WO2019174211A1

WO2019174211A1 - Positioning mechanism and unmanned aerial vehicle lifting platform

Info

Publication number: WO2019174211A1
Application number: PCT/CN2018/106005
Authority: WO
Inventors: 张顺; 钟志勇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-03-14
Filing date: 2018-09-17
Publication date: 2019-09-19
Also published as: CN110418699A; CN208344548U

Abstract

A positioning mechanism, comprising: a positioning assembly (2) and a support plate (1) mounted on the positioning assembly (2); a positioning region (11) is provided on the support plate (1), the positioning region (11) is used for placing an apparatus to be positioned; and the positioning assembly (2) is used for partially protruding above the support plate (1) when positioning the apparatus to be positioned, the part of the positioning assembly (2) protruding above the support plate (1) encloses the apparatus to be positioned in the positioning region (11) and move toward or away from the apparatus to be positioned, so as to move the apparatus to be positioned to a specific position in the positioning region (11). The apparatus to be positioned above is mainly an unmanned aerial vehicle, the positioning mechanism has a high positioning accuracy for the landing positioning of the unmanned aerial vehicle, without involving manual intervention in the positioning process, is applicable to the unmanned aerial vehicles of multiple different types, and has wide applicability.

Description

一种定位机构及无人机起降平台Positioning mechanism and drone landing platform

技术领域Technical field

本发明实施例涉及无人机定位技术领域，具体涉及一种定位机构及起降平台。Embodiments of the present invention relate to the field of unmanned aerial vehicle positioning technologies, and in particular, to a positioning mechanism and a landing platform.

背景技术Background technique

无人机的落点定位技术在无人机回收、续航、搭载设备更换等方面有重要应用，当下主流的无人机落点定位方案主要通过无人机飞行控制程序与视觉设备(如，摄像机)配合使无人机进入落点位置，这种无人机落点定位方式存在以下缺陷：The drone positioning technology of drones has important applications in the recovery, endurance, and equipment replacement of drones. The current mainstream drone positioning scheme mainly uses drone flight control programs and visual equipment (eg, cameras). With the cooperation of the drone into the location of the drop point, this type of drone positioning method has the following defects:

1、无人机的落点定位精度不高，无人机的落点和起飞点难以保证在同一位置；1. The positioning accuracy of the landing point of the drone is not high, and the drop point and take-off point of the drone are difficult to guarantee at the same position;

2、通过改进无人机飞行控制程序来提高无人机点的落点定位精度难度较大；2. It is difficult to improve the accuracy of the landing point of the drone point by improving the flight control program of the drone;

3、难以兼顾多种不同机型的无人机落点定位的精度要求，需要介入人工操作对无人机落点位置进行校正，人工校正无人机落点的方式容易导致无人机多次起飞的起飞点都不相同，不利于无人机的回收。3. It is difficult to balance the accuracy requirements of the positioning of the drones of different models. It is necessary to intervene manually to correct the position of the drones. Manually correcting the way of landing of the drones can easily lead to drones. The takeoff points are different, which is not conducive to the recycling of drones.

所以，亟待提供一种无人机精确落点定位方案。Therefore, it is urgent to provide a drone precise positioning scheme.

发明内容Summary of the invention

为解决上述问题，本发明实施例提供了一种无人机落点定位精度高，定位过程无需人工干预，适用性广的定位机构及无人机起降平台。In order to solve the above problems, an embodiment of the present invention provides a positioning mechanism with a high accuracy of landing position of a drone, a positioning mechanism without manual intervention, and a wide applicability, and a landing platform for the drone.

本发明实施例所采用的技术方案为：The technical solution adopted by the embodiment of the present invention is:

一方面，本发明实施例提供了一种定位机构，包括：定位组件和安装在所述定位组件上的载板；In one aspect, an embodiment of the present invention provides a positioning mechanism, including: a positioning component and a carrier plate mounted on the positioning component;

所述载板上设有定位区，所述定位区用于停放待定位装置；以及The carrier board is provided with a positioning area for parking the device to be positioned;

所述定位组件用于在对所述待定位装置进行定位时部分凸出于所述载板上方，所述定位组件凸出于所述载板上方的部分环绕于所述定位区中的待定位装置并朝向或背离所述待定位装置运动，以将所述待定位装置移动至所述定位区内的指定位置。The positioning component is configured to partially protrude above the carrier when positioning the device to be positioned, and the positioning component protrudes from a portion above the carrier to be positioned in the positioning area to be positioned The device moves toward or away from the device to be positioned to move the device to be positioned to a designated location within the location area.

进一步的，所述定位组件包括至少两对定位件；Further, the positioning component includes at least two pairs of positioning members;

其中，每对定位件由两个运动方向相反的定位件组成；Wherein each pair of positioning members is composed of two positioning members having opposite movement directions;

所述至少两对定位件均可朝向或背离所述定位区运动，以移动所述定位区内的待定位装置至所述指定位置。The at least two pairs of positioning members are movable toward or away from the positioning area to move the device to be positioned in the positioning area to the designated position.

进一步的，所述载板上设有与所述定位件相配合的定位槽，所述定位件可至少部分穿过所述定位槽。Further, the carrier board is provided with a positioning slot that cooperates with the positioning component, and the positioning component can at least partially pass through the positioning slot.

进一步的，所述定位件包括顶推部和带动所述顶推部移动的传动部，所述顶推部可穿过所述定位槽凸出于所述载板上方，所述顶推部沿所述定位槽移动。Further, the positioning member includes a pushing portion and a driving portion for driving the pushing portion, and the pushing portion can protrude above the carrier through the positioning groove, and the pushing portion is along The positioning slot moves.

进一步的，所述定位组件还包括安装在所述载板下方的第一驱动机构，所述至少两对定位件设置在所述第一驱动机构上，并在所述第一驱动机构驱动下朝向或者背离所述待定位装置运动。Further, the positioning assembly further includes a first driving mechanism mounted under the carrier, the at least two pairs of positioning members are disposed on the first driving mechanism, and are driven by the first driving mechanism Or moving away from the device to be positioned.

进一步的，所述定位组件还包括基座，所述基座设置在所述载板下方；Further, the positioning assembly further includes a base disposed under the carrier board;

所述第一驱动机构包括第一驱动件和驱动件安装座，所述驱动件安装座安装在所述基座下方，所述第一驱动件安装在所述驱动件安装座上；The first driving mechanism includes a first driving member and a driving member mounting seat, the driving member mounting seat is mounted under the base, and the first driving member is mounted on the driving member mounting seat;

所述基座上还设有通孔，所述第一驱动件的驱动轴穿过所述通孔伸出至所述基座上方。A through hole is further disposed on the base, and a driving shaft of the first driving member protrudes through the through hole to above the base.

进一步的，所述基座上设有至少两个导向部，所述至少两个导向部分层设置，每对所述定位件在对应的一个所述导向部内运动。Further, the base is provided with at least two guiding portions, and the at least two guiding portion layers are disposed, and each pair of the positioning members moves in a corresponding one of the guiding portions.

进一步的，所述驱动件安装座内设有用于限制所述第一驱动件的位置的限位部，以使所述第一驱动件的驱动轴穿过所述通孔伸出至所述基座上方。Further, a limiting portion for limiting the position of the first driving member is disposed in the driving member mounting seat, so that a driving shaft of the first driving member protrudes through the through hole to the base Above the seat.

进一步的，所述第一驱动件的驱动轴上套接有齿轮；Further, a gear is sleeved on a driving shaft of the first driving member;

所述齿轮位于所述通孔上方，所述定位件上设有与所述齿轮相配合的齿槽，所述第一驱动机构通过所述齿轮驱动所述定位件运动。The gear is located above the through hole, and the positioning member is provided with a tooth groove that cooperates with the gear, and the first driving mechanism drives the positioning member to move by the gear.

进一步的，所述定位组件还包括第二驱动机构；Further, the positioning component further includes a second driving mechanism;

所述第二驱动机构包括第二驱动件和定位柱；The second driving mechanism includes a second driving member and a positioning post;

所述定位柱与所述载板固定连接，所述基座上设有定位孔，所述定位柱穿过所述定位孔，所述第二驱动件驱动所述基座沿所述定位柱朝向或背离所述载板运动。The positioning post is fixedly connected to the carrier plate, the base is provided with a positioning hole, the positioning post passes through the positioning hole, and the second driving member drives the base to face along the positioning column Or moving away from the carrier.

