Interlocking device for dual unmanned aircraft deployment operation

Abstract

The application discloses a kind of interlocking devices of double unmanned aircraft deployment operation, including the lock seat of first unmanned aircraft top, and the lock head connected with the bottom of second unmanned aircraft, lock head includes upper positioning device, and the upper fixation device of symmetrical upper positioning device is respectively arranged on left and right sides, lock seat includes lock catch, and the lower fixation device of symmetrical lower positioning device is arranged on left and right sides with contact at lock catch front and rear ends, and the position of upper positioning device and lower positioning device corresponds and is mutually matched, and the position of upper fixation device and lower fixation device corresponds and is mutually matched, one end of lock catch is connected with the output shaft of stepping motor, and stepping motor is electrically connected with the output end of motor controller, and motor controller is electrically connected with symmetrical lower positioning device, when the upper positioning device and lower positioning device made of metal are matched connection, upper positioning device, lower positioning device and motor controller form electric path.The application realizes the automatic interlocking and separation of double unmanned aircraft, and can be interlocked again after unlocking, with simple structure and strong fastening.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a locking device for double unmanned aerial vehicle deployment operation. BACKGROUND

[0002] The primary guide rope deployment construction is initially manually deployed, which has low construction efficiency, low mechanization degree and great impact on ground vegetation. With the progress of technology, the primary guide rope is gradually deployed by the aerial vehicle in the air. The most commonly used multi-rotor unmanned aerial vehicle has good control performance, small size and is convenient and practical.

[0003] The multi-rotor unmanned aerial vehicle can be used to replace manual tower climbing to perform the guide rope deployment operation, thereby saving a large amount of time consumed by manual tower climbing and eliminating the danger of high-altitude operation to avoid high-falling and electric shock accidents. In addition, the use of the unmanned aerial vehicle for the guide rope deployment operation is not limited by the terrain, and the unmanned aerial vehicle for pulling the guide rope can easily reach areas that are difficult for manual operation to quickly reach. In mountainous and valley operations, the advantages of the unmanned aerial vehicle deployment operation are more obvious than manual deployment, which can significantly improve the operation efficiency, thereby saving a large amount of construction time and economic cost.

[0004] However, there are still many problems in using the multi-rotor unmanned aerial vehicle for the deployment of the guide rope, for example:

[0005] (1) The endurance time of the current multi-rotor unmanned aerial vehicle is relatively short, and in the non-load case, it can only sustain flight for 20-30 minutes, and then the battery needs to be replaced. When the multi-rotor unmanned aerial vehicle is applied to the deployment of the guide rope, the weight of the guide rope will shorten the endurance of the unmanned aerial vehicle, making the frequency of replacing the battery more frequent. When replacing the battery, the unmanned aerial vehicle needs to return and land, which undoubtedly causes a lot of waste to the originally limited endurance of the unmanned aerial vehicle, increases the operation time, and weakens the advantage of the unmanned aerial vehicle replacing manual operation for the deployment of the guide rope.

[0006] (2) The load has little effect on the endurance of the large-power unmanned aerial vehicle. However, when the large multi-rotor unmanned aerial vehicle is used to replace the small multi-rotor unmanned aerial vehicle for the deployment of the guide rope, since the large unmanned aerial vehicle is difficult to pass through narrow spaces, it is easy to collide with the iron tower when approaching the iron tower for the guide rope passing through the pulley operation, which may cause the unmanned aerial vehicle to fall and other accidents. It can be seen that the large multi-rotor unmanned aerial vehicle is not suitable for the deployment of the guide rope.

