Chute type unmanned aerial vehicle landing and charging device and method

Abstract

The present application relates to a chute type unmanned aerial vehicle landing charging device and method, including chute landing device, energy system, unmanned aerial vehicle storage box, transmission mechanism, unmanned aerial vehicle and microcontroller. The top of the box is provided with a photovoltaic panel, and the box cover is connected with the main box through the transmission mechanism. The unmanned aerial vehicle and the chute landing device are located in the box, and the bottom is provided with a motor, a microcontroller and a battery, which are kept a certain distance from the ground through the cross bar. When the unmanned aerial vehicle returns to the vicinity of the box, the visual sensor scans the AprilTag positioning code on the central convex part of the box, so that the unmanned aerial vehicle automatically adjusts the position and descends, the rotor stops rotating when the landing support contacts the chute surface, and then relies on its own gravity and the chute to move to the spring contact landing structure and is fixed, the charging connection is completed, and the controller further controls the motor to rotate to close the box cover.

Description

Technical Field

[0001] This invention relates to the field of precision landing and charging technology for unmanned aerial vehicles (UAVs), and particularly to a chute-type UAV landing and charging device and method. Background Technology

[0002] In today's world, drone technology is rapidly developing and being widely applied in various fields, such as agriculture, monitoring, rescue, and logistics. However, drones operating for extended periods face challenges in terms of energy supply and precise landing. Traditional energy replenishment methods typically require the drone to return to its takeoff point, have its batteries manually replaced, and then take off again. This not only wastes valuable operational time but also limits its ability to operate continuously.

[0003] When a drone completes a cruise mission and returns home, it needs to land safely and accurately. However, under current technological conditions, it remains difficult to achieve low-cost, precise drone landings. Furthermore, during landing, drones must overcome wind resistance, consider ground unevenness, and other external interferences, which can easily lead to unstable landings and increase landing risks. These challenges necessitate innovative solutions, including stable landing platforms and attitude adjustments in flight control, to ensure safe landings of drones in various environments.

[0004] In addition, charging and energy management have always been key issues for drones operating for extended periods, especially in remote or underdeveloped areas where power delivery is difficult. In these cases, it is essential to design efficient and convenient charging methods and equip energy acquisition facilities to extend the mission duration of drones and reduce dependence on external energy sources, thereby improving the sustainability and efficiency of operations.

[0005] When drones are used for large-scale pesticide spraying and precision crop fertilization in field management, their power consumption is rapid, and the demand for battery replacement is high. However, considering the portability and purchase cost of batteries, it is difficult to carry a large number of replacement lithium batteries during operation. Furthermore, it is difficult to charge replacement batteries in the field, and there is also the problem of finding stable landing sites. Therefore, there is an urgent need for a system that can solve the above problems. This is not only a popular research and invention direction, but also a strong demand in practical operation. Summary of the Invention

[0006] The purpose of this application is to provide a chute-type drone landing and charging device and method to solve the problems of accurate landing and energy replenishment of drones in various operating environments.

[0007] To achieve the above objectives, this application provides the following technical solution: A chute-type unmanned aerial vehicle (UAV) landing and charging device and method, comprising: The box cover is located on the upper part of the main box body. The box cover is connected to the main box body through a support rod and a transmission rod. Two photovoltaic panels are embedded on the top of the box cover. There is a handle in the center of the box cover. There are multiple fixed shafts on both sides of the bottom of the box cover. There is a chain groove on the bottom left side of the box cover. The main housing is the main body of the entire device. The main housing has a multi-level sliding groove surface inside. The bottom of the multi-level sliding groove surface has a spring contact charging structure. The top two sides of the main housing have a drive shaft and a fixed shaft. The left side of the main housing has a chain groove. The center of the housing has a wedge-shaped slider fixing structure. The center of the housing has a square raised coding platform. The bottom of the housing has an STM32 controller, a battery and a motor. The bottom of the housing has three baffles.

[0008] The drone, specifically a multi-rotor drone, mainly consists of rotors, brushless motors, arms, high landing gear, lower center plate, upper center plate, lithium battery, fixed plate, flight control center, GPS, electronic speed control device, and visual sensors.

[0009] The container consists of a lid, a main body, and a drone. The lid is located on the upper part of the main body and is connected to the main body via left and right support rods and left and right transmission rods. The left and right support rods and left and right transmission rods form a parallel four-bar linkage mechanism. Two photovoltaic panels are embedded on the top of the lid. A handle is provided in the center of the lid, and a chain groove is provided on the bottom left side of the lid.

[0010] The main housing is the core of the entire device. Inside the main housing are four multi-level sliding surfaces, each with a three-section structure: a first-level inclined plane, a second-level inclined plane, and a third-level surface. These surfaces and inclined planes are smoothly connected by rounded corners, allowing the drone's four high-mounted landing gears to slide along the directions guided by the multi-level sliding surfaces to the spring-contact landing mechanism during landing. The top two sides of the main housing have drive shafts and fixed shafts. The left side of the main housing has a chain groove. The center of the main housing has a square raised labeling platform for attaching AprilTag codes, which are then recognized by the drone's visual sensors to assist in positioning and landing. The bottom of the main housing houses the STM32 controller, battery, and power supply. The drone is a multi-rotor drone. A visual sensor is installed on the bottom of the drone, and four arc-shaped high landing gears are arranged around the visual sensor. An electronic speed control device is installed at the bottom of the arms. The chain groove on the left side of the main housing is vertically continuous. A drive sprocket is installed in the chain groove and connected to a motor. The motor is located above a baffle. The drive sprocket is connected to a driven sprocket via a transmission chain. The driven sprocket is coaxially driven by a transmission pin and a left transmission rod. The left transmission rod is connected to the left fixed short shaft of the housing cover above and to the main housing transmission short shaft below. The motor drives the drive sprocket to rotate, which in turn drives the transmission chain and the driven sprocket to rotate. The driven sprocket drives the left transmission rod to rotate slowly through the main housing transmission short shaft, thereby slowly opening the housing cover.