另一方面，本发明实施例还提供一种包括上述定位机构的无人机起降平台。In another aspect, an embodiment of the present invention further provides a drone landing platform including the positioning mechanism.

相比于现有技术，本发明实施例提供的定位机构及无人机起降平台具有以下有益效果：Compared with the prior art, the positioning mechanism and the drone landing platform provided by the embodiments of the present invention have the following beneficial effects:

1、无人机在载板上降落后，通过定位组件凸出于载板上方的部分从无人机四周向无人机运动，将无人机移动到载板定位区内的指定位置，实现了无人机的精确落点定位，且定位组件对无人机进行定位的过程无需人工调整。1. After the UAV descends on the carrier board, the UAV moves from the periphery of the UAV to the UAV through the positioning component, and moves the UAV to the designated position in the positioning area of the carrier. The precise positioning of the drone is positioned, and the positioning component does not need to be manually adjusted to locate the drone.

2、载板的规格可依无人机的型号设计，并且不同规格的载板能配合于同一定位组件，更换成对应规格的载板即可适用于相应型号的无人机，定位机构的适用性广，可兼容多种型号的无人机落点定位。2. The specifications of the carrier board can be designed according to the model of the drone, and the carrier boards of different specifications can be matched with the same positioning component. The carrier board of the corresponding specification can be replaced with the corresponding type of drone, and the positioning mechanism is applicable. Wide range of features, compatible with a variety of models of drone positioning.

3、就同一载板而言，定位组件能将降落在载板上的无人机始终定位至定位区内的同一指定位置，严格而精确的保证了无人机每次起飞时的起飞点的位置相同。3. For the same carrier board, the positioning component can always position the drone that landed on the carrier board to the same designated position in the positioning area, strictly and accurately guarantee the take-off point of the drone every time it takes off. The location is the same.

附图说明DRAWINGS

图1为本发明实施例提供的定位机构的整体结构图；1 is an overall structural diagram of a positioning mechanism according to an embodiment of the present invention;

图2为本发明实施例提供的定位组件在载板上方的运动示意图；2 is a schematic diagram of movement of a positioning component above a carrier board according to an embodiment of the present invention;

图3为本发明实施例提供的定位组件整体结构图；3 is an overall structural diagram of a positioning component according to an embodiment of the present invention;

图4为本发明实施例提供的三种定位槽设置方式的示意图；4 is a schematic diagram of three positioning slots provided according to an embodiment of the present invention;

图5为本发明实施例提供的定位件的设置位置示意图；FIG. 5 is a schematic diagram of a setting position of a positioning component according to an embodiment of the present invention; FIG.

图6为本发明实施例提供的基座的结构图；FIG. 6 is a structural diagram of a susceptor according to an embodiment of the present invention; FIG.

图7为本发明实施例提供的第一驱动机构与定位件、基座的配合示意图；7 is a schematic diagram of cooperation between a first driving mechanism, a positioning member, and a base according to an embodiment of the present invention;

图8为本发明实施例提供的第二驱动机构的结构图。FIG. 8 is a structural diagram of a second driving mechanism according to an embodiment of the present invention.

附图标记说明：Description of the reference signs:

1-载板，1-carrier board,

11-定位区，11-positioning area,

12-定位槽，12-positioning slot,

121-第一槽区，121-first trough area,

122-第二槽区；122-second trough area;

2-定位组件，2-positioning component,

21-定位件，21-positioning parts,

211-顶推部，211-Pushing,

212-传动部，212-drive department,

2121-齿槽，2121- cogging,

22-第一驱动件，22-first drive member,

221-第一驱动件，221-first drive,

2211-驱动轴，2211-drive shaft,

222-驱动件安装座，222-driver mount,

223-齿轮，223-gear,

23-基座，23-base,

231-通孔，231-through hole,

232-导向部，232-guide,

233-定位孔，233-positioning hole,

24-第二驱动机构，24-second drive mechanism,

241-第二驱动件，241-second drive member,

242-定位柱，242-positioning column,

3-支撑组件，3-support assembly,

31-支撑板，31-support plate,

32-支撑柱。32-support column.

具体实施方式detailed description

为了便于理解本发明实施例，下面将参照相关附图对本发明实施例进行全面描述。附图中给出了本发明实施例的较佳实施例。但是，本发明实施例可以有许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供给这些实施例的目的是使对本发明实施例的公开内容的理解更加透彻全面。In order to facilitate the understanding of the embodiments of the present invention, the embodiments of the present invention will be fully described with reference to the accompanying drawings. Preferred embodiments of the embodiments of the invention are set forth in the accompanying drawings. However, embodiments of the invention may be embodied in many different forms and are not limited to the embodiments described herein. Rather, the embodiments are provided so that the understanding of the disclosure of the embodiments of the invention will be more thorough.

除非另有定义，本文所使用的技术和科学术语与属于本发明实施例的技术领域的技术人员通常理解的含义相同。本文中在本发明实施例的说明书中所使用的属于是为了描述具体的实施例的目的，不是旨在于限制本发明实施例。The technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The descriptions of the embodiments of the present invention are used herein for the purpose of describing the specific embodiments, and are not intended to limit the embodiments of the present invention.

参阅图1，本发明实施例提供了一种定位机构，包括：定位组件2和安装在定位组件上的载板1；载板1上设有定位区11，定位区11用于停放待定位装置；以及定位组件2用于在对待定位装置进行定位时部分凸出于载板1上方，定位组件2凸出于载板上方的部分环绕于定位区11中的待定位装置并朝向或背离待定位装置运动，以将待定位装置移动至定位区11内的指定位置。Referring to FIG. 1 , an embodiment of the present invention provides a positioning mechanism, including: a positioning component 2 and a carrier board 1 mounted on the positioning component; the carrier board 1 is provided with a positioning area 11 for parking the device to be positioned And the positioning component 2 is used to partially protrude above the carrier 1 when positioning the device to be positioned, and the portion of the positioning component 2 protruding above the carrier surrounds the device to be positioned in the positioning area 11 and faces or deviates from the to-be-positioned The device moves to move the device to be positioned to a designated location within the location area 11.

在本实施例中，待定位装置为无人机；载板1用于无人机的降落，定位组件2用于对降落在载板1定位区11内的无人机进行定位，其目的是将无人机定位至指定位置；该指定位置通常为无人机起飞时的起飞位置或者需要无人机进行精确降落的位置。比如，无人机完成一段飞行计划后需要对无人机进行充电以准备下次飞行，无人机需要定位至特定的充电位置与充电接口连接，此时充电位置即为上述的指定位置；根据无人机型号不同，无人机底座的结构特征不一，指定位置可以是一个指定点也可以是定位区11内的一个指定区域，比如无人机底座为一倒锥体底座，那么根据锥体存在尖端的特征，指定位置对应设定为指定点，对无人机定位时将无人机的锥体底座尖端定位至指定点比将无人机的锥体底座尖端定位至指定区域内的精确性更高；再比如，无人机底座的底端端面为宽平面，此时将指定位置设定为指定区域更利于无人机的精确定位。In this embodiment, the device to be positioned is a drone; the carrier 1 is used for landing of the drone, and the positioning component 2 is used for positioning the drone that is dropped in the positioning area 11 of the carrier 1 for the purpose of Position the drone to a specified location; this is usually the takeoff position when the drone takes off or the location where the drone needs to be accurately landed. For example, after the drone completes a flight plan, it needs to charge the drone to prepare for the next flight. The drone needs to be positioned to a specific charging position and connected to the charging interface. At this time, the charging position is the above designated position; The drone model is different, the structure of the drone base is different, and the designated position may be a designated point or a designated area in the positioning area 11, for example, the drone base is an inverted cone base, then The cone has a tip feature, and the specified position is correspondingly set to a designated point. When positioning the drone, positioning the tip of the cone base of the drone to a specified point is to position the tip of the cone base of the drone into the designated area. The accuracy is higher; for example, the bottom end of the UAV base is a wide plane, and setting the designated position to the designated area is more advantageous for the precise positioning of the drone.

