CN115924157A - Unmanned aerial vehicle single-person operation equipment capable of accurately landing and using method thereof - Google Patents
Unmanned aerial vehicle single-person operation equipment capable of accurately landing and using method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicle landing, in particular to an unmanned aerial vehicle single-person operation device capable of landing accurately and a using method thereof, wherein the unmanned aerial vehicle single-person operation device comprises a box body and an unmanned aerial vehicle body, a box cover is arranged on the box body, the box body and the box cover are connected through a clamping mechanism, a first identification label plate for adhering visual labels is arranged on the box body, a second identification label plate for adhering visual labels is arranged on the box cover, a plurality of visual labels with different sizes are adhered on the first identification label plate and the second identification label plate, a mounting plate is fixedly connected to the bottom of the first identification label unmanned aerial vehicle body, a control box is fixedly connected to the bottom of the mounting plate, and a camera for acquiring visual label image information is arranged in the control box; can control the steady descending of unmanned aerial vehicle body, the signal that ground vision system sent need not be received to the unmanned aerial vehicle body, and the unmanned aerial vehicle body can oneself descend towards the descending position is accurate, automatic deceleration simultaneously to make steady accurate descending of unmanned aerial vehicle body to predetermineeing the position.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle landing, in particular to unmanned aerial vehicle single-person operation equipment capable of landing accurately and a using method thereof.
Background
At present, the location of the landing point of the unmanned aerial vehicle is mainly located through GPS and RTK technology, the unmanned aerial vehicle passes through a GPS device, can roughly land at a specified position, but because the influence by signals is large, the final positioning error is larger, under the condition that the signals are extremely good, the error of meter level can also exist, in the prior art, chinese patent with publication number CN105197252B discloses and a small unmanned aerial vehicle landing method and system, the airborne marking unit of changing color deals with complicated natural environment, the accurate positioning and tracking of the unmanned aerial vehicle are realized by adopting a machine vision method, and then the landing of the unmanned aerial vehicle is completed.
But the inventor discovers, at first needs the airborne sign on the ground vision system detection unmanned aerial vehicle, sends signal control unmanned aerial vehicle again secondly, because external environment problem leads to the signal relatively poor to when the signal that makes the ground vision system send can not in time control unmanned aerial vehicle, can descend smoothly to unmanned aerial vehicle and cause the influence.
Disclosure of Invention
In view of the above, the present invention provides an unmanned aerial vehicle single-person operation device capable of landing accurately and a method for using the same, so as to solve the problem that the transmitted signal cannot control the unmanned aerial vehicle to land in time when the signal is not good.
Based on the purpose, the invention provides an unmanned aerial vehicle single-person operation device capable of landing accurately, which comprises a box body and an unmanned aerial vehicle body, wherein a box cover is arranged on the box body, the box body and the box cover are connected through a clamping mechanism, a first identification label plate for adhering visual labels is arranged on the box body, a second identification label plate for adhering visual labels is arranged on the box cover, a plurality of visual labels with different sizes are adhered on the first identification label plate and the second identification label plate, a mounting plate is fixedly connected to the bottom of the first identification label unmanned aerial vehicle body, a control box is fixedly connected to the bottom of the mounting plate, a camera for collecting visual label image information is arranged in the control box, a through hole matched with the camera is formed in the bottom end of the control box, a rotating frame is arranged in the control box, the rotating frame is rotatably connected with the mounting plate, a first supporting part is fixedly connected to the camera, the first supporting part is rotatably connected with the rotating frame, a first connecting column is arranged on one side of the camera, a movable seat is sleeved outside the first connecting column, the movable seat is connected with the first connecting column through an elastic pushing part, a rotating plate is arranged above the movable seat, a screw rod sleeve is sleeved outside the screw rod, a movable seat is fixedly connected with the movable seat, a rotary shaft, a rotary plate is arranged outside the screw rod, a rotary driving mechanism, and a rotary driving assembly is arranged on the rotary shaft, and a rotary driving mechanism, and a rotary screw rod driving assembly is arranged on the rotary shaft.
Optionally, the gear drive subassembly is including setting up in the first gear on lead screw top, first spout has been seted up on the top of lead screw, fixedly connected with and first spout matched with slider on the first gear, the bottom of mounting panel is equipped with two arc seats, the bottom fixedly connected with arc pinion rack of arc seat, two arc seats constitute annular mount pad, two arc pinion rack constitute with first gear engaged with ring gear, the second spout has been seted up on the arc seat, fixedly connected with and second spout matched with slip post on the first gear, arc seat and mounting panel pass through the mounting and connect.
Optionally, the mounting includes two first fixed plates that set up in annular mount pad, first fixed plate and mounting panel fixed connection, the first picture peg of fixedly connected with on the first fixed plate, set up the first slot with first picture peg matched with on the arc seat, one side that two arc seats kept away from mutually all is equipped with the stopper, the outside cover of stopper is equipped with first spacing ring, first spacing ring and arc seat fixed connection, the bottom fixedly connected with backup pad of stopper, the one end of backup pad and the inner wall fixed connection of control box, the outside cover of control box is equipped with fixed connection's collar, collar and mounting panel pass through a plurality of bolted connection, design through collar and bolt, so that control box and mounting panel fixed connection.
