A drone and trolley coordination system
Patent Information
- Application Number
- CN202522403706.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-12
- Publication Date
- 2026-10-13
- Estimated Expiration
- 2035-11-12
AI Technical Summary
机械限位式调节板通常只能依靠限位杆或转轴进行角度调整，其偏转角度幅度有限，难以实现较大范围的方向覆盖，导致小车在无人机处于较大方位角差时，无法保持稳定的信号接收
[0016]1、通过设计调节板与限位杆的几何布置关系，使调节板能够产生比传统限位杆本身偏斜角度更大的摆动幅度，从而显著扩大小车顶部信号线或天线的可调角度范围，提高无人机不同方位角下的信号接收能力。
Smart Images
Figure CN224847903U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of UAV-ground vehicle collaborative system, specifically a UAV and vehicle collaborative system. Background Technology
[0002] In collaborative systems involving drones and ground vehicles, the vehicles typically need to be equipped with antennas or signal cables to receive positioning, control, and data signals from the drones. Since the drone's position and azimuth change continuously during flight, the antennas or signal receivers on the vehicle's roof need to be able to adjust their angle accordingly to maintain good signal reception.
[0003] In existing drone-vehicle collaborative systems, common adjustment methods mainly rely on mechanical hinge devices with limited angles. Mechanically limited adjustment plates can usually only be adjusted by limiting rods or rotating shafts, and their deflection angle range is limited, making it difficult to achieve a large range of directional coverage. As a result, the vehicle cannot maintain stable signal reception when the drone is in a large azimuth angle difference. Utility Model Content
[0004] To address the shortcomings of existing technologies, this utility model provides a collaborative system between unmanned aerial vehicles and small vehicles.
[0005] To achieve the above objectives, the technical solution of this utility model is as follows:
[0006] A drone and vehicle collaborative system includes:
[0007] The vehicle body, which forms a collaborative system with the drone, has a signal line on its top for receiving signals from the drone and several infrared sensors for determining the azimuth angle between the vehicle body and the drone.
[0008] The first limiting rod and the second limiting rod are disposed on the top of the trolley body. The second limiting rod gradually approaches the first limiting rod from the middle to both ends along the length direction of the first limiting rod.
[0009] An adjustment plate is located on the top of the trolley body. A limiting sleeve that is engaged with the first limiting rod and the second limiting rod is rotatably provided at its bottom. When the adjustment plate moves toward the side of the trolley body, the limiting sleeve engaged with the first limiting rod is closer to the side wall of the trolley body than the limiting sleeve engaged with the second limiting rod. The adjustment plate swings toward both sides of the trolley body from the front end facing the signal line.
[0010] Preferably, at least one of the first limiting rod and the second limiting rod is an arc-shaped rod or a bent rod.
[0011] Preferably, the adjustment plate can rotate relative to the trolley body within a range of 170°~180° under the action of the limiting sleeve engaging with the first limiting rod and the second limiting rod.
[0012] Preferably, the second limiting rod has a friction block in the middle, and the friction block is configured to keep the limiting sleeve engaged with the second limiting rod moving in a manner that lags behind the limiting sleeve engaged with the first limiting rod.
[0013] Preferably, the top of the trolley body is provided with a toothed plate, and the bottom of the adjusting plate is provided with a gear that cooperates with the toothed plate. The adjusting plate swings relative to the trolley body under the cooperation of the gear and the limiting sleeve.
[0014] Preferably, some of the aforementioned infrared sensors are tilted at an angle.
[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0016] 1. By designing the geometric arrangement of the adjustment plate and the limiting rod, the adjustment plate can generate a larger swing amplitude than the traditional limiting rod itself, thereby significantly expanding the adjustable angle range of the signal line or antenna on the top of the vehicle and improving the signal reception capability of the UAV at different azimuth angles.
