Rotary-wing UAV recovery carrier, recovery vehicle and recovery method

Abstract

The present invention discloses a rotary-wing UAV recovery platform, a recovery vehicle and a recovery method. The recovery platform includes a fixed platform, a rotating platform and a push assembly. The fixed platform is provided with an installation cavity. The rotating platform is embedded and installed in the installation cavity of the fixed platform and can rotate in the installation cavity. The push assembly is installed on the fixed platform and is used to push the rotary-wing UAV parked on the platform to the rotating platform. The invention has the advantages of simple structure, low cost, easy implementation, convenient landing and recovery of the rotary-wing UAV, carrying and operation, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a rotary-wing unmanned aerial vehicle recovery platform, a recovery vehicle and a recovery method. Background Art

[0002] Industrial-grade rotary-wing UAVs (especially those using hybrid power) are now widely used in various fields such as forest, electricity, oil exploration, border patrol, etc. due to their advantages such as large load capacity and long flight time. However, compared with consumer-grade products, industrial-grade rotors are relatively large in size and heavy in weight, which makes them relatively inconvenient for individuals to carry. Moreover, their application scenarios are mostly in areas such as mountains, forests, Gobi, and borders with inconvenient transportation, and they also need to carry drones for large-scale transfers to meet the needs of rapid deployment and high-speed maneuvers in missions. Therefore, the most convenient way is to carry the rotary-wing UAV in a vehicle-mounted manner, but in the prior art, there is no special vehicle for rotary-wing UAVs, but a general small passenger vehicle or a small pickup truck is used to carry the rotary-wing UAV. This requires that after arriving at the target area, it is necessary to find a take-off and landing site for the rotary-wing UAV, untie the fixing device of the rotary-wing UAV, and move it off the vehicle. After the rotary-wing UAV lands, it is also necessary to move the rotary-wing UAV to the vehicle and fix it. There are many inconveniences in the use (take-off, landing), transportation and carrying of rotary-wing drones, and the safety of rotary-wing drones cannot be guaranteed during transportation. Therefore, it is necessary to conduct further research and propose better technical solutions. Summary of the invention

[0003] The technical problem to be solved by the present invention is: in response to the technical problems existing in the prior art, the present invention provides a rotorcraft UAV recovery carrier, recovery vehicle and recovery method which are simple in structure, low in cost and easy to implement and convenient for landing and recovery of rotorcraft UAVs, as well as for carrying and running.

[0004] In order to solve the above technical problems, the technical solution proposed in the present invention is: a rotary wing UAV recovery bearing platform, comprising a fixed bearing platform, a rotating bearing platform and a pushing component;

[0005] The fixed bearing platform is provided with a mounting cavity;

[0006] The rotating bearing platform is embedded in the mounting cavity of the fixed bearing platform and can rotate in the mounting cavity;

[0007] The pushing component is installed on the fixed bearing platform and is used to push the rotor UAV parked on the bearing platform to the rotating bearing platform.

[0008] Furthermore, the pushing assembly includes at least two pushing units; the pushing units are arranged around the rotating bearing platform.

[0009] Furthermore, the pushing unit includes a pushing rod and a first driving unit; the first driving unit is used to drive the pushing rod to reciprocate along a preset running path.

[0010] Furthermore, a pressure detection unit is provided on the pushing surface of the pushing rod.

[0011] Furthermore, the first driving unit is installed below the fixed bearing platform, a track groove is provided on the fixed bearing platform, and the connecting portion of the push rod passes through the track groove and is connected to the first driving unit.

[0012] Furthermore, the first driving unit is driven by a lead screw, the connecting portion of the push rod is provided with a connecting hole, the connecting hole is provided with a thread matching with the lead screw; the push rod is sleeved on the lead screw through the connecting hole.

[0013] Furthermore, the upper portion of the pushing surface of the pushing rod protrudes outward.

[0014] Furthermore, it also includes a second driving unit; the second driving unit is used to drive the rotating support platform to rotate.

