Guiding device for automatic battery replacement of unmanned aerial vehicle

Abstract

The invention discloses a guiding device for automatic battery replacement of an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles, the guiding device comprises a mounting plate, mounting seats are mounted at four corners of the lower end surface of the mounting plate, a landing platform is arranged above the mounting plate, and a plurality of pressure sensors are mounted between the landing platform and the mounting plate; a sliding groove block is fixedly connected to one side of the mounting plate, an inner sliding block is slidably connected into the sliding groove block, and an X-axis moving module used for driving the inner sliding block to move along the sliding groove block is arranged in the sliding groove block. The position of a landing unmanned aerial vehicle can be corrected through the arranged correcting assembly, the unmanned aerial vehicle is placed on the hollow guide platform, the problem that manual intervention is needed for landing deviation of the unmanned aerial vehicle is effectively solved, unmanned battery replacement is achieved, meanwhile, the arranged adjusting assembly can correspondingly adjust the position of the U-shaped sliding frame in the using process, and the safety of the unmanned aerial vehicle is improved. Therefore, the unmanned aerial vehicles of different models can be fixed.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a guiding device for automatic battery replacement of unmanned aerial vehicles. Background Art

[0002] Unmanned aircraft, or "drones" for short, are unmanned aircraft that are controlled by radio remote control equipment and self-contained program control devices. There is no cockpit on board, but it is equipped with autopilots, program control devices and other equipment. Personnel on the ground, on ships or at the remote control station of the mother aircraft use radar and other equipment to track, locate, remotely control, telemeter and transmit digital data to it. It can take off like a normal aircraft under radio remote control or be launched into the air with a booster rocket, or it can be carried into the air by the mother aircraft for flight.

[0003] The drone is powered by a battery in the belly of the drone. When the battery is exhausted, the drone needs to be replaced to ensure that the drone can continue to fly. With the development of science and technology, drone battery replacement equipment has been widely used. When replacing the battery, the drone lands at a designated location and is sent into the battery replacement equipment by a guide device. The existing guide device is generally composed of a landing platform and a drone fixing mechanism. When working, the drone lands on the platform, and then the drone is fixed by a fixing mechanism and sent to the battery replacement equipment for battery replacement. However, when the drone flies outdoors, it is greatly disturbed by external factors. Each landing point cannot accurately land at a specific position on the platform. Therefore, manual intervention is often required during battery replacement to move the drone to a specific position, which is not convenient enough and cannot be unmanned. To address the above problems, we provide a guide device for automatic battery replacement of drones. Summary of the invention

[0004] The purpose of the present invention is to provide a guide device for automatic battery replacement of a drone to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The guide device for automatic battery replacement of a drone comprises a mounting plate, mounting seats are installed at four corners of the lower end surface of the mounting plate, a landing platform is provided above the mounting plate, a number of pressure sensors are installed between the landing platform and the mounting plate, a sliding slot block is fixedly connected to one side of the mounting plate, an inner slider is slidably connected to the inside of the sliding slot block, an X-axis moving module for driving the inner slider to move along the sliding slot block is provided inside the sliding slot block, a rotating seat is provided at the upper end of the inner slider, a first servo steering gear is fixedly connected to one side of the rotating seat, a hollow column is installed at the output end of the first servo steering gear, a lifting sliding cavity is provided inside the hollow column, a lifting slider is slidably connected to the lifting sliding cavity, a Z-axis moving component for driving the lifting slider to lift is provided inside the hollow column, a cross arm frame is provided on one side of the lifting slider, and a correction component for correcting the attitude of the drone is provided on the cross arm frame;

[0007] One side of the mounting plate is also provided with a guiding component for sending the drone into the battery exchange device.

[0008] As a further solution of the present invention: the X-axis lateral movement module includes an X-axis screw, which is rotatably connected to the inside of the sliding groove block, the X-axis screw is threadedly connected to the inner sliding block, one end of the sliding groove block is fixedly connected to the X-axis motor, and the output end of the X-axis motor is connected to the X-axis screw.