[0011] The four multi-level sliding surfaces each have a lowest point at the bottom. At each lowest point, a set of spring contact landing structures is provided. The bottom of the spring contact landing structures is provided with multiple buffer springs to reduce the impact force when the drone lands. Inside the central buffer spring, there is a protruding charging device with a second charging contact on its top. The bottom of the drone's high take-off and landing gear is provided with a first charging contact. The first charging contact and the second charging contact are in contact to charge.

[0012] A landing cover is installed on the upper part of the buffer spring, with a landing hole in the middle. A left wedge-shaped slider and a right wedge-shaped slider are respectively installed on the left and right sides of the landing cover. The sides of the left and right wedge-shaped sliders away from the landing cover are connected to left and right spring baffles via telescopic springs. The telescopic spring side of the left wedge-shaped slider is connected to a trapezoidal screw via a left pull rope. The left pull rope passes through the inside of the telescopic spring and through the middle of the spring baffle. When the trapezoidal screw rotates, it continuously winds the left pull rope. A driven spur gear is coaxially connected to the trapezoidal screw, and a servo motor drives the driven spur gear through a transmission spur gear. The telescopic spring side of the right wedge-shaped slider is connected to a rope storage reel via a right pull rope. The rope storage reel can automatically wind redundant ropes. The rope, with the right pull rope passing through the inside of the telescopic spring and through the middle of the spring baffle; the left and right wedge-shaped sliders are hinged to fixed plates on their sides, the other side of the fixed plates is hinged to the swing rod, and the other side of the swing rod is fixedly connected to the sector gears, including a left sector gear and a right sector gear, which mesh with each other and are both rotatably mounted on a fixed base plate. The fixed base plate is fixedly connected to the inside of the main housing by bolts. The left and right wedge-shaped sliders are both in the limiting grooves inside the main housing. When the lowering cover plate descends and squeezes the left and right wedge-shaped sliders, the left and right sector gears are in a meshing state and rotate synchronously under the action of the swing rod and the fixed plate, causing the left and right wedge-shaped sliders to perform mirror motion.

[0013] There are multiple rubber blocks inside the landing hole, and a limit slot is provided on the bottom side of the high landing gear. The limit slot has a symmetrical structure and engages with the left and right wedge sliders respectively. The rubber used is relatively soft and has a large friction. Relying on the rebound and friction of the rubber blocks, the interference fit between the high landing gear of the UAV and the landing cover is achieved, thereby fixing the UAV.

[0014] There are multiple fixing shafts on both sides of the bottom of the box lid, including a left fixing short shaft, a right fixing short shaft, a left fixing long shaft, and a right fixing long shaft. The two fixing short shafts are located on the inner side of the box lid near the edge, and the two fixing long shafts are located at the center of the bottom of the box lid, slightly to one side. Their protruding length is twice that of the short shafts. All shafts are fixedly connected to the side of the box lid by screws.

[0015] The photovoltaic panels transmit electrical energy to the battery at the bottom of the main housing through wiring inside the housing cover and the support rod.

[0016] The multi-level sliding surface has a lowest point in all four directions, which is the charging contact.

[0017] The multi-level sliding surface inside the main body is very smooth and has a specific streamlined design, which allows the drone's four high landing gears to slide along the direction guided by the surface to the charging contacts during landing.

[0018] The main housing has drive shafts and fixed shafts on both sides of the top, including a left fixed long shaft, left and right fixed long shafts, a drive short shaft, and a right fixed short shaft. The two fixed short shafts are located slightly off-center inside the top of the housing, and the two long shafts are located inside the top of the housing near the opening slot. All shafts are fixedly connected to the side of the housing with screws.

[0019] The chain groove on the left side of the main housing is open from top to bottom. The drive sprocket inside the groove is connected to the motor. The drive sprocket is connected to the driven sprocket through a transmission chain. The driven sprocket is coaxially driven with the left transmission rod through a transmission pin.

[0020] The AprilTag code can be affixed to the platform for the visual sensor at the bottom of the drone's center plate to identify and assist the drone in positioning and landing.

[0021] The bottom of the spring contact landing structure has multiple buffer springs that can significantly reduce the impact force when the drone lands. Inside the central buffer spring is a protruding charging device, and the top of it is the second charging contact.

[0022] The motor is located above the first baffle, the STM32 controller is located above the first baffle, and the battery is located above the first and second baffles. The motor is powered by the battery through power lines one and two. The STM32 controller is connected to the battery inside the motor through power lines three and four. The STM32 controller controls the operation of the motor through a data transmission line.

[0023] The drone's rotor is connected to a brushless motor via bolts. Below the brushless motor is a fixing plate. The brushless motor and the fixing plate are fixedly connected to the drone arm via bolts. The drone arm is connected to the upper center plate via bolts. The drone arm is connected to the lower center plate and the high landing gear via bolts. The GPS is connected to the upper center plate via screws.

