A method for guiding and controlling landing of unmanned aerial vehicle

Abstract

The present invention relates to a method for guiding and controlling the landing of a drone and to the technical field of drone equipment, and solves the problems of inaccurate landing position of the drone and complicated fixing and storing steps. The method for guiding and controlling the landing of a drone of the present invention includes the steps of controlling the drone to center on a drone landing guide platform, controlling the drone to land and fix it on the drone landing guide platform, and storing the drone and the drone landing guide platform. The method of the present invention can accurately guide the drone to land accurately, automatically fix and store it, and the method is simple and easy to operate, and has wide applicability.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle equipment, and in particular to a landing guidance and storage control method for an unmanned aerial vehicle. Background Art

[0002] In recent years, drones have been widely used in various industries to complete tasks such as environmental monitoring, aerial filming, security surveillance, cargo handling, personnel search and rescue, and emergencies. Drones often need to automatically complete a series of takeoffs, cruises, and return landings in a variety of mission scenarios. Among them, the landing of drones is an important part of flight safety.

[0003] The landing process of a drone is very complicated and is the most prone to accidents. The reason is that the motion state of the drone changes dramatically during landing, and the ground environment factors have a greater impact on the drone.

[0004] Over the years, people have been committed to the research of drone recovery platforms including multi-rotor drones, and have achieved certain technical results.

[0005] However, there are still many technical difficulties in platform recovery of drones, especially the navigation and positioning technology during the autonomous landing process is still imperfect. At present, the widely used navigation methods are inertial navigation, GPS navigation and visual navigation and any combination thereof. However, these navigation methods cannot achieve accurate landing of drones and ensure landing safety.

[0006] During the landing process of a drone on a mobile platform, vibration and shock have a huge impact on the positioning accuracy. It is even more difficult to achieve accurate landing of a multi-rotor drone simply by relying on flight control or manual control. The slightest carelessness may cause damage to the body structure or even cause the drone to explode.

[0007] In addition, after the drone lands, it needs to be stored. The storage process includes multiple steps such as moving the drone, positioning the drone, and storing the drone, which is time-consuming and laborious.

[0008] How to reduce the difficulty of landing and controlling multi-rotor drones on mobile platforms, improve landing safety and accuracy, and speed up the storage process, is a technical problem that must be solved in the widespread application of drones, including multi-rotor drones. Summary of the invention

[0009] In view of the above analysis, the present invention aims to provide a landing guidance and storage control method for a UAV, so as to solve the technical problems in the prior art of inaccurate landing position of the UAV, fixation after landing, and complicated storage steps.

[0010] The present invention is achieved through the following technical solutions:

[0011] A method for guiding and storing a drone landing comprises the following steps: using a flight control terminal to control a drone to land on a drone landing guide platform through a signal from a sensor combination, and storing the drone and the drone landing guide platform into a drone storage component.

[0012] S1, UAV centering UAV landing guidance platform;

[0013] S2, the drone lands and is fixed on the drone landing guide platform;

[0014] S3, storing and controlling the UAV and the UAV landing guidance platform.

[0015] Furthermore, in S1, a sensor device is provided at the center position of the landing platform component of the UAV landing guide platform.

[0016] Furthermore, S2 includes:

[0017] S21, the UAV makes a vertical landing displacement;

[0018] S22, the UAV landing rod slides along the landing guide component of the UAV landing guide platform into the V-groove of the guide frame connecting seat assembly of the landing guide component;

[0019] S23, the V-shaped groove of the guide frame connecting seat assembly is opened, and the UAV landing rod is lowered into the bottom of the V-shaped groove of the guide frame connecting outer seat;

[0020] S24, the V-groove of the guide frame connecting seat assembly is reset, and the drone landing rod is fixed in a limited position.

[0021] Furthermore, in S21, the UAV slides down along the guide frame of the landing guide assembly.

[0022] Furthermore, the V-shaped groove in S22 is composed of two guide frames connected to the inner seat body; the two guide frames connected to the inner seat body are symmetrically hinged in the guide frame connected to the outer seat body.

[0023] Furthermore, in S23, the UAV landing rod touches the first proximity switch set on the guide frame connecting inner seat body to open the V-groove, and the flight control terminal starts the rotating power assembly to drive the 5 steel wires to descend, thereby pulling the 2 guide frame connecting inner seat bodies to rotate into the guide frame connecting outer seat body.

[0024] Furthermore, after the V-shaped groove is opened, the drone landing rod falls into the bottom of the V-shaped groove where the guide frame is connected to the outer seat, and the drone landing rod touches the second proximity switch set at the bottom of the V-shaped groove where the guide frame is connected to the outer seat.

[0025] Further, the flight control terminal stops the operation of the rotating power 0 component according to the signal of the second proximity switch, and the guide frame is connected to the inner seat body and reset under the action of the torsion spring, and the V-groove of the reset guide frame connection seat assembly limits and fixes the drone landing rod, completing S24.

[0026] Furthermore, S3 includes:

[0027] S31, the flight control terminal controls the folding of the drone arms and propellers;

[0028] S32. The flight control terminal controls the landing of the lifting component in the storage component of the drone; 5S33. The flight control terminal controls the automatic closing of the cover of the storage box component in the storage component of the drone.