[0009] As a further solution of the present invention: the Z-axis moving assembly includes a Z-axis screw rod, which is rotatably connected to the inside of the lifting slide cavity, the Z-axis screw rod is threadedly connected to the lifting slide block, and a Z-axis motor for driving the Z-axis screw rod to rotate is installed at the upper end of the hollow column.

[0010] As a further solution of the present invention: the correction component includes a transverse sliding slider, the cross arm frame is provided with a Y-axis moving module for driving the transverse sliding slider to move, a second servo motor is installed at the lower end of the transverse sliding slider, an electric clamp is installed at the output end of the second servo motor, and a visual camera is also provided on one side of the second servo motor.

[0011] As a further solution of the present invention: the Y-axis moving module includes a Y-axis screw rod, which is rotatably connected to the inside of the cross arm frame, and the Y-axis screw rod is threadedly connected to the transverse sliding slider. One end of the cross arm frame is also provided with a Y-axis motor for driving the Y-axis screw rod to rotate.

[0012] As a further solution of the present invention: the guide component includes a hollow guide platform, the hollow guide platform is arranged at a position on one side of the mounting plate, a fixing component for fixing the drone is provided on the hollow guide platform, a pushing slide is provided at a position below the mounting plate, and a pushing slide is provided in the pushing slide for driving the hollow guide platform to extend into the drone battery exchange device.

[0013] As a further solution of the present invention: the fixing component includes an adjusting slide groove, which is opened at both ends of the upper end surface of the hollow guide platform, and two U-shaped slides are slidably connected inside the hollow guide platform, and the vertical plates on both sides of the U-shaped slide are slidably connected to the adjusting slide groove, and the upper ends of the U-shaped slides are rotatably connected with adjusting rods, and a third servo steering gear is provided on one side vertical plate of the U-shaped slide for driving the adjusting rod to rotate, a plurality of fixing claws are slidably connected to the adjusting rod, and the fixing claws are provided with a locking knob for locking the position of the fixing claws, and an adjusting component for adjusting the distance between the two U-shaped slides is provided inside the hollow guide platform.

[0014] As a further solution of the present invention: the adjustment component includes a bidirectional screw rod, which is rotatably connected to the middle position inside the hollow guide platform, and the threads at both ends of the bidirectional screw rod are respectively connected to the U-shaped slide thread, and an adjustment motor for driving the bidirectional screw rod to rotate is installed on one side of the hollow guide platform.

[0015] As a further solution of the present invention: the pushing assembly includes a bottom screw and a rotating seat, the bottom screw is rotatably connected to the position of the pushing slide by the rotating seat, the lower end of the mounting plate is provided with a driving motor for driving the bottom screw to rotate, and the lower end of one side of the hollow guide platform is also fixedly connected to a threaded block, and the threaded block is threadedly connected to the bottom screw.

[0016] As a further solution of the present invention: a limiting convex strip is fixedly connected to one side of the adjusting rod, and the limiting convex strip is slidably connected to the fixing claw.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention can correct the position of the landing UAV through the correction component and place it on the hollow guide platform, which effectively solves the problem that the landing deviation of the UAV requires manual intervention and realizes unmanned battery replacement. At the same time, the adjustment component can adjust the position of the U-shaped slide accordingly when in use, thereby realizing the fixation of UAVs of different models. At the same time, the hollow column can be laid down by the first servo steering gear, so that the hollow column can be laid down when the UAV lands to avoid affecting the take-off or landing of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention.

[0020] Figure 2 It is a schematic diagram of the internal structure of the hollow column in the present invention.

[0021] Figure 3It is a schematic diagram of the structure of the fixing component in the present invention.

[0022] Figure 4 It is a schematic diagram of the bottom structure of the present invention.

[0023] Figure 5 It is a schematic diagram of the internal structure of the hollow guide platform of the present invention.

