Positioning device, unmanned aerial vehicle and vehicle

Abstract

The invention relates to a positioning device, an unmanned aerial vehicle and a vehicle, and relates to the technical field of vehicles, the positioning device is used for the unmanned aerial vehicle, and the unmanned aerial vehicle comprises a positioning column; the power assembly is arranged on the base; the positioning assembly comprises a first positioning structure and a second positioning structure, the first positioning structure and the second positioning structure are both in transmission connection with the power assembly, the power assembly is used for driving the first positioning structure and the second positioning structure to move so that the power assembly can be switched between the clamping state and the separation state, and the positioning assembly can be separated from the clamping state when the positioning assembly is in the clamping state. A positioning hole is defined by the first positioning structure and the second positioning structure, and the positioning hole is matched with the positioning column to position the unmanned aerial vehicle; when the positioning assembly is in the separated state, the first positioning structure and the second positioning structure are separated. The positioning hole is defined by the first positioning structure and the second positioning structure, the positioning hole is matched with the positioning column to position the unmanned aerial vehicle, and the deviation of the parking position of the unmanned aerial vehicle is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a positioning device, a UAV and a vehicle. BACKGROUND

[0002] With the deep integration of intelligent transportation and UAV technology, the vehicle-mounted UAV, as a mobile operation platform with flexible deployment and rapid response capability, has shown broad application prospects in fields such as logistics distribution, emergency rescue and road inspection. In actual application, the UAV needs to land accurately on the vehicle-mounted platform after completing the task, so as to support and fix the UAV through the vehicle-mounted platform.

[0003] The prior art discloses an electromagnet positioning device for UAV landing on a vehicle-mounted landing platform, which comprises a UAV, a vehicle-mounted landing platform, a UAV landing gear sleeve, a limit switch, an electromagnet mounting rack, an electromagnet and a UAV positioning seat. The UAV landing gear sleeve is installed at the bottom of the landing gear of the UAV, the limit switch is installed below the notch of the vehicle-mounted landing platform, the electromagnet mounting rack is also installed below the notch of the vehicle-mounted landing platform, the electromagnet is installed on the electromagnet mounting rack, and the UAV positioning seat is installed below the notch of the vehicle-mounted landing platform. Four UAV landing gear sleeves are installed on the landing gear of the UAV, and corresponding to the four UAV landing gear sleeves, four sets of limit switches, electromagnet mounting racks, electromagnets and UAV positioning seats are installed below two grooves on the vehicle-mounted landing platform. The electromagnets on the vehicle-mounted landing platform attract the landing gear sleeves on the UAV to realize automatic positioning of the UAV on the vehicle-mounted landing platform.

[0004] The prior art discloses a vehicle-mounted high-precision positioning and auxiliary landing guiding UAV automatic lifting platform, which comprises a lifting platform and an auxiliary landing guiding device. The lifting platform comprises a box body 1 with an open top, a lifting mechanism 2 is installed in the box body 1, and a UAV take-off and landing platform 3 is connected to the top of the lifting mechanism 2. The auxiliary landing guiding device comprises a shell 4, and a positioning module 5 and a communication module 6 are arranged in the shell 4.

[0005] However, the vehicle-mounted UAV in the prior art is prone to deviation between the actual parking position and the preset center position when landing on the vehicle-mounted platform, which leads to insufficient docking accuracy between the UAV and the preset center position of the vehicle-mounted platform, causing collision risk and affecting the service life of the UAV. SUMMARY

[0006] One of the purposes of the present application is to provide a positioning device to solve the problem of how to improve the parking position accuracy of the UAV on the vehicle-mounted platform. The second purpose of the present application is to provide a UAV. The third purpose of the present application is to provide a vehicle.

[0007] In order to achieve the above purposes, the technical scheme adopted by the present application is as follows:

[0008] According to a first aspect of the present application, a positioning device is provided for a UAV, the UAV comprising a positioning column, the positioning device comprising: a base, a power assembly and a positioning assembly, the power assembly being arranged on the base; the positioning assembly comprising a first positioning structure and a second positioning structure, both of which are in transmission connection with the power assembly, the power assembly being configured to drive the first positioning structure and the second positioning structure to move, so as to switch the power assembly between a clamping state and a separation state, in the clamping state, the first positioning structure and the second positioning structure enclose a positioning hole, the positioning hole being configured to cooperate with the positioning column to position the UAV; in the separation state, the first positioning structure and the second positioning structure are separated.

