Modular delivery device for a drone

Abstract

This invention provides a modular delivery device for unmanned aerial vehicles (UAVs), including a storage unit, a collection channel, and a selection mechanism. The selection mechanism includes a drive component and a multi-stage linkage selection component. The storage unit consists of three independent tubular containers, each with a discharge port at its downstream end. The collection channel is located at the downstream junction of the storage unit and is connected to the discharge ports of each tubular container. Three selection mechanisms are provided. Each drive component is installed on the outer wall of the corresponding tubular container. Each multi-stage linkage selection component includes a first stop and a second stop. Under the drive of the drive component, the first stop and the second stop of the multi-stage linkage selection component alternately occupy the movement path of the material in the tubular container.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a modular deployment device for UAVs. Background Technology

[0002] With the rapid development of drone technology, multi-rotor drones have been widely used in agricultural plant protection, logistics transportation, emergency rescue, and power line inspection. In these applications, drones are not only tasked with aerial observation but are increasingly required to perform material delivery operations. In automated production, laboratory analysis, agricultural sowing, and intelligent sorting, selective and targeted delivery of various materials is often necessary. Traditional solutions often employ parallel connection of multiple independent silos with valve control. While this structure enables multi-material storage, the independent and dispersed nature of each silo leads to a complex overall device structure, large space occupation, cumbersome control system wiring, and difficulty in rapid expansion or adjustment based on the type and quantity of materials, making it difficult to meet the compactness and modularity requirements of modern automated equipment.

[0003] Existing technologies also include dispensing devices that use rotating indexing plates or linear slides for selection. However, these structures, which rely on mechanical movement to switch dispensing positions, often present a trade-off between positioning accuracy and response speed: improving accuracy requires complex positioning mechanisms, while frequent mechanical movements limit response speed. Furthermore, these structures struggle to achieve compact convergence of multiple channels at a single outlet, resulting in an unpredictable material drop path. Especially in applications requiring high-precision visual positioning guidance, maintaining a stable relative position between the material drop path and the visual sensor is difficult, making pre-dispensing calibration cumbersome and severely impacting dispensing accuracy and operational efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a modular delivery device for unmanned aerial vehicles (UAVs), comprising a storage unit, a collection channel, and a selection mechanism. The selection mechanism includes a drive component and a multi-stage linkage selection component. The storage unit consists of three independent tubular containers, each with a discharge port at its downstream end. The collection channel is located at the downstream junction of the storage unit and is connected to the discharge ports of each tubular container. Three selection mechanisms are provided. Each drive component is installed on the outer wall of the corresponding tubular container. Each multi-stage linkage selection component includes a first stop lever and a second stop lever. Under the drive of the drive component, the first stop lever and the second stop lever of the multi-stage linkage selection component alternately occupy the movement path of the material in the tubular container.

[0005] Furthermore, each multi-level linkage selection component also includes a rotating shaft; one end of the rotating shaft is fixedly connected to the output shaft of the drive component, the rotating shaft is arranged parallel to the axial direction of the tubular container, a first stop bar is fixedly arranged at the part of the rotating shaft near the output shaft of the drive component, and a second stop bar is arranged at the end of the rotating shaft away from the output shaft of the drive component. The plane where the second stop bar is located is perpendicular to the rotating shaft. The second stop bar includes an arc segment, a first straight segment and a second straight segment. One end of the arc segment is fixedly connected to the rotating shaft, the other end of the arc segment is fixedly connected to one end of the first straight segment, the other end of the first straight segment is fixedly connected to one end of the second straight segment, the first straight segment and the second straight segment are arranged perpendicularly, and the projection of the first stop bar on the plane where the second stop bar is located does not coincide with the first straight segment.

[0006] Furthermore, the tubular container is provided with a first opening and a second opening that cooperate with the first stop and the second stop; the first opening is located below the second opening along the axial direction of the tubular container, the first opening is opened along the circumference of the tubular container and is located on the inner wall of the tubular container, and the second opening is opened along the circumference of the tubular container and is located on the outer wall of the tubular container.

