone;

[0021] The rope-retracting and releasing mechanism is used to release the first rope when the UAV flies to a preset docking area so that the second docking block contacts and is fixed to the carrier platform; the rope-retracting and releasing mechanism is also used to reel in the first rope after the second docking block is fixed to the carrier platform so as to pull the UAV through the first rope so that the first docking block engages with the second docking block.

[0022] Based on the second aspect of the embodiment of the present application, in a first implementation manner of the second aspect of the embodiment of the present application, it further includes a grasping device;

[0023] The gripping device is disposed on the carrier platform, and is used for fixing the second docking block after contacting the second docking block, so that the second docking block is fixed to the carrier platform.

[0024] Based on the second aspect of the embodiment of the present application or the first implementation of the second aspect, in the second implementation of the second aspect of the embodiment of the present application, the grabbing device includes a grabbing platform, a rotating mechanism and N second ropes, where N is greater than 2;

[0025] The first end of the second rope is fixedly connected to the grabbing platform, the second end of the second rope is fixedly connected to the rotating mechanism, and the first end of the second rope and the second end of the second rope are located at the edge of the grabbing platform;

[0026] The rotating mechanism is used to control the second end of the second rope to move around the grabbing platform to a tightening position so that the second rope surrounds the side wall of the second docking block, so that the second docking block is fixed at the center of the grabbing platform.

[0027] Based on the second aspect of the embodiment of the present application, the first implementation of the second aspect, and any one of the second implementation, in a third implementation of the second aspect of the embodiment of the present application, the side wall of the second docking block is provided with N locking limit planes;

[0028] When the second end of the second rope is in the tightened position, the N second ropes respectively tighten the N locking limit planes, so that the second docking block is fixed to the grabbing platform at a preset angle.

[0029] Based on the second aspect of the embodiment of the present application, and any one of the first to third implementations of the second aspect, in the fourth implementation of the second aspect of the embodiment of the present application, N=3.

[0030] Based on the second aspect of the embodiment of the present application, and any one of the first to fourth implementations of the second aspect, in a fifth implementation of the second aspect of the embodiment of the present application, a conductive and magnetic metal sheet is disposed on the bottom surface of the second docking block;

[0031] The grabbing device is specifically used to determine that the second docking block contacts the carrier platform when it is detected that the conductive and magnetic metal sheet contacts the grabbing platform.

[0032] Based on the second aspect of the embodiment of the present application, and any one of the first to fifth implementation methods of the second aspect, in the sixth implementation method of the second aspect of the embodiment of the present application, the rope retraction mechanism is also used to reel in the first rope before the drone flies to a preset docking area so that the first docking block is engaged with the second docking block.

[0033] Based on the second aspect of the embodiment of the present application and any one of the first to sixth implementations of the second aspect, in a seventh implementation of the second aspect of the embodiment of the present application, a conductive ring is provided on the top surface of the second docking block, and a positive contact and a negative contact are provided on the bottom surface of the first docking block;

[0034] The rope-retracting and -releasing mechanism is specifically used to stop retracting the first rope when the positive contact and the negative contact contact the conductive ring to form a loop, so as to make the first docking block engage with the second docking block.

[0035] A third aspect of the embodiments of the present application provides a docking system for a drone, including a retractable rope mechanism, a first rope, a first docking block, and a second docking block;

[0036] The first docking block is arranged at the bottom of the UAV, the second docking block can be fixed to the carrier platform of the UAV, and the first docking block and the second docking block can be engaged;

[0037] The retractable rope mechanism is disposed on the drone and connected to the second docking block via a first rope;

[0038] The rope-retracting and -releasing mechanism is used to release the first rope when the UAV flies to a preset docking area so that the second docking block contacts and is fixed to the carrier platform; the rope-retracting and -releasing mechanism is also used to reel in the first rope after the second docking block is fixed to the carrier platform so as to pull the UAV through the first rope so that the first docking block engages with the second docking block.

[0039] In the embodiment of the present application, the second docking block is constrained by the first rope, and the rope-retracting mechanism releases the first rope, and the second docking block is separated from the first docking block, and the second docking block falls under the action of gravity and contacts the carrier platform; the rope-retracting mechanism reels in the first rope, and the second docking block approaches the first docking block until it fits in. The second docking block can flexibly separate and fit in with the first docking block fixed at the bottom of the drone. After contacting the carrier platform, the second docking block is fixedly connected to the carrier platform, and then the rope-retracting mechanism reels in the first rope, so that the drone approaches the carrier platform until the first docking block fits in with the second docking block, thereby achieving precise docking between the drone and the carrier platform. In other words, the docking between the drone and the carrier platform does not rely on the drone's precise control of the flight trajectory and attitude, but relies on the fixation of the carrier platform and the second docking block. As long as the second docking block can be fixed at the preset position of the carrier platform, the drone can be docked to the preset position of the carrier platform, and the control is simpler and the accuracy is higher.

[0040] Based on the third aspect of the embodiment of the present application, in a first implementation manner of the third aspect of the embodiment of the present application, the docking system of the drone further includes a grasping device;

[0041] The gripping device is arranged on the carrier platform, and is used for fixing the second docking block after contacting the second docking block, so that the second docking block is fixed on the carrier platform.

