Unmanned aerial vehicle recovery and storage device and recovery and storage method

Abstract

The invention discloses an unmanned aerial vehicle recycling and storing device and method, the unmanned aerial vehicle recycling and storing device comprises a storage assembly, a control system and a recycling assembly, the recycling assembly comprises a locking mechanism, the storage assembly comprises an annular storage mechanism and a shell capable of being opened or closed, and the control system comprises a control module and a detection assembly. When the unmanned aerial vehicle lands on the recovery assembly, the detection assembly detects the unmanned aerial vehicle supporting shaft, the control module controls the recovery assembly to act, the locking mechanism clamps the unmanned aerial vehicle supporting shaft, recovery of the unmanned aerial vehicle is completed, the annular storage mechanism drives the recovery assembly to move to other positions from the recovery station along the annular transportation path, and the shell is closed. And storage of the unmanned aerial vehicle is completed. Compared with a manual recovery mode, the scheme can improve automation and recovery efficiency; compared with a catching net type recovery device and a tensioning integral type unmanned aerial vehicle recovery device, the unmanned aerial vehicle recovery storage device can reduce damage to the unmanned aerial vehicle and the recovery storage device, and the service life is prolonged.

Description

Technical Field

[0001] This application relates to the technical field of unmanned aerial vehicles, and particularly to an unmanned aerial vehicle recovery and storage device and a recovery and storage method. Background Art

[0002] Currently, the recovery and storage of unmanned aerial vehicles mainly rely on manual operation. During the mission execution of unmanned aerial vehicles, frequent takeoffs and landings are required. The traditional manual recovery and storage methods have problems such as low efficiency and high labor consumption, and the working environment of unmanned aerial vehicles may cause certain damage to them.

[0003] In related technologies, a net-catching recovery device or a tensegrity unmanned aerial vehicle recovery device can be adopted. Among them, the net-catching recovery device is likely to damage the rotors of unmanned aerial vehicles, increasing unnecessary maintenance costs and reducing the recovery efficiency; while the tensegrity unmanned aerial vehicle recovery device will cause the deformed tensegrity structure during recovery, and it can no longer withstand the impact of high-speed unmanned aerial vehicles, affecting the service life of the recovery device and increasing the recovery risk. Summary of the Invention

[0004] This application aims to solve at least one of the above technical problems in the prior art to some extent. Therefore, an embodiment of this application provides an unmanned aerial vehicle recovery and storage device, which can realize the recovery and storage of unmanned aerial vehicles and reduce the damage to the unmanned aerial vehicles and the recovery and storage device itself.

[0005] An embodiment of this application also provides an unmanned aerial vehicle recovery and storage method, which recovers and stores unmanned aerial vehicles through the above-mentioned unmanned aerial vehicle recovery and storage device.

[0006] According to an embodiment of the first aspect of this application, there is provided an unmanned aerial vehicle recovery and storage device, including:

[0007] At least one recovery component, the recovery component includes a locking mechanism, the locking mechanism includes a first driving mechanism and two clamps, and the first driving mechanism is used to drive the two clamps to clamp or loosen the support shaft of the unmanned aerial vehicle;

[0008] A storage component, the storage component includes an annular storage mechanism and an openable or closable housing, the annular storage mechanism is arranged in the housing, each recovery component is connected to the annular storage mechanism, the annular storage mechanism can drive the recovery component to move along an annular transportation path, each recovery component is arranged along the transportation path, and there is a recovery station on the transportation path. In the open state of the housing, the recovery station is exposed to the outside; and

[0009] Control system, the control system includes a control module and a detection component, the detection component is used to detect the drone support shaft, and the control module is electrically connected to the recovery component, the storage component and the detection component respectively, so as to receive the feedback signal of the detection component and control the recovery component and the storage component to perform actions.

[0010] In an optional or preferred embodiment, the recovery component further includes a support platform, the detection component includes a pressure sensor and a first vision sensor, the locking mechanism, the pressure sensor and the first vision sensor are arranged on the support platform, the pressure sensor is used to detect whether the drone lands on the support platform, and the first vision sensor is used to obtain the position information of the fixture and the drone support shaft and transmit it to the host computer to calculate the distance between the fixture and the drone support shaft.

[0011] In an optional or preferred embodiment, the recovery component further includes a first charging system, the first charging system is arranged on the support platform, the first charging system includes a first interface, a second driving mechanism and a second vision sensor, the second vision sensor is used to obtain the position of the drone charging interface, and the second driving mechanism can drive the first interface to be connected to the drone charging interface.

[0012] In an optional or preferred embodiment, the support platform is a hollow structure and forms an installation cavity, the first driving mechanism is arranged in the installation cavity, the locking mechanism further includes a connecting block, the first driving mechanism and the fixture are connected through the connecting block, and the top surface of the support platform is provided with a first avoidance groove communicating with the installation cavity, and the connecting block passes through the first avoidance groove to connect the fixture, so that the fixture is attached to the top surface of the support platform.

