Unmanned aerial vehicle take-off and landing system with overturning and stability augmentation functions

Abstract

The utility model discloses an unmanned aerial vehicle take-off and landing system with turnover and stability augmentation functions, which comprises a fixed seat, a parking apron, a centering mechanism, a stability augmentation controller, a high-precision IMU (Inertial Measurement Unit) sensor and two electric push rods, the two electric push rods are connected between the back face of the parking apron and the fixing base, the high-precision IMU sensor is arranged on the parking apron and is in communication connection with the stability augmentation controller, and the high-precision IMU sensor is used for sensing the posture of the parking apron in real time and sending the posture information of the parking apron to the stability augmentation controller. The stability augmentation controller controls the two electric push rods to cooperatively stretch and retract to adjust the attitude angle of the parking apron according to the attitude information of the parking apron; the parking apron has the overturning function, the unmanned aerial vehicle can be conveniently stored and parked in the nest, meanwhile, in the take-off and landing process of the unmanned aerial vehicle, the parking apron has the stability augmentation function, and it is ensured that the unmanned aerial vehicle can still take off and land stably in the bumpy and shaking environment.

Description

Technical Field

[0001] The utility model relates to a drone take-off and landing system with flipping and stabilization functions, belonging to the technical field of drone take-off and landing systems. Background Art

[0002] In recent years, the application of drones in various industries has become increasingly popular, and the application scenarios and mission types have become increasingly diverse. In many cases, the single-machine nest method can no longer meet the efficient mission requirements. Therefore, the new business model of "one nest, multiple machines" automatic management and cluster control has become a new solution and new approach in the field of drone nests, greatly improving the comprehensive application efficiency and capabilities of drones.

[0003] When the aircraft nest is in a bumpy and shaking environment, such as being mounted on a vehicle or ship, the apron of the aircraft nest cannot remain horizontal during takeoff and landing of the vertical fixed-wing drone, and there will be a certain degree of angle fluctuation, resulting in the drone being unable to take off and land smoothly, posing a safety risk. Utility Model Content

[0004] The utility model aims to provide a UAV take-off and landing system with flipping and stabilization functions, so that the helipad can be flipped and has a stabilization function, ensuring that the UAV can still take off and land smoothly in a bumpy and shaking environment.

[0005] The technical solution adopted by the utility model is as follows:

[0006] A UAV take-off and landing system with flipping and stabilization functions, comprising a fixed seat, a helipad, a centering mechanism, a stabilization controller, a high-precision IMU sensor and two electric push rods, the helipad and the fixed seat are connected by a double-freedom shaft, the centering mechanism is arranged on the front of the helipad, the centering mechanism is used to center and lock the UAV, the two electric push rods are connected between the back of the helipad and the fixed seat, and the two electric push rods are arranged parallel to each other and spaced apart, the high-precision IMU sensor is arranged on the helipad and is communicatively connected to the stabilization controller, the high-precision IMU sensor is used to sense the posture of the helipad in real time, and send the posture information of the helipad to the stabilization controller, the stabilization controller controls the two electric push rods to coordinate telescopic movement according to the posture information of the helipad to adjust the posture angle of the helipad; the posture angle includes a pitch angle and a roll angle.

[0007] As a preferred embodiment of the present invention, a lifting mechanism is further included, and the lifting mechanism is used to drive the fixing seat to rise and fall in the vertical direction.

[0008] As a further preferred embodiment of the present invention, the lifting mechanism adopts any one of a gear rack mechanism, a screw nut mechanism or a linear motor module; the gear rack mechanism, the screw nut mechanism or the linear motor module includes two groups of actuators, the two groups of actuators are symmetrically arranged on both sides of the machine position, and the two ends of the fixed seat are respectively connected to the two groups of actuators, and the two groups of actuators act synchronously to drive the fixed seat to rise and fall in the vertical direction.