[0007] Furthermore, a sensor bracket is fixedly connected to the downstream end of the storage unit, and a vision sensor mounting part is provided at the end of the sensor bracket for fixing the vision sensor.

[0008] Furthermore, it also includes a frame assembly, which includes a mounting plane with mounting holes for fixing and a connecting structure for connecting the storage unit, the upstream end of the storage unit being fixed by the connecting structure.

[0009] Furthermore, the drive component is a servo motor or a stepper motor.

[0010] Furthermore, the collection channel is shaped like an inverted frustum, with its upper end having a large opening that connects to each of the aforementioned discharge ports.

[0011] Furthermore, the vision sensor mounting section is a plate-like structure with screw holes or slots.

[0012] Compared with the prior art, the present invention has the following advantages: (1) The present invention achieves a compact layout and rapid expansion of multiple material channels through modular storage units and integrated frame design, with a regular structure and convenient assembly and adjustment. (2) The present invention adopts an independent gate mechanism to control each outlet, and realizes the orderly output and quantitative control of materials through the alternating opening and closing action of multi-level linkage gate components. The action is reliable, the response is rapid, and complex valve and pipeline connections are avoided. (3) The present invention gathers multiple materials to a single outlet through a unified collection channel, ensuring the uniqueness and stability of the material falling path, and facilitating precise docking with downstream visual positioning or execution mechanisms. (4) The present invention rigidly connects the visual sensor bracket to the outlet of the collection channel, ensuring the fixed geometric relationship between the visual sensor coordinate system and the material falling trajectory, eliminating relative motion errors, thereby improving the accuracy and reliability of visual guidance delivery. (5) The present invention dynamically adjusts the local friction coefficient through a friction ring set along the axial direction, realizing precise control of the material falling speed and posture, further ensuring the stability of delivery. Attached Figure Description

[0013] Figure 1 This is a three-dimensional view of the overall appearance in the embodiments of this disclosure.

[0014] Figure 2 This is a schematic cross-sectional view of the overall structure in an embodiment of this disclosure.

[0015] Figure 3 This is a side view of the dispensing device in an embodiment of this disclosure.

[0016] Figure 4 This is a top view of the dispensing device in an embodiment of this disclosure.

[0017] Figure 5 This is a partial enlarged view of the multi-level linkage gating component in the embodiments of this disclosure.

[0018] The components include: storage unit 1, tubular container 11, discharge port 111, frame assembly 2, mounting plane 21, connecting structure 211, mounting hole 212, collection channel 3, selection mechanism 4, drive assembly 41, multi-level linkage selection assembly 42, rotating shaft 421, first stop lever 422, second stop lever 423, drive assembly mounting position 43, friction ring 44, sensor bracket 5, and vision sensor mounting part 51. Detailed Implementation

[0019] Example 1, referring to Figures 1 to 5This embodiment provides a modular delivery device for a drone, including a storage unit 1, a frame assembly 2, a collection channel 3, and a selection mechanism 4. The storage unit 1 is an array of multiple independent tubular containers 11, each with a discharge port 111 at its downstream end. The storage unit 1 is a functional component for storing materials to be delivered and guiding their downward flow; its core function is to achieve independent storage and isolation of multiple types of materials. Materials are loaded from the upstream end, move downstream under gravity, and are finally discharged through the discharge port 111. Figure 4 As shown, there are three tubular containers 11, evenly distributed in a circular array along the circumference of the collection channel 3. This even distribution design ensures that the overall center of gravity of the device is located on the central axis, which is beneficial for the balance and stability of the UAV during flight. The shape of the discharge port 111 is preferably funnel-shaped or constricted to facilitate material collection and prevent material jamming. The inner wall of the tubular container 11 is preferably a smooth surface. A smooth surface is a physical state with low surface roughness, used to reduce the frictional resistance between the material and the container wall, prevent the material from adhering or remaining on the inner wall of the container, and ensure that the material can smoothly slide down to the discharge port 111.

