A camera multi-stage correction adjusting structure for precise landing of a drone

Abstract

The application relates to the technical field of unmanned aerial vehicle landing, in particular to a camera multi-stage correction adjusting structure for precise landing of an unmanned aerial vehicle, which comprises a mounting base plate, mounting holes are arranged at the four corners of the top of the mounting base plate, and a packaging shell is fixedly connected to the bottom of the mounting base plate; the first angle sensor, the movable shaft, the rotating shell, the driven gear ring, the stepping motor and the incomplete gear are used in cooperation, the camera angle can be accurately adjusted, the first angle sensor, the movable shaft, the rotating shell, the driven gear ring, the stepping motor and the incomplete gear are used in cooperation, the camera angle can be accurately adjusted; the electric push rod, the distance measuring sensor and the auxiliary frame are arranged, the incomplete gear can be matched with different driven gear rings to achieve the purpose of speed regulation, the electric push rod, the distance measuring sensor and the auxiliary frame are arranged, the incomplete gear can be matched with different driven gear rings to achieve the purpose of speed regulation; the angle adjusting mechanism and the auxiliary protruding block are used in cooperation, the height of the two ends of the supporting steel strip can be adjusted, and the position of the identification camera can be flexibly changed in cooperation with the auxiliary protruding block.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle landing, and particularly relates to a camera multi-stage correction adjusting structure for precise landing of unmanned aerial vehicles. BACKGROUND

[0002] At present, the automatic landing of unmanned aerial vehicles is generally based on RTK ground stations (or network RTK) or GPS precise landing technology, and the precise position of the unmanned aerial vehicle in the geodetic coordinate system is sent to the unmanned aerial vehicle airport through the RTK base station or GPS. Another kind is based on image recognition technology, and the relative position of the target landing point and the unmanned aerial vehicle is obtained by using the image recognition device on the unmanned aerial vehicle to identify the landing point of the ground target. This kind of image recognition deviates from the center coordinate during the landing process, and the unmanned aerial vehicle may deviate due to the wind speed during the landing process.

[0003] In order to realize the precise landing of the unmanned aerial vehicle, the unmanned aerial vehicle camera and the beacon are matched, the unmanned aerial vehicle camera is used for photographing the beacon, the nest is the landing platform of the unmanned aerial vehicle, and the beacon is used for photographing and calculating the position. In the landing process, the unmanned aerial vehicle is controlled to land through two stages, firstly lands to the minimum height of obstacle avoidance, and then continues to identify the beacon. At the minimum height of obstacle avoidance, the unmanned aerial vehicle is adjusted to fly above the beacon, and then a landing instruction is sent. When the unmanned aerial vehicle is about to land, the beacon is continuously identified to control the landing of the unmanned aerial vehicle, and then the correction adjusting mechanism is matched to adjust and process the unmanned aerial vehicle camera.

[0004] In the flight process of the unmanned aerial vehicle, in order to well identify the beacon, the identification camera is generally matched with more precise components, and the weight of the identification camera is higher than that of the ordinary camera. The basic adjusting structure cannot adjust the rotating speed according to different identification distances in different landing stages of the unmanned aerial vehicle, and the overall applicability is general. Meanwhile, for the camera with higher precision, a small motor is directly used for driving, the load requirement of the small motor is high, and if a medium motor is used, the weight of the unmanned aerial vehicle is greatly increased, which has certain limitation. In order to solve the above technical problems, the present application provides a camera multi-stage correction adjusting structure for precise landing of unmanned aerial vehicles. SUMMARY

[0005] The present application aims to provide a camera multi-stage correction adjusting structure for precise landing of unmanned aerial vehicles, which has the advantages of good adjustment and good applicability, and solves the problems that the basic adjusting structure cannot adjust the rotating speed according to different identification distances in different landing stages of the unmanned aerial vehicle, the overall applicability is general, and for the camera with higher precision, the load requirement of the small motor is high, and if a medium motor is used, the weight of the unmanned aerial vehicle is greatly increased, which has certain limitation.

[0006] In order to achieve the above object, the present application provides the following technical scheme: A camera multi-stage correction adjusting structure for precise landing of a unmanned aerial vehicle, comprising a mounting base plate, mounting holes are formed at the four corners of the top of the mounting base plate, a packaging shell is fixedly connected to the bottom of the mounting base plate, a variable speed turnover mechanism is installed in the inner cavity of the packaging shell, a variable angle adjusting mechanism is installed at the bottom of the variable speed turnover mechanism, an identification camera is arranged at the center of the bottom of the variable angle adjusting mechanism, auxiliary lugs are fixedly installed on the front and rear sides of the top of the identification camera, and the packaging shell is arranged to protect the variable speed turnover mechanism.

[0007] Preferably, the variable speed turnover mechanism comprises a rotating shell and an auxiliary block, the bottom of the outer circle of the rotating shell is movably connected to the surface of the packaging shell through a bearing, and the top of the auxiliary block is fixedly connected to the top of the inner cavity of the packaging shell.

