Self-horizontal multi-rotor unmanned aerial vehicle multifunctional parking apron

Abstract

The invention discloses a self-leveling multi-rotor unmanned aerial vehicle multifunctional parking apron, and belongs to the technical field of unmanned aerial vehicle airports. Comprising an upper cover plate; the outer side plates are arranged on the lower side of the upper cover plate and connected with the upper cover plate through lock catches; the bottom plate is arranged on the lower side of the outer side plate and is connected with the outer side plate through a movable hinge; the inner side plates are arranged on the inner sides of the outer side plates and connected with the outer side plates through hydraulic hinges, and every two adjacent inner side plates are connected through an inner side plate lock catch. The parking apron is of a hollow box structure in a completely closed state, an unmanned aerial vehicle host, accessories and the like can be contained in the parking apron, storage in the transportation process is facilitated, and space is saved; when the unmanned aerial vehicle is used, the unmanned aerial vehicle can be unfolded to serve as a parking apron, the parking apron and other objects do not need to be additionally carried, and manpower and material resources for transportation are saved; the problem that in the prior art, a multi-rotor unmanned aerial vehicle can conveniently take off and land at the rugged ground surface and weed overgrowing positions in the mining area range is solved.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle airports, and in particular to a multifunctional helipad for a self-leveling multi-rotor unmanned aerial vehicle. Background Art

[0002] When conducting drone ground surveys on the surface topography of mining areas, the take-off location of multi-rotor drones is often in areas with overgrown weeds or rugged ground. If the multi-rotor drone is directly placed in this area for takeoff and landing, the high-speed rotating rotors may collide with weeds or the ground and be damaged.

[0003] There are some products or ideas for take-off and landing platforms for multi-rotor drones, but most of them are bulky and inconvenient to carry up the mountain. Since many accessories are needed to operate drones, carrying drones to work in the field is already a heavy burden, and carrying a platform specifically for drone take-off and landing requires more manpower.

[0004] To this end, the present invention proposes a multifunctional helipad that is both convenient to carry and can be used by multi-rotor drones, so as to facilitate carrying multi-rotor drones to work in the field and solve the problems existing in the above-mentioned prior art. Summary of the invention

[0005] In view of this, the main purpose of the present invention is to provide a self-leveling multi-rotor UAV multi-functional helipad to solve the problem of the prior art in facilitating takeoff and landing of multi-rotor UAVs in rugged and overgrown areas within a mining area.

[0006] The present invention achieves the above object by the following means:

[0007] A multifunctional helipad for a self-leveling multi-rotor UAV, which is a hollow box structure when fully closed, comprising:

[0008] Upper cover;

[0009] A plurality of outer panels are arranged on the lower side of the upper cover plate and connected to the upper cover plate through locks;

[0010] A bottom plate is arranged on the lower side of the outer plate and connected to the outer plate via a movable hinge;

[0011] The inner plate is arranged on the inner side of the outer plate, connected to the outer plate through a hydraulic hinge, and two adjacent inner plates are connected through an inner plate lock.

[0012] In a preferred embodiment, the lock comprises:

[0013] A buckle tongue is arranged on the upper cover plate;

[0014] The buckle sleeve is rotatably arranged on the upper end of the movable plate and matches with the buckle tongue;

[0015] A fixed plate, arranged outside the outer plate;

[0016] A movable plate, rotatably arranged on a fixed plate;

[0017] The lock base is arranged on the outside of the outer plate, located at the lower side of the fixed plate, and matches with the lock arranged at the end of the movable plate.

[0018] In a preferred embodiment, a central axis is further provided on the movable plate, and the central axis is connected to the buckle sleeve; a buckle hole is provided on the buckle base.

[0019] In a preferred embodiment, the hinge comprises:

[0020] A hinged upper cover plate, arranged on the outside of the outer plate;

[0021] The hinge lower cover plate is arranged on the outer side of the bottom plate and is connected with the hinge upper cover plate through a hinge shaft.

[0022] In a preferred embodiment, the hydraulic hinge comprises:

[0023] An extended hydraulic rod is hingedly arranged in a hydraulic rod groove on the inner side of the inner plate through an extended hydraulic rod fixing shaft;

[0024] The supporting hydraulic rod is hingedly arranged in the hydraulic rod groove on the inner side of the outer plate through the supporting hydraulic rod fixing shaft, and is connected with the extending hydraulic rod through the hydraulic rod connecting hinge.