[0024] The bottom of the flight control center is fixed to the upper center plate with double-sided foam tape, the lithium battery is fixed to the lower center plate with double-sided foam tape, the electronic speed control device is tied to the lower arm with cable ties, and the vision sensor is fixed to the bottom of the lower center plate with double-sided foam tape.

[0025] The brushless motor is connected to the electronic speed control device via an electronic speed control device connection line, and the electronic speed control device is connected to the flight control center via an electronic speed control device connection line.

[0026] The fixed shaft and drive shaft of the lid and the box body are connected by drive rods, support rods and reinforcing rods. The left support rod is connected to the left fixed long shaft of the lid above and the left fixed long shaft of the box body below. The right support rod is connected to the right fixed long shaft of the lid above and the left and right fixed long shafts of the box body below. The left and right support rods are reinforced by a reinforcing rod in the middle. The left drive rod is connected to the left fixed short shaft of the lid above and the short drive shaft of the box body below. The right drive rod is connected to the right fixed short shaft of the lid above.

[0027] When the landing cover descends and presses against the left and right wedge-shaped sliders, both the left and right sector gears are in a meshing state and rotate slowly under the action of the swing rod and the fixed plate.

[0028] During the process of fixing the drone charging position, both the left and right wedge sliders make mirror motions under the action of two sector gears and a swing rod.

[0029] During the process of fixing the drone charging position, the right pull rope will continuously loosen and the redundant rope will be automatically wrapped around the rope storage reel.

[0030] When the drone is in the charging position, the right pull cord will quickly tighten under the action of the right telescopic spring and pull out part of the cord from the cord storage tray.

[0031] When the drone completes its charging mission and is ready to take off, the mechanical transmission process of the lid slowly rising is as follows: the motor drives the active sprocket to rotate, which in turn drives the chain and the driven sprocket to rotate. The driven sprocket drives the left transmission rod to rotate slowly through the short shaft of the housing, thereby causing the lid to open slowly.

[0032] The wedge-shaped slider fixing structure is relatively precise and small in size. It is located in the central bottom space of the box, that is, directly below the labeling platform, and its height is flush with the multi-level sliding groove surface.

[0033] The servo motor's control data line is connected to the STM32 controller, and power lines five and six are both connected to the battery.

[0034] When the left and right wedge sliders move towards either end, the left and right telescopic springs will be compressed on the side of the spring baffle, and the spring baffle will prevent the wedge sliders from moving further.

[0035] As the trapezoidal screw rotates, the left take-up rope is continuously wound and stretched by the trapezoidal screw through the wire opening.

[0036] Trapezoidal lead screws have good self-locking characteristics and high motion accuracy, and are commonly used in high-precision machinery. At the same time, the threaded pair of trapezoidal lead screws has a large contact area and low frictional resistance, which has a good effect when winding and unwinding ropes. They are also usually made of high-strength and wear-resistant materials, which can provide stable performance over a long period of time.

[0037] The landing cover has multiple rubber blocks inside the landing hole. The rubber used is relatively soft and has high friction, which is used to fix the position between the drone and the landing cover.

[0038] When the drone reaches the bottom of the multi-level chute curved surface and contacts the landing hole on the landing cover, it can initially rely on its own gravity to squeeze and deform multiple rubber blocks on the inner circumference of the landing hole. Relying on the rebound and friction of the rubber blocks, the interference fit between the drone's high landing gear and the landing cover is achieved.

[0039] When the weight of the drone compresses the four buffer springs together to a certain height, it can maintain a state of force balance. At this time, the charging contact one at the bottom of the drone's high take-off and landing gear comes into contact with the charging contact two at the bottom of the spring contact landing structure, thus completing the circuit connection.

[0040] The wedge-shaped slider works together with the buffer spring to slow down the drone's descent speed during landing. At the same time, it limits the rebound height of the landing cover to prevent the charging cover from detaching from the spring contacts and landing charging structure if the drone compresses the buffer spring too much.

[0041] The four drone charging contacts on the bottom inside the main housing can charge the drone. Once the drone's four charging contacts are in contact with the charging contacts on the housing and the circuit is connected, the voltage sensing module and GPIO port inside the STM32 controller will work together to measure the internal voltage of the drone's lithium battery and select between four charging ports or two charging ports for charging according to the operational requirements.

[0042] The swing rod and the sector gear are hinged together by a transmission pin. The swing rod and the fixed plate are also hinged together by a transmission pin. The fixed base plate is fixed to the inside of the main housing by bolts. The right swing rod and the right sector gear are fixedly connected.

[0043] When the wedge-shaped slider is inserted into the limiting slot, the four buffer spring groups and the drone's own weight are exactly balanced, and charging contact one and charging contact two come into contact.

[0044] The multi-level chute surface has a three-segment structure, consisting of a first-level inclined surface, a second-level inclined surface, and a third-level surface. The different surfaces and inclined surfaces are smoothly connected by rounded corners. The first-level inclined surface has a relatively large inclination. When the UAV's landing position deviates significantly, one or two sides of the high landing gear will contact the first-level inclined surface, which will provide some rebound and landing cushioning. When it reaches the second-level inclined surface, the slope is gentler. Upon contact, it can further decelerate and support the bottom edges of the high landing gear. When it reaches the third-level surface, the position of the high landing gear is basically aligned with the positions of the charging ports.

