阅读说明：本技术 无人机挂载装置、系统及挂载系统的操作方法 (Unmanned aerial vehicle mounting device and system and operation method of mounting system ) 是由 马晓东 柯亮 刘滨昕 于 2021-09-29 设计创作，主要内容包括：本公开提供了一种无人机挂载装置、系统及挂载系统的操作方法,其中,该挂载装置包括设置于无人机底部的无人机端和设置于目标物体顶部的挂载物端；该无人机端包括固定部、连接部和锁紧杆：连接部的一端通过固定部设置于无人机的底部,另一端则连接于锁紧杆的顶部,以带动锁紧杆随无人机移动；该挂载物端包括锁紧腔和锁紧开关：锁紧腔顶部设置有与锁紧杆相匹配的锁口,锁紧开关可在锁紧杆通过锁口探入锁紧腔的内部后,卡固或释放所述锁紧杆。该挂载装置可以通过无人机端与挂载物端的自动连接和分离,实现无人机与目标物体之间的自动挂载和释放,无需人工操作,因而可以有效降低人工成本,提升无人机的运输效率及丰富无人机的使用场景。(The present disclosure provides an unmanned aerial vehicle mounting device, a system and an operation method of the mounting system, wherein the mounting device comprises an unmanned aerial vehicle end arranged at the bottom of the unmanned aerial vehicle and a mounting object end arranged at the top of a target object; this unmanned aerial vehicle end includes fixed part, connecting portion and check lock lever: one end of the connecting part is arranged at the bottom of the unmanned aerial vehicle through the fixing part, and the other end of the connecting part is connected to the top of the locking rod so as to drive the locking rod to move along with the unmanned aerial vehicle; this carry thing end includes locking chamber and locking switch: the top of the locking cavity is provided with a locking notch matched with the locking rod, and the locking switch can clamp or release the locking rod after the locking rod extends into the locking cavity through the locking notch. This carry device can realize automatic carry and release between unmanned aerial vehicle and the target object through the automatic connection and the separation of unmanned aerial vehicle end and carry thing end, need not manual operation, therefore can effectively reduce the cost of labor, promotes unmanned aerial vehicle's conveying efficiency and richens unmanned aerial vehicle's use scene.)

1. The utility model provides an unmanned aerial vehicle carry device, its characterized in that, unmanned aerial vehicle carry device is including setting up in the unmanned aerial vehicle end of unmanned aerial vehicle bottom and setting up in the carry thing end at target object top, wherein:

the unmanned aerial vehicle end includes fixed part, connecting portion and check lock lever: one end of the connecting part is arranged at the bottom of the unmanned aerial vehicle through the fixing part, and the other end of the connecting part is connected to the top of the locking rod so as to drive the locking rod to move along with the unmanned aerial vehicle;

the object-carrying end comprises a locking cavity and a locking switch: the locking switch can clamp or release the locking rod after the locking rod extends into the locking cavity through the locking opening.

2. The unmanned aerial vehicle mounting device of claim 1, wherein the bottom of the lock lever has a clamping portion with a diameter larger than that of the body, and a stepped clamping platform is arranged at the joint of the clamping portion and the lock lever body.

3. The unmanned aerial vehicle mounting apparatus of claim 1, wherein the locking switch comprises two oppositely disposed actuating rods, one end of each actuating rod extends into the locking cavity through an opening formed in a side wall of the locking cavity, and is capable of moving back and forth relative to the locking cavity to clamp or release the locking rod extending into the locking cavity.

4. The unmanned aerial vehicle mounting apparatus of claim 3, wherein the locking switch further comprises a driving mechanism and a swing arm corresponding to each of the actuating rods, a power output end of the driving mechanism is movably connected to the swing arm, one end of the swing arm is movably connected to the actuating rod, and the driving mechanism can output a torsional force to drive the swing arm to swing so as to drive the actuating rod to reciprocate.

5. An unmanned aerial vehicle mounting apparatus as claimed in claim 4, wherein the drive mechanism is a steering engine.