[0009] Preferably, the actuator of the gear rack mechanism includes a lifting servo motor, a gear and a rack, the gear is installed on the output shaft of the lifting servo motor, the lifting servo motors of the two groups of actuators are installed on the inner side of the fixed seat and move synchronously, the racks of the two groups of actuators are vertically installed on both sides of the machine position, and the gears installed on the output shaft of the lifting servo motor are meshed with the racks; guide grooves are vertically arranged on both sides of the machine position, and guide wheels are arranged at both ends of the fixed seat, and the guide wheels roll in the guide grooves; the lifting servo motors of the two groups of actuators are used to drive the two gears to rotate synchronously, and the two gears are meshed and rolled on the two racks and drive the fixed seat to rise and fall in the vertical direction.

[0010] Preferably, the actuators of the screw-nut mechanism include a servo motor and a reducer, a nut and a screw. The servo motors and reducers of the two groups of actuators are installed on the inner side of the fixed seat and move synchronously. The screws of the two groups of actuators are vertically installed on both sides of the machine position respectively. The nuts are threadedly connected to the screws. The servo motors and reducers of the two groups of actuators are respectively used to drive the two nuts to rotate, so that the two nuts are synchronously displaced along the two screws to drive the fixed seat to rise and fall.

[0011] Preferably, the actuator of the linear motor module includes a first linear motor module and a second linear motor module, the first linear motor module and the second linear motor module are respectively vertically installed on both sides of the machine position, and the two ends of the fixed seat are respectively connected to the slides of the first linear motor module and the second linear motor module, and the first linear motor module and the second linear motor module act synchronously to drive the fixed seat to rise and fall.

[0012] Preferably, the fixing seat is an L-shaped plate, the top edge of the longitudinal plate of the L-shaped plate is connected to the apron through a double-degree-of-freedom rotating shaft, the tail end of the electric push rod is hinged to the transverse plate of the L-shaped plate, and the execution end of the electric push rod is ball-jointed to the back of the apron.

[0013] The utility model is beneficial in that:

[0014] The helipad has flipping and lifting functions, which makes it easier for the drone to be stored and parked in the nest. At the same time, during the take-off and landing of the drone, the helipad has a stabilization function to ensure that the drone can still take off and land smoothly in a bumpy and shaking environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the utility model after installation;

[0016] Figure 2 It is a side view structural schematic diagram of the utility model after installation;

[0017] Figure 3 It is a schematic diagram of the utility model during the helipad flipping process;

[0018] Figure 4 It is a schematic diagram of another perspective during the turning process of the apron of the utility model;

[0019] Figure 5 This is an exploded schematic diagram of the connection between the apron and the fixed seat of the utility model;

[0020] Figure 6 It is a schematic diagram of the action of adjusting the forward pitch angle of the apron driven by two electric push rods of the utility model;

[0021] Figure 7 It is a schematic diagram of the utility model in which two electric push rods drive the helipad to tilt back and adjust the angle;

[0022] Figure 8 It is a schematic diagram of the utility model in which two electric push rods drive the left roll angle adjustment of the apron;

[0023] Fig. 9 It is a schematic diagram of the right roll angle adjustment action of the two electric push rods driving the apron in the utility model;

[0024] Meaning of the reference numerals in the figures:

[0025] 1-fixed seat, 2-parking apron, 3-centering mechanism, 4-electric push rod, 5-double-freedom rotating shaft;

[0026] 6-UAV, 7-machine nest, 8-machine position, 9-guide groove, 10-guide wheel;

[0027] 11-lifting servo motor, 12-gear, 13-rack. DETAILED DESCRIPTION

[0028] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] like Figure 1-9As shown, this embodiment is a UAV take-off and landing system with flipping and stabilization functions, including a fixed seat 1, a helipad 2, a centering mechanism 3, a stabilization controller, a high-precision IMU sensor and two electric push rods 4. The helipad 2 is connected to the fixed seat 1 through a double-degree-of-freedom rotating shaft 5. The centering mechanism 3 is arranged on the front of the helipad 2. The centering mechanism 3 is used to center and lock the UAV 6. The two electric push rods 4 are connected between the back of the helipad 2 and the fixed seat 1, and the two electric push rods 4 are arranged parallel to each other and spaced apart. In this embodiment, the fixed seat 1 is an L-shaped plate, and the top edge of the longitudinal plate of the L-shaped plate is connected to the helipad 2 through a double-degree-of-freedom rotating shaft 5. The tail end of the electric push rod 4 is hinged to the transverse plate of the L-shaped plate. The execution end of the electric push rod 4 is connected to the ball joint on the back of the apron 2; the high-precision IMU sensor is arranged on the apron 2 and is communicated with the stabilization controller. The high-precision IMU sensor is used to sense the posture of the apron 2 in real time, and send the posture information of the apron 2 to the stabilization controller. The stabilization controller controls the two electric push rods 4 to coordinate the telescopic movement according to the posture information of the apron 2 to adjust the posture angle of the apron 2; the posture angle includes the pitch angle and the roll angle; in the stored state, the apron 2 is perpendicular to the horizontal plane and is in a vertical state, and the front of the apron 2 faces the inside of the machine nest 7; in the take-off and landing state, the apron 2 is parallel to the horizontal plane and is in a horizontal state, and the front of the apron 2 faces the sky.