[0024] Figure 6 It is a schematic diagram of the local structure in the present invention.

[0025] Among them: 1. Mounting plate; 2. Pressure sensor; 3. Landing platform; 4. Electric gripper; 5. Y-axis motor; 6. Visual camera; 7. Rotating seat; 8. Cross arm frame; 9. Z-axis motor; 10. Hollow column; 11. First servo steering gear; 12. Inner slider; 13. X-axis screw rod; 14. Sliding slot block; 15. X-axis motor; 16. Mounting seat; 17. Rotating seat; 18. Hollow guide platform; 19. Adjusting motor; 20. Z-axis screw; 21. Lifting slider; 22. Lifting slide cavity; 23. Second servo actuator; 24. Y-axis screw; 25. Transverse slider; 26. Third servo actuator; 27. Threaded block; 28. Locking knob; 29. ​​Fixed claw; 30. Adjusting rod; 31. Adjusting slide groove; 32. U-shaped slide; 33. Bidirectional screw; 34. Driving motor; 35. Bottom screw; 36. Push slide; 37. Limiting convex strip. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1-Figure 6In the embodiment of the present invention, the guide device for automatic battery replacement of a drone includes a mounting plate 1, and mounting seats 16 are installed at four corners of the lower end surface of the mounting plate 1. A landing platform 3 is provided above the mounting plate 1, and a plurality of pressure sensors 2 are installed between the landing platform 3 and the mounting plate 1. A sliding groove block 14 is fixedly connected to one side of the mounting plate 1, and an inner slider 12 is slidably connected inside the sliding groove block 14. An X-axis moving module for driving the inner slider 12 to move along the sliding groove block 14 is provided inside the sliding groove block 14. The X The axis transverse movement module includes an X-axis screw rod 13, which is rotatably connected to the inside of a sliding slot block 14. The X-axis screw rod 13 is threadedly connected to an inner slider 12. An X-axis motor 15 is fixedly connected to one end of the sliding slot block 14, and an output end of the X-axis motor 15 is connected to the X-axis screw rod 13. When working, the X-axis motor 15 can drive the X-axis screw rod 13 to rotate, and the rotation of the X-axis screw rod 13 can drive the inner slider 12 to move along the sliding slot block 14. At the same time, the installed pressure sensor 2 can sense the drone on the landing platform 3.

[0028] A rotating seat 7 is provided at the upper end of the inner slider 12, and a first servo steering engine 11 is fixedly connected to one side of the rotating seat 7. A hollow column 10 is installed at the output end of the first servo steering engine 11. A lifting slider 21 is slidably connected inside the hollow column 10. A Z-axis moving component for driving the lifting slider 21 to rise and fall is provided inside the hollow column 10. The Z-axis moving component includes a Z-axis screw rod 20, which is rotatably connected inside the lifting slide cavity 22. The Z-axis screw rod 20 is threadedly connected to the lifting slider 21, and a Z-axis motor 9 for driving the Z-axis screw rod 20 to rotate is installed on the upper end of the hollow column 10; when working, the Z-axis motor 9 drives the Z-axis screw rod 20 to rotate, and the rotation of the Z-axis screw rod 20 can drive the lifting slider 21 to rise and fall, and the lifting and falling of the lifting slider 21 can drive the cross arm frame 8 to rise and fall.