[0017] 2. By staggering or adjusting the limiting sleeves on the first and second limiting rods in stages, the movement of the adjustment plate during deflection is made more stable, avoiding deviation caused by inertia or external force, thereby improving the communication stability and adaptability of the UAV and vehicle collaborative system under different flight conditions. Attached Figure Description
[0018] The disclosure of this utility model is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. In the drawings, the same reference numerals are used to refer to the same parts. Wherein:
[0019] Figure 1 This is a schematic diagram of the structure of the UAV and vehicle collaborative system;
[0020] Figure 2 for Figure 1 A structural diagram from a second perspective;
[0021] Figure 3 for Figure 2 Enlarged view of point A in the middle;
[0022] Figure 4 This is a schematic diagram of the overall structure of the drone and the vehicle.
[0023] Explanation of annotations in the image:
[0024] 1. Car body; 11. Tooth plate; 12. First limiting rod; 13. Second limiting rod; 131. Friction block;
[0025] 2. Adjusting plate; 21. Gear; 22. Limiting sleeve;
[0026] 3. Signal line; 4. Infrared sensor;
[0027] 5. The drone itself. Detailed Implementation
[0028] It is readily understood that, based on the technical solution of this utility model, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of this utility model. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative descriptions of the technical solution of this utility model and should not be considered as the entirety of this utility model or as limitations or restrictions on the technical solution of this utility model.
[0029] Example
[0030] like Figures 1-4 As shown, a drone-vehicle collaborative system includes a vehicle body 1, a first limiting rod 12, a second limiting rod 13, and an adjustment plate 2. The vehicle body 1 and the drone constitute a collaborative system. The top of the vehicle body 1 has a signal line 3 for receiving drone signals and several infrared sensors 4 for determining the azimuth angle between the vehicle body 1 and the drone. The signal line 3 is used to receive control signals from the drone in real time to adjust the vehicle's movement state or antenna direction. The infrared sensors 4, arranged at multiple points, detect the relative azimuth angle of the drone, thus providing an angle reference for the subsequent rotation of the adjustment plate 2.
[0031] In one embodiment, such as Figures 2-3 As shown, the first limiting rod 12 and the second limiting rod 13 are disposed on the top of the vehicle body 1. The second limiting rod 13 gradually approaches the first limiting rod 12 from the middle to both ends along the length direction of the first limiting rod 12. The second limiting rod 13 is arranged along the length direction of the first limiting rod 12, and its arrangement relative to the first limiting rod 12 is "far from the middle and close to both ends," that is, the distance between the two is larger at the middle position near the first limiting rod 12, and gradually decreases at both ends. This arrangement allows the adjusting plate 2 to obtain an asymmetrical motion trajectory during the swinging process, thereby producing precise matching of the UAV's orientation.
[0032] In one embodiment, such as Figures 2-3As shown, the adjustment plate 2 is located on the top of the vehicle body 1. Its bottom is rotatably fitted with a limiting sleeve 22 that engages with the first limiting rod 12 and the second limiting rod 13. When the adjustment plate 2 moves towards the side of the vehicle body 1, the limiting sleeve 22 engaged with the first limiting rod 12 is closer to the side wall of the vehicle body 1 than the limiting sleeve 22 engaged with the second limiting rod 13. The adjustment plate 2 swings towards both sides of the vehicle body 1 at the front end facing the signal line 3. When the adjustment plate 2 moves towards the side of the vehicle body 1, due to the asymptotic arrangement of the two limiting rods, the limiting sleeve 22 engaged with the first limiting rod 12 will approach the side wall of the vehicle body 1 earlier than the limiting sleeve 22 engaged with the second limiting rod 13, thus creating a "front-to-back misalignment" limiting effect. Through this misalignment, the adjustment plate 2 can achieve stable lateral swinging at the front end of the signal line 3, ensuring that the antenna or signal receiving direction maintains the optimal angle for the UAV.
[0033] Therefore, this application achieves the technical effect of "small-angle driving and large-angle deflection" through the coordinated operation of the limiting sleeve 22, the first limiting rod 12 and the second limiting rod 13, effectively expanding the adjustment range of the signal line 3 and improving the adaptability and communication stability of the car and drone collaborative system under different azimuth angles.