[0029] Further, in S32, the upper plane of the lifting assembly descends to a predetermined height, triggering a third proximity switch disposed at the lower portion of the drone storage component, and the flight control terminal starts executing S33.

[0030] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: 0 1. The landing guidance and storage control method of the UAV of the present invention can guide the UAV to drop the UAV landing rod into the V-groove of the guide frame connecting seat assembly, and then fall into the bottom of the V-groove of the guide frame connecting seat assembly, and be constrained and positioned, and can continuously complete the landing, positioning and limiting actions, and then complete the storage of the UAV.

[0031] 2. The landing guidance and storage control method of the drone of the present invention can guide the drone to center on the drone landing guide platform and then land through the center position sensor 5 device, which can ensure the accuracy of the drone landing position and simplify the drone landing process.

[0032] 3. The drone landing guide platform of the present invention can ensure that the drone landing rod is completely limited and moves within the range of the guide frame, and does not hinder the drone from being recovered into the drone storage box after landing.

[0033] 4. The flight control terminal of the present invention can receive a signal that the drone landing rod is limited at the bottom of the guide frame, start the folding process of the multi-rotor drone, and then start the lifting assembly to carry the drone into the storage box and close the storage box, thereby realizing automatic storage in the minimum storage space.

[0034] 5. The landing guidance and storage control method of the drone of the present invention has a high degree of automation, saves manpower and material resources, and has wide applicability.

[0035] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0037] Figure 1 This is a block diagram of the landing guidance and storage control method of the UAV of the present invention;

[0038] Figure 2 The UAV landing guidance and storage system of the present invention is a schematic diagram of the composition Figure 1 ;

[0039] Figure 3 The UAV landing guidance and storage system of the present invention is a schematic diagram of the composition Figure 2 ;

[0040] Figure 4 A schematic diagram of a UAV located on the upper portion of the UAV landing guide platform of the present invention;

[0041] Figure 5 It is a schematic diagram of the drone landing rod landing into the V-groove of the drone landing guide platform of the present invention;

[0042] Figure 6 It is a schematic diagram of the drone landing rod being fixed under the V-groove of the drone landing guide platform of the present invention;

[0043] Figure 7 This is a structural schematic diagram of the UAV landing guide platform of the present invention;

[0044] Figure 8 This is a schematic diagram of the structure in which the landing guide assembly and the landing support component of the present invention are connected through a landing bracket;

[0045] Fig. 9 It is a structural schematic diagram of the landing guide assembly of the present invention connected to the landing support;

[0046] Fig.10 This is a schematic diagram of the structure of the landing guide assembly of the present invention;

[0047] Fig.11 This is a top view of the UAV landing guide platform of the present invention;

[0048] Fig.12 This is a front view of the UAV landing guide platform of the present invention;

[0049] Fig.13 It is a schematic diagram of the structure in which the landing support component of the present invention is connected to the landing bracket;

[0050] Fig.14 This is a schematic diagram of the structure of the landing support component of the present invention;

[0051] Fig.15 This is a schematic diagram of the guide frame connecting seat assembly and the rotating power assembly being connected via a steel wire according to the present invention;

[0052] Fig.16 for Fig.15 Middle AA section view;

[0053] Fig.17 for Fig.15 Middle BB section;

[0054] Fig.18 for Fig.15 Schematic diagram of the internal structure;

[0055] Fig.19 This is a schematic diagram of the guide frame connected to the outer seat structure of the present invention;

[0056] Fig. 20 This is a schematic diagram of the guide frame connected to the inner seat structure of the present invention.

[0057] Reference numerals:

[0058] 1. Landing platform components; 11. Landing plate; 12. Landing bracket; 121. Landing bracket main side; 1211. Landing bracket main side first mounting hole; 1212. Landing bracket main side second mounting hole; 122. Landing bracket secondary side; 1221. Landing bracket secondary side mounting hole; 2. Landing guide assembly; 21. Guide frame center support; 22. Guide frame connecting seat assembly; 221. Guide frame connected to outer seat; 2211. Guide frame connected to outer seat body; 2212. Guide frame connected to outer seat mounting column; 2213. Outer seat mounting cavity; 2214. First Pulley mounting port; 2215. Torsion spring shaft mounting hole; 2216. First pulley hole; 2217. Second pulley hole; 2218. Second pulley mounting port; 222. Guide frame connected to inner seat unit; 2221. Guide frame connected to inner seat body; 22211. Guide frame connected to inner seat body; 22212. Inner seat mounting cavity; 22213. Inner seat torsion spring mounting hole; 22214. Inner seat steel wire fixing screw hole; 22215. Inner seat steel wire passing hole; 22216. Inner seat sensor mounting hole; 2222. Thrust torsion spring hanging shaft; 22221. Thrust torsion spring Spring hanging sleeve; 22222. Thrust torsion spring hanging installation shaft; 2223. Torsion spring; 223. Pulley unit; 2231. Pulley; 2232. Pulley center axis; 224. Wire set screw; 23. Guide frame; 231. Guide frame middle support plate; 2311. Guide frame middle support plate mounting hole; 232. Guide frame side support plate; 2321. Guide frame side support plate mounting hole; 3. Landing support component; 31. First support rod assembly; 311. First support rod; 312. First support rod connecting sleeve; 32. Second support rod assembly; 321. Second support Rod; 322. Second support rod end sleeve; 33. Support connecting sleeve; 4. Rotary power assembly; 41. Rotary power source; 42. Rotary coupling assembly; 421. Rotary coupling; 422. Rotary power pulley; 43. Rotary power mounting bracket; 5. Steel wire; 61; Center position sensor; 62. First proximity switch; 63. Second proximity switch; 64. Third proximity switch; 7. UAV storage component; 71. Storage box assembly; 72. Lifting assembly; 100. UAV; 1001. UAV landing rod; 200. Flight control terminal. DETAILED DESCRIPTION

