A deflection compensation method for unmanned aerial vehicle landing equipment

Abstract

This specification discloses a deflection compensation method for a drone landing device, wherein the drone landing device includes: a storage box, an automatic door for automatically opening and closing the storage box, and at least one transmission device, wherein each movable door panel in the automatic door corresponds to a transmission device, and the automatic door slides horizontally on the storage box to open or close the automatic door. The transmission device includes a first sub-compensation firmware and a second sub-compensation firmware, wherein: the first sub-compensation firmware is farther away from the storage box, and the second sub-compensation firmware is closer to the storage box. The automatic door moves relative to the transmission device, and can be controlled to move in response to an automatic control instruction. When the automatic door is opened, the first sub-compensation firmware is controlled to rise and the second sub-compensation firmware is controlled to fall. When the automatic door is closed, the second sub-compensation firmware is controlled to rise and the first sub-compensation firmware is controlled to fall, so as to compensate for the deflection generated by the automatic door when it is naturally opened and closed.

Description

Technical Field

[0001] This specification relates to the field of automation, and in particular to a deflection compensation method for drone landing equipment. Background Art

[0002] Currently, devices that can open and close automatically are widely used in various industries. For example, in a drone hangar, a chassis with automatic doors can be used to accommodate drones. When the drone needs to land, the automatic door of the chassis opens and the drone can automatically enter the chassis. After the drone enters the chassis, the automatic door of the chassis can be closed.

[0003] In the prior art, in order to save costs and reduce the ground effect of drones in drone hangars, the automatic door of the automatic opening and closing equipment can be set to be thinner. However, this method may cause the automatic door to sag slightly when opening and closing, that is, there will be deflection at the end of the automatic door, such as Figure 1 shown.

[0004] Figure 1 This is a schematic diagram of an automatic door in the prior art provided in this specification.

[0005] from Figure 1 It can be seen that the automatic door is installed above the box body. After the automatic door is opened, there may be a slight droop from the outermost part of the automatic door. Of course, when the automatic door is closed, there may also be a slight droop from the innermost part of the automatic door, and there is a difference between the horizontal plane.

[0006] Therefore, how to compensate for the deflection of the automatic door is an urgent problem to be solved. Summary of the Invention

[0007] This specification provides a deflection compensation method for a UAV landing device to partially solve the above-mentioned problems existing in the prior art.

[0008] This manual adopts the following technical solutions:

[0009] This specification provides a deflection compensation method for a drone landing device, the drone landing device comprising: a container, an automatic door for automatically opening and closing the container, and at least one transmission device, wherein each movable door panel in the automatic door corresponds to a transmission device, the container containing a landing pad for the drone, the automatic door sliding horizontally on the container to open or close the automatic door, the transmission device comprising a compensation firmware, the compensation firmware comprising: a first sub-compensation firmware and a second sub-compensation firmware, wherein: the first sub-compensation firmware is farther from the container, and the second sub-compensation firmware is closer to the container, and the automatic door moves relative to the transmission device, the method comprising:

[0010] In response to an automatic control instruction, controlling the automatic door to move, the movement of the automatic door including: opening or closing the automatic door;

[0011] When the automatic door is opened, the first sub-compensation firmware is controlled to rise and the second sub-compensation firmware is controlled to fall. When the automatic door is closed, the second sub-compensation firmware is controlled to rise and the first sub-compensation firmware is controlled to fall, so as to compensate for the deflection generated when the automatic door opens and closes naturally.

[0012] Optionally, the transmission device includes a power motor, a first transmission device and a second transmission device, and the second transmission device includes the compensation firmware;

[0013] In response to the automatic control instruction, controlling the automatic door to move specifically includes:

[0014] In response to the automatic control instruction, controlling the power motor to transmit power to the first transmission device to control the movement of the automatic door through the first transmission device;

[0015] When the automatic door is opened, controlling the first sub-compensation firmware to rise and the second sub-compensation firmware to fall, and when the automatic door is closed, controlling the second sub-compensation firmware to rise and the first sub-compensation firmware to fall, specifically comprising:

[0016] When the automatic door is opened, the power motor is controlled to transmit power to the second transmission device, and the first sub-compensation firmware is controlled to rise and the second sub-compensation firmware is controlled to fall through the second transmission device; and when the automatic door is closed, the power motor is controlled to transmit power to the second transmission device, and the second sub-compensation firmware is controlled to rise and the first sub-compensation firmware is controlled to fall through the second transmission device.

[0017] Optionally, the transmission device further includes: a driving helical gear, a first driven helical gear and a second driven helical gear located on both sides of the driving helical gear, wherein the first driven helical gear and the second driven helical gear rotate in opposite directions, the first driven helical gear is used to control a first sub-compensation firmware, and the second driven helical gear is used to control a second sub-compensation firmware;

[0018] When the automatic door is opened, controlling the first sub-compensation firmware to rise and the second sub-compensation firmware to fall specifically includes:

[0019] When the automatic door is opened, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate, so that the first driven helical gear drives the first sub-compensation fixture to rise, and the second driven helical gear drives the second sub-compensation fixture to descend;

[0020] When the automatic door is closed, controlling the second sub-compensation firmware to rise and the first sub-compensation firmware to fall specifically includes:

[0021] When the automatic door is closed, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate, so that the second driven helical gear drives the second sub-compensation firmware to rise, and the first driven helical gear drives the first sub-compensation firmware to rise.

