An unattended system

Abstract

The application provides an unattended system and relates to the field of unattended systems. The unattended system comprises a hangar shell body, a front part, a middle part and a tail part; an upper part of the middle part is provided with an opening part; the middle part is provided with a rotatable take-off and landing platform, a platform connecting rod mechanism for driving the take-off and landing platform, a platform driving mechanism for controlling the platform connecting rod mechanism, a hangar cover body which is installed in the opening part in an openable and closable manner, a cover body connecting rod mechanism for driving the hangar cover body, a cover body driving mechanism for driving the cover body connecting rod mechanism, a central control device, a hangar power supply and a charging device; the central control device controls the cover body driving mechanism and the platform driving mechanism, so that when a UAV lands on the take-off and landing platform, the take-off and landing platform is inclined downward, and the hangar cover body is closed; and before the UAV takes off, the hangar cover body is opened, and the take-off and landing platform is arranged horizontally. The application sets the landing apron to be inclined, improves the space utilization rate, and utilizes the modular design hangar, so that the hangar is convenient to disassemble, assemble and transport.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unattended operation, in particular to an unattended operation system. BACKGROUND

[0002] At present, more and more unmanned systems are deployed in sparsely populated places to realize the unattended operation of the area. Most of the unattended operation systems on the market are multi-rotor unmanned aerial vehicles, but because the flight time is short, the radius of the unattended operation system operation is also limited. Compared with multi-rotor unmanned aerial vehicles, vertical take-off and landing fixed-wing unmanned aerial vehicles are widely used because of the same take-off and landing mode and longer flight time. However, the vertical take-off and landing fixed-wing unmanned aerial vehicle has a long wing, and the volume is much larger than that of the multi-rotor, so that the unmanned aerial vehicle hangar is bulky. Although the deployment environment in the wild has sufficient space, because the road to the deployment location in the wild must be narrow, the vehicle transporting the hangar with large volume and heavy weight cannot directly reach the deployment location, thereby increasing the transportation cost. The hangar scheme adopted by the prior art mostly has a landing gear and adopts sheet metal process, so that the weight is very large, resulting in high transportation cost and the problem that many places cannot be deployed. Moreover, because the sheet metal parts will rust for a long time in the outdoor, the weather resistance is reduced. Some hangars are disassembled into scattered components, transported to the deployment location, and then assembled and debugged, but this way increases the risk of on-site assembly and debugging, and for the environment and facility conditions in the wild, it cannot be guaranteed that the hangar assembled on site can run stably. Secondly, because the platform of the hangar on the market parking the unmanned aerial vehicle is horizontally moving up and down, it cannot reduce the projection area of the hangar, and the deployment area of the hangar is large. Therefore, the present application needs to solve the problem of low space utilization rate when parking the unmanned aerial vehicle in the prior art, and the problem of inconvenient efficient disassembly and transportation equipment. SUMMARY

[0003] The purpose of the present application is to provide an unattended operation system which can improve the space utilization rate by tilting the parking apron, and utilize the modular design to facilitate rapid disassembly and transportation.

[0004] To solve the above technical problems, the technical scheme adopted by the present application is:

[0005] An unattended system comprises a hangar shell, the hangar shell comprises a front shell, a middle shell and a tail shell arranged in sequence; the middle shell is provided with a take-off and landing platform, a platform linkage mechanism, a platform driving mechanism, a hangar cover body, a cover body linkage mechanism, a cover body driving mechanism and a central control device; the take-off and landing platform is used for placing a UAV; the take-off and landing platform is horizontally / tiltably installed on the middle shell, the platform linkage mechanism is used for driving a movable end of the take-off and landing platform, and the platform driving mechanism is used for controlling the platform linkage mechanism; an upper portion of the middle shell is provided with an open portion, the hangar cover body is openably / closably installed on the open portion of the middle shell; the cover body linkage mechanism is used for driving a movable end of the hangar cover body; the cover body driving mechanism is used for driving the cover body linkage mechanism; and the central control device is used for controlling the cover body driving mechanism and the platform driving mechanism respectively, so as to realize that after the UAV lands on the take-off and landing platform, the take-off and landing platform is tilted downward, and the hangar cover body is closed.

[0006] Further, in the application, the hangar cover body comprises a hangar front cover and a hangar rear cover; the hangar front cover is close to a movable end of the take-off and landing platform, and the hangar rear cover is close to a rotating end of the take-off and landing platform; the cover body driving mechanism comprises a front cover motor and a rear cover motor; the front cover motor is used for controlling the hangar front cover to open / close, and the rear cover motor is used for controlling the hangar rear cover to open / close.

[0007] Further, in the application, the surface of the hangar front cover is arranged to be inclined and extends downward along the rotating end to the movable end of the take-off and landing platform; the position where the middle shell is installed with the platform linkage mechanism is higher than the position where the middle shell is installed with the cover body linkage mechanism.

[0008] Further, in the application, the cover body linkage mechanism comprises a front cover linkage mechanism and a rear cover linkage mechanism; the hangar front cover is hinged to the middle shell through the front cover linkage mechanism; the hangar rear cover is hinged to the middle shell through the rear cover linkage mechanism; the front cover motor is used for driving the front cover linkage mechanism, and the rear cover motor is used for driving the rear cover linkage mechanism.