[0008] Preferably, an active shaft is fixedly connected to the center of the top of the rotating shell, a first angle sensor is sleeved and installed on the top of the surface of the active shaft, a stabilizing seat is fixedly installed on the top of the inner cavity of the packaging shell, a driven gear ring is fixedly installed on the outer circle of the rotating shell, and a mounting disc is fixedly connected to the bottom of the rotating shell and located at the bottom of the packaging shell.

[0009] Preferably, a distance measuring sensor is fixedly installed on the outer circle of the bottom of the auxiliary block, and an electric push rod is fixedly installed at the center of the bottom of the auxiliary block.

[0010] Preferably, an auxiliary frame is fixedly connected to the bottom of the mounting block, a stepping motor is bolted to the inner wall of the auxiliary frame, and an incomplete gear is fixedly installed on the output end of the stepping motor.

[0011] Preferably, an auxiliary frame is fixedly connected to the bottom of the mounting block, a stepping motor is bolted to the inner wall of the auxiliary frame, and an incomplete gear is fixedly installed on the output end of the stepping motor.

[0012] Preferably, the variable angle adjusting mechanism comprises a positioning frame, a mounting shell and a fixing frame, the number of the positioning frame is two, the identification camera is located between the two positioning frames, the mounting shell is arranged, the positioning roller, the servo motor, the driving roller and the second angle sensor can be installed and accommodated, and the displacement space demand of the supported strip steel can be met.

[0013] Preferably, the positioning roller is movably arranged on the front and rear sides of the mounting shell inner cavity, the servo motor is fixedly arranged on the left side of the mounting shell inner cavity, the output end of the servo motor is fixedly connected with the driving roller, and the second angle sensor is arranged on the right side of the surface of the driving roller.

[0014] Preferably, the vertical rod is slidably arranged at the center of the top of the fixing frame, the connecting frame is fixedly connected to the bottom of the vertical rod, the supporting spring is arranged between the connecting frame and the fixing frame and on the outer side of the vertical rod, and the anti-skid wheel is movably arranged on the bottom of the surface of the connecting frame.

[0015] Preferably, the top of the supporting spring is fixedly connected with the bottom of the fixing frame, the bottom of the supporting spring is fixedly connected with the top of the connecting frame, and the supported strip steel is arranged between the positioning roller, the driving roller and the anti-skid wheel.

[0016] Compared with the prior art, the present application has the following advantages:

[0017] 1. The present application has the advantages of precise adjustment by cooperation of the packaging shell, the first angle sensor, the movable shaft, the rotating shell, the driven gear ring, the stepping motor and the incomplete gear, the working of the stepping motor can be controlled, the rotating shell and the mounting disc are rotated to adjust the position of the identification camera under the cooperation of the incomplete gear and the driven gear ring, and the identification camera can be precisely adjusted under the assistance of the first angle sensor.

[0018] 2. The present application has the advantage of variable speed adjustment by cooperation of the electric push rod, the distance measuring sensor, the auxiliary block, the auxiliary frame and the mounting block, the electric push rod can be controlled to work in extension and retraction, the height of the auxiliary frame can be changed, and the incomplete gear can be matched with different driven gear rings to achieve the purpose of variable speed adjustment.

[0019] 3、The present application has the advantages of flexible adjustment by the cooperation of the angle adjusting mechanism and the auxiliary block, can control the servo motor to work to drive the driving roller to rotate, under the elastic downward pressure of the anti-skid wheel, can flexibly drive the support strip to produce forward and backward displacement, under the positioning of the positioning roller, adjust the height of the two ends of the support strip, and further cooperate with the auxiliary block to flexibly change the position of the identification camera. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structure perspective view of the present application;

[0021] Figure 2 is a structure perspective view of the present application;

[0022] Figure 3 is a structure perspective view of the present application;

[0023] Figure 4 is a structure perspective view of the present application;

[0024] Figure 5 is a structure perspective view of the present application; Figure 4 is a structure perspective view of the present application;

[0025] Figure 6 is a structure perspective view of the present application;

[0026] Figure 7 is a structure perspective view of the present application; Figure 6 is a structure perspective view of the present application.

[0027] In the figure: 1, mounting base plate; 2, packaging shell; 3, variable speed rotation mechanism; 301, stabilizing seat; 302, first angle sensor; 303, movable shaft; 304, rotating shell; 305, driven gear ring; 306, mounting disc; 307, inclined rod; 308, electric push rod; 309, distance measuring sensor; 310, auxiliary block; 311, stepping motor; 312, incomplete gear; 313, auxiliary frame; 314, guide groove; 315, guide rod; 316, mounting block; 4, identification camera; 5, mounting hole; 6, angle adjusting mechanism; 601, positioning frame; 602, mounting shell; 603, positioning roller; 604, support strip; 605, anti-skid wheel; 606, servo motor; 607, driving roller; 608, second angle sensor; 609, connecting frame; 610, supporting spring; 611, fixed frame; 612, vertical rod; 7, auxiliary block. DETAILED DESCRIPTION

[0028] Please refer to Figures 1-7The utility model provides a camera multi-stage correction adjusting structure for precise landing of unmanned plane, including installation base plate 1, the top of installation base plate 1 is equipped with installation hole 5 in four corners, the bottom of installation base plate 1 is fixedly connected with package shell 2, the inner chamber of package shell 2 is installed with variable speed turnover mechanism 3, the bottom of variable speed turnover mechanism 3 is installed with angle adjusting mechanism 6, and the center of angle adjusting mechanism 6 bottom is provided with identification camera 4, and the front and rear sides of identification camera 4 top are fixedly installed with auxiliary lug 7,

[0029] Please refer to Figure 3 、 Figure 4 and Figure 5 Variable speed turnover mechanism 3 includes rotary shell 304 and auxiliary block 310, the bottom of the outer circle of rotary shell 304 is movably connected with the surface of package shell 2 through bearing, and the top of auxiliary block 310 is fixedly connected with the top of the inner chamber of package shell 2.