[0045] When the drone contacts and slides on the first and second inclined surfaces of the multi-level chute surface, it will still adjust and correct its own position and flight attitude to ensure that it can successfully achieve charging, fixation and connection when it reaches the third curved surface.

[0046] Both left and right wedge-shaped sliders are in the limiting groove. Under the action of the limiting groove, the wedge-shaped sliders, which originally made complex mechanical movements under the action of the fan-shaped teeth, the swing rod and the fixed plate, all translate along the limiting groove.

[0047] The limiting slots at the bottom of the high landing gear have a symmetrical structure and are fitted into the left and right wedge-shaped sliders respectively.

[0048] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention can obtain solar energy through the photovoltaic panel on the top of the box cover and transmit it to the battery at the bottom of the box through the internal circuit for storage. When the drone lands and touches the charging contact, the controller manages the battery to release energy to replenish the drone's energy, providing the drone with a safe, convenient, and high-speed charging environment and a green and environmentally friendly energy source.

[0049] 2. This invention can achieve stable fixation of the drone after landing by assisting with multi-level smooth groove curved surfaces. The surface of the grooving device is a smooth curved surface. When the drone's high landing gear contacts the curved surface, it can slide by its own weight and the arc direction of the curved surface. The spring contact drop structure of this invention uses multiple buffer springs to reduce the impact force when the drone lands. The central hole of its landing cover can help the drone support to align with the fixed structure. The wedge-shaped fixing sliders on both sides can fix it in a suitable charging position. This structure not only provides a buffer space for the drone landing, but also increases the fault tolerance and stability of the drone charging process.

[0050] 3. This invention has extremely high portability. The entire box is lightweight and easy to carry. The whole set of equipment can be applied to a variety of complex environments. It is easy to configure and provides a safe storage space and landing platform for drones.

[0051] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0052] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0053] Figure 1 This is a schematic diagram of the portable housing structure of the chute-type drone landing and charging device in one embodiment of the present invention. Figure 2This is a schematic diagram of the lid of a portable case in one embodiment of the present invention; Figure 3 This is a schematic diagram showing the position and connection relationship of the rods in one embodiment of the present invention; Figure 4 This is a schematic diagram of the internal structure of the main housing in one embodiment of the present invention; Figure 5 This is a schematic diagram of the contact structure of the box spring contact drop structure in one embodiment of the present invention; Figure 6 This is a schematic diagram of a partial transmission structure of the wedge-shaped plug at the bottom of the housing in one embodiment of the present invention; Figure 7 This is a schematic diagram of the entire transmission structure of the wedge-shaped plug at the bottom of the housing in one embodiment of the present invention; Figure 8 This is a schematic diagram of the wedge-shaped synchronous mirror motion transmission at the bottom of the box in one embodiment of the present invention; Figure 9 This is a schematic diagram showing the relative positions of the transmission structure, power supply, and controller inside the housing in one embodiment of the present invention; Figure 10 This is a schematic diagram of the structure and components of a quadcopter drone in one embodiment of the present invention; Figure 11 This is a supplementary schematic diagram of the structural components of a quadcopter UAV in one embodiment of the present invention; Figure 12 This is a schematic diagram showing the position of the bottom baffle of the main housing in one embodiment of the present invention; Figure 13 This is a schematic diagram of the box in a closed state according to one embodiment of the present invention; Figure 14 This is a schematic diagram of the multi-stage sliding groove surface and internal transmission structure in one embodiment of the present invention; Figure 15 This is a schematic diagram showing the distribution of rubber clips on the charging cover in one embodiment of the present invention; Figure 16 This is a schematic diagram of a partial structure of a drone charging contact in one embodiment of the present invention; The meanings of the labels in the attached diagram are as follows: 1-Box lid, 2-Photovoltaic panel, 3-Handle, 4-Support rod, 5-Reinforcing rod, 6-Transmission rod, 7-Transmission chain, 8-Slide slope, 9-UAV, 10-Coding platform, 11-Main box body, 12-Fixed shaft, 13-Motor, 14-Battery, 15-STM32 controller, 16-Baffle, 17-Wedge-shaped slider fixing structure; 1-1 Left fixed short shaft of box cover; 1-2 Left fixed long shaft of box cover; 1-3 Upper groove of chain; 1-4 Right fixed short shaft of box cover; 1-5 Right fixed long shaft of box cover. 4-1 Right support rod, 4-2 Left support rod; 6-1 Right drive rod, 6-2 Left drive rod; 7-1 Outer link, 7-2 Inner link, 7-3 Drive sprocket, 7-4 Driven sprocket, 7-5 Drive pin; 9-1 Rotor, 9-2 Brushless Motor, 9-3 Arm, 9-4 High Landing Gear, 9-5 Lower Center Plate, 9-6 Lithium Battery, 9-7 Fixed Plate, 9-8 Upper Center Plate, 9-9 Flight Control Center, 9-10 GPS, 9-11 Electronic Speed ​​Regulator, 9-12 Electronic Speed ​​Regulator Connection Cable, 9-13 Vision Sensor, 9-14 Charging Contact One, 9-15 Limiting Slot; 11-1 Chain lower groove, 11-2 Box drive short shaft, 11-3 Multi-stage sliding groove curved surface, 11-3-1 First-stage inclined surface, 11-3-2 Second-stage inclined surface, 11-3-3 Third-stage curved surface, 11-3-4 Limiting sliding groove, 11-4 Spring contact falling charging structure, 11-4-1 Falling cover plate, 11-4-2 Buffer spring, 11-4-3 Charging contact two, 11-5 Box opening groove, 11-6 Box fixing short shaft; 12-1 Box body has a fixed long axis on the left, and 12-2 Box body has a fixed long axis on the right. 14-1 Power cord one, 14-2 Power cord two; 15-1 Power cord 3, 15-2 Data transmission cable, 15-3 Power cord 4; 16-1 Baffle 1, 16-2 Baffle 2, 16-3 Baffle 3; 17-1 Transmission spur gear, 17-2 Cable inlet, 17-3 Servo motor, 17-4 Control data cable, 17-5 Power cable 5, 17-6 Power cable 6, 17-7 Left sector gear, 17-8 Right sector gear, 17-9 Fixed base plate, 17-10 Swing rod, 17-11 Right pull rope, 17-12 Cable storage tray, 17-13 Spring baffle, 17-14 Right telescopic spring, 17-15 Fixed plate, 17-16 Right wedge slider, 17-17 Left wedge slider, 17-18 Left telescopic spring, 17-19 Left pull rope, 17-20 Driven spur gear, 17-21 Trapezoidal lead screw, 17-22 Drop hole, 17-23 Rubber clamp.