The manual drive bolt is rotatory, make the bolt break away from collar and mounting panel, remove the fixed relation between control box and the mounting panel, the manual drive control box moves down, so that backup pad drive stopper breaks away from first spacing ring, accomplish demolising of control box, and remove the injecing to first spacing ring and arc seat position, two arc seats of artifical horizontal direction drive move, so that first picture peg breaks away from first slot, and first gear drive slider roll-off from first spout, can accomplish demolising of first gear and arc pinion rack, be convenient for change the first gear and the arc pinion rack of different drive ratios, so that when the rotor plate rotates around the swivel mount, change lead screw pivoted speed, and then adjust the speed that thread bush and sliding seat moved up, when the speed of camera rotation around the axle center of swivel mount is constant, be convenient for according to actual demand, the speed of control first supporting part slope, be convenient for adjust the position of camera.
Optionally, the elastic pushing member includes a second supporting portion fixedly mounted on the movable seat, one end of the first connecting column away from the camera is fixedly connected with a second fixing plate, and the second supporting portion and the second fixing plate are connected through a first compression spring.
Optionally, the driving mechanism comprises a motor base fixedly installed at the bottom of the installation plate, a motor is fixedly connected to the motor base, a second gear is fixedly connected to the output end of the motor, a gear ring is fixedly connected to the rotating plate, the second gear is meshed with the gear ring, a fixing ring is fixedly connected to the installation plate, a rotating ring is sleeved outside the fixing ring, the rotating ring is connected with the fixing ring through a bearing, the rotating ring is fixedly connected with the gear ring, and the rotating centers of the rotating ring, the gear ring and the rotating frame are all consistent.
Optionally, the latch mechanism includes fixed block of fixed mounting on the case lid, the second slot has been seted up on the fixed block, one side fixedly connected with and fixed block matched with second spacing ring of box, be equipped with the fly leaf in the box, fixedly connected with second picture peg on the fly leaf, the one end of second picture peg runs through the box, and the one end of second picture peg extends to in the second spacing ring, be equipped with the elasticity presser with fly leaf matched with on the box, one side of box is equipped with the adjustable shelf, fixedly connected with is located the third picture peg of box top on the adjustable shelf, second picture peg and third picture peg all with second slot looks adaptation, fly leaf and adjustable shelf pass through the driving medium and are connected, fixedly connected with holding ring on the box, set up the constant head tank with holding ring looks adaptation on the case lid, the bottom fixedly connected with support of box.
Optionally, the transmission part includes two first pinion racks fixedly mounted on one side of the movable plate, one side that two first pinion racks kept away from mutually is equipped with the pivot respectively, the bottom and the box of pivot pass through the bearing and connect, the top fixedly connected with of pivot and the third gear of first pinion rack looks meshing, one side that first pinion rack was kept away from to the third gear is equipped with the second pinion rack, the box is run through to the one end of second pinion rack, and the one end and the adjustable shelf fixed connection of second pinion rack.
Optionally, the elastic pressing device comprises a second connecting column fixedly mounted on one side of the movable plate, one end of the second connecting column penetrates through the box body, one end of the second connecting column is fixedly connected with a fixed disc located on one side of the box body, a second compression spring is sleeved outside the second connecting column, and two ends of the second compression spring are respectively fixedly connected with the box body and the fixed disc.
This specification still provides the application method that unmanned aerial vehicle single operation of accurate landing was equipped, includes:
the method comprises the following steps: when the unmanned aerial vehicle body needs to land, the box cover is opened, the second identification label plate and the first identification label plate on the box cover are manually driven to be in the same horizontal position, and the box cover is fixed relative to the box body at the moment through the design of the clamping mechanism;
step two: the driving mechanism drives the rotating plate to rotate so as to enable the camera to rotate around the axis of the rotating frame, and in the rotating process of the rotating plate, the screw rod is driven to synchronously rotate through the gear transmission assembly so as to enable the screw rod to drive the threaded sleeve and the movable seat to move upwards;
step three: when the movable seat moves upwards, the elastic pushing piece pushes the first connecting column to move, the first connecting column drives the camera to move close to the movable seat so as to enable the camera and the first supporting part to incline, and in the rotating process of the camera, the inclination angle of the camera is changed, so that the camera automatically adjusts the position, and the image acquisition range is enlarged;
step four: when the camera acquires images of the box body and the box cover, the unmanned aerial vehicle body moves towards the box body and the box cover, and when the camera acquires a visual label with the maximum size, the position of the visual label in the image is obtained through image processing, and the relative position of the camera and the visual label is obtained, so that the current position of the unmanned aerial vehicle body is determined;
step five: after the current position of the unmanned aerial vehicle body is determined, the unmanned aerial vehicle body moves towards the visual tag, and the speed of the unmanned aerial vehicle body is controlled to be reduced to a preset speed value corresponding to the visual tag;
step six: in the falling process of the unmanned aerial vehicle body, when the camera acquires the visual label with the next level size, determining the current position of the unmanned aerial vehicle body again, moving the unmanned aerial vehicle body towards the visual label, controlling the speed of the unmanned aerial vehicle body to be reduced to a preset speed value corresponding to the visual label, and repeating the step until the camera identifies the visual label with the minimum size;
step seven: the vision label of minimum size is discerned to the camera, and unmanned aerial vehicle body height has fallen to the descending height of expectation this moment, and the speed of unmanned aerial vehicle body reduces the default, and the steady descending of unmanned aerial vehicle body is to predetermineeing the position.