[0030] Please refer to Figure 3 、 Figure 4 and Figure 5 The center of the top of rotary shell 304 is fixedly connected with movable shaft 303, the top of the surface of movable shaft 303 is sleeved with first angle sensor 302, the top of the inner chamber of package shell 2 is fixedly installed with stabilizing seat 301, the outer circle of rotary shell 304 is fixedly installed with driven gear ring 305, and the bottom of rotary shell 304 and the bottom of package shell 2 are fixedly connected with mounting disc 306.

[0031] Please refer to Figure 3 、 Figure 4 and Figure 5 The outer circle of the bottom of auxiliary block 310 is fixedly installed with distance measuring sensor 309, the center of the bottom of auxiliary block 310 is fixedly installed with electric push rod 308, and the output end of electric push rod 308 is fixedly connected with mounting block 316.

[0032] Please refer to Figure 3 、 Figure 4 and Figure 5 The bottom of mounting block 316 is fixedly connected with auxiliary frame 313, the inner wall of auxiliary frame 313 is bolted with step motor 311, and the output end of step motor 311 is fixedly installed with incomplete gear 312.

[0033] Please refer to Figure 3 、 Figure 4 and Figure 5 The inner wall of package shell 2 is fixedly connected with inclined rod 307, the right side of auxiliary frame 313 is fixedly connected with guide rod 315, and the surface of inclined rod 307 is penetrated with guide groove 314 matched with guide rod 315.

[0034] Please refer to Figure 3 、 Figure 6 and Figure 7The variable-angle adjusting mechanism 6 comprises positioning racks 601, a mounting shell 602, and a fixed rack 611. The number of the positioning racks 601 is two, and the camera 4 is located between the two positioning racks 601.

[0035] Please refer to Figure 3 、 Figure 6 and Figure 7 The front and rear sides of the inner cavity of the mounting shell 602 are movably provided with positioning rollers 603. The left side of the inner cavity of the mounting shell 602 is fixedly provided with a servo motor 606. The output end of the servo motor 606 is fixedly connected with a driving roller 607. The right side of the surface of the driving roller 607 is sleeved with a second angle sensor 608.

[0036] Please refer to Figure 3 、 Figure 6 and Figure 7 The top center of the fixed rack 611 is slidably provided with a vertical rod 612. The bottom of the vertical rod 612 is fixedly connected with a connecting rack 609. The outer side of the connecting rack 609 and the fixed rack 611 and located at the outside of the vertical rod 612 is provided with a supporting spring 610. The bottom surface of the connecting rack 609 is movably provided with an anti-skid wheel 605.

[0037] Please refer to Figure 3 、 Figure 6 and Figure 7 The top of the supporting spring 610 is fixedly connected with the bottom of the fixed rack 611. The bottom of the supporting spring 610 is fixedly connected with the top of the connecting rack 609. The positioning rollers 603, the driving roller 607, and the anti-skid wheel 605 are provided with a supporting steel strip 604.

[0038] The top surface of the movable shaft 303 is movably connected with the stable seat 301 through a bearing, thereby effectively improving the rotation stability of the movable shaft 303, the rotating shell 304, and the mounting disc 306.

[0039] The number of the driven gear rings 305 is several, and the inner ring size and the outer ring tooth number of different driven gear rings 305 are different. The tooth pitch of different driven gear rings 305 is the same, and they are all matched with the incomplete gear 312.

[0040] The rotating shell 304 is designed as a circular truncated cone, and the inclination angle of the cross section of the rotating shell 304 is equal to the inclination angle of the electric push rod 308 and the inclination angle of the inclined rod 307.

[0041] The top of the positioning rack 601 and the top of the anti-skid wheel 605 are fixedly connected with the bottom of the mounting disc 306. The fixed rack 611 is located in the inner cavity of the packaging shell 2 and is fixedly connected with the bottom of the inner cavity of the packaging shell 2. The center of the bottom of the packaging shell 2 is provided with an empty groove, which provides displacement space for the anti-skid wheel 605 and the connecting rack 609.

[0042] The left and right sides of the top of the recognition camera 4 are fixedly connected to the positioning shaft, which passes through the positioning frame 601 and is movably connected to the positioning frame 601. The positioning shaft is used to position the recognition camera 4 when it rotates;

[0043] The support strip 604 is made of the same material as the middle tape of the steel tape measure, and the surface of the support strip 604 is in sliding contact with the connection of the mounting shell 602. The two ends of the support strip 604 are in contact with the tops of the auxiliary protrusions 7 on the front and rear sides respectively.