[0009] Further, in the application, the front cover linkage mechanism comprises a first linkage rod, a second linkage rod and a third linkage rod; one end of the first linkage rod is hinged to the middle shell and connected to an output end of the front cover motor; the other end of the first linkage rod is hinged to one end of the second linkage rod; the other end of the second linkage rod is hinged to one end of the third linkage rod; the end of the second linkage rod away from the first linkage rod is hinged to a side portion of the hangar front cover; and the end of the third linkage rod away from the second linkage rod is hinged to a side portion of the hangar front cover.

[0010] Further, in the present application, the platform linkage mechanism comprises a support linkage, an intermediate linkage and a mounting linkage; one end of the support linkage is hingedly connected to the middle housing, and the other end is connected to one end of the mounting linkage; the output end of the platform driving mechanism is connected to the hinged end of the support linkage close to the mounting linkage; one end of the mounting linkage away from the support linkage is connected to the take-off and landing platform.

[0011] Further, in the present application, the platform driving mechanism comprises a platform cylinder and a push rod; the platform cylinder is hingedly connected to the middle housing, the output end of the platform cylinder is connected to the push rod, and the triggering end of the push rod is hingedly connected to the rotating end between the support linkage and the intermediate linkage.

[0012] Further, in the present application, the unmanned aerial vehicle is provided with main wings on both sides, and the bottom of each main wing is longitudinally provided with an arm; the front end of each arm is connected to the other arm through a canard to form a whole, and the bottom of the rear end of each arm is provided with a ventral fin as a take-off and landing support part on the rear side of the unmanned aerial vehicle; the bottom end of the canard is provided with a landing gear as a take-off and landing support part on the front side of the unmanned aerial vehicle.

[0013] Further, in the present application, the take-off and landing platform is provided with a charging seat, and the bottom of the unmanned aerial vehicle is provided with a charging cell matched with the charging seat.

[0014] Further, in the present application, the take-off and landing platform is provided with a front limiting seat and a rear limiting seat; the length direction of the unmanned aerial vehicle is arranged along the inclination direction of the take-off and landing platform, and the head of the unmanned aerial vehicle is close to the rotating end of the take-off and landing platform, and the tail of the unmanned aerial vehicle is close to the movable end of the take-off and landing platform; the side of each rear limiting seat is used for limiting the outside of the two ventral fins in front of the unmanned aerial vehicle, and the bottom of each rear limiting seat is used for limiting the rear side of the two ventral fins; the front limiting seat is used for limiting the front side of the canard behind the unmanned aerial vehicle.

[0015] Compared with the prior art, the present application has at least the following advantages or beneficial effects:

[0016] The application provides an unattended system, which comprises a hangar shell, the hangar shell comprising a front shell, a middle shell and a tail shell arranged in sequence; the middle shell is provided with a take-off and landing platform, a platform connecting rod mechanism, a platform driving mechanism, a hangar cover body, a cover body connecting rod mechanism, a cover body driving mechanism and a central control device; the take-off and landing platform is used for placing a UAV; the take-off and landing platform is horizontally / tiltably installed on the middle shell; the platform connecting rod mechanism is used for driving a movable end of the take-off and landing platform; the platform driving mechanism is used for controlling the platform connecting rod mechanism; an upper portion of the middle shell is provided with an open portion; the hangar cover body is openably / closably installed on the open portion of the middle shell; the cover body connecting rod mechanism is used for driving a movable end of the hangar cover body; the cover body driving mechanism is used for driving the cover body connecting rod mechanism; the central control device is used for respectively controlling the cover body driving mechanism and the platform driving mechanism, so as to realize that after the UAV lands on the take-off and landing platform, the take-off and landing platform is tilted downward, and the hangar cover body is closed, and before the UAV takes off, the hangar cover body is opened first, and then the take-off and landing platform is horizontally arranged.

