A visually guided drone

Abstract

The present invention discloses a visual guidance drone, including a drone main body, wherein the drone main body is provided with four cantilevers symmetrically arranged in pairs, and rotatable spiral blades are provided on the cantilevers, two first vertical rods are symmetrically provided on the left and right sides of the lower front side of the drone main body, and two second vertical rods are symmetrically provided on the left and right sides of the lower rear side of the drone main body, a steering roller assembly is provided at the bottom of the first vertical rod, and a driving roller assembly is provided at the bottom of the second vertical rod, and the first vertical rod and the second vertical rod on both sides are fixedly connected by a longitudinal plate respectively, and the middle parts of the two longitudinal plates are connected by a fixed transverse plate, and the fixed transverse plate is equipped with a lifting drive assembly, and the lifting drive assembly is connected to a clamping drive assembly. This device can actively clamp goods and can be switched to a road driving state through a corresponding road driving assembly, and energy consumption is reduced in the road driving state.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a vision-guided UAV. Background Art

[0002] Unmanned aerial vehicle (UAV) is an unmanned aircraft controlled by radio remote control equipment and self-contained program control devices, or operated completely or intermittently autonomously by an onboard computer. UAV is actually a general term for unmanned aerial vehicles.

[0003] The functions of drones are gradually being developed into various forms, and they can be applied to various fields. Because drones can avoid complex road conditions and perform high-speed transportation in the air, they are gradually becoming popular in the field of cargo transportation. However, in existing technologies, drones are usually only equipped with corresponding storage structures and can only be passively loaded by humans at the cargo handling site, and cannot be actively loaded. In addition, the most important thing is that drones have limited battery capacity. If drones carry cargo for a long time, especially if they carry large amounts of cargo, they consume a lot of power, and their endurance is difficult to improve, making it difficult to perform long-term missions. Summary of the Invention

[0004] To solve the above technical problems, the present invention relates to a visually guided drone, which has a simple and reliable structure, effectively solves the above technical problems, and is suitable for popularization and use. To achieve the above purpose, the present invention is implemented through the following technical solutions:

[0005] A visual guidance drone includes a drone body, wherein the drone body is provided with four cantilevers symmetrically arranged in pairs, and the cantilevers are provided with rotatable spiral blades. Two first vertical rods are symmetrically provided on the left and right sides of the lower front side of the drone body, and two second vertical rods are symmetrically provided on the left and right sides of the lower rear side of the drone body. A steering roller assembly is provided at the bottom of the first vertical rod, and a driving roller assembly is provided at the bottom of the second vertical rod. The first vertical rod and the second vertical rod on both sides are also fixedly connected by a longitudinal plate respectively, and the middle parts of the two longitudinal plates are connected by a fixed horizontal plate. The fixed horizontal plate is equipped with a lifting drive assembly, and the lifting drive assembly is connected to a clamping drive assembly. The clamping drive assembly includes two clamping plates that can be relatively close to or away from each other.

[0006] On the basis of the above scheme and as a preferred scheme of the above scheme: the steering roller assembly includes a front wheel fixing plate, a front wheel, a steering knuckle, a first drive motor, a drive gear, a rack, a first pull rod, and a guide limit plate. The bottoms of the two first vertical rods are fixedly connected to the front wheel fixing plate. The left and right ends of the front wheel fixing plate are symmetrically provided with grooves. The steering knuckle is rotatably installed in the grooves. The side of the steering knuckle away from the front wheel fixing plate is connected to the front wheel. An adjusting rod is provided on the rear side of the steering knuckle. A support shaft is provided on the top of the rear end of the adjusting rod. The rack is arranged horizontally. The first drive motor is fixed on the front wheel fixing plate and its output shaft is connected to the drive gear, the drive gear is meshed with the rack, the two first pull rods are symmetrically arranged on both sides of the rack, one end of the first pull rod is connected to one end of the rack through a spherical joint, and the other end of the first pull rod is rotatably connected to the support shaft through a fisheye joint, one end of the guide limit plate is fixedly connected to the front wheel fixing plate, and the guide limit plate is provided with a limit groove that slides with the rack, and the first drive motor is used to drive the rack to move laterally to drive the two front wheels to steer synchronously.

[0007] On the basis of the above scheme and as a preferred scheme of the above scheme: the driving roller assembly includes a rear wheel fixing plate, a second driving motor, a synchronous belt, a transmission rod, and a rear wheel, the bottoms of the two second vertical rods are fixedly connected to the rear wheel fixing plate, the transmission rod is rotatably arranged inside the rear wheel fixing plate and laterally passes through the rear wheel fixing plate, the two ends of the transmission rod are respectively connected to a rear wheel, the second driving motor is fixed above the rear wheel fixing plate, the output shaft of the second driving motor is connected to the transmission rod through a synchronous belt, and the second driving motor is used to drive the transmission rod to rotate so as to rotate the rear wheel.