[0044] Example 1:

[0045] A multi-stage correction and adjustment structure for a camera used for precise landing of an unmanned aerial vehicle comprises a mounting base 1, with mounting holes 5 defined at the four corners of the top of the mounting base 1. A packaging shell 2 is fixedly connected to the bottom of the mounting base 1, a speed-changing revolving mechanism 3 is mounted within the inner cavity of the packaging shell 2, an angle-changing adjustment mechanism 6 is mounted at the bottom of the speed-changing revolving mechanism 3, an identification camera 4 is disposed at the center of the bottom of the angle-changing adjustment mechanism 6, and auxiliary bumps 7 are fixedly mounted on the front and rear sides of the top of the identification camera 4.

[0046] See also Figure 3 、 Figure 4 and Figure 5 The speed change turnover mechanism 3 includes a rotating shell 304 and an auxiliary block 310. The bottom of the outer ring of the rotating shell 304 is movably connected to the surface of the packaging shell 2 through a bearing, and the top of the auxiliary block 310 is fixedly connected to the top of the inner cavity of the packaging shell 2.

[0047] See also Figure 3 、 Figure 4 and Figure 5 A movable shaft 303 is fixedly connected to the center of the top of the rotating shell 304. A first angle sensor 302 is sleeved on the top of the surface of the movable shaft 303. A driven gear ring 305 is fixedly installed on the outer ring of the rotating shell 304. A mounting plate 306 is fixedly connected to the bottom of the rotating shell 304 and located at the bottom of the packaging shell 2.

[0048] See also Figure 3 、 Figure 4 and Figure 5 The outer ring of the bottom of the auxiliary block 310 is fixedly mounted with a distance sensor 309, the center of the bottom of the auxiliary block 310 is fixedly mounted with an electric push rod 308, and the output end of the electric push rod 308 is fixedly connected to the mounting block 316;

[0049] See also Figure 3 、 Figure 4 and Figure 5 The bottom of the mounting block 316 is fixedly connected to an auxiliary frame 313, the inner wall of the auxiliary frame 313 is bolted with a stepper motor 311, and the output end of the stepper motor 311 is fixedly mounted with an incomplete gear 312;

[0050] See also Figure 3 、 Figure 6 and Figure 7 The angle adjustment mechanism 6 includes a positioning frame 601, a mounting shell 602 and a fixing frame 611. There are two positioning frames 601, and the recognition camera 4 is located between the two positioning frames 601.

[0051] See also Figure 3 、 Figure 6 and Figure 7 Positioning rollers 603 are movably mounted on both the front and rear sides of the inner cavity of the mounting shell 602. A servo motor 606 is fixedly mounted on the left side of the inner cavity of the mounting shell 602. The output end of the servo motor 606 is fixedly connected to a driving roller 607. A second angle sensor 608 is sleeved on the right side of the surface of the driving roller 607.

[0052] See also Figure 3 、 Figure 6 and Figure 7 A vertical rod 612 is slidably installed at the center of the top of the fixed frame 611, and the bottom of the vertical rod 612 is fixedly connected to the connecting frame 609. A support spring 610 is installed between the connecting frame 609 and the fixed frame 611 and on the outside of the vertical rod 612. An anti-slip wheel 605 is movably installed at the bottom of the surface of the connecting frame 609;

[0053] See also Figure 3 、 Figure 6 and Figure 7 , the top of the support spring 610 is fixedly connected to the bottom of the fixing frame 611, the bottom of the support spring 610 is fixedly connected to the top of the connecting frame 609, and a support belt steel bar 604 is installed between the positioning roller 603, the driving roller 607 and the anti-slip wheel 605;

[0054] There are several driven gear rings 305 , and different driven gear rings 305 have different inner ring sizes and outer ring teeth numbers, but different driven gear rings 305 have the same tooth pitch and are all adapted to the incomplete gear 312 ;

[0055] The rotating shell 304 is designed as a truncated cone, and the inclination angle of the rotating shell 304 cross section is equal to the inclination angle of the electric push rod 308 and the inclination angle of the inclined rod 307;

[0056] The top of the positioning frame 601 and the top of the anti-skid wheel 605 are fixedly connected to the bottom of the mounting plate 306. The fixing frame 611 is located in the inner cavity of the packaging shell 2 and is fixedly connected to the bottom of the inner cavity of the packaging shell 2. An empty slot is opened at the center of the bottom of the packaging shell 2. The empty slot is used to meet the space requirements for the vertical displacement of the anti-skid wheel 605 and the connecting frame 609.

[0057] The left and right sides of the top of the recognition camera 4 are fixedly connected to the positioning shaft, which passes through the positioning frame 601 and is movably connected to the positioning frame 601. The positioning shaft is used to position the recognition camera 4 when it rotates;

[0058] The support strip 604 is made of the same material as the middle tape of the steel tape measure, and the surface of the support strip 604 is in sliding contact with the connection of the mounting shell 602. The two ends of the support strip 604 are in contact with the tops of the auxiliary protrusions 7 on the front and rear sides respectively.