[0017] The horizontal / tiltable landing platform is installed in the middle shell, the unmanned aerial vehicle is placed through the landing platform, the base comprises a front shell, a middle shell and a tail shell arranged in sequence, and the hangar cover body is installed in the middle shell; the landing platform, the platform connecting rod mechanism, the platform driving mechanism, the cover body connecting rod mechanism, the cover body driving mechanism, the central control device, the hangar power supply and the charging device are arranged in the middle shell; the platform connecting rod mechanism is used for driving the movable end of the landing platform, and the platform driving mechanism is used for controlling the platform connecting rod mechanism; an open part is arranged at the upper part of the middle shell, and the hangar cover body is openably installed in the open part of the base; the cover body connecting rod mechanism is used for driving the movable end of the hangar cover body; the cover body driving mechanism is used for driving the cover body connecting rod mechanism; the central control device is used for controlling the cover body driving mechanism and the platform driving mechanism, so as to realize the following two conditions: when the unmanned aerial vehicle takes off, the hangar cover body is opened through the cover body driving mechanism, the highest part of the hangar cover body is arranged to be lower than the lower end of the wing of the unmanned aerial vehicle, so that the wing of the unmanned aerial vehicle is prevented from colliding with the hangar cover body when the unmanned aerial vehicle lands, then the platform connecting rod mechanism is controlled to arrange the landing platform in a horizontal state, so that the unmanned aerial vehicle is stably and accurately parked; when the unmanned aerial vehicle lands, the landing platform is arranged at a preset inclination angle, and then the hangar cover body is closed, so that the ground space for actually parking the unmanned aerial vehicle is saved; the hangar power supply is used for providing power supply for the central control device, the cover body driving mechanism and the platform driving mechanism. The hangar shell is opened and closed through the cover body, the shell adopts a modular design, the difficulty in transportation and deployment of the hangar is solved, and the problems of large volume and large weight during transportation are solved. Moreover, the core electrical components such as the landing platform, the platform connecting rod mechanism, the platform driving mechanism, the central control device and the hangar power supply are arranged in the shell, so that the deployment and debugging are facilitated when the product is shipped, and the problems of high risk and long period in on-site debugging are solved. The inclined parking apron further reduces the area occupied by the hangar. The unmanned aerial vehicle operation can be realized, the unmanned management can be realized for a long time, and the scene of monitoring and inspection in a fixed area is facilitated. The space utilization is improved through the inclined arrangement of the parking apron, and the modular design is utilized, so that the rapid disassembly, assembly and transportation are facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0019] Fig. 1 The figure shows the unmanned aerial vehicle parking of the unmanned system of the embodiment 1 of the present application;

[0020] Fig. 2 The figure shows the structure of the middle shell of the embodiment 1 of the present application;

[0021] Fig. 3 A schematic view of the hangar shell of the present application embodiment 1;

[0022] Fig. 4 A top view of the UAV of the present application embodiment 1;

[0023] Fig. 5 A bottom view of the UAV of the present application embodiment 1;

[0024] Fig. 6 A schematic view of the hangar shell closed of the present application embodiment 1.

[0025] Figure: 1-front shell, 2-middle shell, 3-tail shell, 4-landing platform, 5-UAV, 6-hangar skeleton, 7-front cover, 8-middle cover, 9-tail cover, 10-first connecting rod, 11-second connecting rod, 12-third connecting rod, 13-supporting connecting rod, 14-intermediate connecting rod, 15-mounting connecting rod, 16-platform cylinder, 17-rear cover connecting rod mechanism, 18-rear limit seat, 19-front limit seat, 20-charging battery, 21-main wing, 22-canard, 23-arm, 24-belly fin, 25-fixing shaft. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0027] It should be noted that similar reference numerals and letters refer to similar items throughout the accompanying drawings, and once an item is defined in one drawing, that item does not need to be further defined and explained in subsequent drawings. Moreover, in the description of the application, the terms "first", "second", and the like, are used merely to distinguish one item from another, and do not imply or suggest relative importance. It is to be noted that, in the present document, the terms such as first and second are merely used to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Furthermore, the terms "comprise", "contain", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus that includes a list of elements not only includes those elements, but also includes other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0028] In the description of the application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed, which is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In the description of the application, it should also be noted that, unless otherwise specified and limited, the terms "provided", "connected" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements.

[0029] Embodiments

[0030] Please refer to Figs. 1-6 , Figs. 1-6As shown is a schematic view of an unattended system provided by the present application. The unattended system comprises a hangar shell, the hangar shell comprising a front shell 1, a middle shell 2 and a tail shell 3 arranged in sequence; the middle shell 2 is provided with a take-off and landing platform 4, a platform connecting rod mechanism, a platform driving mechanism, a hangar cover body, a cover body connecting rod mechanism, a cover body driving mechanism and a central control device; the take-off and landing platform 4 is used for placing a UAV 5; the take-off and landing platform 4 is horizontally / tiltably installed on the middle shell 2, the platform connecting rod mechanism is used for driving a movable end of the take-off and landing platform 4, and the platform driving mechanism is used for controlling the platform connecting rod mechanism; an upper portion of the middle shell 2 is provided with an open portion, the hangar cover body is openably / closably installed on the open portion of the middle shell 2; the cover body connecting rod mechanism is used for driving a movable end of the hangar cover body; the cover body driving mechanism is used for driving the cover body connecting rod mechanism; and the central control device is used for controlling the cover body driving mechanism and the platform driving mechanism respectively, so as to realize that when the UAV 5 lands on the take-off and landing platform 4, the take-off and landing platform 4 is tilted downward, and the hangar cover body is closed, and before the UAV 5 takes off, the hangar cover body is opened first, and then the take-off and landing platform 4 is arranged horizontally.

[0031] Before the UAV 5 takes off, the hangar cover body is opened, and the highest portion of the hangar cover body is lower than the lower end of the wing of the UAV 5, and then the platform connecting rod mechanism is controlled to arrange the take-off and landing platform 4 in a horizontal state. When the UAV 5 lands on the take-off and landing platform 4, the take-off and landing platform 4 can be set to a preset tilt angle, and then the hangar cover body is closed. Optionally, the middle shell 2 is further provided with a hangar power supply and a charging device. The hangar power supply is used for providing power supply to the central control device, the cover body driving mechanism and the platform driving mechanism. The charging device is used for charging the UAV 5.