Optionally, the first identification tag board and the second identification tag board are both KT boards.
The invention has the beneficial effects that: when the unmanned aerial vehicle body needs to descend, open the case lid, make second identification label plate and first identification label plate on the case lid be in same horizontal position, actuating mechanism drive rotor plate is rotatory, so that the rotatory in-process of camera, the inclination of camera changes, make camera automatically regulated position, increase the image acquisition scope, when the image of box and case lid is gathered to the camera, the unmanned aerial vehicle body moves towards box and case lid, gather not unidimensional visual label through the camera, so that the landing height that makes unmanned aerial vehicle body height drop to expectation, and the speed of unmanned aerial vehicle body reduces the default, thereby can control the steady descending of unmanned aerial vehicle body, the unmanned aerial vehicle body need not receive the signal that ground visual system sent, the unmanned aerial vehicle body can oneself descend towards the landing position accurately, simultaneously automatic deceleration, so that the steady accurate descending of unmanned aerial vehicle body is to predetermineeing the position.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic overall structure diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural view of the case and the cover of the present invention;
FIG. 3 is a schematic structural diagram of the interior of a control box according to an embodiment of the present invention;
FIG. 4 is a schematic view of the construction of the resilient urging member of the embodiment of the present invention;
fig. 5 is a schematic structural view of an arc-shaped toothed plate implemented in the present invention;
FIG. 6 is a schematic structural view of a ring gear according to an embodiment of the present invention;
FIG. 7 is a sectional view of the case according to the embodiment of the present invention;
fig. 8 is a schematic structural view of an elastic pressing device according to an embodiment of the present invention.
Labeled as:
1. a box body; 2. a box cover; 3. a first identification label plate; 4. a second identification label plate; 5. a support; 6. an unmanned aerial vehicle body; 7. mounting a plate; 8. a control box; 9. a through hole; 10. a camera; 11. a first support section; 12. a rotating frame; 13. a first connecting column; 14. a movable seat; 15. a screw rod; 16. a threaded sleeve; 17. a rotating plate; 18. a first gear; 19. a first chute; 20. a slider; 21. an arc-shaped seat; 22. an arc toothed plate; 23. a second chute; 24. a sliding post; 25. a first fixing plate; 26. a first board insert; 27. a first slot; 28. a support plate; 29. a limiting block; 30. a first limit ring; 31. a mounting ring; 32. a bolt; 33. a second support portion; 34. a second fixing plate; 35. a first compression spring; 36. a motor base; 37. a motor; 38. a second gear; 39. a ring gear; 40. a rotating ring; 41. a fixing ring; 42. a fixed block; 43. a second slot; 44. a second stop collar; 45. a movable plate; 46. a second board insert; 47. a movable frame; 48. a third board plug; 49. a rotating shaft; 50. a second compression spring; 51. a third gear; 52. a first toothed plate; 53. a second toothed plate; 54. a second connecting column; 55. fixing the disc; 56. a positioning ring; 57. and (6) positioning a groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to specific embodiments below.
It is to be noted that technical terms or scientific terms used herein should have the ordinary meaning as understood by those having ordinary skill in the art to which the present invention belongs, unless otherwise defined. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
One or more embodiments of the present specification provide an unmanned aerial vehicle single-person operation device capable of landing accurately, as shown in fig. 1 to 8, which includes a box body 1 and an unmanned aerial vehicle body 6, the box body 1 is provided with a box cover 2, the box body 1 and the box cover 2 are connected by a clamping mechanism, the box body 1 is provided with a first identification label plate 3 for pasting a visual label, the box cover 2 is provided with a second identification label plate 4 for pasting a visual label, a plurality of visual labels with different sizes are pasted on the first identification label plate 3 and the second identification label plate 4, the bottom of the first identification label unmanned aerial vehicle body 6 is fixedly connected with a mounting plate 7, the bottom of the mounting plate 7 is fixedly connected with a control box 8, the control box 8 is provided with a camera 10 for collecting visual label image information, the bottom of the control box 8 is provided with a through hole 9 matched with the camera 10, a rotating frame 12 is arranged in the control box 8, the rotating frame 12 is rotationally connected with the mounting plate 7, a first supporting part 11 is fixedly connected to the camera 10, the first supporting part 11 is rotationally connected with the rotating frame 12, a first connecting column 13 which is rotationally connected is arranged on one side of the camera 10, a movable seat 14 is sleeved outside the first connecting column 13, the movable seat 14 is connected with the first connecting column 13 through an elastic pushing piece, a screw rod 15 is arranged above the movable seat 14, a threaded sleeve 16 is sleeved outside the screw rod 15, the bottom end of the threaded sleeve 16 is fixedly connected with the movable seat 14, a rotating plate 17 which is rotationally connected is sleeved outside the screw rod 15, a driving mechanism for driving the rotating plate 17 to rotate around the rotating frame 12 is arranged on the mounting plate 7, and a gear transmission assembly for driving the screw rod 15 to rotate is arranged on the mounting plate 7; when unmanned aerial vehicle body 6 needs to descend, open case lid 2, make second discernment tagboard 4 and first discernment tagboard 3 on the case lid 2 be in same horizontal position, actuating mechanism drive rotor plate 17 rotates, so that the rotatory in-process of camera 10, the inclination of camera 10 changes, make camera 10 automatically regulated position, increase image acquisition scope, when the image of box 1 and case lid 2 is gathered to camera 10, unmanned aerial vehicle body 6 removes towards box 1 and case lid 2, gather the visual label of unidimensional not through camera 10, so that unmanned aerial vehicle body 6 highly descends to the landing height of expectation, and the speed of unmanned aerial vehicle body 6 reduces the default, thereby can control unmanned aerial vehicle body 6 to descend steadily, unmanned aerial vehicle body 6 need not receive the signal that ground vision system sent, unmanned aerial vehicle body 6 can oneself descend to the landing position accurate, automatic deceleration simultaneously, so that unmanned aerial vehicle body 6 steadily is accurate to predetermineeing the position.