[0059] By providing the encapsulating shell 2, the speed-changing turnover mechanism 3 can be installed and protected. By providing the stabilizing seat 301, it can be movably connected to the movable shaft 303, further improving the rotational stability of the movable shaft 303. By providing the first angle sensor 302 and the second angle sensor 608, the rotation angles of the movable shaft 303 and the driving roller 607 can be respectively monitored in real time. The first angle sensor 302 and the second angle sensor 608 are both KTH7823 models, which have excellent accuracy (0.015 degrees) and stability, low noise level, stable output angle, adaptability to variable magnetic field conditions and high temperature environments, and are widely used in the field of drones.

[0060] By providing a rotating shell 304, it is possible to meet the installation requirements of multiple driven gear rings 305, and the internal hollow design can accommodate the fixing frame 611, the vertical rod 612, the support spring 610, the connecting frame 609 and the anti-skid wheel 605. At the same time, its own mass is small, which reduces the load on the drone. By providing the driven gear ring 305 and the incomplete gear 312, the rotating shell 304 can be decelerated in the meshing state, and the design of the incomplete gear 312 can prevent the incomplete gear 312 from moving up and down and contacting and colliding with different driven gear rings 305 during speed adjustment, thereby preventing damage;

[0061] By providing the mounting plate 306, the installation requirements of the variable angle adjustment mechanism 6 can be met. By providing the electric push rod 308, the auxiliary frame 313 can be flexibly driven to move up and down in an inclined manner. By providing the distance sensor 309, the distance between the auxiliary frame 313 and the auxiliary frame 313 can be monitored in real time.

[0062] By providing the auxiliary block 310 and the mounting block 316, the fixed installation requirements of the fixed end of the electric push rod 308 and the packaging shell 2, and the fixed installation requirements of the output end of the electric push rod 308 and the auxiliary frame 313 can be met respectively. By providing the auxiliary frame 313, the fixed installation requirements of the stepping motor 311 can be met. By providing the mounting holes 5, the mounting base plate 1 can be fixedly installed in a suitable position on the drone with the external bolts. By providing the positioning frame 601, the identification camera 4 can be movably positioned and installed.

[0063] By setting the mounting shell 602, the positioning roller 603, the servo motor 606, the drive roller 607 and the second angle sensor 608 can be installed and housed, and the displacement space requirement of the supporting strip steel 604 can be met. By setting the positioning roller 603, the supporting strip steel 604 can be positioned, and then the displacement path of the supporting strip steel 604 is adjusted;

[0064] By setting the supporting strip steel 604 and the auxiliary protrusion 7, the top area of the recognition camera 4 can be expanded by the auxiliary protrusion 7, and then the auxiliary protrusion 7 is pressed by the two ends of the supporting strip steel 604. When the heights of the two ends of the supporting strip steel 604 are different, the auxiliary protrusion 7 is pressed to change the angle of the recognition camera 4. By setting the anti-skid wheel 605 and the drive roller 607, the supporting strip steel 604 can be positioned and clamped, and the anti-skid wheel 605 and the drive roller 607 can rotate flexibly to drive the supporting strip steel 604 to displace forward and backward when the drive roller 607 rotates actively, and the anti-skid wheel 605 rotates passively;

[0065] By setting the connecting frame 609, the active installation requirement of the anti-skid wheel 605 can be met. By setting the supporting spring 610, the connecting frame 609 can be elastically supported, so that the anti-skid wheel 605 is always in close contact with the supporting strip steel 604, so that the anti-skid wheel 605 and the drive roller 607 can clamp the supporting strip steel 604 well. By setting the fixed frame 611 and the vertical rod 612, the displacement of the connecting frame 609 can be positioned and guided to ensure the stability of the connecting frame 609;

[0066] Embodiment two:

[0067] A camera multi-stage correction adjusting structure for precise landing of a unmanned aerial vehicle, comprising a mounting base plate 1, mounting holes 5 are formed in the four corners of the top of the mounting base plate 1, a packaging shell 2 is fixedly connected to the bottom of the mounting base plate 1, a variable speed turnover mechanism 3 is installed in the inner cavity of the packaging shell 2, a variable angle adjusting mechanism 6 is installed at the bottom of the variable speed turnover mechanism 3, and an identification camera 4 is arranged at the center of the bottom of the variable angle adjusting mechanism 6, and auxiliary protrusions 7 are fixedly installed on the front and rear sides of the top of the identification camera 4;

[0068] Please refer to Figure 3 , Figure 4 and Figure 5 , the variable speed turnover mechanism 3 comprises a rotating shell 304 and an auxiliary block 310, the bottom of the outer ring of the rotating shell 304 is movably connected to the surface of the packaging shell 2 through a bearing, and the top of the auxiliary block 310 is fixedly connected to the top of the inner cavity of the packaging shell 2;

[0069] Please refer to Figure 3 , Figure 4 and Figure 5A movable shaft 303 is fixedly connected to the center of the top of the rotating shell 304. A first angle sensor 302 is sleeved on the top of the surface of the movable shaft 303. A stabilizing seat 301 is fixedly installed on the top of the inner cavity of the packaging shell 2. A driven gear ring 305 is fixedly installed on the outer ring of the rotating shell 304. A mounting plate 306 is fixedly connected to the bottom of the rotating shell 304 and located at the bottom of the packaging shell 2.