[0032] The unmanned system is provided, the hangar shell body comprises a front shell body 1, a middle shell body 2 and a tail shell body 3 arranged in sequence, and the hangar cover body is installed on the middle shell body 2; the take-off and landing platform 4, the platform connecting rod mechanism, the platform driving mechanism, the cover body connecting rod mechanism, the cover body driving mechanism, the central control equipment, the hangar power supply and the charging equipment are arranged in the middle shell body 2; wherein the take-off and landing platform 4 is horizontally / tiltably installed on the middle shell body 2, and the unmanned aerial vehicle 5 is placed through the take-off and landing platform 4; the platform connecting rod mechanism is used for driving the movable end of the take-off and landing platform 4, and the platform driving mechanism is used for controlling the platform connecting rod mechanism; the upper part of the middle shell body 2 is open, and the hangar cover body is openably installed on the open part of the seat; the cover body connecting rod mechanism is used for driving the movable end of the above-mentioned hangar cover body; the cover body driving mechanism is used for driving the cover body connecting rod mechanism; the central control equipment is used for controlling the cover body driving mechanism and the platform driving mechanism, so as to realize the following two conditions, including when the unmanned aerial vehicle 5 takes off, the above-mentioned hangar cover body is opened through the above-mentioned cover body driving mechanism, the highest part of the above-mentioned hangar cover body is arranged to be lower than the lower end of the wing of the unmanned aerial vehicle 5, so as to prevent the wing from colliding with the hangar cover body when the unmanned aerial vehicle 5 lands, then the platform connecting rod mechanism is controlled to arrange the take-off and landing platform 4 in a horizontal state, so as to facilitate the unmanned aerial vehicle 5 to be stably and accurately parked; and the hangar cover body is closed after the take-off and landing platform 4 is set to a preset tilt angle, so as to save the ground space for actually parking the unmanned aerial vehicle 5; the hangar power supply is used for providing power supply to the central control equipment, the cover body driving mechanism and the platform driving mechanism. The hangar shell body is opened and closed through the cover body, the shell body adopts a modular design, the problems of large volume and heavy weight during transportation are solved, the hangar transportation and deployment difficulties are solved. Moreover, the core electrical components such as the take-off and landing platform 4, the platform connecting rod mechanism, the platform driving mechanism, the central control equipment and the hangar power supply are placed in the shell body, which is convenient for deployment and debugging when leaving the factory, and the problems of high risk and long cycle of on-site debugging are solved. The inclined parking apron further reduces the area occupied by the hangar. The present application can meet the operation of the unmanned aerial vehicle 5, and can be long-time unmanned management, which is convenient for monitoring and inspection in a fixed area. The present application improves the space utilization rate by tilting the parking apron, and utilizes the modular design, so as to facilitate rapid disassembly and transportation.

[0033] Optionally, the material of the hangar shell body in the present application adopts a rotational molding process, which reduces the weight while increasing the weather resistance. On the other hand, in the design of the unmanned aerial vehicle 5, in order to increase the flight time, only the wing span can be increased, thereby causing the volume of the hangar to further increase. Most of the unmanned aerial vehicles 5 on the market have landing gears, which increase the weight and size of the unmanned aerial vehicle 5.

[0034] Further, in the present application, the hangar cover body includes a hangar front cover and a hangar rear cover; the hangar front cover is close to the movable end of the take-off and landing platform 4, and the hangar rear cover is close to the rotating end of the take-off and landing platform 4; the cover body driving mechanism includes a front cover motor and a rear cover motor; the front cover motor is used to control the opening / closing of the hangar front cover, and the rear cover motor is used to control the opening / closing of the hangar rear cover.

[0035] In the present application, the hangar cover body is provided as a hangar front cover and a hangar rear cover that can be opened and closed, which facilitates rapid opening and closing and further saves the occupied space during opening and closing. In the embodiments of the present application, the hangar front cover / hangar rear cover each includes a front cover body 7, a middle cover body 8, and a tail cover body, thereby facilitating disassembly and transportation. The hangar front cover is close to the movable end of the take-off and landing platform 4, and the hangar rear cover is close to the rotating end of the take-off and landing platform 4, and the shape and size of each can be adapted to the internal space when the shell is closed for setting, further saving the three-dimensional space. The cover body driving mechanism includes a front cover motor and a rear cover motor, the front cover motor is used to control the opening / closing of the hangar front cover, and the rear cover motor is used to control the opening / closing of the hangar rear cover, which can simultaneously or separately open the front cover and the rear cover, preventing injury to the unmanned aerial vehicle 5 or personnel beside the shell during opening and closing. By setting different opening / closing sizes of the front and rear covers, it is more convenient to adapt to unmanned aerial vehicles 5 of different models and sizes and various parking conditions.

[0036] Further, in the present application, the surface of the hangar front cover is inclined and extends downward along the rotating end to the movable end of the take-off and landing platform 4; the position where the middle shell 2 is installed on the platform connecting rod mechanism is higher than the position where the middle shell 2 is installed on the cover body connecting rod mechanism.