[0009] According to the above technical means, in the clamping state of the positioning assembly, the first positioning structure and the second positioning structure of the UAV can enclose a positioning hole, when the UAV lands on the base area, the power assembly drives the first positioning structure and the second positioning structure to switch from the separation state to the clamping state, the positioning hole enclosed by the two can actively fit the positioning column of the UAV, through the cooperation of the hole and the column, the landing deviation of the UAV is automatically corrected, and the accurate center positioning of the UAV is ensured. When positioning, the first positioning structure and the second positioning structure form a closed loop, and the positioning column is clamped in multiple directions, so that the UAV can be kept stable in the positioning device and prevented from displacement or falling.

[0010] In a possible implementation, the power assembly comprises a driving member and a transmission structure, the driving member and the transmission structure being in transmission connection, and the first positioning structure and the second positioning structure being in transmission connection with the transmission structure.

[0011] According to the above technical means, the driving member provides original power, and the transmission structure converts the power into synchronous movement of the first positioning structure and the second positioning structure, the driving force can be amplified or the movement resolution can be improved through parameter optimization of the transmission structure, so that the movement distance and speed of the positioning structure are more accurate, and high-precision cooperation between the positioning hole and the positioning column is achieved.

[0012] In a possible implementation, the transmission structure comprises a main transmission member, a first slave transmission member and a second slave transmission member, the main transmission member being in transmission connection with the driving member, the first slave transmission member being in transmission connection between the main transmission member and the first positioning structure, and the second slave transmission member being in transmission connection between the main transmission member and the second positioning structure.

[0013] According to the above technical means, the power of the driving member is transmitted to the main transmission member, and then the main transmission member simultaneously drives the first and second slave transmission members to move synchronously, so that the synchronization error that may occur in multi-stage decentralized transmission is avoided.

[0014] In a possible implementation, the main transmission member comprises a ring gear, the first slave transmission member comprises a first gear and a first rack, the ring gear and the first gear are rotationally connected to the base, the first gear is in meshing connection with the ring gear, and the first rack is in meshing connection with the first gear and connected to the first positioning structure.

[0015] According to the above technical means, the ring gear, the first gear and the first rack are all in gear meshing transmission, which can ensure the accuracy of power transmission, the linear displacement of the first rack is converted by the first gear, and then the first positioning structure is driven to realize high-precision movement, thereby ensuring the accurate cooperation between the positioning hole and the unmanned aerial vehicle positioning column.

[0016] In a possible implementation, the main transmission member further comprises a worm gear, the worm gear is arranged around the ring gear, the driving member comprises a motor and a worm, the motor and the worm are connected, and the worm and the worm gear are in meshing connection.

[0017] According to the above technical means, through the self-locking of the worm and worm gear, when the positioning assembly is in the clamping state, even if the motor stops outputting power, the self-locking of the worm and worm gear can prevent the worm gear from moving in the opposite direction, thereby avoiding the loosening of the positioning structure caused by vehicle vibration, the weight of the unmanned aerial vehicle itself or external force impact, and ensuring that the unmanned aerial vehicle is always in a stable clamping state during vehicle carrying, thereby greatly improving the safety.

[0018] In a possible implementation, the driving member further comprises a Hall encoder connected with the motor.

[0019] According to the above technical means, the Hall encoder can detect the rotation speed, rotation direction and cumulative rotation angle of the motor in real time, and convert these data into electrical signals to feed back to the control system. When the first positioning structure and the second positioning structure move to a specific position to enclose the positioning hole, the control system can determine whether the motor has rotated to the target angle through the feedback of the Hall encoder. If there is a deviation, the motor can be immediately controlled to rotate back, thereby improving the position accuracy of the first positioning structure and the second positioning structure.

[0020] In a possible implementation, the surface of the first positioning structure facing the positioning column is provided with an anti-skid structure.

[0021] According to the above technical means, the friction coefficient between the first positioning structure and the unmanned aerial vehicle positioning column is improved by providing the anti-skid structure. When the positioning assembly is in the clamping state, even if the vehicle bounces, turns and vibrates during driving, the positioning column is not easy to slide axially or radially in the positioning hole, thereby ensuring that the unmanned aerial vehicle is always accurately positioned and avoiding position deviation caused by sliding.