进一步参阅图2，图2中所示的各机械件结构均只作为象征性的示意作用，并非为解释说明各机械件的实际结构的目的。在本发明实施例中，定位组件2对降落在载板1定位区11内的无人机进行定位的过程为：定位组件2对无人机进行定位时能部分凸出于载板上方，定位组件2凸出于载板上方的部分将朝向无人机运动，将无人机移动到定位区11内的指定位置111处；其中定位组件2凸出于载板上方的部分环绕于定位区内的无人机，作为本实施例的一种优选方案，定位组件2凸出于载板上方的部分至少从相互垂直的两个方向上朝向或背离无人机运动(比如，图2中箭头所示的运动方向为朝向无人机运动的方向)；因为无人机降落在定位区11内的位置难以预先确定，如果无人机降落在定位区11内远偏离定位区11中心的位置上，那么通过定位组件2只从两个或多个不相垂直的方向对无人机进行定位极有可能存在定位死角，不能精确将无人机移动至指定位置111，本优选方案有效规避了定位组件2对无人机进行定位存在定位死角的问题，保障了无人机在定位区11内的精确定位。Referring further to Figure 2, the various mechanical components shown in Figure 2 are for illustrative purposes only and are not intended to illustrate the actual construction of the various mechanical components. In the embodiment of the present invention, the positioning component 2 positions the unmanned aerial vehicle that is lowered in the positioning area 11 of the carrier board 1 when the positioning component 2 can partially protrude from the upper side of the carrier board when positioning the unmanned aerial vehicle. The portion of the assembly 2 that protrudes above the carrier will move toward the drone, moving the drone to a designated location 111 within the location area 11; wherein the portion of the positioning assembly 2 that protrudes above the carrier surrounds the location area As a preferred embodiment of the present embodiment, the positioning component 2 protrudes from the upper portion of the carrier plate toward or away from the drone movement in at least two directions perpendicular to each other (for example, the arrow in FIG. 2) The direction of motion is the direction toward the movement of the drone); since the position where the drone landed in the positioning area 11 is difficult to predetermine, if the drone landed in the positioning area 11 far away from the center of the positioning area 11, Then, the positioning component 2 can only locate the drone from two or more non-vertical directions, and there is a possibility that the positioning dead angle exists, and the drone cannot be accurately moved to the designated position 111. The preferred solution effectively circumvents the positioning component. 2 UAV problems locating dead positioning to ensure accurate positioning of the drone in the positioning area 11.

本实施例提供的定位组件2对降落在载板1上的无人机进行定位的方案：一方面，通过定位组件2对无人机进行环绕式的移动定位，这种定位方式提高了无人机落点定位精确性，规避了无人机落点定位中的定位死角问题；另一方面，载板1的尺寸规格可依无人机的尺寸规格进行设计，并且不同尺寸规格的载板1能配合于同一定位组件2，定位方案的适用性广，可兼容多种型号的无人机的落点定位。The positioning component 2 provided by the embodiment provides a positioning method for the unmanned aerial vehicle landing on the carrier board 1. On the one hand, the positioning component 2 performs a wraparound mobile positioning on the unmanned aerial vehicle, and the positioning method improves the unmanned one. The positioning accuracy of the machine landing point avoids the problem of positioning dead angle in the positioning of the drone; on the other hand, the size specification of the carrier board 1 can be designed according to the size specifications of the drone, and the carrier board 1 of different sizes and specifications Can be matched with the same positioning component 2, the positioning scheme has wide applicability, and can be compatible with the positioning of various types of drones.

进一步参阅图3，在本发明实施例中，定位组件2包括至少两对定位件21；其中，每对定位件21由两个运动方向相反的定位件21组成；至少两对定位件21均可朝向或背离定位区11运动，以移动定位区11内的待定位装置至指定位置111。定位件21用于对无人机定位时凸出于载板1上方并向载板 1上降落的无人机运动，以将无人机移动至定位区11内的指定位置111。With reference to FIG. 3, in the embodiment of the present invention, the positioning component 2 includes at least two pairs of positioning members 21; wherein each pair of positioning members 21 is composed of two positioning members 21 with opposite movement directions; at least two pairs of positioning members 21 can be Moving toward or away from the positioning area 11 to move the device to be positioned in the positioning area 11 to the designated position 111. The positioning member 21 is for moving the drone that protrudes above the carrier 1 and descends onto the carrier 1 when positioning the drone to move the drone to the designated position 111 in the positioning area 11.

在本实施例中，定位件21为定位组件2中可凸出于载板1上方或与载板1持平的部分，定位件21可做朝向或者背离定位区11的运动；当定位件21朝向定位区11运动时，定位件21将移动定位区11内的无人机至指定位置111，无人机定位至指定位置111后，无人机落点定位即为完成；当定位件21背离定位区11运动时将释放完成定位后的无人机，以便无人机再次起飞。In this embodiment, the positioning member 21 is a portion of the positioning assembly 2 that can protrude above or with the carrier board 1. The positioning member 21 can be moved toward or away from the positioning area 11; when the positioning member 21 is oriented When the positioning area 11 is moved, the positioning member 21 will move the drone in the positioning area 11 to the designated position 111, and after the drone is positioned to the designated position 111, the drone positioning is completed; when the positioning member 21 is away from the positioning When the zone 11 is in motion, the unmanned drone that has been positioned will be released so that the drone can take off again.

参阅图1和图3，在本发明实施例中，载板1上设有与定位件21相配合的定位槽12，定位件21可至少部分穿过定位槽12。定位件21包括顶推部211和带动顶推部移动的传动部212，顶推部211可穿过定位槽12凸出于载板1上方，传动部212沿定位槽12带动顶推部211移动。其中，定位槽12用于定位件21的顶推部211的回收和导向：当定位件21处于非定位状态时，定位件21的顶推部211回收至定位槽12内或定位槽12下方，顶推部211顶端不凸出于载板1上方，便于无人机在载板1上降落或者在进行无人机落定位后无人机从载板1上再次起飞；当定位件21处于定位状态时，定位件21的顶推部211通过定位槽12伸出至载板1上方，并沿定位槽12朝向定位区11移动将无人机定位至定位区11内的指定位置，定位槽12作为定位件21的顶推部211的运动导向作用。顶推部211用于将无人机顶推至定位区11内的指定位置上，传动部212用于在外动力源驱动下移动并带动顶推部211移动。Referring to FIG. 1 and FIG. 3, in the embodiment of the present invention, the carrier board 1 is provided with a positioning slot 12 that cooperates with the positioning member 21, and the positioning member 21 can at least partially pass through the positioning slot 12. The positioning member 21 includes a pushing portion 211 and a driving portion 212 for driving the pushing portion. The pushing portion 211 can protrude above the carrier 1 through the positioning groove 12, and the driving portion 212 moves the pushing portion 211 along the positioning groove 12. . The positioning slot 12 is used for the recovery and guiding of the pushing portion 211 of the positioning member 21: when the positioning member 21 is in the non-positioning state, the pushing portion 211 of the positioning member 21 is recovered into the positioning slot 12 or below the positioning slot 12, The top end of the pushing portion 211 does not protrude above the carrier board 1 to facilitate the drone to land on the carrier board 1 or the drone takes off again from the carrier board 1 after the unmanned aerial vehicle is positioned; when the positioning member 21 is positioned In the state, the pushing portion 211 of the positioning member 21 protrudes above the carrier 1 through the positioning slot 12, and moves along the positioning slot 12 toward the positioning area 11 to position the drone to a specified position in the positioning area 11, the positioning slot 12 As the motion guiding action of the pushing portion 211 of the positioning member 21. The pushing portion 211 is used for pushing the drone to a specified position in the positioning area 11, and the driving portion 212 is configured to move under the driving of the external power source and drive the pushing portion 211 to move.

在一些实施例中，所述顶推部211朝向定位区11的一端还设有缓冲件(图未示)，顶推部211朝向定位区11内的无人机运动时，顶推部211上只有缓冲件与无人机直接接触，防止顶推部211损坏或刮花无人机。在本发明实施例的其他实施例中，一方面，根据不同的无人机的型号，顶推部211与无人机接触的一端端面可设计为曲面或者平面以与无人机表面形状相适配，避免顶推部211顶推无人机时出现错位。另一方面，顶推部211与无人机相接触的一端端面大小也可根据无人机尺寸大小设计，以满足不同尺寸大小的无人机落点定位需求。In some embodiments, the pushing portion 211 is further provided with a buffering member (not shown) toward one end of the positioning portion 11 . When the pushing portion 211 is moved toward the drone in the positioning region 11 , the pushing portion 211 is moved. Only the cushioning member is in direct contact with the drone to prevent the jacking portion 211 from being damaged or scratching the drone. In other embodiments of the embodiments of the present invention, on the one hand, according to different models of the drone, the end face of the pushing portion 211 contacting the drone may be designed as a curved surface or a plane to conform to the surface shape of the drone. In addition, the ejector portion 211 is prevented from being misaligned when the drone is pushed. On the other hand, the size of the end face of the jacking portion 211 in contact with the drone can also be designed according to the size of the drone to meet the positioning requirements of the drones of different sizes.

