Propeller return device, drone hangar, and drone propeller return method

Abstract

The embodiment of the present application provides a propeller return device, a drone hangar and a drone propeller return method, the propeller return device includes: a base, a rotating member, a rotating shaft, and a return device; the rotating shaft is arranged on the base; the rotating member is partially arranged in the base, and partially arranged outside the base, and the rotating member is rotatably connected to the base through the rotating shaft; the return device is arranged in the base, and the return device is connected to the rotating member; when the rotating member is in the first position, the rotating member is at a preset angle with the vertical direction; when an external force acts on the rotating member, the rotating member can rotate around the rotating shaft along the first direction to the second position; when the external force disappears, the rotating member moves around the rotating shaft in the opposite direction of the first direction under the action of the return device, and the rotating member rotates to the first position. In the embodiment of the present application, there is a preset angle between the rotating member and the vertical direction, and when the blade presses the blade, the rotating member can rotate relative to the base, so that the blade can be prevented from being stabbed and damaged by the propeller return device during the descent process.

Description

Technical Field

[0001] The present application relates to the technical field of propeller blade return for unmanned aerial vehicles, and in particular to a propeller return device, a hangar for unmanned aerial vehicles, and a propeller return method for unmanned aerial vehicles. Background Art

[0002] Unmanned aerial vehicles (UAVs) are unmanned aircraft that are controlled by radio remote control equipment and self-contained program control devices, or are fully or intermittently autonomously operated by onboard computers. UAVs can be divided into military and civilian applications according to their application areas.

[0003] As a drone take-off and landing platform, the drone airport can protect and store drones after landing. For example, the landed drones are often placed in a sealing device in the drone airport, and during the landing process, a propeller return device is required to return the drone blades to their original positions, thereby reducing the overall space occupied by the drone.

[0004] In the prior art, when a UAV is landing, the propeller blades of the UAV may get stuck on the propeller returning device and be unable to rotate, which may even cause the propeller blades of the UAV to break and be damaged. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a propeller return device, a drone hangar, and a drone propeller return method to solve the problem that when the drone lands, the propeller return device will break the drone blades or the drone blades are stuck above the propeller return device and cannot rotate. The specific technical solution is as follows:

[0006] An embodiment of the first aspect of the present application provides a propeller return device, which is applied to a drone hangar, and the propeller return device includes: a base, a rotating member, a rotating shaft, and a return device; the rotating shaft is arranged on the base, the rotating member is partially arranged inside the base, and partially arranged outside the base, and the rotating member is rotatably connected to the base through the rotating shaft; the return device is arranged in the base, and the return device is connected to the rotating member; when the rotating member is in a first working position, the part of the rotating member arranged outside the base forms a preset angle with the vertical direction; when an external force acts on the rotating member, the rotating member can rotate around the rotating shaft along the first direction to the second working position; when the external force disappears, the rotating member moves around the rotating shaft in the opposite direction of the first direction under the action of the return device, and the rotating member rotates to the first working position.

[0007] In some embodiments, the base has a accommodating portion, the accommodating portion has a accommodating cavity, the bottom end of the rotating member is placed in the accommodating cavity, the return device is arranged in the accommodating cavity, one end of the return device is connected to the bottom end of the rotating member, and the other end is connected to the base; the accommodating cavity has a first end and a second end opposite to each other in a horizontal direction, and the return device is connected to the first end of the accommodating cavity; when the rotating member is in the first working position, the side surface of the bottom end of the rotating member abuts against the side wall corresponding to the second end of the accommodating cavity.

[0008] In some embodiments, the base further has a connecting portion, the connecting portion is arranged on the upper portion of the accommodating portion; the rotating shaft is arranged on the connecting portion. The connecting portion includes connecting plates arranged opposite to each other, the rotating shaft is arranged between two connecting plates, and the rotating member is sleeved on the rotating shaft.

[0009] In some embodiments, the return device includes a first magnetic member and a second magnetic member that are relatively positioned and magnetically repulsive to each other, wherein the first magnetic member is fixedly connected to the first end of the accommodating cavity, and the second magnetic member is fixedly connected to a side of the bottom end of the rotating member close to the first magnetic member; when the rotating member is in the first working position, the repulsive force between the first magnetic member and the second magnetic member causes the bottom end of the rotating member to abut against the side wall corresponding to the second end of the accommodating cavity; when an external force acts on the rotating member, the rotating member rotates around the rotating shaft in the first direction, driving the second magnetic member to move in a direction close to the first magnetic member; when the external force disappears, the rotating member moves around the rotating shaft in the opposite direction of the first direction under the action of the repulsive force between the first magnetic member and the second magnetic member, and the rotating member rotates to the first working position.

[0010] In some embodiments, the bottom end of the rotating member is provided with a receiving groove facing the first end of the receiving cavity, and the second magnetic member is placed in the receiving groove.

[0011] In some embodiments, the return device includes an elastic member, one end of which is fixedly connected to the first end of the accommodating cavity, and the other end is connected to the bottom end of the rotating member; when an external force acts on the rotating member, the rotating member rotates around the rotating shaft along the first direction to compress the elastic member; when the external force disappears, the rotating member moves around the rotating shaft in the opposite direction of the first direction under the elastic action of the elastic member, and the rotating member rotates to the first working position.

[0012] In some embodiments, the rotating member is provided with a buffer pad, and the buffer pad is wrapped around the outer side surface of the rotating member.