[0022] In a possible implementation, the anti-skid structure comprises an anti-skid protrusion.

[0023] According to the technical means, the anti-skid protrusions are in multi-point contact with the surface of the positioning column, and when the positioning structure clamps the positioning column, the protrusions are embedded into the outer surface of the positioning column, so that greater friction force can be generated.

[0024] In a possible implementation, the first positioning structure includes a first positioning member and a second positioning member, the power assembly is configured to drive the first positioning member, the second positioning member and the second positioning structure to move along the radial direction of the positioning hole, and in the clamping state, the first positioning member, the second positioning member and the second positioning structure enclose the positioning hole; in the separation state, the first positioning member, the second positioning member and the second positioning structure are separated.

[0025] According to the technical means, the first positioning member, the second positioning member and the second positioning structure can apply clamping force to the positioning column from different directions, so that the shaking or rotation of the positioning column in multiple directions can be effectively inhibited in dynamic scenes such as vehicle bumping and turning.

[0026] In a possible implementation, the positioning device further includes a charging assembly, the charging assembly is arranged on the side of the base away from the power assembly, and the charging assembly is configured to charge the unmanned aerial vehicle.

[0027] According to the technical means, the charging assembly is arranged on the side of the base away from the power assembly, so that the unmanned aerial vehicle can be automatically charged after being clamped, without manual intervention.

[0028] According to the second aspect provided in the present application, an unmanned aerial vehicle is provided, including the positioning device described above.

[0029] Since the unmanned aerial vehicle provided in the embodiments of the present application includes the positioning device in the first aspect, the same technical problems as the positioning device described above can be solved, and the same technical effects can be achieved, which will not be described here.

[0030] According to the third aspect provided in the present application, a vehicle is provided, including the unmanned aerial vehicle in the second aspect.

[0031] Since the vehicle provided in the embodiments of the present application includes the unmanned aerial vehicle in the second aspect, the same technical problems as the unmanned aerial vehicle described above can be solved, and the same technical effects can be achieved, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0032] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0033] Fig. 1 An exploded view of the positioning device and the unmanned aerial vehicle provided in the embodiments of the present application;

[0034] Fig. 2A structural schematic diagram of a positioning assembly in a clamped state in a positioning device provided by an embodiment of the present application is shown in the figure.

[0035] Fig. 3 A structural schematic diagram of a positioning assembly in a separated state in a positioning device provided by an embodiment of the present application is shown in the figure.

[0036] Reference signs:

[0037] 100-positioning device;

[0038] 110-base;

[0039] 120-power assembly; 121-driving member; 1211-motor; 1212-worm; 122-transmission structure; 1221-main driving member; 1221a-gear ring; 1221b-worm wheel; 1222-first slave driving member; 1222a-first gear; 1222b-first rack; 1223-second slave driving member;

[0040] 130-positioning assembly; 131-first positioning structure; 132-second positioning structure; 133-positioning hole;

[0041] 140-charging assembly;

[0042] 200-drone; 210-positioning column. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0044] It should be noted that all directional indications, such as up, down, left, right, front, back, etc., in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0045] The terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0046] In the description of the present application, it is necessary to point out that, unless explicitly defined and limited, the terms "connected", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, when describing the pipeline, the "connected" and "connected" used in the present application have the meaning of conducting. The specific meaning should be understood in combination with the context.

[0047] In the embodiments of the present application, the words such as "exemplary" or "for example" are used to mean an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as "exemplary" or "for example" are intended to present the relevant concept in a specific manner.

[0048] In the description of the present application, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0049] The present application provides a vehicle. The vehicle can be a fuel vehicle, a pure electric vehicle, a hybrid electric vehicle, a plug-in hybrid electric vehicle, a range-extended electric vehicle, etc.

[0050] In some embodiments, the vehicle includes a vehicle body, a positioning device 100, and a drone 200. The positioning device 100 can be connected to the vehicle body, for example, the positioning device 100 can be connected to the inner side of the trunk door, and for another example, the positioning device 100 can be connected to the top of the vehicle body. The positioning device 100 is used to position and fix the drone 200, so that when the drone 200 is not working, the drone 200 can move with the vehicle, and when the drone 200 is working, the drone 200 can be separated from the positioning device 100, and the drone 200 can work in a wider space without being limited by the fixing area.