[0034] In one embodiment, such as Figures 2-3 As shown, at least one of the first limiting rod 12 and the second limiting rod 13 is an arc-shaped rod or a bent rod. The arc-shaped or bent rod can change the movement trajectory of the limiting sleeve 22, so that the swing path of the adjustment plate 2 is no longer a single straight line, but has certain curved or segmented angular characteristics. Its function is to enable the adjustment plate 2 to more flexibly follow the relative angle changes of the UAV, thereby expanding the coverage range of the vehicle antenna adjustment.
[0035] In one embodiment, such as Figures 2-3 As shown, the adjustment plate 2, under the action of the limiting sleeve 22 engaging with the first limiting rod 12 and the second limiting rod 13, can rotate approximately 180° relative to the vehicle body 1. This allows the adjustment plate 2 to cover the entire azimuth range of the UAV from left to right without any blind spots. Especially when the UAV is conducting long-range patrols, the adjustment plate 2 can continuously track the direction of the signal line 3, ensuring the continuity of the communication link.
[0036] In one embodiment, such as Figures 2-3As shown, the second limiting rod 13 has a friction block 131 in the middle. The friction block 131 is configured to keep the limiting sleeve 22, which is engaged with the second limiting rod 13, moving in a manner that lags behind the limiting sleeve 22 engaged with the first limiting rod 12. Through the control logic of "moving the first one first, then the second one," the rotation of the adjusting plate 2 has a staged adjustment characteristic. That is, a large-angle coarse adjustment is completed first, and then a small-angle fine adjustment is completed through the damping effect of the friction block 131. This avoids the adjusting plate 2 from jamming or shaking due to the synchronous movement of the two limiting sleeves 22, and improves the stability and reliability of the swing process.
[0037] In one embodiment, such as Figures 2-3 As shown, a toothed plate 11 is provided on the top of the trolley body 1, and a gear 21 that meshes with the toothed plate 11 is provided on the bottom of the adjusting plate 2. The adjusting plate 2 swings relative to the trolley body 1 under the cooperation of the gear 21 and the limiting sleeve 22. When the adjusting plate 2 rotates, the gear 21 meshes with the toothed plate 11, and at the same time, the limiting sleeve 22 limits the movement, so that the adjusting plate 2 not only has a precise angle division function during rotation, but also maintains a stable positioning effect when subjected to external impact. This gear 21-toothed plate 11 meshing structure can further enhance the motion control accuracy of the adjusting plate 2 and prevent deviation caused by inertia or external disturbances.
[0038] In one embodiment, such as Figures 2-3 As shown, several infrared sensors are tilted at equal angles.
[0039] The system can uniformly detect the relative position of the drone within a circular range. When the drone is in different orientations, the signal strength received by different infrared sensors 4 varies. The system can determine the approximate orientation of the drone based on the signal differences between the sensors, and adjust the direction of the signal line 3 by swinging the adjustment plate 2. This sensor layout improves the system's accuracy in perceiving the drone's orientation, reduces the blind spot of the adjustment plate 2, and enhances the stability of collaborative communication between the drone and the vehicle.
[0040] The vehicle involved in this application can be used for fire suppression control. The vehicle itself has a radar module for environmental perception, which detects surrounding obstacles in real time, providing data support for autonomous obstacle avoidance and mapping. This radar is a core sensor for the vehicle's safe operation in unknown environments. It also has a drive module, including a motor, wheels, and a control unit, which receives speed commands (such as linear velocity and angular velocity) from the navigation system, driving the vehicle to move forward, backward, and turn, ensuring accurate following of the planned route.
[0041] The vehicle's software modules are developed based on the ROS (Robot Operating System) operating system, integrating functions such as mapping, positioning, navigation, and communication. These modules work together to achieve autonomous firefighting operations.
[0042] The complete workflow of the car from starting to arriving at the fire point is as follows:
[0043] System initialization (startup and connection)
[0044] Install the radar module, turn on the car's power, enter the ROS system, connect the computer to the car's dedicated network, and establish a remote control and data transmission link.
[0045] Environmental mapping and parameter configuration
[0046] The display component shows the vehicle's position and sensor data in real time, the radar collects obstacle data in real time, and the map parameters (such as resolution and obstacle threshold) are adjusted to reduce errors, ensuring that the map accurately reflects the environmental structure and saving the map file for subsequent navigation use.