[0020] The frame assembly 2 includes a mounting plane 21 with mounting holes 212 for fixing and a connecting structure 211 for connecting the storage unit 1. The upstream end of the storage unit 1 is fixed by the connecting structure 211. The frame assembly 2 is the main support structure for supporting the storage unit 1, the collection channel 3, and the sensor bracket 5. Its core function is to provide a mounting reference and ensure the relative position stability between the components. The mounting holes 212 are symmetrically distributed on the edge or center of the mounting plane 21 and are connected to the UAV frame by screws or bolts.

[0021] The collection channel 3 is located at the intersection of the tubular containers 11 below the storage unit 1 and is connected to the discharge port 111 of each tubular container 11. The collection channel 3 is used to collect and guide the falling materials. The collection channel 3 is used to gather materials from different storage units to the same outlet to ensure the uniqueness of the material falling path.

[0022] The selection mechanism 4 includes a drive assembly 41, a multi-stage linkage selection assembly 42 located at the output end of the drive assembly 41, and a friction ring 44 arranged circumferentially along the tubular container 11. The drive assembly 41 is mounted on a drive assembly mounting position 43 on the outer wall of the tubular container 11, and its output shaft corresponds to the radial position of the corresponding discharge port 111; the drive assembly 41 is a servo motor or a stepper motor. The multi-stage linkage selection assembly 42 is mounted on the drive assembly 41, and the multi-stage linkage selection assembly 42 is used to control the opening or closing of the discharge port 111; the friction ring 44 is used to change the local friction force to achieve sequential quantitative output of material at a constant speed.

[0023] The converging channel 3 is shaped like an inverted frustum, with a large-diameter upper end for connecting to a ring array formed by multiple discharge ports 111, and a small-diameter lower end serving as the main discharge port. The sloping design of the inverted frustum effectively prevents material accumulation at the corners of the channel, acting as a guide and preventing jamming. The large upper opening of the converging channel 3 is sealed or closely adjacent to each discharge port 111, ensuring that material does not spill outside the device. The gating mechanism 4 receives electrical signals, such as PWM signals or pulse signals, from the control system, converts them into mechanical rotational motion, and drives the multi-stage linkage gating component 42 to operate.

[0024] Reference Figure 5 Each multi-level linkage selection component 42 includes a rotating shaft 421, a first stop lever 422, and a second stop lever 423. One end of the rotating shaft 421 is fixedly connected to the output shaft of the drive component 41, and the rotating shaft 421 is arranged parallel to the axial direction of the tubular container 11. The first stop lever 422 is fixedly installed on the part of the rotating shaft 421 near the output shaft of the drive component 41. The first stop lever 422 is a straight rod and is perpendicular to the rotating shaft 421. The second stop lever 423 is installed at the end of the rotating shaft 421 away from the output shaft of the drive component 41. The plane of the second stop lever 423 is perpendicular to the rotating shaft 421. The second stop lever 423 includes an arc segment, a first straight segment, and a second straight segment. One end of the arc segment is fixedly connected to the rotating shaft 421, the other end of the arc segment is fixedly connected to one end of the first straight segment, and the other end of the first straight segment is fixedly connected to one end of the second straight segment. The first straight segment and the second straight segment are arranged perpendicularly. The presence of the arc segment causes the projection of the first shift lever 422 onto the plane where the second shift lever 423 is located to not coincide with the first straight segment.

[0025] The tubular container 11 is provided with a first opening and a second opening that cooperate with the first stop 422 and the second stop 423. Along the axial direction of the tubular container 11, the first opening is located below the second opening. The first opening is opened circumferentially along the tubular container 11 and is located on the inner wall of the tubular container 11; the second opening is opened circumferentially along the tubular container 11 and is located on the outer wall of the tubular container 11. The inner side of the tubular container 11 refers to the space between the three tubular containers 11.