[0051] In some examples, the drone 200 includes a positioning column 210, which cooperates with the positioning device 100 to firmly fix the drone 200 when the drone 200 is stored, transported or taking off, and quickly separates the drone 200 from the positioning device 100 when it needs to be released.

[0052] As Figs. 1 to 3As shown, the positioning device 100 comprises a base 110, a power assembly 120 and a positioning assembly 130, the power assembly 120 is arranged on the base 110; the positioning assembly 130 comprises a first positioning structure 131 and a second positioning structure 132, both of which are in driving connection with the power assembly 120, the power assembly 120 is used to drive the first positioning structure 131 and the second positioning structure 132 to move, so as to switch the power assembly 120 between the clamping state and the separation state, in the clamping state, the first positioning structure 131 and the second positioning structure 132 enclose a positioning hole 133, which cooperates with the positioning column 210 to position the unmanned aerial vehicle 200; in the separation state, the first positioning structure 131 and the second positioning structure 132 are separated.

[0053] Specifically, the base 110 is used to carry the power assembly 120 and the positioning assembly 130, and the base 110 is connected with the landing platform on which the unmanned aerial vehicle 200 is arranged; wherein the landing platform can be the trunk door, the top of the vehicle body, etc. The power assembly 120 is used to provide power for the movement of the first positioning structure 131 and the second positioning structure 132, and the power assembly 120 synchronously drives the first positioning structure 131 and the second positioning structure 132 to move, so as to switch the power assembly 120 between the clamping state and the separation state. In the clamping state, the first positioning structure 131 and the second positioning structure 132 of the unmanned aerial vehicle 200 can enclose the positioning hole 133, and in the separation state, the first positioning structure 131 and the second positioning structure 132 are separated.

[0054] When the unmanned aerial vehicle 200 does not land on the base 110, the first positioning structure 131 and the second positioning structure 132 can be separated, so that the space between the first positioning structure 131 and the second positioning structure 132 is larger, facilitating the positioning column 210 of the unmanned aerial vehicle 200 to quickly enter the space between the first positioning structure 131 and the second positioning structure 132 when landing. When the unmanned aerial vehicle 200 lands in the area of the base 110, the positioning column 210 is located between the first positioning structure 131 and the second positioning structure 132, the power assembly 120 drives the first positioning structure 131 and the second positioning structure 132 to switch from the separation state to the clamping state, and the two gradually enclose to form the positioning hole 133, and the positioning hole 133 can actively fit the positioning column 210 of the unmanned aerial vehicle 200, through the cooperation between the positioning hole 133 and the positioning column 210, the landing deviation of the unmanned aerial vehicle 200 is automatically corrected, and the precise center positioning of the unmanned aerial vehicle 200 is ensured. When positioning, the first positioning structure 131 and the second positioning structure 132 enclose to form a closed loop, and the positioning column 210 is clamped in multiple directions, so as to ensure that the unmanned aerial vehicle 200 remains stable in the positioning device 100, and prevent the unmanned aerial vehicle 200 from moving or falling.

[0055] In the embodiments of the present application, the positioning hole 133 surrounded by the first positioning structure 131 and the second positioning structure 132 is in a cylindrical shape, and the positioning column 210 is in a shape matching that of the positioning hole 133. When the positioning assembly 130 is in the clamping state, the positioning column 210 can extend into the positioning hole 133 and tightly connect with the inner circumferential surface of the positioning hole 133.

[0056] In other embodiments, the positioning hole 133 can also be a square hole, and the corresponding positioning column 210 is in a square column shape. When the positioning assembly 130 is in the clamping state, the square hole and the square column are connected to realize accurate positioning of the unmanned aerial vehicle 200.

[0057] In some embodiments, the power assembly 120 includes a driving member 121 and a transmission structure 122, and the driving member 121 and the transmission structure 122 are in transmission connection. The first positioning structure 131 and the second positioning structure 132 are both in transmission connection with the transmission structure 122.

[0058] Specifically, the power assembly 120 serves as a power source for driving the first positioning structure 131 and the second positioning structure 132 to realize the clamping action, forming a complete power transmission link from the driving member 121 to the transmission structure 122 and then to the positioning assembly 130, so as to facilitate stable driving of the first positioning structure 131 and the second positioning structure 132 by the power assembly 120.