6. The unmanned aerial vehicle mounting apparatus of claim 1, wherein the connection portion comprises a launch connection portion for carrying the target object to the designated location and a recovery connection portion for transporting the target object from the designated location, the recovery connection portion having a length greater than a length of the launch connection portion.

7. The unmanned aerial vehicle mounting apparatus of claim 1, wherein the connecting portion is a flexible connecting cable or a rigid connecting rod.

8. The unmanned aerial vehicle mounting device of claim 1, wherein the connecting portion is further provided with an annular stabilizing mechanism embracing the body, and the annular stabilizing mechanism is used for avoiding shaking of the connecting portion caused by airflow of the unmanned aerial vehicle.

9. The unmanned aerial vehicle mounting device of claim 1, wherein the mount end further comprises a tapered expansion port disposed outside the locking port.

10. The unmanned aerial vehicle mounting apparatus of claim 1, wherein the connecting portion is movably connected to the fixing portion and the locking lever.

11. The unmanned aerial vehicle mounting device of claim 1, wherein the mounting end further comprises a bearing connecting plate disposed at the bottom of the locking cavity and the locking switch, and the bearing connecting plate is used for bearing and fixing the locking cavity and the locking switch on the top of the target object.

12. An unmanned aerial vehicle mounting system, characterized in that the mounting system comprises an unmanned aerial vehicle, a target object and the unmanned aerial vehicle mounting apparatus of any one of claims 1 to 11.

13. The unmanned aerial vehicle mounting system of claim 12, wherein the unmanned aerial vehicle end of the unmanned aerial vehicle mounting device is disposed in a bottom center of the unmanned aerial vehicle; and the bearing connecting plate at the object hanging end and/or the top of the target object are/is also provided with a plurality of stabilizer bars arranged facing the bottom of the unmanned aerial vehicle.

14. An operation method of a mounting system of an unmanned aerial vehicle, the operation method comprising:

connecting a target object to the unmanned aerial vehicle through an unmanned aerial vehicle mounting device provided with a throwing connecting part;

controlling the unmanned aerial vehicle to move the target object to a specified place;

after a locking switch at the object hanging end is controlled to release a locking rod at the unmanned aerial vehicle end, the unmanned aerial vehicle navigates back;

replacing the throwing connection part at the unmanned aerial vehicle end with a recycling connection part;

controlling the unmanned aerial vehicle to fly above the target object and hover;

after the locking rod is sent into a locking cavity of the object mounting end by finely adjusting the position of the unmanned aerial vehicle, a locking switch is operated to clamp and fix the locking rod;

and controlling the unmanned aerial vehicle to carry the target object to return and release the target object, and then descending the unmanned aerial vehicle.

Technical Field

The present disclosure relates to the field of mounting technology of unmanned aerial vehicles, and in particular, to an unmanned aerial vehicle mounting apparatus, system, and method for operating a mounting system.

Background

At present, when short-distance and light-weight object transportation is carried out, unmanned planes become a conventional transportation tool gradually. Small-size many rotor unmanned aerial vehicle can realize rising and falling perpendicularly, need not runway or emitter, and simple, the convenient flexibility of control of mechanism, the security is higher. When the unmanned aerial vehicle is used for carrying out a transportation task, the following two schemes are generally adopted for mounting a transported target object: and (3) putting the target object into an object carrying box or an object carrying box for transportation or carrying and transporting the target object through a hook.

However, the unmanned aerial vehicle mounting scheme in the prior art needs manual work to perform auxiliary operation in the mounting and target object releasing process, and the unmanned aerial vehicle cannot be automatically mounted and released on the target object, so that the transportation efficiency is low, the labor cost is high, and the expansion of the use scene of the unmanned aerial vehicle is not facilitated.