[0025] In a preferred embodiment, the side panel lock comprises:

[0026] A lock tongue side plate, arranged on the inner side of the inner side plate;

[0027] A lock tongue, which is rotatably arranged on a lock tongue side plate through a lock tongue central axis;

[0028] A locking base plate, arranged on the inner side of the inner plate;

[0029] The lock seat is arranged on the inner side of the lock base plate and matches the lock tongue.

[0030] In a preferred embodiment, a blocking structure is provided on the lock seat, and the blocking structure matches the T-shaped baffle provided on the top end of the lock tongue.

[0031] In a preferred embodiment, a table leg groove is provided on the outer side of the base plate, and a table leg is rotatably provided in the table leg groove. The table leg is a hydraulic telescopic rod and matches a control system provided on the base plate.

[0032] In a preferred embodiment, the control system comprises:

[0033] A MEMS acceleration sensor is arranged on the bottom plate and is used to calculate the extension length of the table legs;

[0034] ARM controller, used to control the extension length of each computing table leg;

[0035] The driving motor is electrically connected to the ARM controller and is driven by a belt with the oil pump and the oil tank assembly;

[0036] The oil pump and oil tank assembly is electrically connected to the ARM controller, connected to the oil cylinder in the table leg through an oil pipe, and an oil circuit conversion valve is arranged on the oil pipe.

[0037] In a preferred embodiment, the method for using the multifunctional helipad of the self-leveling multi-rotor UAV includes:

[0038] Step 1: First, open the lock in the lock to make the movable plate rotate around the fixed plate, and use the central axis to help the muzzle to be removed from the buckle tongue; at the same time, open the lock on the upper cover, put the materials into the box, and then close the lock again to form a multi-rotor drone box;

[0039] Step 2: Open the table legs from the grooves;

[0040] Step 3: Open the lock of the upper cover, remove the upper cover, and take out the equipment inside the box;

[0041] Step 4: Open the inner panel lock on the inner panel, and rotate the lock tongue around its central axis to disengage it from the lock seat;

[0042] Step 5: With the outer panel and the inner panel as one, rotate the outer panel and the bottom panel outward with the help of the movable hinges, so that the four outer panels are extended outward and laid flat;

[0043] Step 6: With the help of the hydraulic hinges connecting the outer panel and the inner panel, flip the inner panel to 1°, so that it forms a plane with the outer panel, and repeat the above operation on the other three inner panels, so that all the inner panels are in an open state;

[0044] Step 7: Flip the upper cover so that its inner side is on top, and place it in the center of the fully opened box, covering the bottom plate, and forming a complete plane together with the opened inner and outer plates;

[0045] Step 8: Start the automatic level control system of the apron, and the table legs automatically control the apron to reach a horizontal state.

[0046] Compared with the prior art, the present invention provides a multifunctional helipad for a self-leveling multi-rotor UAV, which has the following beneficial effects:

[0047] 1. The self-leveling multi-rotor UAV multifunctional helipad of the present invention can achieve multiple uses when in use through the arrangement of the upper cover plate, the outer plate, the bottom plate and the inner plate. It can be used as a box for containing the multi-rotor UAV host and related accessories, and can also be used as a platform for the multi-rotor UAV to take off and land.

[0048] 2. Through the setting of the above structure, resources can be saved. After the helipad is stored, it becomes a box, which can hold the drone host and accessories, etc., which is convenient for storage during transportation and saves space. When using the drone, it can be unfolded and used as a helipad, and there is no need to carry additional objects such as the helipad, saving manpower and material resources for transportation.

[0049] 3. Through the setting of the control system, when the take-off and landing platform of the multi-rotor UAV is unfolded, the take-off and landing of the equipment can be protected, and it has an adaptive horizontal function, which can effectively protect the rotors of the multi-rotor UAV from interference from ground debris during take-off and landing, effectively ensuring the safety of the equipment during use; thereby solving the problem of the existing technology that multi-rotor UAVs are convenient for take-off and landing in rugged and overgrown areas within the mining area. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention 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 invention. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying creative work.

[0051] Figure 1 This is a schematic diagram of the structure of the portable multi-rotor UAV of the present invention when the helipad is folded;

[0052] Figure 2 This is a top view of the box of the portable multi-rotor UAV of the present invention when the landing pad is folded;

[0053] Figure 3 It is a schematic diagram of the structure of the internal lock buckle of the apron of the present invention;

[0054] Figure 4 It is a schematic diagram of the structure of the lock buckle of the present invention;

[0055] Figure 5 It is a system structure diagram of the intelligent balancing control system of the helipad base of the present invention;

[0056] Figure 6 This is a state diagram of the bottom plate table legs of the present invention when they are fully opened;

[0057] Figure 7The hinge device on the bottom plate of the present invention

[0058] Figure 8 This is a schematic diagram of the state when the inner and outer panels of the present invention are opened;

[0059] Fig. 9 It is a structural schematic diagram of the side panel locking device of the present invention;

[0060] Fig.10 It is a schematic diagram of the structure when the helipad of the present invention is fully opened.