[0015] Furthermore, it also includes a support frame, which is fixedly mounted on the lower surface of the fixed bearing platform; the rotating bearing platform is mounted on the support frame through a rotating shaft.

[0016] Furthermore, a sensor unit is also provided on the fixed supporting platform, and the sensor unit is used to detect angle information of the rotary-wing UAV parked on the supporting platform.

[0017] A rotary wing UAV recovery vehicle, comprising a vehicle body and a carrying platform as described in any one of the above items;

[0018] The bearing platform is installed in the compartment of the vehicle body.

[0019] Furthermore, it also includes a lifting support assembly, and the bearing platform is installed in the carriage through the lifting support assembly.

[0020] A method for landing and recovering a rotary-wing UAV comprises the following steps:

[0021] S1. After the rotor drone lands on the carrier, the rotor drone is pushed onto the rotating carrier by pushing the component;

[0022] S2. Adjust the push assembly so that the push assembly is in a non-clamped state for rotating the drone, adjust the rotation angle of the rotating carrier platform so that the rotating drone reaches a preset parking angle;

[0023] S3. Adjust the pushing assembly to clamp and fix the rotor UAV via the pushing assembly.

[0024] Furthermore, in step S1, the first pressure value of each pressure detection unit in the pushing component is obtained, and when the first pressure values ​​are all greater than a preset first pressure threshold, it is determined that the rotorcraft has been pushed onto the rotating support platform.

[0025] Furthermore, in step S3, the second pressure value of each pressure detection unit in the pushing component is obtained, and when the second pressure values ​​are all greater than the second pressure threshold, it is determined that the pushing component has clamped and fixed the rotorcraft.

[0026] Compared with the prior art, the advantages of the present invention are:

[0027] 1. The pushing assembly of the present invention can push the rotary-wing UAV onto the rotating supporting platform after it lands, so that the rotary-wing UAV can stop at a preset position every time. At the same time, the pushing assembly can also clamp the landing gear of the rotary-wing UAV to ensure that the rotary-wing UAV will not undergo horizontal displacement; further, a fixed claw is also provided on the pushing assembly, which can apply downward pressure to the landing gear of the rotating UAV to ensure that the rotary-wing UAV will not undergo vertical displacement, thereby effectively ensuring the safety of the rotary-wing UAV during carrying and transportation.

[0028] 2. The present invention can adjust the parking angle of the rotor UAV by rotating the rotating support platform, and detect the angle information of the rotor UAV parked on the support platform through the sensor unit arranged on the fixed support platform, so as to ensure that the rotor UAV is facing the preset direction each time it is recovered, which is convenient for the recovery of the rotor UAV after landing, and also convenient for the control of the rotor UAV when it takes off next time.

[0029] 3. The rotary-wing UAV recovery method of the present invention can quickly fix the rotary-wing UAV on the supporting platform at a predetermined position and a predetermined angle after the rotary-wing UAV lands on the supporting platform, thereby greatly improving the landing and recovery efficiency of the rotary-wing UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a three-dimensional diagram of the supporting platform structure of a specific embodiment of the present invention.

[0031] Figure 2 In the specific embodiment of the present invention Figure 1 main view.

[0032] Figure 3 This is a front view of the support platform structure of a specific embodiment of the present invention (excluding the pushing component).

[0033] Figure 4 The cross-sectional view of the support structure of a specific embodiment of the present invention Figure 1(Push component not included).

[0034] Figure 5 The cross-sectional view of the support structure of a specific embodiment of the present invention Figure 2 (Push component not included).

[0035] Figure 6 The push rod structure of a specific embodiment of the present invention is shown in FIG. Figure 1 .

[0036] Figure 7 The push rod structure of a specific embodiment of the present invention is shown in FIG. Figure 2 .

[0037] Figure 8 It is a schematic structural diagram of a support platform in an installed state according to a specific embodiment of the present invention.