Disclosure of Invention

The utility model provides a simple operation, connect stable unmanned aerial vehicle carry device for through automatic carry and the release between unmanned aerial vehicle and the target object, realize the remote input and the recovery of target object, unmanned aerial vehicle carry device is including setting up in the unmanned aerial vehicle end of unmanned aerial vehicle bottom and setting up in the carry thing end at target object top, wherein:

the unmanned aerial vehicle end includes fixed part, connecting portion and check lock lever: one end of the connecting part is arranged at the bottom of the unmanned aerial vehicle through the fixing part, and the other end of the connecting part is connected to the top of the locking rod so as to drive the locking rod to move along with the unmanned aerial vehicle;

the object-carrying end comprises a locking cavity and a locking switch: the locking switch can clamp or release the locking rod after the locking rod extends into the locking cavity through the locking opening.

In specific implementation, the bottom of the locking rod is provided with a clamping part with a diameter larger than that of the body, and a stepped clamping platform is arranged at the joint of the clamping part and the locking rod body.

In specific implementation, the locking switch comprises two execution rods arranged oppositely, one end of each execution rod extends into the locking cavity through an opening arranged on the side wall of the locking cavity and can move back and forth relative to the locking cavity so as to clamp or release the locking rod extending into the locking cavity.

In specific implementation, the locking switch further comprises a driving mechanism and a swing arm, the driving mechanism and the swing arm are arranged corresponding to the actuating rods, the power output end of the driving mechanism is movably connected to the swing arm, one end of the swing arm is movably connected to the actuating rods, and the driving mechanism can output torsional force to drive the swing arm to swing so as to drive the actuating rods to move in a reciprocating manner.

In specific implementation, the driving mechanism is a steering engine.

In specific implementation, the connecting part comprises a throwing connecting part used for carrying the target object to a specified place and a recycling connecting part used for recycling the target object from the specified place, and the length of the recycling connecting part is greater than that of the throwing connecting part.

In a specific implementation, the connecting portion is a flexible connecting rope or a rigid connecting rod.

In the concrete implementation, connecting portion still are provided with the cyclic annular stabilizing mean who embraces and locate the body, cyclic annular stabilizing mean is used for avoiding connecting portion rocks because of unmanned aerial vehicle air current produces.

In specific implementation, the object-carrying end further comprises a tapered expansion port, and the tapered expansion port is arranged outside the locking port.

In specific implementation, the connecting part is movably connected with the fixing part and the locking rod.

In specific implementation, the object-mounting end further comprises a bearing connecting plate arranged at the bottoms of the locking cavity and the locking switch, and the bearing connecting plate is used for bearing and fixing the locking cavity and the locking switch on the top of the target object.

The utility model also provides an unmanned aerial vehicle mounting system, mounting system includes unmanned aerial vehicle, target object and unmanned aerial vehicle mounting device.

In specific implementation, an unmanned aerial vehicle end of the unmanned aerial vehicle mounting device is arranged at the center of the bottom of the unmanned aerial vehicle; and the bearing connecting plate at the object hanging end and/or the top of the target object are/is also provided with a plurality of stabilizer bars arranged facing the bottom of the unmanned aerial vehicle.

The present disclosure also provides an operation method of an unmanned aerial vehicle mounting system, the operation method including:

connecting a target object to the unmanned aerial vehicle through an unmanned aerial vehicle mounting device provided with a throwing connecting part;

controlling the unmanned aerial vehicle to move the target object to a specified place;

after a locking switch at the object hanging end is controlled to release a locking rod at the unmanned aerial vehicle end, the unmanned aerial vehicle navigates back;

replacing the throwing connection part at the unmanned aerial vehicle end with a recycling connection part;

controlling the unmanned aerial vehicle to fly above the target object and hover;

after the locking rod is sent into a locking cavity of the object mounting end by finely adjusting the position of the unmanned aerial vehicle, a locking switch is operated to clamp and fix the locking rod;

and controlling the unmanned aerial vehicle to carry the target object to return and release the target object, and then descending the unmanned aerial vehicle.