[0013] In an optional or preferred embodiment, the annular storage mechanism includes an annular guide rail, a slider, a chain and a sprocket, the bottom of the support platform is fixedly connected with the slider, the slider is slidably connected with the annular guide rail, the chain is arranged inside the annular guide rail, and the shape of the chain is the same as the shape of the annular guide rail, the sprocket is matched with the chain to drive the chain to move, and the support platform is rotationally connected with the chain.

[0014] In an optional or preferred embodiment, the storage component further includes a second charging system, the second charging system includes a second interface and a third driving mechanism, the recovery component has a third interface for charging, and the third driving mechanism can drive the second interface to be connected to the third interface.

[0015] In an alternative or preferred embodiment, the housing includes a fixed housing portion and a movable housing portion. The movable housing portion is movably or rotatably arranged relative to the fixed housing portion and forms an open state and a closed state. In the open state, the recycling assembly located at the recycling station is exposed to the outside and the other recycling assemblies are within the fixed housing portion.

[0016] In an alternative or preferred embodiment, the drone recycling and storage device further includes an environmental control system. The environmental control system includes a temperature sensor, a humidity sensor, and an environmental controller. The control module is electrically connected to the temperature sensor, the humidity sensor, and the environmental controller respectively. The temperature sensor detects the temperature inside the housing, the humidity sensor detects the humidity inside the housing, and the environmental controller adjusts the temperature and humidity inside the housing to a predetermined value or a predetermined range.

[0017] According to an embodiment of the second aspect of the present application, there is provided a method for recycling and storing drones. The drones are recycled and stored by the above-mentioned drone recycling and storage device. The method for recycling and storing drones includes:

[0018] The housing is opened, and the annular storage mechanism drives one of the recycling assemblies to move along the annular transportation path to the recycling station;

[0019] The detection assembly detects the drone support shaft and feeds back a signal to the control module. When the detection assembly detects the drone support shaft, the control module controls the recycling assembly to act, and the locking mechanism clamps the drone support shaft;

[0020] The housing is closed, or the annular storage mechanism drives another recycling assembly to move along the annular transportation path to the recycling station to recycle and store another drone.

[0021] In an alternative or preferred embodiment, the detection assembly includes a pressure sensor and a first vision sensor. The method for recycling and storing drones further includes:

[0022] The control module obtains the pressure value of the pressure sensor once every predetermined period and compares it with a predetermined pressure threshold;

[0023] When the pressure values obtained continuously for multiple times are all greater than the predetermined pressure threshold, the detection assembly detects the drone support shaft;

[0024] The first vision sensor repeatedly obtains the position information of the fixture and the drone support shaft and transmits it to the host computer. The host computer calculates the actual distance between the fixture and the drone support shaft and compares it with a predetermined distance value;

[0025] When the actual distance is greater than the predetermined distance value, the host computer sends an instruction to the control module, and the control module controls the locking mechanism to clamp the drone support shaft until the actual distance is not greater than the predetermined distance value.

[0026] Based on the above technical solution, the embodiments of the present application have at least the following beneficial effects:

[0027] The above technical solution integrates the recovery and storage of drones. Among them, a detection component is set to detect the drone support shaft, which can be applicable to drones with support shafts of various different sizes. When the drone lands on the recovery component, the detection component detects the drone support shaft, and the control module controls the recovery component to act, and the locking mechanism clamps the drone support shaft to complete the recovery of the drone. The annular storage mechanism drives the recovery component to move from the recovery station along the annular transportation path to other positions, and the housing is closed to complete the storage of the drone. The housing can protect the drone. By arranging at least one recovery component along the annular transportation path, the recovery and storage of multiple drones can be realized, and the annular transportation path can save storage space. Compared with the manual recovery method, this solution can improve automation and recovery efficiency; compared with the net-catching recovery device, this solution uses a locking mechanism with a fixture to solve the problem of damage to the rotors during the drone recovery process; compared with the tensegrity drone recovery device, this solution fixes and recovers the drone after it stops, and the recovery structure has less deformation, thus significantly extending the service life of the device, and can complete the recovery operation without damaging the drone, effectively reducing the risk of damage that the drone may suffer during the recovery process. Description of the Drawings

[0028] The following further describes the present application with reference to the drawings and embodiments;

[0029] Figure 1 It is a schematic structural diagram of the drone recovery and storage device in the embodiment of the present application, where the housing is open;

[0030] Figure 2 It is a schematic structural diagram of another state of the drone recovery and storage device in the embodiment of the present application, where the housing is closed;

[0031] Figure 3 It is a top view of the annular storage mechanism in the embodiment of the present application;

[0032] Figure 4 It is a schematic structural diagram of the recovery component and the annular storage mechanism from the bottom view perspective in the embodiment of the present application;

[0033] Figure 5 It is a schematic structural diagram of the recovery component in the embodiment of the present application;

[0034] Figure 6 It is a top view of the recovery component in the embodiment of the present application;

[0035] Figure 7 It is a schematic structural diagram of the locking mechanism in the embodiment of the present application;

[0036] Figure 8 It is a schematic structural diagram of the first charging system in the embodiment of the present application;

[0037] Figure 9 It is a schematic structural diagram of the second charging system in the embodiment of the present application;

[0038] Figure 10 It is a system block diagram of the method for recovering and storing an unmanned aerial vehicle in the embodiment of the present application;

[0039] Figure 11 It is a flow block diagram of the recovery component recovering the unmanned aerial vehicle in the embodiment of the present application;

[0040] Figure 12 It is a flow block diagram of the first charging system charging the unmanned aerial vehicle in the embodiment of the present application.