[0030] In actual application, under the premise of ensuring high precision and synchronization, the electric push rod 4 can also adopt a pneumatic telescopic cylinder or a hydraulic telescopic cylinder to achieve a larger output force.

[0031] This embodiment also includes a lifting mechanism, which is used to drive the fixed seat 1 to rise and fall in the vertical direction; the lifting mechanism can adopt any one of a gear rack mechanism, a screw nut mechanism or a linear motor module; the gear rack mechanism, the screw nut mechanism or the linear motor module includes two groups of actuators, and the two groups of actuators are symmetrically arranged on both sides of the machine position 8. The two ends of the fixed seat 1 are respectively connected to the two groups of actuators, and the two groups of actuators act synchronously to drive the fixed seat 1 to rise and fall in the vertical direction.

[0032] In this embodiment, the lifting mechanism adopts a rack and pinion mechanism, and the actuator of the rack and pinion mechanism includes a lifting servo motor 11, a gear 12 and a rack 13. The gear 12 is installed on the output shaft of the lifting servo motor 11. The lifting servo motors 11 of the two groups of actuators are installed on the inner side of the fixed seat 1 and move synchronously. The racks 12 of the two groups of actuators are respectively vertically installed on both sides of the machine position 8, and the gears 12 installed on the output shaft of the lifting servo motor 11 are meshed with the racks 13; guide grooves 9 are respectively vertically arranged on both sides of the machine position 8, and guide wheels 10 are respectively arranged at both ends of the fixed seat 1, and the guide wheels 10 roll in the guide grooves 9; the lifting servo motors 11 of the two groups of actuators are used to drive the two gears 12 to rotate synchronously, and the two gears 12 are meshed and rolled on the two racks 13 and drive the fixed seat 1 to rise and fall in the vertical direction.

[0033] In actual application, the lifting mechanism can also adopt a screw-nut mechanism. The actuators of the screw-nut mechanism include a servo motor and a reducer, a nut and a screw. The servo motors and reducers of the two sets of actuators are installed on the inner side of the fixed seat and move synchronously. The screws of the two sets of actuators are vertically installed on both sides of the machine position respectively. The nuts are threadedly connected to the screws. The servo motors and reducers of the two sets of actuators are respectively used to drive the two nuts to rotate, so that the two nuts are synchronously displaced along the two screws to drive the fixed seat to rise and fall.

[0034] In actual application, the lifting mechanism can also adopt a linear motor module. The actuator of the linear motor module includes a first linear motor module and a second linear motor module. The first linear motor module and the second linear motor module are respectively vertically installed on both sides of the machine position. The two ends of the fixed seat are respectively connected to the slides of the first linear motor module and the second linear motor module. The first linear motor module and the second linear motor module act synchronously to drive the fixed seat to rise and fall.

[0035] When in use, this embodiment is installed at the machine position 8 of the machine nest 7. When the apron 2 needs to be flipped into a horizontal state, the stabilization controller controls the two electric push rods 4 to shorten synchronously, so that the angle between the apron 2 and the fixed seat 1 becomes smaller, until the apron 2 is in a horizontal state; when the apron 2 needs to be flipped into a vertical state, the stabilization controller controls the two electric push rods 4 to extend synchronously, so that the angle between the apron 2 and the fixed seat 1 becomes larger, until the apron 2 is in a vertical state; the flipping movement of the apron 2 is realized, and then a large-scale angle adjustment of the posture of the apron 2 is realized.