[0042] Based on the third aspect of the embodiment of the present application or the first implementation of the third aspect, in the second implementation of the third aspect of the embodiment of the present application, the grabbing device includes a grabbing platform, a rotating mechanism and N second ropes, where N is greater than 2;

[0043] The first end of the second rope is fixedly connected to the grabbing platform, the second end of the second rope is fixedly connected to the rotating mechanism, and the first end of the second rope and the second end of the second rope are located at the edge of the grabbing platform;

[0044] The rotating mechanism is used to control the second end of the second rope to move around the grabbing platform to a tightening position, so that the second rope surrounds the side wall of the second docking block, so that the second docking block is fixed at the center of the grabbing platform.

[0045] In the embodiment of the present application, the second docking block is fixed by using a second rope, which has a simple structure and high positioning accuracy. The second end of the second rope can move between a tightening position and a release position. When the second end of the second rope is in the release position, the second rope is in a relaxed state, and the body of the second rope is located at the edge of the grabbing platform. When the second end of the second rope is in the tightening position, the second rope surrounds the side wall of the second docking block, the second rope is in a tensioned state, and the body of the second rope crosses the grabbing platform.

[0046] Based on the third aspect of the embodiment of the present application, any one of the first implementation manner and the second implementation manner of the third aspect, in the third implementation manner of the third aspect of the embodiment of the present application, the side wall of the second docking block is provided with N locking limit planes;

[0047] When the second end of the second rope is in the tightened position, the N second ropes respectively tighten the N locking limit planes, so that the second docking block is fixed on the grabbing platform at a preset angle.

[0048] Based on the third aspect of the embodiment of the present application, and any one of the first implementation to the third implementation of the third aspect, in a fourth implementation of the third aspect of the embodiment of the present application, a conductive and magnetic metal sheet is disposed on the bottom surface of the second docking block;

[0049] The grabbing device is specifically used to determine that the second docking block contacts the carrier platform when it is detected that the conductive and magnetic metal sheet contacts the grabbing platform.

[0050] Based on the third aspect of the embodiment of the present application, and any one of the first to fourth implementation methods of the third aspect, in the fifth implementation method of the third aspect of the embodiment of the present application, the rope retraction and release mechanism is also used to reel in the first rope before the drone flies to the preset docking area so that the first docking block can be engaged with the second docking block.

[0051] Based on the third aspect of the embodiment of the present application, and any one of the first to fifth implementations of the third aspect, in a sixth implementation of the third aspect of the embodiment of the present application, a conductive ring is provided on the top surface of the second docking block, and a positive contact and a negative contact are provided on the bottom surface of the first docking block;

[0052] The rope retracting and releasing mechanism is specifically used to stop retracting the first rope when the positive contact and the negative contact contact the conductive ring to form a loop, so as to make the first docking block fit with the second docking block.

[0053] Based on the third aspect of the embodiment of the present application and any one of the first to sixth implementations of the third aspect, in a seventh implementation of the third aspect of the embodiment of the present application, the first docking block is a convex block, and the second docking block is a docking female concave block;

[0054] The docking protrusion includes a Reuleaux tetrahedron, and the docking female head concave block includes a Reuleaux tetrahedron groove.

[0055] In the embodiment of the present application, the Leroy tetrahedron is applied to the docking system of the drone. Since the Leroy tetrahedron has an arc surface, the docking process is smooth and the jamming is avoided; compared with the hemisphere, the Leroy tetrahedron can achieve smoothness without jamming and can also accurately control the docking angle, so that the docking protrusion and the docking female concave block can dock at a specific angle.

[0056] Based on the third aspect of the embodiment of the present application and any one of the first to seventh implementations of the third aspect, in an eighth implementation of the third aspect of the embodiment of the present application, the second docking block includes a tether anchor point, and the first rope is connected to the second docking block through the tether anchor point;

[0057] The tether anchor point is arranged at the bottom of the Lelo tetrahedron groove, and an avoidance process concave surface is arranged at the top corner of the Lelo tetrahedron. When the first docking block is engaged with the second docking block, the avoidance process concave surface accommodates the tether anchor point.

[0058] Based on the third aspect of the embodiment of the present application, and any one of the first to eighth implementations of the third aspect, in the ninth implementation of the third aspect of the embodiment of the present application, the edge lines of the Lego tetrahedron are rounded, and the edge lines of the Lego tetrahedron grooves are rounded grooves.

[0059] Based on the third aspect of the embodiment of the present application, and any one of the first to ninth implementations of the third aspect, in the tenth implementation of the third aspect of the embodiment of the present application, the fillet radius of the edge line of the Reuleaux tetrahedron is in the range of 1 / 12 to 1 / 14 of the radius of the spherical surface of the Reuleaux tetrahedron;

[0060] The fillet radius of the edge of the Reuleaux tetrahedron groove is in the range of 1 / 12 to 1 / 14 of the spherical radius of the Reuleaux tetrahedron groove, and the fillet radius of the edge of the Reuleaux tetrahedron groove is smaller than the fillet radius of the edge of the Reuleaux tetrahedron.