[0037] The surface of the hangar front cover is inclined and set to adapt to the inclined surface of the take-off and landing platform 4 when closed, thereby ensuring the smallest storage space when parking the unmanned aerial vehicle 5. The position where the middle shell 2 is installed on the platform connecting rod mechanism is a first installation position, and the position where the middle shell 2 is installed on the cover body connecting rod mechanism is a second installation position, and the height of the first installation position is higher than that of the second installation position, thereby ensuring sufficient space for the movable end of the take-off and landing platform 4, wherein the first installation position is close to the rotating end, and the second installation position is close to the lowest position of the movable end. In actual application, the amplitude of the hangar front cover during opening and closing is larger than that of the hangar rear cover, which facilitates rapid rotation of the take-off and landing platform 4.

[0038] Further, in the present application, the cover linkage mechanism comprises a front cover linkage mechanism and a rear cover linkage mechanism 17; the hangar front cover is hinged to the middle housing 2 through the front cover linkage mechanism; the hangar rear cover is hinged to the middle housing 2 through the rear cover linkage mechanism 17; the front cover motor is used to drive the front cover linkage mechanism, and the rear cover motor is used to drive the rear cover linkage mechanism 17.

[0039] The cover linkage mechanism comprises a front cover linkage mechanism and a rear cover linkage mechanism 17, the hangar front cover is hinged to the middle housing 2 through the front cover linkage mechanism to realize the turnover of the hangar front cover when the hangar front cover is opened or closed, and the hangar rear cover is hinged to the middle housing 2 through the rear cover linkage mechanism 17 to realize the turnover of the hangar rear cover when the hangar rear cover is opened or closed, thereby further reducing the external space when the cover is opened or closed. The front cover motor drives the front cover linkage mechanism to control the opening / closing of the hangar front cover. The rear cover motor drives the rear cover linkage mechanism 17 to control the opening / closing of the hangar rear cover.

[0040] Further, in the present application, the front cover linkage mechanism comprises a first linkage 10, a second linkage 11 and a third linkage 12; one end of the first linkage 10 is hinged to the middle housing 2 and connected to the output end of the front cover motor; the other end of the first linkage 10 is hinged to one end of the second linkage 11; the other end of the second linkage 11 is hinged to one end of the third linkage 12; the end of the second linkage 11 away from the first linkage 10 is hinged to the side of the hangar front cover; and the end of the third linkage 12 away from the second linkage 11 is hinged to the side of the hangar front cover.

[0041] The front cover motor is connected to the hinged end of the first linkage 10, thereby turning the first linkage 10 to sequentially drive the second linkage 11 and the third linkage 12 to turn over to open the hangar front cover and open the side folded outside the housing. The front cover linkage structure is arranged as the three-linkage structure to make the hangar front cover more flexible and reduce the use space.

[0042] Further, in the present application, the platform linkage mechanism comprises a support linkage 13, an intermediate linkage 14 and a mounting linkage 15; one end of the support linkage 13 is hinged to the middle housing 2, and the other end is connected to one end of the mounting linkage 15; the output end of the platform driving mechanism is connected to the hinged end of the support linkage 13 close to the mounting linkage 15; and one end of the mounting linkage 15 away from the support linkage 13 is connected to the take-off platform 4.

[0043] The platform connecting rod mechanism is composed of a support connecting rod 13, an intermediate connecting rod 14 and a mounting connecting rod 15 in a three-connecting-rod hinged structure, and the hinged end of the support connecting rod 13 is driven to rotate, thereby sequentially driving the intermediate connecting rod 14 and the mounting connecting rod 15, and driving the landing platform 4 to rotate, so as to more stably adjust the landing platform 4 to a horizontal or inclined state, wherein the hangar is horizontal when the unmanned aerial vehicle 5 is parked, and the hangar is inclined after parking, thereby saving the storage space of the unmanned aerial vehicle 5.

[0044] Further, in the present application, the platform driving mechanism comprises a platform cylinder 16 and a push rod; the platform cylinder 16 is hinged to the middle shell 2, the output end of the platform cylinder 16 is connected to the push rod, and the triggering end of the push rod is hinged to the hinged end between the support connecting rod 13 and the intermediate connecting rod 14.

[0045] The platform cylinder 16 drives the push rod to move back and forth in a radial direction, and then the mounting connecting rod 15 drives the support landing platform 4 to rotate to different angles to realize an inclined or horizontal state. The end of the platform cylinder 16 away from the push rod is hinged to the hangar shell, so that the push rod drives the connecting rod structure to move more stably, thereby achieving the effect of protecting the unmanned aerial vehicle 5.

[0046] Further, in the present application, the central control device comprises at least one of an industrial computer and a climate control device. The hangar control end adopts an existing different controller according to actual conditions, thereby realizing program programming design, completing intelligent operation of the system, realizing automatic control of parking of the unmanned aerial vehicle 5, and reducing manual operation.

[0047] When applied, if the functions to be realized by the controller are realized in the form of software function modules, a person skilled in the art can realize the existing technology of computer software. The computer software is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present application.

[0048] Further, in the present application, the middle shell 2 is detachably provided with a hangar framework 6; the platform connecting rod mechanism, the cover body connecting rod mechanism and the central control device are all mounted to the hangar shell through the hangar framework 6.