The unmanned aerial vehicle mounting device comprises an unmanned aerial vehicle end arranged at the bottom of the unmanned aerial vehicle and a mounting object end arranged at the top of a target object; this unmanned aerial vehicle end includes fixed part, connecting portion and check lock lever: one end of the connecting part is arranged at the bottom of the unmanned aerial vehicle through the fixing part, and the other end of the connecting part is connected to the top of the locking rod so as to drive the locking rod to move along with the unmanned aerial vehicle; this carry thing end includes locking chamber and locking switch: the top of the locking cavity is provided with a locking notch matched with the locking rod, and the locking switch can clamp or release the locking rod after the locking rod extends into the locking cavity through the locking notch. This unmanned aerial vehicle carry device can be through the automatic connection and the separation of unmanned aerial vehicle end and carry thing end, realize automatic carry and the release between unmanned aerial vehicle and the target object, can transport the target object to the release after the appointed place, and carry the target object and return to the air when needing, all need not manual operation in the whole flow, therefore can effectively reduce the cost of labor, promote unmanned aerial vehicle's conveying efficiency and richen unmanned aerial vehicle's use scene, and can put in the target object to the higher target position department of required precision.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts. In the drawings:

fig. 1 is a schematic structural diagram of a mounting device of an unmanned aerial vehicle according to an embodiment of the present disclosure;

fig. 2 is a schematic cross-sectional view of a mounting device for an unmanned aerial vehicle according to an embodiment of the present disclosure;

FIG. 3 is a schematic illustration of an unmanned end configuration according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of an exploded view of a mount end according to one embodiment of the present disclosure;

FIG. 5 is a schematic view of the structure of the unmanned aerial vehicle end with a recovery connection provided according to one embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of an unmanned aerial vehicle end provided with a drop connection according to an embodiment of the present disclosure;

FIG. 7 is a schematic view of a joint structure having a ring-shaped stabilizing structure according to one embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a mounting system for an unmanned aerial vehicle according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural view of a stabilizer bar according to one embodiment of the present disclosure;

fig. 10 is a flowchart illustrating an operation method of the mounting system of the unmanned aerial vehicle according to an embodiment of the present disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the embodiments of the present disclosure are described in further detail below with reference to the accompanying drawings. The illustrative embodiments of the present disclosure and their description are presented herein to illustrate the disclosure, but not to limit it.

In the repair of a generator blade (that is a generator blade already installed in place, not a blade that has not been installed on a wind turbine tower at the blade production plant), the applicant considered that there were few prior art automated devices for repairing wind turbine blades by robot, which were generally operated manually even though the wind turbine blades were repaired using equipment. Namely, the maintenance equipment is manually carried to the blade for working, and is manually taken back to the ground after the maintenance is finished. If can carry maintenance equipment to the blade through unmanned aerial vehicle, wait its work to accomplish the back automatic carry again and transport back to ground, then can effectively promote maintenance efficiency, reduce cost of maintenance. However, the existing unmanned aerial vehicle transportation also needs manual carrying and releasing of the target object, and is not suitable for being applied to releasing of generator blade maintenance equipment, so as shown in fig. 1, fig. 2, fig. 3 and fig. 4, the applicant proposes an unmanned aerial vehicle mounting device which is convenient to operate and stable in connection, and is used for realizing remote releasing and recovering of the target object through automatic mounting and releasing between the unmanned aerial vehicle and the target object, wherein the unmanned aerial vehicle mounting device comprises an unmanned aerial vehicle end 100 arranged at the bottom of the unmanned aerial vehicle and a mounting object end 200 arranged at the top of the target object, wherein:

the unmanned aerial vehicle end 100 includes a fixing portion 110, a connecting portion 120, and a locking lever 130: one end of the connecting part 120 is arranged at the bottom of the unmanned aerial vehicle through the fixing part 110, and the other end is connected to the top of the locking rod 130, so as to drive the locking rod 130 to move along with the unmanned aerial vehicle;

the mount end 200 includes a locking cavity 210 and a locking switch 220: the top of the locking cavity 210 is provided with a locking notch matched with the locking rod 130, and the locking switch 220 can clamp or release the locking rod 130 after the locking rod 130 enters the locking cavity 210 through the locking notch.