[0038] Legend: 1. Fixed support platform; 101. Track groove; 2. Rotating support platform; 201. Second drive unit; 3. Push assembly; 301. Push rod; 302. Connecting part; 303. First drive unit; 304. Pressing block; 4. Rotating shaft; 5. Driven wheel; 6. Support frame; 7. Lifting support assembly; 701. Lifting drive motor; 702. Driven gear; 703. Lead screw; 704. Fixed support frame; 705. Movable support frame; 706. Driving gear. DETAILED DESCRIPTION

[0039] The present invention is further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0040] like Figure 1 and Figure 2 As shown, the rotary-wing UAV recovery platform of this embodiment includes a fixed platform 1, a rotating platform 2 and a pushing component 3; the fixed platform 1 is provided with an installation cavity; the rotating platform 2 is embedded and installed in the installation cavity of the fixed platform 1, and can rotate in the installation cavity; the pushing component 3 is installed on the fixed platform 1, and is used to push the rotary-wing UAV parked on the platform to the rotating platform 2.

[0041] In this embodiment, the installation cavity on the fixed bearing platform 1 is preferably a circular installation cavity, and the rotating bearing platform 2 is preferably a circular installation cavity, and the rotating bearing platform 2 is embedded and installed in the installation cavity. The depth of the installation cavity is preferably greater than or equal to the thickness of the rotating bearing platform 2 to ensure that the surface of the bearing platform is flat, or the bearing surface of the rotating bearing platform 2 is slightly lower than the bearing surface of the fixed bearing platform 1 to ensure that the pushing component 3 can smoothly push the rotor drone on the bearing platform to the rotating bearing platform 2.

[0042] In this embodiment, the manner in which the rotating support platform 2 is embedded and mounted on the fixed support platform 1 includes at least but not limited to the following two manners. Figure 3 and Figure 4 As shown, the mounting cavity is a through hole provided on the fixed bearing platform 1, and a support frame 6 is provided below the fixed bearing platform 1. The rotating bearing platform 2 is mounted on the support frame 6 via a rotating shaft 4, and can rotate around the axis of the rotating shaft 4 in a horizontal plane. A driven wheel 5 is also provided on the rotating shaft 4, and the driven wheel 5 is driven by the second driving unit 201, thereby driving the rotating bearing platform 2 to rotate. The form of the driven wheel 5 can be determined according to the transmission form, such as a pulley, a gear, etc. Furthermore, in order to improve the stability of the rotating bearing platform 2 during rotation, it is preferred to provide a limit block on the fixed bearing platform 1, and the limit block is used to limit the rotation plane of the rotating bearing platform 2 to be kept on the same plane or parallel to the fixed bearing platform 1. The limit block can be as follows Figure 5 As shown in the enlarged view, it is a protrusion at the bottom edge of the through hole. In the second way, the mounting cavity is a groove on the fixed bearing platform 1, and the rotating bearing platform 2 is arranged in the groove. In this way, the rotating bearing platform 2 is directly supported by the fixed bearing platform 1. At this time, balls or rollers can be arranged between the opposite surfaces of the two to reduce the friction between the fixed bearing platform 1 and the rotating bearing platform 2. Similarly, a rotating shaft 4 passing through the fixed bearing platform 1 and a driven wheel 5 arranged on the rotating shaft 4 can also be used to receive the power provided by the second drive unit 201. In this embodiment, the second drive unit 201 can be fixedly mounted on the support frame 6, or directly mounted on the lower surface of the fixed bearing platform 1.

[0043] In this embodiment, the pushing assembly 3 includes at least two pushing units; the pushing units are arranged around the rotating support platform 2. Each pushing unit includes a pushing rod 301 and a first driving unit 303; the first driving unit 303 is used to drive the pushing rod 301 to reciprocate along a preset running path. The shape of the pushing rod 301 can be set according to the shape of the landing gear of the rotary-wing UAV. For example, when the landing gear of the rotary-wing UAV adopts two parallel strip landing gears, the pushing rod 301 is preferably a straight rod; if the landing gear of the rotary-wing UAV is an arc, the pushing rod 301 is preferably Figure 1 The arc shown in .