[0036] In view of possible bumpy use environments, such as on vehicles and ships, the helipad 2 of the machine nest 7 cannot maintain a horizontal state during takeoff and landing of the drone 6, and there will be a certain degree of angle fluctuation. For this reason, the utility model is designed with a stabilization function for the helipad 2; Figure 5-9As shown, the connection between the apron 2 and the fixed seat 1 adopts a double-degree-of-freedom rotating shaft 5, which can meet the deflection of the apron 2 in the roll and pitch directions, and cooperate with two electric push rods 4 and a high-precision IMU sensor to achieve pitch and roll angle adjustment of the apron 2 to cope with the interference of environmental changes on the take-off and landing of the UAV 6; during stabilization work, the high-precision IMU sensor senses the posture of the apron 2 in real time, and sends the posture information of the apron 2 to the stabilization controller, and the stabilization controller controls the two electric push rods 4 to coordinate the telescopic movement to adjust the posture angle of the apron 2 according to the posture information of the apron 2, and through the linkage and differential of the two electric push rods 4, a small angle adjustment of the posture of the apron 2 is achieved, thereby isolating the disturbance of the apron 2 caused by environmental changes, so as to cope with the safety risks brought by the bumpy environment, ensure that the apron 2 is always in a specified posture, and meet the take-off and landing requirements of the UAV 6.

[0037] When the drone 6 is released in this embodiment, the lifting mechanism first drives the fixing seat 1 to rise to the specified position in the vertical direction, and then the stabilization controller controls the two electric push rods 4 to shorten synchronously, so that the angle between the apron 2 and the fixing seat 1 becomes smaller, until the apron 2 is in a horizontal state. During this process, the apron 2 flips from a vertical state to a horizontal state; then the high-precision IMU sensor senses the posture of the apron 2 in real time, and sends the posture information of the apron 2 to the stabilization controller. The stabilization controller controls the two electric push rods 4 to coordinate the telescopic movement to adjust the posture angle of the apron 2 according to the posture information of the apron 2, so as to adjust the posture angle of the apron 2 in real time, so as to keep the apron 2 in a horizontal state at all times, and then the centering mechanism 3 releases the drone 6. At this time, the drone 6 on the apron 2 can take off at any time;

[0038] After the UAV 6 takes off, the real-time adjustment of the attitude angle of the apron 2 is stopped, and then the stabilization controller controls the two electric push rods 4 to extend synchronously, so that the angle between the apron 2 and the fixed seat 1 becomes larger, until the apron 2 is in a vertical state. During this process, the apron 2 flips from a horizontal state to a vertical state; then the lifting mechanism drives the fixed seat 1 to descend in the vertical direction to the initial position, completing the UAV 6 launch mission.

[0039] Similarly, in this embodiment, when the drone 6 lands, the above steps are also implemented to keep the helipad 2 in a horizontal state. At this time, the drone 6 can land on the helipad 2 at any time.

[0040] After the drone 6 lands, the centering mechanism 3 centers and locks the drone 6, and then stops adjusting the attitude angle of the apron 2 in real time. Then the stabilization controller controls the two electric push rods 4 to extend synchronously to increase the angle between the apron 2 and the fixing seat 1 until the apron 2 is in a vertical state. During this process, the apron 2 flips from a horizontal state to a vertical state. Then the lifting mechanism drives the fixing seat 1 to descend in the vertical direction to the initial position, completing the landing and storage task of the drone 6.

[0041] This embodiment enables the helipad to have flipping and lifting functions, which is convenient for the machine nest to store and park the drone. At the same time, during the take-off and landing of the drone, the helipad has a stabilization function to ensure that the drone can still take off and land smoothly in a bumpy and shaking environment.

[0042] In the description of the present invention, it is necessary to understand that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention; in addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that: unless otherwise clearly stipulated and limited, the terms "installation", "connection", "setting" and "formation" should be understood in a broad sense; for example: it can be a fixed connection, setting, or a detachable connection, setting, or an integrated structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements; for those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0044] In the description of the present invention, reference to terms such as "embodiment", "specific example" or "practical application" means that the specific features, structures, materials or characteristics described in combination with the embodiment are included in at least one embodiment or example of the present invention; the schematic expressions of the above terms do not necessarily refer to the same embodiment or example, and the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0045] The above embodiments are only used to illustrate the technical solutions of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation shall fall within the protection scope of the present invention.