[0070] See also Figure 3 、 Figure 4 and Figure 5 , the output end of the electric push rod 308 is fixedly connected to a mounting block 316;

[0071] See also Figure 3 、 Figure 4 and Figure 5 The inner wall of the auxiliary frame 313 is bolted with a stepper motor 311, and the output end of the stepper motor 311 is fixedly mounted with an incomplete gear 312;

[0072] See also Figure 3 、 Figure 4 and Figure 5 , the inner wall of the packaging shell 2 is fixedly connected with an inclined rod 307, the right side of the auxiliary frame 313 is fixedly connected with a guide rod 315, and the surface of the inclined rod 307 is penetrated by a guide groove 314 used in conjunction with the guide rod 315;

[0073] See also Figure 3 、 Figure 6 and Figure 7 The angle adjustment mechanism 6 includes a positioning frame 601, a mounting shell 602 and a fixing frame 611. There are two positioning frames 601, and the recognition camera 4 is located between the two positioning frames 601.

[0074] See also Figure 3 、 Figure 6 and Figure 7 Positioning rollers 603 are movably mounted on both the front and rear sides of the inner cavity of the mounting shell 602. A servo motor 606 is fixedly mounted on the left side of the inner cavity of the mounting shell 602. The output end of the servo motor 606 is fixedly connected to a driving roller 607. A second angle sensor 608 is sleeved on the right side of the surface of the driving roller 607.

[0075] See also Figure 3 、 Figure 6 and Figure 7 A vertical rod 612 is slidably installed at the center of the top of the fixed frame 611, and the bottom of the vertical rod 612 is fixedly connected to the connecting frame 609. A support spring 610 is installed between the connecting frame 609 and the fixed frame 611 and on the outside of the vertical rod 612. An anti-slip wheel 605 is movably installed at the bottom of the surface of the connecting frame 609;

[0076] See also Figure 3、 Figure 6 and Figure 7 , the top of the support spring 610 is fixedly connected to the bottom of the fixing frame 611, the bottom of the support spring 610 is fixedly connected to the top of the connecting frame 609, and a support belt steel bar 604 is installed between the positioning roller 603, the driving roller 607 and the anti-slip wheel 605;

[0077] The top of the movable shaft 303 is movably connected to the stable seat 301 through a bearing, thereby effectively improving the rotational stability of the movable shaft 303, the rotating shell 304 and the mounting plate 306;

[0078] There are several driven gear rings 305 , and different driven gear rings 305 have different inner ring sizes and outer ring teeth numbers, but different driven gear rings 305 have the same tooth pitch and are all adapted to the incomplete gear 312 ;

[0079] The rotating shell 304 is designed as a truncated cone, and the inclination angle of the rotating shell 304 cross section is equal to the inclination angle of the electric push rod 308 and the inclination angle of the inclined rod 307;

[0080] The top of the positioning frame 601 and the top of the anti-skid wheel 605 are fixedly connected to the bottom of the mounting plate 306. The fixing frame 611 is located in the inner cavity of the packaging shell 2 and is fixedly connected to the bottom of the inner cavity of the packaging shell 2. An empty slot is opened at the center of the bottom of the packaging shell 2. The empty slot is used to meet the space requirements for the vertical displacement of the anti-skid wheel 605 and the connecting frame 609.

[0081] The left and right sides of the top of the recognition camera 4 are fixedly connected to the positioning shaft, which passes through the positioning frame 601 and is movably connected to the positioning frame 601. The positioning shaft is used to position the recognition camera 4 when it rotates;

[0082] The support strip 604 is made of the same material as the middle tape of the steel tape measure, and the surface of the support strip 604 is in sliding contact with the connection of the mounting shell 602. The two ends of the support strip 604 are in contact with the tops of the auxiliary protrusions 7 on the front and rear sides respectively.

[0083] By providing the encapsulating shell 2, the speed change turnover mechanism 3 can be installed and protected. By providing the stabilizing seat 301, it can be movably connected with the movable shaft 303, further improving the rotational stability of the movable shaft 303. By providing the first angle sensor 302 and the second angle sensor 608, the rotation angles of the movable shaft 303 and the driving roller 607 can be respectively monitored in real time.

[0084] By providing a rotating shell 304, it is possible to meet the installation requirements of multiple driven gear rings 305, and the internal hollow design can accommodate the fixing frame 611, the vertical rod 612, the support spring 610, the connecting frame 609 and the anti-skid wheel 605. At the same time, its own mass is small, which reduces the load on the drone. By providing the driven gear ring 305 and the incomplete gear 312, the rotating shell 304 can be decelerated in the meshing state, and the design of the incomplete gear 312 can prevent the incomplete gear 312 from moving up and down and contacting and colliding with different driven gear rings 305 during speed adjustment, thereby preventing damage;

[0085] The installation plate 306 can meet the installation requirements of the angle adjustment mechanism 6. The inclined rod 307, the guide groove 314 and the guide rod 315 can play a positioning and guiding role. When the auxiliary frame 313 moves up and down, the stability of the auxiliary frame 313 is ensured. The electric push rod 308 can flexibly drive the auxiliary frame 313 to move up and down in an inclined manner.