作为可选方案，进一步参阅图4，定位槽12包括供顶推部211穿过的第一槽区121以及供顶推部211移动的第二槽区122。定位件21对无人机进行落点定位时，定位件21的顶推部211穿过第一槽区121伸出至载板1上方，并沿第二槽区122朝向无人机移动将无人机定位至指定位置，无人机定位完成后，定位件21的顶推部211再沿第二槽区122背离无人机移动至第一槽区121处，并向下回收至第一槽区121内或第一槽区121下方，此时顶推部211的顶端不凸出于载板1上方，以便无人机起飞。可以理解，因为顶推部211的形状有多种设计可能，所以供顶推部211穿过的第一槽区121的形状能够与不同形状大小的顶推部211相适配，使得顶推部211能够穿过第一槽区121。在另一种实施例中，通过增加第二槽区122的延伸长度来使顶推部211沿第二槽区122移动时获取更大的移动范围，使得定位件21的顶推部211拥有较大的移动范围，以方便对无人机进行定位可。第一槽区121和第二槽区122的划分使得定位槽12更易与定位件21相适配，也增加了载板1设计时的灵活性，能够满足更多机型的无人机的落点定位要求。As an alternative, referring further to FIG. 4, the positioning groove 12 includes a first groove portion 121 through which the pushing portion 211 passes and a second groove portion 122 through which the pushing portion 211 moves. When the positioning member 21 performs the positioning of the drone, the pushing portion 211 of the positioning member 21 protrudes above the carrier plate 1 through the first groove region 121, and moves toward the drone along the second groove region 122. After the positioning of the UAV is completed, the ejector portion 211 of the positioning member 21 moves along the second slot region 122 away from the drone to the first slot region 121, and is recycled to the first slot. In the area 121 or below the first trough area 121, the top end of the jacking portion 211 does not protrude above the carrier board 1 so that the drone can take off. It can be understood that, because the shape of the pushing portion 211 has various design possibilities, the shape of the first groove portion 121 through which the pushing portion 211 passes can be adapted to the pushing portions 211 of different shapes and sizes, so that the pushing portion is The 211 can pass through the first trough area 121. In another embodiment, by increasing the extension length of the second groove region 122, the ejector portion 211 is moved along the second groove region 122 to obtain a larger moving range, so that the pushing portion 211 of the positioning member 21 has a larger urging portion. Large range of movement to facilitate positioning of the drone. The division of the first groove area 121 and the second groove area 122 makes the positioning groove 12 more suitable for the positioning member 21, and also increases the flexibility of the carrier plate 1 when designing, and can satisfy the drone of more models. Point positioning requirements.

在一些实施例中，前述的载板1上的定位槽12还存在多种设置方案。比如，参阅图4示意的三种可选的定位槽12的设置方案，A部分示意的是载板1上的定位槽12均采用未划分槽区的定位槽12，B部分示意的是载板1上的定位槽12均采用划分了第一槽区121、第二槽区122的定位槽，C部分示意的是载板1上的定位槽12采用A部分和B部分方案中的定位槽12进行混合设置的方式；A部分示意的定位槽12未进行槽区划分和拓展，定位件21的活动范围有限，但节省了载板1的空间；B部分示意的定位槽12进行了槽区划分和拓展，定位件21的活动范围较大，但也占据了载板1上较多空间，C部分示意的则是将前两者方案相混合的折中方案，可依据实际无人机定位需要在这三种定位槽12设置方案中进行优选。In some embodiments, the positioning groove 12 on the carrier board 1 described above also has various arrangements. For example, referring to the arrangement of three optional positioning slots 12 illustrated in FIG. 4, part A illustrates that the positioning slots 12 on the carrier board 1 are both positioned slots 12 that are not divided into slots, and the portion B is shown as a carrier. The positioning slots 12 on the first positioning slot 12 are divided into the first slot area 121 and the second slot area 122. The C part indicates that the positioning slot 12 on the carrier board 1 adopts the positioning slot 12 in the A part and the B part. The manner of mixing and setting; the positioning groove 12 indicated in Part A is not divided and expanded by the groove, the movable range of the positioning member 21 is limited, but the space of the carrier 1 is saved; the positioning groove 12 indicated in Part B is divided by the groove. And expansion, the positioning range of the positioning member 21 is larger, but also occupies more space on the carrier board 1, and the C part indicates a compromise scheme that mixes the former two schemes, which can be based on actual drone positioning requirements. The preference is made in the arrangement of the three positioning grooves 12.

重新参阅图3，在本发明实施例中，定位组件2还包括安装在载板1下方的第一驱动机构22，至少两对定位件21设置在第一驱动机构22上，并在第一驱动机构22驱动下朝向或者背离待定位装置运动。在一种实施例中，待定位装置为无人机，第一驱动机构22用于驱动至少两对定位件21运动的动力源，第一驱动机构22可至少驱动定位件21朝向或者背离无人机运动，以将无人机移动至定位区11内的指定位置。Referring back to FIG. 3, in the embodiment of the present invention, the positioning assembly 2 further includes a first driving mechanism 22 mounted under the carrier board 1. At least two pairs of positioning members 21 are disposed on the first driving mechanism 22 and are in the first driving. The mechanism 22 is driven to move toward or away from the device to be positioned. In one embodiment, the device to be positioned is a drone, the first driving mechanism 22 is used to drive a power source for moving at least two pairs of positioning members 21, and the first driving mechanism 22 can drive at least the positioning member 21 toward or away from the unmanned person. The machine moves to move the drone to a designated location within the location area 11.

进一步参阅图5，图中a1、b1、c1、a2、b2、c2所示实心圆代表定位件21的设置位置，其中定位件21分别位于a1、a2处或者b1、b2处或者c1、 c2处时，在这些两个相对的位置点处的定位件21组成一对定位件21，组成这样一对定位件的两个定位件21在第一驱动机构22的驱动下做方向相反的运动。Referring further to FIG. 5, the solid circles shown in a1, b1, c1, a2, b2, and c2 represent the positions of the positioning members 21, wherein the positioning members 21 are located at a1, a2 or b1, b2 or c1, c2, respectively. At this time, the positioning members 21 at the two opposite position points constitute a pair of positioning members 21, and the two positioning members 21 constituting such a pair of positioning members are driven in opposite directions by the driving of the first driving mechanism 22.

在一些实施中，所述至少两对定位件21在第一驱动机构22的驱动下运动形成的运动轨迹不在同一平面内，至少两对定位件21中的一对定位件21的运动轨迹至少与其余一对定位件21的运动轨迹垂直(比如，图5中分别位于a1、a2处以及c1、c2处的两对定位件21)，以规避上述实施例中的定位件21对无人机进行定位时可能存在定位死角的问题。In some implementations, the movement trajectories formed by the movement of the at least two pairs of positioning members 21 under the driving of the first driving mechanism 22 are not in the same plane, and the movement trajectories of the pair of positioning members 21 of the at least two pairs of positioning members 21 are at least The movement trajectories of the remaining pair of positioning members 21 are vertical (for example, two pairs of positioning members 21 at a1, a2, and c1, c2 in Fig. 5) to avoid the positioning member 21 in the above embodiment. There may be a problem with positioning dead ends when positioning.

在另一些实施例中，所述至少两对定位件21在第一驱动机构22的驱动下运动形成的运动轨迹在同一平面内，至少两对定位件21的运动轨迹相交的交点位于指定位置111的正上方，且各定位件21运动时各定位件21与指定位置111的距离始终相同。本方案中的定位件21在移动降落在载板1定位区11内的无人机时，能同步而精确地将无人机移动至指定位置111内，确保了无人机落点定位的精确性。In other embodiments, the motion trajectory formed by the movement of the at least two pairs of positioning members 21 under the driving of the first driving mechanism 22 is in the same plane, and the intersection of the movement trajectories of the at least two pairs of positioning members 21 is at the designated position 111. Directly above, and the distance between each positioning member 21 and the designated position 111 is always the same when each positioning member 21 moves. The positioning member 21 in the present solution can synchronously and accurately move the drone to the designated position 111 when moving the drone falling in the positioning area 11 of the carrier board 1, thereby ensuring the accuracy of the drone positioning. Sex.