[0061] Among them: Figure 1 In the figure, Figure (A) is an external view of the multi-rotor UAV landing pad, and Figure (B) is a perspective view of the multi-rotor UAV landing pad;

[0062] exist Figure 6 In the figure, Figure (A) is an external view of the bottom table legs when they are fully opened, and Figure (B) is a perspective view of the bottom table legs when they are fully opened;

[0063] exist Fig. 9 In the figure, Figure (A) is a schematic diagram of the structure of the side panel locking device in the state where the lock is opened, and Figure (B) is a schematic diagram of the structure of the side panel locking device in the state where the lock is closed;

[0064] Among them: Fig.10 In the figure, Figure (A) is an external view of the multi-rotor UAV helipad, and Figure (B) is a perspective view of the multi-rotor UAV helipad.

[0065]

Main component symbol description

[0066] 1. Lock buckle; 1-1. Buckle tongue; 1-2. Buckle sleeve; 1-3. Central axis; 1-4. Fixed plate, 1-5. Movable plate; 1-6 Lock buckle; 1-7. Lock buckle base; 1-8. Lock buckle hole;

[0067] 2. Upper cover;

[0068] 3. Outer plate;

[0069] 4. Bottom plate; 4-01. MEMS acceleration sensor; 4-02. ARM controller; 4-03. Oil pump drive motor; 4-04. Oil pump and oil tank assembly; 4-05. Oil circuit switching valve; 4-06. Table leg telescopic cylinder; 4-07. Table leg; 4-08. Table leg status sensor; 4-09. Table leg groove;

[0070] 5. Active hinge; 5-1. Hinge upper cover; 5-2. Hinge lower cover; 5-3. Hinge shaft;

[0071] 6. Hydraulic hinge; 6-1. Extended hydraulic rod; 6-2. Supported hydraulic rod; 6-3. Hydraulic rod connecting hinge; 6-4. Extended hydraulic rod fixed shaft; 6-5. Supported hydraulic rod fixed shaft; 6-6. Hydraulic rod slot;

[0072] 7. Inner side panel;

[0073] 8. Inner plate lock; 8-1. Lock tongue side plate; 8-2. Lock tongue; 8-3. Lock tongue center axis; 8-4. Lock base plate; 8-5. Lock seat. DETAILED DESCRIPTION

[0074] The structure of the portable multi-rotor UAV helipad is further described in detail below in conjunction with the accompanying drawings and embodiments of the present invention.

[0075] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0076] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments of the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0077] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0078] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0079] Embodiment 1:

[0080] As the instruction manual Figure 1 -Attached Fig.10 As shown, the present invention provides a multifunctional landing pad for a self-leveling multi-rotor UAV, such as Figure 1 As shown, the apron described in this embodiment is in a fully closed state and is a box structure with a hollow interior. The box is formed by 10 interconnected plate structures, which specifically include 1 upper cover plate 2, 1 bottom plate 4, 4 outer side plates 3 and 4 inner side plates 7, a total of 10 plates, among which:

[0081] The upper cover plate 2 and the outer plate 3 are connected by a lock 1 and can be locked, further ensuring that the box body is a whole;

[0082] The outer plate 3 is connected to the bottom plate 4 via a movable hinge 5;

[0083] The inner panels 7 are connected to each other through inner panel locks 8 to form the inner walls of the box body.

[0084] The bottom plate 4 contains four retractable table legs 4-07, and the table legs 4-07 can be completely folded back into the table leg grooves 4-09 of the bottom plate 4 by means of a rotating shaft in a fully retracted state, thereby achieving full retraction of the table legs 4-07;

[0085] The inner panel 7 and the outer panel 3 are hingedly connected via a hydraulic hinge 6 , and the inner panel 7 and the outer panel 3 realize the unfolding function of one side wall panel of the box body by means of the hydraulic hinge 6 .