[0059] In some examples, the driving member 121 can be a direct current servo motor 1211 or a stepping motor 1211. The output shaft of the driving member 121 is rigidly connected to the transmission structure 122 through a shaft coupling. When the driving member 121 outputs a forward rotation power, the transmission structure 122 converts the power into a synchronous motion of the first positioning structure 131 and the second positioning structure 132, and the first positioning structure 131 and the second positioning structure 132 synchronously move towards the center to complete the clamping of the unmanned aerial vehicle 200. When the driving member 121 rotates reversely, the two structures synchronously open outward to release the unmanned aerial vehicle 200.

[0060] In some embodiments, the transmission structure 122 includes a main transmission member 1221, a first slave transmission member 1222, and a second slave transmission member 1223. The main transmission member 1221 is in transmission connection with the driving member 121. The first slave transmission member 1222 is in transmission connection between the main transmission member 1221 and the first positioning structure 131. The second slave transmission member 1223 is in transmission connection between the main transmission member 1221 and the second positioning structure 132. The power of the driving member 121 is transmitted to the main transmission member 1221, and then the main transmission member 1221 simultaneously drives the first slave transmission member 1222 and the second slave transmission member 1223 to move synchronously, avoiding the synchronization error that may occur in multi-stage decentralized transmission.

[0061] In some embodiments, the main transmission member 1221 comprises a gear ring 1221a, the first slave transmission member 1222 comprises a first gear 1222a and a first rack 1222b, the gear ring 1221a and the first gear 1222a are both rotationally connected to the base 110, the first gear 1222a and the gear ring 1221a are meshingly connected, and the first rack 1222b and the first gear 1222a are meshingly connected and connected to the first positioning structure 131.

[0062] Specifically, the gear ring 1221a and the first gear 1222a, and the first gear 1222a and the first rack 1222b are all gear mesh transmissions, which can ensure the accuracy of power transmission. The linear displacement of the first rack 1222b is converted by the first gear 1222a, and then the first positioning structure 131 is driven to realize high-precision movement, ensuring the precise cooperation of the positioning hole 133 and the unmanned aerial vehicle 200 positioning column 210.

[0063] In other embodiments, the main transmission member 1221 can also use a bidirectional screw, and the first slave transmission member 1222 and the second slave transmission member 1223 are correspondingly matched with the slider. When the screw rotates, the sliders on both sides move synchronously and reversely along the screw axis, driving the first positioning structure 131 and the second positioning structure 132 to complete the centering clamping, thereby improving the reliability of positioning.

[0064] In other embodiments, the transmission structure 122 can also use a connecting rod transmission mechanism or a synchronous belt transmission structure 122, which is not limited in the present application.

[0065] In some embodiments, the structure of the second slave transmission member 1223 can be the same as that of the first slave transmission member 1222 in any of the above embodiments, which will not be described in detail here.

[0066] The present application is exemplarily described with the main transmission member 1221 comprising a gear ring 1221a, the first slave transmission member 1222 comprising a first gear 1222a and a first rack 1222b, and the second slave transmission member comprising a liquid level gear rack structure.

[0067] In some embodiments, the main transmission member 1221 further comprises a worm gear 1221b, the worm gear 1221b is arranged around the gear ring 1221a, the driving member 121 comprises a motor 1211 and a worm 1212, the motor 1211 and the worm 1212 are connected, and the worm 1212 and the worm gear 1221b are meshed.

[0068] Specifically, the motor 1211 adopts a micro stepping motor 1211, and the motor 1211 is integrated with a speed reduction module and is in transmission with the worm wheel 1221b through the engagement of the worm 1212. When the motor 1211 rotates forward, the worm 1212 drives the worm wheel 1221b to rotate clockwise, thereby driving the gear ring 1221a to rotate clockwise, the gear ring 1221a drives the first gear 1222a meshed on the inside to rotate anticlockwise synchronously, the first gear 1222a drives the first rack 1222b to move towards the axis of the gear ring 1221a, and after the first positioning structure 131 and the second positioning structure 132 clamp the positioning column 210, the unmanned aerial vehicle 200 enters the locked state; when the motor 1211 reverses, the worm 1212 drives the worm wheel 1221b to rotate clockwise, thereby driving the gear ring 1221a to rotate anticlockwise, the gear ring 1221a drives the first gear 1222a meshed on the inside to rotate clockwise synchronously, the first gear 1222a drives the first rack 1222b to move away from the axis of the gear ring 1221a, and the first positioning structure 131 and the second positioning structure 132 synchronously move away from the positioning column 210, so that the unmanned aerial vehicle 200 enters the unlocked state. Through the self-locking transmission of the worm 1212 and the worm wheel 1221b, when the positioning assembly 130 is in the clamping state, even if the motor 1211 stops outputting power, the self-locking action of the worm 1212 and the worm wheel 1221b can prevent the worm wheel 1221b from moving reversely, so as to avoid the loosening of the positioning structure due to the vibration of the vehicle, the weight of the unmanned aerial vehicle 200 itself or the impact of external force, thereby ensuring that the unmanned aerial vehicle 200 is always in a stable clamping state during the vehicle-mounted process, and greatly improving the safety.