[0054] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0055] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0056] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0057] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0058] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings.

[0059] A chute-type drone landing and charging device includes: a cover 1, a main body 11, and a drone 9. The cover 1 is located on the upper part of the main body 11 and is connected to the main body 11 via left and right support rods 4 and left and right transmission rods 6. The left and right support rods 4 and left and right transmission rods 6 form a parallel four-bar linkage mechanism. Two photovoltaic panels 2 are embedded on the top of the cover 1. A handle 3 is provided in the center of the cover 1, and a chain groove 1-3 is provided on the bottom left side of the cover 1. The main body 11 is the main body of the entire device, and the interior of the main body 11 has four multi-level chute curved surfaces 11-3. Surface 11-3 has a three-section structure, consisting of a first-level inclined surface 11-3-1, a second-level inclined surface 11-3-2, and a third-level curved surface 11-3-3. The different curved surfaces and inclined surfaces are smoothly connected by rounded corners, allowing the four high-mounted landing gears 9-4 of the UAV 9 to slide along the direction guided by the multi-level sliding surface 11-3 to the spring contact landing structure 11-4 during landing. The main housing 11 has drive shafts and fixed shafts 12 on both sides of its top. The left side of the main housing 11 has a chain groove 11-1, and the center of the main housing has a square raised labeling platform 10 on which labels are applied. The AprilTag code is used for visual sensor recognition by the UAV 9 to assist in positioning and landing. The bottom of the main housing houses an STM32 controller 15, a battery 14, and a motor 13. The UAV 9 is a multi-rotor UAV. A visual sensor 9-13 is located on the bottom of the UAV, surrounded by four arc-shaped high landing gears 9-4. An electronic speed control device 9-11 is located at the bottom of the arms 9-3. The chain groove 11-1 on the left side of the main housing 11 is vertically continuous. A drive sprocket 7-3 and a motor 13 are located within the chain groove 11-1. 3. The motor 13 is located above the baffle 16-1. The driving sprocket 7-3 is connected to the driven sprocket 7-4 through the transmission chain 7. The driven sprocket 7-4 is coaxially driven with the left transmission rod 6-2 through the transmission pin 7-5. The left transmission rod 6-2 is connected to the left fixed short shaft 1-1 of the box cover above and to the main box body transmission short shaft 11-2 below. The motor 13 drives the driving sprocket 7-3 to rotate, which in turn drives the transmission chain 7 and the driven sprocket 7-4 to rotate. The driven sprocket 7-4 drives the left transmission rod 6-2 to rotate slowly through the main box body transmission short shaft 11-2, thereby causing the box cover 1 to open slowly.

[0060] Preferably, each of the four multi-level sliding surfaces 11-3 has a lowest point at the bottom. At each lowest point, a set of spring contact landing structures 11-4 is provided. The bottom of the spring contact landing structure 11-4 is provided with multiple buffer springs 11-4-2 to reduce the impact force when the UAV lands. Inside the central buffer spring 11-4-2, there is a protruding charging device with a second charging contact 11-4-3 at its top. The bottom of the UAV high take-off and landing gear 9-4 is provided with a first charging contact 9-14. The first charging contact 9-14 contacts and cooperates with the second charging contact 11-4-3 for charging.

[0061] Preferably, a landing cover plate 11-4-1 is provided above the buffer spring 11-4-2. A landing hole 17-22 is provided in the middle of the landing cover plate 11-4-1. A left wedge-shaped slider 17-17 and a right wedge-shaped slider 17-16 are respectively provided on the left and right sides of the landing cover plate 11-4-1. The sides of the left and right wedge-shaped sliders away from the landing cover plate 11-4-1 are connected to the left and right spring baffles 17-13 by telescopic springs. The telescopic spring side of the left wedge-shaped slider 17-17 is connected by the left pull rope 17- 19 is connected to the trapezoidal lead screw 17-21. The left pull rope 17-19 passes through the inside of the telescopic spring and through the middle of the spring baffle 17-13. When the trapezoidal lead screw 17-21 rotates, it will continuously wind around the left pull rope 17-19. The trapezoidal lead screw 17-21 is coaxially connected to the driven spur gear 17-20. The servo motor 17-3 drives the driven spur gear 17-20 through the transmission spur gear 17-1. The right wedge slider 17-16 is connected to the rope storage tray 17-11 via the right pull rope 17-11 on one side of the telescopic spring. 12. The cord storage tray 17-12 automatically winds redundant cord. The right pull cord 17-11 passes through the inside of the telescopic spring and through the middle of the spring baffle 17-13. The left and right wedge-shaped sliders are hinged to fixed plates 17-15. The other side of the fixed plate 17-15 is hinged to the swing rod 17-10. The other side of the swing rod 17-10 is fixedly connected to a sector gear, which includes a left sector gear 17-7 and a right sector gear 17-8. Eight phases mesh and are all rotatably mounted on a fixed base plate 17-9. The fixed base plate 17-9 is fixedly connected to the inside of the main housing 11 by bolts. The left and right wedge-shaped sliders are both located in the limiting grooves 11-3-4 inside the main housing 11. When the descending cover plate 11-4-1 descends and squeezes the left and right wedge-shaped sliders, the left sector gear 17-7 and the right sector gear 17-8 are meshed and rotate synchronously under the action of the swing rod 17-10 and the fixed plate 17-15, so that the left and right wedge-shaped sliders make mirror motion.