[0086] It should be noted that the self-leveling multi-rotor UAV multifunctional helipad described in this embodiment can achieve multiple uses when in use through the arrangement of the upper cover plate 2, the outer plate 3, the bottom plate 4 and the inner plate 7. It can be used as a box for containing the multi-rotor UAV host and related accessories, and can also be used as a platform for the multi-rotor UAV to take off and land, so as to achieve multiple uses when in use, and facilitate the hoisting of the multi-rotor UAV when taking off, solving the problem of the prior art in facilitating the takeoff and landing of multi-rotor UAVs in rugged and overgrown areas within the mining area.

[0087] In a preferred embodiment, Figure 4 As shown, Figure 4 1 is a schematic diagram of the structure of a lock 1, wherein the lock 1 comprises a buckle tongue 1-1, a buckle sleeve 1-2, a fixed plate 1-4 and a lock base 1-7; wherein: the buckle tongue 1-1 is fixed to the upper cover plate 2 by welding or riveting; the buckle sleeve 1-2 is rotatably mounted on the movable plate 1-5 through the central axis 1-3, and is used in conjunction with the buckle tongue 1-1, and is buckled on the buckle tongue 1-1; the central axis 1-3 is connected to the movable plate 1-5 by an axle pin, so that the central axis 1-3 can rotate at a certain angle when the movable plate 1-5 is buckled on the lock base 1-7. To make the buckle sleeve 1-2 tighter on the buckle tongue 1-1, the movable end of the movable plate 1-5 is also provided with a lock 1-6; the fixed plate 1-4 and the lock base 1-7 are fixed to the outer plate 3 by welding or riveting, and the fixed plate 1-4 and the movable plate 1-5 are rotatably connected by a pin shaft, the lock base 1-7 is used in conjunction with the lock 1-6, and a lock hole 1-8 is also provided on the front side card plate of the lock base 1-7; when in use, the upper cover plate 2 and the outer plate 3 can be locked by locking the lock hole 1-8.

[0088] It should be noted that, in this embodiment, the buckle tongue 1-1 is fixed to the upper cover plate 2 by welding or riveting, the fixed plate 1-4 and the lock base 1-7 are fixed to the outer plate 3 by welding or riveting, and then the buckle sleeve 1-2 is buckled on the buckle tongue 1-1 by rotating the movable plate 1-5, and then the movable plate 1-5 is rotated downward to engage with the lock 1-6, so as to achieve the locking of the upper cover plate 2 and the outer plate 3 by locking through the lock hole 1-8.

[0089] In a preferred embodiment, Figure 2 As shown, adjacent inner panels 7 are connected by inner panel locks 8, as shown in FIG. Fig. 9(A) shows the structure diagram of the side panel lock 8, the side panel lock 8 comprises a lock tongue side panel 8-1, a lock tongue 8-2, a lock base panel 8-4 and a lock seat 8-5; wherein: the lock tongue side panel 8-1 and the lock base panel 8-4 are fixed to the inner side panel 7 by welding or riveting; the lock tongue 8-2 is rotatably mounted on the lock tongue side panel 8-1 through the lock tongue center axis 8-3, and can rotate around the lock tongue center axis 8-3; the lock seat 8-5 is fixedly mounted on the inner side of the lock base panel 8-4, and a blocking structure and a T-shaped baffle at the top of the lock tongue 8-2 are provided on the lock seat 8-5. When the lock tongue 8-2 is located in the lock seat 8-5, the inner side panels 7 cannot be separated by means of the T-shaped baffle at the top of the lock tongue 8-2 and the blocking structure in the lock seat 8-5, thereby forming a complete and firm side structure of the box.

[0090] It should be noted that, in this embodiment, the lock tongue side plate 8-1 and the lock base plate 8-4 are installed on the inner side of the inner plate 7, and then the lock tongue 8-2 is rotated so that the T-shaped baffle at the top of the lock tongue 8-2 and the blocking structure in the lock seat 8-5 are clamped with each other, so that the inner plates 7 cannot be separated, and a complete and firm side structure of the box can be formed.

[0091] In a preferred embodiment, Figure 3 The outer plate 3 and the bottom plate 4 are connected by a movable hinge 5. With the help of the hinge 5, the outer plate 3 can be turned outward. Figure 7 As shown, it includes a hinge upper cover plate 5-1, a hinge lower cover plate 5-2 and a hinge shaft 5-3. The hinge upper cover plate 5-1 and the hinge lower cover plate 5-2 are rotated by means of the hinge shaft 5-3, and the hinge upper cover plate 5-1 and the hinge lower cover plate 5-2 are riveted to the outer plate 3 and the bottom plate 4 respectively.