[0026] The multi-level linkage selection component 42 is fixedly connected to the output shaft of the drive component 41 through its near-end mounting part, and its far-end blocking part extends to the projection area of ​​the corresponding discharge port 111; and each layer of blocking part has a phase difference in the circumferential direction, so that when the drive component 41 drives the component to move, each layer of blocking part can perform asynchronous blocking and releasing actions on the material.

[0027] The rotating shaft 421 of the multi-stage linkage gate component 42 is fixed to the output shaft of the drive component 41, with the other end being a free end. When the output shaft of the drive component 41 rotates to the 0-degree position, the second stop lever 423 passes through the second opening and extends into the tubular container 11 to block the movement path of the material in the tubular container 11, closing the discharge port 111. At the same time, the first stop lever 422 is outside the tubular container 11, and the material is blocked inside the tubular container 11 by the second stop lever 423, preventing it from falling. The design of the multi-stage linkage gate component 42 abutting against the edge of the discharge port can effectively seal gaps and prevent material leakage. When the drive component 41 receives a control signal and rotates 90 degrees, the second stop lever 423 rotates accordingly, passes through the second opening, and opens the movement path of the material in the tubular container 11, while the first stop lever 422 passes through the first opening to prevent the material from falling further. When the drive assembly 41 receives a control signal and rotates to 0 degrees in the opposite direction, the first stop lever 422 extends out of the first opening and is located outside the tubular container 11. The material falls freely under the action of gravity. At the same time, the second stop lever 423 extends into the tubular container 11 through the second opening to block the movement path of the next piece of material in the tubular container 11. Through the above operation, the material in the tubular container 11 can enter the collection channel 3 in sequence, and only one piece of material falls at a time.

[0028] A sensor bracket 5 is fixedly connected to the downstream end of the storage unit 1. A vision sensor mounting part 51 is located at the end of the sensor bracket 5, used to mount the vision sensor. The sensor bracket 5 is an L-shaped bracket structure. At the end of the vertical section, a mounting plate with multiple sets of standard 1 / 4-inch screw holes serves as the vision sensor mounting part 51, used to mount a depth camera. The camera's lens optical axis is parallel to the centerline of the collection channel 3, ensuring clear observation of the material's falling trajectory and the target container below. The sensor bracket 5 is fixedly connected to the downstream end of the collection channel 3, near the main discharge port. Since the collection channel 3 is the necessary path for material falling, fixing the vision sensor to the extension structure of the collection channel 3 ensures that the optical axis of the vision sensor maintains a constant relative position with the material's falling trajectory, eliminating the need to recalibrate the coordinate system before each delivery.

[0029] When dispensing a single material, if the task requires dispensing materials A and B stored in the first tubular container 11, the control system sends a drive signal to the corresponding first gating mechanism 4. The drive component 41 receives the signal, rotates its output shaft 90 degrees, and then rotates it 90 degrees in the opposite direction, driving the multi-stage linkage gating component 42 to work, causing materials A and B to slide out sequentially and fall into the collection channel 3. After being guided by the collection channel 3, they fall vertically to the target area.

[0030] When multiple materials are switched for delivery, if the task requires the sequential delivery of material A, material C, and material B, with material A and material B stored in the first storage unit and material C stored in the second storage unit: When material A is delivered, material A enters the collection channel 3, material B is blocked by the second stop lever 423, and material C is blocked by the first stop lever 422; after material A is delivered, the first stop lever 422 blocking material C exits through the first opening, and the stop lever blocking material B switches to a relatively stationary state; when material C is delivered, the first stop lever blocking material B exits through the first opening, and material B enters the collection channel 3 for delivery.

[0031] During visual positioning-assisted delivery, a depth camera fixed on the sensor bracket 5 continuously operates. The camera acquires real-time image data of the working area below, identifying the position coordinates of the target delivery point, such as a specific container or marker. Since the relative position of the camera and the main discharge port of the collection channel 3 is fixed, the control system can directly control the drone's movement based on the coordinate data fed back by the camera, aligning the main discharge port with the target delivery point. When the alignment error is detected to be less than a preset threshold, the gating mechanism 4 is triggered, completing the precise delivery. Visual guidance helps eliminate positioning errors caused by unstable sensor installation positions in traditional solutions. Because the sensor bracket 5 is rigidly connected to the collection channel 3, even if the drone experiences slight vibrations or attitude adjustments, the relative geometric relationship between the camera and the delivery point remains stable, thereby improving delivery accuracy.