[0029] A cross arm frame 8 is provided on one side of the lifting slider 21, and a correction component for correcting the attitude of the drone is provided on the cross arm frame 8; the correction component includes a transverse sliding slider 25, and a Y-axis moving module for driving the transverse sliding slider 25 to move is provided on the cross arm frame 8, and a second servo steering engine 23 is installed at the lower end of the transverse sliding slider 25, and an electric clamp 4 is installed at the output end of the second servo steering engine 23, and a visual camera 6 is also provided on one side of the second servo steering engine 23; the Y-axis moving module includes a Y-axis screw rod 24, and the Y-axis screw rod 24 is rotatably connected to the inside of the cross arm frame 8, and the Y-axis screw rod 24 is threadedly connected to the transverse sliding slider 25, and one end of the cross arm frame 8 is also provided with a Y-axis screw rod 24 for driving the Y-axis screw rod 24 to rotate. Axis motor 5; when working, the Y-axis motor 5 drives the Y-axis screw rod 24 to rotate, and the rotation of the Y-axis screw rod 24 can drive the transverse sliding block 25 to move along the cross arm frame 8. At the same time, the visual camera 6 performs visual detection on the UAV on the landing platform 3, identifies the position and posture of the UAV, and then adjusts the position of the electric clamp 4 through the X-axis moving module, the Y-axis moving module and the Z-axis moving module, so that the electric clamp 4 grabs the UAV, and then drives the electric clamp 4 to rotate through the second servo steering engine 23 to adjust the posture angle, so as to realize the position and posture correction of the UAV, which is convenient for subsequent power replacement. The visual recognition method and the visual learning algorithm all adopt the existing mature technical solutions, which will not be elaborated here.

[0030] One side of the mounting plate 1 is also provided with a guiding component for sending the UAV into the battery exchange device; the guiding component includes a hollow guiding platform 18, and the hollow guiding platform 18 is arranged at a position on one side of the mounting plate 1, and a fixing component for fixing the UAV is provided on the hollow guiding platform 18, and a pushing slide 36 is provided at a position below the mounting plate 18, and a pushing slide 36 is provided in the pushing slide 36 for driving the hollow guiding platform 18 to extend into the UAV battery exchange device; the fixing component is used to fix the UAV to prevent the UAV from shaking during the battery exchange process, and at the same time, the pushing component can drive the hollow guiding platform 18 to move, so as to push the UAV into the battery exchange device for battery exchange.

[0031] The fixing assembly includes an adjusting slot 31, which is provided at both ends of the upper end surface of the hollow guide platform 18. Two U-shaped slides 32 are slidably connected inside the hollow guide platform 18. The vertical plates on both sides of the U-shaped slide 32 are slidably connected to the adjusting slot 31. The upper ends of the U-shaped slides 32 are rotatably connected with adjusting rods 30. A third servo steering engine 26 for driving the adjusting rod 30 to rotate is provided on one side vertical plate of the U-shaped slide 32. A plurality of fixing claws 29 are slidably connected to the adjusting rod 30. The fixing claws 29 are provided with a locking knob 28 for locking the position of the fixing claws 29. An adjusting assembly for adjusting the spacing between the two U-shaped slides 32 is provided inside the hollow guide platform 18. The adjusting assembly includes a bidirectional screw rod 33, which is rotatably connected to the middle position inside the hollow guide platform 18. The two ends of the bidirectional screw rod 33 are The threads are respectively threadedly connected with the U-shaped slide 32, and one side of the hollow guide platform 18 is installed with an adjusting motor 19 for driving the bidirectional screw rod 33 to rotate; one side of the adjusting rod 30 is also fixedly connected to a limiting convex strip 37, and the limiting convex strip 37 is slidably connected with the fixing claw 29. During operation, the third servo steering engine 26 can drive the adjusting rod 30 to rotate so that the fixing claw 29 rotates toward the drone bracket to fix the drone. When it is necessary to adjust the spacing between the two adjusting rods 30, the adjusting motor 19 drives the bidirectional screw rod 33 to rotate, and the rotation of the bidirectional screw rod 33 drives the two U-shaped slides 32 to move closer or farther from each other, thereby realizing the adjustment of the spacing between the adjusting rods 30. When it is necessary to adjust the position of the fixing claw 29, the locking knob 28 can be loosened first, and then the sliding fixing claw 29 is adjusted to a suitable position, and then the locking knob 28 can be tightened, thereby realizing the fixation of drones of different models.