[0059] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0060] Combine the following Figure 1-Figure 20 , and describe the technical solution of the present invention in more detail.

[0061] The following embodiments all take a multi-rotor drone as an example, hereinafter referred to as drone 100.

[0062] like Figure 4 , Figure 5 and Figure 6 As shown, the drone 100 includes a drone landing boom 1001 having a "cross" shape.

[0063] The embodiment of the present invention defines the top direction of the drone 100 in a hovering or landing state as upward, and the bottom direction of the drone landing rod as downward.

[0064] Example 1

[0065] A landing guidance and storage control method for an unmanned aerial vehicle.

[0066] The landing guidance and storage control method of the drone of this embodiment 1 is used for the flight control terminal 200 to control the drone 100 to land on the drone landing guide platform through the signal of the sensor combination, and to store the drone 100 and the drone landing guide platform into the drone storage component 7.

[0067] The sensor assembly may also include position sensors on the arms and propellers of the drone 100 .

[0068] The landing guidance and storage control method of the UAV includes the following steps:

[0069] S1, UAV 100 aligns with the UAV landing guidance platform;

[0070] S2, the UAV 100 lands and is fixed on the UAV landing guide platform;

[0071] S3, control the drone 100 and the drone landing guide platform to be stored in the drone storage component 7. A drone landing guide platform.

[0072] like Figure 1 As shown, the specific steps are as follows:

[0073] S1, UAV 100 alignment with the UAV landing guidance platform:

[0074] The flight control terminal 200 controls the drone 100 to center on the drone landing guide platform.

[0075] like Figure 7 and Fig.11 As shown, the center position sensor device 61 is set at the center position of the landing platform 11. The center position sensor device 61 can be a position sensor that transmits signals, or a receiver that is wirelessly connected to the flight control terminal 200, which is used to match the sensor device set at the bottom center position of the drone landing rod 1001 to sense and transmit the centering information of the flying drone 100.

[0076] At this time, the center position sensor 61 transmits a signal to the flight control terminal 200 , and the flight control terminal 200 locks the horizontal plane position of the multi-rotor drone 100 .

[0077] The drone 100 is controlled to find the center of the drone landing guide platform in the horizontal plane, align it, and then start landing, completing the first step of precise landing.

[0078] S2. The UAV 100 lands and is fixed on the UAV landing guide platform:

[0079] S21. The UAV 100 performs a vertical landing displacement:

[0080] On the premise that the horizontal plane position determined in S1 remains unchanged, the flight control terminal 200 controls the multi-rotor UAV 100 to perform a descending movement in a relatively vertical direction.

[0081] Specifically, the drone 100 slides down along the guide frame 23 of the landing guide assembly 2 .

[0082] S22, the UAV landing rod 1001 slides along the landing guide component of the UAV landing guide platform and falls into the V-shaped groove of the guide frame connecting seat assembly 22 of the landing guide component:

[0083] Specifically, the drone landing rod 1001 slides along the linear inclined surface of the guide frame side support plate 232 in the guide frame 23 and falls into the V-shaped groove formed by the two guide frame connecting inner seat bodies 2221.

[0084] More specifically, the V-shaped groove in S22 is composed of two guide frame connecting inner seat bodies 2221; the two guide frame connecting inner seat bodies 2221 are symmetrically hinged in the guide frame connecting outer seat body 2211.

[0085] S23, the V-shaped groove of the guide frame connecting seat assembly 22 is opened, and the drone landing rod 1001 lands into the bottom of the V-shaped groove of the guide frame connecting outer seat 221:

[0086] When the drone 100 lands at the bottom of the guide frame connecting seat assembly 22 , the “cross”-shaped drone landing rod 1001 will trigger the first proximity switch 62 .

[0087] like Fig.15 and Fig.16 As shown, the first proximity switch 62 is disposed on the guide frame connecting inner seat body 22211, and is disposed only on one of a pair of guide frame connecting inner seat bodies 22211 forming a V-shaped groove. The sensor assembly includes four first proximity switches 62.

[0088] Specifically, the first proximity switch 62 is arranged on the bottom surface of the inner seat installation cavity 22212 , parallel to the axis of the inner seat wire passing hole 22215 , and located beside the inner seat wire passing hole 22215 .