[0061] A fourth aspect of an embodiment of the present application provides a drone system, including: a drone and a docking system of the drone of the third aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figures 1 to 4 It is the process of drawing the Leroy triangle;

[0063] Figures 5 to 8It is the process of generating the Leleux tetrahedron;

[0064] Fig. 9 is a three-dimensional diagram of a docking pair in a separated state according to an embodiment of the present application;

[0065] Fig.10 is a stereogram of a first docking block of an embodiment of the present application;

[0066] Fig.11 is a stereogram of the second docking block of the embodiment of the present application;

[0067] Fig.12 is another stereoscopic view of the first docking block of the embodiment of the present application;

[0068] Fig.13 is a cross-sectional view of a first docking block of an embodiment of the present application;

[0069] Fig.14 is another stereoscopic view of the second docking block of the embodiment of the present application;

[0070] Fig.15 is another stereoscopic view of the second docking block of the embodiment of the present application;

[0071] Fig.16 is a cross-sectional view of the second docking block of an embodiment of the present application;

[0072] Fig.17 is a front view of the docking pair in a mating state according to an embodiment of the present application;

[0073] Fig.18 is a cross-sectional view of a docking pair in an engaged state according to an embodiment of the present application;

[0074] Fig.19 is another cross-sectional view of the docking pair in the engaged state according to the embodiment of the present application;

[0075] Fig. 20 is a schematic diagram of the docking process between the drone and the grasping device in an embodiment of the present application;

[0076] Figure 21 to Figure 22 is a schematic diagram of a process of fixing a second docking block by a gripping device according to an embodiment of the present application;

[0077] Figure 23 to Figure 27 is a schematic diagram of the charging process of the drone of an embodiment of the present application on the carrier platform;

[0078] 1. First docking block; 11. Fillet of edge line; 12. Positive contact; 13. Negative contact; 14. Avoidance process concave surface; 15. Wire hole; 16. Lerod tetrahedron sphere; 2. Second docking block; 21. Conductive ring; 22. Lerod tetrahedron groove sphere; 23. Tether anchor point; 24. Fillet groove of edge line; 25. Conductive and magnetic metal sheet; 26. Locking limit plane; 27. Edge guide chamfer; 3. First rope; 4. Grabbing device; 41. Grabbing platform; 42. Second rope; 43. Rotating mechanism; 5. Carrier platform; 51. Robotic arm; 52. Charging platform. DETAILED DESCRIPTION

[0079] The terms "first", "second", "third", "fourth", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0080] The docking mechanism and its variations have a wide range of applications, such as 1. docking of aerial vehicles; 2. docking of modular surface ships; 3. docking between objects such as air-to-ground, air-to-water, and water-to-land. The present application embodiment uses the docking mechanism applied to a drone and a ship as an example for illustration, which is not intended to be limiting.

[0081] The research of drones is a hot topic in the field of robotics. Drones have the advantages of high-altitude vision and speed, can respond quickly to tasks, and are increasingly used in our lives.

[0082] Drones also have many application scenarios in the marine environment, such as marine monitoring, environmental data collection, and marine photography. However, the shortcomings of drones are their low endurance and load, making it difficult for them to work on the sea surface for a long time over a large area. This requires drones to be able to accurately land on a carrier platform with limited space 5, such as an unmanned boat or ship, under shaking water conditions, and perform precise parking, charging, and take-off operations to achieve coordinated rotation of multiple drones to perform tasks. In addition to air-to-sea docking, air-to-land docking and air-to-air docking of drones are also common application scenarios.

[0083] At present, there are many patents and papers describing the docking of drones, but the docking accuracy is poor.

[0084] In a shaking environment, especially in the often shaking scenes such as the ocean, the precise docking and docking correction during the landing process of the drone, as well as the precise parking of the drone in a certain posture after landing, this series of problems has important practical value and market value. After the drone lands, the drone needs to be accurately parked and charged in a certain posture, so the attitude of the drone needs to be adjusted and the position needs to be limited during the precise parking process. This requires the drone to remain relatively still and not rotate during the precise parking process. Landing is a common docking.

[0085] The embodiment of the present application is based on the three-dimensional geometric figure Reuleaux tetrahedron, and is deformed and improved on the basis of the three-dimensional geometric figure Reuleaux tetrahedron. The following briefly introduces the characteristics and practical applications of Reuleaux triangle and Reuleaux tetrahedron.

[0086] Introduction to Reuleaux triangle:

[0087] A Reuleaux triangle is a curved triangle consisting of three arcs with the vertices of an equilateral triangle as the center and the length of its side as the radius. The characteristics of a Reuleaux triangle are: it has the same width in any direction, that is, it can rotate freely between two parallel lines with a distance equal to the radius r of its arc, and always keep in contact with both lines. The radius r of the arc is equal to the side length of the equilateral triangle. Figures 1 to 4 shown.

[0088] Practical applications of Reuleaux triangle:

[0089] At present, the practical application of Reuleaux triangle is relatively small, among which the Wankel rotary engine is a major use; in addition, in industry, by making the cross-section of the drill bit into the shape of a Reuleaux triangle, square holes can be drilled in parts.

