An adaptive docking mechanism suitable for visual identification of a UAV

Abstract

The application discloses a kind of adaptive docking mechanism suitable for visual identification unmanned plane, it is related to unmanned plane technical field, including: movable clamping mechanism and telescopic positioning mechanism;The movable clamping mechanism includes first fixed base, first fixed base is connected with first visual identification unmanned plane, the first fixed base is connected with the embedded movable head of openable and closable, electromagnetic chuck is installed on the embedded movable head;The telescopic positioning mechanism includes second fixed base, the second fixed base is connected with second visual identification unmanned plane, the second fixed base is connected with base sleeve, electromagnetic chuck is also installed in the base sleeve;The adaptive docking mechanism makes that visual identification unmanned plane body can be adaptively covered and docked captured unmanned plane, avoid the problem and risk caused by hard collision in rigid structure docking process and external interference, while forming more stable unmanned plane group visual angle after docking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and particularly relates to a self-adaptive docking mechanism suitable for visual identification unmanned aerial vehicles. BACKGROUND

[0002] With the improvement of social development needs, the combination of computer vision technology and unmanned aerial vehicles gradually expands from the initial aerial photography to other projects, such as power inspection, intelligent logistics, forest fire prevention, etc. Among them, the use of unmanned aerial vehicles to observe the motion trajectory prediction of the target is one of the key tasks in the current unmanned system field.

[0003] However, the camera of the unmanned aerial vehicle can only shoot a certain angle range, and the movement of the unmanned aerial vehicle is needed to shoot the panorama. Considering that the unmanned aerial vehicle is affected by obstacles in the scene and the angle of inclination during movement, single unmanned aerial vehicle observation is not easy to stabilize the monitoring of the specific position of the target, which is easy to lead to the loss of the target.

[0004] Although multiple cameras can be selected, the endurance time of the unmanned aerial vehicle is short. The addition of multiple camera positions increases the weight of the body, which further shortens the flight time and further reduces the flexibility of the unmanned aerial vehicle. SUMMARY

[0005] In order to solve the above problems, the present application provides a self-adaptive docking mechanism suitable for visual identification unmanned aerial vehicles, which can improve the self-adaptive docking capability of the docking pose change of two unmanned aerial vehicles. The more stable visual angle of the unmanned aerial vehicle group formed after docking provides a new idea for target omnidirectional monitoring, reduces the possibility of problems such as target loss and target shielding, and prolongs the endurance time.

[0006] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0007] A self-adaptive docking mechanism suitable for visual identification unmanned aerial vehicles, comprising a movable clamping mechanism and a telescopic positioning mechanism; the movable clamping mechanism comprises a first fixed base connected with a first visual identification unmanned aerial vehicle, a clamping movable head connected with the first fixed base and capable of being opened and closed, and an electromagnetic suction disc mounted on the clamping movable head; the telescopic positioning mechanism comprises a second fixed base connected with a second visual identification unmanned aerial vehicle, a base sleeve connected with the second fixed base, and an electromagnetic suction disc mounted in the base sleeve, a positioning sleeve sleeved outside the base sleeve, and a positioning mechanism connected in the positioning sleeve; the positioning mechanism comprises a guide piece, a guide hole matched with the clamping movable head is arranged in the guide piece, and the guide hole is in a stepped shape.

[0008] As a preferred technical scheme, the guide piece is hinged with the positioning sleeve through a limiting rod.

[0009] As a preferred technical scheme, the first fixed base is provided with a supporting column, and a connecting plate is arranged at the top of the supporting column and connected with the embedded movable head in a sliding mode.

[0010] As a preferred technical scheme, a T-shaped guide rail is arranged on the connecting plate, and the embedded movable head is connected with the T-shaped guide rail in a keying mode and can slide along the guide rail.

[0011] As a preferred technical scheme, a plurality of telescopic sleeves are arranged between the base sleeve and the positioning sleeve, the plurality of telescopic sleeves are sequentially sleeved, and one end of each telescopic sleeve is sleeved with the base sleeve and the other end is sleeved with the positioning sleeve.