[0041] Reference numerals:

[0042] Recovery component 100, locking mechanism 110, fixture 111, bump 1111, first driving mechanism 112, first motor 1121, first lead screw 1122, nut seat 1123, support platform 120, first avoidance groove 121, second avoidance groove 122, connection block 130, first charging system 140, first interface 141, second driving mechanism 142, cross-shaped lead screw and slide table module 1421, micro push rod 1422, second vision sensor 143, mounting platform 144, third interface 150, storage component 200, annular storage mechanism 210, annular guide rail 211, slider 212, chain 213, sprocket 214, connection seat 215, housing 220, fixed housing part 221, moving housing part 222, second charging system 230, second interface 231, third driving mechanism 232, first vision sensor 300, environment regulator 400, trolley 500, unmanned aerial vehicle 600, support shaft 610. Detailed implementation manners

[0043] To make the above objects, features and advantages of the present application more obvious and understandable, the following detailed description of the specific implementation manners of the present application will be given in conjunction with the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0044] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0045] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0046] In the present application, unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0047] In the present application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0048] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0049] Refer to the following Figures 1 to 9 to describe a drone recovery and storage device for the recovery and storage of a drone 600, which includes a storage component 200, a control system, and at least one recovery component 100.

[0050] Refer to Figures 5 to 7 wherein the recovery component 100 includes a locking mechanism 110, and the locking mechanism 110 includes a first driving mechanism 112 and two clamps 111. The first driving mechanism 112 is used to drive the two clamps 111 to clamp or release the support shaft 610 of the drone 600. Generally, the support frame of the drone 600 has two support shafts 610, and the distance between the two support shafts 610 varies according to the size and model of the drone 600. Specifically, the clamp 111 is rod-shaped, facilitating close fitting with the support shaft 610 of the drone 600 in the length direction.

[0051] The first driving mechanism 112 drives the two clamps 111 to move towards the middle simultaneously to clamp the support shaft 610 of the drone 600, or drives the two clamps 111 to move towards the two outer sides respectively to release the support shaft 610 of the drone 600.

[0052] Refer to Figure 3 and Figure 4 wherein the storage component 200 includes an annular storage mechanism 210 and an openable or closable housing 220. The annular storage mechanism 210 is disposed within the housing 220, and each recovery component 100 is connected to the annular storage mechanism 210. The annular storage mechanism 210 is capable of driving the recovery component 100 to move along an annular transportation path, and each recovery component 100 is arranged along the transportation path. There is a recovery station on the transportation path, and in the open state of the housing 220, the recovery station is exposed to the outside.

[0053] Specifically, each recycling component 100 is evenly distributed on the circular transportation path, that is, the distance between each pair of recycling components 100 on the transportation path is the same, enabling the gravity at each position to be evenly transmitted to the guide rail, thereby reducing the stress change caused by uneven gaps, making the stress evenly distributed, and reducing the vibration during the movement of the recycling component 100. The specific shape of the transportation path and the number of recycling components 100 can be set as needed. In this embodiment, the transportation path is centrosymmetric, which is conducive to the even distribution of stress. Specifically, it includes straight segments, semi-circular segments, straight segments, and semi-circular segments connected in sequence at the beginning and end, and two recycling components 100 are correspondingly set, as shown in Figure 2 shown. The recycling station is located at the middle position of one of the semi-circular segments, that is, below the moving shell part 222 after the housing 220 is closed. When one recycling component 100 is located at the recycling station, the other recycling component 100 is located at the middle position of the other semi-circular segment. When the length of the transportation path is relatively long, the number of recycling components 100 can be correspondingly increased, for example, set to four, as shown in Figure 3 shown.

[0054] The control system includes a control module and a detection component. The detection component is used to detect the support shaft 610 of the drone 600. The control module is electrically connected to the recycling component 100, the storage component 200, and the detection component respectively, so as to receive the feedback signal of the detection component and control the recycling component 100 and the storage component 200 to perform actions. The control module can be a main control board including a control chip such as a single-chip microcomputer.