[0022] Optionally, the first sub-compensation fixture includes at least a first lead screw, and the second sub-compensation fixture includes at least a second lead screw, the first lead screw and the first driven helical gear form a lead screw pair, and the second lead screw and the second driven helical gear form a lead screw pair;

[0023] When the automatic door is opened, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate in opposite directions, so that the first driven helical gear drives the first sub-compensation fixture to rise, and the second driven helical gear drives the second sub-compensation fixture to descend, specifically including:

[0024] When the automatic door is opened, the active helical gear drives the driven helical gear to rotate, so that the first driven helical gear drives the first lead screw to rise, and the second driven helical gear drives the second lead screw to descend;

[0025] When the automatic door is closed, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate in opposite directions, so that the second driven helical gear drives the second sub-compensation fixture to rise, and the first driven helical gear drives the first sub-compensation fixture to rise, specifically including:

[0026] When the automatic door is closed, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate in opposite directions, so that the second driven helical gear drives the second lead screw to rise, and the first driven helical gear drives the first lead screw to descend.

[0027] Optionally, each sub-compensation fixture includes a contact block and a guide column, the top end of the lead screw in the sub-compensation fixture is connected to the contact block, the contact block includes two slots, and the guide column includes two guide rails, and the contact block is inserted into the guide rails of the guide column through the two slots and slides;

[0028] When the automatic door is opened, the active helical gear drives the driven helical gear to rotate, so that the first driven helical gear drives the first lead screw to rise, and the second driven helical gear drives the second lead screw to descend, specifically including:

[0029] When the automatic door is opened, the active helical gear drives the driven helical gear to rotate, the first driven helical gear drives the first lead screw to rise, and the second driven helical gear drives the second lead screw to descend, so that the contact block at the top end of the first lead screw slides upward relative to the guide column, and the contact block at the top end of the second lead screw slides downward relative to the guide column;

[0030] When the automatic door is closed, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate in opposite directions, so that the second driven helical gear drives the second lead screw to rise, and the first driven helical gear drives the first lead screw to descend, specifically including:

[0031] When the automatic door is closed, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate in opposite directions, so that the contact block at the top end of the second lead screw slides upward relative to the guide column, and the contact block at the top end of the first lead screw slides downward relative to the guide column.

[0032] Optionally, the transmission device further comprises a rigid plate, both ends of the rigid plate being hinged to the top ends of the first sub-compensating fixture and the second sub-compensating fixture, respectively, and at least one end of the rigid plate being in contact with the automatic door;

[0033] When the automatic door is opened, controlling the first sub-compensation firmware to rise and the second sub-compensation firmware to fall specifically includes:

[0034] When the automatic door is opened, controlling the first sub-compensation fixture to rise and the second sub-compensation fixture to fall, so that one end of the rigid plate hinged to the first sub-compensation fixture rises and the other end hinged to the second sub-compensation fixture moves downward;

[0035] When the automatic door is opened, controlling the second sub-compensation firmware to rise and the first sub-compensation firmware to fall specifically includes:

[0036] When the automatic door is opened, the second sub-compensation fixture is controlled to rise and the first sub-compensation fixture is controlled to fall, so that one end of the rigid plate hinged to the second sub-compensation fixture rises and the other end hinged to the first sub-compensation fixture moves downward.

[0037] Optionally, the method further includes:

[0038] The compensation value of the compensation fixture is determined according to the deflection generated when the automatic door is opened and closed naturally. The compensation value is the sum of the vertical movement distances of the two sub-compensation fixtures in the compensation fixture.

[0039] Optionally, determining the compensation value of the compensation firmware according to the deflection generated by the automatic door when it is opened and closed naturally includes:

[0040] determining an interval between the first sub-compensation firmware and the second sub-compensation firmware;

[0041] Determining the horizontal inclination angle of the automatic door when it is naturally opened and closed according to the deflection and the width of the movable door panel of the automatic door;

[0042] The compensation value is determined according to the horizontal inclination angle and the interval.

[0043] Optionally, the container contains a landing pad for the drone, and the container is used for landing the drone.

[0044] This specification provides a drone landing device, the drone landing device comprising: a storage box, an automatic door that automatically opens and closes the storage box, and at least one transmission device, each movable door panel of the automatic door corresponding to a transmission device, the storage box containing a landing pad for the drone, the automatic door sliding horizontally on the storage box to open or close the automatic door, the transmission device comprising a driving helical gear, a first driven helical gear located on both sides of the driving helical gear, a second driven helical gear, a first sub-compensation firmware controlled by the first driven helical gear, and a second sub-compensation firmware controlled by the second driven helical gear, the first sub-compensation firmware being farther from the storage box, the second sub-compensation firmware being closer to the storage box, and the first driven helical gear and the second driven helical gear rotating in opposite directions;

[0045] When the automatic door is opened, the active helical gear drives the driven helical gears on both sides to rotate, so that the first driven helical gear drives the first sub-compensation firmware to rise, and the second driven helical gear drives the second sub-compensation firmware to fall. When the automatic door is closed, the active helical gear drives the driven helical gears on both sides to rotate, so that the first driven helical gear drives the first sub-compensation firmware to fall, and the second driven helical gear drives the second sub-compensation firmware to rise.