进一步参阅图6和图7，在本实施例中，定位组件2还包括基座23，基座23设置在载板下方；第一驱动机构22包括第一驱动件221和驱动件安装座222(同时参阅图3)，驱动件安装座222安装在基座23下方，第一驱动件221安装在驱动件安装座222上；基座23上还设有通孔231，第一驱动件221的驱动轴2211穿过通孔231伸出至基座23上方。基座23用于承载定位件21，第一驱动件221用于驱动定位件21在基座23上运动，驱动件安装座222用于安装和固定第一驱动件221。在本实施例中，第一驱动件221可以是电机、马达等能够提供驱动力的装置，第一驱动件221的驱动轴2211与定位件21配合以驱动定位件21运动。Referring further to FIGS. 6 and 7, in the present embodiment, the positioning assembly 2 further includes a base 23 disposed under the carrier plate; the first drive mechanism 22 includes a first drive member 221 and a driver mount 222 ( Referring to FIG. 3), the driver mounting seat 222 is mounted under the base 23, and the first driving member 221 is mounted on the driving member mounting seat 222. The base 23 is further provided with a through hole 231 for driving the first driving member 221 The shaft 2211 protrudes through the through hole 231 above the base 23. The base 23 is for carrying a positioning member 21 for driving the positioning member 21 to move on the base 23, and the driving member mounting seat 222 is for mounting and fixing the first driving member 221. In the present embodiment, the first driving member 221 may be a device capable of providing a driving force such as a motor, a motor, or the like, and the driving shaft 2211 of the first driving member 221 cooperates with the positioning member 21 to drive the positioning member 21 to move.

在本实施例中，驱动件安装座222内设有用于限制第一驱动件221的位置的限位部(图未示)，以使第一驱动件221的驱动轴2211穿过通孔231伸出至基座23上方时起到限位的作用。其中，限位部可以是位于第一驱动件221下方的一块承载板，将第一驱动件221托起至第一驱动件221的驱动轴2211穿过通孔231伸出至基座23上方的位置；限位部也可以是位于第一驱动件221两侧的限位板，从第一驱动件221两侧将第一驱动件221夹紧固定在驱动件安装座222内，使第一驱动件221的驱动轴2211穿过通孔231伸出至基座23上方；此外，限位部还可以是能使第一驱动件221的驱动轴2211穿过通孔231伸出至基座23上方的任意零部件，并不只限于本实施例中的实施方式。In this embodiment, a limiting portion (not shown) for limiting the position of the first driving member 221 is disposed in the driving member mounting seat 222 such that the driving shaft 2211 of the first driving member 221 extends through the through hole 231. When it is placed above the pedestal 23, it acts as a limit. The limiting portion may be a carrier plate located below the first driving member 221, and the driving shaft 2211 that supports the first driving member 221 to the first driving member 221 protrudes above the base 23 through the through hole 231. The positional portion may be a limiting plate on both sides of the first driving member 221, and the first driving member 221 is clamped and fixed in the driving member mounting seat 222 from both sides of the first driving member 221 to make the first driving. The driving shaft 2211 of the member 221 protrudes above the base 23 through the through hole 231. In addition, the limiting portion may further extend the driving shaft 2211 of the first driving member 221 through the through hole 231 to the base 23 Any of the components is not limited to the embodiment in the embodiment.

继续参阅图7，在本实施例中，第一驱动件221的驱动轴2211上套接有齿轮223；齿轮223位于通孔231上方，定位件21上设有与齿轮223相配合的齿槽2121，第一驱动机构22通过齿轮223驱动定位件21运动。基座23上设有至少两个导向部232，至少两个导向部232分层设置，每对定位件21在对应的一个导向部232内运动。具体的，齿槽2121设置在定位件21的传动部212上，第一驱动件221通过驱动齿轮223转动，从而带动传动部212运动，进而带动顶推部211运动。导向部232用于定位件21的运动导向，至少两个导向部232在基座23上分层设置，各导向部232位于不同的平面内，每对定位件21在第一驱动件221的驱动下在对应的一个导向部232内运动。Continuing to refer to FIG. 7 , in the embodiment, the drive shaft 2211 of the first driving member 221 is sleeved with a gear 223; the gear 223 is located above the through hole 231 , and the positioning member 21 is provided with a tooth groove 2121 that cooperates with the gear 223 . The first drive mechanism 22 drives the positioning member 21 to move through the gear 223. At least two guiding portions 232 are disposed on the base 23, and at least two guiding portions 232 are layered, and each pair of positioning members 21 moves in a corresponding one of the guiding portions 232. Specifically, the tooth groove 2121 is disposed on the transmission portion 212 of the positioning member 21, and the first driving member 221 is rotated by the driving gear 223, thereby driving the transmission portion 212 to move, thereby driving the pushing portion 211 to move. The guiding portion 232 is used for guiding the movement of the positioning member 21, and at least two guiding portions 232 are layered on the base 23, and the guiding portions 232 are located in different planes, and each pair of positioning members 21 is driven by the first driving member 221. The movement is performed in a corresponding one of the guides 232.

在一些实施例中，前述实施例中的驱动轴2211上套接有一个或多个齿轮223。当驱动轴2211上只套接有一个齿轮223时，至少两对定位件21均与该齿轮223配合，该齿轮223的高度应大于或等于分层设置的多个导向部232的高度之和，当齿轮223在第一驱动件221的驱动下转动时，带动所有的定位件21在对应的导向部232内朝向或者背离定位区11运动，以将无人机移动至定位区11内的指定位置。当驱动轴2211上套接有多个齿轮223时，可以是一个齿轮223仅与对应的一对定位件21配合，也可以是一个齿轮223对应与多对定位件21配合；若一对定位件21仅与对应的一个齿轮223配合，则相应配合的齿轮223与定位件21的齿距相同，而不同的齿轮223上的齿距可以相同也可以不相同，齿距的大小直接影响由齿轮223带动的定位件21的移动速度，定位件21的移动速度决定定位件21朝向降落在定位区11内的无人机移动时的速度；组成一对定位件的两个定位件21由同一个齿轮223带动，故组成一对定位件的两个定位件21的运动速度一致，多个不同的齿轮223的齿距可根据与它们对应配合的一对定位件21的顶推部211距离定位区11内指定位置的距离进行设计，当各对定位件21朝向定位区11内指定位置运动时的各对定位件21的顶推部211距离指定位置的距离始终一致时，能通过多对定位件21将无人机准确移动至指定位置，达到更为精确的无人机定位效果。In some embodiments, the drive shaft 2211 of the previous embodiment is sleeved with one or more gears 223. When only one gear 223 is sleeved on the driving shaft 2211, at least two pairs of positioning members 21 are engaged with the gear 223, and the height of the gear 223 should be greater than or equal to the sum of the heights of the plurality of guiding portions 232 disposed in layers. When the gear 223 is driven by the driving of the first driving member 221, all the positioning members 21 are moved in the corresponding guiding portions 232 toward or away from the positioning area 11 to move the drone to a designated position in the positioning area 11. . When a plurality of gears 223 are sleeved on the driving shaft 2211, one gear 223 can only cooperate with the corresponding pair of positioning members 21, or one gear 223 can be matched with the plurality of pairs of positioning members 21; 21 is only matched with the corresponding one of the gears 223, and the gears 223 of the corresponding gears are the same as the pitch of the positioning member 21, and the pitches of the different gears 223 may be the same or different, and the magnitude of the pitch directly affects the gear 223. The moving speed of the positioning member 21, the moving speed of the positioning member 21 determines the speed at which the positioning member 21 moves toward the drone falling in the positioning area 11; the two positioning members 21 constituting the pair of positioning members are the same gear The movement speed of the two positioning members 21 constituting a pair of positioning members is the same, and the pitch of the plurality of different gears 223 can be separated from the positioning portion 11 according to the pushing portions 211 of the pair of positioning members 21 correspondingly matched with them. The distance of the specified position is designed. When the distance between the thrusting portions 211 of the respective pairs of positioning members 21 when the pair of positioning members 21 are moved toward the designated position in the positioning portion 11 is always the same, the plurality of pairs of positioning members can be passed. 21 Move the drone accurately to the designated position for more accurate drone positioning.