[0092] In a preferred embodiment, Figure 5 As shown, the bottom plate 4 also contains a control system for controlling the level of the table legs, which is used to adjust the length of the table legs after the four table legs 4-07 are fully released to achieve the level of the table top (i.e. the level of the landing platform). The overall structure of the control system is shown in FIG. Figure 6As shown, it mainly includes a MEMS acceleration sensor 4-01, an ARM controller 4-02, a drive motor 4-03, an oil pump and oil tank assembly 4-04, an oil circuit conversion valve 4-05 and a table leg 4-07; the MEMS acceleration sensor 4-01, the ARM controller 4-02 and the drive motor 4-03 and the oil circuit conversion valve 4-05 are connected by network cables and wires, and electrical signals and data signals are transmitted between them. The drive motor 4-03 and the oil pump and oil tank assembly 4-04 are driven by a belt, and the oil pump and oil tank assembly 4-04, the oil circuit conversion valve 4-05 and the table leg extension cylinder 4-06 are connected by an oil pipe, and the oil circuit conversion valve 4-05 is used to pump oil to the specified cylinder 4-06, and the extension and retraction of the table leg 4-07 is achieved by pumping oil to the cylinder.

[0093] It should be noted that the full name of the MEMS acceleration sensor 4-01 described in this embodiment is a micro-electromechanical system (MEMS) acceleration sensor. The present invention adopts a high-resolution silicon capacitive dual-axis static acceleration sensor. When the acceleration sensor is stationary (no lateral acceleration), only the vertical gravity acceleration acts on it. The angle between gravity (vertical) and the sensitive axis of the acceleration sensor is the inclination angle. This sensor can only project the obtained inclination angle onto two coordinate axes, so it is called a dual-axis acceleration sensor. The acceleration sensor belongs to a silicon capacitive sensor, which is composed of a pair of parallel plates. When the inclination angle changes, the mass block is subjected to gravity, which changes the distance between the parallel plates to cause the capacitance change, thereby measuring the angle change. In the horizontal measurement system of the landing platform, since the spatial angle is measured, two dual-axis acceleration sensors are needed, and their sensor axes are combined into a three-dimensional coordinate system orthogonal to the space, and the gravitational acceleration components on the three coordinate axes of x, y and z are calculated by spatial transformation of the measured values ​​of the axes. The measurement range of this accelerometer is ±1g (±90°), the operating temperature range is between -40℃ and 125℃, the single power supply is 5V, and the proportional voltage output is available. When the sampling frequency is 8Hz or below, an output resolution of 0.002° can be obtained. The sensor is insensitive to vibration and has an over-damped sensing element, so it can withstand mechanical vibrations greater than 20,000g. Due to its small size and light weight (only 1.2g), it is mostly used in components with relatively small spaces.

[0094] Specifically, the ARM controller 4-02 is a controller with small-scale data processing and control functions. The ARM controller 4-02 in this embodiment mainly includes 4 controllers. The ARM controller 1 mainly has the functions of data acquisition and simple processing, which mainly projects the inclination angle values ​​obtained by the two dual-axis acceleration sensors into the three coordinate axes to obtain the gravity acceleration values ​​in three directions: GX, GY and GZ; after obtaining the gravity acceleration values ​​in the three directions, they are sent to the ARM controller 2 for calculation and processing, and the target length data of the four table legs are obtained and uploaded to the ARM controller 3; the ARM controller 3 obtains and integrates the current extension length data of the four table legs according to the four sensors, and calculates the data difference of the four table legs according to the data obtained by the ARM controller 2, and uploads the data calculation result to the ARM controller 4; the ARM controller 4 controls the oil circuit conversion valve 4-05 and the drive motor 4-03 according to the obtained data of the four table legs to adjust the oil cylinder of the corresponding table leg to adjust the oil amount in the oil cylinder 4-06 to adjust the length of the table leg, and finally makes the length data of the table leg reach the target value through continuous loop feedback adjustment.

[0095] Specifically, the driving motor 4-03 drives the oil pump to extract hydraulic oil from the oil tank, and the oil is filtered through the filter and passes through the oil pump and the oil circuit conversion valve 4-05 into the oil cylinder 4-06. The oil pump is a fixed-flow oil pump, and the return oil volume needs to be adjusted by the overflow valve to achieve the purpose of adjusting the oil volume or oil pressure in the oil circuit. If the oil pressure in the oil circuit is too high, the overflow valve opens, and part of the oil returned from the oil circuit returns to the oil tank through the cooler.