[0013] An embodiment of the second aspect of the present application provides a UAV hangar, comprising the propeller return device described above; and a lifting mechanism, the lifting mechanism comprising a lifting platform and a support frame, the lifting platform being slidably connected to the support frame; a plurality of the propeller return devices are spaced apart on the upper surface of the support frame, and the positions of the propeller return devices correspond to the positions of the propeller blades of the UAV.

[0014] The embodiment of the third aspect of the present application provides a method for returning propellers to a drone, including:

[0015] The lifting platform drives the drone to descend, and the propeller blades approach the return propeller device;

[0016] According to the foreign object detection instruction, the drone performs foreign object detection and determines the foreign object detection result;

[0017] In the absence of foreign matter, the blade touches and presses downward a rotating member in the paddle return device that has a preset angle with the vertical direction, and the rotating member is pressed to rotate around the rotating axis in a first direction;

[0018] After the descent process of the UAV is completed, the propeller blades are controlled to rotate; the propeller blades rotate away from the rotating member, and the rotating member is reset under the action of the return device;

[0019] The blades continue to rotate until they contact the limiting surface of the rotating member, completing the return of the drone.

[0020] In some embodiments, the UAV performs foreign object detection according to the foreign object detection instruction, and determining the foreign object detection result includes: driving the UAV blades to rotate, and obtaining the movement results of the UAV blades, wherein the movement results at least include normal movement and abnormal movement, and judging whether there are foreign objects in the hangar through normal movement and abnormal movement to obtain the foreign object detection result.

[0021] In some embodiments, the rotating member is reset under the action of a return device, including, under the action of the return device, the rotating member rotates around the rotating axis in the opposite direction of the first direction so that the bottom of the rotating member abuts against the inner wall corresponding to the accommodating cavity in the base.

[0022] In the embodiment of the present application, since there is a preset angle between the rotating member and the vertical direction, and the rotating member can rotate relative to the base, during the descent of the drone, the lower surface of the drone blade contacts the portion of the rotating member disposed outside the base, and applies downward pressure to the portion of the rotating member disposed outside the base, so that the rotating member rotates along the rotating shaft in the first direction, and the top of the rotating member moves downward as the drone descends, so the rotating member will not poke the bottom of the drone blade and will not damage the drone blade. When the drone descends to a certain height, the drone blade is rotated so that the lower surface of the drone blade is separated from the rotating member, that is, the external force applied to the top of the rotating member disappears, and under the action of the return device, the rotating member moves in the opposite direction around the rotating shaft in the first direction, the top of the rotating member moves upward, and returns to the first working position, and when the blade continues to rotate to the limit surface of the rotating member, the rotating member can limit the drone blade, so that the drone blade returns to the propeller.

[0023] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0025] Figure 1 An axial side view of a paddle returning device provided in an embodiment of the present application;

[0026] Figure 2 An axonometric view of a propeller return device provided in an embodiment of the present application from one viewing angle;

[0027] Figure 3 A schematic diagram of the internal structure of another propeller return device provided in an embodiment of the present application;

[0028] Figure 4 A schematic diagram of a paddle returning device provided in an embodiment of the present application in a first working position;

[0029] Figure 5 for Figure 2 The schematic diagram of the paddle returning device shown is in the second working position;

[0030] Figure 6 for Figure 3 The schematic diagram of the paddle returning device shown is in the second working position;

[0031] Figure 7 This is a schematic diagram of the cooperation between the drone and the lifting mechanism in the embodiment of the present application;

[0032] Figure 8 This is a schematic diagram of the lifting platform driving the drone to descend in the embodiment of the present application;

[0033] Fig. 9 This is a schematic diagram of the propeller return device limiting the position of the propeller blades of the drone on the lifting mechanism in the embodiment of the present application;

[0034] Fig.10 for Figure 7 A side view of the drone and the lifting mechanism shown;

[0035] Fig.11 for Figure 8 A side view of the drone and the lifting mechanism shown;

[0036] Fig.12 This is a top view of the lifting mechanism driving the drone to descend in the embodiment of the present application;

[0037] Fig.13 This is a schematic diagram of the blade limiting function of the propeller returning device on the lifting mechanism of the UAV in the embodiment of the present application;

[0038] Fig.14 This is a schematic diagram of the process of cooperation between the propeller blades and the propeller return device of the drone in the embodiment of the present application;

[0039] Fig.15 for Figure 2 An axonometric view of the paddle return device from another perspective;

[0040] Fig.16 for Figure 2 An axonometric view of the paddle returning device from another perspective;

[0041] Fig.17 for Figure 2 An exploded schematic diagram of the propeller return device shown;

[0042] Fig.18 for Figure 3 An exploded schematic diagram of the propeller return device is shown.