In particular implementations, the locking lever 130 can be provided in a variety of embodiments. For example, as shown in fig. 2 and 3, the bottom of the lock lever 130 may have a clamping portion 131 with a diameter larger than that of the body (it can also be said that the dimension or volume of the clamping portion 131 is significantly larger than that of the body of the lock lever 130, that is, the lock lever 130 is in a hammer shape), and a stepped clamping platform is provided at the junction of the clamping portion 131 and the body of the lock lever 130. The size of the engaging portion 131 can be matched with the size of the locking cavity 210, so that the engaging portion 131 is effectively prevented from shaking after penetrating into the locking cavity 210, and the stability of connection between the unmanned aerial vehicle end 100 and the hanging end is not affected. The arrangement of the step surface can enable the locking switch 220 to effectively clamp the locking rod 130, and further improve the stability of locking. Further, the bottom of the engaging portion 131 may be circular or conical, so that when the engaging portion 131 extends into the locking cavity 210, the engaging portion can pass through the locking switch 220, and when the engaging portion 131 passes through the locking switch 220, the locking switch 220 can be reset according to the monitoring information (i.e., after the engaging portion 131 is monitored to completely extend into the locking cavity 210), and the engaging portion is clamped on the engaging platform of the engaging portion 131, thereby achieving effective connection.

In particular implementations, the structure of the locking switch 220 may have a variety of embodiments when configured. For example, as shown in fig. 2 and 4, the locking switch 220 may clamp the locking lever 130 by the actuating lever 221. Further, the position of the actuating shaft 221 may be configured in various embodiments. For example, in order to further improve the locking stability, the locking switch 220 may include two oppositely disposed actuating rods 221, and the two oppositely disposed actuating rods 221 may be simultaneously clamped to the clamping platform of the clamping portion 131 from two sides, so as to avoid falling off due to the shaking of the locking rod 130, and further effectively improve the locking stability; specifically, one end of each actuating rod 221 may protrude into the locking cavity 210 through an opening formed in a sidewall of the locking cavity 210, and may reciprocate relative to the locking cavity 210 to clamp or release the locking rod 130 protruding into the locking cavity 210.

In specific implementation, the structure for driving the actuating rod 221 to reciprocate relative to the locking cavity 210 may have various embodiments when being disposed. For example, as shown in fig. 1, 2 and 4, the locking switch 220 may further include a driving mechanism 222 and a swing arm 223, which are disposed corresponding to each actuating rod 221, a power output end of the driving mechanism 222 is movably connected to the swing arm 223, one end of the swing arm 223 is movably connected to the actuating rod 221, and the driving mechanism 222 may output a torsional force to drive the swing arm 223 to swing, so as to drive the actuating rod 221 to reciprocate. Further, the other end of the swing arm 223 may be pivotally connected to the fixing plate of the driving mechanism 222, so as to swing around the connecting point as an axis under the driving of the driving mechanism 222. Furthermore, at the end of the travel of the swing arm 223, which is relatively far from the locking cavity 210, a stop bolt is also provided to prevent one end of the actuator rod 221 from coming out of the locking cavity 210, which stop bolt is also provided above the fixed plate of the drive mechanism 222. Before the lock switch 220 does not receive the unlocking command, the execution rod 221 is always in the locked state, so as to ensure that the execution rod 221 always keeps being locked when the lock switch 220 is powered off or other emergencies occur. After the locking switch 220 receives the unlocking command, the locking switch 220 enters an open state, and when one end of the locking rod 130 moves into the locking cavity 210 and is located at a set position of the locking cavity 210, a control command of the driving mechanism 222 is triggered, so that the driving mechanism 222 moves according to a preset amplitude, and further drives the actuating rod 221 to move towards a direction close to the locking rod 130, until the actuating rod 221 can effectively prevent the locking rod 130 from being separated from the locking cavity 210 under the action of gravity. As shown in fig. 2, the locking lever 130 in the "locked state" is in contact with the side surface of the actuating lever 221, and is caught by the actuating lever 221. It should be noted that the lock switch 220 may be set to a normally-closed state, and the lock switch 220 may not be unlocked when an unlock command is not received (the unlock command may be a transmission timing manually controlled by an operator, such as unlocking when planning to dock the lock lever, until the lock lever 130 triggers locking, or such as a transmission timing manually controlled by an operator after the target object is dropped to a specified position).