[0062] Preferably, the inner side of the landing hole 17-22 has multiple rubber blocks 17-23, and the bottom side of the high landing gear 9-4 is provided with a limiting groove 9-15. The limiting groove 9-15 has a symmetrical structure and is engaged with the left and right wedge sliders respectively. The rubber used is relatively soft and has a large friction. Relying on the rebound and friction of the rubber blocks 17-23, the interference fit between the high landing gear 9-4 of the UAV and the landing cover plate 11-4-1 is achieved, thereby fixing the UAV 9.

[0063] Preferably, the four drone charging contacts 11-4-3 on the bottom inner side of the main housing 11 can all charge the drone 9. When the four charging contacts 9-14 of the drone 9 are in contact with the charging contacts 11-4-3 of the main housing 11 and the circuit is connected, the voltage sensing module and GPIO port inside the STM32 controller 15 measure the internal voltage of the drone lithium battery 9-6 and select four charging ports or two charging ports for charging according to the operation requirements.

[0064] The present invention also includes a charging method using a chute-type drone landing charging device, comprising the steps of: S1, when the UAV 9 returns from an inspection mission, the flight control center 9-9 of the UAV 9 will communicate with the STM32 controller 15 at the bottom of the main housing 11. The STM32 controller 15 controls the motor 13 to rotate, thereby driving the housing cover 1 to open slowly. The visual sensor 9-13 of the UAV 9 identifies the AprilTag code on the labeling platform 10, corrects its own flight attitude and lands slowly. When the high landing gear 9-4 descends and contacts the multi-level slide surface 11-3, it slows down the speed of the rotor 9-1. When it slides along the multi-level slide surface 11-3 to the third-level surface 11-3-3, it completely stops the power output of the motor 13. The UAV 9 slides at the bottom of the slide by its own gravity and the arc of the surface until the bottom of the high landing gear 9-4 contacts and fixes itself to the landing hole 17-22 of the spring contact landing structure 11-4 at the bottom of the slide. The UAV presses down the landing cover 11-4-1 by its own gravity, further compressing the buffer spring 11-4-7, so as to achieve the slow descent of the UAV. S2, the drone descends slowly. The landing cover 11-4-1 will press the spring contact landing structure 11-4 to move downward. At the same time, the landing cover 11-4-1 will also squeeze the left wedge slider 17-17 and the right wedge slider 17-16 to move to both sides, further compressing the left telescopic spring 17-18 and the right telescopic spring 17-14. During this process, the left pull rope 17-19 and the right pull rope 17-11 are not under force. S3, when the landing cover 11-4-1 descends a distance exceeding the thickness of the wedge slider, the left wedge slider 17-17 and the right wedge slider 17-16 are quickly ejected under the action of the left telescopic spring 17-18 and the right telescopic spring 17-14, returning to their original positions and embedding into the limiting slot 9-15 to restrict the landing cover 11-4-1 from rising, thereby fixing the charging position of the drone. At this time, the charging contact 1 9-14 at the bottom of the drone's high take-off and landing gear 9-4 contacts the charging contact 2 11-4-3, and the STM32 controller 15 controls the charging control battery 14 to replenish the energy of the drone 9. S4, when the charging position of the drone 9 is fixed and charging begins, the STM32 controller 15 first controls the motor 13 to rotate. The motor 13 drives the active sprocket 7-3 to rotate, which in turn drives the transmission chain 7 and the driven sprocket 7-4 to rotate. The driven sprocket 7-4 drives the left transmission rod 6-2 to rotate slowly through the main housing transmission short shaft 11-2, thereby driving the housing cover 1 to close slowly. S5, when the drone 9 finishes charging and is ready to take off, the STM32 controller 15 first controls the motor 13 to rotate, which, through mechanical transmission, slowly opens the cover 1. Then, the STM32 controller 15 controls the servo motor 17-3 to rotate, which in turn drives the transmission spur gear 17-1 to rotate, and from there transmits the rotation to the driven spur gear 17-20 and the trapezoidal lead screw 17-21 above it. As the trapezoidal lead screw 17-21 rotates, it continuously winds the left pull rope 17-19, which in turn causes the left wedge slider 17-17 to slide to the left. Under the support of the fixed plate 17-15 and the swing rod 17-10, The left sector gear 17-7 rotates counterclockwise, driving the right sector gear 17-8 to rotate clockwise. This, in turn, acts on the right wedge slider 17-16 through the right fixed plate 17-15 and the swing rod 17-10, compressing the right telescopic spring 17-14 and causing it to slide slowly to the right. When the two wedge sliders slide to a certain distance, they no longer restrict the landing cover 11-4-1. The landing cover slowly rises under the action of the buffer spring 11-4-2. The flight control center 9-9 controls the UAV rotor to rotate. The UAV 9 uses the rotor 9-1 to break free from the rubber block 17-23 and achieve vertical takeoff.