In some alternative embodiments, as shown in fig. 3, 4, 5 and 6, the gear transmission assembly includes a first gear 18 disposed at a top end of a lead screw 15, a first sliding groove 19 is formed at a top end of the lead screw 15, a slider 20 engaged with the first sliding groove 19 is fixedly connected to the first gear 18, two arc seats 21 are disposed at a bottom of the mounting plate 7, an arc toothed plate 22 is fixedly connected to a bottom of the arc seat 21, the two arc seats 21 form an annular mounting seat, the two arc toothed plates 22 form a toothed ring engaged with the first gear 18, a second sliding groove 23 is formed in the arc seat 21, a sliding column 24 engaged with the second sliding groove 23 is fixedly connected to the first gear 18, the arc seat 21 and the mounting plate 7 are connected by a fixing member, during rotation of the rotating plate 17, the first gear 18 rolls on the arc toothed plate 22, so that the slider 20 and the lead screw 15 rotate synchronously, the lead screw 15 drives the threaded sleeve 16 and the movable seat 14 to move upwards, the fixing member includes two first fixing plates 25 disposed in the annular mounting seat, the first fixing plate 25 and the mounting plate 7 are fixedly connected by a fixing plate 30, a first fixing plate 29 and a limiting block 32, a first control box is connected to an outer wall of the mounting plate 21, a limiting box, a limiting block 29 is connected to an outer wall of the mounting plate 21 and a limiting box, a limiting box 30, a limiting box is connected to a limiting box 30, a limiting block 32, the bolt 32 is manually driven to rotate, so that the bolt 32 is separated from the mounting ring 31 and the mounting plate 7, the fixed relation between the control box 8 and the mounting plate 7 is released, the control box 8 is manually driven to move downwards, so that the supporting plate 28 drives the limiting block 29 to be separated from the first limiting ring 30, the removal of the control box 8 is completed, the limitation on the positions of the first limiting ring 30 and the arc-shaped seat 21 is released, the two arc-shaped seats 21 are manually driven to move in the horizontal direction, so that the first inserting plate 26 is separated from the first inserting groove 27, the sliding block 20 is driven by the first gear 18 to slide out of the first sliding groove 19, and the removal of the first gear 18 and the arc-shaped toothed plate 22 can be completed.
In some alternative embodiments, as shown in fig. 3, 4 and 6, the elastic pushing element includes a second supporting portion 33 fixedly mounted on the movable mount 14, a second fixing plate 34 is fixedly connected to an end of the first connecting post 13 away from the camera 10, the second supporting portion 33 and the second fixing plate 34 are connected by a first compression spring 35, when the screw 15 drives the threaded sleeve 16 and the movable mount 14 to move up, the first compression spring 35 is in a compressed state, the first compression spring 35 pushes the second fixing plate 34 and the first connecting post 13 to move, the first connecting post 13 drives the camera 10 to move close to the movable mount 14 to tilt the camera 10 and the first supporting portion 11, the driving mechanism includes a motor mount 36 fixedly mounted at the bottom of the mounting plate 7, a motor 37 is fixedly connected to the motor mount 36, a second gear 38 is fixedly connected to an output end of the motor 37, a ring gear 39 is fixedly connected to the rotating plate 17, the second gear 38 is engaged with the ring gear 39, a fixing ring 41 is fixedly connected to the mounting plate 7, a rotating ring 40 is fixedly connected to an outer sleeve of the fixing ring 41, the fixing ring 40 is connected to the rotating ring 41, and the rotating ring 40 is fixedly connected to the rotating plate 41, and the rotating ring 39 is fixedly connected to the rotating plate 12, and the rotating ring 39 is rotatably connected to the rotating frame 12, and the rotating ring 12 rotates around the rotating shaft center of the rotating ring 12, and the rotating frame 12, and the rotating ring 12.