[0032] The pushing assembly includes a bottom screw rod 35 and a rotating seat 17. The bottom screw rod 35 is rotatably connected to the position of the pushing slide 36 by the rotating seat 17. The lower end of the mounting plate 1 is provided with a driving motor 34 for driving the bottom screw rod 35 to rotate. The lower end of one side of the hollow guide platform 18 is also fixedly connected with a threaded block 27, and the threaded block 27 is threadedly connected to the bottom screw rod 35. During operation, the driving motor 34 drives the bottom screw rod 35 to rotate, and the rotation of the bottom screw rod 35 can drive the threaded block 27 to move. The movement of the threaded block 27 can drive the hollow guide platform 18 to move, and then can drive the hollow guide platform 18 to extend into the battery exchange equipment to exchange the battery of the drone.

[0033] The working principle of the present invention is as follows: when the UAV is in operation, it lands on the landing platform 3. After the pressure sensor 2 senses the weight of the UAV, the first servo steering engine 11 starts to vertically move the hollow column 10. Then the visual camera 6 performs visual detection on the UAV on the landing platform 3, identifies the position and posture of the UAV, and then adjusts the position of the electric gripper 4 through the X-axis moving module, the Y-axis moving module and the Z-axis moving module, so that the electric gripper 4 grabs the UAV. Then, the second servo steering engine 23 drives the electric gripper 4 to rotate to adjust the posture angle. After the state adjustment is completed, the X-axis moving module, the Y-axis moving module and the Z-axis moving module place the UAV on the hollow guide platform 18, and then the third servo motor 26 drives the adjustment rod 30 to rotate so that the fixing claw 29 rotates toward the UAV bracket to fix the UAV. After the fixation is completed, the driving motor 34 drives the bottom screw rod 35 to rotate. The rotation of the bottom screw rod 35 can drive the threaded block 27 to move. The movement of the threaded block 27 can drive the hollow guide platform 18 to move, and then drive the hollow guide platform 18 to extend into the battery exchange equipment to exchange the battery of the UAV.

[0034] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Although this specification is described in accordance with the implementation modes, not every implementation mode includes only one technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A guide device for automatic battery replacement of an unmanned aerial vehicle, comprising a mounting plate (1), wherein four corners of the lower end surface of the mounting plate (1) are each provided with a mounting seat (16), and the device is characterized in that: A landing platform (3) is provided above the mounting plate (1), and a plurality of pressure sensors (2) are installed between the landing platform (3) and the mounting plate (1). A sliding slot block (14) is fixedly connected to one side of the mounting plate (1), and an inner sliding block (12) is slidably connected inside the sliding slot block (14). An X-axis moving module is provided inside the sliding slot block (14) for driving the inner sliding block (12) to move along the sliding slot block (14), and a rotating seat (7) is provided at the upper end of the inner sliding block (12). The rotating seat ( 7) A first servo steering engine (11) is fixedly connected to one side, a hollow column (10) is installed at the output end of the first servo steering engine (11), a lifting slide cavity (22) is provided inside the hollow column (10), a lifting slider (21) is slidably connected inside the lifting slide cavity (22), a Z-axis moving component for driving the lifting slider (21) to move up and down is provided inside the hollow column (10), a cross arm frame (8) is provided on one side of the lifting slider (21), and a correction component for correcting the posture of the drone is provided on the cross arm frame (8); One side of the mounting plate (1) is also provided with a guide component for sending the drone into the battery exchange device.

2. The automatic battery replacement guide device for a drone according to claim 1, characterized in that: The X-axis lateral movement module comprises an X-axis screw rod (13), the X-axis screw rod (13) is rotatably connected to the inside of a sliding slot block (14), the X-axis screw rod (13) is threadedly connected to an inner sliding block (12), one end of the sliding slot block (14) is fixedly connected to an X-axis motor (15), and the output end of the X-axis motor (15) is connected to the X-axis screw rod (13).