[0043] Reference numerals:

[0044] Oar returning device 1;

[0045] Base 10; accommodating portion 11; accommodating cavity 110; first end 1101; second end 1102; inner side wall 1103 of base; connecting portion 12; connecting plate 121; supporting portion 13; connecting end 131;

[0046] Rotating member 20; first part 20a; second part 20b; third part 20c; fourth part 20d; through hole 21; accommodating groove 22; rotating shaft 30; return device 40; first magnetic member 41; second magnetic member 42; elastic member 43; buffer pad 50; limiting surface 51; lifting mechanism 60; lifting platform 61; support frame 62;

[0047] UAV 2; blades 201; first blade 201a; second blade 201b; third blade 201c; fourth blade 201d;

[0048] The first direction X. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0050] In order to solve the problem that when the drone lands, the propeller homing device may break the drone blades or the drone blades are stuck above the propeller homing device and cannot rotate, such as Figures 1 to 3 As shown, an embodiment of the first aspect of the present application provides a propeller return device 1, which can be applied to a drone hangar, and comprises: a base 10, a rotating member 20, a rotating shaft 30, and a return device 40; the rotating shaft 30 is arranged on the base 10, the rotating member 20 is partially arranged in the base 10, and partially arranged outside the base 10, the rotating member 20 is rotatably connected to the base 10 through the rotating shaft 30; the return device 40 is arranged in the base 10, and the return device 40 is connected to the rotating member 20; as shown Figures 2 to 4 As shown, when the rotating member 20 is in the first position, that is, when there is no gravity of the drone blade 201 acting on the rotating member 20, the portion of the rotating member 20 disposed outside the base 10 forms a preset angle a with the vertical direction; when an external force acts on the rotating member 20, such as Figure 5 and Figure 6 As shown, the rotating member 20 can rotate around the rotating shaft 30 along the first direction X to the second position; when the external force disappears, the rotating member 20 moves around the rotating shaft 30 in the opposite direction of the first direction X under the action of the return device 40, and the rotating member 20 rotates to the first position.

[0051] In the present application embodiment, Figure 1 , Figure 2 and Figure 3As shown, since there is a preset angle a between the portion of the rotating member 20 disposed outside the base 10 and the vertical direction, and the rotating member 20 can rotate relative to the base 10, during the descent of the drone 2, the lower surface of the drone blade 201 contacts the portion of the rotating member 20 disposed outside the base 10, and applies downward pressure to the portion of the rotating member 20 disposed outside the base 10, so that the rotating member 20 rotates along the rotating shaft 30 along the first direction X, and the top of the rotating member 20 moves downward as the drone descends, so the rotating member 20 will not poke the bottom of the drone blade 201 and will not damage the drone blade 201. When the UAV descends to a certain height, the UAV blade 201 is rotated so that the lower surface of the UAV blade 201 is separated from the rotating part 20, that is, the external force applied to the top of the rotating part 20 disappears, and under the action of the return device 40, the rotating part 20 moves in the opposite direction of the first direction X around the rotating shaft 30, and the top of the rotating part 20 moves up and returns to the first working position. When the blade 201 continues to rotate to the limit surface 51 of the rotating part 20, the rotating part 20 can limit the UAV blade 201, thereby realizing the return of the UAV blade.

[0052] It should be noted that if Figure 3 As shown, the rotating part 20 has a limiting surface 51, which is located at the part of the rotating part 20 that is located outside the base 10. When the propeller device is installed on the lifting mechanism, the limiting surface 51 is often toward the center position of the lifting mechanism. The blade 201 is limited by the limiting surface 51 of the rotating part 20, so that the blade posture of the blade 201 is more regular and will not extend out of the lifting mechanism, thereby reducing the space occupied by the drone.

[0053] Specifically, Figures 16 to 18 The rotating member 20 includes a first part 20a, a second part 20b, a third part 20c, and a fourth part 20d which are connected in sequence. The first part 20a is the part of the rotating member 20 located inside the base 10, the second part 20b is sleeved on the rotating shaft 30, the third part 20c and the fourth part 20d are located outside the base 10, the third part 20c forms a preset angle a with the vertical direction, and the fourth part 20d can contact with the blade 201 and can limit the blade 201.

[0054] More specifically, the first portion 20a, the second portion 20b, the third portion 20c, and the fourth portion 20d can be manufactured by an integrated molding process to obtain the rotating member 20.

[0055] It should be noted that after the rotating member 20 returns to its original position, at least a portion of the rotating member 20 is higher than the upper surface of the blade 201, so that the limit position of the rotating member 20 faces the limit position of the blade 201. When the rotating member 20 rotates from the first station to the second station along the first direction X around the rotating shaft 30, the preset angle a becomes larger, and when the rotating member 20 rotates from the second station to the first station along the opposite direction of the first direction X around the rotating shaft 30, the preset angle a becomes smaller.

[0056] It should be noted that if Figure 7 As shown, since the angles of the blades 201 of the drone 2 may be different during the descent process, it is not necessarily the case that each blade 201 of the drone 2 will first press onto the rotating member 20 during the descent process.

[0057] like Figures 7 to 11 As shown, the propeller return device 1 can be arranged on a lifting mechanism 60, and the lifting mechanism 60 includes a lifting platform 61 and a support frame 62, and the lifting platform 61 is slidably connected to the support frame 62 through a sliding component, and the lifting platform 61 can reciprocate along the height direction of the support frame 62. The UAV 2 is located on the lifting platform 61 and descends as the lifting platform 61 descends, and the support frame 62 can be erected on the ground. Among them, the sliding component can be a slide rail slider component, for example, the slider is connected to the lifting platform 61, the slide rail is arranged along the height direction of the lifting mechanism 60, and the slide rail is connected to the support frame 62, and the slider drives the lifting platform 61 to reciprocate along the slide rail. The number of propeller return devices 1 is determined according to the number of UAV rotors, for example, Figure 7 The drone shown in the figure is a quad-rotor drone, so the number of the return propeller devices 1 is also four. Specifically, a sealing device (not shown) can be provided outside the return propeller device 1, and the sealing device can store and protect the return propeller device 1 and the drone.