[0089] like Figure 4 As shown, when the multi-rotor UAV 100 is centered and starts to land, the "cross"-shaped UAV landing rod 1001 slides along the linear slope of the guide frame 23 and falls into the V-shaped groove formed by the two guide frames connecting the inner seat body 2221 (as shown in FIG. Figure 5 When the first proximity switch 62 is touched, the flight control terminal 200 will start the rotation power source 41 only after receiving the signals of the four first proximity switches 62 at the same time. The rotation power source 41 drives the steel wire 5 to descend through the rotating coupling 421, and the steel wire 5 drives the two guide frames connected to the inner seat body 22211 to be screwed into the outer seat installation cavity 2213, so that the V-shaped groove of the guide frame connected to the outer seat 221 is opened, and the torsion spring 2223 is in a compressed state.

[0090] Specifically, when the V-shaped groove of the guide frame connecting the outer seat 221 is opened, the "cross"-shaped drone landing rod 1001 lands to the bottom of the V-shaped groove of the guide frame connecting the outer seat 221 (such as Figure 6 As shown), the "cross"-shaped drone landing rod 1001 triggers the second proximity switch 63 and enters S24.

[0091] S24, the V-groove of the guide frame connecting seat assembly 22 is reset, and the drone landing rod 1001 is fixed in a limited position:

[0092] The flight control terminal 200 stops the operation of the rotating power assembly 4 according to the signal of the second proximity switch 63, and the guide frame connecting inner seat body 2221 is reset under the action of the torsion spring 2223, and the reset guide frame connecting seat assembly 22 V-shaped groove limits and fixes the drone landing rod 1001, completing S24.

[0093] like Figure 6 As shown, when the drone landing rod 1001 lands to the bottom of the V-shaped groove of the guide frame connected to the outer seat 221, the drone landing rod 1001 touches the second proximity switch 63.

[0094] The second proximity switch 63 transmits a signal to the flight control terminal 200, and the flight control terminal 200 controls the rotary power source 41 to stop power output. Under the action of the reaction force of the torsion spring 2223, the guide frame connected to the inner seat body 22211 is pushed to rotate out of the outer seat mounting cavity 2213 to restore the V-groove structure. The steel wire 5 drives the rotary coupling 421 to rotate in the opposite direction, and the rotary power source 41 idles back to its original position. At this time, the lower surface of the V-groove structure of the two relative guide frames connected to the inner seat body 22211 can just limit the "cross"-shaped drone landing rod 1001, so that the multi-rotor drone 100 is firmly on the drone landing guide platform.

[0095] S3, control the drone 100 and the drone landing guide platform to be stored in the drone storage component 7:

[0096] S31, the flight control terminal 200 controls the folding of the arms and propellers of the drone 100:

[0097] like Figure 2 As shown, the second proximity switch 63 transmits a signal to the flight control terminal 200, and the flight control terminal 200 controls the arms of the multi-rotor UAV 100 to rotate horizontally to the side of the fuselage and controls the propellers of the multi-rotor UAV 100 to fold in the vertical direction.

[0098] S32, the flight control terminal 200 controls the landing of the lifting assembly 72 in the drone storage component 7:

[0099] After the multi-rotor drone 100 is folded, information is sent to the flight control terminal 200, and the flight control terminal 200 controls the power source of the lifting component 72 to start and start the descending movement.

[0100] In S32, the upper plane of the lifting assembly 72 descends to a predetermined height, the third proximity switch 64 disposed at the lower portion of the drone storage component 7 is triggered, and the flight control terminal 200 starts to execute S33.

[0101] S33, the flight control terminal 200 controls the automatic closing of the cover of the storage box assembly 71 in the drone storage component 7:

[0102] like Figure 2 As shown, when the third proximity switch 64 senses that the upper plane of the lifting assembly 72 drops to a predetermined height and the multi-rotor drone completely enters the storage box assembly 71, the third proximity switch 64 is triggered and sends information to the flight control terminal 200. The flight control terminal 200 controls the storage box assembly 71 to automatically close the upper cover.

[0103] The drone landing guide platform involved in the present invention includes guide frames 23 with the same number as the drone landing rod 1001. The guide frame side support plates 232 in the guide frames 23 are bidirectionally provided with guiding landing slopes, which can guide the drone landing rod 1001 to land along the guiding landing slopes to the V-groove at the bottom between two adjacent guide frames 23, and as the guide frame connected to the inner seat body is screwed into the outer seat mounting cavity of the guide frame connected to the outer seat, the drone landing rod is landed to the concave structure between the guide frames, and as the guide frame connected to the inner seat body 22211 is screwed out of the outer seat mounting cavity 2213 of the guide frame connected to the outer seat 221, it is constrained and positioned.

[0104] The landing guidance and storage control method of the unmanned aerial vehicle of the present invention has a high degree of automation, saves manpower and material resources, and has wide applicability.

[0105] Next, the technical solution of the UAV landing guide platform involved in the method of Example 1 is introduced with specific Example 2.

[0106] Example 2

[0107] A UAV landing guidance platform.

[0108] like Figure 7 As shown, the UAV landing guide platform of Example 2 includes a landing platform component 1, a landing guide component, a landing support component 3, a rotating power component 4 and a steel wire 5. The landing guide component is arranged on the upper part of the landing platform component 1, the landing support component 3 and the rotating power component 4 are respectively arranged on the lower part of the landing platform component 1, and the steel wire 5 connects the rotating power component 4 and the landing guide component.