[0086] By providing the auxiliary frame 313, the fixed installation requirements of the stepping motor 311 can be met. By providing the mounting holes 5, the mounting base plate 1 can be fixedly installed in a suitable position on the drone with the external bolts. By providing the positioning frame 601, the identification camera 4 can be movably positioned and installed.

[0087] By providing the mounting shell 602, the positioning roller 603, the servo motor 606, the driving roller 607 and the second angle sensor 608 can be accommodated and installed, and the displacement space requirement of the support strip steel bar 604 can be met. By providing the positioning roller 603, the support strip steel bar 604 can be positioned, and then the displacement path of the support strip steel bar 604 can be adjusted;

[0088] By providing the support strip steel bar 604 and the auxiliary protrusion 7, the auxiliary protrusion 7 can expand the top area of ​​the recognition camera 4, and then cooperate with the two ends of the support strip steel bar 604 to press the auxiliary protrusion 7. When the two ends of the support strip steel bar 604 are of different heights, the auxiliary protrusion 7 will be pressed to change the angle of the recognition camera 4. By providing the anti-skid wheel 605 and the driving roller 607, the support strip steel bar 604 can be positioned and clamped, and the anti-skid wheel 605 and the driving roller 607 can rotate flexibly, so that when the driving roller 607 actively rotates, the support strip steel bar 604 is driven to move forward and backward, and the anti-skid wheel 605 is driven to rotate.

[0089] By providing the connecting frame 609, the movable installation requirements of the anti-skid wheel 605 can be met. By providing the supporting spring 610, an elastic supporting force can be generated on the connecting frame 609, thereby ensuring that the anti-skid wheel 605 is always in close contact with the supporting strip 604, so as to ensure that the anti-skid wheel 605 and the driving roller 607 are well clamped on the supporting strip 604. By providing the fixing frame 611 and the vertical rod 612, the displacement of the connecting frame 609 can be positioned and guided, thereby ensuring the stability of the movement of the connecting frame 609.

[0090] In actual application, in order to ensure the overall center of gravity balance of the structure and to be well suited to the flight requirements of the UAV, a balance block can be installed on the left side of the bottom of the mounting base 1;

[0091] In actual application, the mounting base plate 1 is fixedly mounted at a suitable position on the drone by passing bolts through the mounting holes 5 and threadedly connected to the drone.

[0092] A method for using a multi-stage correction and adjustment structure of a camera for precise landing of an unmanned aerial vehicle comprises the following steps:

[0093] A: Use the bolts and mounting holes 5 to securely mount the mounting base plate 1 on the drone. The recognition camera 4 captures the positioning beacon in real time. After the drone flies to the nest area according to the preset route, the recognition camera 4 detects the presence of the beacon and extracts its XY position information. It then performs a first-stage angle adjustment to place the drone directly above the beacon. During the first landing, the drone reaches the minimum obstacle avoidance altitude, and then performs a second-stage angle adjustment to place the drone directly above the beacon and land.

[0094] B: In step A, when performing the first-stage angle adjustment process, the distance between the recognition camera 4 and the beacon is relatively far. As the drone flies, the angle of the recognition camera 4 needs to be continuously adjusted, and a high-speed rotation configuration should be used. When performing the second-stage angle adjustment process, the distance between the recognition camera 4 and the beacon is relatively close. As the drone descends, the angle of the recognition camera 4 needs to be slightly adjusted, and a low-speed rotation configuration should be used.

[0095] C: In step B, the stepper motor 311 is controlled to drive the incomplete gear 312 to rotate continuously. When the incomplete gear 312 is engaged with the driven ring gear 305, the rotating shell 304, the first angle sensor 302 and the mounting plate 306 are rotated. In conjunction with the first angle sensor 302 detecting the rotation angle, the angle of the recognition camera 4 is flexibly adjusted. The difference between the first stage angle adjustment and the second stage angle adjustment is that the height of the incomplete gear 312 is different. When the speed of the stepper motor 311 is constant, the lower the height of the incomplete gear 312, the slower the rotation speed of the rotating shell 304.

[0096] D: In step C, when the position of the incomplete gear 312 needs to be adjusted, the stepper motor 311 first drives the incomplete gear 312 to rotate to the initial position (as shown in the accompanying drawings of the specification). Figure 5 As shown in the figure, the angle of the incomplete gear 312 is the initial angle), and then the electric push rod 308 is controlled to extend and retract. Under the positioning action of the guide groove 314 and the guide rod 315, the auxiliary frame 313 is stably moved up and down to change the height of the incomplete gear 312;

[0097] E: In step B, the servo motor 606 is controlled to drive the driving roller 607 to rotate forward and backward. Under the elastic support of the support spring 610, the anti-skid wheel 605 and the driving roller 607 cooperate to position and clamp the support strip steel bar 604. As the driving roller 607 rotates forward and backward, the support strip steel bar 604 will be displaced forward and backward, thereby causing the two ends of the support strip steel bar 604 to be at different heights. With the assistance of the auxiliary protrusion 7, the recognition camera 4 is rotated on the positioning frame 601. Since the circumference of the driving roller 607 is fixed, the second angle sensor 608 detects the rotation angle, and the forward and backward displacement length of the support strip steel bar 604 can be flexibly controlled, thereby flexibly controlling the rotation angle of the recognition camera 4.

