A machine dog back-mounted unmanned aerial vehicle nest for power storage open space collaborative inspection

Abstract

The utility model relates to the technical field of power storage inspection and operation and maintenance equipment, put forward a kind of electric power storage empty land collaborative inspection's machine dog backpack type unmanned aerial vehicle nest, it include: nest body and slide cover;Nest body includes: the base of installation in the back of machine dog, the bottom tray of being located in the center of base top surface and the guide fence surrounding bottom tray;Base bottom surface two sides are equipped with two symmetrical arrangement extension along the length of machine dog, and hoop channel is equipped on extension section;Base is fixed to the back of machine dog by passing through hoop channel with hoop;Bottom tray top surface center position is equipped with magnetic coupling coil;The inner wall of guide fence forms the tapered slope that converges from top to bottom;Two symmetrical arrangement chute are set up in the upper portion of the side wall of guide fence, and slide cover is installed in chute;Driving device is installed in the side wall of guide fence, and driving device is connected with slide cover;The utility model can realize mobile charging and quick take-off and recovery, improve the operation efficiency of empty land collaborative inspection, reduce the deployment of fixed charging station.

Description

Technical Field

[0001] This utility model relates to the field of power storage inspection and maintenance equipment technology, and in particular to a robot dog-borne drone nest for power storage air-ground collaborative inspection. Background Technology

[0002] Current power warehousing is developing towards high automation and intelligence. To improve warehouse space utilization and operational efficiency, the industry has begun exploring solutions for collaborative air-ground operations using drones and quadruped robots. Drones possess flexible three-dimensional maneuverability, making them suitable for inspection and photography at locations such as high-bay racks and hoisting facilities; quadruped robots have advantages in adaptability to complex terrain, load capacity, and continuous operation, and can undertake tasks such as ground patrols, goods handling, and environmental data collection. However, current battery technology limits the effective flight time of most warehouse drones to only a few minutes per flight. If a task requires continuous inspection or multiple close-range takeoffs and landings, frequent trips to fixed charging points are necessary, disrupting the overall operational rhythm, causing path wastage, and reducing task efficiency. Deploying a large number of fixed charging or docking devices within the warehouse would lead to increased costs and space occupancy issues.

[0003] Therefore, it is necessary to provide a robot dog-borne drone nest for collaborative air-ground inspection of power storage facilities to solve the problems existing in the prior art. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a robot dog-borne drone nest for collaborative air-ground inspection of power storage facilities, thereby resolving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A robot dog-borne drone nest for collaborative air-ground inspection of power storage facilities, comprising a nest body and a sliding cover, wherein the nest body includes: a base installed on the back of the robot dog, a bottom tray located at the center of the top surface of the base, and a guide fence surrounding the bottom tray. The base has two symmetrically arranged extension sections on both sides along the length of the robot dog, and the extension sections are provided with clamping channels; a magnetic coupling coil is provided at the center of the top surface of the bottom tray; the inner wall of the guide fence forms a tapered slope that tapers from top to bottom. The upper part of the side wall of the guide fence has two symmetrically arranged sliding grooves, and the sliding cover is installed in the sliding grooves; the side wall of the guide fence is equipped with a driving device, which is connected to the sliding cover; the magnetic coupling coil and the driving device are electrically connected to the electronic control unit.

[0006] Preferably, the driving device includes two through-type lead screw stepper motors symmetrically arranged on the side wall of the guide fence and two connecting rods that cooperate with the through-type lead screw stepper motors respectively; one end of each connecting rod is hinged to the upper end of the lead screw of the corresponding through-type lead screw stepper motor, and the other end is hinged to the corresponding side edge of the sliding cover, so that the two connecting rods drive the sliding cover to move along the slide groove respectively; the two through-type lead screw stepper motors are electrically connected to the electronic control unit.

[0007] Preferably, bolt holes are provided on both sides of the clamp channel.

[0008] Preferably, heat dissipation holes are designed in the middle of the side wall of the guide fence.

[0009] Preferably, the portion of the guide rail above the chute has symmetrically arranged circumferentially transparent holes; the portion of the guide rail below the chute has an ultrasonic probe; the transparent holes and the ultrasonic probe are located on the same vertical axis. The portion of the guide rail above the chute has several ultrasonic probes, and a pressure sensor is located at the bottom of the bottom tray, which transmits information to the electronic control unit.

[0010] Preferably, the top of the guide fence is provided with an indicator light, which is electrically connected to the electronic control unit.

[0011] This utility model discloses a robot dog-borne drone nest for collaborative air-ground inspection of power storage facilities, which has the following beneficial effects.