[0046] Optionally, the first sub-compensation fixture includes at least a first lead screw, and the second sub-compensation fixture includes at least a second lead screw, the first lead screw and the first driven helical gear form a lead screw pair, and the second lead screw and the second driven helical gear form a lead screw pair;

[0047] When the automatic door is opened, the active helical gear drives the driven helical gears on both sides to rotate in opposite directions, so that the first driven helical gear drives the first lead screw to rise, and the second driven helical gear drives the second lead screw to fall; when the automatic door is closed, the active helical gear drives the driven helical gears on both sides to rotate in opposite directions, so that the second driven helical gear drives the second lead screw to rise, and the first driven helical gear drives the first lead screw to fall.

[0048] Optionally, each sub-compensation fixture includes a contact block and a guide column, the top end of the lead screw in the sub-compensation fixture is connected to the contact block, the contact block includes two slots, and the guide column includes two guide rails, and the contact block is inserted into the guide rails of the guide column through the two slots and slides;

[0049] When the automatic door is opened, the active helical gear drives the driven helical gear to rotate in the opposite direction, the first driven helical gear drives the first lead screw to rise, and the second driven helical gear drives the second lead screw to descend, so that the contact block at the top end of the first lead screw slides upward relative to the guide column, and the contact block at the top end of the second lead screw slides downward relative to the guide column; when the automatic door is closed, the active helical gear drives the driven helical gears on both sides to rotate in the opposite direction, so that the contact block at the top end of the second lead screw slides upward relative to the guide column, and the contact block at the top end of the first lead screw slides downward relative to the guide column.

[0050] Optionally, the transmission device further comprises a rigid plate, both ends of the rigid plate being hinged to the top ends of the first sub-compensating fixture and the second sub-compensating fixture, respectively, and at least one end of the rigid plate being in contact with the automatic door;

[0051] When the automatic door is opened, the first sub-compensation firmware is controlled to rise and the second sub-compensation firmware is controlled to fall, so that the end of the rigid plate hinged to the first sub-compensation firmware rises and the other end hinged to the second sub-compensation firmware moves downward; when the automatic door is opened, the second sub-compensation firmware is controlled to rise and the first sub-compensation firmware is controlled to fall, so that the end of the rigid plate hinged to the second sub-compensation firmware rises and the other end hinged to the first sub-compensation firmware moves downward.

[0052] Optionally, the transmission device includes a power motor, a first transmission device and a second transmission device, the power motor is used to jointly transmit power to the first transmission device and the second transmission device, the first transmission device is used to control the movement of the automatic door, and the second transmission device includes a driving helical gear, a first driven helical gear located on both sides of the driving helical gear, a second driven helical gear, a first sub-compensation firmware controlled by the first driven helical gear and a second sub-compensation firmware controlled by the second driven helical gear.

[0053] This specification provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned deflection compensation method for drone landing equipment.

[0054] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0055] In a deflection compensation method for a drone landing device provided in this specification, the drone landing device includes: a storage box, an automatic door that automatically opens and closes the storage box, and at least one transmission device. Each movable door panel in the automatic door corresponds to a transmission device. The automatic door slides horizontally on the storage box to open or close the automatic door. The transmission device contains a compensation firmware, which includes: a first sub-compensation firmware and a second sub-compensation firmware. In the first sub-compensation firmware and the second sub-compensation firmware, the first sub-compensation firmware is farther away from the storage box, and the second sub-compensation firmware is closer to the storage box. The automatic door moves relative to the transmission device. In response to automatic control instructions, the automatic door can be controlled to move. The movement of the automatic door includes: opening or closing the automatic door. When the automatic door is opened, the first sub-compensation firmware is controlled to rise and the second sub-compensation firmware is controlled to fall. When the automatic door is closed, the second sub-compensation firmware is controlled to rise and the first sub-compensation firmware is controlled to fall, so as to compensate for the deflection generated by the automatic door when it is naturally opened and closed.

[0056] It can be seen from the above method that a compensation firmware is provided in the transmission device of the containing box in this method. When the automatic door is opened or closed, the first sub-compensation firmware and the second sub-compensation firmware in the compensation firmware rise and fall respectively, thereby compensating for the deflection generated by the natural opening and closing of the automatic door. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The exemplary embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation of this specification. In the drawings:

[0058] Figure 1 This is a schematic diagram of an automatic door in the prior art provided in this specification;

[0059] Figure 2A This is a schematic diagram of the structure of the drone landing equipment in this manual;

[0060] Figure 2B A schematic diagram of a first sub-compensation firmware and a second sub-compensation firmware provided in this specification;

[0061] Figure 3 This is a flow chart of a deflection compensation method for a UAV landing device in this specification;

[0062] Figure 4 A schematic diagram of a driving helical gear, a first driven helical gear, and a second driven helical gear provided in this specification cooperating to control a first sub-compensation firmware and a second sub-compensation firmware;

[0063] Figure 5 This is a schematic diagram of a load-bearing structure provided in this manual. DETAILED DESCRIPTION

[0064] To make the objectives, technical solutions, and advantages of this specification more clear, the following will clearly and completely describe the technical solutions of this specification in conjunction with the specific embodiments of this specification and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this specification.