[0055] The drone recovery and storage device of this solution integrates the recovery and storage of the drone 600. Among them, a detection component is set to detect the support shaft 610 of the drone 600, which can be applicable to drones 600 with support shafts 610 of various different sizes. When the drone 600 lands on the recovery component 100 and the detection component detects the support shaft 610 of the drone 600, the control module controls the action of the recovery component 100, and the locking mechanism 110 clamps the support shaft 610 of the drone 600 to complete the recovery of the drone 600. The annular storage mechanism 210 drives the recovery component 100 to move from the recovery station along the annular transportation path to other positions, and the housing 220 is closed to complete the storage of the drone 600. The housing 220 can protect the drone 600. By arranging at least one recovery component 100 along the annular transportation path, the recovery and storage of multiple drones 600 can be realized, and the annular transportation path can save storage space. Compared with the manual recovery method, this solution can improve the automation and recovery efficiency; compared with the net-catching recovery device, this solution adopts a locking mechanism 110 with a clamp 111 to solve the problem that the rotors of the drone 600 are easily damaged during the recovery process; compared with the tensegrity drone 600 recovery device, this solution fixes and recovers the drone 600 after it stops, and the recovery structure has less deformation, thus significantly extending the service life of the device, and can complete the recovery operation without damaging the drone 600, effectively reducing the risk of damage that the drone 600 may suffer during the recovery process.

[0056] In some embodiments, the drone recovery and storage device further includes an environmental control system. The environmental control system includes a temperature sensor, a humidity sensor, and an environmental controller 400. The control module is electrically connected to the temperature sensor, the humidity sensor, and the environmental controller 400 respectively. The temperature sensor detects the temperature inside the housing 220, and the humidity sensor detects the humidity inside the housing 220. The control module controls the environmental controller 400 to adjust the temperature and humidity inside the housing 220 to a predetermined value or a predetermined range. By setting the environmental control system and cooperating with the isolation of the housing 220 from the external environment, the equipment maintenance efficiency and long-term storage reliability are significantly improved, and it is beneficial for the drone 600 to charge in the optimal environment.

[0057] Specifically, the environmental control system maintains the storage environment inside the housing 220 at a temperature of 15 - 25 °C and a humidity of 30 - 50%RH, which is the best storage environment for the drone 600. The environmental controller 400 can include heating and cooling components, humidifying and dehumidifying devices, etc.

[0058] Refer to Figure 7, in a specific embodiment, the first driving mechanism 112 may adopt a lead screw nut mechanism, which includes a first motor 1121, a first lead screw 1122, and two nut seats 1123 that cooperate with the first lead screw 1122. The two nut seats 1123 are respectively directly or indirectly fixedly connected to the two clamps 111. The thread directions of the two nut seats 1123 are opposite, or the thread directions of the two thread segments of the lead screw cooperating with the two nut seats 1123 are opposite. Thus, when the first motor 1121 drives the first lead screw 1122 to rotate, the first lead screw 1122 simultaneously drives the two nut seats 1123 to move towards or away from each other, and further drives the clamps 111 to clamp or loosen the support shaft 610 of the drone 600. Specifically, the first motor 1121 adopts a stepper motor, and the stepper motor can change the rotation direction and rotation speed, so as to realize the adjustment of the clamping force and speed, and lock or release the drone 600.

[0059] The recovery assembly 100 further includes a support platform 120. The locking mechanism 110 is arranged on the support platform 120. The drone 600 lands between the two clamps 111 on the support platform 120 under the guidance of GPS and infrared positioning.

[0060] Refer to Figure 5 and Figure 6 , in some embodiments, the support platform 120 is a hollow structure and forms an installation cavity, and the first driving mechanism 112 is arranged in the installation cavity. The locking mechanism 110 further includes two connecting blocks 130. The first driving mechanism 112 and the two clamps 111 are respectively connected through the connecting blocks 130. Specifically, the connecting block 130 is L-shaped. The bottom of the connecting block 130 is fixedly connected to the nut seat 1123, and the upper part of the connecting block 130 is fixedly connected to the clamp 111. The top surface of the support platform 120 is provided with a first avoidance groove 121 communicating with the installation cavity. The connecting block 130 passes through the first avoidance groove 121 to connect the clamp 111, so that the clamp 111 is attached to the top surface of the support platform 120. Through the setting of this solution, the clamp 111 is attached to the support platform 120 as much as possible, and the support shaft 610 of the drone 600 is clamped, which is beneficial to improving the stability during the movement of the support shaft 610 of the drone 600 and reducing the movement friction.

[0061] More specifically, the clamp 111 can be wrapped with elastic rubber, so as to form a certain buffer during the clamping process and reduce the impact with the support shaft 610 of the drone 600. The two ends of the clamp 111 are provided with inwardly facing arc-shaped convex blocks 1111, and the convex blocks 1111 at both ends can limit the axial direction of the support shaft 610 to prevent the drone 600 from deviating axially during the clamping process.

[0062] Refer to Figure 5 and Figure 6, in some embodiments, the detection component includes a pressure sensor (not shown) and a first vision sensor 300. The pressure sensor and the first vision sensor 300 are disposed on the support platform 120. The pressure sensor detects whether the drone 600 has landed on the support platform 120, and the first vision sensor 300 acquires the position information of the fixture 111 and the support shaft 610 of the drone 600 and transmits it to the host computer to calculate the distance between the fixture 111 and the support shaft 610 of the drone 600. Specifically, the first vision sensor 300 is disposed at a side position between the two fixtures 111.