[0044] In this embodiment, the running track (i.e., the preset running path) of the pushing rod 301 in the pushing unit can be as follows: Figure 1 In the case of linear motion, the linear motion shown in FIG. 1 may also be a fan-shaped arc motion. When linear motion is adopted, the straight line where the motion trajectory is located preferably coincides with the radial line of the rotation circle of the rotating support platform 2. When arc motion is adopted, the following may be adopted: Figure 7The push rod 301 shown includes a push part, a connecting part 302 and a positioning shaft. The positioning shaft of the push rod 301 can be inserted into the shaft hole on the fixed supporting platform 1, so that the push rod 301 can move around the positioning shaft on the supporting platform in an arc-shaped motion trajectory, and the rotor drone parked on the supporting platform can be pushed onto the rotating supporting platform 2.

[0045] In this embodiment, the first driving unit 303 is installed below the fixed bearing platform 1, and a track groove 101 is provided on the fixed bearing platform 1. The connecting portion 302 of the push rod 301 passes through the track groove 101 and is connected to the first driving unit 303. By arranging the first driving unit 303 below the fixed bearing platform 1, the lower surface of the fixed bearing platform 1 can be fully utilized to install equipment, and the upper surface of the fixed bearing platform 1 can be used as the landing site of the rotary-wing UAV, thereby expanding the take-off and landing area of ​​the rotary-wing UAV and improving the landing safety.

[0046] In this embodiment, the first driving unit 303 is preferably driven by a lead screw, and a connecting hole is provided on the connecting portion 302 of the push rod 301, and a thread matching the lead screw is provided in the connecting hole; the push rod 301 is sleeved on the lead screw through the connecting hole. Since the connecting portion 302 of the push rod 301 passes through the track groove 101 of the fixed bearing platform 1 and is sleeved on the lead screw, when the lead screw rotates, the track groove 101 can ensure that the push rod 301 does not rotate together with the lead screw, so that the push rod 301 moves linearly along the track groove 101.

[0047] In this embodiment, when the rotor drone is pushed to the rotating bearing platform 2 by the push rod 301, the stroke of the push rod 301 can be used to determine whether it is pushed in place. When the rotor drone is clamped by the push rod 301 during transportation, the stroke of the push rod 301 can also be used to determine whether it is clamped. However, this method requires the stroke of the push rod 301 to be set in advance. Therefore, in this embodiment, it is preferred to set a pressure detection unit on the push surface of the push rod 301. When the rotor drone is pushed to the rotating bearing platform 2 by the push rod 301, when the pressure detection unit of each push rod 301 detects pressure, it can be judged that the rotor drone has been pushed in place, that is, the push rod 301 can be released, and the rotation of the rotating platform can be started to adjust the parking angle of the rotor drone. After the parking angle is adjusted, the landing gear of the rotor drone is clamped by the push rod 301. When the pressure detected by the pressure detection unit reaches a predetermined value, it can be judged that the push rod 301 has clamped the rotor drone, which can ensure the safe parking of the rotor drone.

[0048] Furthermore, in this embodiment, the upper part of the pushing surface of the pushing rod 301 protrudes outward. The protrusion formed by the outward protrusion is preferably wedge-shaped, through which when two or more pushing rods 301 clamp the landing gear of the rotary-wing UAV, a downward pressure can be applied to the landing gear to ensure that the rotary-wing UAV is stably fixed on the rotating support platform 2 without moving up and down. Of course, there can be other forms to achieve the above functions, such as Figure 6 As shown in , by setting one or more pressing blocks 304 on the push rod 301, the rotary wing drone is fixed on the placement platform through the pressing blocks 304. The lower surface of the pressing block 304 is preferably wedge-shaped, so that the pressure generated by the pressing block 304 can be adjusted by the position of the push rod 301.