In a specific implementation, as shown in fig. 2, the locking switch 220 may further include a monitoring mechanism 224, where the monitoring mechanism 224 is configured to monitor a position of the locking lever 130, and if the locking lever 130 enters a specified position in the locking cavity 210, the monitoring mechanism 224 may transmit a monitoring signal to the locking switch 220, and the locking switch 220 pushes the actuating lever 221 according to the monitoring signal to clamp the locking lever 130. Further, the monitoring mechanism 224 may be a pressure sensing mechanism disposed at the bottom of the locking cavity 210, and the pressure sensing mechanism can send a monitoring signal to the locking switch 220 after detecting the pressure of the locking rod 130.

In specific implementation, the driving mechanism 222 may be selected and arranged in various manners, for example, the steering engine is used as a servo motor capable of providing angle change (i.e., providing torsion force), and thus the driving mechanism 222 may be the steering engine.

Meanwhile, the control of the steering engine can also have various embodiments. For example, the steering engine can be remotely controlled manually through a wireless control mechanism. For another example, the steering engine may further be provided with a sensing control mechanism, and when the unmanned aerial vehicle enters a certain area or the target object reaches a designated position, a corresponding sensing signal is obtained, so that the driving actuating lever 221 is released to release the locking lever 130, and the target object is thrown in.

In particular implementations, the length of the connecting portion 120 may be configured in a variety of embodiments. For example, as shown in fig. 5 and 6, the connection portion 120 may include a launch connection portion 122 for carrying the target object to the designated location and a recovery connection portion 121 for transporting the target object from the designated location, and the length of the recovery connection portion 121 is greater than that of the launch connection portion 122. The delivery connection 122 is typically used during the process of mounting and delivering the object. The length of the drop connection 122 is not of a fixed value. The principle used to finally set the length is: the target object can be successfully mounted without being kept away from the bottom of the drone (e.g., the bottom of the drone can contact the top of the target object, or a stabilizer bar disposed on the top of the target object, which can be considered to be an optimal length). The recovery connection 121 is at least longer than the launch connection 122. The length determination principle of the recovery connection 121 is different from that of the launch connection 122. The recovery connection portion 121 is mainly used in the recovery (mounting operation is also performed during recovery). Because the accuracy when retrieving the process and need not putting in, consequently for the convenience of realizing high altitude mounting operation, avoid unmanned aerial vehicle to appear the dangerous condition with the blade collision when mounting the target simultaneously, so can adopt the recovery connecting portion 121 that has great length to use in the recovery process of target object. It can be seen that the recovery connection 121 cannot be too long nor too short. Too long affects the speed and success rate of the mounting, and too short increases the probability of collision of the drone with the blade. In the recovery process, when the unmanned aerial vehicle carries the target object to the ground, a proper area can be selected to implement the release operation. The area of the suitable area is clearly much larger than the target position on the blade, so during the recovery process the position accuracy requirements for drone release (note the difference from the release action during launch.

In specific implementations, the material of the connecting portion 120 can be selected in various embodiments. For example, the connecting portion 120 may be a flexible connecting cable or a rigid connecting rod. Neither the recovery connection 121 nor the release connection 122 excludes the possibility of using a rigid connection, i.e. a rigid connecting rod, in the future. The rod piece is used for replacing a soft rope, so that the swinging amplitude of the rope (blown by wind, shaking of an unmanned aerial vehicle and the like) is further reduced, swinging kinetic energy is easily transmitted to the rope, the swinging amplitude of the rope is aggravated, and the success rate of hanging and carrying a target object is improved.