[0058] Specifically, Figure 8 and Fig. 9 As shown, the support frame 62 can be a ring platform with legs, and the lifting platform 61 can be a smaller ring platform with legs. The lifting platform 61 is located in the middle of the support frame 62, and the legs of the lifting platform 61 are slidably connected to the legs of the support frame 62 through sliding components. The lifting platform 61 can reciprocate relative to the support frame 62 along the height direction of the support frame 62.

[0059] Taking a four-rotor drone as an example, the return process of the return propeller device 1 is described as follows: Figure 7 and Fig.10 As shown, the drone 2 first lands on the lifting platform 61, and the lifting platform 61 drives the drone 2 to descend. During the descent, the drone blades 201 approach the return blade device 1; Figure 5 , Figure 6 , Figure 8 and Fig.11 , Fig.12As shown, the first blade 201a and the third blade 201c of the drone 2 fall on the rotating part 20, while the second blade 201b and the fourth blade 201d of the drone 2 do not fall on the rotating part 20; after the first blade 201a and the third blade 201c correspond to the rotating part 20 under the force of gravity, they rotate downward with the rotating shaft 30 as the center, so that the rotating part 20 is in the second working position. Then, the drone 2 is controlled to rotate the blade 201, so that the first blade 201a and the third blade 201c leave the rotating member 20. Since the gravity of the first blade 201a and the third blade 201c no longer acts on the rotating member 20, under the action of the return device 40, the rotating member 20 rotates around the rotating shaft 30 in the opposite direction of the first direction X, so that the rotating member 20 returns smoothly. Specifically, in the above-mentioned process of controlling the rotation of the drone blade 201, the drone 2 controls the first blade 201a and the fourth blade 201d to rotate clockwise, and the second blade 201b and the third blade 201c to rotate counterclockwise, such as Fig. 9 and Fig.13 As shown, the first blade 201a and the fourth blade 201d, the second blade 201b and the third blade 201c in the rotating process can respectively contact the limiting surface 51 of the returning blade device 1; Fig.12 and Fig.13 , Fig.15 and Fig.16 In the embodiment, the limiting surface 51 of the different return propeller devices 1 is the surface of the rotating member 20 facing the center of the drone 2, such as Fig.13 After readjusting the orientation, the propeller blades of the drone are more orderly, the propeller blades 201 do not extend outward, and the four propeller blades 201 of the drone roughly form a rectangle. By comparison Fig.12 and Fig.13 After the propellers are arranged, the blades 201 of the drone 2 can be more regular, the overall size can be smaller, and the space can be saved, so that the size of the sealing device outside the lifting mechanism 60 can be smaller.

[0060] Fig.14 (A) is a schematic diagram showing that the drone blade 201 descends and contacts the rotating member 20 of the return blade device 1. Fig.14 Middle (B) is a schematic diagram showing the rotating member 20 returning to its original position after the UAV blade 201 rotates and leaves the rotating member 20; Fig.14 The middle (C) is a schematic diagram showing that the UAV blade 201 continues to rotate and abuts against the side of the rotating member 20, so that the rotating member 20 limits the blade 201.

[0061] In some embodiments of the present application, Figure 2 , Figure 3 , Fig.15 and Fig.16As shown, the base 10 has a accommodating portion 11, the accommodating portion 11 has a accommodating cavity 110, the bottom end of the rotating member 20 is placed in the accommodating cavity 110, the return device 40 is arranged in the accommodating cavity 110, one end of the return device 40 is connected to the bottom end of the rotating member 20, and the other end is connected to the base 10; the accommodating cavity 110 has a first end 1101 and a second end 1102 opposite to each other in a horizontal direction, and the return device 40 is connected to the first end 1101 of the accommodating cavity 110; when the rotating member 20 is in the first working position, the side surface of the bottom end of the rotating member 20 and the inner side wall 1103 of the base corresponding to the second end 1102 of the accommodating cavity 110 are abutted.

[0062] In the present application embodiment, Figure 2 , Figure 3 , Fig.15 and Fig.16 As shown, the base 10 has a hollow accommodating chamber 110, and the accommodating chamber 110 is used to accommodate the return device 40, which can play a good protective role for the return device 40. One end of the return device 40 is connected to the base 10, and the other end is connected to the part of the rotating member 20 arranged in the base 10. When an external force acts on the rotating member 20 so that the rotating member 20 is in the second position and the external force disappears, the return device 40 realizes the return of the rotating member 20 in the accommodating chamber 110, that is, the rotating member 20 rotates to the first position. After the rotating member 20 rotates to the first position, the upper surface of the blade 201 is lower than the top of the rotating member 20, thereby realizing the subsequent limiting of the blade 201 by the rotating member 20. Figure 2 and Figure 3 As shown, since the bottom end of the rotating member 20 is placed in the accommodating cavity 110, when the rotating member 20 is in the first position, under the action of the return device 40, the side surface of the bottom end of the rotating member 20 can be abutted against the inner wall 1103 of the base corresponding to the second end 1102 of the accommodating cavity 110, thereby cleverly utilizing the structure of the base 10 to limit the rotating member 20 in the first position without setting other limiting structures, thereby saving the internal space of the base 10 and simplifying the structure.

[0063] It should be noted that the side wall of the base 10 corresponding to the second end 1102 of the accommodating cavity 110 refers to the inner side wall 1103 of the base 10 .