[0049] The hangar shell and the hangar framework can be detachably mounted through bolts or other means, thereby facilitating further assembly of the modular hangar shell, transportation and installation of the hangar. The hangar power supply can also be mounted on the hangar framework 6, and the platform connecting rod mechanism, the cover body connecting rod mechanism and the central control device can be detachably mounted on the hangar framework 6 through bolts or other means, thereby facilitating maintenance and replacement.

[0050] Further, in the present application, the above-mentioned landing platform 4 is provided with a front limiting seat 19 and two rear limiting seats 18; the length direction of the unmanned aerial vehicle 5 is arranged along the inclination direction of the above-mentioned landing platform 4, and the head of the unmanned aerial vehicle 5 is close to the rotating end of the above-mentioned landing platform 4, and the tail of the unmanned aerial vehicle 5 is close to the movable end of the above-mentioned landing platform 4; the side of the two above-mentioned rear limiting seats 18 is used to limit the outside of the two ventral fins 24 in front of the unmanned aerial vehicle 5, and the bottom of the two above-mentioned rear limiting seats 18 is used to limit the rear side of the two ventral fins 24; the above-mentioned front limiting seat 19 is used to limit the front side of the rear canard 22 of the unmanned aerial vehicle 5.

[0051] Optionally, the landing platform 4 is installed in the shell through a fixed shaft bearing, when the unmanned aerial vehicle 5 is parked, its head is close to the fixed shaft 25, its tail is away from the fixed shaft 25, and the width direction of the unmanned aerial vehicle 5 is arranged along the length direction of the fixed shaft 25. The two rear limiting seats 18 are arranged along the width direction of the unmanned aerial vehicle 5, and optionally, the front limiting seat 19 and the rear limiting seat 18 can be arranged in an isosceles triangle, and the front limiting seat 19 is located at the vertex through which the median of the isosceles triangle is passed. Wherein, when the unmanned aerial vehicle 5 lands on the horizontally arranged landing platform 4, the unmanned aerial vehicle 5 is located between the front limiting seat 19 and the two rear limiting seats 18, and then the landing platform 4 is arranged in an inclination, so that the unmanned aerial vehicle 5 is inclined downward along the inclined surface, so that the canard 22 at the tail of the unmanned aerial vehicle 5 can be limited by the front limiting seat below. Before the unmanned aerial vehicle 5 takes off, the inclined landing platform 4 is adjusted to be horizontal, if the unmanned aerial vehicle 5 slides slightly along the inclined surface, the two ventral fins 24 at the head of the unmanned aerial vehicle 5 are limited by the bottom of the two rear limiting seats 18, and the side of the rear limiting seat 18 simultaneously limits the outside of the two ventral fins 24, preventing the unmanned aerial vehicle 5 from moving excessively and thus leaving the landing platform 4. Wherein, the limiting seat is made of shock-resistant material such as buffer foam, which further prevents damage when contacting the unmanned aerial vehicle 5. Optionally, the two rear limiting seats 18 are both in the shape of "L", including a longer side and a shorter bottom.

[0052] When a flight task is needed, the hangar front cover and the hangar rear cover are respectively moved along with the connecting rod mechanism, driven by the motor or other driving forms, to complete the opening of the front and rear cover bodies. After opening, the highest part of the hangar front cover and the hangar rear cover is lower than the lower end of the wing of the unmanned aerial vehicle 5, preventing the wing from colliding with the hangar front and rear covers when the unmanned aerial vehicle 5 lands. Then the landing platform 4 is lifted by the push rod mechanism through the platform connecting rod mechanism until the landing platform 4 is at a horizontal angle, at which time the unmanned aerial vehicle 5 can take off.

[0053] Optionally, the charging base of the charging device is arranged on the take-off and landing platform 4. When the flight task is completed, the unmanned aerial vehicle 5 lands on the take-off and landing platform 4 in a specific orientation, so that the two belly fins 24 in front of the unmanned aerial vehicle 5 fall into the corresponding two rear limiting seats 18, and the aileron 22 is close to the front limiting seat 19. At this time, the take-off and landing platform 4 slowly tilts downward around the fixed shaft 25 until a set angle is reached, so that the rear part of the unmanned aerial vehicle 5 slides backward, and the rear side of the belly fin 24 is fixed to the bottom of the rear limiting seat 18. The charging base of the take-off and landing platform 4 is convenient for the unmanned aerial vehicle 5 to dock and charge. Finally, the front cover and the rear cover of the hangar are closed. In this embodiment, the inclination angle of the take-off and landing platform 4 is about 35°, and the charging base is set at the corresponding position of the charging cell 20 below the two main wings 21.

[0054] The entire hangar movement and control device is installed on the pipe-shaped hangar skeleton 6, including industrial computers, environmental control devices, charging devices, backup power devices, and some movement link structures. It has high integration, which can ensure consistency during production and debugging. Moreover, the high integration also reduces the size. The take-off and landing platform 4 is designed to tilt, reducing the length of the ground projection in the length direction, thereby reducing the overall length of the hangar shell. The hangar skeleton 6 is fixed to the middle shell 2, and the front cover and the rear middle shell 2 are installed. This part is assembled and debugged by the manufacturer. Transport to the place where it needs to be deployed, first assemble the shell, and then install the hangar cover and the middle shell 2. Because the shell is a non-moving part and does not have complex electrical interfaces, on-site installation is very fast. For example, the assembly of the front cover can be connected by screws or other forms. The traditional sheet metal process is abandoned, and rotational molding or vacuum forming is used to improve weather resistance and further reduce weight.