[0065] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

Claims

1. A chute-type drone landing and charging device, characterized in that, include: The device consists of a lid (1), a main body (11), and a drone (9). The lid (1) is located on the upper part of the main body (11). The lid (1) is connected to the main body (11) via left and right support rods (4) and left and right transmission rods (6). The left and right support rods (4) and left and right transmission rods (6) form a parallel four-bar linkage. Two photovoltaic panels (2) are embedded on the top of the lid (1). A handle (3) is provided in the center of the lid (1). A chain groove (1-3) is provided on the bottom left side of the lid (1). The main body (11) is the main body of the entire device. The main body (11) has four multi-level sliding surface (11-3) inside. The multi-level sliding surface (11-3) is... The structure consists of a three-section ramp (11-3-1), a second-section ramp (11-3-2), and a third-section curved surface (11-3-3). The different curved surfaces and ramps are smoothly connected by rounded corners, allowing the four high landing gears (9-4) of the UAV (9) to slide along the direction guided by the multi-level sliding surface (11-3) to the spring contact landing structure (11-4) during landing. The main housing (11) has a drive shaft and a fixed shaft (12) on both sides of the top. The main housing (11) has a chain groove (11-1) on the left side. The main housing has a square raised labeling platform (10) in the center. AprilTag codes are affixed to the labeling platform (10). To facilitate visual sensor recognition of the UAV (9) and assist the UAV (9) in positioning and landing, the bottom of the main housing is equipped with an STM32 controller (15), a battery (14), and a motor (13); the UAV (9) is a multi-rotor UAV, with a visual sensor (9-13) installed at the bottom of the UAV, and four arc-shaped high landing gears (9-4) arranged around the visual sensor (9-13). An electronic speed control device (9-11) is installed at the bottom of the arm (9-3). The chain groove (11-1) on the left side of the main housing (11) is vertically connected. The drive sprocket (7-3) installed in the chain groove (11-1) is connected to the motor (13). The motor (15) is connected to the motor (14). 3) Located above the baffle (16-1), the driving sprocket (7-3) is connected to the driven sprocket (7-4) through the transmission chain (7). The driven sprocket (7-4) is coaxially driven with the left transmission rod (6-2) through the transmission pin (7-5). The left transmission rod (6-2) is connected to the left fixed short shaft (1-1) of the box cover above and to the main box body transmission short shaft (11-2) below. The motor (13) drives the driving sprocket (7-3) to rotate, which in turn drives the transmission chain (7) and the driven sprocket (7-4) to rotate. The driven sprocket (7-4) drives the left transmission rod (6-2) to rotate slowly through the main box body transmission short shaft (11-2), thereby driving the box cover (1) to open slowly.Four multi-level sliding surfaces (11-3) each have a lowest point at the bottom. At each lowest point, a set of spring contact landing structures (11-4) is provided. The bottom of the spring contact landing structure (11-4) is provided with multiple buffer springs (11-4-2) to reduce the impact force when the UAV lands. Inside the central buffer spring (11-4-2), there is a protruding charging device, and the top of it is the second charging contact (11-4-3). The bottom of the UAV's high landing gear (9-4) is provided with a first charging contact (9-14). The first charging contact (9-14) and the second charging contact (11-4-3) make contact and cooperate for charging. A landing cover plate (11-4-1) is provided on the upper part of the buffer spring (11-4-2). A landing hole (17-22) is provided in the middle of the landing cover (11-4-1). A left wedge-shaped slider (17-17) and a right wedge-shaped slider (17-16) are respectively provided on the left and right sides of the landing cover (11-4-1). The sides of the left and right wedge-shaped sliders away from the landing cover (11-4-1) are connected to the left and right spring baffles (17-13) via telescopic springs. The telescopic spring side of the left wedge-shaped slider (17-17) is connected to the trapezoidal screw (17-21) via a left pull rope (17-19). The left pull rope (17-19) passes through the inside of the telescopic spring and through the middle of the spring baffle (17-13). When the trapezoidal screw (17-21) rotates, it will continuously wrap around the left pull rope (17-19). (17-21) A driven spur gear (17-20) is coaxially connected. The servo motor (17-3) drives the driven spur gear (17-20) through the transmission spur gear (17-1). One side of the right wedge slider (17-16) telescopic spring is connected to the rope storage tray (17-12) through the right pull rope (17-11). The rope storage tray (17-12) can automatically wind redundant rope. The right pull rope (17-11) passes through the inside of the telescopic spring and through the middle of the spring baffle (17-13). The left and right wedge sliders are hinged to the sides of the fixed plate (17-15). The other side of the fixed plate (17-15) is hinged to the swing rod (17-10). The other side of the swing rod (17-10) is fixedly connected to the sector gear. The sector gears include a left sector gear (17-7) and a right sector gear (17-8). The left sector gear (17-7) and the right sector gear (17-8) mesh with each other and are both rotatably mounted on a fixed base plate (17-9). The fixed base plate (17-9) is fixedly connected to the inside of the main housing (11) by bolts. The left and right wedge sliders are both located in the limiting grooves (11-3-4) inside the main housing (11). When the descending cover plate (11-4-1) descends and squeezes the left and right wedge sliders, the left sector gear (17-7) and the right sector gear (17-8) are in a meshing state and rotate synchronously under the action of the swing rod (17-10) and the fixed plate (17-15), causing the left and right wedge sliders to perform mirror motion.