[0064] In some embodiments of the present application, Figure 1 , Figure 4 As shown, the base 10 further comprises a connecting portion 12, which is disposed on the upper portion of the receiving portion 11; and a rotating shaft 30 is disposed on the connecting portion 12. Providing the rotating shaft 30 on the connecting portion 12 can further save space of the receiving portion 11, so that the structure of the receiving portion 11 can be more compact.

[0065] In some embodiments of the present application, Figure 1 , Figure 4As shown, the connection portion 12 includes connecting plates 121 arranged opposite to each other, the rotating shaft 30 is arranged between the two connecting plates 121, and the rotating member 20 is sleeved on the rotating shaft 30. The rotating member 20 is sleeved on the rotating shaft 30, so that the rotating member 20 can fully contact the rotating shaft 30 and achieve a more stable connection. The two connecting plates 121 arranged opposite to each other support the rotating shaft 30.

[0066] Specifically, Figure 1 , Figure 2 and Figure 3 As shown, the rotating member 20 is provided with a through hole 21 for the rotating shaft 30 to pass through.

[0067] In some embodiments of the present application, Figure 2 , Fig.15 and Fig.16 , Fig.17 As shown, the return device 40 includes a first magnetic member 41 and a second magnetic member 42 which are positioned opposite to each other and magnetically repel each other. The first magnetic member 41 is fixedly connected to the first end 1101 of the accommodating chamber 110, and the second magnetic member 42 is fixedly connected to the side of the bottom end of the rotating member 20 close to the first magnetic member 41; when the rotating member 20 is in the first working position, the repulsive force between the first magnetic member 41 and the second magnetic member 42 causes the bottom end of the rotating member 20 to abut against the second end 1102 of the accommodating chamber 110; when an external force acts on the rotating member 20, the rotating member 20 rotates around the rotating shaft 30 in the first direction X, driving the second magnetic member 42 to move in the direction close to the first magnetic member 41; when the external force disappears, the rotating member 20 moves around the rotating shaft 30 in the opposite direction of the first direction X under the action of the repulsive force between the first magnetic member 41 and the second magnetic member 42, and the rotating member 20 rotates to the first working position.

[0068] In the present application embodiment, Figure 5 As shown, when the blade 201 presses down the rotating member 20 during the descent process, the rotating member 20 overcomes the repulsive force between the first magnetic member 41 and the second magnetic member 42, and rotates around the rotation axis 30 in the first direction X, so the bottom end of the rotating member 20 can drive the second magnetic member 42 to move in the direction close to the first magnetic member 41. When the drone descends to a certain height, the blade 201 rotates, and the blade 201 is separated from the rotating member 20, that is, after the external force acting on the rotating member 20 disappears, under the action of the repulsive force between the first magnetic member 41 and the second magnetic member 42, the second magnetic member 42 drives the bottom end of the rotating member 20 to move in the direction away from the first magnetic member 41, that is, drives the rotating member 20 to move in the opposite direction of the first direction X around the rotation axis 30, so as to realize the return of the rotating member 20. The repulsive force between the first magnetic member 41 and the second magnetic member 42 is used to realize the reset of the rotating member 20, and the structure is ingenious and no other driving mechanism is required, so that the device structure is simpler, the manufacturing cost is low, the installation is convenient, and it is easy to maintain.

[0069] It should be noted that the first magnetic member 41 is fixedly connected to the inner wall of the base 10 corresponding to the first end 1101 of the accommodating cavity 110. The first magnetic member 41 and the inner wall of the base 10 can be connected by bonding, clamping or threading.

[0070] In some embodiments of the present application, Figure 2 As shown, the bottom end of the rotating member 20 is provided with a receiving groove 22 facing the first end 1101 of the receiving cavity 110 , and the second magnetic member 42 is placed in the receiving groove 22 .

[0071] In the embodiment of the present application, the bottom end side wall of the rotating member 20 is recessed inward to form a receiving groove 22, and the second magnetic member 42 is arranged in the receiving groove, which can save the internal space in the receiving cavity 110. In addition, since the second magnetic member 42 is embedded in the rotating member 20 through the receiving groove, the contact area between the second magnetic member 42 and the rotating member 20 is larger, thereby improving the stability of the connection between the second magnetic member 42 and the rotating member 20, so that the second magnetic member 42 is firmly installed and not easy to fall off.

[0072] Specifically, the connection between the rotating member 20 and the second magnetic member 42 may be bonding, clamping, or screw connection, etc. For example, the rotating member 20 and the second magnetic member 42 are connected by screws.

[0073] In some embodiments of the present application, Figure 3 and Fig.18 As shown, the return device 40 includes an elastic member 43, one end of the elastic member 43 is fixedly connected to the first end 1101 of the accommodating chamber 110, and the other end is connected to the bottom end of the rotating member 20; when an external force acts on the rotating member 20, the rotating member 20 rotates around the rotating shaft 30 along the first direction X to compress the elastic member 43; when the external force disappears, the rotating member 20 moves around the rotating shaft 30 in the opposite direction of the first direction X under the elastic action of the elastic member 43, and the rotating member 20 rotates to the first working position.