[0007] In order to solve the above problems, the applicant proposes a method for guiding the deployment of a rope by two unmanned aerial vehicles. The method adds a large unmanned aerial vehicle to a small unmanned aerial vehicle. During the flight of the small unmanned aerial vehicle towards the tower, the large unmanned aerial vehicle hoists the small unmanned aerial vehicle, thereby saving the power of the small unmanned aerial vehicle. When the small unmanned aerial vehicle approaches the tower to be crossed, the small unmanned aerial vehicle is separated from the large unmanned aerial vehicle, thereby avoiding collision of the large unmanned aerial vehicle with the tower, and the small unmanned aerial vehicle completes the crossing operation of the tower.

[0008] However, the method requires the small unmanned aerial vehicle to be able to flexibly separate from the large unmanned aerial vehicle, and after completing the crossing operation of the pulley, the small unmanned aerial vehicle can be re-locked with the large unmanned aerial vehicle to continue hoisting the guide rope. However, the existing locking device can only realize the separation function. When re-locked in the air, it is difficult to align and complete the locking due to the line of sight of the operator and the airflow disturbance caused by the high-altitude wind.

[0009] Therefore, it is necessary to develop a new locking device to solve the problem that the existing locking device cannot be re-locked after being unlocked. SUMMARY

[0010] The purpose of the present application is to overcome the above-mentioned shortcomings of the prior art, solve the problem that the existing locking device cannot be re-locked after being unlocked, and provide a locking device for the deployment operation of two unmanned aerial vehicles.

[0011] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0012] A locking device for the deployment operation of two unmanned aerial vehicles, comprising a lock seat for mounting on the top of a first unmanned aerial vehicle, and a lock head, the lock head comprising a front and rear symmetrical upper positioning device, the upper positioning device being provided with symmetrical upper retaining devices on the left and right sides, respectively, a hook being provided at the center of the upper positioning device, a fixing ring being provided above the upper positioning device, the fixing ring being sleeved on the tail end of a rope, the rope head being used for fixing on the bottom of a second unmanned aerial vehicle, the lock seat comprising a lock buckle, the lock buckle being used for hanging with the hook, symmetrical lower positioning devices being provided at the front and rear ends of the lock buckle, and symmetrical lower retaining devices being provided on the left and right sides, the positions of the upper positioning device and the lower positioning device corresponding to each other and matching with each other, the positions of the upper retaining device and the lower retaining device corresponding to each other and matching with each other, the first end of the lock buckle being connected with the output shaft of a stepping motor, the stepping motor being electrically connected with the output end of a motor controller, the motor controller being electrically connected with the symmetrical lower positioning devices, the upper positioning device and the lower positioning device being made of metal, when the upper positioning device and the lower positioning device are aligned and matched, the upper positioning device, the lower positioning device and the motor controller form an electrical path.

[0013] The interlocking device of the application realizes automatic interlocking and disengagement of the two unmanned aerial vehicles, and can interlock again after unlocking, and the connection of the first unmanned aerial vehicle and the second unmanned aerial vehicle is realized through the hook and the lock catch being hung; the accurate positioning is realized through the matching of the upper positioning device and the lower positioning device, and the hook and the lock catch are conveniently hung in the same position; the fastening of the interlocking device in the flight process is realized through the matching of the upper fixing device and the lower fixing device, and the first unmanned aerial vehicle is prevented from falling due to the sudden disconnection of the connection; the interlocking device is more uniform in stress and more firm in connection through the upper / lower fixing device and the upper / lower positioning device being arranged around the hook / lock catch; when the upper / lower positioning device is aligned and matched, an electric path is formed between the upper positioning device, the lower positioning device and the motor controller which are made of metal, the motor controller controls the motor to drive the lock catch to rotate, the lock catch is buckled with the hook inside the hook, and interlocking is realized.

[0014] Preferably, the lower positioning device comprises a first clamping block and a second clamping block, the front and rear ends of the upper positioning device are provided with a first clamping groove and a second clamping groove matched with the first clamping block and the second clamping block respectively, a rotating hole is arranged on the first clamping block or the second clamping block, and the first end of the lock catch is connected with the output shaft of the stepping motor through the rotating hole. Through the arrangement of the clamping block and the clamping groove, the positioning and limiting effects are achieved in the alignment process, and the situation that the hook is not aligned with the lock catch is avoided.