[0098] F: Combining steps C, D, and E, during the flight of the drone, the angle of the recognition camera 4 can be well adjusted for the actual flight calibration process to adapt to the different requirements of the first and second stages, which is more in line with the actual needs of the user.

[0099] To sum up: the multi-stage correction and adjustment structure of the camera for precise landing of the drone solves the problem that the basic adjustment structure cannot adjust the speed according to different recognition distances for different landing stages of the drone by setting the packaging shell 2, the speed-changing turnover mechanism 3, the identification camera 4, the angle-changing adjustment mechanism 6 and the auxiliary protrusion 7. The overall applicability is general. At the same time, for cameras with higher precision, the use of small motors has high load requirements, and the use of medium-sized motors will greatly increase the weight of the drone, which has certain limitations.

Claims

1. A multi-stage correction and adjustment structure for a camera used for precise landing of an unmanned aerial vehicle, comprising a mounting base (1), characterized in that: The four corners of the top of the mounting substrate (1) are provided with mounting holes (5); the bottom of the mounting substrate (1) is fixedly connected to a packaging shell (2); the inner cavity of the packaging shell (2) is installed with a speed change turnover mechanism (3); the bottom of the speed change turnover mechanism (3) is installed with an angle adjustment mechanism (6); the center of the bottom of the angle adjustment mechanism (6) is provided with an identification camera (4); the front and rear sides of the top of the identification camera (4) are fixedly installed with auxiliary protrusions (7); the speed change turnover mechanism (3) includes a rotating shell (304) and an auxiliary block (310); the bottom of the outer ring of the rotating shell (304) is movably connected to the surface of the packaging shell (2) through a bearing; the top of the auxiliary block (310) is fixedly connected to the top of the inner cavity of the packaging shell (2); the center of the top of the rotating shell (304) is fixedly connected to a movable shaft (303); the top of the surface of the movable shaft (303) is sleeved with a first angle The invention relates to a sensor (302), wherein a stabilizing seat (301) is fixedly mounted on the top of the inner cavity of the packaging shell (2), a driven gear ring (305) is fixedly mounted on the outer ring of the rotating shell (304), and a mounting plate (306) is fixedly connected to the bottom of the rotating shell (304) and located at the bottom of the packaging shell (2); the variable angle adjustment mechanism (6) comprises a positioning frame (601), a mounting shell (602) and a fixing frame (611), the number of the positioning frames (601) is two, and the recognition camera (4) is located between the two positioning frames (601); positioning rollers (603) are movably mounted on the front and rear sides of the inner cavity of the mounting shell (602), a servo motor (606) is fixedly mounted on the left side of the inner cavity of the mounting shell (602), the output end of the servo motor (606) is fixedly connected to a driving roller (607), and a second angle sensor (608) is sleeved and mounted on the right side of the surface of the driving roller (607).

2. The multi-stage correction and adjustment structure for a camera used for precise landing of an unmanned aerial vehicle according to claim 1, characterized in that: A distance sensor (309) is fixedly mounted on the outer ring of the bottom of the auxiliary block (310), an electric push rod (308) is fixedly mounted at the center of the bottom of the auxiliary block (310), and a mounting block (316) is fixedly connected to the output end of the electric push rod (308).

3. The multi-stage correction and adjustment structure for a camera used for precise landing of an unmanned aerial vehicle according to claim 2, characterized in that: The bottom of the mounting block (316) is fixedly connected to an auxiliary frame (313), a stepper motor (311) is bolted to the inner wall of the auxiliary frame (313), and an incomplete gear (312) is fixedly mounted on the output end of the stepper motor (311).

4. The multi-stage correction and adjustment structure for a camera used for precise landing of an unmanned aerial vehicle according to claim 3, characterized in that: An oblique rod (307) is fixedly connected to the inner wall of the packaging shell (2), a guide rod (315) is fixedly connected to the right side of the auxiliary frame (313), and a guide groove (314) for use with the guide rod (315) is provided through the surface of the oblique rod (307).

5. The multi-stage correction and adjustment structure for a camera used for precise landing of an unmanned aerial vehicle according to claim 1, characterized in that: A vertical rod (612) is slidably installed through the center of the top of the fixed frame (611), and a connecting frame (609) is fixedly connected to the bottom of the vertical rod (612). A supporting spring (610) is installed between the connecting frame (609) and the fixed frame (611) and on the outside of the vertical rod (612). An anti-slip wheel (605) is movably installed at the bottom of the surface of the connecting frame (609).

6. The multi-stage correction and adjustment structure for a camera used for precise landing of an unmanned aerial vehicle according to claim 5, characterized in that: The top of the support spring (610) is fixedly connected to the bottom of the fixed frame (611), and the bottom of the support spring (610) is fixedly connected to the top of the connecting frame (609). A support belt steel bar (604) is installed between the positioning roller (603), the driving roller (607) and the anti-slip wheel (605).

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