Self-adaptive full-autonomous electromagnetic adsorption type landing assisting device for multi-rotor unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned helicopters, and particularly relates to a self-adaptive full-autonomous electromagnetic adsorption type landing assisting device for a multi-rotor unmanned aerial vehicle. Comprising a main body supporting frame, a self-recovery sliding electromagnetic adsorption mechanism and a control box, wherein the self-recovery sliding electromagnetic adsorption mechanism and the control box are arranged on the main body supporting frame; the main body supporting frame is connected with a foot stool of the multi-rotor unmanned aerial vehicle through a connecting structure; when the multi-rotor unmanned aerial vehicle lands, the self-recovery sliding electromagnetic adsorption mechanism makes contact with the landing platform and then sends a trigger signal to the control box, the control box controls the self-recovery sliding electromagnetic adsorption mechanism to be magnetically attracted to the landing platform, and landing of the multi-rotor unmanned aerial vehicle is assisted. The landing triggering state can be more accurately judged through the mechanical triggering limiting switch, it is guaranteed that the multi-rotor unmanned aerial vehicle is stably, accurately and rapidly locked with the mother platform, and sideslip or rollover is prevented.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned helicopters, in particular to an adaptive fully autonomous electromagnetic adsorption type landing auxiliary device for a multi-rotor unmanned aerial vehicle. Background Art

[0002] The air-to-ground or air-to-sea mother-and-child robot system not only has the high-altitude and wide-viewing capability of drones, but also increases the long-endurance capability of ground or sea platforms, so it has attracted more and more attention in the field of cross-domain collaboration. However, the core basis of cross-domain collaboration of air-to-ground or air-to-sea mother-and-child robots is that drones can achieve safe takeoff and landing on the mother platform, and can be stably fixed on the mother platform to achieve long-distance carrying and driving; and multi-rotor drones are increasingly widely used in air-to-ground or air-to-sea mother-and-child robot platforms due to their many advantages such as hovering in the air and precise control.

[0003] However, for some small and medium-sized multi-rotor unmanned helicopters, the design of the harpoon device is too complicated, and in the release and recovery process of the mother-and-child platform, there is an urgent need for a device that can adaptively adapt to the landing platform posture and achieve fully autonomous control adsorption or separation, so as to improve the unmanned and fully autonomous level of the air-to-ground or air-to-sea mother-and-child robot system. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide an adaptive fully autonomous electromagnetic adsorption landing assist device for a multi-rotor UAV. The device replaces the complex harpoon device with a simple adaptive fully autonomous electromagnetic adsorption landing assist device, so as to realize the adaptive locking between the sub-platform and the mother platform in the fully autonomous and large-attitude landing conditions of the air-to-ground or air-to-sea mother-and-child robot system during the release or recovery process, thereby preventing the sub-platform (multi-rotor UAV) from tipping over or sliding off the mother platform.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] The present invention provides an adaptive fully autonomous electromagnetic adsorption type landing auxiliary device for a multi-rotor unmanned aerial vehicle, comprising a main body support frame, a self-recovering sliding electromagnetic adsorption mechanism and a control box arranged on the main body support frame, wherein the main body support frame is connected to the tripod of the multi-rotor unmanned aerial vehicle through a connecting structure; when the multi-rotor unmanned aerial vehicle lands, the self-recovering sliding electromagnetic adsorption mechanism contacts the landing platform and sends a trigger signal to the control box, and the control box controls the self-recovering sliding electromagnetic adsorption mechanism to magnetically attract the landing platform to assist the multi-rotor unmanned aerial vehicle to land.

[0007] The self-restoring sliding electromagnetic adsorption mechanism includes an electromagnetic suction cup, a universal ball head connecting rod, a reset spring and a sliding connecting rod, wherein the universal ball head connecting rod has a ball head joint, the lower end of the universal ball head connecting rod is fixedly connected to the electromagnetic suction cup, the upper end of the universal ball head connecting rod is connected to the sliding connecting rod, the sliding connecting rod is slidably connected to the main body support frame, the reset spring is sleeved on the upper part of the universal ball head connecting rod, and the upper end of the reset spring abuts against the main body support frame; the electromagnetic suction cup is connected to the control box through a cable.

[0008] When the electromagnetic chuck is in a non-contact state with the landing platform, the electromagnetic chuck is kept in a horizontal state by gravity;

[0009] When the electromagnetic chuck contacts the landing platform, the electromagnetic chuck can adaptively fit and adsorb the landing platform.

[0010] A ground trigger disc is sleeved on the universal ball head connecting rod. When the ground trigger disc moves up and down with the universal ball head connecting rod, it will trigger or cut off the trigger limit switch of the control box, so that the electromagnetic suction cup is energized.