[0008] On the basis of the above scheme and as a preferred scheme of the above scheme: the lifting drive assembly includes a lifting drive motor, a guide rod, a sliding sleeve, and a lifting plate. The lifting drive motor is installed above the fixed horizontal plate. The lifting rod of the lifting drive motor passes downward through the fixed horizontal plate and is fixedly connected to the lifting plate. The two sliding sleeves are fixed on the left and right sides of the lifting motor. The two guide rods are symmetrically arranged on both sides of the lifting rod and parallel to the lifting rod. The guide rod passes through the fixed horizontal plate and slides with the sliding sleeve.

[0009] Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

[0010] On the basis of the above solution and as a preferred solution of the above solution: a rubber anti-skid pad is provided on the inner side of the splint, and a plurality of hemispherical anti-skid protrusions distributed in a rectangular array are provided on the inner side of the rubber anti-skid pad.

[0011] On the basis of the above scheme and as a preferred scheme of the above scheme: four support rods symmetrically arranged in pairs are provided under the drone body, the cross-section of the support rods is L-shaped, and the horizontal plates of the four support rods are detachably connected to the first vertical rod and the second vertical rod by bolts.

[0012] On the basis of the above solution and as a preferred solution of the above solution: the drone body is provided with a visual guidance module.

[0013] Compared with the existing technology, the present invention has the following outstanding and beneficial technical effects: the advantage of this device is that it can cooperate with the drone body to actively clamp and carry goods in almost any position in the flight state. When the transportation path is long and the goods are heavy, the corresponding road driving components can be used to enable the device to switch to the road driving state, and the energy consumption in the road driving state is reduced. In addition, in the moving path, it can adaptably pass through obstacle areas through the flight state and pass through areas with good road conditions through the ground driving state. The cooperation of the two for cargo transfer can greatly improve the endurance of the device, and can be applied to logistics transit and distribution and other fields to improve transfer efficiency and realize automated transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the first stereoscopic view of the overall device of the present invention;

[0015] Figure 2is a schematic diagram of the second stereoscopic view of the overall device of the present invention;

[0016] Figure 3 It is a schematic diagram of the main view of the overall device of the present invention;

[0017] Figure 4 Schematic diagram of the drive roller assembly. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of this application clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments. However, the specific implementation methods and embodiments described below are only for illustrative purposes and are not intended to limit the present invention.

[0019] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the attached Figure 1 The directions or positional relationships shown are only for the convenience of describing the present invention, and do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0020] In the description of this application, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0021] The functions of drones are gradually being developed into various fields. They can be applied to various fields. Because drones can avoid complex roads and perform high-speed transportation in the air, they are gradually becoming popular in the field of cargo transportation. However, in the existing technology, drones are usually only equipped with corresponding storage structures and can only be passively loaded by humans at the cargo handling site, and cannot be actively loaded. In addition, the most important thing is that drones have limited battery capacity. If drones carry cargo for a long time, especially if they carry large-mass cargo, they consume a lot of power, and their endurance is difficult to improve, making it difficult to perform long-term missions. In order to solve the above technical problems, such as Figure 1-4 As shown, the present invention relates to a visually guided UAV, including a UAV body 1, wherein the UAV body 1 is provided with four cantilevers 2 symmetrically arranged in pairs, and the cantilevers 2 are provided with rotatable spiral blades. The UAV body 1 is provided with a corresponding power component and a power supply module. The power component is energized by the power supply module so that the spiral blades can be driven to rotate at high speed for flight. The basic structure of the UAV body 1 adopts conventional UAV technology, and its specific structure and working principle are not further described in the present invention.