In specific implementation, as shown in fig. 7, in order to avoid the influence of the airflow of the unmanned aerial vehicle on the connecting portion 120, the locking rod 130 rocks during the connecting process, the connecting portion 120 may further have an annular stabilizing mechanism 123 clasped to the body, and the annular stabilizing mechanism 123 is used for avoiding the rocking of the connecting portion 120 caused by the airflow of the unmanned aerial vehicle. This cyclic annular stabilizing mean 123 can effectively increase the resistance of connecting portion 120, and then plays the effect of avoiding connecting portion 120 to rock, stable check lock lever 130.

In one embodiment, as shown in fig. 1, 2 and 4, in order to further improve the efficiency of the locking rod 130 penetrating into the locking cavity 210 through the locking notch, the carrier end 200 may further include a tapered expanding notch 230, and the tapered expanding notch 230 is disposed outside the locking notch. The tapered expanding port 230 is arranged, so that the connection success rate can be effectively improved, and the locking rod 130 can fall into the locking cavity 210 along the tapered expanding port 230 under the action of gravity for quick connection as long as the locking rod enters the range of the tapered expanding port 230. Further, the chooseing for use of the material of this toper expanding mouth 230 can have multiple embodiment, for example, this toper expanding mouth 230 can use light, have the material of higher intensity and toughness (can resist the impact of check lock lever 130), like the plastics material, alright in order when guaranteeing intensity, effectively reduce unmanned aerial vehicle's load.

In one embodiment, the connection portion 120, the fixing portion 110 and the locking bar 130 can be connected in various ways. For example, the connecting portion 120 may be movably connected to the fixing portion 110 and the locking lever 130. Specifically, as shown in fig. 2 and 3, the fixing portion 110 may be a fixing ring fixed at the bottom of the unmanned aerial vehicle, and the fixing ring may have a semicircular shape or a U-shape. Meanwhile, the top end of the connecting portion 120 is provided with a U-shaped buckle connected with the fixing ring. It is a conventional structural member, and is commonly found in rope fixing, auxiliary connecting devices in the building industry, auxiliary connecting devices in the hoisting industry and the like. The U-shaped buckle comprises a U-shaped bearing piece and a linear locking rod. One end of the linear locking rod is often designed to facilitate manual screwing by a human hand, while the wall of the rod near the other end is often threaded. The threaded end of the I-shaped locking rod can penetrate through the end with the round hole of the U-shaped bearing part and is in screwed connection (fixed by utilizing the locking characteristic of the threads) with the other end with the threaded hole of the U-shaped bearing part, and finally, the I-shaped locking rod is in a closed U-shaped buckle.

In a specific implementation, as shown in fig. 1, 2 and 4, in order to enhance the connection stability between the mount end 200 and the target object, the mount end 200 may further include a bearing connection plate 240 disposed at the bottom of the locking cavity 210 and the locking switch 220, and the bearing connection plate 240 is used for bearing and fixing the locking cavity 210 and the locking switch 220 on the top of the target object. Further, the load-bearing connecting plate 240 may be attached to the top of the target object by bolts.

As shown in fig. 8, the present disclosure further provides an unmanned aerial vehicle mounting system, which includes an unmanned aerial vehicle 300, a target object 400 and the unmanned aerial vehicle mounting device.

In specific implementation, in order to ensure the flight stability of the unmanned aerial vehicle, the position of the fixing part 110 of the unmanned aerial vehicle end 100 can be arranged at the center of the bottom of the unmanned aerial vehicle 300; the bearing connection plate 240 of the mount end 200 and/or the top of the target object 400 further have a plurality of stabilizer bars 410 disposed facing the bottom of the drone 300. Specifically, as shown in fig. 9, the stabilizer bar 410 collides against the bottom of the unmanned aerial vehicle 400, so as to ensure that the target object and the unmanned aerial vehicle keep consistent during the mounting, transportation and delivery processes of the unmanned aerial vehicle 400, and reduce the swinging and shaking amplitude of the target object. Further, stabilizer bar 410 can set up four to guarantee the even atress in bottom of unmanned aerial vehicle 400.