在另一些实施例中，前述实施例中的导向部232为导向槽或导轨，当导向部232为导向槽时，定位件21对应为定位杆，定位杆沿着导向槽运动；当导向部232为导轨时，定位件21上设有滑块，滑块沿导轨滑动；在本发明实施例的其他实施例中，导向部232还可以是其他能与定位件21相配合对定位件21的运动进行导向的零部件，并不只限于为导向槽或导轨。In other embodiments, the guiding portion 232 in the foregoing embodiment is a guiding slot or a guide rail. When the guiding portion 232 is a guiding slot, the positioning member 21 corresponds to a positioning rod, and the positioning rod moves along the guiding slot; when the guiding portion 232 In the case of the guide rails, the sliders are disposed on the positioning member 21, and the sliders are slid along the guide rails. In other embodiments of the embodiment of the present invention, the guide portions 232 can also be configured to cooperate with the positioning members 21 to move the positioning member 21. The components to be guided are not limited to being guide grooves or guide rails.

在其他实施例中，所述第一驱动件221的驱动轴2211上设有至少两个限位台阶，至少两个限位台阶至少分别位于驱动轴2211的两端。当第一驱动件221的驱动轴2211上只套接一个齿轮223时，只需在驱动轴2211上设置两个限位台阶，齿轮223位于两个限位台阶之间；当第一驱动件221的驱动轴2211上套接有多个齿轮223时，多个齿轮223位于驱动轴2211上顶端和底端的限位台阶之间，且多个齿轮223之间至少还设有一个限位台阶。限位台阶用于限制套接在驱动轴2211上的齿轮223的位置，防止齿轮223在驱动轴2211上的轴向窜动以及避免多个齿轮223转动时齿轮223之间产生运动摩擦。In other embodiments, the driving shaft 2211 of the first driving member 221 is provided with at least two limiting steps, and at least two limiting steps are respectively located at least at two ends of the driving shaft 2211. When only one gear 223 is sleeved on the driving shaft 2211 of the first driving member 221, only two limiting steps are provided on the driving shaft 2211, and the gear 223 is located between the two limiting steps; when the first driving member 221 When a plurality of gears 223 are sleeved on the drive shaft 2211, a plurality of gears 223 are located between the limit steps of the top end and the bottom end of the drive shaft 2211, and at least one limit step is disposed between the plurality of gears 223. The limit step serves to limit the position of the gear 223 that is sleeved on the drive shaft 2211, prevent axial turbulence of the gear 223 on the drive shaft 2211, and prevent motion friction between the gears 223 when the plurality of gears 223 are rotated.

进一步参阅图8，在本发明实施例中，定位组件2还包括第二驱动机构24；第二驱动机构24包括第二驱动件241和定位柱242；定位柱242与载板1固定连接，基座23上设有定位孔233，定位柱23穿过定位孔233，第二驱动件24驱动基座23沿定位柱242朝向或背离载板1运动。第二驱动件241用于驱动基座23沿定位柱242运动，进而带动由基座23承载的定位件21运动使定位件21穿过定位槽12伸出至载板1上方，以对降落在载板1上的无人机进行定位。With reference to FIG. 8, in the embodiment of the present invention, the positioning assembly 2 further includes a second driving mechanism 24; the second driving mechanism 24 includes a second driving member 241 and a positioning post 242; the positioning post 242 is fixedly connected to the carrier 1 The seat 23 is provided with a positioning hole 233 through which the positioning post 23 passes, and the second driving member 24 drives the base 23 to move toward or away from the carrier 1 along the positioning post 242. The second driving member 241 is configured to drive the base 23 to move along the positioning post 242, thereby driving the positioning member 21 carried by the base 23 to move the positioning member 21 through the positioning slot 12 to protrude above the carrier plate 1 to land on The drone on the carrier 1 is positioned.

作为可选方案，基座23上设有一个定位孔233，定位孔233位于基座23的中部，定位柱242对应穿过定位孔233，定位柱242的底端设有凸起，当第二驱动件24驱动基座23沿定位柱242运动至定位柱242的底端时，基座23被凸起阻挡而不会滑脱定位柱242。As an alternative, the pedestal 23 is provided with a positioning hole 233. The positioning hole 233 is located at a middle portion of the pedestal 23. The positioning post 242 corresponds to the positioning hole 233. The bottom end of the positioning post 242 is provided with a protrusion. When the driving member 24 drives the base 23 to move along the positioning post 242 to the bottom end of the positioning post 242, the base 23 is blocked by the protrusion without slipping off the positioning post 242.

作为可选方案，基座23的边缘上设有多个定位孔233，多根定位柱242分别穿过对应的一个定位孔233，多根定位柱242中相邻的两根定位柱242的底端通过连接件固定连接，当第二驱动件24驱动基座23沿多根定位柱242运动至定位柱242的底端时，基座23被连接件阻挡而不会滑脱定位柱，多根定位柱242与多个定位孔233的配合使得基座23沿定位柱242的运动更为稳定可靠。As an alternative, a plurality of positioning holes 233 are defined in the edge of the base 23, and the plurality of positioning posts 242 respectively pass through the corresponding one of the positioning holes 233, and the bottoms of the two adjacent positioning posts 242 of the plurality of positioning posts 242 The end is fixedly connected by the connecting member. When the second driving member 24 drives the base 23 to move along the plurality of positioning posts 242 to the bottom end of the positioning post 242, the base 23 is blocked by the connecting member without slipping off the positioning post, and multiple positioning is performed. The cooperation of the post 242 with the plurality of positioning holes 233 makes the movement of the base 23 along the positioning post 242 more stable and reliable.

作为可选方案，第二驱动件241为气缸，气缸的活塞杆与基座2直接或间接连接，气缸工作时驱动基座2沿定位柱242做上升或下降的运动。在其他实施例中，第二驱动件241可以是其他能驱动基座2沿定位柱242上下运动的任意动力装置，比如电机、气动滑台等，并不只限于气缸。As an alternative, the second driving member 241 is a cylinder, and the piston rod of the cylinder is directly or indirectly connected to the base 2, and the cylinder 2 is driven to move up or down along the positioning post 242 when the cylinder is in operation. In other embodiments, the second driving member 241 may be any power device that can drive the base 2 to move up and down along the positioning post 242, such as a motor, a pneumatic slide, etc., and is not limited to a cylinder.

综合上述实施例，所述定位机构对无人机进行落点定位的过程为：首先，第二驱动件241驱动基座23沿着定位柱242向上运动，使基座23上的承载的至少两对定位件21的顶推部211穿过定位槽12伸出至载板1上方；其次，第一驱动件221通过齿轮223驱动至少两对定位件21的传动部212沿基座23上的导向部232移动，此时至少两对定位件21的顶推部朝向降落在载板1上的无人机移动，至少两对定位件21的顶推部211从无人机的四周顶推无人机，并将无人机移动至载板1定位区11内的指定位置111，无人机落点定位即为完成；最后，第一驱动件221驱动至少两对定位件21移动，使至少两对定位件21的顶推部211背离无人机移动，当至少两对定位件21的顶推部211完全释放无人机后，第二驱动件241驱动基座23向下运动，至少两对定位件21回收至定位槽12内或定位槽12下方，以准备无人机的再次起飞。In the above embodiment, the positioning mechanism of the positioning mechanism for positioning the drone is: first, the second driving member 241 drives the base 23 to move upward along the positioning post 242, so that at least two of the carrying on the base 23 are carried. The pushing portion 211 of the positioning member 21 protrudes above the carrier plate 1 through the positioning groove 12; secondly, the first driving member 221 drives the guiding portion of the at least two pairs of the positioning members 21 along the base 23 via the gear 223 The portion 232 moves, at which time the pushing portions of the at least two pairs of positioning members 21 move toward the drone that landed on the carrier board 1, and the pushing portions 211 of the at least two pairs of positioning members 21 push from the periphery of the drone. And moving the drone to the designated position 111 in the positioning area 11 of the carrier board 1 , the positioning of the drone is completed; finally, the first driving member 221 drives at least two pairs of positioning members 21 to move, so that at least two The pushing portion 211 of the positioning member 21 moves away from the drone. When the pushing portion 211 of the at least two pairs of positioning members 21 completely releases the drone, the second driving member 241 drives the base 23 to move downward, at least two pairs. The positioning member 21 is recovered into the positioning groove 12 or below the positioning groove 12 to prepare the drone again. fly.