[0012] As a preferred technical scheme, the base sleeve, the plurality of telescopic sleeves and the positioning sleeve are all made of flexible material.

[0013] As a preferred technical scheme, the guide member is made of ferromagnetic material.

[0014] The beneficial effects of the present application are as follows:

[0015] The present application utilizes the flexibility of flexible material and the adsorption force of electromagnetic chuck to obtain the flexibility of the telescopic positioning mechanism as a whole, so that the visual recognition unmanned aerial vehicle body can self-adaptively cover and dock the captured unmanned aerial vehicle, thereby avoiding the problems and risks caused by hard collision and external interference in the docking process of rigid structure. The structure is simple, easy to control and low in maintenance cost.

[0016] Compared with the existing unmanned aerial vehicle cluster cooperation, the present application can provide a more stable visual angle of unmanned aerial vehicle group after docking, and the lift is increased and the endurance time is prolonged. DETAILED DESCRIPTION

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 is a structural schematic view of the embodiment of the present application;

[0019] Figure 2 is a schematic view of the telescopic positioning mechanism;

[0020] Figure 3 is a schematic view of the movable clamping mechanism;

[0021] Figure 4 is a partial schematic view of the positioning mechanism.

[0022] Among them, 1-embedded movable head, 2-connecting plate, 3-support column, 4-first fixed base, 5-second fixed base, 6-basic sleeve, 7-first telescopic sleeve, 8-second telescopic sleeve, 9-third telescopic sleeve, 10-fourth telescopic sleeve, 11-fifth telescopic sleeve, 12-sixth telescopic sleeve, 13-positioning sleeve, 14-guide component, 15-limiting platform, 16-limiting rod. Detailed Implementation

[0023] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to specific embodiments.

[0024] This invention provides an adaptive docking mechanism suitable for visual recognition drones, such as... Figure 1 As shown, it includes an embedded movable head 1, a connecting plate 2, a supporting column 3, a first fixed base 4, a second fixed base 5, a base sleeve 6, a first telescopic sleeve 7, a second telescopic sleeve 8, a third telescopic sleeve 9, a fourth telescopic sleeve 10, a fifth telescopic sleeve 11, a sixth telescopic sleeve 12, a positioning sleeve 13, a guide component 14, a limiting platform 15, and a limiting rod 16.

[0025] like Figure 3 As shown, the embedded movable head 1, connecting plate 2, support column 3, and first fixed base 4 together constitute a movable clamping mechanism. The first fixed base 4 is installed on the top of the captured drone body via threaded fasteners. The first fixed base 4 is equipped with the support column 3, and the connecting plate 2 is connected to the support column 3. T-shaped guide rails are symmetrically arranged on both sides of the connecting plate 2. The embedded movable head 1 moves laterally along the guide rails by a key below it. An electromagnetic chuck is installed on the top of the embedded movable head 1. When the drone is in free flight, the two symmetrical embedded movable heads 1 are in a closed state, and the electromagnetic chuck on the top of the embedded movable head 1 is in a closed state, de-energizing the internal electromagnetic coil to prevent the attraction of external objects.

[0026] like Figure 2 As shown, the second fixed base 5, the base sleeve 6, the first telescopic sleeve 7, the second telescopic sleeve 8, the third telescopic sleeve 9, the fourth telescopic sleeve 10, the fifth telescopic sleeve 11, the sixth telescopic sleeve 12, the positioning sleeve 13, the guide component 14, the limiting platform 15, and the limiting rod 16 together constitute the telescopic positioning mechanism, which is installed on the bottom of the visual recognition UAV body by the second fixed base 5 through threaded fasteners.

[0027] When the UAV is in free flight state, the basic sleeve 6, the first telescopic sleeve 7, the second telescopic sleeve 8, the third telescopic sleeve 9, the fourth telescopic sleeve 10, the fifth telescopic sleeve 11, the sixth telescopic sleeve 12 and the positioning sleeve 13 are stacked together to reduce the volume of a single UAV and improve the flexibility of the UAV as much as possible. The above state is realized by the electromagnetic suction cup inside the basic sleeve 6 and the guide piece 14. It is worth noting that the number of telescopic sleeves other than the basic sleeve 6 and the positioning sleeve 13 is not fixed, and is determined by the size of the UAV body and the complexity of the task performed.