In some alternative embodiments, as shown in fig. 1, fig. 2, fig. 7 and fig. 8, the clamping mechanism includes a fixed block 42 fixedly mounted on the box cover 2, a second slot 43 is formed on the fixed block 42, a second limit ring 44 matched with the fixed block 42 is fixedly connected to one side of the box body 1, a movable plate 45 is disposed in the box body 1, a second inserting plate 46 is fixedly connected to the movable plate 45, one end of the second inserting plate 46 penetrates through the box body 1, and one end of the second inserting plate 46 extends into the second limit ring 44, an elastic pressing device matched with the movable plate 45 is disposed on the box body 1, a movable frame 47 is disposed on one side of the box body 1, a third inserting plate 48 located above the box body 1 is fixedly connected to the movable frame 47, the second inserting plate 46 and the third inserting plate 48 are both adapted to the second slot 43, the movable plate 45 and the movable frame 47 are connected through a transmission member, a positioning ring 56 is fixedly connected to the box body 1, the box cover 2 is provided with a positioning groove 57 matched with the positioning ring 56, the bottom of the box body 1 is fixedly connected with a support 5, a transmission part comprises two first toothed plates 52 fixedly arranged on one side of the movable plate 45, one sides of the two first toothed plates 52 far away are respectively provided with a rotating shaft 49, the bottom end of the rotating shaft 49 is connected with the box body 1 through a bearing, the top end of the rotating shaft 49 is fixedly connected with a third gear 51 meshed with the first toothed plates 52, one side of the third gear 51 far away from the first toothed plates 52 is provided with a second toothed plate 53, one end of the second toothed plate 53 penetrates through the box body 1, one end of the second toothed plate 53 is fixedly connected with the movable frame 47, the elastic pressing device comprises a second connecting column 54 fixedly arranged on one side of the movable plate 45, one end of the second connecting column 54 penetrates through the box body 1, and one end of the second connecting column 54 is fixedly connected with a fixed disc 55 positioned on one side of the box body 1, the second compression spring 50 is sleeved outside the second connecting column 54, two ends of the second compression spring 50 are respectively fixedly connected with the box body 1 and the fixed disc 55, the fixed disc 55 is manually pressed, the second compression spring 50 is in a compressed state, so that the movable plate 45 drives the first tooth plate 52 and the second inserting plate 46 to move, one end of the second inserting plate 46 moves out of the second limiting ring 44, the first tooth plate 52 drives the second tooth plate 53 and the movable frame 47 to move through the third gear 51, so that the third inserting plate 48 is separated from the second inserting slot 43, the fixing of the fixed block 42 and the box cover 2 is released, the box cover 2 is manually driven to move upwards, the positioning ring 56 is separated from the positioning slot 57, so that the box cover 2 can be opened, the second identification label plate 4 and the first identification label plate 3 on the box cover 2 are in the same horizontal position through the third gear 51, the fixed block 42 is inserted into the second limiting ring 44, the fixed disc 55 is released, the second compression spring 50 drives the fixed disc 55 to move, so that the second connecting column 54 drives the movable plate 45 and the second inserting slot 46 to move, and one end of the second inserting plate 46 is inserted into the second inserting slot 43, so that the box cover 2 is fixed relative to the box cover 1.
The embodiment of the specification further provides a use method of the unmanned aerial vehicle single-person operation equipment capable of accurately landing, and the use method comprises the following steps:
the method comprises the following steps: when the unmanned aerial vehicle body 6 needs to land, the tank cover 2 is opened, the second identification label plate 4 and the first identification label plate 3 on the tank cover 2 are manually driven to be in the same horizontal position, the tank cover 2 is fixed relative to the tank body 1 at the moment through the design of the clamping mechanism, and the first identification label plate 3 and the second identification label plate 4 are KT plates;
step two: the driving mechanism drives the rotating plate 17 to rotate so as to enable the camera 10 to rotate around the axis of the rotating frame 12, and in the rotating process of the rotating plate 17, the screw rod 15 is driven to synchronously rotate through the gear transmission assembly so that the screw rod 15 drives the threaded sleeve 16 and the movable seat 14 to move upwards;
step three: when the movable seat 14 moves upwards, the elastic pushing piece pushes the first connecting column 13 to move, the first connecting column 13 drives the camera 10 to move close to the movable seat 14, so that the camera 10 and the first supporting part 11 are inclined, and the inclination angle of the camera 10 is changed in the rotation process of the camera 10, so that the camera 10 automatically adjusts the position, and the image acquisition range is enlarged;
step four: when the camera 10 acquires images of the box body 1 and the box cover 2, the unmanned aerial vehicle body 6 moves towards the box body 1 and the box cover 2, when the camera 10 acquires a visual label with the maximum size, the position of the visual label in the image is obtained through image processing, and the relative position of the camera 10 and the visual label is obtained, so that the current position of the unmanned aerial vehicle body 6 is determined;
step five: after the current position of the unmanned aerial vehicle body 6 is determined, the unmanned aerial vehicle body 6 moves towards the visual tag, and the speed of the unmanned aerial vehicle body 6 is controlled to be reduced to a preset speed value corresponding to the visual tag;
step six: in the falling process of the unmanned aerial vehicle body 6, when the camera 10 acquires a visual label with the next size, determining the current position of the unmanned aerial vehicle body 6 again, moving the unmanned aerial vehicle body 6 towards the visual label, controlling the speed of the unmanned aerial vehicle body 6 to be reduced to a preset speed value corresponding to the visual label, and repeating the step until the camera 10 identifies the visual label with the minimum size;
step seven: the vision label of minimum size is discerned to camera 10, and 6 high drops to the descending height of expectation of unmanned aerial vehicle body this moment, and the speed of unmanned aerial vehicle body 6 reduces the default, and the steady descending of unmanned aerial vehicle body 6 is to predetermineeing the position.