[0032] During assembly, first install the three servos onto the corresponding drive component mounting positions 43, and install the multi-level linkage gating components 42. Adjust the initial angle of the servos so that all multi-level linkage gating components 42 are in the position of closing the discharge port 111. After assembling the vision sensor, finally install the device on the base plate of the UAV, calibrate the camera position, and complete the assembly and debugging of the entire device.

Claims

1. A modular deployment device for unmanned aerial vehicles (UAVs), characterized in that, It includes a storage unit (1), a collection channel (3) and a gating mechanism (4). The gating mechanism (4) includes a drive component (41) and a multi-level linkage gating component (42). The storage unit (1) consists of three independent tubular containers (11). Each tubular container (11) has a discharge port (111) at its downstream end. The converging channel (3) is located at the downstream junction of the storage unit (1). The collection channel (3) is connected to the discharge port (111) of each tubular container (11); Three gating mechanisms (4) are set up. Each drive assembly (41) is mounted on the outer wall of the corresponding tubular container (11). Each multi-stage linkage gating component (42) includes a first stop (422) and a second stop (423). Under the drive of the drive component (41), the first stop (422) and the second stop (423) of the multi-stage linkage gating component (42) are alternately located on the movement path of the material in the tubular container (11).

2. The apparatus according to claim 1, characterized in that, Each multi-level linkage gating component (42) also includes a rotation axis (421); One end of the rotating shaft (421) is fixedly connected to the output shaft of the drive assembly (41). The rotation axis (421) is set parallel to the axial direction of the tubular container (11). A first stop lever (422) is fixedly installed on the part of the rotating shaft (421) near the output shaft of the drive assembly (41). A second stop lever (423) is provided at the end of the rotating shaft (421) away from the output shaft of the drive assembly (41). The plane containing the second stop lever (423) is perpendicular to the rotation axis (421). The second lever (423) includes an arc segment, a first straight segment, and a second straight segment. One end of the arc-shaped segment is fixedly connected to the rotating shaft (421). The other end of the arc segment is fixedly connected to one end of the first straight segment. The other end of the first straight segment is fixedly connected to one end of the second straight segment. The first and second line segments are set perpendicularly. The projection of the first stop lever (422) onto the plane where the second stop lever (423) is located does not coincide with the first straight line segment.

3. The apparatus according to claim 2, characterized in that, The tubular container (11) is provided with a first opening and a second opening that cooperate with the first stop (422) and the second stop (423); Along the axial direction of the tubular container (11), the first opening is located below the second opening. The first opening is circumferentially formed along the tubular container (11) and is located on the inner wall of the tubular container (11). The second opening is opened along the circumference of the tubular container (11) and is located on the outer side of the wall of the tubular container (11).

4. The apparatus according to claim 1, characterized in that, A sensor bracket (5) is fixedly connected to the downstream end of the storage unit (1). A vision sensor mounting part (51) is provided at the end of the sensor bracket (5). The vision sensor mounting part (51) is used to fix the vision sensor.

5. The apparatus according to claim 1, characterized in that, It also includes a frame assembly (2), which includes a mounting plane (21) with mounting holes (212) for fixing and a connecting structure (211) for connecting the storage unit (1), the upstream end of the storage unit (1) being fixed by the connecting structure (211).

6. The apparatus according to claim 1, characterized in that, The drive component (41) is a servo motor or a stepper motor.

7. The apparatus according to claim 1, characterized in that, The summing channel (3) is an inverted frustum shape, with its upper end large opening connected to each of the aforementioned discharge ports (111).

8. The apparatus according to claim 4, characterized in that, The vision sensor mounting section (51) is a plate-shaped structure with screw holes or slots.

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