本发明实施例还提供一种无人机起降平台，包括上述实施例中的定位机构。无人机起降平台用于无人机的定点起飞与定点降落，无人机降落在无人机定位平台上后通过定位机构进行落点定位，将无人机移动至定位机构上的指定位置，该指定位置可以是特定的无人机充电位置、负载更换位置等，待无人机在指定位置完成相应调整(比如在充电位置完成充电)后，无人机将直接在该指定位置起飞，在无人机下次降落后以同样的方式对无人机进行落点定位。所述定位机构的构造及工作原理在上述实施例中已有详尽描述，本实施例中不再赘述。The embodiment of the invention further provides a drone landing platform, including the positioning mechanism in the above embodiment. The drone landing platform is used for fixed-point take-off and fixed-point landing of the drone. After the drone landed on the UAV positioning platform, the positioning mechanism is used to locate the drop point, and the drone is moved to the designated position on the positioning mechanism. The specified position may be a specific drone charging position, a load replacement position, etc., and the drone will take off directly at the designated position after the drone completes the corresponding adjustment at the designated position (for example, charging is completed at the charging position). In the same way, the drone will locate the drone in the same way after the next drone. The configuration and working principle of the positioning mechanism have been described in detail in the above embodiments, and are not described in detail in this embodiment.

参阅图1和图8，在一些实施例中，前述实施例中的无人机起降平台还包括支撑组件3，定位组件2安装在支撑组件3上；支撑组件3包括支撑板31和若干支撑柱32，若干支撑柱32的顶端与载板1固定连接，若干支撑柱32的底端与支撑板31固定连接，若干支撑柱31环绕定位组件2设置，定位组件2位于载板1与支撑板31之间。支撑组件3用于载板1与定位组件2的支撑框架，支撑组件3支撑载板1使载板1的表面位于水平位置，便于无人机的降落以及无人机的落点定位，同时通过载板1与支撑板32以及若干支撑柱32将定位组件2的活动范围限定在载板1与支撑板32之间且被若干支撑柱32包围的区域内，确保了定位组件2运动的可靠性和无人机起降平台结构的稳定性。Referring to Figures 1 and 8, in some embodiments, the drone landing platform of the previous embodiment further includes a support assembly 3 mounted on the support assembly 3; the support assembly 3 includes a support plate 31 and a plurality of supports The top end of the plurality of support columns 32 is fixedly connected to the support plate 31. The bottom ends of the plurality of support columns 32 are fixedly connected with the support plate 31. The plurality of support columns 31 are disposed around the positioning assembly 2, and the positioning assembly 2 is located on the carrier plate 1 and the support plate. Between 31. The support assembly 3 is used for the support frame of the carrier board 1 and the positioning assembly 2. The support assembly 3 supports the carrier board 1 so that the surface of the carrier board 1 is in a horizontal position, which facilitates the landing of the drone and the positioning of the drone of the drone. The carrier plate 1 and the support plate 32 and the plurality of support columns 32 define the range of movement of the positioning assembly 2 in the region between the carrier plate 1 and the support plate 32 and surrounded by the plurality of support columns 32, ensuring the reliability of the movement of the positioning assembly 2. And the stability of the drone landing platform structure.

相比于现有技术，本发明的上述实施例所提供的定位机构及无人机起降平台具有以下进步：Compared with the prior art, the positioning mechanism and the drone landing platform provided by the above embodiments of the present invention have the following advancements:

1、无人机在载板1上降落后，通过定位组件2凸出于载板1上方的部分从无人机四周向无人机运动，将无人机移动到载板1定位区11内的指定位置111，实现了无人机的精确落点定位，且定位组件2对无人机进行定位的过程无需人工调整。1. The drone descends on the carrier board 1 and moves from the periphery of the drone to the drone through the positioning component 2 protruding from the portion above the carrier board 1 to move the drone into the positioning area 11 of the carrier board 1 The designated position 111 realizes accurate positioning of the drone, and the positioning component 2 does not need manual adjustment for positioning the drone.

2、载板1的规格可依无人机的型号设计，并且不同规格的载板1能配合于同一定位组件2，更换成对应规格的载板1即可适用于相应型号的无人机，定位机构的适用性广，可兼容多种型号的无人机落点定位。2. The specification of the carrier board 1 can be designed according to the model of the drone, and the carrier board 1 of different specifications can be matched with the same positioning component 2, and the carrier board 1 corresponding to the corresponding specification can be applied to the drone of the corresponding model. The positioning mechanism has wide applicability and is compatible with various types of drones for positioning.

3、就同一载板1而言，定位组件2能将降落在载板1上的无人机始终定位至定位区内的同一指定位置111，严格而精确的保证了无人机每次起飞时的起飞点的位置相同。3. For the same carrier board 1, the positioning component 2 can always position the drone that landed on the carrier board 1 to the same designated position 111 in the positioning area, strictly and accurately ensure that the drone takes off each time. The location of the takeoff point is the same.

本发明实施例不局限于上述实施方式和实施例，其他任何未背离本发明实施例的精神实质与原理下所做的改变、修饰、替代、组合、简化，均应为等效的置换方式，都应认为包含在本发明实施例的保护范围之内。The embodiments of the present invention are not limited to the above-described embodiments and examples, and any other changes, modifications, substitutions, combinations, and simplifications that are made without departing from the spirit and scope of the embodiments of the present invention should be equivalent. All should be considered to be included in the scope of protection of the embodiments of the present invention.

Claims

一种定位机构，其特征在于，包括：定位组件和安装在所述定位组件上的载板；A positioning mechanism, comprising: a positioning component and a carrier plate mounted on the positioning component;

所述载板上设有定位区，所述定位区用于停放待定位装置；以及The carrier board is provided with a positioning area for parking the device to be positioned;

所述定位组件用于在对所述待定位装置进行定位时部分凸出于所述载板上方，所述定位组件凸出于所述载板上方的部分环绕于所述定位区中的待定位装置并朝向或背离所述待定位装置运动，以将所述待定位装置移动至所述定位区内的指定位置。The positioning component is configured to partially protrude above the carrier when positioning the device to be positioned, and the positioning component protrudes from a portion above the carrier to be positioned in the positioning area to be positioned The device moves toward or away from the device to be positioned to move the device to be positioned to a designated location within the location area.
如权利要求1所述的定位机构，其特征在于，所述定位组件包括至少两对定位件；The positioning mechanism according to claim 1, wherein the positioning assembly comprises at least two pairs of positioning members;

其中，每对定位件由两个运动方向相反的定位件组成；Wherein each pair of positioning members is composed of two positioning members having opposite movement directions;

所述至少两对定位件均可朝向或背离所述定位区运动，以移动所述定位区内的待定位装置至所述指定位置。The at least two pairs of positioning members are movable toward or away from the positioning area to move the device to be positioned in the positioning area to the designated position.
如权利要求2所述的定位机构，其特征在于，所述载板上设有与所述定位件相配合的定位槽，所述定位件可至少部分穿过所述定位槽。The positioning mechanism according to claim 2, wherein the carrier plate is provided with a positioning groove that cooperates with the positioning member, and the positioning member can at least partially pass through the positioning groove.
如权利要求3所述的定位机构，其特征在于，所述定位件包括顶推部和带动所述顶推部移动的传动部，所述顶推部可穿过所述定位槽凸出于所述载板上方，所述顶推部沿所述定位槽移动。The positioning mechanism according to claim 3, wherein the positioning member comprises a pushing portion and a driving portion for driving the pushing portion, and the pushing portion can protrude through the positioning groove Above the carrier, the pushing portion moves along the positioning groove.
如权利要求2所述的定位机构，其特征在于，所述定位组件还包括安装在所述载板下方的第一驱动机构，所述至少两对定位件设置在所述第一驱动机构上，并在所述第一驱动机构驱动下朝向或者背离所述待定位装置运动。The positioning mechanism according to claim 2, wherein the positioning assembly further comprises a first driving mechanism mounted under the carrier, the at least two pairs of positioning members being disposed on the first driving mechanism, And moving toward or away from the device to be positioned under the driving of the first driving mechanism.
如权利要求5所述的定位机构，其特征在于，所述定位组件还包括基座，所述基座设置在所述载板下方；The positioning mechanism according to claim 5, wherein the positioning assembly further comprises a base, the base being disposed below the carrier;