[0096] In a preferred embodiment, Figure 8 As shown, Figure 8 The effect after the inner plate 7 and the outer plate 3 are opened is shown. The hydraulic hinge 6 includes an extension hydraulic rod 6-1 and a support hydraulic rod 6-2; wherein:

[0097] The extended hydraulic rod 6-1 is hingedly installed in the hydraulic rod groove 6-6 on the inner side of the inner plate 7 through the extended hydraulic rod fixed shaft 6-4;

[0098] The supporting hydraulic rod 6-2 is hingedly installed in the hydraulic rod groove 6-6 on the inner side of the outer plate 3 through the supporting hydraulic rod fixing shaft 6-5, and is connected to the telescopic end of the extending hydraulic rod 6-1 through the hydraulic rod connecting hinge 6-3.

[0099] It should be noted that in this embodiment, when in use, the inner plate 7 and the outer plate 3 are unfolded by means of the extension of the extension hydraulic rod 6-1 and the support hydraulic rod 6-2, and the opening degree thereof can reach 180°. The hydraulic rod connecting hinge 6-3, the extension hydraulic rod fixed shaft 6-4 and the support hydraulic rod fixed shaft 6-5 jointly promote the extension hydraulic rod 6-1 and the support hydraulic rod 6-2 to realize the rotation around the axis while helping the inner plate 7 and the outer plate 3 to unfold. After the two side plates are unfolded, the extension hydraulic rod 6-1 and the support hydraulic rod 6-2 are extended so that the two hydraulic rods are buried in the hydraulic rod groove 6-6 to ensure the flatness of the apron.

[0100] Embodiment 2:

[0101] Different from the above-mentioned embodiment 1, the multifunctional parking device for the self-leveling multi-rotor drone described in the above-mentioned embodiment 1 can realize two functions: one is that it can be used to hold the equipment and accessories related to the multi-rotor drone for easy carrying; the other is that it can be used as a landing pad for the multi-rotor drone to take off and land. The specific steps of using the function include:

[0102] Step 1: Figure 1 The box shown in the figure can contain the accessories related to the drone; firstly, the lock buckle 1-6 in the lock buckle 1 is opened to make the movable plate 1-5 rotate around the fixed plate 1-4, and the mouth cover 1-2 is taken off from the buckle tongue 1-1 with the help of the central axis 1-3; at the same time, the four lock buckles 1 on the upper cover 2 are opened to remove the upper cover 2 from the box, and the inner hollow structure and space of the box are sufficient to contain the drone battery, host, remote control, charger and other related accessories, and after putting them in, the lock buckle 1 is closed again to form a portable multi-rotor drone box;

[0103] Step 2: Open the four table legs 4-07 from the table leg grooves 4-09;

[0104] Step 3: Open the four locks 1 in the upper cover 2, remove the upper cover 2, and take out the drone host and related accessories and other equipment inside the box;

[0105] Step 4: Open the four inner plate locks 8 on the inner plate 7, and rotate the lock tongue 8-2 around the lock tongue center axis 8-3 to disengage the lock tongue seat 8-5;

[0106] Step 5: The outer panel 3 and the inner panel 7 are integrated, and the outer panel 3 and the bottom panel 4 are rotated outwardly by means of the movable hinge 5, so that the four outer panels 3 of the box body are extended outward and flattened;

[0107] Step 6: Using the hydraulic hinge 6 connecting the outer panel 3 and the inner panel 7, flip the inner panel 7 to 180°, so that it forms a plane with the outer panel 3, and repeat the above operation on the other three inner panels 7, so that all the inner panels 7 and the inner panels 3 are in an open state;

[0108] Step 7: Turn the upper cover 2 over so that its inner side is on top, and place it in the center of the fully opened box, covering the bottom plate 4; together with the opened inner plate 7 and outer plate 3, a complete plane is formed ( Fig. 9 shown);

[0109] Step 8: Start the automatic level control system of the apron. After 1-2 minutes, the table legs will automatically control the apron to reach a horizontal state.

[0110] Wherein: after the automatic horizontal control system is started, the gravity acceleration components GX, GY and GZ in the three-dimensional coordinate system of the space are obtained by means of the MEMS acceleration sensor 4-01, and sent to the ARM controller 2 for calculation and processing, and the target length data of the four table legs are obtained and uploaded to the ARM controller 3; the ARM controller 3 obtains and integrates the current extension length data of the four table legs according to the four sensors 4-08, and calculates the data difference of the four table legs according to the data obtained by the ARM controller 2, and uploads the data calculation result to the ARM controller 4; the ARM controller 4 controls the oil circuit conversion valve 4-05 and the drive motor 4-03 to adjust the oil cylinder of the corresponding table leg according to the obtained data of the four table legs, and adjusts the oil volume in the oil cylinder 4-06 to adjust the length of the table leg, and finally makes the length data of the table leg reach the target value through continuous loop feedback adjustment;

[0111] After being horizontally controlled by the automatic horizontal system, the fully opened box can be placed on an uneven ground, and can also provide a horizontal platform for drones to take off and land, avoiding damage to the aircraft caused by the high-speed rotating rotors colliding with the ground or weeds and other debris due to the ups and downs of the ground.