[0022] Two first vertical rods 3 are symmetrically provided on the front side of the lower part of the drone body 1, and two second vertical rods 4 are symmetrically provided on the rear side of the lower part of the drone body 1. A steering roller assembly 5 is provided at the bottom of the first vertical rod 3. Specifically, the steering roller assembly 5 includes a front wheel fixing plate 501, a front wheel 502, a steering knuckle 503, a first drive motor 504, a drive gear 505, a rack 506, a first pull rod 507, and a guide limit plate 508. The bottoms of the two first vertical rods 3 are fixedly connected to the front wheel fixing plate 501. The left and right ends of the front wheel fixing plate 501 are symmetrically provided with grooves, and the steering knuckle 503 is rotatably installed in the grooves. The side of the steering knuckle 503 away from the front wheel fixing plate 501 is connected to the front wheel 502. The front wheel 502 is rotatably connected to the steering knot, and the front wheel 502 can rotate around the axis direction of its connecting shaft. The rear side of the steering knuckle 503 is provided with an adjusting rod 509. The adjusting rod 509 and the steering knuckle 503 are excellently integrated into a structure to ensure the strength and stability of the structure. The rear end top of the adjusting rod 509 is provided with a There is a support shaft, the rack 506 is arranged horizontally, the first drive motor 504 is fixed on the front wheel fixing plate 501 and its output shaft is connected to the drive gear 505, the drive gear 505 is meshed with the rack 506, the two first pull rods 507 are symmetrically arranged on both sides of the rack 506, one end of the first pull rod 507 is connected to one end of the rack 506 through a spherical joint, the other end of the first pull rod 507 is rotatably connected to the support shaft through a fisheye joint, one end of the guide limit plate 508 is connected to the front wheel fixing plate 501 is fixedly connected, and the guide limit plate 508 is provided with a limit slide groove that slides with the rack 506. The rack 506 is slidably limited by the guide limit plate 508, so that the rack 506 moves laterally under the drive of the first drive motor 504. During the movement, the rack 506 drives the two first pull rods 507 to displace and rotate and transmits the steering drive force to the steering knuckle 503 through the support shaft and the adjustment rod 509, thereby forcing the two front wheels 502 to rotate synchronously. The rotation angle is large, thereby realizing automatic rotation adjustment.

[0023] Furthermore, a driving roller assembly 6 is provided at the bottom of the second vertical rod 4, and the driving roller assembly 6 includes a rear wheel fixing plate 601, a second driving motor 602, a synchronous belt 603, a transmission rod 604, and a rear wheel 605. The bottoms of the two second vertical rods 4 are fixedly connected to the rear wheel fixing plate 601. The transmission rod 604 is rotatably arranged inside the rear wheel fixing plate 601 and laterally passes through the rear wheel fixing plate 601. The two ends of the transmission rod 604 are respectively connected to a rear wheel 605. The second driving motor 602 is fixed above the rear wheel fixing plate 601. The output shaft of the second driving motor 602 is connected to a driving gear. Wheel, a coaxial passive gear is connected to the transmission rod 604 through a spline, and the active gear and the passive gear are connected by a synchronous belt 603. The driving force of the second drive motor 602 is finally transmitted to the transmission rod 604 through the synchronous belt 603, thereby driving the rear wheel 605 to roll. The synchronous belt 603 is relatively accurate in the torque transmission process to prevent slipping, the transmission efficiency is relatively high, and maintenance is relatively convenient. The cooperation between the driving roller assembly 6 and the steering roller assembly 5 enables the device to realize the land driving function, so that the drone body 1 can switch the flight state to the road driving state after landing.

[0024] The first vertical rod 3 and the second vertical rod 4 on both sides are respectively fixedly connected by a longitudinal plate 7, and the middle parts of the two longitudinal plates 7 are connected by a fixed transverse plate 8. The fixed transverse plate 8 is equipped with a lifting drive assembly 9, and the lifting drive assembly 9 is connected to a clamping drive assembly 10. The clamping drive assembly 10 includes two clamping plates 1003 that can be relatively close to or away from each other. Specifically, the lifting drive assembly 9 includes a lifting drive motor 901, a guide rod 902, a sliding sleeve 903, and a lifting plate 904. The lifting drive motor 901 is installed above the fixed transverse plate 8. The lifting drive assembly 9 is connected to a clamping drive assembly 10. The clamping drive assembly 10 includes two clamping plates 1003 that can be relatively close to or away from each other. Specifically, the lifting drive assembly 9 includes a lifting drive motor 901, a guide rod 902, a sliding sleeve 903, and a lifting plate 904. The lifting rod of the driving motor 901 passes downward through the fixed horizontal plate 8 and is fixedly connected to the lifting plate 904. The two sliding sleeves 903 are fixed on the left and right sides of the lifting motor. The two guide rods 902 are symmetrically arranged on both sides of the lifting rod and are parallel to the lifting rod. The guide rods 902 pass through the fixed horizontal plate 8 and slide with the sliding sleeve 903. The lifting motor can drive the lifting plate 904 to perform lifting and adjustment through the lifting rod. The cooperation between the guide rod 902 and the sliding sleeve 903 plays a guiding role, which can increase the carrying capacity of the lifting plate 904 and also improve the lifting and moving accuracy of the lifting plate 904.