[0063] The pressure sensor is disposed at a position between the two fixtures 111 on the support platform 120, and can detect the degree of contact between the drone 600 and the support platform 120, ensuring that the locking mechanism 110 does not act until the drone 600 has landed stably on the support platform 120. The first vision sensor 300 repeatedly detects the position information of the fixture 111 and the support shaft 610 of the drone 600 to calculate the distance between the two. Meanwhile, the locking mechanism 110 performs a clamping action along with the detection until the detected distance meets the condition, avoiding damage to the drone 600 caused by the locking mechanism 110 clamping at too large a distance. Therefore, the control module controls the locking mechanism 110 to act according to the detections of the pressure sensor and the first vision sensor 300, realizing the fixation of the drone 600 on the support platform 120, and greatly improving the accuracy and stability of the recovery of the drone 600.

[0064] Referring to Figure 5 , Figure 6 and Figure 8 , in an alternative or preferred embodiment, the recovery component 100 further includes a first charging system 140. The first charging system 140 is disposed on the support platform 120. The first charging system 140 includes a first interface 141, a second driving mechanism 142, and a second vision sensor 143. The second vision sensor 143 acquires the position of the charging interface of the drone 600, and the control module controls the second driving mechanism 142 to drive the first interface 141 to connect with the charging interface of the drone 600 according to the detection of the second vision sensor 143. When the housing 220 is closed and the storage component 200 has completed the storage of the drone 600, the drone 600 is charged through the first charging system 140, realizing automatic battery life maintenance of the drone 600. The second vision sensor 143 is provided to make the connection between the first interface 141 and the charging interface of the drone 600 more accurate, and can be applicable to drones 600 of different model sizes.

[0065] In a further embodiment, the second driving mechanism 142 is capable of driving the first interface 141 to move in three directions, specifically the x-axis, y-axis, and z-axis directions. The second driving mechanism 142 is installed on the support platform 120 and includes a cross-shaped lead screw slide module 1421 and a micro push rod 1422. The micro push rod 1422 can be an electric push rod. The telescopic end of the micro push rod 1422 is fixedly connected to the first interface 141. The micro push rod 1422 and the second vision sensor 143 are installed on the mounting platform 144. The cross-shaped lead screw slide module 1421 can drive the mounting platform 144 to move in the x-axis direction and the y-axis direction. The cross-shaped lead screw slide module 1421 includes two lead screw nut mechanisms and two stepper motors for driving the two lead screw nut mechanisms to move. A second avoidance groove 122 is provided on the support platform 120, and the second driving mechanism 142 is installed through the second avoidance groove 122, thereby reducing the installation height, saving installation space, and facilitating the detection of the second vision sensor 143 and the connection between the first interface 141 and the charging interface of the drone 600.

[0066] Specifically, the first interface 141 and the charging interface of the drone 600 adopt a magnetic coupling method, making it convenient for the two to be connected, and charging can be carried out after magnetic coupling.

[0067] Referring to Figure 3 and Figure 4 , in an alternative or preferred embodiment, the annular storage mechanism 210 includes an annular guide rail 211, a slider 212, a chain 213, and two sprockets 214. The bottom of the support platform 120 is fixedly connected to the slider 212, and the slider 212 is slidably connected to the annular guide rail 211. The chain 213 is arranged inside the annular guide rail 211, and the shape of the chain 213 is the same as that of the annular guide rail 211. The two sprockets 214 cooperate with the chain 213 to drive the chain 213 to act, and the support platform 120 is rotatably connected to the chain 213. The annular guide rail 211 forms an annular transportation path.

[0068] The motor drives the sprocket 214 to rotate, and the chain 213 drives the support platform 120 to move along the annular path. The bottom of the support platform 120 is slidably connected to the annular guide rail 211 through the slider 212, so that the support platform 120 and the recovery assembly 100 thereon slide along the path of the annular guide rail 211. The combined composite transportation structure can realize the synchronous transmission of the annular conveying of the chain 213 and the sliding of the support platform 120 on the annular guide rail 211, improve the accuracy, and effectively suppress the vibration frequency, greatly reducing the amplitude when the support platform 120 is operating, and each recovery assembly 100 operates synchronously to ensure that the drone 600 is free from mechanical shock during transportation.

[0069] The bottom of the support platform 120 is fixedly connected to the connecting seat 215, and is rotationally connected to the chain 213 through the connecting seat 215. Specifically, the connecting seat 215 is hinged to the chain 213 through one or two chain links, so as to ensure the integrity of the chain movement and reduce the vibration of the recovery assembly.

[0070] Referring to Figure 4 and Figure 9 In some other embodiments, the storage assembly 200 further includes a second charging system 230. The second charging system 230 includes a second interface 231 and a third driving mechanism 232. The recovery assembly 100 has a third interface 150 for charging. The third driving mechanism 232 can drive the second interface 231 to be connected to the third interface 150. Each recovery assembly 100 has an independent power module and is charged through the third interface 150. The third interface 150 is arranged at the bottom of the support platform 120. The third driving mechanism 232 can adopt an electric push rod, and its telescopic end is fixedly connected to the third interface 150 to drive the third interface 150 to move in the z-axis direction. When the power module of one of the recovery assemblies 100 is short of power, the annular storage mechanism 210 drives the corresponding recovery assembly 100 to move above the second charging system 230, and the third driving mechanism 232 drives the second interface 231 to move upward and be connected to the third interface 150. Since the structures and positions of the recovery assemblies 100 are determined, the second charging system 230 only needs to be provided with actions in the z-axis direction. There is a charging station on the annular transportation path, and the second charging system 230 is arranged directly below the third interface 150 when the recovery assembly 100 is at the charging station.