[0015] Preferably, the upper fixing device is a metal sheet or a magnet, the lower fixing device is a magnet or a metal sheet corresponding to the upper fixing device, the magnet is used for adsorbing the metal sheet, one end of the upper fixing device is connected with a connecting rod, and the other end of the connecting rod is installed on the upper positioning device. The magnet adsorption reduces the shaking in the alignment process of the lock seat and the lock head, and improves the alignment speed.

[0016] Preferably, a groove is formed in the inner side of the hook mouth of the hook. The groove arranged in the inner side of the hook can prevent the lock catch from being separated from the hook due to factors such as airflow interference in the hoisting process. BRIEF DESCRIPTION OF DRAWINGS

[0017] The interlocking device of the application realizes automatic interlocking and disengagement of the two unmanned aerial vehicles, and can interlock again after unlocking, and the connection of the first unmanned aerial vehicle and the second unmanned aerial vehicle is realized through the hook and the lock catch being hung; the accurate positioning is realized through the matching of the upper positioning device and the lower positioning device, and the hook and the lock catch are conveniently hung in the same position; the fastening of the interlocking device in the flight process is realized through the matching of the upper fixing device and the lower fixing device, and the first unmanned aerial vehicle is prevented from falling due to the sudden disconnection of the connection; the interlocking device is more uniform in stress and more firm in connection through the upper / lower fixing device and the upper / lower positioning device being arranged around the hook / lock catch; when the upper / lower positioning device is aligned and matched, an electric path is formed between the upper positioning device, the lower positioning device and the motor controller which are made of metal, the motor controller controls the motor to drive the lock catch to rotate, the lock catch is buckled with the hook inside the hook, and interlocking is realized.

[0018] Figure 1 is the mounting state schematic diagram when the application is mounted on the unmanned aerial vehicle;

[0019] Figure 2 is the structure schematic diagram of the application;

[0020] Figure 3 is the structure schematic diagram of the lock head of the application;

[0021] Figure 4 is the structure schematic diagram of the lock seat of the application;

[0022] Figure 5 This is a schematic diagram of the hook structure of the present invention.

[0023] Explanation of reference numerals in the attached drawings: 1 lock seat, 101 lower retaining device, 102 lower positioning device, 103 stepper motor, 104 lock buckle, 105 motor controller, 106 wire, 2 lock head, 201 upper retaining device, 202 upper positioning device, 203 connecting rod, 204 hook, 2041 groove, 205 rope, 206 fixing ring. Detailed Implementation

[0024] like Figures 1-4 As shown, an interlocking device for deploying two unmanned aerial vehicles (UAVs) according to the present invention includes a lock base 1 for mounting on the top of a first UAV and a lock head 2. The lock head 2 includes symmetrical upper positioning devices 202, symmetrical upper fixing devices 201 on the left and right sides of the upper positioning devices 202, a hook 204 at the center of the upper positioning devices 202, and a fixing ring 206 above the upper positioning devices 202. The fixing ring 206 is sleeved on the tail end of a rope 205, and the rope end of the rope 205 is used to fix the bottom of the second UAV. The lock base 1 includes a buckle 104 for engaging with the hook 204. The buckle 104 has symmetrical locking devices at its front and rear ends. The lower positioning device 102 has symmetrical lower fixing devices 101 on the left and right sides. The upper positioning device 202 and the lower positioning device 102 are positioned correspondingly and matched with each other. The upper fixing device 201 and the lower fixing device 101 are positioned correspondingly and matched with each other. The first end of the latch 104 is connected to the output shaft of the stepper motor 103. The stepper motor 103 is electrically connected to the output end of the motor controller 105. The motor controller 105 is electrically connected to the symmetrical lower positioning device 102. Both the upper positioning device 202 and the lower positioning device 102 are made of metal. When the upper positioning device and the lower positioning device are connected, the upper positioning device, the lower positioning device, and the motor controller form an electrical path.