Claims

1. A UAV take-off and landing system with flipping and stabilization functions, characterized in that: It includes a fixed seat, a helipad, a centering mechanism, a stabilization controller, a high-precision IMU sensor and two electric push rods. The helipad is connected to the fixed seat through a double-degree-of-freedom rotating shaft. The centering mechanism is arranged on the front of the helipad. The centering mechanism is used to center and lock the drone. The two electric push rods are connected between the back of the helipad and the fixed seat, and the two electric push rods are arranged parallel to each other and spaced apart. The high-precision IMU sensor is arranged on the helipad and is communicatively connected with the stabilization controller. The high-precision IMU sensor is used to sense the posture of the helipad in real time, and send the posture information of the helipad to the stabilization controller. The stabilization controller controls the two electric push rods to coordinate the telescopic movement according to the posture information of the helipad to adjust the posture angle of the helipad.

2. The UAV take-off and landing system with flipping and stabilization functions according to claim 1, characterized in that: It also includes a lifting mechanism, which is used to drive the fixing seat to rise and fall in the vertical direction.

3. The UAV take-off and landing system with flipping and stabilization functions according to claim 2, characterized in that: The lifting mechanism adopts any one of a gear rack mechanism, a screw nut mechanism or a linear motor module; the gear rack mechanism, the screw nut mechanism or the linear motor module includes two groups of actuators, the two groups of actuators are symmetrically arranged on both sides of the machine position, and the two ends of the fixed seat are respectively connected to the two groups of actuators, and the two groups of actuators act synchronously to drive the fixed seat to rise and fall in the vertical direction.

4. The UAV take-off and landing system with flipping and stabilization functions according to claim 3, characterized in that: The actuator of the gear rack mechanism includes a lifting servo motor, a gear and a rack. The gear is installed on the output shaft of the lifting servo motor. The lifting servo motors of the two groups of actuators are installed on the inner side of the fixed seat and move synchronously. The racks of the two groups of actuators are vertically installed on both sides of the machine position, and the gears installed on the output shaft of the lifting servo motor are meshed with the racks; guide grooves are vertically arranged on both sides of the machine position, and guide wheels are arranged at both ends of the fixed seat, and the guide wheels roll in the guide grooves; the lifting servo motors of the two groups of actuators are used to drive the two gears to rotate synchronously, and the two gears are meshed and rolled on the two racks and drive the fixed seat to rise and fall in the vertical direction.

5. The UAV take-off and landing system with flipping and stabilization functions according to claim 3, characterized in that: The actuators of the screw-nut mechanism include a servo motor and a reducer, a nut and a screw. The servo motors and reducers of the two sets of actuators are installed on the inner side of the fixed seat and move synchronously. The screws of the two sets of actuators are vertically installed on both sides of the machine position respectively. The nuts are threadedly connected to the screws. The servo motors and reducers of the two sets of actuators are respectively used to drive the two nuts to rotate, so that the two nuts are synchronously displaced along the two screws to drive the fixed seat to rise and fall.

6. The UAV take-off and landing system with flipping and stabilization functions according to claim 3, characterized in that: The actuator of the linear motor module includes a first linear motor module and a second linear motor module. The first linear motor module and the second linear motor module are respectively vertically installed on both sides of the machine position. The two ends of the fixed seat are respectively connected to the slides of the first linear motor module and the second linear motor module. The first linear motor module and the second linear motor module act synchronously to drive the fixed seat to rise and fall.

7. A UAV take-off and landing system with flipping and stabilization functions according to any one of claims 1-6, characterized in that: The fixing seat is an L-shaped plate, the top edge of the longitudinal plate of the L-shaped plate is connected to the apron through a double-freedom rotation axis, the tail end of the electric push rod is hinged to the transverse plate of the L-shaped plate, and the execution end of the electric push rod is connected to the back of the apron by a ball joint.

8. The UAV take-off and landing system with flipping and stabilization functions according to claim 1, characterized in that: The attitude angle includes a pitch angle and a roll angle.

Images