[0074] In the present application embodiment, Figure 3 , Figures 6 to 9 and Fig.18As shown, when the blade 201 acts on the rotating member 20 during the descent process, the rotating member 20 overcomes the elastic force of the elastic member 43 and rotates around the rotating shaft 30 in the first direction X. During the rotation process, the elastic member 43 is compressed. When the drone descends to a certain height, the blade 201 rotates and the blade 201 is separated from the rotating member 20. That is, after the external force acting on the rotating member 20 disappears, the elastic member 43 releases the elastic force. Under the elastic action of the elastic member 43, the bottom end of the rotating member 20 moves in a direction away from the first end 1101 of the accommodating cavity 110, that is, the rotating member 20 moves in the opposite direction of the first direction X around the rotating shaft 30, so that the rotating member 20 rotates to the first position, and the rotating member 20 is returned to its original position after the external force disappears. The elastic force of the elastic member 43 is used to reset the rotating member 20. The structure is ingenious and no other driving mechanism is required, so that the device structure is simpler, the manufacturing cost is low, the installation is convenient, and it is easy to maintain.

[0075] It should be noted that one end of the elastic member 43 is fixedly connected to the side wall of the base 10 corresponding to the first end 1101 of the accommodating cavity 110 .

[0076] Specifically, the elastic member 43 may be a spring, a leaf spring or an elastic column.

[0077] In some embodiments of the present application, Figure 1 , Fig.15 and Fig.16 As shown, the base 10 further includes a supporting portion 13, which is disposed below the accommodating portion 11. At least one connecting end 131 extends outward from the bottom end of the supporting portion 13, and the connecting end 131 is used for fixed connection with an external device.

[0078] In the embodiment of the present application, the support portion 13 is located at the lower end of the accommodating portion 11, and can support the accommodating portion 11. The bottom end of the support portion 13 extends outwardly with at least one connecting end 131, which increases the connection area with the external device, making the installation of the return paddle device 1 more stable. In addition, by adjusting the height of the support portion 13, the height of the rotating member 20 can be adjusted.

[0079] Specifically, Figure 1 , Fig.15 and Fig.16 As shown, the interior of the support portion 13 may also be hollow to further reduce the weight and manufacturing cost of the homing device 1.

[0080] In some embodiments of the present application, the rotating member 20 is provided with a buffer pad 50 , and the buffer pad 50 is wrapped around the outer side surface of the rotating member 20 .

[0081] In the embodiment of the present application, the buffer pad 50 is wrapped around the outer side of the rotating part, which can buffer the drone blade 201 and prevent the blade 201 from touching the rotating part 20 during rotation, causing damage to the blade 201, thereby protecting the drone blade 201.

[0082] Specifically, the material of the buffer pad 50 can be rubber or plastic.

[0083] More specifically, the shape of the buffer pad 50 can be adapted to the top shape of the rotating member 20 , and the buffer pad 50 wraps three side surfaces of the top end of the rotating member 20 .

[0084] An embodiment of the second aspect of the present application provides a UAV hangar, including the propeller return device 1 in the above embodiment; and a lifting mechanism 60, the lifting mechanism 60 includes a lifting platform 61 and a support frame 62, the lifting platform 61 is slidably connected to the support frame 62; multiple propeller return devices are arranged at intervals on the upper surface of the support frame 62, and the positions of the propeller return devices correspond to the positions of the propeller blades of the UAV.

[0085] In the present application embodiment, Figure 1 , Figure 2 and Figure 3 As shown, the propeller returning device 1 in the drone hangar has a preset angle a between the rotating member 20 and the vertical direction, and the rotating member 20 can rotate relative to the base 10. Therefore, during the descent of the drone 2, the lower surface of the drone blade 201 contacts the portion of the rotating member 20 disposed outside the base 10, and applies downward pressure to the portion of the rotating member 20 disposed outside the base 10, so that the rotating member 20 rotates along the rotating shaft 30 along the first direction X, and the top of the rotating member 20 moves downward as the drone descends, so the rotating member 20 will not poke the bottom of the drone blade 201 and will not damage the drone blade 201. When the UAV descends to a certain height, the UAV blade 201 is rotated so that the lower surface of the UAV blade 201 is separated from the rotating part 20, that is, the external force applied to the top of the rotating part 20 disappears, and under the action of the return device 40, the rotating part 20 moves in the opposite direction of the first direction X around the rotating shaft 30, and the top of the rotating part 20 moves up and returns to the first working position. When the blade 201 continues to rotate to the side of the part of the rotating part 20 provided outside the base 10, the rotating part 20 can limit the UAV blade 201, realize the return of the UAV, make the size of the UAV smaller after the return, reduce the space occupied by the UAV in the UAV hangar after the return, so that there is more usable space inside the UAV hangar.

[0086] It should be noted that the position of the propeller return device corresponds to the position of the UAV blade, which means that the position of the propeller return device is set at a position where the UAV blade can contact and limit the UAV blade, and when the UAV has multiple blades, each blade can correspond to a propeller return device.

[0087] Specifically, the drone hangar may further include a sealing device (not shown), which can be mounted on the outside of the lifting mechanism. After the lifting platform 61 drives the drone 2 to descend, the drone 2 and the lifting mechanism 60 are located inside the sealing device, and the sealing device can protect the drone 2 and the lifting mechanism 60.

[0088] The embodiment of the third aspect of the present application provides a method for returning propellers to a drone, including:

[0089] S1: The lifting platform drives the UAV to descend, and the propeller blades 201 approach the return device;

[0090] S2: According to the foreign object detection instruction, the drone performs foreign object detection and determines the foreign object detection result;

[0091] S3: In the absence of foreign matter, the blade 201 touches and presses downward the rotating member 20 in the paddle return device which has a preset angle with the vertical direction, and the rotating member 20 is pressed to rotate around the rotating shaft 30 in the first direction;

[0092] S4: After the descent process of the drone 2 is completed, the blade 201 is controlled to rotate; the blade 201 rotates away from the rotating member 20, and the rotating member 20 is reset under the action of the return device 40;

[0093] S5: The blade 201 continues to rotate until the blade 201 contacts the limit surface 51 of the rotating member 20 , and the UAV 2 completes the return of the blades.