[0047] Receive target coordinates and path planning
[0048] After the drone identifies the fire point, it transmits the coordinate information to the vehicle's communication module. The vehicle's control unit parses the coordinate data, sets the fire point as the target point, and plans the optimal path (avoiding obstacles).
[0049] Autonomous navigation and firefighting operations
[0050] The control module converts navigation commands into motor drive signals, driving the vehicle to move along the planned path. During the process, the radar detects obstacles in real time to achieve dynamic obstacle avoidance. After the vehicle reaches the fire point, the control module outputs a stop command, completing the positioning task and waiting for subsequent fire extinguishing operations (such as activating the fire extinguishing device).
[0051] The UAV and vehicle collaborative system described in this utility model is applicable to various scenarios requiring collaborative operation between the UAV itself and a ground platform, including but not limited to target tracking, terrain mapping, environmental monitoring, material transportation, and emergency rescue. Figure 4 As shown, in use, the vehicle body 1 can act as a ground mobile base station or relay terminal, receiving control commands, positioning information, or sensor data from the UAV body 5 via signal line 3. When the UAV body 5 moves, hovers, or circles in the air, its azimuth and pitch angles constantly change. Through the cooperation of the adjustment plate 2 with the first limiting rod 12 and the second limiting rod 13 in this system, the signal line 3 on the top of the vehicle can be automatically or manually adjusted to maintain its orientation towards the UAV body 5. This structural design allows the vehicle to achieve a wide range of antenna or signal receiving angle adjustments without adding complex electronic control mechanisms, thus ensuring signal reception strength and communication stability even when the distance between the UAV body 5 and the vehicle body 1 is large or the relative height difference is significant.
[0052] The technical scope of this utility model is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this utility model, and all such modifications and variations should fall within the protection scope of this utility model.
Claims
1. A collaborative system between a drone and a vehicle, characterized in that, include: The vehicle body (1) forms a collaborative system with the drone. Its top has a signal line (3) for receiving drone signals and several infrared sensors (4) for determining the azimuth angle between the vehicle body (1) and the drone. The first limiting rod (12) and the second limiting rod (13) are disposed on the top of the trolley body (1). The second limiting rod (13) gradually approaches the first limiting rod (12) from the middle to both ends along the length direction of the first limiting rod (12). An adjustment plate (2) is set on the top of the trolley body (1). A limiting sleeve (22) is rotatably set at its bottom and is engaged with the first limiting rod (12) and the second limiting rod (13). When the adjustment plate (2) moves toward the side of the trolley body (1), the limiting sleeve (22) engaged with the first limiting rod (12) is closer to the side wall of the trolley body (1) than the limiting sleeve (22) engaged with the second limiting rod (13). The adjustment plate (2) swings toward both sides of the trolley body (1) at the front end of the signal line (3).
2. The UAV and vehicle collaborative system according to claim 1, characterized in that: At least one of the first limiting rod (12) and the second limiting rod (13) is an arc-shaped rod or a bent rod.
3. The UAV and vehicle collaborative system according to claim 2, characterized in that: The adjustment plate (2) can rotate relative to the trolley body (1) in the range of 170°~180° under the action of the limiting sleeve (22) being engaged with the first limiting rod (12) and the second limiting rod (13).
4. The UAV and vehicle collaborative system according to claim 3, characterized in that: The second limiting rod (13) has a friction block (131) in the middle. The friction block (131) is configured to keep the limiting sleeve (22) that is engaged with the second limiting rod (13) from moving behind the limiting sleeve (22) that is engaged with the first limiting rod (12).
5. The UAV and vehicle collaborative system according to claim 1, characterized in that: The top of the trolley body (1) is provided with a toothed plate (11), and the bottom of the adjusting plate (2) is provided with a gear (21) that cooperates with the toothed plate (11). The adjusting plate (2) swings relative to the trolley body (1) under the cooperation of the gear (21) and the limiting sleeve (22).
6. The UAV and vehicle collaborative system according to claim 1, characterized in that: Several of the infrared sensors (4) are deflected at equal angles.