[0071] Specifically, the second interface 231 and the third electrical interface adopt a magnetic coupling method, which makes it convenient for the two to be connected, and charging can be carried out after magnetic coupling.

[0072] Referring to Figure 1 and Figure 2 In alternative or preferred embodiments, the housing 220 includes a fixed housing portion 221 and a moving housing portion 222. The moving housing portion 222 is movably arranged relative to the fixed housing portion 221 and forms an open state and a closed state. In the open state, the recovery assembly 100 located at the recovery station is exposed to the outside and the other recovery assemblies 100 are inside the fixed housing portion 221. Thus, when the unmanned aerial vehicle 600 is recovered or released for takeoff, except for the unmanned aerial vehicle 600 at the recovery station being exposed to the outside, the other unmanned aerial vehicles 600 are inside the fixed housing portion 221, and the other unmanned aerial vehicles 600 can be better protected to avoid the influence or damage to the other unmanned aerial vehicles 600 caused by the recovery or release takeoff of the unmanned aerial vehicle 600. Specifically, the moving housing portion 222 is slidably connected to the fixed housing portion 221, and the moving housing portion 222 is driven to move relative to the fixed housing portion 221 through a fourth driving mechanism. The fourth driving mechanism can adopt an electric push rod.

[0073] Of course, it can be understood that in other embodiments, the moving housing portion 222 can be rotatably arranged relative to the fixed housing portion 221, and the opening or closing of the housing 220 can also be achieved.

[0074] In some embodiments, the drone recovery and storage device further includes a trolley 500, and the recovery assembly 100, the storage assembly 200, and the control system are installed on the trolley 500. The control module can control the trolley 500 to move to a predetermined position, or manually remotely control the trolley 500 to move to a predetermined position, and the recovery or release takeoff of the drone 600 is achieved at the predetermined position.

[0075] Referring to Figure 10 , according to an embodiment of the second aspect of the present application, a method for recovering and storing a drone 600 is further provided. The drone 600 is recovered and stored by the above-mentioned drone recovery and storage device, and the method for recovering and storing the drone 600 includes the following steps:

[0076] S100. Recovery preparation, and step S100 includes steps S110 and S120.

[0077] S110. Open the housing 220.

[0078] S120. Actuate the annular storage mechanism 210 to drive one of the recovery assemblies 100 to move along the annular transportation path to the recovery station.

[0079] S200. Actuate the recovery assembly 100 to recover the drone 600: The detection component detects the support shaft 610 of the drone 600 and feeds back a signal to the control module. When the detection component detects the support shaft 610 of the drone 600, the control module controls the recovery assembly 100 to actuate, and the locking mechanism 110 clamps the support shaft 610 of the drone 600 to complete the fixation of the drone 600.

[0080] S300. Step S300 includes step S310 or S320:

[0081] S310. Close the housing 220.

[0082] S320. Repeat steps S120 and S200. The annular storage mechanism 210 drives the other recovery assembly 100 to move along the annular transportation path to the recovery station to recover and store another drone 600.

[0083] In some embodiments, the method for recovering and storing the drone 600 further includes:

[0084] The S400 environmental control system operates to stabilize the internal environment of the housing 220. According to the temperature and humidity detected by the temperature sensor and humidity sensor within the housing 220, the environmental controller 400 adjusts the temperature and humidity within the housing 220 to a predetermined value or range. Specifically, the environmental control system maintains a storage environment within the housing 220 with a temperature of 15 - 25 °C and a humidity of 30 - 50%RH. When the temperature within the housing 220 exceeds this temperature range, the environmental controller 400 can activate the fan for heat dissipation.

[0085] Referring to Figure 11 , in an alternative or preferred embodiment, step S200 includes:

[0086] S210. The control module obtains the pressure value of the pressure sensor every predetermined period and compares it with a predetermined pressure threshold. In this embodiment, the predetermined period is 5 ms, and the predetermined pressure threshold can be determined according to the weight of the drone 600.

[0087] S220. When the pressure values obtained continuously for multiple times are all greater than the predetermined pressure threshold, the detection component detects the support shaft 610 of the drone 600 to avoid inaccurate detection caused by the drone 600 accidentally touching or landing unstably. In this embodiment, the number of consecutive detections is 5 times.

[0088] S230. The first vision sensor 300 repeatedly obtains the position information of the fixture 111 and the support shaft 610 of the drone 600 and transmits it to the host computer. The host computer calculates the actual distance between each of the two fixtures 111 and the support shaft 610 of the corresponding side of the drone 600 and compares it with a predetermined distance value. Specifically, in this embodiment, the predetermined distance value is 0, and the host computer can be a computer.