[0025] The application realizes automatic interlocking and disengagement of the two unmanned aerial vehicles, and can interlock again after unlocking, and the first unmanned aerial vehicle and the second unmanned aerial vehicle are connected through the hook 204 and the lock catch 104; the upper positioning device 202 and the lower positioning device 102 are matched to realize accurate positioning, and the hook 204 and the lock catch 104 are aligned; the upper fixing device 201 and the lower fixing device 101 are matched to realize fastening of the interlocking device in the flight process, so as to prevent the first unmanned aerial vehicle from falling due to sudden disconnection; the upper / lower fixing device and the upper / lower positioning device are arranged around the hook / lock catch and are symmetrically distributed, so that the interlocking device is more uniformly stressed and the connection is more firm; when the upper / lower positioning device is aligned and matched, an electric path is formed between the lock catch 104 made of metal, the upper positioning device 202 and the lower positioning device 102 at both ends of the lock catch 104 and the motor controller 105, the motor controller 105 controls the stepping motor 103 to drive the lock catch 104 to rotate, the lock catch 104 is buckled with the hook 204 inside the hook 204, and the interlocking is realized.

[0026] In the embodiment, as shown in Figure 3 , 4 The lower positioning device 102 includes a first clamping block and a second clamping block, and the front and rear ends of the upper positioning device 202 are provided with a first clamping groove and a second clamping groove matched with the first clamping block and the second clamping block respectively, and a rotating hole is arranged on the first clamping block or the second clamping block, and the first end of the lock catch 104 is connected with the output shaft of the stepping motor 103 through the rotating hole. By arranging the clamping block and the clamping groove, the positioning and limiting effects are achieved in the alignment process, and the situation that the hook is not aligned with the lock catch is avoided.

[0027] In the embodiment, as shown in Figure 3 In the embodiment, the upper fixing device 201 is a metal sheet or a magnet, the lower fixing device 101 is a magnet or a metal sheet corresponding to the upper fixing device 201, the magnet is used for adsorbing the metal sheet, the upper fixing device 201 is connected with one end of the connecting rod 203, and the other end of the connecting rod 203 is installed on the upper positioning device 202. The magnet adsorption reduces the shaking in the alignment process of the lock seat 1 and the lock head 2, and improves the alignment speed.

[0028] In the embodiment, as shown in Figure 5 To avoid that the lock catch 104 is detached from the hook 204 in the lifting process, a groove 2041 is arranged at the inner lower part of the hook 204, and in the lifting process, the lock catch 104 can be clamped in the groove 2041 by the action of gravity, so as to reduce the possibility that the lock catch 104 is detached from the hook 204.

[0029] In this embodiment, before the exhibition operation starts, the first unmanned aerial vehicle and the second unmanned aerial vehicle need to be interlocked, and the process is implemented as follows: the first clamping block and the second clamping block are respectively aligned with the first clamping groove and the second clamping groove, the magnet and the metal sheet are adsorbed, the first clamping block, the first clamping groove, the second clamping block, the second clamping groove and the wire 106, the motor controller 105 form an electric path, the motor controller 105 controls the step motor 103 to start, the lock catch 104 rotates by a fixed angle, reaches above the hook 204, and completes locking.

[0030] After reaching the exhibition operation position, the first unmanned aerial vehicle and the second unmanned aerial vehicle need to be unlocked, and the process is implemented as follows: the rope 205 connected between the two unmanned aerial vehicles is loosened, the lock catch 104 is separated from the groove 2041, the motor controller 105 controls the step motor 103 to rotate, the lock catch 104 returns to the initial position, the lock catch 104 is separated from the hook 204, the first unmanned aerial vehicle starts to fly, the first clamping block and the second clamping block are separated from the first clamping groove and the second clamping groove, the magnet and the metal sheet are separated, and the unlocking is successful.