[0109] like Figure 7 and Figure 8 As shown, the landing platform component 1 of Embodiment 1 includes a landing plate 11 and a landing support 12 .

[0110] Preferably, the landing platform 11 is a square plate structure, the landing bracket 12 is a square frame structure, the centers of the landing platform 11 and the landing bracket 12 coincide, and the boundaries are set at 45°. The purpose is to allow the "cross" shaped drone landing rod 1001 to be set along the diagonal direction of the landing platform 11 when the drone 100 lands.

[0111] Specifically, the landing plate 11 is clamped and fastened between the landing support 12 and the landing guide assembly 2 .

[0112] Combination Figure 8 and Fig. 9 As shown, the landing bracket 12 is an integrally formed square truss structure. The square truss structure of the landing bracket 12 includes four landing bracket main sides 121 with the same structure, and also includes landing bracket secondary sides 122 respectively arranged at the four vertices of the square truss structure of the landing bracket 12.

[0113] The first mounting hole 1211 and the second mounting hole 12121 of the main side of the landing support are arranged in the middle of the main side of the landing support, and the third mounting hole 1213 of the main side of the landing support is symmetrically arranged on both sides of the first mounting hole 1211 of the main side of the landing support; the secondary side mounting hole 1221 of the landing support is arranged on the secondary side of the landing support. The first mounting hole 1211 of the main side of the landing support and the secondary side mounting hole 1221 of the landing support are used to connect the landing guide component. The second mounting hole 12121 of the main side of the landing support and the third mounting hole 1213 of the main side of the landing support are used to connect the landing support component 3.

[0114] like Figure 8As shown, preferably, the angle between the landing support secondary side 122 and the landing support primary side 121 is set at 135°, the landing support secondary side is shorter than the landing support primary side, and a plurality of symmetrically arranged weight-reducing hole groove structures are provided on the square truss structure of the landing support 12. This design can effectively enhance the structural strength of the landing support 12 while reducing the weight of the landing support 12 as the main load-bearing structure of the UAV landing guide platform.

[0115] like Fig.10 As shown, the landing guide component includes four landing guide assemblies 2 connected end to end and arranged around each other. Each landing guide assembly 2 includes a guide frame central support 21, a guide frame connecting seat assembly 22 and a guide frame 23.

[0116] Specifically, the guide frame 23 is a three-claw structure, including a guide frame middle support plate 231 and a guide frame side support plate 232. The two guide frame side support plates 232 are mirror-symmetrically arranged on both sides of the guide frame middle support plate 231, and the guide frame middle support plate 231 and the guide frame side support plates 232 have a common guide frame vertex.

[0117] like Fig.10 and Fig.11 As shown, preferably, the guide frame middle support plate 231 is arranged vertically downward from the top of the guide frame, and the lower end of the guide frame middle support plate 231 clamps the landing plate 11 and is connected to the center position of the landing bracket secondary side 122 of the landing bracket 12; the lower end of the guide frame connecting seat assembly 22 clamps the landing plate 11 and is connected to the center position of the landing bracket main side 121 of the landing bracket 12.

[0118] A guide frame side support plate mounting hole 2321 is provided at the lower end of the guide frame side support plate 232, and two adjacent guide frames 23 are connected to the same guide frame connecting seat assembly 22 through the guide frame side support plate mounting hole 2321. The four guide frame connecting seat assemblies 22 connect the four guide frames 23 in a ring shape into a whole.

[0119] like Fig.11 and Fig.12 As shown, the two guide frame side support plates 232 of the guide frame 23 are arranged at 90 degrees in the top view direction and in a straight line in the front view direction. The guide frame side support plates 232 can effectively utilize the square space so that the four landing rods of the "cross" shaped UAV landing rod 1001 can all slide down synchronously along the straight slope of the guide frame side support plates 232, ensuring the minimum sliding resistance.

[0120] like Figure 8As shown, the guide frame center support 21 is an inverted T-shaped mounting seat structure, and a guide frame middle support plate mounting hole 2311 is provided on the T-shaped horizontal plate on the bottom surface of the guide frame center support 21, which is used to fix the guide frame center support 21 to the landing plate 11 and the landing bracket 12; the guide frame center support 21 is connected to the guide frame middle support plate 231 of the guide frame 23 with the outer side surface of the guide frame center support 21 through the T-shaped vertical plate.

[0121] like Fig.15 , Fig.16 , Fig.17 and Fig.18 As shown, the guide frame connection seat assembly 22 includes a guide frame connection outer seat 221, a guide frame connection inner seat unit 222 and a pulley unit 223. The two guide frame connection inner seat units 222 are mirror-imaged in the guide frame connection outer seat 221. The pulley units 223 are arranged in pairs in the guide frame connection outer seat 221.

[0122] like Fig.15 and Fig.19 As shown, the main structure of the guide frame connecting the outer seat 221 is the guide frame connecting the outer seat body 2211, and the outer seat installation cavities 2213 with upper openings are respectively arranged on both sides of the guide frame connecting the outer seat body 2211, so that the guide frame connecting the outer seat 221 is a shell structure connected in the middle.

[0123] A V-shaped groove is centrally arranged on the guide frame connecting outer seat 221 , and an arc-shaped groove bottom is arranged on the bottom of the V-shaped groove of the guide frame connecting outer seat 221 .