[0090] Introduction to the Reuleaux tetrahedron:

[0091] With the four vertices of a regular tetrahedron as the center and the side length of the regular tetrahedron as the radius, four spheres are drawn respectively. The three-dimensional figures formed by the intersection of the four spheres are the Reuleaux tetrahedron, which is also the three-dimensional structure of the Reuleaux triangle. The four faces of the Reuleaux tetrahedron are all curved surfaces with equal radius, and the distance from each vertex to any point on the opposite curved surface is equal. Figures 5 to 8 shown.

[0092] Practical applications of the Reuleaux tetrahedron:

[0093] The embodiment of the present application is a deformation application of the solid geometric body of the Reuleaux tetrahedron. Through researching a large number of patents and papers, and searching relevant information, it is found that there are very few practical applications of the solid geometric body of the Reuleaux tetrahedron and its deformation. The searched information is only a verification of the description of the geometric properties of the Reuleaux tetrahedron. For example, three Reuleaux tetrahedrons are placed on a plane with a flat plate on top. No matter whether they are moved forward, backward, left, right, or rotated, the upper flat plate is always parallel to the lower plane.

[0094] as follows Figures 9 to 11 As shown, the docking pair of the embodiment of the present application is composed of a docking protrusion and a docking female head concave block. The docking pair can also be called a docking mechanism or a docking pair mechanism.

[0095] In the case of docking based on the core basic docking of the Lelo tetrahedron sphere 16, the appearance of the docking protrusion and the docking female head concave block and the locking method after the docking are changed, and the docking sub-mechanism can be applied to more scenarios. The applicant believes that the docking mechanism and its deformation have strong practicality and application prospects. The application fields of this docking mechanism and its deformation include, but are not limited to: 1. Docking of aerial vehicles; 2. Docking of modular surface ships; 3. Docking between objects such as air-to-ground, air-to-water, and water-to-land.

[0096] The embodiment of the present application creatively applies the Leroy tetrahedron to the docking system of the drone. Since the Leroy tetrahedron has an arc surface, the docking process is smooth and the jamming process is avoided; compared with the hemisphere, the Leroy tetrahedron can achieve smoothness without jamming and can also accurately control the docking angle, so that the docking protrusion and the docking female concave block can dock at a specific angle.

[0097] The features of the mating protrusions and mating female concave blocks are described in detail below.

[0098] Bump:

[0099] as follows Figure 12 to Figure 13 As shown, the bump is mainly composed of the following five parts.

[0100] 1. Reuleaux tetrahedron sphere 16. Reuleaux tetrahedron sphere 16 is a solid geometric body with one sphere removed and replaced by a plane. Fig.13 It can be seen that the cross section of the Reuleaux tetrahedron is a Reuleaux triangle;

[0101] 2. The fillet 11 of the edge. The fillet 11 of the edge is the fillet of the edge of the Reuleaux tetrahedron. After analysis and a large number of experimental verifications, when the chamfer radius is in the range of 1 / 12-1 / 14 of the radius of the Reuleaux tetrahedron sphere 16, the docking and docking correction effects of the docking pair are better; the Reuleaux tetrahedron sphere 16 can also be called a tetrahedral convex surface.

[0102] 3. Avoidance process concave surface 14. The avoidance process concave surface 14 is a process avoidance space designed to avoid interference with the tether anchor point 23 of the docking female concave block;

[0103] 4. Wire hole 15. The wire hole 15 is used to allow the retractable rope fixed to the bottom of the drone to pass through so that the retractable rope can be connected to the tether anchor point 23 of the female connector concave block;

[0104] 5. Positive contact 12 and negative contact 13. The positive and negative contacts 13 are contact detection contacts. When the protrusion is completely connected with the female connector concave block, the positive and negative contacts 13 form a loop to detect successful connection. The first rope 3 can also be called a retractable rope.

[0105] It should be noted that the convex block may not be provided with the wire hole 15 and the avoidance process concave surface 14. In addition to using the positive contact 12, the negative contact 13 and the conductive ring 21 provided in the embodiment of the present application, other schemes may also be adopted to detect the completion of the docking between the convex block and the docking female concave block, such as distance measurement.

[0106] Docking female concave block:

[0107] as follows Figures 14 to 16 As shown, the docking female concave block is mainly composed of the following seven parts.

[0108] 1. Reloj tetrahedron groove spherical surface 22. The Reloj tetrahedron groove spherical surface 22 is opened with a spherical surface of the Reloj tetrahedron to obtain a three-dimensional geometric groove, and the radius of the Reloj tetrahedron groove spherical surface 22 of the female head concave block is equal to the radius of the Reloj tetrahedron spherical surface 16 of the male block. Fig.16 It can be seen that the cross section of the Reuleaux tetrahedron groove is a Reuleaux triangle; the Reuleaux tetrahedron groove spherical surface 22 can also be called a tetrahedral concave surface.