2. The chute-type UAV landing and charging device according to claim 1, characterized in that, The landing hole (17-22) has multiple rubber blocks (17-23) on its inner side. The bottom side of the high landing gear (9-4) is provided with a limiting groove (9-15). The limiting groove (9-15) is a symmetrical structure and is engaged with the left and right wedge sliders respectively. The rubber used is soft and has high friction. Relying on the rebound and friction of the rubber blocks (17-23), the interference fit between the high landing gear (9-4) of the UAV and the landing cover plate (11-4-1) is achieved, thereby fixing the UAV (9).

3. The chute-type UAV landing and charging device according to claim 2, characterized in that, The four drone charging contacts 2 (11-4-3) on the bottom inner side of the main housing (11) can all charge the drone (9). When the four charging contacts 1 (9-14) of the drone (9) are in contact with the charging contacts 2 (11-4-3) of the main housing (11) and the circuit is connected, the voltage sensing module and GPIO port inside the STM32 controller (15) measure the internal voltage of the drone lithium battery (9-6) and select four charging ports or two charging ports according to the operation requirements.

4. A charging method using the chute-type UAV landing charging device as described in claim 3, characterized in that, Including the following steps: S1, when the UAV (9) returns from its inspection mission, the flight control center (9-9) of the UAV (9) will communicate with the STM32 controller (15) at the bottom of the main housing (11). The STM32 controller (15) controls the motor (13) to rotate, thereby driving the housing cover (1) to open slowly. The visual sensor (9-13) of the UAV (9) identifies the AprilTag code on the tagging platform (10), corrects its flight attitude and lands slowly. When the high landing gear (9-4) descends and contacts the multi-level sliding surface (11-3), it will reduce speed. The speed of the rotor (9-1) is slowed down, and when it slides along the multi-level chute surface (11-3) to the third-level surface (11-3-3), the power output of the motor (13) is completely stopped. The UAV (9) slides at the bottom of the chute by its own weight and the arc of the surface until the bottom of the high landing gear (9-4) contacts and is fixed with the landing hole (17-22) of the spring contact landing structure (11-4) at the bottom of the chute. The UAV presses down the landing cover plate (11-4-1) by its own weight, further compressing the buffer spring (11-4-2) to achieve a slow descent of the UAV. S2, the drone descends slowly. The landing cover (11-4-1) will press the spring contact landing structure (11-4) downward. At the same time, the landing cover (11-4-1) will also squeeze the left wedge slider (17-17) and the right wedge slider (17-16) to move to both sides, further compressing the left telescopic spring (17-18) and the right telescopic spring (17-14). During this process, the left pull rope (17-19) and the right pull rope (17-11) are not under any force. S3, when the landing cover (11-4-1) descends a distance exceeding the thickness of the wedge slider, the left wedge slider (17-17) and the right wedge slider (17-16) are quickly ejected under the action of the left telescopic spring (17-18) and the right telescopic spring (17-14), returning to their original positions and embedding into the limiting slot (9-15) to restrict the landing cover (11-4-1) from rising, thereby fixing the charging position of the UAV. At this time, the charging contact one (9-14) at the bottom of the UAV's high take-off and landing gear (9-4) contacts the charging contact two (11-4-3), and the STM32 controller (15) controls the charging control battery (14) to provide energy to the UAV (9). S4, when the charging position of the UAV (9) is fixed and charging begins, the STM32 controller (15) first controls the motor (13) to rotate. The motor (13) drives the active sprocket (7-3) to rotate, which in turn drives the transmission chain (7) and the driven sprocket (7-4) to rotate. The driven sprocket (7-4) drives the left transmission rod (6-2) to rotate slowly through the main housing transmission short shaft (11-2), thereby driving the box cover (1) to close slowly. S5, when the UAV (9) is ready to take off after charging, the STM32 controller (15) first controls the motor (13) to rotate, and through mechanical transmission, the box cover (1) is slowly opened. Then, the STM32 controller (15) controls the servo motor (17-3) to rotate, which in turn drives the transmission spur gear (17-1) to rotate, and thus transmits the transmission to the driven spur gear (17-20) and the trapezoidal screw (17-21) above it. When the trapezoidal screw (17-21) rotates, it will continuously wind the left pull rope (17-19), which will cause the left wedge slider (17-17) to slide to the left. Under the support of the fixed plate (17-15) and the swing rod (17-10), Downward, the left sector gear (17-7) rotates counterclockwise, driving the right sector gear (17-8) to rotate clockwise. This, in turn, acts on the right wedge slider (17-16) through the right fixed plate (17-15) and the swing rod (17-10), causing it to compress the right telescopic spring (17-14) and slide slowly to the right. When the two wedge sliders slide to a certain distance, they no longer restrict the landing cover (11-4-1). The landing cover slowly rises under the action of the buffer spring (11-4-2). The flight control center (9-9) controls the rotation of the UAV rotor. The UAV (9) breaks free from the rubber block (17-23) by relying on the rotor (9-1) to achieve vertical takeoff.

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