[0124] Preferably, the diameter of the bottom of the arc groove is not less than the diameter of the landing rod of the "cross"-shaped UAV landing rod 1001. The "cross"-shaped UAV landing rod 1001 finally falls into the bottom of the arc groove of the guide frame connecting the outer seat 221.

[0125] Preferably, the outer side surface of the guide frame connecting outer seat body 2211 is symmetrically provided with a guide frame connecting outer seat mounting column 2212 with an internal threaded hole, the outer side surface of the guide frame connecting outer seat body 2211 contacts the inner side surface of the guide frame side support plate 232, the guide frame connecting outer seat mounting column 2212 is embedded in the guide frame side support plate mounting hole 2321, and the guide frame connecting outer seat 221 is connected to two adjacent guide frame side support plates 232 from both sides by fasteners.

[0126] like Fig.19 As shown, the guide frame connected to the outer seat 221 also includes a first pulley installation opening 2214 set at both side ends and a second pulley installation opening 2218 set at the bottom; the first pulley installation opening 2214 and the second pulley installation opening 2218 are both connected to the outer seat installation cavity 2213. The two sides of the guide frame connected to the outer seat 221 are also symmetrically provided with a torsion spring shaft installation hole 2215, a first pulley hole 2216 and a second pulley hole 2217 that pass through the outer seat installation cavity 2213.

[0127] like Fig.16 and Fig.18 As shown, the guide frame connecting seat assembly 22 includes two pairs of pulley units 223, a total of four pulley units 223, which are symmetrically arranged in the outer seat installation cavity 2213. The pulley unit 223 includes a pulley 2231 and a pulley center shaft 2232; the pulley 2231 is limited in the outer seat installation cavity 2213, and the pulley center shaft 2232 passes through the pulley 2231 and is limited in the first pulley hole 2216 and the second pulley hole 2217.

[0128] like Fig.16 , Fig.17 and Fig. 20 As shown, the guide frame connecting inner seat unit 222 includes a torsion spring unit that pushes the guide frame connecting inner seat body 2221.

[0129] The main structure of the guide frame connected to the inner seat body 2221 is the guide frame connected to the inner seat body 22211, and the guide frame connected to the inner seat body 22211 is provided with an inner seat installation cavity 22212, the inner seat installation cavity 22212 is a cavity structure with a side opening, and the guide frame connected to the inner seat body 22211 is also provided with an inner seat torsion spring installation hole 22213, an inner seat steel wire fastening screw hole 22214 and an inner seat steel wire passing hole 22215. The inner seat torsion spring mounting hole 22213 is arranged on the side of the guide frame connecting the inner seat body 22211, and is connected with the inner seat mounting cavity 22212. The inner seat steel wire passing hole 22215 is set through the guide frame connected to the lower part of the inner seat body 22211, and is perpendicular to the axis of the inner seat torsion spring mounting hole 22213. The axis of the inner seat steel wire fastening screw hole 22214 is parallel to the axis of the inner seat torsion spring mounting hole 22213 and is connected with the inner seat steel wire passing hole 22215.

[0130] The inner seat installation cavity 22212 of the guide frame connected to the inner seat body 2221 is buckled inwardly into the outer seat installation cavity 2213 , and the thrust torsion spring unit is arranged in the inner seat installation cavity 22212 .

[0131] The thrust torsion spring unit includes a thrust torsion spring hanging shaft 2222 and a torsion spring 2223. The thrust torsion spring hanging shaft 2222 includes a thrust torsion spring hanging shaft sleeve 22221 and a thrust torsion spring hanging shaft center shaft 22222. During installation, the torsion spring 2223 is sleeved on the thrust torsion spring hanging shaft sleeve 22221 and placed in the inner seat installation cavity 22212, then, the outer side of the inner seat body 2221 is connected from the guide frame, and the thrust torsion spring hanging shaft center shaft 22222 is inserted into the inner seat torsion spring installation hole 22213 and connected in the thrust torsion spring hanging shaft sleeve 22221.

[0132] like Fig.17As shown, the steel wire 5 passes through the inner seat steel wire through hole 22215, and two steel wire fixing screws 224 pass through the inner seat steel wire fixing screw holes 22214 to lock the steel wire 5 in the inner seat steel wire through hole 22215 from opposite directions.

[0133] like Fig.14 As shown, the landing support component 3 includes a first support rod assembly 31 , a second support rod assembly 32 and a support connecting sleeve 33 .

[0134] Specifically, two first support rod assemblies 31 that are oppositely disposed and two second support rod assemblies 32 that are oppositely disposed are sleeved together to form a landing guide device base with a quadrilateral structure, and the quadrilateral landing guide device base is in the same direction as the landing plate 11 .

[0135] The first support rod assembly 31 includes a first support rod 311 and a first support rod connecting sleeve 312. The first support rod 311 has only one first support rod connecting sleeve 312 at each end, and the first support rod connecting sleeve 312 is sleeved on the second support rod assembly 32.

[0136] The second support rod assembly 32 includes a second support rod 321 and a second support rod end sleeve 322. The two ends of the second support rod 321 are respectively sleeved with a second support rod end sleeve 322. The ground plane of the four second support rod end sleeves 322 is used to fix the UAV landing guide platform on the mounting base. The first support rod connecting sleeve 312 is specifically sleeved on the second support rod 321.