[0089] S240. When the actual distance between one of the fixtures 111 and the support shaft 610 of the corresponding side of the drone 600 is greater than the predetermined distance value, the host computer sends an instruction to the control module, and the control module controls the clamping action of the locking mechanism 110. The fixture 111 moves step by step at a small distance until the actual distances between the two fixtures 111 and the two support shafts 610 of the drone 600 are both not greater than the predetermined distance value, clamping the support shaft 610 of the drone 600.

[0090] By adopting the above steps for detecting and clamping the drone 600, with vision and driving simultaneously, the accuracy and stability of the drone 600 recovery can be greatly improved.

[0091] In some embodiments, the drone 600 recovery and storage method further includes:

[0092] S500. The first charging system 140 operates to charge the drone 600.

[0093] Referring to Figure 12, step S500 specifically includes:

[0094] S510. According to the characteristics of the UAV charging interface, the second vision sensor 143 detects the UAV 600 charging interface. When the second vision sensor 143 detects the UAV 600 charging interface, the pixel coordinates (u, v) of the UAV 600 charging interface in the image are obtained. Specifically, it can be obtained through image processing methods. The acquired image is transmitted to the host computer for processing, or processed by an internally integrated processor.

[0095] S520. Calculate the coordinates (Xa, Ya) of the UAV 600 charging interface with the z-axis direction in which the first interface 141 moves as the center. The calculation formula is as follows:

[0096] ,

[0097] ,

[0098] K is the internal parameter matrix, where, , are the focal lengths in the x and y directions, , are the pixel coordinates of the image center.

[0099] S530. Calculate the distances in the x, y, and z-axis directions from the first interface 141 to the UAV 600 charging interface , , , and the calculation formula is as follows:

[0100] ,

[0101] ,

[0102] Where: is a determined value, which is the distance in the z-axis direction between the first interface 141 and the UAV 600 charging interface (when the UAV 600 lands on the support platform 120, the height from the bottom charging interface to the support shaft 610 or the support platform 120 is fixed, which can be measured in advance or detected by the second vision sensor 143. Therefore, the distance between the first interface 141 and the UAV charging interface in the z-axis direction is fixed), represents the rotation matrix (since there is no rotation between the push rod coordinates and the vision sensor coordinates in the z-axis direction, so it is ), represents the translation matrix (since y and z are the same, this matrix is ).

[0103] S540. The control module controls the movement of the second driving mechanism 142 according to the calculated distance information of the first interface 141 in the x, y, and z-axis directions to the charging interface of the drone 600. First, it drives the first interface 141 to move in the x and y-axis directions to align the first interface 141 with the charging interface of the drone 600, and then drives the first interface 141 to move in the z-axis direction to connect the first interface 141 with the charging interface of the drone 600. Specifically, the second driving mechanism 142 uses a stepper motor for driving in the x and y-axis directions. By calculating the number of steps of the corresponding stepper motor, pulse signals and direction signals are sent to the corresponding stepper motors in the x and y-axis directions. The calculation formula is as follows:

[0104] ,

[0105] ,

[0106] where a is the lead screw pitch and s is the number of steps per revolution of the motor.

[0107] After the first interface 141 is aligned with the charging interface of the drone 600, the micro push rod 1422 of the second driving mechanism 142 in the z-axis direction drives the first interface 141 to move with a fixed value as the stroke, so that the first interface 141 is magnetically coupled and connected to the charging interface of the drone 600.

[0108] S550. After the charging is completed, the first charging system 140 resets, and the first interface 141 moves to its original position. The drone 600 is equipped with a charging indicator light. During the charging process, the indicator light is red, and when fully charged, it is green.

[0109] In some other embodiments, the method for recycling and storing the drone 600 further includes:

[0110] S600. The second charging system 230 operates to charge the recycling component 100.

[0111] Step S600 specifically includes:

[0112] S610. When the power of the power module of the recycling component 100 drops to a predetermined power level, the annular storage mechanism 210 drives the recycling component 100 to move to the charging station, and the charging station is located directly above the second charging system 230.

[0113] S620. The third driving mechanism 232 drives the second interface 231 to move in the z-axis direction to connect the second interface 231 with the third interface 150 of the recycling component 100. The recycling component 100 is provided with a charging indicator light. During the charging process, the indicator light is red, and when fully charged, it is green.

[0114] S630. After the charging is completed, the third driving mechanism 232 drives the second interface 231 to reset.

[0115] Through the above-mentioned method for recycling and storing drones, the automation of the recycling and storing of the drone 600 is realized, which does not require manual assistance and can independently complete the recycling and storing tasks; the detection of the drone is realized through the pressure sensor and the first vision sensor 300 of the detection component, ensuring the stability and accuracy of the drone recycling; in cooperation with the environment control system, the housing and the first charging system, the drone is protected and automatically charged and maintained.

[0116] The embodiments of the present application have been described in detail above in conjunction with the accompanying drawings. However, the present application is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present application within the scope of knowledge possessed by those of ordinary skill in the art.