[0069] In some embodiments, the worm wheel 1221b and the gear ring 1221a can be an integrated structure, that is, the inner circumferential surface of one annular member is provided with teeth to form the teeth of the gear ring 1221a, and the outer circumferential surface is provided with teeth to form the teeth of the worm wheel 1221b. In other embodiments, the worm wheel 1221b and the gear ring 1221a can also be a split structure, which is connected through clamping, welding or the like.

[0070] In some embodiments, the driving member 121 further comprises a Hall encoder connected with the motor 1211.

[0071] Specifically, the Hall encoder can detect the rotating speed, rotating direction and cumulative rotating angle of the motor 1211 in real time, and convert these data into electrical signals to feed back to the control system. When the first positioning structure 131 and the second positioning structure 132 move to a specific position and enclose the positioning hole 133, the control system can judge whether the motor 1211 has rotated to the target angle through the feedback of the Hall encoder, and if there is a deviation, the motor 1211 can be immediately controlled to rotate back, thereby improving the position accuracy of the first positioning structure 131 and the second positioning structure 132.

[0072] In some embodiments, the surface of the first positioning structure 131 facing the positioning column 210 is provided with an anti-skid structure.

[0073] Specifically, by setting the anti-skid structure, the friction coefficient between the first positioning structure 131 and the positioning column 210 of the UAV 200 is increased. When the positioning assembly 130 is in the clamping state, even if bumps, centrifugal force or vibration occurs during driving, the positioning column 210 is not easy to slide axially or radially in the positioning hole 133, ensuring that the UAV 200 is always accurately positioned and avoiding position deviation caused by sliding.

[0074] In some embodiments, the anti-skid structure includes anti-skid protrusions, which can be in contact with the surface of the positioning column 210. When the positioning structure clamps the positioning column 210, the protrusions can abut the outer surface of the positioning column 210, generating greater friction to improve the anti-skid effect on the positioning column 210 of the UAV 200.

[0075] In some examples, the number of anti-skid protrusions can be multiple, and the multiple anti-skid protrusions are distributed on the inner surface (i.e., the surface facing the positioning column 210) of the first positioning structure 131. Through the multiple anti-skid protrusions, multiple contact positions with the positioning column 210 can be obtained to generate friction at multiple positions, thereby further improving the anti-skid effect.

[0076] In some examples, the anti-skid protrusions can be bump structures, or tooth-like structures, etc.

[0077] In other embodiments, the anti-skid structure can also be a rubber anti-skid pad, etc., avoiding the positioning deviation of the UAV 200 caused by slipping.

[0078] In some embodiments, the first positioning structure 131 includes a first positioning member and a second positioning member, and the power assembly 120 is configured to drive the first positioning member, the second positioning member and the second positioning structure 132 to move radially along the positioning hole 133. In the clamping state, the first positioning member, the second positioning member and the second positioning structure 132 enclose the positioning hole 133. In the separation state, the first positioning member, the second positioning member and the second positioning structure 132 are separated.

[0079] Specifically, the first positioning member, the second positioning member and the second positioning structure 132 enclose the positioning hole 133, and move radially towards the center. The complete positioning hole 133 is formed by splicing the respective positioning surfaces. The inner wall of the positioning hole 133 is in close contact with the positioning portion of the UAV 200, limiting the displacement of the UAV 200 from multiple directions, accurately fixing the UAV 200 at the center of the positioning hole 133, and ensuring position stability. After the UAV 200 lands, the positioning assembly 130 switches from the separation state to the clamping state, fixing the UAV 200 at the center to avoid deviation caused by wind or vibration. Before takeoff, the positioning assembly 130 switches to the separation state to release the UAV 200.