[0137] Each first support rod 311 and second support rod 321 are respectively sleeved with a support connection sleeve 33. The upper end of the support connection sleeve 33 is provided with a support connection sleeve mounting hole, which is used to connect the landing guide device base to the landing bracket 12 at the third mounting hole 1213 of the main side of the landing bracket through a fastener.

[0138] The UAV landing guide platform also includes a rotating power assembly 4, which is used to drive the steel wire 5 to drag the two relatively arranged guide frame connecting inner seat units 222 to open or lock the arc-shaped groove bottom of the guide frame connecting outer seat 221, so as to allow the "cross"-shaped UAV landing rod 1001 to enter or escape from the arc-shaped groove bottom of the guide frame connecting outer seat 221, or to lock the "cross"-shaped UAV landing rod 1001 at the arc-shaped groove bottom of the guide frame connecting outer seat 221.

[0139] like Fig.16 As shown, the rotary power assembly 4 includes a rotary power source 41 , a rotary coupling assembly 42 and a rotary power mounting bracket 43 .

[0140] The upper end of the rotary power mounting frame 43 is connected to the landing support 12 through the landing plate 11, specifically connected to the first mounting hole 1211 of the main side of the landing support. Rotary power source 41. The upper end of the rotary power mounting frame 43 is connected to the rotary power source 41. Preferably, the rotary power source 41 is a stepper motor. The stepper motor output shaft of the rotary power source 41 is connected to the rotary coupling assembly 42.

[0141] like Fig.15 As shown, the rotating coupling assembly 42 includes a rotating coupling 421 and a rotating power pulley 422. The rotating coupling 421 is a rocker arm structure, one end of the rocker arm of the rotating coupling 421 is a fixed end, and the other end is a movable end; a hollow structure is provided between the fixed end and the movable end of the rotating coupling 421, and the rotating power pulley 422 is provided in the hollow structure of the rotating coupling 421. The fixed end of the rotating coupling 421 is connected to the output shaft of the rotating power source 41. The rotating power source 41 rotates, driving the rotating power pulley 422 to rotate around the fixed end of the rotating coupling 421.

[0142] The structure of the rotating force pulley 422 connected to the pulley unit 223 is the same. The pulley of the rotating force pulley 422 is limited in the hollow structure of the rotating coupling 421, and the central axis of the rotating force pulley 422 is installed on the side wall of the hollow structure of the rotating coupling 421.

[0143] like Fig.16 As shown, the middle part of the steel wire 5 is wound around the rotating power pulley 422, and the steel wire 5 is symmetrically arranged on both sides, respectively passing around the second pulley mounting port 2218 on the guide frame connected to the outer seat 221 and the pulley 2231 installed at the first pulley mounting port 2214, and the end of the steel wire 5 passes through the inner seat wire passing hole 22215 on the guide frame connected to the inner seat body 2221, and is fastened to the guide frame connected to the inner seat body 2221 by two steel wire fixing screws 224.

[0144] like Fig.16 As shown, the stepper motor of the rotating power source 41 is started, the output shaft rotates clockwise, 0 drives the rotating coupling 421 to rotate clockwise, the steel wire 5 is pulled down, and the end of the steel wire 5 drives the guide frame connecting the inner seat body 2221 to rotate around the thrust torsion spring hanging shaft 2222 to the outer seat installation cavity 2213 of the guide frame connecting the outer seat 221, thereby opening the V-shaped groove bottom of the guide frame connecting the outer seat 221, so that the "cross"-shaped UAV landing on the V-shaped groove bottom of the guide frame connecting the outer seat 221

[0145] The rod 1001 falls into the bottom of the arc groove where the guide frame is connected to the outer seat 221. At this time, the torsion spring 2223 is in a compressed state.

[0146] After the "cross"-shaped drone landing rod 1001 falls into the bottom of the arc groove of the guide frame connecting the outer seat 221, the stepper motor of the rotary power source 41 stops and enters an idling state. Under the reaction force of the torsion spring 2223, the guide frame connects the inner seat body 2221 around the thrust torsion spring hanging shaft 2222 to the guide frame.

[0147] The guide frame is connected to the outer seat mounting cavity 2213 of the outer seat 221 and rotates outside, so that the "cross"-shaped drone landing rod 1001 is stably locked at the bottom of the V-shaped groove of the guide frame connected to the outer seat 221.

[0148] Next, the execution system of the method of the present invention in Example 1 is introduced.

[0149] Example 3

[0150] A UAV landing guidance and storage system.

[0151] like Figure 2 and Figure 3 As shown, Example 3 specifically relates to a multi-rotor UAV landing guide 5 and storage system.

[0152] The drone landing guidance and storage system includes the drone landing guidance platform of Example 2, and also includes a drone storage component 7, a sensor combination and a flight control terminal 200.

[0153] The drone storage component 7 includes a storage box component 71 and a lifting component 72 .

[0154] Among them, combined Figure 7 , Fig.15 , Fig.16 and Figure 2 As shown, the sensor assembly includes a center position sensor device 61, a first proximity switch 62, a second proximity switch 63 and a third proximity switch 64.