[0025] Furthermore, the clamping drive assembly 10 also includes a positioning plate 1001 that is relatively arranged front and back and located below the lifting plate 904. The two positioning plates 1001 are connected by two longitudinal support rods 1002 that are relatively arranged left and right. A sliding plate 1004 is provided on the top of each of the clamping plates 1003, and two sliding seats 1005 that are symmetrical on the left and right are provided above each of the sliding plates 1004. The two sliding seats 1005 are respectively slidably connected to the two longitudinal support rods 1002. A gantry fixing frame 1006 is also fixed to the lower middle part of the lifting plate 904, and a rotating shaft is provided in the middle part of the lower middle part of the gantry fixing frame 1006. The rotating shaft is rotatably connected to the center hole of a diamond-shaped connecting member 1007. The two ends of the diamond connecting member 1007 are respectively connected to a second pull rod 1008. One end of the rod 1008 is rotatably connected to the end of the diamond-shaped connecting piece 1007, and the other end of each second pull rod 1008 is rotatably connected to the middle of the sliding plate 1004 on which it is located. A linear drive motor 1009 is installed on one of the sliding plates 1004, and the end of the telescopic shaft of the linear drive motor 1009 is fixedly connected to the fixed seat on the gantry fixed frame 1006. The linear drive motor 1009 can drive the second pull rod 1008 on one side to displace and rotate through the linear movement of the telescopic shaft, and then drive the second pull rod 1008 on the other side to displace and rotate relative to each other through the diamond-shaped connecting piece 1007, thereby pulling the splint 1003 on the other side to move. The clamping drive assembly 10 can realize the synchronous approach or distance of the two splints 1003, thereby realizing active clamping of the goods. Preferably, a rubber anti-skid pad 1010 is provided on the inner side of the splint 1003, and a number of hemispherical anti-skid protrusions 1011 distributed in a rectangular array are provided on the inner side of the rubber anti-skid pad 1010. The rubber material can protect the goods and avoid injuries caused by excessive clamping force. The setting of the hemispherical anti-skid protrusions 1011 can increase friction and avoid slipping during the clamping and transfer process.

[0026] Furthermore, four support rods 11 are symmetrically arranged in pairs under the drone body 1. The cross-section of the support rods 11 is L-shaped. The horizontal plates of the four support rods 11 are detachably connected to the first vertical rod 3 and the second vertical rod 4 by bolts. The bolt connection method can ensure the stability of the connection while making it convenient to disassemble the body and the drone body 1. The structure below the drone body 1 can be disassembled and assembled according to actual needs, and it is flexible to use.

[0027] Preferably, a visual guidance module 12 is installed beneath the drone body 1. This visual recognition module utilizes computer vision technology, using visual sensors to acquire information about the surrounding road environment. After identification and analysis by the control system, it generates control commands, enabling the drone to travel along the planned path. The visual navigation system primarily consists of an image signal acquisition device, an image signal processing device, and an image recognition and motion control unit. The image acquisition device is provided by a digital camera, image signal processing is performed by an image acquisition card, and image recognition and motion control are performed by an MCU on the main control board. The motion actuator serves as the driving mechanism for flight or for transitioning to road travel. The entire module also preferably includes infrared / laser safety sensors, a motor speed encoder, and fill lighting. The safety sensor provides early warning of obstacles ahead of the drone. The motor speed encoder uses servo control for motor speed and position. The fill lighting system enhances the light intensity along the path beneath the drone to accurately identify path markers. The digital camera signal is sent to the main control system board through the image acquisition card. The safety sensor, motor drive controller and auxiliary lighting are directly connected to the main control board. The machine is driven by the driver. The rotary encoder is mechanically connected to the main shaft of the machine, and the encoder feedback signal is sent to the driver.

[0028] The specific working method is to assemble the drone body 1 and the vehicle body structure part by bolts. After the drone moves to the cargo handling point in an empty state, it flies to a position above the cargo. The linear drive motor 1009 drives the two clamps 1003 to clamp the cargo. The lifting drive motor 901 raises the lifting plate 904 so that the lowest point of the cargo is higher than the lowest point of the front wheel 502 and the rear wheel 605. Then the drone body 1 lands and moves to the ground. At this time, the front and rear wheels 605 are in contact with the ground while the cargo does not. The steering roller assembly 5 and the driving roller assembly 6 cooperate to switch the device to ground transportation. The advantage of this device is that it can cooperate with the drone body 1 to actively clamp and carry goods in almost any position in the flight state. When the transportation path is long and the goods are heavy, the device can be switched to the road driving state through the corresponding road driving components. The energy consumption in the road driving state is reduced, and the battery life of the battery of the same capacity is greatly improved. In addition, in the moving path, it can adaptably pass through the obstacle area through the flight state and pass through the area with good road conditions through the ground driving state. The cooperation of the two for cargo transfer can greatly improve the battery life of the device, improve the transfer efficiency, and realize automatic transfer.