所述第一驱动机构包括第一驱动件和驱动件安装座，所述驱动件安装座安装在所述基座下方，所述第一驱动件安装在所述驱动件安装座上；The first driving mechanism includes a first driving member and a driving member mounting seat, the driving member mounting seat is mounted under the base, and the first driving member is mounted on the driving member mounting seat;

所述基座上还设有通孔，所述第一驱动件的驱动轴穿过所述通孔伸出至所述基座上方。A through hole is further disposed on the base, and a driving shaft of the first driving member protrudes through the through hole to above the base.
如权利要求6所述的定位机构，其特征在于，所述基座上设有至少两个导向部，所述至少两个导向部分层设置，每对所述定位件在对应的一个所述导向部内运动。The positioning mechanism according to claim 6, wherein the base is provided with at least two guiding portions, and the at least two guiding portion layers are disposed, and each pair of the positioning members is in a corresponding one of the guiding portions. Movement within the department.
如权利要求6所述的定位机构，其特征在于，所述驱动件安装座内设有用于限制所述第一驱动件的位置的限位部，以使所述第一驱动件的驱动轴穿过所述通孔伸出至所述基座上方。The positioning mechanism according to claim 6, wherein the driving member mounting seat is provided with a limiting portion for limiting the position of the first driving member, so that the driving shaft of the first driving member passes through The through hole protrudes above the base.
如权利要求5所述的定位机构，其特征在于，所述第一驱动件的驱动轴上套接有齿轮；The positioning mechanism according to claim 5, wherein the drive shaft of the first driving member is sleeved with a gear;

所述齿轮位于所述通孔上方，所述定位件上设有与所述齿轮相配合的齿槽，所述第一驱动机构通过所述齿轮驱动所述定位件运动。The gear is located above the through hole, and the positioning member is provided with a tooth groove that cooperates with the gear, and the first driving mechanism drives the positioning member to move by the gear.
如权利要求9所述的定位机构，其特征在于，所述定位组件还包括第二驱动机构；The positioning mechanism according to claim 9, wherein the positioning assembly further comprises a second driving mechanism;

所述第二驱动机构包括第二驱动件和定位柱；The second driving mechanism includes a second driving member and a positioning post;

所述定位柱与所述载板固定连接，所述基座上设有定位孔，所述定位柱穿过所述定位孔，所述第二驱动件驱动所述基座沿所述定位柱朝向或背离所述载板运动。The positioning post is fixedly connected to the carrier plate, the base is provided with a positioning hole, the positioning post passes through the positioning hole, and the second driving member drives the base to face along the positioning column Or moving away from the carrier.
一种无人机起降平台，其特征在于，包括定位机构，所述定位机构包括定位组件和安装在所述定位组件上的载板；A drone landing platform, comprising: a positioning mechanism, the positioning mechanism comprising a positioning component and a carrier plate mounted on the positioning component;

所述载板上设有定位区，所述定位区用于停放待定位装置；以及The carrier board is provided with a positioning area for parking the device to be positioned;

所述定位组件用于在对所述待定位装置进行定位时部分凸出于所述载板上方，所述定位组件凸出于所述载板上方的部分环绕于所述定位区中的待定位装置并朝向或背离所述待定位装置运动，以将所述待定位装置移动至所述定位区内的指定位置。The positioning component is configured to partially protrude above the carrier when positioning the device to be positioned, and the positioning component protrudes from a portion above the carrier to be positioned in the positioning area to be positioned The device moves toward or away from the device to be positioned to move the device to be positioned to a designated location within the location area.
如权利要求11所述的无人机起降平台，其特征在于，所述定位组件包括至少两对定位件；The drone landing platform of claim 11 wherein said positioning assembly comprises at least two pairs of positioning members;

其中，每对定位件由两个运动方向相反的定位件组成；Wherein each pair of positioning members is composed of two positioning members having opposite movement directions;

所述至少两对定位件均可朝向或背离所述定位区运动，以移动所述定位区内的待定位装置至所述指定位置。The at least two pairs of positioning members are movable toward or away from the positioning area to move the device to be positioned in the positioning area to the designated position.
如权利要求12所述的无人机起降平台，其特征在于，所述载板上设有与所述定位件相配合的定位槽，所述定位件可至少部分穿过所述定位槽。The drone landing platform of claim 12, wherein the carrier plate is provided with a positioning groove that cooperates with the positioning member, and the positioning member can at least partially pass through the positioning groove.
如权利要求13所述的无人机起降平台，其特征在于，所述定位件包括顶推部和带动所述顶推部移动的传动部，所述顶推部可穿过所述定位槽凸出于所述载板上方，所述顶推部沿所述定位槽移动。The drone landing platform according to claim 13, wherein the positioning member comprises a pushing portion and a transmission portion for driving the pushing portion, and the pushing portion can pass through the positioning groove Projecting above the carrier, the ejector portion moves along the positioning slot.
如权利要求12所述的无人机起降平台，其特征在于，所述定位组件还包括安装在所述载板下方的第一驱动机构，所述至少两对定位件设置在所述第一驱动机构上，并在所述第一驱动机构驱动下朝向或者背离所述待定位装置运动。A drone landing platform according to claim 12, wherein said positioning assembly further comprises a first driving mechanism mounted below said carrier, said at least two pairs of positioning members being disposed in said first Driven by the first drive mechanism, the drive mechanism is moved toward or away from the device to be positioned.
如权利要求15所述的无人机起降平台，其特征在于，所述定位组件还包括基座，所述基座设置在所述载板下方；The drone landing platform according to claim 15, wherein the positioning assembly further comprises a base, the base being disposed below the carrier;

所述第一驱动机构包括第一驱动件和驱动件安装座，所述驱动件安装座安装在所述基座下方，所述第一驱动件安装在所述驱动件安装座上；The first driving mechanism includes a first driving member and a driving member mounting seat, the driving member mounting seat is mounted under the base, and the first driving member is mounted on the driving member mounting seat;

所述基座上还设有通孔，所述第一驱动件的驱动轴穿过所述通孔伸出至所述基座上方。A through hole is further disposed on the base, and a driving shaft of the first driving member protrudes through the through hole to above the base.
如权利要求16所述的无人机起降平台，其特征在于，所述基座上设有至少两个导向部，所述至少两个导向部分层设置，每对所述定位件在对应的一个所述导向部内运动。The drone landing platform according to claim 16, wherein the base is provided with at least two guiding portions, and the at least two guiding portion layers are disposed, and each pair of the positioning members is corresponding to One of the guides moves.
如权利要求16所述的无人机起降平台，其特征在于，所述驱动件安装座内设有用于限制所述第一驱动件的位置的限位部，以使所述第一驱动件的驱动轴穿过所述通孔伸出至所述基座上方。The drone landing platform according to claim 16, wherein the driving member mounting seat is provided with a limiting portion for limiting the position of the first driving member, so that the first driving member A drive shaft extends through the through hole to above the base.
如权利要求15所述的无人机起降平台，其特征在于，所述第一驱动件的驱动轴上套接有齿轮；The drone landing platform according to claim 15, wherein the drive shaft of the first driving member is sleeved with a gear;

所述齿轮位于所述通孔上方，所述定位件上设有与所述齿轮相配合的齿槽，所述第一驱动机构通过所述齿轮驱动所述定位件运动。The gear is located above the through hole, and the positioning member is provided with a tooth groove that cooperates with the gear, and the first driving mechanism drives the positioning member to move by the gear.
如权利要求19所述的无人机起降平台，其特征在于，所述定位组件还包括第二驱动机构；The drone landing platform of claim 19, wherein the positioning assembly further comprises a second driving mechanism;

所述第二驱动机构包括第二驱动件和定位柱；The second driving mechanism includes a second driving member and a positioning post;

所述定位柱与所述载板固定连接，所述基座上设有定位孔，所述定位柱穿过所述定位孔，所述第二驱动件驱动所述基座沿所述定位柱朝向或背离所述载板运动。The positioning post is fixedly connected to the carrier plate, the base is provided with a positioning hole, the positioning post passes through the positioning hole, and the second driving member drives the base to face along the positioning column Or moving away from the carrier.