As shown in fig. 10, the present disclosure also provides an operation method of a mounting system of an unmanned aerial vehicle, the operation method including:

1001: connecting a target object to the unmanned aerial vehicle through an unmanned aerial vehicle mounting device provided with a throwing connecting part;

1002: controlling the unmanned aerial vehicle to move the target object to a specified place;

1003: after a locking switch at the object hanging end is controlled to release a locking rod at the unmanned aerial vehicle end, the unmanned aerial vehicle navigates back;

1004: replacing the throwing connection part at the unmanned aerial vehicle end with a recycling connection part;

1005: controlling the unmanned aerial vehicle to fly above the target object and hover;

1006: after the locking rod is sent into a locking cavity of the object mounting end by finely adjusting the position of the unmanned aerial vehicle, a locking switch is operated to clamp and fix the locking rod;

1007: and controlling the unmanned aerial vehicle to carry the target object to return and release the target object, and then descending the unmanned aerial vehicle.

In summary, the unmanned aerial vehicle mounting device, the unmanned aerial vehicle mounting system and the operation method of the mounting system provided by the present disclosure include two parts, namely, an unmanned aerial vehicle end disposed at the bottom of the unmanned aerial vehicle and a mounting object end disposed at the top of a target object; this unmanned aerial vehicle end includes fixed part, connecting portion and check lock lever: one end of the connecting part is arranged at the bottom of the unmanned aerial vehicle through the fixing part, and the other end of the connecting part is connected to the top of the locking rod so as to drive the locking rod to move along with the unmanned aerial vehicle; this carry thing end includes locking chamber and locking switch: the top of the locking cavity is provided with a locking notch matched with the locking rod, and the locking switch can clamp or release the locking rod after the locking rod extends into the locking cavity through the locking notch. This unmanned aerial vehicle carry device can be through the automatic connection and the separation of unmanned aerial vehicle end and carry thing end, realize automatic carry and the release between unmanned aerial vehicle and the target object, can transport the target object to the release after the appointed place, and carry the target object and return to the air when needing, all need not manual operation in the whole flow, therefore can effectively reduce the cost of labor, promote unmanned aerial vehicle's conveying efficiency and richen unmanned aerial vehicle's use scene, and can put in the target object to the higher target position department of required precision.

It is to be understood that the terminology used in the embodiments of the disclosure is for the purpose of describing particular embodiments only, and is not intended to be limiting of the disclosure. As used in the presently disclosed embodiments and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two, but does not exclude the presence of at least one.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present disclosure to describe certain components, these components should not be limited by these terms. These terms are only used to distinguish one component from another. For example, a first certain component may also be referred to as a second certain component, and similarly, a second certain component may also be referred to as a first certain component, without departing from the scope of embodiments of the present disclosure.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a monitoring", depending on the context. Similarly, the phrase "if it is determined" or "if it is monitored (a stated condition or event)" may be interpreted as "when determining" or "in response to determining" or "when monitoring (a stated condition or event)" or "in response to monitoring (a stated condition or event)", depending on the context.

In the embodiments of the present application, "substantially equal to", "substantially perpendicular", "substantially symmetrical", and the like mean that the macroscopic size or relative positional relationship between the two features referred to is very close to the stated relationship. However, it is clear to those skilled in the art that the positional relationship of the object is difficult to be exactly constrained at small scale or even at microscopic angles due to the existence of objective factors such as errors, tolerances, etc. Therefore, even if a slight point error exists in the size and position relationship between the two, the technical effect of the present application is not greatly affected.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

In the various embodiments described above, while, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated by those of ordinary skill in the art that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one of ordinary skill in the art.

Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits (bits), symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

Those of skill would further appreciate that the various illustrative logical blocks, modules, units, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, units, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

Finally, it should be noted that those of ordinary skill in the art will appreciate that embodiments of the present disclosure present many technical details for the reader to better understand the present application. However, the technical solutions claimed in the claims of the present application can be basically implemented without these technical details and various changes and modifications based on the above-described embodiments. Accordingly, in actual practice, various changes in form and detail may be made to the above-described embodiments without departing from the spirit and scope of the disclosure.