[0029] It is worth noting that the technical features of the drone body, visual guidance module, drive motor, linear motor, lifting motor, etc. involved in the patent application of this invention should be regarded as prior art. The specific structure, working principle and possible control method and spatial layout method of these technical features can adopt the conventional selection in the field and should not be regarded as the inventive point of this patent. The patent of this invention will not be further elaborated.

[0030] The above embodiments are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made by technicians in the relevant technical field based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A visual guidance drone, comprising a drone body, the drone body having four cantilevers arranged symmetrically in pairs, each cantilever having rotatable spiral blades, characterized in that: Two first vertical rods are symmetrically provided on the left and right sides of the lower front side of the drone body, and two second vertical rods are symmetrically provided on the left and right sides of the lower rear side of the drone body. A steering roller assembly is provided at the bottom of the first vertical rod, and a driving roller assembly is provided at the bottom of the second vertical rod. The first vertical rod and the second vertical rod on both sides are fixedly connected by a longitudinal plate respectively, and the middle parts of the two longitudinal plates are connected by a fixed transverse plate. A lifting drive assembly is installed on the fixed transverse plate, and the lifting drive assembly is connected to a clamping drive assembly, and the clamping drive assembly includes two clamping plates that can be relatively close to or away from each other; The steering roller assembly includes a front wheel fixing plate, a front wheel, a steering knuckle, a first drive motor, a drive gear, a rack, a first pull rod, and a guide limit plate. The bottoms of the two first vertical rods are fixedly connected to the front wheel fixing plate. Grooves are symmetrically provided at the left and right ends of the front wheel fixing plate. The steering knuckle is rotatably installed in the grooves. The side of the steering knuckle away from the front wheel fixing plate is connected to the front wheel. An adjustment rod is provided on the rear side of the steering knuckle. A support shaft is provided at the top of the rear end of the adjustment rod. The rack is arranged transversely. The first drive motor is fixed to the front wheel fixing plate and its output shaft is connected to the drive gear. The drive gear meshes with the rack. The two first pull rods are symmetrically arranged on both sides of the rack. One end of the first pull rod is connected to one end of the rack via a spherical joint, and the other end of the first pull rod is rotatably connected to the support shaft via a fisheye joint. One end of the guide limit plate is fixedly connected to the front wheel fixing plate. The guide limit plate is provided with a limit slide groove that slidably cooperates with the rack. The first drive motor is used to drive the rack to move transversely, thereby driving the two front wheels to steer synchronously. The driving roller assembly includes a rear wheel fixing plate, a second driving motor, a synchronous belt, a transmission rod, and a rear wheel. The bottoms of the two second vertical rods are fixedly connected to the rear wheel fixing plate. The transmission rod is rotatably arranged inside the rear wheel fixing plate and laterally passes through the rear wheel fixing plate. The two ends of the transmission rod are respectively connected to a rear wheel. The second driving motor is fixed above the rear wheel fixing plate. The output shaft of the second driving motor is connected to the transmission rod through a synchronous belt. The second driving motor is used to drive the transmission rod to rotate, thereby rotating the rear wheel. The lifting drive assembly includes a lifting drive motor, a guide rod, a sliding sleeve, and a lifting plate. The lifting drive motor is installed above the fixed horizontal plate. The lifting rod of the lifting drive motor passes downward through the fixed horizontal plate and is fixedly connected to the lifting plate. The two sliding sleeves are fixed on the left and right sides of the lifting motor. The two guide rods are symmetrically arranged on both sides of the lifting rod and are arranged parallel to the lifting rod. The guide rods pass through the fixed horizontal plate and slide in cooperation with the sliding sleeves. Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

2. The visually guided drone according to claim 1, characterized in that: A rubber anti-skid pad is provided on the inner side of the clamping plate, and a plurality of hemispherical anti-skid protrusions distributed in a rectangular array are provided on the inner side of the rubber anti-skid pad.

3. A visually guided drone according to claim 2, characterized in that: Four support rods are symmetrically arranged in pairs below the drone body. The cross-section of the support rods is L-shaped, and the horizontal plates of the four support rods are detachably connected to the first vertical rod and the second vertical rod through bolts.

4. The visually guided drone according to claim 3, characterized in that: The drone body is provided with a visual guidance module.

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