[0065] In the prior art, since the automatic door will produce a certain degree of deflection due to its own weight when opening and closing, that is, it will produce a certain amount of sagging, then, since the degree of sagging of the two door panels of the automatic door may be different, the automatic door may not be able to close tightly when closing. Moreover, since the automatic door will produce a certain amount of sagging when opening, certain problems may also arise when closing.

[0066] In order to solve the problem that the automatic door of the drone landing equipment in the prior art may produce deflection, this specification provides a drone landing equipment, such as Figure 2A shown.

[0067] Figure 2A This is a schematic diagram of the structure of a drone landing device provided in this manual.

[0068] Figure 2A An example of a drone landing device. Figure 2A The drone landing device in FIG. 2 includes a container 101, an automatic door 102 capable of automatically opening and closing container 101, a transmission device 103, and a transmission device 104. It can be seen that automatic door 102 can be opened and closed horizontally on container 101 to open or close container 101. Since the automatic door in FIG. 2 is composed of two movable door panels, each movable door panel corresponds to a transmission device. Therefore, the drone landing device includes transmission devices 103 and 104.

[0069] Each transmission device mentioned in this specification may include a compensation firmware, which may include a first sub-compensation firmware and a second sub-compensation firmware. The first sub-compensation firmware is closer to the receiving box, and the second sub-compensation firmware is farther away from the receiving box. In order to more clearly illustrate the positions of the first sub-compensation firmware and the second sub-compensation firmware, Figure 2B To illustrate the location of the two sub-compensation firmware, such as Figure 2B shown.

[0070] Figure 2B This is a schematic diagram of a first sub-compensation firmware and a second sub-compensation firmware provided in this specification.

[0071] in, Figure 2B The first sub-compensation firmware and the second sub-compensation firmware shown in FIG are only abstract illustrations. Figure 2B The purpose is to show the relative positions of the first sub-compensation firmware and the second sub-compensation firmware. Specifically, when implementing the first sub-compensation firmware and the second sub-compensation firmware, a variety of mechanical accessories can be used. Figure 2B As can be seen from the figure, the first sub-compensating fixture is farther from the container, while the second sub-compensating fixture is closer to the container. In other words, the first sub-compensating fixture is located at the outer side of the container, while the second sub-compensating fixture is located at the inner side of the container.

[0072] The aforementioned transmission device can be used in the drone landing system to both drive the opening and closing of the automatic door and compensate for the deflection of the automatic door when it is open or closed without the compensation firmware described in this specification. Specifically, upon receiving an automatic control command, the drone landing system can control the movement of the automatic door, where the movement of the automatic door includes opening or closing the automatic door. The transmission device is fixed relative to the container, and when the automatic door is opened or closed, it moves relative to the transmission device.

[0073] When the automatic door is opened, the first sub-compensation firmware rises and the second sub-compensation firmware falls. When the automatic door is closed, the second sub-compensation firmware rises and the first sub-compensation firmware falls. In this way, when the automatic door is opened outward, if the deflection compensation is not performed on the automatic door, the door panel of the automatic door will begin to sag from the outside. When compensation is performed in this way, the door panel of the automatic door can be slightly lifted, so that the automatic door tends to be horizontal when opening or closing.

[0074] For example, when the door is opened, taking the movable door panel 107 on the left side of the automatic door 102 as an example, when the automatic door is opened, the movable door panel 107 moves horizontally to the left. If the deflection of the movable door panel is not compensated, the movable door panel will sag slightly from the left. By lowering the first sub-compensation fixture 106 and the second sub-compensation fixture 105, the first sub-compensation fixture 106 on the left side rises and the second sub-compensation fixture 105 on the right side falls. As a result, the first sub-compensation fixture 106 and the second sub-compensation fixture 105 cooperate to lift up the movable door panel that would originally sag on the left side, so that the movable door panel tends to be horizontal when moving to the left.

[0075] When the automatic door is closed, the movable door panel 107 moves horizontally to the right. If the movable door panel is not compensated for its deflection, the movable door panel will sag slightly from the right. The second sub-compensation fixture rises and the first sub-compensation fixture falls, so that the second sub-compensation fixture on the right side rises and the first sub-compensation fixture on the left side falls. As a result, the cooperation of the first sub-compensation fixture and the second sub-compensation fixture can lift up the movable door panel that would originally sag on the right side, so that the movable door panel tends to be horizontal when moving to the right.

[0076] The above is a brief description of the drone landing equipment in this manual. The following will elaborate on the technical solution for deflection compensation based on the drone landing equipment described above. This section will explain in detail the implementation of the above compensation firmware.

[0077] Figure 3 The flowchart of a deflection compensation method for a UAV landing device in this specification specifically includes the following steps:

[0078] Step S301: Control the automatic door to move in response to an automatic control instruction. The movement of the automatic door includes: opening or closing the automatic door.

[0079] Step S302, when the automatic door is opened, control the first sub-compensation firmware to rise and the second sub-compensation firmware to fall; when the automatic door is closed, control the second sub-compensation firmware to rise and the first sub-compensation firmware to fall, so as to compensate for the deflection generated when the automatic door opens and closes naturally.