[0055] Further, in the present application, the above-mentioned unmanned aerial vehicle 5 is provided with two main wings 21 on both sides, the bottom of each main wing 21 is longitudinally provided with a machine arm 23, the front end of the two machine arms 23 is connected as a whole through an aileron 22, and the rear end of the two machine arms 23 is provided with a belly fin 24 as a landing support part on the rear side of the unmanned aerial vehicle 5. The bottom end of the aileron 22 is provided with a landing gear as a landing support part on the front side of the unmanned aerial vehicle 5.

[0056] Further, in the present application, the above-mentioned take-off and landing platform is provided with a charging base, and the bottom of the unmanned aerial vehicle 5 is provided with a charging cell matched with the charging base.

[0057] The unmanned aerial vehicle 5 of the present application is arranged by the wing 22 and the wing-body integration design through the arm 23, the wing span of the main wing 21 is reduced, and the flat layout form reduces the height. The unmanned aerial vehicle 5 is arranged by connecting the wing 22 through the arm 23, the wing 22 and the wing-body are integrated, the length of the main wing 21 is shortened without affecting the performance, thereby the overall width of the unmanned aerial vehicle 5 is reduced. Moreover, the wing can be designed to be detachable, which is convenient for transportation. Optionally, the belly fin 24 and the middle part of the wing 22 of the unmanned aerial vehicle 5 are designed as landing support points, compared with the landing gear designed separately, the structure reuse can simplify the structure of the unmanned aerial vehicle 5, and the triangular distributed support points are more stable. Optionally, the charging battery 20 of the unmanned aerial vehicle 5 is laid flat on the inside of the middle wing on both sides, so as to be positioned on the charging seat, not only the space inside the fuselage is fully utilized, but also the overall height of the fuselage is reduced, further reducing the volume of the unmanned aerial vehicle 5.

[0058] Optionally, in the embodiment of the present application, the cover mechanism is also divided into a front cover 7, a middle cover 8 and a tail cover 9, the front cover 7, the middle cover 8 and the tail cover 9 all include left and right plates to realize the door-shaped structure which can be opened or closed. The left plates of the front cover 7, the middle cover 8 and the tail cover 9 are sequentially fixed, and the right plates of the front cover 7, the middle cover 8 and the tail cover 9 are sequentially fixed. Then the middle cover 8 is movably installed on the hangar shell, so that the front cover 7, the middle cover 8 and the tail cover 9 are arranged corresponding to the hangar shell, further facilitating the overall transportation and assembly. Optionally, the take-off and landing platform 4 is provided with a limit sensor for judging when the tail wings 22 on both sides of the unmanned aerial vehicle 5 simultaneously contact the charging seat, the unmanned aerial vehicle 5 reaches the limit. The take-off and landing platform 4 can select a direct drive scheme instead of a linkage structure. In order to improve the support stability, the platform linkage mechanism, the cover driving mechanism and the cover linkage mechanism in the embodiment of the present application all include two groups. Optionally, the rear cover linkage mechanism 17 can be realized by the linkage hinge mode.

[0059] In summary, the unmanned system provided by the embodiment of the application comprises a hangar shell, the hangar shell comprises a front shell, a middle shell and a tail shell arranged in sequence, the middle shell is provided with a take-off and landing platform, a platform connecting rod mechanism, a platform driving mechanism, a hangar cover body, a cover body connecting rod mechanism, a cover body driving mechanism and a central control device, the take-off and landing platform is used for placing a UAV 5, the take-off and landing platform is horizontally / tiltably installed on the middle shell, the platform connecting rod mechanism is used for driving a movable end of the take-off and landing platform, and the platform driving mechanism is used for controlling the platform connecting rod mechanism, an upper portion of the middle shell is provided with an open portion, the hangar cover body is horizontally / openably installed on the open portion of the middle shell, the cover body connecting rod mechanism is used for driving a movable end of the hangar cover body, the cover body driving mechanism is used for driving the cover body connecting rod mechanism, and the central control device is used for controlling the cover body driving mechanism and the platform driving mechanism respectively, so as to realize the following functions: when the UAV 5 lands on the take-off and landing platform, the take-off and landing platform is tilted downward, and the hangar cover body is closed; and before the UAV 5 takes off, the hangar cover body is opened first, and then the take-off and landing platform is arranged horizontally.

[0060] The hangar is modularized, so that the hangar is divided into several combined modules, transportation and deployment are more convenient, the overall weight is light by using a roving or suction molding process, the core electrical components such as a motion control are placed in a module, and debugging is completed when the module is shipped, so that only the shell components need to be installed on site, and the module can be used by being plugged in on site, and debugging is quickly completed. The inclined parking apron further reduces the area occupied by the hangar. Optionally, the UAV 5 adopts a canard layout and a wing-body fusion design, so that the wing span of the main wing 21 is further reduced, and the size is small. The flat battery layout reduces the height. The structure of the landing gear and other components of the UAV 5 is reused, so that the structure cost of the landing gear is reduced. The present application improves the space utilization rate by tilting the parking apron, and facilitates rapid disassembly and transportation by using the modular design. The main innovations of the present application are as follows: the parking apron (hangar) can tilt to place the UAV 5, and the space utilization rate is high; the UAV 5 is clamped by tilting; the apron adopts a modular design, and the inside of the apron can be quickly disassembled and transported.