[0112] Embodiment 3:

[0113] Different from the above-mentioned embodiment, the use example of the multifunctional helipad of the self-leveling multi-rotor UAV described in Embodiment 1 is as follows:

[0114] The use location of this embodiment is the ground of the goaf of a mine in Shenmu City, Yulin City, northern Shaanxi Province, using a multi-rotor drone to conduct ground drone surveys of surface geological disasters. The mine has been engaged in underground coal resource mining for many years, resulting in a large number of ground fissures and collapse pits on the ground, forming the existing mining area with gullies and weeds. This ground drone survey is to take off and land a multi-rotor drone on the ground with a large number of ground fissures, collapse pits and weeds.

[0115] Step 1: Open the four locks 1 in the upper cover 2, remove the upper cover 2, and take out the drone battery, host, remote control, charger and other related accessories in the box;

[0116] Step 2: Open the four table legs 4-07 from the table leg grooves 4-09;

[0117] Step 3: Open the four inner plate locks 8 on the inner plate, and rotate the lock tongue 8-2 around the lock tongue center axis 8-3 to disengage the lock tongue seat 8-5;

[0118] Step 4: The outer panel 3 and the inner panel 7 are integrated and rotated outwardly by means of the movable hinge 5 connecting the side panels and the bottom panel of the box body, so that the four side panels of the box body are extended outward and laid flat;

[0119] Step 5: Using the hydraulic hinge 6 connecting the outer panel and the inner panel, flip the inner panel 7 to 180°, so that it forms a plane with the outer panel 3, and repeat the above operation on the other three inner panels 7, so that all the inner panels 7 and the inner panels 3 are in an open state;

[0120] Step 6: Flip the upper cover 2 so that its inner side is on top and place it in the center of the fully opened box, covering the bottom plate 4. Together with the opened inner plate 7 and outer plate 3, a complete plane is formed ( Fig. 9 shown);

[0121] Step 7: Start the automatic level control system of the apron. After 1-2 minutes, the table legs automatically control the apron to reach a horizontal state. The fully opened box can be placed on the uneven ground for the multi-rotor drone to take off and land, avoiding the high-speed rotating rotors from colliding with the ground or weeds and other debris due to the ups and downs of the ground, causing damage to the aircraft.

[0122] Step 8: Spread the wings of the multi-rotor drone and place it Fig. 9 The middle position of the platform shown in the figure starts the multi-rotor drone to take off or land.

[0123] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A multifunctional parking apron for a self-leveling multi-rotor UAV, characterized by: When the apron is fully closed, it is a box structure with a hollow interior, including: Upper cover plate (2); A plurality of outer panels (3) are arranged on the lower side of the upper cover (2) and connected to the upper cover (2) via lock buckles (1); A bottom plate (4) is arranged on the lower side of the outer plate (3) and is connected to the outer plate (3) via a movable hinge (5); The inner plate (7) is arranged on the inner side of the outer plate (3), connected to the outer plate (3) via a hydraulic hinge (6), and two adjacent inner plates (7) are connected via an inner plate lock (8).

2. The multifunctional parking apron for a self-leveling multi-rotor UAV as claimed in claim 1, characterized in that: The lock buckle (1) comprises: The buckle tongue (1-1) is arranged on the upper cover plate (2); A buckle sleeve (1-2) is rotatably arranged on the upper end of the movable plate (1-5) and matches the buckle tongue (1-1); A fixed plate (1-4) is arranged outside the outer plate (3); A movable plate (1-5) is rotatably arranged on the fixed plate (1-4); The lock base (1-7) is arranged outside the outer plate (3), located at the lower side of the fixed plate (1-4), and matches the lock (1-6) arranged at the end of the movable plate (1-5).

3. The multifunctional parking apron for a self-leveling multi-rotor UAV as claimed in claim 2, characterized in that: The movable plate (1-5) is also provided with a central axis (1-3), and the central axis (1-3) is connected to the buckle sleeve (1-2); and the buckle base (1-7) is provided with a buckle hole (1-8).