[0080] Based on this, the drone landing device can control the movement of the automatic door in response to the automatic control command. The movement of the automatic door mentioned here includes: opening or closing the automatic door. In order to compensate for the deflection of the automatic door, when the automatic door is opened, the first sub-compensation firmware can be controlled to rise and the second sub-compensation firmware can be controlled to fall. When the automatic door is closed, the second sub-compensation firmware can be controlled to rise and the first sub-compensation firmware can be controlled to fall, so as to compensate for the deflection generated by the automatic door when it opens and closes naturally. Among them, this part of the content has been explained in detail above and will not be repeated here.

[0081] It should be noted that the transmission device may include a first transmission device, a second transmission device, and a power motor. The power motor may be used to jointly control the first transmission device and the second transmission device. Upon receiving an automatic control instruction, the power motor may be controlled to transmit power to the first transmission device to control the movement of the automatic door via the first transmission device. When the automatic door is opened, the power motor may be controlled to transmit power to the second transmission device, thereby controlling the first sub-compensation fixture to rise and the second sub-compensation fixture to fall via the second transmission device. When the automatic door is closed, the power motor may be controlled to transmit power to the second transmission device, thereby controlling the second sub-compensation fixture to rise and the first sub-compensation fixture to fall via the second transmission device.

[0082] The first transmission device may include a driving spur gear, and a rack is provided on the movable door panel of the automatic door. The power is transmitted to the driving spur gear through the power motor. The driving spur gear rotates to drive the rack to move to control the opening or closing of the automatic door.

[0083] It should be noted that the transmission device may further include a driving helical gear and a first driven helical gear and a second driven helical gear located on both sides of the driving helical gear, wherein the first driven helical gear and the second driven helical gear rotate in opposite directions, the first driven helical gear is used to control the first sub-compensation firmware, and the second driven helical gear is used to control the second sub-compensation firmware, such as Figure 3 shown.

[0084] Figure 4This is a schematic diagram of a driving helical gear, a first driven helical gear, and a second driven helical gear that cooperate to control a first sub-compensation firmware and a second sub-compensation firmware provided in this specification.

[0085] from Figure 4 It can be seen that the first driven helical gear and the second driven helical gear are located on both sides of the driving helical gear, and the driving helical gear can be placed vertically, and the first driven helical gear and the second driven helical gear can be placed horizontally. The two sides of the driving helical gear are respectively connected to the first driven helical gear and the second driven helical gear, so that after the driving helical gear rotates, the first driven helical gear and the second driven helical gear rotate in opposite directions.

[0086] Since the first driven helical gear and the second driven helical gear can rotate in opposite directions, when the automatic door is opened, the active helical gear drives the first and second driven helical gears on both sides to rotate, so that the first driven helical gear drives the first sub-compensation fixture to rise, and the second driven helical gear drives the second sub-compensation fixture to fall. When the automatic door is closed, the active helical gear drives the first and second driven helical gears on both sides to rotate, so that the second driven helical gear drives the second sub-compensation fixture to rise, and the first driven helical gear drives the first sub-compensation fixture to rise.

[0087] There are many ways to implement the sub-compensation firmware. For example, the sub-compensation firmware may include at least a lead screw, the first sub-compensation firmware includes at least a first lead screw, the second sub-compensation firmware includes at least a second lead screw, the first lead screw and the first driven helical gear form a lead screw pair, the second lead screw and the second driven helical gear form a lead screw pair (from Figure 4 As can be seen in the figure, the first driven helical gear and the second driven helical gear can also be provided with threads on the inner sides, and the threads of the lead screw can be connected with the threads on the inner sides of the driven helical gears. Therefore, the first driven helical gear can form a lead screw pair with the first lead screw through the inner threads, and the second driven helical gear can form a lead screw pair with the second lead screw through the inner threads, so that the driven helical gear can drive the lead screw to move up and down). When the automatic door is opened, the driven helical gear can be driven by the driving helical gear to rotate, so that the first driven helical gear drives the first lead screw to rise, and the second driven helical gear drives the second lead screw to descend. When the automatic door is closed, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate in opposite directions, so that the second driven helical gear drives the second lead screw to rise, and the first driven helical gear drives the first lead screw to descend.

[0088] from Figure 4It can be seen that each sub-compensation firmware can also include a contact block and a guide column. The top end of the screw in a sub-compensation firmware is connected to the contact block. The contact block contains two slots, and the guide column contains a guide rail. The contact block can be inserted into the guide rail of the guide column through the two slots and slide up and down.

[0089] Therefore, when the automatic door is opened, the active helical gear drives the driven helical gear to rotate, so that the first driven helical gear drives the first lead screw to rise, and the second driven helical gear drives the second lead screw to fall, so that the contact block at the top end of the first lead screw slides upward relative to the guide column, and the contact block at the top end of the second lead screw slides downward relative to the guide column. When the automatic door is closed, the active helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate in opposite directions, so that the contact block at the top end of the second lead screw slides upward relative to the guide column, and the contact block at the top end of the first lead screw slides downward relative to the guide column.

[0090] In addition, in order to more stably compensate for the deflection of the automatic door, the transmission device may also include the following Figure 4 The rigid plate shown in FIG has its ends hingedly connected to the top ends of the first and second sub-compensating fixtures, respectively, and at least one end of the rigid plate contacts the automatic door. In other words, at least the raised end of the rigid plate contacts the automatic door. Of course, the rigid plate can also be in full contact with the automatic door for a sliding connection.