[0031] After the exhibition operation is completed, the first unmanned aerial vehicle after unlocking needs to be re-locked with the second unmanned aerial vehicle to continue the hoisting work, and the process is implemented as follows: the lock head 2 is located above the lock seat 1 as much as possible through the monitoring system of the second unmanned aerial vehicle, then the two are close, under the action of magnetic adsorption, the metal sheet moves to the magnet, thereby driving the lock head 2 to move to the lock seat 1, until the metal sheet is adsorbed by the magnet, the first clamping block and the second clamping block are embedded in the first clamping groove and the second clamping groove. At this time, if the first clamping block and the second clamping block are not completely aligned with the first clamping groove and the second clamping groove, during the embedding process, as the second unmanned aerial vehicle continues to move, the contact surfaces of the two slide, thereby the first clamping block is completely aligned with the first clamping groove, and the second clamping block is completely aligned with the second clamping groove. The structure of the clamping block and the clamping groove plays a positioning and limiting role. After the first clamping block and the second clamping block are respectively embedded in the first clamping groove and the second clamping groove, an electric path is formed with the motor controller 105, the motor controller 105 controls the step motor 103 to rotate, thereby driving the lock catch 104 to rotate to the inside of the hook 204, and completing the locking.

[0032] The above is only a preferred embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be limited by the protection scope defined by the claims.

Claims

1. An interlocking device for deploying dual unmanned aerial vehicles (UAVs), characterized in that, The device includes a locking seat (1) for mounting on the top of a first UAV and a locking head (2). The locking head (2) includes symmetrical upper positioning devices (202) on the front and back. Symmetrical upper fixing devices (201) are respectively provided on the left and right sides of the upper positioning devices (202). A hook (204) is provided at the center of the upper positioning devices (202). A fixing ring (206) is provided above the upper positioning devices (202). The fixing ring (206) is sleeved on the tail end of a rope (205). The rope end of the rope (205) is used to fix the bottom of a second UAV. The locking seat (1) includes a buckle (104). The buckle (104) is used to hook the hook (204). Symmetrical lower positioning devices are provided at the front and back ends of the buckle (104). (102), symmetrical lower positioning devices (101) are provided on the left and right sides. The upper positioning device (202) and the lower positioning device (102) are positioned and matched with each other. The upper positioning device (201) and the lower positioning device (101) are positioned and matched with each other. The first end of the latch (104) is connected to the output shaft of the stepper motor (103). The stepper motor (103) is electrically connected to the output end of the motor controller (105). The motor controller (105) is electrically connected to the symmetrical lower positioning device (102). The upper positioning device (202) and the lower positioning device (102) are both made of metal. When the upper positioning device and the lower positioning device are connected, the upper positioning device, the lower positioning device and the motor controller form an electrical path.

2. The interlocking device for dual UAV deployment operations according to claim 1, characterized in that, The lower positioning device (102) includes a first locking block and a second locking block. The upper positioning device (202) has a first locking slot and a second locking slot that match the first locking block and the second locking block respectively at its front and rear ends. The first locking block or the second locking block is provided with a rotating hole. The first end of the latch (104) passes through the rotating hole and is connected to the output shaft of the stepper motor (103).

3. The interlocking device for dual UAV deployment operations according to claim 1, characterized in that, The upper retaining device (201) is a metal sheet or a magnet, and the lower retaining device (101) is a magnet or a metal sheet corresponding to the upper retaining device (201). The magnet is used to attract the metal sheet. The upper retaining device (201) is connected to one end of the connecting rod (203), and the other end of the connecting rod (203) is mounted on the upper positioning device (202).

4. The interlocking device for dual UAV deployment operations according to claim 1, characterized in that, The hook (204) has a groove (2041) on the inside of the hook opening.

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