The working principle is as follows: when the unmanned aerial vehicle body 6 needs to land, the fixed disk 55 is manually pressed, the second compression spring 50 is in a compressed state, so that the movable plate 45 drives the first toothed plate 52 and the second toothed plate 46 to move, one end of the second toothed plate 46 moves out of the second limit ring 44, the first toothed plate 52 drives the second toothed plate 53 and the movable frame 47 to move through the third gear 51, so that the third toothed plate 48 is separated from the second slot 43, the fixing of the fixed block 42 and the box cover 2 is released, the box cover 2 is manually driven to move upwards, the positioning ring 56 is separated from the positioning groove 57, the box cover 2 can be opened, the second identification label plate 4 and the first identification label plate 3 on the box cover 2 are manually driven to be at the same horizontal position, the fixed block 42 is inserted into the second limit ring 44, the fixed disk 55 is released, the second compression spring 50 drives the fixed disk 55 to move, so that the second connecting column 54 drives the movable plate 45 and the second toothed plate 46 to move, one end of the second inserting plate 46 is inserted into the second inserting groove 43, so that the case cover 2 is fixed relative to the case body 1 at this time, the motor 37 drives the ring gear 39 and the rotating ring 40 to rotate relative to the mounting plate 7, and further the rotating plate 17 rotates, so that the camera 10 rotates around the axis of the rotating frame 12, during the rotation of the rotating plate 17, the first gear 18 rolls on the arc-shaped toothed plate 22, so that the slider 20 and the lead screw 15 rotate synchronously, the lead screw 15 drives the threaded sleeve 16 and the movable seat 14 to move upwards, at this time, the first compression spring 35 is in a compressed state, the first compression spring 35 pushes the second fixing plate 34 and the first connecting column 13 to move, the first connecting column 13 drives the camera 10 to move close to the movable seat 14, so that the camera 10 and the first supporting part 11 tilt, during the rotation of the camera 10, the tilt angle of the camera 10 changes, so that the camera 10 automatically adjusts the position, and increases the image acquisition range, when the camera 10 acquires images of the box body 1 and the box cover 2, the unmanned aerial vehicle body 6 moves towards the box body 1 and the box cover 2, when the camera 10 acquires a visual label with the largest size, the position of the visual label in the image is obtained through image processing, the relative position of the camera 10 and the visual label is obtained, so that the current position of the unmanned aerial vehicle body 6 is determined, after the current position of the unmanned aerial vehicle body 6 is determined, the unmanned aerial vehicle body 6 moves towards the visual label, the speed of the unmanned aerial vehicle body 6 is controlled to be reduced to a preset speed value corresponding to the visual label, in the falling process of the unmanned aerial vehicle body 6, when the camera 10 acquires a visual label with the next size, the current position of the unmanned aerial vehicle body 6 is determined again, the unmanned aerial vehicle body 6 moves towards the visual label, and the speed of the unmanned aerial vehicle body 6 is controlled to be reduced to a preset speed value corresponding to the visual label, repeating the process until the visual label with the minimum size is identified, wherein the height of the unmanned aerial vehicle body 6 is reduced to the expected landing height, the speed of the unmanned aerial vehicle body 6 is reduced to a preset value, so that the unmanned aerial vehicle body 6 can be controlled to land stably, the unmanned aerial vehicle body 6 does not need to receive signals sent by a ground vision system, the unmanned aerial vehicle body 6 can land accurately towards the landing position by self, meanwhile, the speed is reduced automatically, so that the unmanned aerial vehicle body 6 lands stably and accurately to the preset position, when the camera 10 rotates around the axis of the rotating frame 12 and the inclination speed of the first supporting part 11 needs to be changed, the bolt 32 is driven to rotate by a manual power, so that the bolt 32 is separated from the mounting ring 31 and the mounting plate 7, the fixed relation between the control box 8 and the mounting plate 7 is released, the control box 8 is driven by the manual power to move downwards, so that the supporting plate 28 drives the limiting block 29 to be separated from the first limiting ring 30, the disassembly of the control box 8 is completed, the limitation on the positions of the first limit ring 30 and the arc-shaped seat 21 is removed, the two arc-shaped seats 21 are driven to move in the manual horizontal direction, so that the first inserting plate 26 is separated from the first inserting groove 27, the first gear 18 drives the sliding block 20 to slide out of the first sliding groove 19, the disassembly of the first gear 18 and the arc-shaped toothed plate 22 can be completed, the first gear 18 and the arc-shaped toothed plate 22 with different transmission ratios can be replaced conveniently, the rotating speed of the screw rod 15 is changed when the rotating plate 17 rotates around the rotating frame 12, the upward movement speed of the threaded sleeve 16 and the movable seat 14 is adjusted, and when the rotation speed of the camera 10 around the axis of the rotating frame 12 is constant, the inclination speed of the first supporting part 11 can be controlled according to actual requirements conveniently, and the position of the camera 10 can be adjusted conveniently.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to those examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