[0091] When the automatic door is opened, the first sub-compensating fixture can be controlled to rise and the second sub-compensating fixture can be controlled to fall, so that the end of the rigid plate hinged to the first sub-compensating fixture rises and the other end hinged to the second sub-compensating fixture moves downward. When the automatic door is closed, the second sub-compensating fixture can be controlled to rise and the first sub-compensating fixture can be controlled to fall, so that the end of the rigid plate hinged to the second sub-compensating fixture rises and the other end hinged to the first sub-compensating fixture moves downward.

[0092] Among them, Figure 4 The neutron compensation fixture is an integral structure including a lead screw, a contact block and a guide column. It can be seen that the two ends of the rigid plate are hinged to the contact blocks respectively. If one of the two sub-compensation fixtures descends, the other sub-compensation fixture rises. In this way, when the contact block at one end slides upward through the guide rail of the guide column, one end of the rigid plate hinged to the contact block will also rise, and the contact block at the other end will slide downward through the guide rail of the other guide column, so that the other end of the rigid plate will descend.

[0093] It should be noted that a guide rail that can be connected to the rigid plate can be set in the movable door panel of the automatic door. In this way, the rigid plate can slide on the guide rail of the movable door panel. Then, through the up and down movement of the first sub-compensation firmware and the second sub-compensation firmware, the rigid plate can be tilted upward or downward, so that the rigid plate can just lift the moving movable door panel.

[0094] It should also be noted that the above-mentioned first transmission device may include a driving spur gear and a rack on the movable door panel. By connecting the driving spur gear and the rack, the rotation of the driving spur gear is controlled, and the rack can be controlled to move along the driving spur gear, thereby controlling the opening and closing of the automatic door.

[0095] A load-bearing structure may be provided at the edge of the container to support the transmission device, such as Figure 5 shown.

[0096] Figure 5 This is a schematic diagram of a load-bearing structure provided in this manual.

[0097] from Figure 5 It can be seen that the load-bearing structure is used to support the transmission device, and a slider can be provided on the load-bearing structure. Guide rails can also be provided on both sides of the movable door panel. The slider can be inserted into the guide rail. When the movable door slides relative to the transmission device, the slider can also slide in the guide rail to fix the sliding direction of the automatic door when opening and closing.

[0098] It should be noted that in order to compensate for the deflection generated when the automatic door opens and closes naturally (that is, without compensation by the above-mentioned compensation firmware), the degree of compensation required by the compensation firmware can be calculated. Therefore, the compensation value of the compensation firmware can be determined based on the deflection generated when the automatic door opens and closes naturally. The compensation value is the sum of the vertical movement distances of the two sub-compensation firmware in the compensation firmware. By calculating the compensation value, a compensation firmware can be designed that can just fully compensate for the deflection of the automatic door, so that the automatic door tends to be horizontal when opening and closing.

[0099] In which, when determining the above-mentioned compensation value, the interval between the first sub-compensation fixture and the second sub-compensation fixture can be determined, and based on the deflection and the width of the movable door panel of the automatic door, the horizontal inclination angle of the automatic door when it is naturally opened and closed can be determined, and based on the horizontal inclination angle and the interval (which can be set), the compensation value can be determined, as shown in the following formula.

[0100] Θ=arctan(δ / L)=arcsin(h / d)

[0101] Among them, Θ is the horizontal inclination angle of the automatic door when it opens and closes naturally, that is, the degree of droop of the automatic door relative to the horizontal line, δ is the deflection, L is the width of the movable door panel, and d is the interval between the first sub-compensation fixture and the second sub-compensation fixture. In other words, the degree of droop of the automatic door can be determined by the width and deflection of the movable door panel, and the degree of compensation required by the compensation fixture is also consistent with the degree of droop, that is, the upward angle of the compensation fixture should be consistent with the horizontal inclination angle. Therefore, the above formula can be used to determine what the compensation value should be, and then the compensation fixture can be configured according to the determined compensation value. The deflection mentioned here can be calculated by finite element analysis, or it can be deduced by the deflection calculation formula.

[0102] It can be seen from the above method that a compensation fixture is provided in the transmission device of the receiving box in this method. The compensation fixture can be composed of a driving helical gear, two driven helical gears, two lead screws and a contact block. By rotating in opposite directions of different driven helical gears, different lead screws and contact blocks can move up and down in opposite directions, thereby driving one end of the rigid plate upward and the other end downward. When the automatic door is opened or closed, the rigid plate can just lift up the automatic door that would originally droop, thereby compensating for the deflection generated by the automatic door when it opens and closes naturally.

[0103] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0104] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0105] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0106] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0107] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0108] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0109] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0110] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0111] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Thus, this specification may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] This specification may be described in the general context of computer-executable instructions, such as program modules, executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media, including storage devices.