[0012] This invention serves as both a mobile charging station for drones and a platform for drone takeoff, release, landing, and recovery. By transforming the charging station from a fixed point into a mobile one, drones no longer need to travel long distances back to fixed stations; they can find nearby mobile charging stations, significantly reducing wasted flight time and increasing operational density and efficiency. Once the mobile charging station reaches a designated inspection location, it can quickly release the drone from the charging station and take off, expanding the inspection range using the drone's cruise vision. After completing its inspection mission, the drone can be recovered back into the charging station. There is no need for large-scale deployment of fixed charging piles within power storage facilities; simply equipping a few mobile charging stations with this invention can serve multiple drones, saving on operating costs. Attached Figure Description

[0013] Figure 1 This is a schematic diagram showing the sliding cover opening of the drone's nest for the robot dog carrying the electric power storage air-ground collaborative inspection of this utility model.

[0014] Figure 2 This is a schematic diagram of the drone's housing after removing the sliding cover, which is part of the robot dog-borne drone for collaborative air-ground inspection of power storage facilities according to this utility model.

[0015] Figure 3This is a schematic diagram of the sliding cover closing of the drone's nest for the robot dog carrying the electric power storage air-ground collaborative inspection of this utility model.

[0016] Figure 4 This is a schematic diagram of the take-off and release process of the UAV from its nest according to this utility model.

[0017] Figure 5 This is a schematic diagram illustrating the process of the UAV landing in its nest for recovery and charging according to this utility model.

[0018] In the attached image: 1. Base; 2. Bolt holes; 3. Clamping channel; 4. Bottom tray; 5. Guide rail; 6. Magnetic coupling coil; 7. Heat dissipation hole; 8. Slide groove; 9. Ultrasonic probe; 10. Through-type lead screw stepper motor; 11. Connecting rod; 12. Sliding cover; 13. Indicator light; 14. Electrical control unit. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0020] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0021] Example 1 Please refer to Figure 2 A robot dog-borne drone nest for collaborative air and ground inspection of power storage facilities, comprising a nest body and a sliding cover 12. The nest body includes: a base 1 installed on the back of the robot dog, a bottom tray 4 located at the center of the top surface of the base 1, and a guide fence 5 surrounding the bottom tray 4. The base 1 has two symmetrically arranged extension sections on both sides of the bottom surface along the length of the robot dog, and the extension sections are provided with clamp channels 3; the base 1 is fixed to the back of the robot dog through the clamp channels 3; a magnetic coupling coil is provided at the center of the top surface of the bottom tray 4; the inner wall of the guide fence 5 forms a tapered slope that tapers from top to bottom. In this embodiment, the inner wall of the guide fence 5 forms a tapered slope that tapers from top to bottom, which can guide the drone to land in the charging area and precisely align its charging receiver with the magnetic coupling coil 6 of the transmitter.

[0022] The upper part of the side wall of the guide fence 5 has two symmetrically arranged sliding grooves 8, and the sliding cover 12 is installed in the sliding grooves 8; the side wall of the guide fence 5 is equipped with a driving device, which is connected to the sliding cover 12; the magnetic coupling coil 6 and the driving device are electrically connected to the electronic control unit 14.

[0023] It should be understood that the sliding cover 12 is installed in the slide groove 8 and moves linearly along the slide groove 8. Alternatively, a groove along the sliding direction of the sliding cover 12 can be added to the bottom of the slide groove 8, and a corresponding protrusion along the sliding direction of the sliding cover 12 can be provided at the bottom of the sliding cover 12, so that the sliding cover 12 moves linearly along the slide groove 8.

[0024] Preferably, in this embodiment, when the robot dog has a connection hole on its back, bolt holes 2 can be provided on both sides of the clamp channel 3, and the base 1 can be fixed to the back of the robot dog by bolts engaging with the bolt holes 2.

[0025] Preferably, in this embodiment, heat dissipation holes 7 are designed in the middle of the side walls of the guide fence 5.

[0026] Preferably, in this embodiment, the top of the guide fence 5 is provided with an indicator light 13, which is electrically connected to the electronic control unit 14. Specifically, in this embodiment, two indicator light holes 13 are provided on the top of the drone nest guide fence 5. When the drone enters the nest and is working normally, the indicator light 13 lights up.

[0027] It should be noted that in this embodiment, the power supply for the magnetic coupling coil 6 is provided by the robot dog. Most quadruped robot dogs have a reserved 48V external power output interface, and the robot dog is connected to this interface via a connecting cable to obtain a stable power supply.

[0028] The nest base 1 is also equipped with a power management module. In this embodiment, the power management module is a commercially available Mornsun URF4824QB module. The power management module converts and distributes the power input to the robot dog body to the magnetic coupling coil 6, the drive device and the electronic control unit 14. In this embodiment, the magnetic coupling coil 6 is a 100W-24V-4A specification coil. It should be understood that the magnetic coupling coil 6 is a mature existing product. When purchasing, only the voltage, current and coil size need to be provided to purchase a suitable finished product on the market. The electronic control unit 14 is a commercially available Manzhi Electronics ZDJ-2548 model.