[0080] In some examples, the first positioning member, the second positioning member, and the second positioning structure 132 can be arranged at intervals along the circumference of the positioning hole 133, for example, the first positioning member, the second positioning member, and the second positioning structure 132 are the same structure and form a three-equal structure. The first slave transmission member 1222 includes a first sub-slave transmission member and a second sub-slave transmission member, and the first sub-slave transmission member, the second sub-slave transmission member, and the second slave transmission member 1223 can all be gear and rack structures (for details, please refer to the structure of the first gear 1222a and the first rack 1222b), and the first sub-slave transmission member, the second sub-slave transmission member, and the second slave transmission member 1223 are arranged at intervals along the circumference of the gear ring 1221a.

[0081] The first positioning member, the second positioning member, and the second positioning structure 132 are respectively connected with the first sub-slave transmission member, the second sub-slave transmission member, and the second slave transmission member 1223. The inner side surface of the gear ring 1221a is engaged with the gears of the first sub-slave transmission member, the second sub-slave transmission member, and the second slave transmission member 1223, and the gears of the first sub-slave transmission member, the second sub-slave transmission member, and the second slave transmission member 1223 are respectively engaged with the racks of the gears of the first sub-slave transmission member, the second sub-slave transmission member, and the second slave transmission member 1223. The motor 1211 drives the worm 1212 to rotate, thereby driving the gear ring 1221a to rotate, and the gear ring 1221a drives the first positioning member, the second positioning member, and the second positioning structure 132 to move synchronously along the radial direction of the gear ring 1221a towards the axis of the gear ring 1221a through the first sub-slave transmission member, the second sub-slave transmission member, and the second slave transmission member 1223, thereby realizing automatic positioning and fastening of the unmanned aerial vehicle 200 and solving the problem of position deviation during landing.

[0082] In other embodiments, the second positioning structure 132 further includes a third positioning member and a fourth positioning member, and the first positioning member, the second positioning member, the third positioning assembly 130, and the fourth positioning assembly 130 can be arranged at intervals along the circumference of the positioning hole 133. The structure of the third positioning member and the fourth positioning member can be the same as that of the first positioning member and the second positioning member, for example, both are gear and rack structures, which will not be described in detail again.

[0083] In other embodiments, the first positioning structure 131 and the second positioning structure 132 can each include a plurality of positioning members arranged at intervals along the circumference of the positioning hole 133, for example, 5, 6, 7, 8, etc., as long as the plurality of positioning members can move synchronously towards the center of the gear ring 1221a, for example, the plurality of positioning members can all be gear and rack structures, which will not be described in detail.

[0084] In some embodiments, the positioning device 100 further comprises a charging assembly 140, which is arranged on the side of the base 110 away from the power assembly 120, and is used to charge the unmanned aerial vehicle 200. By arranging the charging assembly 140 on the positioning device 100, the charging assembly 140 is arranged on the side of the base 110 away from the power assembly 120, and after the unmanned aerial vehicle 200 is positioned and fixed by the positioning device 100, the charging assembly 140 can conveniently charge the unmanned aerial vehicle 200, so as to ensure that the unmanned aerial vehicle 200 has sufficient power and facilitates the unmanned aerial vehicle 200 to perform tasks. Moreover, the positioning accuracy of the positioning device 100 of the present application for the unmanned aerial vehicle 200 is high, and the relative position accuracy of the charging assembly 140 and the unmanned aerial vehicle 200 is also high, thereby improving the charging effect of the charging assembly 140 on the unmanned aerial vehicle 200.

[0085] In some examples, the charging assembly 140 can be a wireless charging module, which is arranged on the back of the base 110 and connected with the vehicle power supply. When the unmanned aerial vehicle 200 lands, the device detects that the unmanned aerial vehicle 200 is parked through the sensor, and the wireless charging module is automatically activated to charge the unmanned aerial vehicle 200, thereby improving the use convenience.

[0086] In other embodiments, the charging assembly 140 can also be a wired charging interface.

[0087] In some examples, the charging assembly 140 comprises a charging interface module, which adopts a spring needle type, and the spring needle interface is composed of multiple groups of gold-plated probes. The probe head is provided with an elastic reset structure. When the charging contact at the bottom of the unmanned aerial vehicle 200 contacts the base 110, the probe is contracted under pressure and tightly contacts the contact, thereby ensuring the stability of current transmission.

[0088] In other examples, the charging interface module can also adopt a magnetic attraction interface, and the automatic alignment of the interface is realized through the adsorption force of a strong magnet.