[0113] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0114] The foregoing is merely an example of the present invention and is not intended to limit the present invention. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A deflection compensation method for a UAV landing device, characterized in that: The drone landing equipment includes: a storage box, an automatic door that automatically opens and closes the storage box, and at least one transmission device, each movable door panel in the automatic door corresponds to a transmission device, the storage box contains a landing pad for the drone, the automatic door slides horizontally on the storage box to open or close the automatic door, the transmission device includes a compensation firmware, the compensation firmware includes: a first sub-compensation firmware and a second sub-compensation firmware, of the first sub-compensation firmware and the second sub-compensation firmware: the first sub-compensation firmware is farther from the storage box, and the second sub-compensation firmware is closer to the storage box, and the automatic door moves relative to the transmission device, and the method includes: In response to an automatic control instruction, controlling the automatic door to move, the movement of the automatic door including: opening or closing the automatic door; When the automatic door is opened, the first sub-compensation firmware is controlled to rise and the second sub-compensation firmware is controlled to fall. When the automatic door is closed, the second sub-compensation firmware is controlled to rise and the first sub-compensation firmware is controlled to fall, so as to compensate for the deflection generated when the automatic door opens and closes naturally.

2. The method according to claim 1, wherein The transmission device includes a power motor, a first transmission device and a second transmission device, and the second transmission device includes the compensation firmware; In response to the automatic control instruction, controlling the automatic door to move specifically includes: In response to the automatic control instruction, controlling the power motor to transmit power to the first transmission device to control the movement of the automatic door through the first transmission device; When the automatic door is opened, controlling the first sub-compensation firmware to rise and the second sub-compensation firmware to fall, and when the automatic door is closed, controlling the second sub-compensation firmware to rise and the first sub-compensation firmware to fall, specifically comprising: When the automatic door is opened, the power motor is controlled to transmit power to the second transmission device, and the first sub-compensation firmware is controlled to rise and the second sub-compensation firmware is controlled to fall through the second transmission device; and when the automatic door is closed, the power motor is controlled to transmit power to the second transmission device, and the second sub-compensation firmware is controlled to rise and the first sub-compensation firmware is controlled to fall through the second transmission device.

3. The method according to claim 1, wherein The transmission device further includes: a driving helical gear, a first driven helical gear and a second driven helical gear located on both sides of the driving helical gear, wherein the first driven helical gear and the second driven helical gear rotate in opposite directions, the first driven helical gear is used to control the first sub-compensation firmware, and the second driven helical gear is used to control the second sub-compensation firmware; When the automatic door is opened, controlling the first sub-compensation firmware to rise and the second sub-compensation firmware to fall specifically includes: When the automatic door is opened, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate, so that the first driven helical gear drives the first sub-compensation fixture to rise, and the second driven helical gear drives the second sub-compensation fixture to descend; When the automatic door is closed, controlling the second sub-compensation firmware to rise and the first sub-compensation firmware to fall specifically includes: When the automatic door is closed, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate, so that the second driven helical gear drives the second sub-compensation firmware to rise, and the first driven helical gear drives the first sub-compensation firmware to rise.

4. The method according to claim 3, wherein The first sub-compensation fixture includes at least a first lead screw, and the second sub-compensation fixture includes at least a second lead screw, the first lead screw and the first driven helical gear form a lead screw pair, and the second lead screw and the second driven helical gear form a lead screw pair; When the automatic door is opened, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate in opposite directions, so that the first driven helical gear drives the first sub-compensation fixture to rise, and the second driven helical gear drives the second sub-compensation fixture to descend, specifically including: When the automatic door is opened, the active helical gear drives the driven helical gear to rotate, so that the first driven helical gear drives the first lead screw to rise, and the second driven helical gear drives the second lead screw to descend; When the automatic door is closed, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate in opposite directions, so that the second driven helical gear drives the second sub-compensation fixture to rise, and the first driven helical gear drives the first sub-compensation fixture to rise, specifically including: When the automatic door is closed, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate in opposite directions, so that the second driven helical gear drives the second lead screw to rise, and the first driven helical gear drives the first lead screw to descend.

5. The method according to claim 4, wherein Each sub-compensation fixture includes a contact block and a guide column. The top end of the lead screw in the sub-compensation fixture is connected to the contact block. The contact block includes two slots, and the guide column includes two guide rails. The contact block is inserted into the guide rails of the guide column through the two slots and slides. When the automatic door is opened, the active helical gear drives the driven helical gear to rotate, so that the first driven helical gear drives the first lead screw to rise, and the second driven helical gear drives the second lead screw to descend, specifically including: When the automatic door is opened, the active helical gear drives the driven helical gear to rotate, the first driven helical gear drives the first lead screw to rise, and the second driven helical gear drives the second lead screw to descend, so that the contact block at the top end of the first lead screw slides upward relative to the guide column, and the contact block at the top end of the second lead screw slides downward relative to the guide column; When the automatic door is closed, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate in opposite directions, so that the second driven helical gear drives the second lead screw to rise, and the first driven helical gear drives the first lead screw to descend, specifically including: When the automatic door is closed, the driving helical gear drives the first driven helical gear and the second driven helical gear on both sides to rotate in opposite directions, so that the contact block at the top end of the second lead screw slides upward relative to the guide column, and the contact block at the top end of the first lead screw slides downward relative to the guide column.