[0155] The drone landing guidance and storage system is used to accurately control the multi-rotor drone 100 to land on the drone landing guidance platform, control the multi-rotor of the drone 100 to fold, and control the drone landing guidance platform and the multi-rotor drone 100 to automatically be stored in the storage box assembly 71.

[0156] The storage box assembly 71 can be an independent shell-covered box body that is centrally managed, or it can be an underground facility that can be covered.

[0157] like Figure 2 and Figure 3 As shown, the storage box assembly 71 of the present embodiment 3 includes a box body and a box cover, and the flight control terminal 200 can control the automatic opening and automatic closing of the box cover.

[0158] like Figure 2 and Figure 3 As shown, the landing support component 3 of the drone landing guide platform is installed on the top of the lifting component 72, and the lifting component 72 is placed in the storage box component 71. The lifting component 72 can guide the folded multi-rotor drone and the drone landing guide platform it is docked on to be stored in the storage box component 71.

[0159] After the multi-rotor drone is folded, the drone 100's arm and propeller position sensors send information to the flight control terminal 200, and the flight control terminal 200 controls the lifting assembly 72 to automatically fold.

[0160] The power source of the lifting assembly 72 is started, and the lifting assembly 72 begins to carry the UAV 100 and the UAV 100 to land and guide it to perform a descending movement.

[0161] like Figure 2 As shown, the third proximity switch 64 is arranged on the bottom plane of the lifting assembly 72 or the storage box assembly 71. When the upper plane of the lifting assembly 72 drops to a predetermined height and the multi-rotor drone completely enters the storage box assembly 71, the third proximity switch 64 is triggered and sends information to the flight control terminal 200. The flight control terminal 200 controls the storage box assembly 71 to automatically close the upper cover.

[0162] The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. At the same time, any equipment equipped with the present device to expand the application field and produce a complex technical effect belongs to the scope of protection of the present invention.

Claims

1. A method for guiding and controlling the landing of an unmanned aerial vehicle, characterized in that: The flight control terminal (200) is used to control the drone (100) to land on the drone landing guide platform through the signal of the sensor combination, and the drone (100) and the drone landing guide platform are stored in the drone storage component (7), including the following steps: S1, the UAV (100) is centered on the UAV landing guidance platform; S2, the drone (100) lands and is fixed on the drone landing guide platform; S21, the UAV (100) performs a vertical landing displacement; S22, the drone landing rod (1001) slides along the landing guide component of the drone landing guide platform into the V-shaped groove of the guide frame connecting seat assembly (22) of the landing guide component; wherein the V-shaped groove is composed of two guide frame connecting inner seat bodies (2221); the two guide frame connecting inner seat bodies (2221) are symmetrically hinged in the guide frame connecting outer seat body (2211); S23, the V-shaped groove of the guide frame connection seat assembly (22) is opened, and the drone landing rod (1001) is lowered into the bottom of the V-shaped groove of the guide frame connection outer seat (221); wherein the drone landing rod (1001) touches the first proximity switch (62) provided on the guide frame connection inner seat body (2221) to open the V-shaped groove, and the flight control terminal (200) starts the rotating power assembly (4), driving the steel wire (5) to descend, thereby pulling the two guide frame connection inner seat bodies (2221) to be rotated into the guide frame connection outer seat body (2211); After the V-shaped groove is opened, the drone landing rod (1001) lands in the bottom of the V-shaped groove of the guide frame connecting the outer seat (221), and the drone landing rod (1001) touches the second proximity switch (63) arranged at the bottom of the V-shaped groove of the guide frame connecting the outer seat (221); S24, the V-groove of the guide frame connecting seat assembly (22) is reset, and the drone landing rod (1001) is fixed in position; S3, storing and controlling the drone (100) and the drone landing guide platform.

2. The method for guiding and controlling the landing of a drone according to claim 1, characterized in that: In S1, a sensor device (61) is provided at the center position of a landing platform component (1) of a landing guide platform for an unmanned aerial vehicle.

3. The method for guiding and controlling the landing of a drone according to claim 1, characterized in that: In S21, the drone (100) slides down along the guide frame (23) of the landing guide assembly (2).

4. The method for guiding and controlling the landing of a drone according to claim 1, characterized in that: The flight control terminal (200) stops the operation of the rotating power assembly (4) according to the signal of the second proximity switch (63), the guide frame is connected to the inner seat body (2221) and reset under the action of the torsion spring (2223), and the V-shaped groove of the reset guide frame connection seat assembly (22) limits and fixes the drone landing rod (1001), completing S24.

5. The method for guiding and controlling the landing of an unmanned aerial vehicle according to claim 4, wherein S3 include: S31, the flight control terminal (200) controls the folding of the arms and propellers of the drone (100); S32, the flight control terminal (200) controls the landing of the lifting assembly (72) in the drone storage component (7); S33: The flight control terminal (200) controls the automatic closing of the cover of the storage box assembly (71) in the drone storage component (7).

6. The method for guiding and controlling the landing of a drone according to claim 1, characterized in that: In S32, the upper plane of the lifting assembly (72) descends to a predetermined height, triggering a third proximity switch (64) disposed at the lower portion of the drone storage component (7), and the flight control terminal (200) starts executing S33.

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