The present invention is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalents, improvements, and the like that may be made without departing from the spirit or scope of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle single operation equipment of accurate landing, including box (1) and unmanned aerial vehicle body (6), a serial communication port, be equipped with case lid (2) on box (1), box (1) and case lid (2) are connected through clamping mechanism, be equipped with first discernment label board (3) that are used for pasting the vision label on box (1), be equipped with second discernment label board (4) that are used for pasting the vision label on case lid (2), it has a plurality of visual labels that differ in size to paste on first discernment label board (3) and second discernment label board (4), the bottom fixedly connected with mounting panel (7) of first discernment mark unmanned aerial vehicle body (6), the bottom fixedly connected with control box (8) of mounting panel (7), be equipped with camera (10) that are used for gathering visual label image information in control box (8), the bottom of control box (8) is seted up through-hole (9) with camera (10) matched with, be equipped with swivel mount (12) in control box (8), swivel mount (12) and mounting panel (7) swivelling joint, fixedly connected with first supporting part (11) on camera (10), the outside adapter (13) cover is equipped with first connecting post (11), swivel mount (13) that the swivel joint support (13), sliding seat (14) and first connecting column (13) are connected through the elasticity impeller, the top of sliding seat (14) is equipped with lead screw (15), the outside cover of lead screw (15) is equipped with thread bush (16), the bottom and the sliding seat (14) fixed connection of thread bush (16), the outside cover of lead screw (15) is equipped with rotates rotor plate (17) of connecting, be equipped with on mounting panel (7) and be used for driving rotor plate (17) around the rotatory actuating mechanism of swivel mount (12), be equipped with the gear drive subassembly that is used for driving lead screw (15) rotation on mounting panel (7).
2. The single operation of unmanned aerial vehicle of accurate landing equipment according to claim 1, characterized in that, gear drive assembly is including setting up in first gear (18) on lead screw (15) top, first spout (19) have been seted up on the top of lead screw (15), fixedly connected with and first spout (19) matched with slider (20) on first gear (18), the bottom of mounting panel (7) is equipped with two arc seats (21), the bottom fixedly connected with arc pinion rack (22) of arc seat (21), annular mount pad is constituteed to two arc seats (21), the ring gear that meshes mutually with first gear (18) is constituteed to two arc pinion racks (22), second spout (23) have been seted up on arc seat (21), fixedly connected with and second spout (23) matched with sliding column (24) on first gear (18), arc seat (21) and mounting panel (7) are through connecting.
3. The single operation of unmanned aerial vehicle equipment of accurate landing according to claim 2, characterized in that, the mounting includes two first fixed plates (25) that set up in annular mount pad, first fixed plate (25) and mounting panel (7) fixed connection, fixedly connected with first picture peg (26) on first fixed plate (25), arc seat (21) is last to be seted up with first picture peg (26) matched with first slot (27), one side that two arc seats (21) kept away from mutually all is equipped with stopper (29), the outside cover of stopper (29) is equipped with first spacing ring (30), first spacing ring (30) and arc seat (21) fixed connection, the bottom fixedly connected with backup pad (28) of stopper (29), the one end of backup pad (28) and the inner wall fixed connection of control box (8), the outside cover of control box (8) is equipped with fixed connection's collar (31), collar (31) and mounting panel (7) are connected through a plurality of bolts (32), design through collar (31) and bolt (32), so that control box (8) and mounting panel (7) are connected.
4. An unmanned aerial vehicle single-person working equipment with accurate landing according to claim 1, wherein the elastic pushing member comprises a second supporting portion (33) fixedly mounted on the movable seat (14), one end, far away from the camera (10), of the first connecting column (13) is fixedly connected with a second fixing plate (34), and the second supporting portion (33) and the second fixing plate (34) are connected through a first compression spring (35).
5. The unmanned aerial vehicle single-person operation equipment of accurate landing of claim 1, wherein the actuating mechanism includes a motor base (36) fixedly mounted at the bottom of the mounting plate (7), a motor (37) is fixedly connected to the motor base (36), a second gear (38) is fixedly connected to an output end of the motor (37), a gear ring (39) is fixedly connected to the rotating plate (17), the second gear (38) is meshed with the gear ring (39), a fixing ring (41) is fixedly connected to the mounting plate (7), a rotating ring (40) is sleeved outside the fixing ring (41), the rotating ring (40) is connected with the fixing ring (41) through a bearing, the rotating ring (40) is fixedly connected with the gear ring (39), and the rotating centers of the rotating ring (40), the gear ring (39) and the rotating frame (12) are all consistent.