4. The multifunctional parking apron for a self-leveling multi-rotor UAV as claimed in claim 1, characterized in that: The hinge (5) comprises: A hinged upper cover plate (5-1) is arranged outside the outer plate (3); The hinge lower cover plate (5-2) is arranged on the outside of the bottom plate (4) and is connected to the hinge upper cover plate (5-1) via a hinge rotating shaft (5-3).

5. The multifunctional parking apron for a self-leveling multi-rotor UAV as claimed in claim 1, characterized in that: The hydraulic hinge (6) comprises: An extended hydraulic rod (6-1) is hingedly arranged in a hydraulic rod groove (6-6) on the inner side of the inner plate (7) via an extended hydraulic rod fixing shaft (6-4); The supporting hydraulic rod (6-2) is hingedly arranged in the hydraulic rod groove (6-6) on the inner side of the outer plate (3) via the supporting hydraulic rod fixing shaft (6-5), and is connected to the extending hydraulic rod (6-1) via the hydraulic rod connecting hinge (6-3).

6. The multifunctional helipad for a self-leveling multi-rotor UAV as claimed in claim 1, characterized in that: The side panel lock (8) comprises: A bolt side plate (8-1) is arranged on the inner side of the inner plate (7); A lock tongue (8-2) is rotatably arranged on a lock tongue side plate (8-1) via a lock tongue central axis (8-3); A locking base plate (8-4) is arranged on the inner side of the inner plate (7); The lock seat (8-5) is arranged on the inner side of the lock base plate (8-4) and matches the lock tongue (8-2).

7. The multifunctional parking apron for a self-leveling multi-rotor UAV as claimed in claim 1, characterized in that: A blocking structure is provided on the lock seat (8-5), and the blocking structure matches a T-shaped baffle provided on the top end of the lock tongue (8-2).

8. The multifunctional parking apron for a self-leveling multi-rotor UAV as claimed in claim 1, characterized in that: A table leg groove (409) is arranged on the outer side of the bottom plate (4), and a table leg (407) is rotatably arranged in the table leg groove (409). The table leg (407) is a hydraulic telescopic rod and matches a control system arranged on the bottom plate (4).

9. The multifunctional parking apron for a self-leveling multi-rotor UAV as claimed in claim 8, characterized in that: The control system comprises: A MEMS acceleration sensor (4-01), arranged on the base plate (4), for calculating the elongation length of the table leg (407); An ARM controller (4-02) is used to control the extension length of each computing table leg (407); The driving motor (4-03) is electrically connected to the ARM controller (4-02) and is driven by a belt to the oil pump and oil tank assembly (4-04); The oil pump and oil tank assembly (4-04) is electrically connected to the ARM controller (4-02), and is connected to the oil cylinder (4-06) in the table leg (407) through an oil pipe, and an oil circuit conversion valve (4-05) is provided on the oil pipe.

10. The multifunctional parking apron for a self-leveling multi-rotor UAV as claimed in claim 1, characterized in that: The method for using the multifunctional helipad of the self-leveling multi-rotor UAV includes: Step 1: First, open the lock (1-6) in the lock (1), so that the movable plate (1-5) rotates around the fixed plate (1-4), and the central axis (1-3) is used to help the muzzle (1-2) to be removed from the buckle tongue (1-1); at the same time, open the lock (1) on the upper cover (2), put materials into the box, and then close the lock (1) again to form a multi-rotor drone box; Step 2: Open the table leg (4-07) from the table leg groove (4-09); Step 3: Open the lock (1) of the upper cover (2), remove the upper cover (2), and take out the equipment inside the box; Step 4: Open the inner plate lock (8) on the inner plate (7), and rotate the lock tongue (8-2) around the lock tongue center axis (8-3) to make it disengage from the lock seat (8-5); Step 5: The outer side plate (3) and the inner side plate (7) are integrated, and the outer side plate (3) and the bottom plate (4) are rotated outwardly by means of the movable hinge (5) so that the four outer side plates (3) are extended outward and laid flat; Step 6: Using the hydraulic hinge (6) connecting the outer panel (3) and the inner panel (7), flip the inner panel (7) to 180 degrees, so that it forms a plane with the outer panel (3), and repeat the above operation on the other three inner panels (7), so that all the inner panels (7) and the inner panels (3) are in an open state; Step 7: Flip the upper cover (2) so that its inner side is at the top, and place it in the center of the fully opened box, covering the bottom plate (4), and forming a complete plane together with the opened inner plate (7) and outer plate (3); Step 8: Start the automatic level control system of the apron, and the table legs automatically control the apron to reach a horizontal state.

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