[0109] 2. The fillet groove 24 of the edge. The fillet groove 24 of the edge is the rounding of the edge of the Reuleaux tetrahedron. After analysis and a large number of experimental verifications, when the chamfer radius is in the range of 1 / 12-1 / 14 of the radius of the spherical surface 16 of the Reuleaux tetrahedron, the docking and docking correction effects of the docking pair are better, and the chamfer radius of the docking female concave block is smaller than the radius of the fillet groove 24 of the edge of the docking convex block;

[0110] 3. Edge guide chamfer 27. The edge guide chamfer 27 plays a guiding role during docking;

[0111] 4. Tether anchor point 23. Tether anchor point 23 is used to tie the retractable rope; tether anchor point 23 is an arched structure

[0112] 5. Conductive copper ring. The conductive copper ring is used to conduct the positive and negative contacts 13 to detect whether the docking is completed;

[0113] 6. Conductive and magnetic metal sheet 25. The conductive and magnetic metal sheet 25 is used to detect whether the grabbing device 4 contacts the female concave block of the docking female head;

[0114] 7. Locking limit plane 26. The locking limit plane 26 cooperates with the grabbing device 4 to lock the concave block of the docking female head in the center. Fig.16 It can be seen that the cross-section of the locking limit side is approximately an equilateral triangle. After locking, it can prevent it from rotating, providing conditions for the subsequent precise parking of the drone in a certain posture.

[0115] It should be noted that chamfers can be called fillets or round chamfers; the shape and cross section of the locking limit side surface can be quadrilateral, pentagonal or hexagonal in addition to the approximately equilateral triangle provided in the embodiment of the present application; the locking limit side surface can also be called a locking limit plane 26. The tether anchor point 23 can also be a circular ring in addition to the arch structure provided in the embodiment of the present application. In addition to the conductive and magnetic metal sheet 25 provided in the embodiment of the present application, the detection of whether the grasping device 4 contacts the docking female concave block can also be gravity measurement.

[0116] Docking and analysis of the docking convex block and the docking female concave block:

[0117] In a shaking environment, it is difficult for the existing docking system to ensure the landing accuracy of the drone during the docking process, and the shape of the mechanism for docking with the drone is very high. In many cases, docking deviation, docking jamming and other failures will occur, and the success rate is low.

[0118] During the docking process of the docking protrusion and the docking female concave block of the embodiment of the present application, since the contact surfaces of the docking protrusion and the docking female concave block are both spherical, when a point or line contacts the spherical surface, under the action of tension and the gravity of the drone, the tangential force of the spherical surface during the docking process is always greater than the normal self-locking force. In addition, the shaking condition can also unlock the self-locking force, providing a double guarantee. The docking protrusion descends and rotates until it is completely docked with the docking female concave block, realizing the autonomous correction docking function of the docking pair.

[0119] The docking pair of the embodiment of the present application has the functions of autonomous correction of docking and position limiting and anti-rotation after docking. After a large number of experiments, it has been verified that the docking success rate is very high and the effect is quite good. Autonomous correction refers to correcting the position and angle of the drone during landing; position limiting refers to preventing the drone from changing its position and angle relative to the gripping device 4 after landing. The docking pair has a simple structure, which reduces the redundant complexity and weight of the drone system. The light weight ensures the flight stability and endurance of the drone.

[0120] like Figures 17 to 19As shown, in the cross section of the docking pair after docking, the inner and outer Leroy triangles overlap, so that the docking pair will not rotate relative to each other. Under the condition that the pulling force of the rope collection mechanism is greater than the weight of the drone plus a certain range of impact force, the docking protrusion and the docking female head concave block can have no relative displacement. The gripping device 4 locks the docking female head concave block in the center to ensure that the drone has no rotation and relative displacement relative to the gripping mechanism, realizing the limiting function of the docking pair after docking. It provides conditions for further realizing the precise parking and charging of drones in a certain posture.

[0121] It should be noted that the radius of the Leroy tetrahedron sphere 16 of the docking protrusion and the docking female concave block can be changed according to actual needs; the radius of the fillet 11 of the edge line and the fillet groove 24 of the edge line can also be changed according to actual needs. The locking method after the docking protrusion and the docking female concave block are completed can be changed from a tension method to a claw or other method, which is not specifically limited.

[0122] The following describes the process of grabbing, accurately landing, and accurately parking the drone in an embodiment of the present application.

[0123] like Fig. 20 As shown, during the flight of the UAV, the female concave block and the convex block of the docking pair are engaged and fixed under the UAV.

[0124] When landing is required, the drone flies above the grabbing device 4, and the rope-retracting mechanism lowers the docking female concave block to a certain distance.

[0125] like Figure 21 to Figure 22 As shown, the gripping device 4 contacts the female docking concave block, and after the gripping device 4 detects the contact, the gripping mechanism locks the female docking concave block in the center and limits the position. The gripping device 4 sends a signal to the drone indicating that the female docking concave block has been locked.

[0126] After the drone receives the signal from the gripping device 4 indicating that the female concave block of the docking is locked, the rope retracting mechanism reels in the first rope 3, and the drone descends under the action of the pulling force until the docking sub-mechanism is fully docked, and the drone completes the landing.

[0127] The existing drones park on the landing platform after landing, and cannot accurately park, limit, charge, and take off in a certain posture, and cannot realize the coordinated rotation of multiple drones to perform tasks. The existing technology clamps and limits the drones after landing, which requires additional mechanisms and drives to achieve. This will increase the complexity of the overall system and structure, and also increase the load of the corresponding mechanisms that cooperate with it.