6. The unmanned aerial vehicle single-person operation equipment capable of landing accurately according to claim 1, wherein the clamping mechanism comprises a fixed block (42) fixedly mounted on the case cover (2), a second slot (43) is formed in the fixed block (42), a second limiting ring (44) matched with the fixed block (42) is fixedly connected to one side of the case body (1), a movable plate (45) is arranged in the case body (1), a second inserting plate (46) is fixedly connected to the movable plate (45), one end of the second inserting plate (46) penetrates through the case body (1), one end of the second inserting plate (46) extends into the second limiting ring (44), an elastic pressing device matched with the movable plate (45) is arranged on the case body (1), a movable frame (47) is arranged on one side of the case body (1), a third inserting plate (48) positioned above the case body (1) is fixedly connected to the movable frame (47), the second inserting plate (46) and the third inserting plate (48) are both adapted to the second slot (43), the movable plate (45) and the movable frame (47) are connected to each other through a transmission piece, a positioning ring (56) is fixedly connected to the positioning groove (57) formed in the bottom of the case body (1), and a positioning groove (5) is formed in the fixed support (56).
7. The unmanned aerial vehicle single-person operation equipment with accurate landing according to claim 6, wherein the transmission member comprises two first toothed plates (52) fixedly mounted on one side of the movable plate (45), one sides of the two first toothed plates (52) far away from each other are respectively provided with a rotating shaft (49), the bottom end of the rotating shaft (49) is connected with the box body (1) through a bearing, the top end of the rotating shaft (49) is fixedly connected with a third gear (51) meshed with the first toothed plates (52), one side of the third gear (51) far away from the first toothed plates (52) is provided with a second toothed plate (53), one end of the second toothed plate (53) penetrates through the box body (1), and one end of the second toothed plate (53) is fixedly connected with the movable frame (47).
8. Single operation of unmanned aerial vehicle equipment of accurate landing according to claim 6, characterized in that, the elasticity presser includes second spliced pole (54) of fixed mounting in fly leaf (45) one side, the one end of second spliced pole (54) runs through box (1), and the one end of second spliced pole (54) with be located box (1) one side fixed connection fixed disk (55), the outside cover of second spliced pole (54) is equipped with second compression spring (50), the both ends of second compression spring (50) respectively with box (1) and fixed disk (55) fixed connection.
9. The use method of the unmanned aerial vehicle single-person operation equipment for precise landing according to claim 1, which comprises the following steps:
the method comprises the following steps: when the unmanned aerial vehicle body (6) needs to land, the box cover (2) is opened, the second identification label plate (4) and the first identification label plate (3) on the box cover (2) are manually driven to be in the same horizontal position, and the box cover (2) is fixed relative to the box body (1) at the moment through the design of the clamping mechanism;
step two: the driving mechanism drives the rotating plate (17) to rotate so as to enable the camera (10) to rotate around the axis of the rotating frame (12), and in the rotating process of the rotating plate (17), the screw rod (15) is driven to synchronously rotate through the gear transmission assembly so that the screw rod (15) drives the threaded sleeve (16) and the movable seat (14) to move upwards;
step three: when the movable seat (14) moves upwards, the elastic pushing piece pushes the first connecting column (13) to move, the first connecting column (13) drives the camera (10) to move close to the movable seat (14) so as to enable the camera (10) and the first supporting part (11) to incline, and in the rotating process of the camera (10), the inclination angle of the camera (10) is changed, so that the camera (10) automatically adjusts the position, and the image acquisition range is enlarged;
step four: when the camera (10) collects images of the box body (1) and the box cover (2), the unmanned aerial vehicle body (6) moves towards the box body (1) and the box cover (2), when the camera (10) collects a visual label with the maximum size, the position of the visual label in the image is obtained through image processing, the relative position of the camera (10) and the visual label is obtained, and therefore the current position of the unmanned aerial vehicle body (6) is determined;
step five: after the current position of the unmanned aerial vehicle body (6) is determined, the unmanned aerial vehicle body (6) moves towards the visual tag, and the speed of the unmanned aerial vehicle body (6) is controlled to be reduced to a preset speed value corresponding to the visual tag;
step six: in the falling process of the unmanned aerial vehicle body (6), when the camera (10) acquires the visual label with the next size, the current position of the unmanned aerial vehicle body (6) is determined again, the unmanned aerial vehicle body (6) moves towards the visual label, the speed of the unmanned aerial vehicle body (6) is controlled to fall to the preset speed value corresponding to the visual label, and the step is repeated until the camera (10) identifies the visual label with the minimum size;
step seven: the vision label of minimum size is discerned in camera (10), and unmanned aerial vehicle body (6) height has descended to the descending height of expectation this moment, and the speed of unmanned aerial vehicle body (6) reduces the default, and unmanned aerial vehicle body (6) steady descend to predetermineeing the position.
10. Use method of a precision landing unmanned aerial vehicle single operator equipment according to claim 9, wherein the first identification tag board (3) and the second identification tag board (4) are both KT boards.
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