[0094] In the embodiment of the present application, when the blade 201 of the drone 2 contacts and presses down the rotating member 20, the rotating member 20 can rotate relative to the base 10 under the gravity of the blade 201, and the rotating member 20 will not poke the bottom of the drone blade 201, and will not damage the drone blade 201. When the drone descends to a certain height, the drone blade 201 is rotated so that the lower surface of the drone blade 201 is separated from the rotating member 20. Under the action of the return device 40, the rotating member 20 returns to its original position. After the return, the top of the rotating member 20 is higher than the blade 201. When the blade 201 continues to rotate to the limit surface 51 of the return device, the limit surface can limit the drone blade 201, so that the drone returns to its original position, and the space occupied by the drone after the return is smaller.

[0095] In addition, during the actual application of the drone, after executing the task sent by the client terminal, it automatically returns and lands in the hangar. When landing in the hangar, it is necessary to rotate the drone's blades to a specified angle, and then send a closing command to the hangar to close the hangar. During the actual landing and returning to the propeller, there may be foreign objects in the hangar during use. For example, debris may be dropped into the hangar by natural wind or animals. Foreign objects in the hangar will affect the return of the blades and may cause damage to the blades and the hangar. In an embodiment of the present application, before the drone returns to the propeller, a foreign object detection is first performed in the hangar, which can reduce the risk of damage to the drone and hangar structure. After ensuring that there are no foreign objects, the blades are controlled to move to the return device, and then the hangar is closed, thereby improving the safety of the drone landing and returning to the propeller.

[0096] Specifically, the UAV has a driving device, and the driving device is used to drive the UAV blades to rotate. By controlling the driving device to execute the driving action corresponding to the preset foreign object detection requirements according to the preset foreign object detection requirements, the action result of the driving device is obtained; specifically, after the UAV lands in the hangar, the controller receives the abnormality detection command and sends an electrical signal to the driving device of the UAV, so that the blades move along the second direction and the third direction, wherein the second direction is different from the third direction. The blades are controlled to move along the second direction at a fixed speed for a preset time, and the corresponding number of turns n1 is recorded; the blades are controlled to move along the third direction at a fixed speed for a preset time, and the corresponding number of turns n2 is recorded; the numbers of turns n1 and n2 are respectively used as the first action result and the second action result, and are determined as the action result of the driving device.

[0097] If no foreign objects are detected in the hangar, the controller controls the propeller blades of the UAV to rotate to the limit surface of the rotating part of the propeller return device to limit the position of the propeller blades. The controller sends a closing command to the hangar to close the hangar and complete the propeller return of the UAV.

[0098] In the absence of foreign objects, the number of revolutions corresponding to the preset time of the drone control motor is fixed. According to the obtained number of revolutions n1 and n2 and the prior normal number of revolutions n t A comparison is made and, based on the comparison result, it is determined whether resistance occurs during the rotation of the motor, that is, the motion state of the driving device is obtained. The reason for the resistance is that foreign objects have fallen into the hangar.

[0099] If any of the number of motion circles n1 and n2 is equal to n t If the number of circles n1 and n2 is the same as n t If the values ​​of the propeller blades are different, the motion state of the UAV blades is determined to be a motion state with foreign matter.

[0100] When the foreign object detection result in the hangar shows that there is no foreign object in the hangar, that is, when the action result is normal movement, the propeller blades of the UAV are controlled to rotate to the limit surface of the propeller return device to realize the propeller return of the UAV, and the controller sends a closing command to the hangar to close the hangar.

[0101] In an embodiment of the present application, after detecting that there are no foreign objects in the hangar, the blades are driven to rotate, and the controller obtains the voltage of the driving device. When the voltage value of the driving device is greater than the preset voltage threshold, it is determined that the UAV blades have moved to the limit surface of the return device, and a closing command is sent to the hangar to close the hangar and complete the return action.

[0102] In this application, the blades are driven to the return device, and the output voltage of the driving device is monitored to actively power off the driving device to eliminate the risk of the blades rebounding.

[0103] In some embodiments of the present application, the rotating member 20 is reset under the action of the return device 40, including, under the action of the return device 40, the rotating member 20 rotates around the rotating shaft 30 in the opposite direction of the first direction so that the bottom of the rotating member 20 is against the inner wall corresponding to the accommodating cavity in the base.

[0104] In the embodiment of the present application, the inner wall corresponding to the accommodating cavity in the base is used to limit the rotating member 20, and the structure of the base is cleverly used so that the base not only has the function of supporting and accommodating, but also can limit the rotating member 20.