[0011] The landing trigger disc is located above the ball joint of the universal ball head connecting rod, and the landing trigger disc is fixed by a limit nut; the lower end of the reset spring abuts against the limit nut, and the reset spring is used to reset the universal ball head connecting rod after the multi-rotor drone flies away from the landing platform, thereby separating the landing trigger disc from the trigger limit switch.

[0012] The main body support frame is provided with a free sliding flange, the sliding connecting rod passes through the free sliding flange and is slidingly matched with the free sliding flange, and the upper end of the sliding connecting rod is provided with an axial limiting shoulder.

[0013] The electromagnetic chuck is a round electromagnet with a power supply of 24V DC and a suction force of 80kg.

[0014] The main body support frame is provided with a floor-triggering strobe light connected to the control box; when the self-recovering sliding electromagnetic adsorption mechanism sends a trigger signal to the control box, the control box controls the floor-triggering strobe light to strobe.

[0015] The connecting structure includes a tripod connecting rod and a UAV tripod pipe clamp, wherein the UAV tripod pipe clamp is sleeved on the tripod of the multi-rotor UAV, one end of the tripod connecting rod is connected to the UAV tripod pipe clamp, and the other end is connected to the main support frame.

[0016] The advantages and beneficial effects of the present invention are:

[0017] 1. The present invention can realize the fully autonomous and adaptive locking between the sub-platform and the mother platform in the case of large-attitude landing during the release or recovery process of the air-to-ground or air-to-sea mother-and-child robot system, which can prevent the sub-platform (multi-rotor drone) from tipping over or sliding off the mother platform.

[0018] 2. The electromagnetic suction cup of the present invention is connected to the sliding connecting rod through a universal ball head connecting rod, which can effectively cope with the full fit between the electromagnetic suction cup and the landing platform when the multi-rotor drone lands in a large attitude.

[0019] 3. The present invention adopts a control system that is independently equipped for each system, which is both reliable and safe. The landing trigger state can be judged more accurately by mechanically triggering the limit switch, ensuring that the multi-rotor drone is locked with the mother platform stably, accurately and quickly to prevent skidding or rolling. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural schematic diagram of a self-adaptive fully autonomous electromagnetic adsorption type landing assist device for a multi-rotor UAV of the present invention;

[0021] Figure 2 It is a schematic diagram of the structure of the multi-rotor drone installed with the present invention;

[0022] Figure 3 It is a workflow diagram for the application of the present invention;

[0023] In the figure: 1-electromagnetic suction cup, 2-fastening nut, 3-universal ball head connecting rod, 4-landing trigger disc, 5-limit nut, 6-reset spring, 7-trigger limit switch, 8-main body support frame, 9-free sliding flange, 10-sliding connecting rod, 11-control box, 12-tripod connecting rod, 13-UAV tripod pipe clamp, 14-landing trigger strobe light, 15-multi-rotor UAV, 16-landing platform. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] See also Figures 1 to 3 As shown, the present invention provides an adaptive fully autonomous electromagnetic adsorption landing auxiliary device for a multi-rotor UAV, comprising a main support frame 8 and a self-recovering sliding electromagnetic adsorption mechanism and a control box arranged on the main support frame 8, wherein the main support frame 8 is connected to the tripod of the multi-rotor UAV 15 through a connecting structure; when the multi-rotor UAV 15 lands, the self-recovering sliding electromagnetic adsorption mechanism contacts the landing platform 16 and sends a trigger signal to the control box, and the control box controls the self-recovering sliding electromagnetic adsorption mechanism to be magnetically attracted to the landing platform 16, thereby assisting the multi-rotor UAV 15 to land.

[0026] See also Figure 1 As shown, in an embodiment of the present invention, the self-restoring sliding electromagnetic adsorption mechanism includes an electromagnetic suction cup 1, a universal ball head connecting rod 3, a reset spring 6 and a sliding connecting rod 10, wherein the universal ball head connecting rod 3 has a ball head joint, the lower end of the universal ball head connecting rod 3 is fixedly connected to the electromagnetic suction cup 1, the upper end of the universal ball head connecting rod 3 is connected to the sliding connecting rod 10, the sliding connecting rod 10 is slidingly connected to the main support frame 8, the reset spring 6 is sleeved on the upper part of the universal ball head connecting rod 3, and the upper end of the reset spring 6 is abutted against the main support frame 8; the electromagnetic suction cup 1 is connected to the control box through a cable.

[0027] When the electromagnetic chuck 1 is in a non-contact state with the landing platform 16, the electromagnetic chuck 1 is kept horizontal by gravity because the universal ball head connecting rod 3 has a ball head joint. When the electromagnetic chuck 1 is in contact with the landing platform 16, the electromagnetic chuck 1 can adaptively fit and adsorb the landing platform 16.