[0128] It can be seen that there is very little research in the prior art on accurately parking a drone in a certain posture after landing, limiting the position, and charging the drone.

[0129] The drone of the embodiment of the present application can achieve precise docking and docking correction during the precise landing process, and can accurately park the drone in a fixed posture after landing. The mechanism for achieving the above functions is described below.

[0130] like Figure 23 to Figure 27 As shown, after landing, the attitude of the drone is adjusted under the action of the mechanical arm 51 of the grasping device 4. Then, the mechanical arm 51 accurately parks the drone on the multi-machine parking platform according to the planned path, fixes it, and performs operations such as charging and taking off. The grasping device 4 can also be called a grasping system mechanism.

[0131] The embodiment of the present application provides a docking mechanism in a shaking environment, comprising a first docking block 1 and a second docking block 2;

[0132] The first docking block 1 includes a docking protrusion, and the second docking block 2 includes a docking female concave block; or, the first docking block 1 includes the docking female concave block, and the second docking block 2 includes the docking protrusion;

[0133] The docking protrusion includes a Leroy tetrahedron, and the docking female head recess includes a Leroy tetrahedron groove, and the Leroy tetrahedron and the Leroy tetrahedron groove can be embedded.

[0134] In a possible implementation, the docking mechanism further includes a rope-retracting and -releasing mechanism and a first rope 3;

[0135] The rope-retracting mechanism is fixedly connected to the first docking block 1 and is connected to the second docking block 2 via the first rope 3;

[0136] The rope-retracting and releasing mechanism is used to release the first rope 3 so that the second docking block 2 contacts and is fixed to the docking body; the rope-retracting and releasing mechanism is also used to reel in the first rope 3 after the second docking block 2 is fixed to the docking body, so as to pull the first docking block 1 and the second docking block 2 to engage with each other through the first rope 3.

[0137] In a possible implementation, the second docking block 2 includes a tether anchor point 23 , and the first rope 3 is connected to the second docking block 2 via the tether anchor point 23 .

[0138] In a possible implementation, the edges of the Reuleaux tetrahedron are rounded, and the edges of the Reuleaux tetrahedron grooves are rounded.

[0139] In a possible implementation, the radius of the fillet 11 of the edge line of the Reuleaux tetrahedron is in the range of 1 / 12 to 1 / 14 of the radius of the spherical surface 16 of the Reuleaux tetrahedron;

[0140] The radius of the rounded groove 24 of the edge of the Reuleaux tetrahedron groove is in the range of 1 / 12 to 1 / 14 of the radius of the spherical surface 22 of the Reuleaux tetrahedron groove, and the radius of the rounded groove 24 of the edge of the Reuleaux tetrahedron groove is smaller than the radius of the rounded corner 11 of the edge of the Reuleaux tetrahedron.

[0141] In a possible implementation, the groove edge of the Reuleaux tetrahedron groove is provided with an edge guide chamfer 27 .

[0142] In one possible implementation, the docking female head recess includes a tether anchor point 23, and the tether anchor point 23 is arranged at the bottom of the Lelo tetrahedron groove. The top corner of the Lelo tetrahedron is provided with an avoidance process concave surface 14, and when the docking female head recess is engaged with the docking protrusion, the avoidance process concave surface 14 accommodates the tether anchor point 23.

[0143] The embodiment of the present application provides a docking system for a drone, including a drone and a docking mechanism in a shaking environment;

[0144] The first docking block 1 is arranged at the bottom of the drone, and the second docking block 2 can be fixed to the carrier platform 5 of the drone;

[0145] The rope-retracting and releasing mechanism is used to release the first rope 3 when the UAV flies to a preset docking area, so that the second docking block 2 contacts and is fixed to the carrier platform 5; the rope-retracting and releasing mechanism is also used to reel in the first rope 3 after the second docking block 2 is fixed to the carrier platform 5, so as to pull the UAV through the first rope 3 so that the first docking block 1 and the second docking block 2 are engaged.

[0146] In a possible implementation, it further includes a grasping device 4;

[0147] The gripping device 4 is disposed on the carrier platform 5 , and is used for fixing the second docking block 2 after contacting the second docking block 2 , so that the second docking block 2 is fixed to the carrier platform 5 .

[0148] In a possible implementation, the grabbing device 4 includes a grabbing platform 41, a rotating mechanism 43 and N second ropes 42, where N is greater than 2;

[0149] The first end of the second rope 42 is fixedly connected to the grabbing platform 41, the second end of the second rope 42 is fixedly connected to the rotating mechanism 43, and the first end of the second rope 42 and the second end of the second rope 42 are located at the edge of the grabbing platform 41;

[0150] The rotating mechanism 43 is used to control the second end of the second rope 42 to move around the grabbing platform 41 to a tightening position, so that the second rope 42 surrounds the side wall of the second docking block 2, so that the second docking block 2 is fixed in the center of the grabbing platform 41.

[0151] In a possible implementation, the side wall of the second docking block 2 is provided with N locking limit planes 26;

[0152] When the second ends of the second ropes 42 are at the tightened position, the N second ropes 42 respectively tighten the N locking limit planes 26 , so that the second docking block 2 is fixed to the grabbing platform 41 at a preset angle.