[0029] like Figure 4As shown, when the drone takes off from the nest, the electronic control unit 14 first controls the drive device to make the sliding cover 12 move linearly along the slide groove 8 to open the sliding cover 12. Then the drone takes off from the nest. After the drone takes off from the nest, the electronic control unit 14 controls the drive device to make the sliding cover 12 move linearly along the slide groove 8 to close the sliding cover 12. If other drones need to be charged after the drone takes off from the nest, the sliding cover 12 will remain open.

[0030] like Figure 5 As shown, when the drone lands in the pod for recovery and charging, the drone first prepares to enter the pod. This preparation is to stabilize the drone's attitude and facilitate its entry into the pod. Then, the electronic control unit 14 controls the drive device to make the sliding cover 12 move linearly along the slide groove 8, opening the sliding cover 12 and allowing the drone to enter the pod. After the drone enters the pod for charging, the electronic control unit 14 controls the drive device to make the sliding cover 12 move linearly along the slide groove 8 again, closing the sliding cover 12.

[0031] Example 2 Based on Example 1, such as Figure 1 and Figure 3 As shown, in this preferred embodiment, the driving device includes two through-type lead screw stepper motors 10 symmetrically arranged on the side wall of the guide fence 5 and two connecting rods 11 respectively cooperating with the through-type lead screw stepper motors 10; one end of each connecting rod 11 is hinged to the upper end of the lead screw of the corresponding through-type lead screw stepper motor 10, and the other end is hinged to the corresponding side edge of the sliding cover 12, so that the two connecting rods 11 respectively drive the sliding cover 12 to move along the sliding groove 8; both through-type lead screw stepper motors 10 are electrically connected to the electronic control unit 14. Specifically, in this embodiment, the top of the lead screw of the through-type lead screw stepper motor 10 is provided with a lifting lug, and the corresponding connecting rod 11 is also provided with a lifting lug at the connection end with the lead screw. The lifting lug of the connecting rod 11 is connected to the lifting lug on the lead screw by a pin, and the connecting rod 11 can rotate around the top of the lead screw along the pin. The side edge of the sliding cover 12 connected to the connecting rod 11 is provided with a lifting lug, and the connection between the connecting rod 11 and the side edge of the sliding cover 12 is provided with a lifting lug. The lifting lug of the connecting rod 11 and the side edge lifting lug of the sliding cover 12 are also connected by a pin, and the connecting rod 11 can rotate around the side edge of the sliding cover 12 along the pin.

[0032] In this specific embodiment, two sets of driving devices are provided on the front and rear sides of the guide fence 5, and the two sets of driving devices drive the front and rear sides of the sliding cover 12 simultaneously.

[0033] In this embodiment, the through-type lead screw stepper motor 10 is a commercially available model 86G76200-S; such as Figure 3As shown, when the sliding cover 12 needs to be opened, the electronic control unit 14 controls the through-type lead screw stepper motor 10 to drive the lead screw to move vertically upward. It should be noted that the lead screw of the through-type lead screw stepper motor 10 does not rotate when it moves vertically upward, so the hinge between the connecting rod 11 and the top of the lead screw does not interfere. After the lead screw moves vertically upward, it pushes the connecting rod 11. At this time, the connecting rod 11 pushes the sliding cover 12 to move linearly along the slide groove 8, as shown. Figure 2 As shown, after the lead screw moves to the position, the sliding cover 12 is fully opened. When it is necessary to close the sliding cover 12, the electronic control unit 14 controls the through-type lead screw stepper motor 10 to drive the lead screw to move vertically downward. The specific movement process is the opposite of opening the sliding cover 12, and will not be described in detail here.

[0034] Example 3 Based on Example 1, such as Figure 1 and Figure 2 As shown, in this preferred embodiment, in order to avoid collisions caused by multiple drones vying for the same nest, the portion of the guide fence 5 above the slide 8 is provided with circumferentially symmetrical wave-transmitting holes; the portion of the guide fence 5 below the slide 8 is provided with an ultrasonic probe 9; the wave-transmitting holes and the ultrasonic probe 9 are located on the same vertical axis.

[0035] When the sliding cover 12 is open and the nest is empty, there is no obstruction between the wave-transmitting hole and the ultrasonic probe 9 (the sliding cover 12 is already open), and the drone can enter the nest through the ultrasonic radar triangulation positioning method based on TDOA; when the sliding cover 12 is closed and the nest is in use (a drone is already charging), the sliding cover 12 obstructs the wave-transmitting hole and the mounting hole, and other drones cannot detect the ultrasonic waves of this nest, so they cannot enter the nest, thus avoiding the collision problem caused by multiple drones competing for the same nest.