Claims

1. An unmanned aerial vehicle recovery and storage device, characterized in that, Comprising: At least one recycling component, the recycling component including a locking mechanism, the locking mechanism including a first driving mechanism and two clamps, the first driving mechanism being used to drive the two clamps to clamp or loosen the drone support shaft; A storage component, the storage component including an annular storage mechanism and an openable or closable housing, the annular storage mechanism being arranged inside the housing, each of the recycling components being connected to the annular storage mechanism, the annular storage mechanism being capable of driving the recycling components to move along an annular transportation path, each of the recycling components being arranged along the transportation path, and there being a recycling station on the transportation path, and in the open state of the housing, the recycling station being exposed to the outside; And A control system, the control system including a control module and a detection component, the detection component being used to detect the drone support shaft, the control module being electrically connected to the recycling component, the storage component and the detection component respectively, for receiving the feedback signal of the detection component and controlling the recycling component and the storage component to perform actions.

2. The drone recovery and storage device according to claim 1, wherein: The recycling component further includes a support platform, the detection component includes a pressure sensor and a first vision sensor, the locking mechanism, the pressure sensor and the first vision sensor are arranged on the support platform, the pressure sensor is used to detect whether the drone has landed on the support platform, and the first vision sensor is used to obtain the position information of the clamp and the drone support shaft and transmit it to the upper computer to calculate the distance between the clamp and the drone support shaft.

3. The drone recovery and storage device according to claim 2, characterized in that: The recycling component further includes a first charging system, the first charging system being arranged on the support platform, the first charging system including a first interface, a second driving mechanism and a second vision sensor, the second vision sensor being used to obtain the position of the drone charging interface, and the second driving mechanism being capable of driving the first interface to be connected to the drone charging interface.

4. The drone recovery and storage device according to claim 2, wherein: The support platform is of a hollow structure and forms an installation cavity, the first driving mechanism is arranged in the installation cavity, the locking mechanism further includes a connecting block, the first driving mechanism and the clamp are connected through the connecting block, and the top surface of the support platform is provided with a first avoidance groove communicating with the installation cavity, and the connecting block passes through the first avoidance groove to connect the clamp, so that the clamp is attached to the top surface of the support platform.

5. The drone recovery and storage device according to claim 2, characterized in that: The annular storage mechanism includes an annular guide rail, a slider, a chain and a sprocket, the bottom of the support platform is fixedly connected to the slider, the slider is slidably connected to the annular guide rail, the chain is arranged inside the annular guide rail, and the shape of the chain is the same as the shape of the annular guide rail, the sprocket is matched with the chain to drive the chain to move, and the support platform is rotationally connected to the chain.

6. The drone recovery and storage device according to claim 1, wherein: The storage component further includes a second charging system, the second charging system including a second interface and a third driving mechanism, the recycling component has a third interface for charging, and the third driving mechanism is capable of driving the second interface to be connected to the third interface.

7. The drone recovery and storage device according to claim 1, wherein: The housing includes a fixed housing part and a movable housing part. The movable housing part is movably or rotatably arranged relative to the fixed housing part and forms an open state and a closed state. In the open state, the recovery assembly located at the recovery station is exposed to the outside and the other recovery assemblies are within the fixed housing part.

8. The drone recovery and storage device according to any one of claims 1 to 7, characterized in that: The UAV recovery and storage device further includes an environmental control system. The environmental control system includes a temperature sensor, a humidity sensor, and an environmental controller. The control module is electrically connected to the temperature sensor, the humidity sensor, and the environmental controller respectively. The temperature sensor detects the temperature inside the housing, the humidity sensor detects the humidity inside the housing, and the environmental controller adjusts the temperature and humidity inside the housing to a predetermined value or a predetermined range.

9. A method for recycling and storing an unmanned aerial vehicle, characterized in that, Using the UAV recovery and storage device according to any one of claims 1 to 8 to recover and store a UAV, the UAV recovery and storage method includes: The housing is opened, and the annular storage mechanism drives one of the recovery assemblies to move along the annular transport path to the recovery station; The detection assembly detects the UAV support shaft and feeds back a signal to the control module. When the detection assembly detects the UAV support shaft, the control module controls the recovery assembly to act, and the locking mechanism clamps the UAV support shaft; The housing is closed, or the annular storage mechanism drives another recovery assembly to move along the annular transport path to the recovery station to recover and store another UAV.

10. The method for recycling and storing an unmanned aerial vehicle according to claim 9, wherein, The detection assembly includes a pressure sensor and a first vision sensor. The UAV recovery and storage method further includes: The control module obtains the pressure value of the pressure sensor at each predetermined interval and compares it with a predetermined pressure threshold; When the pressure values obtained continuously for multiple times are all greater than the predetermined pressure threshold, the detection assembly detects the UAV support shaft; The first vision sensor repeatedly obtains the position information of the fixture and the UAV support shaft and transmits it to the host computer. The host computer calculates the actual distance between the fixture and the UAV support shaft and compares it with a predetermined distance value; When the actual distance is greater than the predetermined distance value, the host computer sends an instruction to the control module. The control module controls the locking mechanism to clamp the UAV support shaft until the actual distance is not greater than the predetermined distance value.

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