[0153] In a possible implementation, N = 3. According to experimental verification, when three locking and limiting planes 26 are provided, the limiting effect is the best.

[0154] The embodiment of the present application provides a docking system for a drone, including a rope retracting and releasing mechanism, a first rope 3, a first docking block 1 and a second docking block 2;

[0155] The first docking block 1 is arranged at the bottom of the UAV, the second docking block 2 can be fixed to the carrier platform 5 of the UAV, and the first docking block 1 and the second docking block 2 can be engaged;

[0156] The retractable rope mechanism is arranged on the drone and connected to the second docking block 2 via a first rope 3;

[0157] The rope-retracting and releasing mechanism is used to release the first rope 3 when the UAV flies to the preset docking area, so that the second docking block 2 contacts and is fixed to the carrier platform 5; the rope-retracting and releasing mechanism is also used to reel in the first rope 3 after the second docking block 2 is fixed to the carrier platform 5, so as to pull the UAV through the first rope 3 so that the first docking block 1 and the second docking block 2 are engaged.

[0158] In one implementation, the docking system of the drone further includes a grasping device 4;

[0159] The gripping device 4 is disposed on the carrier platform 5 , and is used for fixing the second docking block 2 after contacting the second docking block 2 , so that the second docking block 2 is fixed to the carrier platform 5 .

[0160] In one implementation, the grabbing device 4 includes a grabbing platform 41, a rotating mechanism 43 and N second ropes 42, where N is greater than 2;

[0161] The first end of the second rope 42 is fixedly connected to the grabbing platform 41, the second end of the second rope 42 is fixedly connected to the rotating mechanism 43, and the first end of the second rope 42 and the second end of the second rope 42 are located at the edge of the grabbing platform 41;

[0162] The rotating mechanism 43 is used to control the second end of the second rope 42 to move around the grabbing platform 41 to a tightening position, so that the second rope 42 surrounds the side wall of the second docking block 2 , so that the second docking block 2 is fixed in the center of the grabbing platform 41 .

[0163] In one implementation, the side wall of the second docking block 2 is provided with N locking limit planes 26;

[0164] When the second ends of the second ropes 42 are at the tightened position, the N second ropes 42 respectively tighten the N locking limit planes 26 , so that the second docking block 2 is fixed to the grabbing platform 41 at a preset angle.

[0165] In one implementation, a conductive and magnetic metal sheet 25 is provided on the bottom surface of the second docking block 2;

[0166] The grabbing device 4 is specifically used to determine that the second docking block 2 contacts the carrier platform 5 when it is detected that the conductive and magnetic metal sheet 25 contacts the grabbing platform 41 .

[0167] In one implementation, the rope retracting and releasing mechanism is also used to reel in the first rope 3 before the UAV flies to the preset docking area, so that the first docking block 1 and the second docking block 2 are engaged with each other.

[0168] In one implementation, a conductive ring 21 is disposed on the top surface of the second docking block 2, and a positive contact 12 and a negative contact 13 are disposed on the bottom surface of the first docking block 1;

[0169] The rope retracting and releasing mechanism is specifically used to stop retracting the first rope 3 when the positive contact 12 and the negative contact 13 contact the conductive ring 21 to form a loop, so that the first docking block 1 and the second docking block 2 are engaged with each other.

[0170] In one implementation, a wire passing hole 15 is provided in the first docking block 1 , and the first rope 3 passes through the wire passing hole 15 .

[0171] In one implementation, the first docking block 1 is a docking convex block, and the second docking block 2 is a docking female concave block;

[0172] The docking protrusion includes a Reuleaux tetrahedron, and the docking female head concave block includes a Reuleaux tetrahedron groove.

[0173] In one implementation, the second docking block 2 includes a tether anchor 23, and the first rope 3 is connected to the second docking block 2 via the tether anchor 23;

[0174] The tether anchor point 23 is arranged at the bottom of the Lelo tetrahedron groove, and the top corner of the Lelo tetrahedron is provided with an avoidance process concave surface 14 . When the first docking block 1 and the second docking block 2 are engaged, the avoidance process concave surface 14 accommodates the tether anchor point 23 .

[0175] In one implementation, the edges of the Reuleaux tetrahedron are rounded, and the edges of the Reuleaux tetrahedron grooves are rounded.

[0176] In one implementation, the radius of the fillet 11 of the edge line of the Reuleaux tetrahedron is in the range of 1 / 12 to 1 / 14 of the radius of the spherical surface 16 of the Reuleaux tetrahedron;

[0177] The radius of the rounded groove 24 of the side line of the Reuleaux tetrahedron groove is in the range of 1 / 12 to 1 / 14 of the radius of the spherical surface 22 of the Reuleaux tetrahedron groove, and the radius of the rounded groove 24 of the side line of the Reuleaux tetrahedron groove is smaller than the radius of the rounded corner 11 of the side line of the Reuleaux tetrahedron.

[0178] In one implementation, the groove edges of the Reuleaux tetrahedron grooves are provided with rounded corners.

[0179] An embodiment of the present application also provides a drone system including: a drone and a drone docking system.