6. The method according to claim 1, wherein The transmission device further includes a rigid plate, both ends of which are hinged to the top ends of the first sub-compensation fixture and the second sub-compensation fixture, respectively, and at least one end of the rigid plate is in contact with the automatic door; When the automatic door is opened, controlling the first sub-compensation firmware to rise and the second sub-compensation firmware to fall specifically includes: When the automatic door is opened, controlling the first sub-compensation fixture to rise and the second sub-compensation fixture to fall, so that one end of the rigid plate hinged to the first sub-compensation fixture rises and the other end hinged to the second sub-compensation fixture moves downward; When the automatic door is opened, controlling the second sub-compensation firmware to rise and the first sub-compensation firmware to fall specifically includes: When the automatic door is opened, the second sub-compensation fixture is controlled to rise and the first sub-compensation fixture is controlled to fall, so that one end of the rigid plate hinged to the second sub-compensation fixture rises and the other end hinged to the first sub-compensation fixture moves downward.

7. The method according to claim 1, wherein The method further comprises: The compensation value of the compensation fixture is determined according to the deflection generated when the automatic door is opened and closed naturally. The compensation value is the sum of the vertical movement distances of the two sub-compensation fixtures in the compensation fixture.

8. The method according to claim 7, wherein Determining the compensation value of the compensation firmware according to the deflection generated by the automatic door when it is opened and closed naturally includes: determining an interval between the first sub-compensation firmware and the second sub-compensation firmware; Determining the horizontal inclination angle of the automatic door when it is naturally opened and closed according to the deflection and the width of the movable door panel of the automatic door; The compensation value is determined according to the horizontal inclination angle and the interval.

9. A drone landing device, characterized in that: The drone landing equipment includes: a storage box, an automatic door that automatically opens and closes the storage box, and at least one transmission device, each movable door panel in the automatic door corresponds to a transmission device, the storage box contains a landing pad for the drone, the automatic door slides horizontally on the storage box to open or close the automatic door, the transmission device includes a driving helical gear, a first driven helical gear located on both sides of the driving helical gear, a second driven helical gear, a first sub-compensation firmware controlled by the first driven helical gear, and a second sub-compensation firmware controlled by the second driven helical gear, the first sub-compensation firmware is farther from the storage box, and the second sub-compensation firmware is closer to the storage box, and the first driven helical gear and the second driven helical gear rotate in opposite directions; When the automatic door is opened, the active helical gear drives the driven helical gears on both sides to rotate, so that the first driven helical gear drives the first sub-compensation fixture to rise, and the second driven helical gear drives the second sub-compensation fixture to fall. When the automatic door is closed, the active helical gear drives the driven helical gears on both sides to rotate, so that the first driven helical gear drives the first sub-compensation fixture to fall, and the second driven helical gear drives the second sub-compensation fixture to rise. The transmission device further includes a rigid plate, both ends of which are hinged to the top ends of the first sub-compensation fixture and the second sub-compensation fixture, respectively, and at least one end of the rigid plate is in contact with the automatic door; When the automatic door is opened, the first sub-compensating fixture is controlled to rise and the second sub-compensating fixture is controlled to fall, so that one end of the rigid plate hinged to the first sub-compensating fixture rises and the other end hinged to the second sub-compensating fixture moves downward; when the automatic door is opened, the second sub-compensating fixture is controlled to rise and the first sub-compensating fixture is controlled to fall, so that one end of the rigid plate hinged to the second sub-compensating fixture rises and the other end hinged to the first sub-compensating fixture moves downward; The transmission device includes a power motor, a first transmission device and a second transmission device. The power motor is used to transmit power to the first transmission device and the second transmission device together. The first transmission device is used to control the movement of the automatic door. The second transmission device includes a driving helical gear, a first driven helical gear located on both sides of the driving helical gear, a second driven helical gear, a first sub-compensation firmware controlled by the first driven helical gear, and a second sub-compensation firmware controlled by the second driven helical gear.

10. The drone landing device according to claim 9, wherein: The first sub-compensation fixture includes at least a first lead screw, and the second sub-compensation fixture includes at least a second lead screw, the first lead screw and the first driven helical gear form a lead screw pair, and the second lead screw and the second driven helical gear form a lead screw pair; When the automatic door is opened, the active helical gear drives the driven helical gears on both sides to rotate in opposite directions, so that the first driven helical gear drives the first lead screw to rise, and the second driven helical gear drives the second lead screw to fall; when the automatic door is closed, the active helical gear drives the driven helical gears on both sides to rotate in opposite directions, so that the second driven helical gear drives the second lead screw to rise, and the first driven helical gear drives the first lead screw to fall.

11. The drone landing device according to claim 10, wherein: Each sub-compensation fixture includes a contact block and a guide column. The top end of the lead screw in the sub-compensation fixture is connected to the contact block. The contact block includes two slots, and the guide column includes two guide rails. The contact block is inserted into the guide rails of the guide column through the two slots and slides. When the automatic door is opened, the active helical gear drives the driven helical gear to rotate in the opposite direction, the first driven helical gear drives the first lead screw to rise, and the second driven helical gear drives the second lead screw to descend, so that the contact block at the top end of the first lead screw slides upward relative to the guide column, and the contact block at the top end of the second lead screw slides downward relative to the guide column; when the automatic door is closed, the active helical gear drives the driven helical gears on both sides to rotate in the opposite direction, so that the contact block at the top end of the second lead screw slides upward relative to the guide column, and the contact block at the top end of the first lead screw slides downward relative to the guide column.

12. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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