[0089] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present application. The features described in one embodiment herein can be applied to another embodiment, either alone or in combination with other features, unless the features are not applicable to the other embodiment or are otherwise stated.

[0090] The application has been described by way of example with reference to the above embodiments, but it should be understood that the above embodiments are merely for the purpose of illustration and explanation, and are not intended to limit the present application to the described embodiments. Furthermore, it should be understood by those skilled in the art that the present application is not limited to the above embodiments, and various modifications and changes can be made to the present application according to the teachings of the present application, and these modifications and changes all fall within the scope of the present application claimed.

Claims

1. A positioning device for a drone (200), wherein the drone (200) comprises a positioning column (210), characterized in that: The positioning device (100) comprises: base (110); a power assembly (120), the power assembly (120) being disposed on the base (110); A positioning assembly (130), the positioning assembly (130) comprising a first positioning structure (131) and a second positioning structure (132), the first positioning structure (131) and the second positioning structure (132) both being in transmission connection with the power assembly (120), the power assembly (120) being used to drive the first positioning structure (131) and the second positioning structure (132) to move, so as to switch the power assembly (120) between a clamping state and a separation state, When the positioning assembly (130) is in the clamping state, the first positioning structure (131) and the second positioning structure (132) form a positioning hole (133), and the positioning hole (133) cooperates with the positioning column (210) to position the drone (200); When the positioning assembly (130) is in the separated state, the first positioning structure (131) and the second positioning structure (132) are separated.

2. The positioning device according to claim 1, characterized in that The power assembly (120) includes a driving member (121) and a transmission structure (122), wherein the driving member (121) and the transmission structure (122) are in transmission connection, and the first positioning structure (131) and the second positioning structure (132) are both in transmission connection with the transmission structure (122).

3. The positioning device according to claim 2, characterized in that The transmission structure (122) includes a main transmission member (1221), a first slave transmission member (1222) and a second slave transmission member (1223); the main transmission member (1221) is transmission-connected to the driving member (121); the first slave transmission member (1222) is transmission-connected between the main transmission member (1221) and the first positioning structure (131); and the second slave transmission member (1223) is transmission-connected between the main transmission member (1221) and the second positioning structure (132).

4. The positioning device according to claim 3, characterized in that The main transmission member (1221) includes a ring gear (1221a), and the first slave transmission member (1222) includes a first gear (1222a) and a first rack (1222b). The ring gear (1221a) and the first gear (1222a) are both rotatably connected to the base (110), the first gear (1222a) and the ring gear (1221a) are meshed and connected, and the first rack (1222b) and the first gear (1222a) are meshed and connected and connected to the first positioning structure (131).

5. The positioning device according to claim 4, characterized in that The main transmission member (1221) further includes a worm wheel (1221b), which is arranged around the ring gear (1221a). The driving member (121) includes a motor (1211) and a worm (1212), the motor (1211) and the worm (1212) are connected, and the worm (1212) and the worm wheel (1221b) are meshed.

6. The positioning device according to claim 5, characterized in that The driving member (121) further includes a Hall encoder, and the Hall encoder is connected to the motor (1211).

7. The positioning device according to any one of claims 1 to 6, characterized in that: The surface of the first positioning structure (131) facing the positioning column (210) is provided with an anti-slip structure.

8. The positioning device according to claim 7, characterized in that The anti-slip structure includes anti-slip protrusions.

9. The positioning device according to any one of claims 1 to 6, characterized in that: The first positioning structure (131) includes a first positioning member and a second positioning member, and the power assembly (120) is used to drive the first positioning member, the second positioning member and the second positioning structure (132) to move along the radial direction of the positioning hole (133). When the positioning assembly (130) is in the clamped state, the first positioning member, the second positioning member, and the second positioning structure (132) form a positioning hole (133); when the positioning assembly (130) is in the separated state, the first positioning member, the second positioning member, and the second positioning structure (132) are separated.

10. The positioning device (100) according to claim 1, characterized in that The invention also includes a charging component (140), wherein the charging component (140) is arranged on a side of the base (110) away from the power component (120), and the charging component (140) is used to charge the drone (200).

11. A drone, characterized in that: The invention comprises a positioning device (100) according to any one of claims 1 to 10.

12. A vehicle, characterized in that: Including the drone (200) described in claim 11.

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