[0028] In the embodiment of the present invention, a ground trigger disc 4 is sleeved on the universal ball head connecting rod 3. When the ground trigger disc 4 moves up and down with the universal ball head connecting rod 3, it will trigger or cut off the trigger limit switch 7 of the control box, thereby energizing the electromagnetic suction cup 1.

[0029] Specifically, the electromagnetic chuck 1 is a circular electromagnet with a power supply of 24V DC and a suction force of 80kg. The electromagnetic chuck 1 is connected to the universal ball head connecting rod 3 through a fastening nut 2 to prevent it from falling off due to long-term rotation.

[0030] The universal ball head connecting rod 3 can make the electromagnetic suction cup 1 rotate with multiple degrees of freedom, thereby ensuring the adaptive fit and adsorption between the electromagnetic suction cup 1 and the moving platform under different postures of the multi-rotor drone 15.

[0031] Furthermore, the landing trigger disc 4 is located above the ball joint of the universal ball head connecting rod 3, and the landing trigger disc 4 is fixed by the limit nut 5. The lower end of the reset spring 6 abuts against the limit nut 5. The reset spring 6 is used to reset the universal ball head connecting rod 3 after the multi-rotor drone 15 flies off the landing platform 16, thereby ensuring that the landing trigger disc 4 is fully separated from the trigger limit switch 7 to prevent mis-triggering. The landing trigger disc 4 is used for the landing trigger of the trigger limit switch 7 when the multi-rotor drone 15 lands.

[0032] In the embodiment of the present invention, a free sliding flange 9 is provided on the main support frame 8, and a sliding connecting rod 10 passes through the free sliding flange 9 and slides with the free sliding flange 9, and an axial limit shoulder is provided on the upper end of the sliding connecting rod 10. The sliding connecting rod 10 can slide freely in the free sliding flange 9, thereby realizing the comprehensive adsorption of the electromagnetic suction cup 1 and the landing platform 16 during the landing process of the multi-rotor drone 15.

[0033] Furthermore, a ground-trigger strobe light 14 connected to a control box is provided on the main support frame 8; when the self-restoring sliding electromagnetic adsorption mechanism sends a trigger signal to the control box, the control box controls the ground-trigger strobe light 14 to strobe. Specifically, the control box 11 contains a controller.

[0034] In an embodiment of the present invention, the connecting structure includes a tripod connecting rod 12 and a UAV tripod pipe clamp 13, wherein the UAV tripod pipe clamp 13 is mounted on the tripod of the multi-rotor UAV 15, one end of the tripod connecting rod 12 is connected to the UAV tripod pipe clamp 13, and the other end is connected to the main support frame 8.

[0035] The present invention senses the landing of the electromagnetic chuck 1 by triggering the limit switch 7, and controls the power on and off of the electromagnetic chuck 1 according to the flight control command state, and controls the on and off state of the landing trigger strobe light 14 at the same time.

[0036] The present invention provides an adaptive fully autonomous electromagnetic adsorption landing auxiliary device for a multi-rotor UAV, which has a simple structure and is easy to install. It only needs to be fixed on the two landing gears of the multi-rotor UAV 15 through the UAV tripod pipe clamp 13. There is no need to design any other complex mechanical devices on the mother platform. The landing platform only needs to be a flat iron surface, and it is not restricted by the landing position.

[0037] Figure 3 is the application workflow diagram of the present invention; see Figure 3 As shown, the flight process (state) of the multi-rotor UAV 15 is divided into four stages: before takeoff, after takeoff, during landing, and after landing; before takeoff, the flight control and the device described in the present invention are powered on and on standby, and the electromagnetic suction cup 1 is in the adsorption state; after receiving the takeoff command, the system enters the post-takeoff stage, and the electromagnetic suction cup 1 is released from the adsorption state until before landing, that is, it is in the power-off state during the execution of the task in the air. When the controller in the control box receives the landing command, the entire system enters the task state of "landing", that is, the controller constantly detects whether the electromagnetic suction cup triggers the limit switch. Once triggered, the power supply of the electromagnetic suction cup 1 is turned on, allowing the electromagnetic suction cup 1 to enter the adsorption state, and the multi-rotor UAV 15 is firmly adsorbed on the landing platform 16 until the task of the mother-child platform is completed and the engine is turned off and the vehicle is parked, and then the power-off idle state is entered according to the operation command.