[0105] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A drone hangar, characterized in that: The invention comprises a propeller return device and a lifting mechanism (60), wherein the lifting mechanism (60) comprises a lifting platform (61) and a support frame (62), and the lifting platform (61) is slidably connected to the support frame (62); a plurality of propeller return devices are arranged at intervals on the upper surface of the support frame (62), and the positions of the propeller return devices correspond to the positions of the propeller blades of the unmanned aerial vehicle; the propeller return device comprises: a base (10), a rotating member (20), a rotating shaft (30), and a return device (40); The rotating shaft (30) is arranged on the base (10). The rotating member (20) is partially disposed inside the base (10) and partially disposed outside the base (10); the rotating member (20) is rotatably connected to the base (10) via the rotating shaft (30); The return device (40) is arranged in the base (10), and the return device (40) is connected to the rotating member (20); When the rotating member (20) is in the first working position, the portion of the rotating member (20) disposed outside the base (10) forms a preset angle with the vertical direction; when an external force acts on the rotating member (20), the rotating member (20) can rotate around the rotating shaft (30) along the first direction to the second working position; when the external force disappears, the rotating member (20) moves around the rotating shaft (30) in the opposite direction of the first direction under the action of the return device (40), and the rotating member (20) rotates to the first working position.

2. The drone hangar according to claim 1, characterized in that: The base (10) has a receiving portion (11), The accommodating portion (11) has an accommodating cavity (110), the bottom end of the rotating member (20) is placed in the accommodating cavity (110), the return device (40) is arranged in the accommodating cavity (110), one end of the return device (40) is connected to the bottom end of the rotating member (20), and the other end is connected to the base (10); The accommodating cavity (110) has a first end and a second end opposite to each other in a horizontal direction, and the return device (40) is connected to the first end of the accommodating cavity (110); When the rotating member (20) is in the first working position, the side surface of the bottom end of the rotating member (20) abuts against the side wall corresponding to the second end of the accommodating cavity (110).

3. The drone hangar according to claim 2, characterized in that: The base (10) further comprises a connecting portion (12), wherein the connecting portion (12) is arranged on the upper portion of the accommodating portion (11); the rotating shaft (30) is arranged on the connecting portion (12), wherein the connecting portion (12) comprises connecting plates (121) arranged opposite to each other, the rotating shaft (30) is arranged between two connecting plates (121), and the rotating member (20) is sleeved on the rotating shaft (30).

4. The drone hangar according to claim 2, characterized in that: The return device (40) comprises a first magnetic member (41) and a second magnetic member (42) which are positioned opposite to each other and magnetically repel each other, the first magnetic member (41) being fixedly connected to a first end of the accommodating cavity (110), and the second magnetic member (42) being fixedly connected to a side of the bottom end of the rotating member (20) close to the first magnetic member (41); When the rotating member (20) is in the first working position, the repulsive force of the first magnetic member (41) and the second magnetic member (42) causes the bottom end of the rotating member (20) to abut against a side wall opposite to the second end of the accommodating chamber (110); When an external force acts on the rotating member (20), the rotating member (20) rotates around the rotating shaft (30) in the first direction, driving the second magnetic member (42) to move in a direction approaching the first magnetic member (41); When the external force disappears, the rotating member (20) moves around the rotating shaft (30) in a direction opposite to the first direction under the action of the repulsive force between the first magnetic member (41) and the second magnetic member (42), and the rotating member (20) rotates to the first working position.

5. The drone hangar according to claim 4, characterized in that: The bottom end of the rotating member (20) is provided with a receiving groove (22) facing the first end of the receiving cavity (110), and the second magnetic member (42) is disposed in the receiving groove (22).

6. The drone hangar according to claim 2, characterized in that: The return device (40) comprises an elastic member (43), one end of the elastic member (43) is fixedly connected to the first end of the accommodating cavity (110), and the other end is connected to the bottom end of the rotating member (20); When an external force acts on the rotating member (20), the rotating member (20) rotates around the rotating shaft (30) along the first direction, so that the elastic member (43) is compressed; When the external force disappears, the rotating member (20) moves around the rotating shaft (30) in a direction opposite to the first direction under the elastic action of the elastic member (43), and the rotating member (20) rotates to the first working position.

7. The drone hangar according to any one of claims 1 to 6, characterized in that: The propeller returning device further comprises a buffer pad (50), wherein the buffer pad (50) is wrapped around the outer side surface of the rotating member (20).

8. A method for returning propellers to a drone, characterized in that: The drone hangar as claimed in claim 1 comprises: The lifting platform drives the drone to descend, and the blades (201) approach the return device; According to the foreign object detection instruction, the drone performs foreign object detection and determines the foreign object detection result; In the absence of foreign matter, the blade (201) touches and presses downward a rotating member (20) in the paddle return device that has a preset angle with the vertical direction, and the rotating member (20) is pressed to rotate around the rotating shaft (30) in a first direction; After the descent process of the drone (2) is completed, the blades (201) are controlled to rotate; the blades (201) rotate away from the rotating member (20), and the rotating member (20) is reset under the action of the return device (40); The blade (201) continues to rotate until the blade (201) contacts the limiting surface (51) of the rotating member (20), thereby completing the return of the drone (2).

9. The method for returning propellers to a UAV according to claim 8, characterized in that: According to the foreign object detection instruction, the drone performs foreign object detection, and determines the foreign object detection result, including: The drone blades are driven to rotate, and the motion results of the drone blades are obtained, wherein the motion results at least include normal motion and abnormal motion. Through the normal motion and abnormal motion, it is determined whether there are foreign objects in the hangar, and the foreign object detection results are obtained.

10. The method for returning propellers to a UAV according to claim 8, characterized in that: The rotating member (20) is reset under the action of the return device (40), comprising: under the action of the return device (40), the rotating member (20) rotates around the rotating shaft (30) in a direction opposite to the first direction, so that the bottom of the rotating member (20) abuts against the inner wall corresponding to the accommodating cavity in the base.

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