[0049] In this embodiment, a sensor unit is also provided on the fixed bearing platform 1, and the sensor unit is used to detect the angle information of the rotor drone parked on the bearing platform. In this embodiment, the sensor unit adopts a distance sensor, and the distance sensor is used to detect whether the distance information of the rotor drone parked on the rotating bearing platform 2 meets the preset value to determine the parking angle of the rotor drone. For example, for a four-rotor drone with four completely symmetrical propeller positions, only one distance sensor can be installed on the upper surface of the fixed bearing platform 1, and a propeller frame of the four-rotor drone is detected by the distance sensor. When the propeller frame is detected, it can be determined that the parking angle of the four-rotor drone meets the preset angle. For other rotor drones that do not have symmetrical characteristics, two or more distance sensors can be used to detect the rotor drone, and the parking angle of the rotor drone is determined according to the detection results of multiple distance sensors. Of course, the detection direction of the distance sensor is different according to the different parts to be detected. For example, when detecting the propeller bracket, the detection direction of the distance sensor is upward, and when detecting the landing gear, the detection direction of the distance sensor is horizontal.

[0050] The rotary-wing UAV recovery vehicle of this embodiment includes a vehicle body and a load-bearing platform as described in any one of the above items; the load-bearing platform is installed in the compartment of the vehicle body. In this embodiment, if the rotary-wing UAV recovery vehicle adopts an open compartment, the load-bearing platform of the present invention is directly fixed in the compartment, which can provide a vehicle-mounted take-off and landing site for the rotary-wing UAV, and the rotary-wing UAV can also be fixed by the load-bearing platform, which facilitates the transfer and transportation of the rotary-wing UAV.

[0051] In this embodiment, it is preferred to use a vehicle with a closed compartment and an openable top cover as the rotary-wing UAV recovery vehicle. At this time, it is preferred to install the load platform in the compartment of the rotary-wing UAV recovery vehicle through the lifting support assembly 7. When the compartment top cover is opened, the load platform can be lifted out of the compartment through the lifting support assembly 7, thereby providing a good take-off or landing site for the rotary-wing UAV. After the rotary-wing UAV lands, the load platform and the rotary-wing UAV on the load platform can be retracted into the compartment through the lifting support assembly 7, and the top cover is closed, providing a good parking environment for the rotary-wing UAV.

[0052] The specific form of the lifting support assembly of this embodiment is as follows: Figure 8 As shown, the fixed support frame 704 is installed on the floor of the carriage, and the movable support frame 705 is installed on the fixed support frame 704. The movable support frame 705 can move up and down on the fixed support frame 704. Its movement driving method is that a fixed lead screw 703 is vertically arranged on the movable support frame 704, and the lead screw 703 passes through the driven gear 702 on the fixed support frame 704. The driven gear 702 has teeth that match the lead screw 703. Through the rotation of the driven gear 702, the lead screw 703 can be lifted or lowered, so that the movable support frame 705 is lifted or lowered. The driven gear 702 is driven by the lifting drive motor 701 and the driving gear 706. Of course, the lifting and lowering of the movable support frame 705 can also be achieved by other methods, such as directly lifting or lowering the movable support mechanism 705 by a cylinder drive method.

[0053] The landing and recovery method of the rotary-wing UAV of this embodiment includes the following steps: S1. After the rotary-wing UAV lands on the supporting platform, the rotary-wing UAV is pushed onto the rotating supporting platform 2 by the pushing component 3; S2. The pushing component 3 is adjusted so that the pushing component 3 is in a non-clamping state with respect to the rotating UAV, and the rotation angle of the rotating supporting platform 2 is adjusted so that the rotating UAV reaches a preset parking angle; S3. The pushing component 3 is adjusted to clamp and fix the rotary-wing UAV by the pushing component 3.

[0054] Preferably, in step S1, the first pressure value of each pressure detection unit in the push assembly 3 is obtained. When the first pressure values ​​are all greater than the preset first pressure threshold, it is judged that the rotor UAV has been pushed onto the rotating support platform 2. In step S3, the second pressure value of each pressure detection unit in the push assembly 3 is obtained. When the second pressure values ​​are all greater than the second pressure threshold, it is judged that the push assembly 3 has clamped and fixed the rotor UAV. The first pressure threshold is less than the second pressure threshold. The value range of the first pressure threshold is preferably 1 to 10 Newtons.