[0038] The present invention provides a multi-rotor unmanned aerial vehicle adaptive fully autonomous electromagnetic adsorption landing assist device. The controller in the control box 11 senses the landing state of the electromagnetic suction cup 1 by triggering the limit switch 7, thereby outputting the power switch of the electromagnetic suction cup 1 on or off according to the flight instruction state obtained from the flight control, and at the same time turning on the landing trigger strobe light 14 to indicate whether the system device has entered the adsorption state. The entire self-restoring sliding electromagnetic adsorption mechanism can slide freely on the main support frame 8. The electromagnetic suction cup 1 is connected to the main support frame 8 through a universal ball head connecting rod 3, so that during the landing process of the multi-rotor unmanned aerial vehicle 15, even if the attitude changes in an unstable state, the electromagnetic suction cup 1 can be fully contacted and adsorbed with the landing platform 16. The multi-rotor unmanned aerial vehicle adaptive fully autonomous electromagnetic adsorption landing assist device is fixedly connected to the multi-rotor unmanned aerial vehicle tripod through the unmanned aerial vehicle tripod fixing pipe clamp 13, thereby ensuring that the multi-rotor unmanned aerial vehicle 15 will not roll over or slide off the driven platform during take-off and landing.

[0039] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An adaptive fully autonomous electromagnetic adsorption landing assist device for a multi-rotor UAV, characterized in that: The invention comprises a main body support frame (8), a self-restoring sliding electromagnetic adsorption mechanism and a control box arranged on the main body support frame (8), wherein the main body support frame (8) is connected to the tripod of the multi-rotor unmanned aerial vehicle (15) through a connecting structure; when the multi-rotor unmanned aerial vehicle (15) lands, the self-restoring sliding electromagnetic adsorption mechanism contacts the landing platform (16) and sends a trigger signal to the control box, and the control box controls the self-restoring sliding electromagnetic adsorption mechanism to magnetically attract the landing platform (16), thereby assisting the multi-rotor unmanned aerial vehicle (15) to land.

2. The self-adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 1 is characterized in that: The self-restoring sliding electromagnetic adsorption mechanism comprises an electromagnetic suction cup (1), a universal ball head connecting rod (3), a reset spring (6) and a sliding connecting rod (10), wherein the universal ball head connecting rod (3) has a ball head joint, the lower end of the universal ball head connecting rod (3) is fixedly connected to the electromagnetic suction cup (1), the upper end of the universal ball head connecting rod (3) is connected to the sliding connecting rod (10), the sliding connecting rod (10) is slidingly connected to the main body support frame (8), the reset spring (6) is sleeved on the upper part of the universal ball head connecting rod (3), and the upper end of the reset spring (6) is in contact with the main body support frame (8); the electromagnetic suction cup (1) is connected to the control box via a cable.

3. The adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 2 is characterized in that: When the electromagnetic chuck (1) is in a non-contact state with the landing platform (16), the electromagnetic chuck (1) is kept in a horizontal state by gravity; When the electromagnetic chuck (1) contacts the landing platform (16), the electromagnetic chuck (1) can adaptively fit and adsorb the landing platform (16).

4. The adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 2 is characterized in that: A ground trigger disc (4) is sleeved on the universal ball head connecting rod (3). When the ground trigger disc (4) moves up and down along with the universal ball head connecting rod (3), it triggers or cuts off the trigger limit switch (7) of the control box, thereby energizing the electromagnetic suction cup (1).

5. The self-adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 4 is characterized in that: The landing trigger disc (4) is located above the ball joint of the universal ball head connecting rod (3), and the landing trigger disc (4) is fixed by a limit nut (5); the lower end of the reset spring (6) is in contact with the limit nut (5), and the reset spring (6) is used to reset the universal ball head connecting rod (3) after the multi-rotor drone (15) flies away from the landing platform (16), thereby separating the landing trigger disc (4) from the trigger limit switch (7).

6. The self-adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 2, characterized in that: The main body support frame (8) is provided with a free sliding flange (9), the sliding connecting rod (10) passes through the free sliding flange (9) and is slidably matched with the free sliding flange (9), and the upper end of the sliding connecting rod (10) is provided with an axial limiting shoulder.

7. The self-adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 2, characterized in that: The electromagnetic suction cup (1) is a circular electromagnet with a power supply of 24V DC and a suction force of 80kg.

8. The self-adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 1, characterized in that: The main body support frame (8) is provided with a floor-triggering strobe light (14) connected to the control box; when the self-restoring sliding electromagnetic adsorption mechanism sends a trigger signal to the control box, the control box controls the floor-triggering strobe light (14) to strobe.

9. The self-adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 1, characterized in that: The connection structure comprises a tripod connecting rod (12) and an unmanned aerial vehicle tripod pipe clamp (13), wherein the unmanned aerial vehicle tripod pipe clamp (13) is sleeved on the tripod of the multi-rotor unmanned aerial vehicle (15), one end of the tripod connecting rod (12) is connected to the unmanned aerial vehicle tripod pipe clamp (13), and the other end is connected to the main body support frame (8).

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