[0061] It is apparent for those skilled in the art that the present application is not limited to the details of the foregoing exemplary embodiments, and the present application can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the foregoing description, and all changes falling within the meaning and range of equivalents of the elements of the claims are intended to be embraced by the present application. Any reference signs in the claims should not be considered as limiting the claims involved.

Claims

1. An unattended system, characterized in that The application relates to a hangar shell, which comprises a front shell, a middle shell and a tail shell arranged in sequence; the middle shell is provided with a landing platform, a platform connecting rod mechanism, a platform driving mechanism, a hangar cover body, a cover body connecting rod mechanism, a cover body driving mechanism and a central control device; the landing platform is used for placing a UAV; the landing platform is horizontally / tiltably installed on the middle shell; the platform connecting rod mechanism is used for driving a movable end of the landing platform; the platform driving mechanism is used for controlling the platform connecting rod mechanism; an upper portion of the middle shell is provided with an open portion; the hangar cover body is openably / closably installed on the open portion of the middle shell; the cover body connecting rod mechanism is used for driving a movable end of the hangar cover body; the cover body driving mechanism is used for driving the cover body connecting rod mechanism; and the central control device is used for controlling the cover body driving mechanism and the platform driving mechanism respectively, so as to realize the downward tilting of the landing platform and the closing of the hangar cover body after the UAV lands on the landing platform. The platform connecting rod mechanism comprises a supporting connecting rod, an intermediate connecting rod and a mounting connecting rod; one end of the supporting connecting rod is hingedly connected to the middle shell, and the other end is connected to one end of the mounting connecting rod; an output end of the platform driving mechanism is connected to a hinged end of the supporting connecting rod close to the mounting connecting rod; and one end of the mounting connecting rod away from the supporting connecting rod is connected to the landing platform. The platform driving mechanism comprises a platform cylinder and a push rod; the platform cylinder is hingedly connected to the middle shell; an output end of the platform cylinder is connected to the push rod; and a triggering end of the push rod is hingedly connected to a rotating end between the supporting connecting rod and the intermediate connecting rod. The landing platform is provided with front limiting seats and rear limiting seats; a length direction of the UAV is arranged along a tilting direction of the landing platform; a tail portion of the UAV is close to a rotating end of the landing platform; a head portion of the UAV is close to a movable end of the landing platform; side portions of the two rear limiting seats are used for limiting outer sides of two belly fins behind the UAV; bottom portions of the two rear limiting seats are used for limiting rear sides of the two belly fins; and the front limiting seat is used for limiting a front side of a front wing of the UAV.

2. An unattended system as claimed in claim 1, wherein The hangar cover body comprises a hangar front cover and a hangar rear cover; the hangar front cover is close to the movable end of the landing platform; the hangar rear cover is close to the rotating end of the landing platform; the cover body driving mechanism comprises a front cover motor and a rear cover motor; the front cover motor is used for controlling the opening / closing of the hangar front cover; and the rear cover motor is used for controlling the opening / closing of the hangar rear cover.

3. An unattended system as claimed in claim 2, wherein A surface of the hangar front cover is arranged in a tilt manner and extends obliquely downward along the rotating end to the movable end of the landing platform; a position, at which the middle shell is installed with the platform connecting rod mechanism, is higher than a position, at which the middle shell is installed with the cover body connecting rod mechanism.

4. An unattended system as claimed in claim 2, wherein, The cover body connecting rod mechanism comprises a front cover connecting rod mechanism and a rear cover connecting rod mechanism; the hangar front cover is hingedly connected to the middle shell through the front cover connecting rod mechanism; the hangar rear cover is hingedly connected to the middle shell through the rear cover connecting rod mechanism; the front cover motor is used for driving the front cover connecting rod mechanism; and the rear cover motor is used for driving the rear cover connecting rod mechanism.

5. An unattended system as claimed in claim 4, wherein The front cover linkage mechanism comprises a first linkage, a second linkage and a third linkage; one end of the first linkage is hinged to the middle housing and connected to the output end of the front cover motor; the other end of the first linkage is hinged to one end of the second linkage; the other end of the second linkage is hinged to one end of the third linkage; the end of the second linkage away from the first linkage is hinged to the side of the hangar front cover; the end of the third linkage away from the second linkage is hinged to the side of the hangar front cover.

6. An unattended system as claimed in claim 1, wherein, The unmanned aerial vehicle is provided with main arms on both sides, and the bottom of each main wing is longitudinally provided with an arm; the front end of the two arms is connected as a whole through a canard; the rear end of the two arms is provided with a belly fin as a landing support part at the rear side of the unmanned aerial vehicle; the bottom end of the canard is provided with a landing gear as a landing support part at the front side of the unmanned aerial vehicle.

7. An unattended system as claimed in claim 1, wherein, The landing platform is provided with a charging seat, and the bottom of the unmanned aerial vehicle is provided with a charging cell matched with the charging seat.

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