[0036] In this embodiment, the ultrasonic probe 9 is a commercially available LGUB2000-30GM60-E4-V15 model. The ultrasonic probe 9 is electrically connected to the electronic control unit 14, which provides power to the ultrasonic probe 9. The ultrasonic probe 9 is used to assist the UAV in entering the nest using the TDOA-based ultrasonic radar triangulation positioning method. It should be understood that the UAV entering the nest using the TDOA-based ultrasonic radar triangulation positioning method is a mature existing technology. The programs and algorithms involved are all existing and do not involve any improvements to the method itself. It is also easy for those skilled in the art to implement.

[0037] In this embodiment, the ultrasonic probe 9 is used to send four-point positioning signals to the UAV to assist the UAV in completing nest entry positioning based on TDOA.

[0038] Example 4 Based on Embodiment 1, in order to avoid collisions caused by multiple drones vying for the same nest, the guide fence 5 is equipped with four ultrasonic probes 9 arranged symmetrically in the circumferential direction above the slide 8, and the bottom tray 4 is equipped with a pressure sensor, which can transmit information to the electronic control unit 14.

[0039] When the sliding cover 12 is open and the nest is empty, the pressure sensor does not output a pressure signal, and the electronic control unit 14 controls the ultrasonic probe 9 to turn on. The drone can enter the nest through the ultrasonic radar triangulation positioning method based on TDOA. When the sliding cover 12 is closed and the nest is in use (a drone is already charging), the pressure sensor outputs a pressure signal, and the electronic control unit 14 controls the ultrasonic probe 9 to turn off. Other drones cannot detect the ultrasonic waves of this nest and therefore cannot enter the nest, thus avoiding the collision problem caused by multiple drones competing for the same nest.

[0040] In this embodiment, the pressure sensor used is a commercially available F1Y-1000N model.

[0041] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Substitutions may include replacements for some structures, devices, or method steps, or they may be complete technical solutions. Equivalent substitutions or modifications made based on the technical solution and inventive concept of this utility model should all be covered within the scope of protection of this utility model.

Claims

1. A drone nest for collaborative air-ground inspection of power storage facilities, comprising a nest body and a sliding cover, characterized in that: The nest includes: a base installed on the back of the robot dog, a bottom tray located at the center of the top surface of the base, and a guide fence surrounding the bottom tray; The base has two symmetrically arranged extension sections on both sides of the bottom surface along the length of the robot dog, and the extension sections are provided with clamping channels; the base is fixed to the back of the robot dog by clamps passing through the clamping channels; a magnetic coupling coil is provided at the center of the top surface of the bottom tray; the inner wall of the guide fence forms a tapered slope that tapers from top to bottom. The upper part of the side wall of the guide fence has two symmetrically arranged sliding grooves, and the sliding cover is installed in the sliding grooves; the side wall of the guide fence is equipped with a driving device, which is connected to the sliding cover; the magnetic coupling coil and the driving device are electrically connected to the electronic control unit.

2. The drone nest for air-ground collaborative inspection of power storage facilities as described in claim 1, characterized in that, The driving device includes two through-type lead screw stepper motors symmetrically arranged on the side wall of the guide fence and two connecting rods that cooperate with the through-type lead screw stepper motors respectively; one end of each connecting rod is hinged to the upper end of the lead screw of the corresponding through-type lead screw stepper motor, and the other end is hinged to the corresponding side edge of the sliding cover, so that the two connecting rods drive the sliding cover to move along the slide groove respectively; both through-type lead screw stepper motors are electrically connected to the electronic control unit.

3. The robot dog-borne UAV nest for collaborative air-ground inspection of power storage facilities as described in claim 1, characterized in that, Bolt holes are provided on both sides of the clamp channel.

4. The robot dog-borne UAV nest for collaborative air-ground inspection of power storage facilities as described in claim 1, characterized in that, The guide fence is designed with heat dissipation holes in the middle of its side wall.

5. The robot dog-borne UAV nest for collaborative air-ground inspection of power storage facilities as described in claim 1, characterized in that, The portion of the guide rail above the chute is provided with circumferentially symmetrical wave-transmitting holes; the portion of the guide rail below the chute is provided with an ultrasonic probe; the wave-transmitting holes and the ultrasonic probe are located on the same vertical axis.

6. The robot dog-borne UAV nest for collaborative air-ground inspection of power storage facilities as described in claim 1, characterized in that, The top of the guide fence is equipped with an indicator light, which is electrically connected to the electronic control unit.

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