[0055] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment, it is not intended to limit the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A rotary wing UAV recovery platform, characterized in that: It includes a fixed bearing platform, a rotating bearing platform and a pushing component; the fixed bearing platform is provided with a mounting cavity; The rotating bearing platform is embedded in the mounting cavity of the fixed bearing platform and can rotate in the mounting cavity; The pushing component is installed on the fixed bearing platform and is used to push the rotary-wing UAV parked on the bearing platform to the rotating bearing platform; The pushing unit includes a pushing rod and a first driving unit; The first driving unit is used to drive the push rod to reciprocate along a preset running path; The first driving unit is installed below the fixed bearing platform, a track groove is provided on the fixed bearing platform, and the connecting portion of the push rod passes through the track groove and is connected to the first driving unit; The pushing surface of the pushing rod is provided with a pressure detection unit. When the rotor UAV is pushed to the rotating bearing platform by the pushing rod, when the pressure detection unit of each pushing rod detects pressure, it is judged that the rotor UAV has been pushed into place, the pushing rod is released, and the rotation of the rotating platform is started to adjust the parking angle of the rotor UAV; after the parking angle is adjusted, the landing gear of the rotor UAV is clamped by the pushing rod, and when the pressure detected by the pressure detection unit reaches a predetermined value, it is judged that the pushing rod has clamped the rotor UAV; The push rod is provided with one or more pressing blocks, which are used to fix the rotor UAV on the rotating bearing platform. The pressing blocks are wedge-shaped, and the pressure generated by the pressing blocks is adjusted by the position of the push rod.

2. The rotary wing UAV recovery platform according to claim 1, characterized in that: The pushing assembly includes at least two pushing units; the pushing units are arranged around the rotating bearing platform.

3. The rotary wing UAV recovery platform according to claim 1, characterized in that: The first driving unit is driven by a lead screw, and a connecting hole is provided on the connecting portion of the push rod, and a thread matching the lead screw is provided in the connecting hole; the push rod is sleeved on the lead screw through the connecting hole.

4. The rotary wing UAV recovery platform according to claim 3, characterized in that: The upper part of the pushing surface of the pushing rod protrudes outwards.

5. The rotary wing UAV recovery platform according to any one of claims 1 to 4, characterized in that: It also includes a second driving unit; the second driving unit is used to drive the rotating support platform to rotate.

6. The rotary wing UAV recovery platform according to claim 5, characterized in that: It also includes a support frame, which is fixedly installed on the lower surface of the fixed bearing platform; the rotating bearing platform is installed on the support frame through a rotating shaft.

7. The rotary wing UAV recovery platform according to any one of claims 1 to 4, characterized in that: The fixed support platform is also provided with a sensor unit, and the sensor unit is used to detect the angle information of the rotary-wing UAV parked on the support platform.

8. A rotary wing UAV recovery vehicle, characterized by: It comprises a vehicle body and a carrying platform as claimed in any one of claims 1 to 7; The bearing platform is installed in the compartment of the vehicle body.

9. The rotary wing UAV recovery vehicle according to claim 8, characterized in that: It also includes a lifting support assembly, and the bearing platform is installed in the carriage through the lifting support assembly.

10. A method for landing and recovering a rotary-wing UAV, characterized in that: The steps include: S1. After the rotary-wing UAV lands on the platform, the rotary-wing UAV is pushed onto the rotating platform by the pushing component; the first pressure value of each pressure detection unit in the pushing component is obtained, and when the first pressure values ​​are all greater than the preset first pressure threshold, it is determined that the rotary-wing UAV has been pushed onto the rotating platform; S2. Adjust the push assembly so that the push assembly is in a non-clamped state for the rotating drone, and adjust the rotation angle of the rotating carrier so that the rotating drone reaches a preset parking angle; S3. Obtain the second pressure value of each pressure detection unit in the pushing component. When the second pressure values ​​are all greater than the second pressure threshold, it is determined that the pushing component has clamped and fixed the rotorcraft UAV, and the pushing component is adjusted to clamp and fix the rotorcraft UAV through the pushing component.

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