[0028] Further, the basic sleeve 6, the first telescopic sleeve 7, the second telescopic sleeve 8, the third telescopic sleeve 9, the fourth telescopic sleeve 10, the fifth telescopic sleeve 11 and the sixth telescopic sleeve 12 are all made of flexible materials, and in this embodiment, TPU material is used.

[0029] As shown in Figure 4 The guide piece 14, the limiting platform 15 and the limiting rod 16 together constitute a positioning mechanism. The limiting rods 16 on both sides of the positioning mechanism are hinged through the limiting holes on both sides of the positioning sleeve 13, that is, they can rotate, so that when the telescopic sleeves are deflected by a certain angle, the guide piece of the positioning mechanism can still be within the suction range of the clamping mechanism.

[0030] When the two UAVs are docked, the first visual recognition UAV first recognizes the second visual recognition UAV, and the two gradually approach each other. The electromagnetic suction cup inside the basic sleeve 6 is powered off and no longer suctions the guide piece 14, and the positioning mechanism drives the remaining telescopic sleeves to descend under the action of gravity. At the same time, the electromagnetic suction cup of the second visual recognition UAV embedded in the top of the movable head 1 is powered on, and the movable clamping mechanism starts to work. Under the guidance of the suction force of the electromagnetic suction cup, the two visual recognition UAVs are adaptively docked.

[0031] When the embedded movable head 1 enters above the limiting platform 15 and cannot continue to go up, the embedded movable head 1 is separated along the guide rails on both sides of the connecting plate 2 and away from the separation. In this way, the two UAVs are self-docked.

[0032] The present application utilizes the flexibility of TPU material and the suction force of the electromagnetic suction cup to obtain the flexibility of the overall grabbing of the telescopic positioning mechanism, so that the visual recognition UAV body can adaptively cover the captured UAV, thereby avoiding the problems and risks caused by hard collision and external interference in the process of rigid structure docking.

[0033] In addition, the suction force of the electrically controlled suction cup is very strong, the magnetic force is uniformly and adjustably distributed, it can be continuously used, the maintenance cost is low, and the telescopic sleeves rely on gravity to synchronously extend and descend, which is different from the traditional hydraulic drive mode, the structure is simple, precise control is not needed, and resources are saved.

[0034] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An adaptive docking mechanism suitable for visual identification of a drone, characterized in that: The utility model discloses a movable clamping mechanism and telescopic positioning mechanism, the movable clamping mechanism includes first fixed base, and first fixed base is connected with first visual identification unmanned plane, and the first fixed base is connected with the embedded movable head of open and close, and the embedded movable head is installed with electromagnetic chuck, the telescopic positioning mechanism includes second fixed base, and second fixed base is connected with second visual identification unmanned plane, and the second fixed base is connected with basic sleeve, and the basic sleeve is also installed with electromagnetic chuck in, and the basic sleeve is sleeved with positioning sleeve, and the positioning sleeve is connected with positioning mechanism in, the positioning mechanism includes guide piece, and the guide piece is equipped with the guide hole that is matched with embedded movable head, and the guide hole is stepped, the basic sleeve is provided with a plurality of telescopic sleeves between the positioning sleeve, and a plurality of telescopic sleeves are connected in turn, and one end is connected with the basic sleeve, and the other end is connected with the positioning sleeve, and the basic sleeve, a plurality of telescopic sleeves and positioning sleeve are made of flexible material.

2. The self-adapting docking mechanism of claim 1, wherein: The guide piece is hinged with the positioning sleeve through a limiting rod.

3. The self-adapting docking mechanism of claim 1, wherein: The first fixed base is provided with a supporting column, and the top of the supporting column is provided with a connecting plate.

4. The self-adapting docking mechanism of claim 3, wherein: The connecting plate is provided with a T-shaped guide rail, and the embedded movable head is connected with the T-shaped guide rail.

5. The self-adapting docking mechanism of claim 1, wherein: The guide piece is made of ferromagnetic material.

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