[0180] The docking mechanism of the embodiment of the present application includes a docking pair consisting of a pair of docking blocks with self-correction and limiting functions, and the docking pair is divided into a docking protrusion and a docking female concave block. When the drone is ready to land, the docking female concave block is first released through the tether, and the grabbing mechanism grabs the docking female concave block to tighten the limit; then the docking protrusion fixed at the bottom of the drone is pulled down by the rope collection device to dock with the docking female concave block. Due to the shaking of the carrier platform 5, there will be errors in the docking process, and the embodiment of the present application adopts the geometric structure of the Lelo tetrahedron, which can automatically correct the docking deviation under shaking conditions, and after the docking is completed, the protrusion and the docking female concave block are engaged without relative displacement, which provides conditions for the next step to realize the precise parking and charging of the drone in a certain posture. The first rope 3 can also be called a tether. The grabbing device 4 can also be called a grabbing mechanism.

[0181] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A docking system for a drone, characterized in that: It comprises a docking mechanism for a drone and a shaking environment, comprising a first docking block (1) and a second docking block (2); The first docking block (1) comprises a docking male protrusion, and the second docking block (2) comprises a docking female concave block; or, the first docking block (1) comprises the docking female concave block, and the second docking block (2) comprises the docking male protrusion; The protrusion includes a Leroy tetrahedron, and the female mating concave block includes a Leroy tetrahedron groove, and the Leroy tetrahedron and the Leroy tetrahedron groove can be embedded; The first docking block (1) is arranged at the bottom of the drone, and the second docking block (2) can be fixed to the carrier platform (5) of the drone; The docking mechanism also includes a rope-retracting mechanism and a first rope (3); the rope-retracting mechanism is fixedly connected to the first docking block (1) and is connected to the second docking block (2) via the first rope (3); The rope-retracting and releasing mechanism is used to release the first rope (3) when the UAV flies to a preset docking area, so that the second docking block (2) contacts and is fixed to the carrier platform (5); the rope-retracting and releasing mechanism is also used to reel in the first rope (3) after the second docking block (2) is fixed to the carrier platform (5), so as to pull the UAV through the first rope (3) so that the first docking block (1) and the second docking block (2) are engaged; Also includes a grasping device (4); The gripping device (4) is arranged on the carrier platform (5), and the gripping device (4) is used to fix the second docking block (2) after contacting the second docking block (2), so that the second docking block (2) is fixed to the carrier platform (5); The grabbing device (4) comprises a grabbing platform (41), a rotating mechanism (43) and N second ropes (42), where N is greater than 2; The first end of the second rope (42) is fixedly connected to the grabbing platform (41), the second end of the second rope (42) is fixedly connected to the rotating mechanism (43), and the first end of the second rope (42) and the second end of the second rope (42) are located at the edge of the grabbing platform (41); The rotating mechanism (43) is used to control the second end of the second rope (42) to move around the grabbing platform (41) to a tightening position, so that the second rope (42) surrounds the side wall of the second docking block (2), so that the second docking block (2) is fixed in the center of the grabbing platform (41).

2. The UAV docking system according to claim 1, characterized in that: The second docking block (2) comprises a tether anchor point (23), and the first rope (3) is connected to the second docking block (2) via the tether anchor point (23).

3. The UAV docking system according to any one of claims 1 to 2, characterized in that: The edges of the Reuleaux tetrahedron are provided with rounded corners, and the edges of the Reuleaux tetrahedron grooves are provided with rounded corner grooves.

4. The docking system for a drone according to claim 3, characterized in that: The radius of the fillet (11) of the edge line of the Reuleaux tetrahedron is in the range of 1 / 12 to 1 / 14 of the radius of the spherical surface (16) of the Reuleaux tetrahedron; The radius of the rounded groove (24) of the edge line of the Reuleaux tetrahedron groove is within the range of 1 / 12 to 1 / 14 of the radius of the spherical surface (22) of the Reuleaux tetrahedron groove, and the radius of the rounded groove (24) of the edge line of the Reuleaux tetrahedron groove is smaller than the radius of the rounded corner (11) of the edge line of the Reuleaux tetrahedron.

5. The UAV docking system according to claim 3, characterized in that: The groove edge of the Reuleaux tetrahedron groove is provided with an edge guide chamfer (27).

6. The UAV docking system according to claim 3, characterized in that: The female docking concave block comprises a tether anchor point (23), and the tether anchor point (23) is arranged at the bottom of the Lelo tetrahedron groove, and the top corner of the Lelo tetrahedron is provided with an avoidance process concave surface (14), the first docking block (1) comprises a male docking protrusion, and the second docking block (2) comprises a female docking concave block, and when the female docking concave block and the male docking protrusion are engaged, the avoidance process concave surface (14) accommodates the tether anchor point (23).

7. The UAV docking system according to claim 1, characterized in that: The side wall of the second docking block (2) is provided with N locking limit planes (26); When the second end of the second rope (42) is in the tightened position, the N second ropes (42) respectively tighten the N locking limit planes (26), so that the second docking block (2) is fixed on the grabbing platform (41) at a preset angle.

8. The UAV docking system according to claim 1 or 7, characterized in that: N＝3。

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