3. The automatic battery replacement guide device for drones according to claim 1, characterized in that: The Z-axis moving assembly comprises a Z-axis screw rod (20), the Z-axis screw rod (20) is rotatably connected inside a lifting slide cavity (22), the Z-axis screw rod (20) is threadedly connected to a lifting slide block (21), and a Z-axis motor (9) for driving the Z-axis screw rod (20) to rotate is installed at the upper end of the hollow column (10).

4. The automatic battery replacement guide device for a drone according to claim 1, characterized in that: The correction component comprises a transverse sliding block (25), the cross arm frame (8) is provided with a Y-axis moving module for driving the transverse sliding block (25) to move, a second servo actuator (23) is installed at the lower end of the transverse sliding block (25), an electric clamp (4) is installed at the output end of the second servo actuator (23), and a visual camera (6) is also provided on one side of the second servo actuator (23).

5. The automatic battery replacement guide device for a drone according to claim 4, characterized in that: The Y-axis moving module comprises a Y-axis screw rod (24), the Y-axis screw rod (24) is rotatably connected inside the cross arm frame (8), the Y-axis screw rod (24) is threadedly connected to the transverse sliding block (25), and one end of the cross arm frame (8) is also provided with a Y-axis motor (5) for driving the Y-axis screw rod (24) to rotate.

6. The automatic battery replacement guide device for drones according to claim 1, characterized in that: The guide assembly comprises a hollow guide platform (18), the hollow guide platform (18) being arranged at a position on one side of the mounting plate (1), the hollow guide platform (18) being provided with a fixing assembly for fixing the drone, the mounting plate (1) being provided with a push slide (36) at a position below the hollow guide platform (18), the push slide (36) being provided with a pushing assembly for driving the hollow guide platform (18) to extend into the drone battery replacement device.

7. The automatic battery replacement guide device for a drone according to claim 6, characterized in that: The fixing assembly comprises an adjusting slide groove (31), wherein the adjusting slide groove (31) is arranged at positions at both ends of the upper end surface of the hollow guide platform (18), two U-shaped slides (32) are slidably connected inside the hollow guide platform (18), and vertical plates on both sides of the U-shaped slide (32) are slidably connected to the adjusting slide groove (31), and the upper ends of the U-shaped slides (32) are rotatably connected with adjusting rods (30), and a third servo steering engine (26) for driving the adjusting rod (30) to rotate is provided on a vertical plate on one side of the U-shaped slide (32), and a plurality of fixing claws (29) are slidably connected to the adjusting rod (30), and a locking knob (28) for locking the position of the fixing claw (29) is provided on the fixing claw (29), and an adjusting assembly for adjusting the distance between the two U-shaped slides (32) is provided inside the hollow guide platform (18).

8. The automatic battery replacement guide device for a drone according to claim 7, characterized in that: The adjustment assembly comprises a bidirectional screw rod (33), the bidirectional screw rod (33) is rotatably connected to a middle position inside the hollow guide platform (18), the threads at both ends of the bidirectional screw rod (33) are respectively threadedly connected to the U-shaped slide (32), and an adjustment motor (19) for driving the bidirectional screw rod (33) to rotate is installed on one side of the hollow guide platform (18).

9. The automatic battery replacement guide device for a drone according to claim 6, characterized in that: The pushing assembly comprises a bottom screw rod (35) and a rotating seat (17); the bottom screw rod (35) is rotatably connected to the position of the pushing slide (36) by the rotating seat (17); a driving motor (34) for driving the bottom screw rod (35) to rotate is provided at the lower end of the mounting plate (1); a threaded block (27) is also fixedly connected to the lower end of one side of the hollow guide platform (18); and the threaded block (27) is threadedly connected to the bottom screw rod (35).

10. The automatic battery replacement guide device for a drone according to claim 7, characterized in that: One side of the adjusting rod (30) is also fixedly connected to a limiting convex strip (37), and the limiting convex strip (37) is slidably connected to the fixing claw (29).

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