Unmanned aerial vehicle self-adaptive undercarriage and adjusting system

Abstract

The invention relates to the technical field of unmanned aerial vehicle structure design, in particular to an unmanned aerial vehicle self-adaptive undercarriage and adjusting system. The undercarriage assembly is arranged at the end of the unmanned aerial vehicle and comprises a storage box fixed to the end of the unmanned aerial vehicle, and a servo motor and a turnover plate are arranged in the storage box; comprehensive information is provided for the control module through the sensor module, the control module accurately controls a servo motor, a driving motor and an adjusting motor through a strategy based on feedback of the sensor module, the turnover plate is controlled to move in the storage box, the turnover plate is stored in the storage box during take-off, flight resistance is reduced, the overall size is reduced during transportation, and transportation is facilitated. The height of a driving motor and supporting legs in the supporting component can be adjusted, stability is guaranteed through cooperation with a limiting structure, and an adjusting piece can enable a disc to adapt to concave-convex ground and is matched with the supporting legs to keep the horizontal state of the unmanned aerial vehicle.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle (UAV) structural design, in particular to an adaptive landing gear and an adjustment system for an unmanned aerial vehicle (UAV). Background Art

[0002] With the rapid development of drone technology, landing gear, as an important component of drones, undertakes important functions such as supporting drones to park, taxi, take off and land on the ground. However, most drone landing gears in the existing technology adopt a fixed design. During the take-off process of the drone, the fixed landing gear, due to its unadjustable height and shape, often becomes an important source of flight resistance, affecting the take-off efficiency and flight performance of the drone. Especially in scenarios where rapid take-off or emergency missions are required, the limitations of fixed landing gear are particularly obvious.

[0003] In addition, fixed landing gear has poor adaptability to different terrains and landing environments. In complex and changing terrains, fixed-height landing gear may not ensure stable landing of the drone, increasing the landing risk. At the same time, for drones that need to frequently change landing points, fixed landing gear also limits their flexibility and application scope.

[0004] The Chinese patent application with publication number CN113859520A discloses a hybrid UAV adaptive landing gear. The hybrid UAV adaptive landing gear adopts a generalized parallel mechanism as its principle configuration. By adopting a multi-level platform coordinated motion mode, the full decoupling of the landing gear position and attitude control is achieved, which improves the landing and take-off

[0005] The landing gear adopts a foldable design, which reduces the flight resistance caused by the landing gear during flight, reduces the obstacle avoidance difficulty caused by the flight size of the UAV, and meets the adaptive performance of the landing gear in a variety of complex scenarios.

[0006] However, this patent still has some problems. Although the landing gear can be completely decoupled and adjusted, it still hangs downward under the drone during takeoff and cannot be completely flipped over and stored under the drone. It is easy to touch obstacles and affect the flight of the drone during flight. Summary of the invention

[0007] In view of the above problems in the prior art, the present invention is proposed.

[0008] In order to solve the above technical problems, the present invention provides the following technical solutions: an adaptive landing gear for a UAV, comprising a UAV;

[0009] The landing gear assembly provided at the end of the drone comprises a storage box fixed to the end of the drone, a servo motor and a flip plate are provided inside the storage box, the servo motor is used to drive the flip plate to flip inside the storage box, and a support component is also provided at the end of the flip plate, and the support component is used to support the landing of the drone;

[0010] The servo motor pushes the flip plate to flip on the inner wall of the storage box when the drone lands, so as to support the drone on the ground. When the ground is uneven, the drive motor installed inside the support component drives the support legs to retract and adjust to adapt to the height of the ground and keep the drone in a horizontal state. When the drone takes off, the drive motor drives the support legs to retract and the servo motor drives the flip plate to flip it and retract it into the storage box.

[0011] As a preferred solution of the adaptive landing gear of the drone of the present invention, the inner wall of the storage box is provided with a mounting plate, and the outer wall of the mounting plate is penetrated by a movement groove and an arc groove, and the arc groove is connected with the movement groove to form a whole.

[0012] As a preferred solution of the adaptive landing gear of the unmanned aerial vehicle described in the present invention, wherein: the outer wall of the flip plate is provided with a sliding column and the end of the sliding column extends to the inner wall of the motion groove and slides with it, the inner wall of the flip plate is provided with a connecting rod and the outer wall of the connecting rod is sleeved with a first movable plate, the outer wall of the first movable plate is provided with a flip rod, the servo motor axis is provided with a second movable plate and the second movable plate is sleeved on the outer wall of the flip rod, the servo motor drives the flip rod to move on the inner wall of the storage box through the second movable plate, when the flip rod moves, the sliding column is driven to slide on the inner wall of the motion groove through the first movable plate, when the sliding column slides into the inner wall of the arc groove, the flip plate flips on the inner wall of the storage box.

[0013] As a preferred solution of the adaptive landing gear of the unmanned aerial vehicle described in the present invention, wherein: the outer wall of the flip plate is fixed with a mounting shell and a containing shell is arranged at the end of the mounting shell, the inner wall of the containing shell is movably provided with a supporting leg, and the outer wall of the supporting leg is provided with a limiting groove, and the limiting groove is slidably matched with the limiting plate arranged on the inner wall of the containing shell, the driving motor is located inside the mounting shell and a screw is connected at the axis of the driving motor, and the end of the screw extends to the inner wall of the supporting leg, and the driving motor drives the supporting leg to rise and fall on the inner wall of the containing shell through the rotation of the screw.

[0014] As a preferred solution of the adaptive landing gear of the unmanned aerial vehicle described in the present invention, wherein: an adjusting member is arranged at the end of the supporting leg, and the adjusting member includes a first adjusting gear, a second adjusting gear and a third adjusting gear; a fixing rod is arranged at the axis of the adjusting member; a first output gear is sleeved on the outer wall of the fixing rod, and the first output gear is meshed with the first adjusting gear; a second output gear is sleeved on the outer wall of the first output gear and the second output gear is meshed with the second adjusting gear; a third output gear is sleeved on the outer wall of the second output gear and the third output gear is meshed with the third adjusting gear; straight rods are arranged on the outer walls of the first output gear, the second output gear and the third output gear are respectively arranged; a hinged rod is hinged on the outer wall of the straight rod and a disc is hinged on one end of the hinged rod away from the straight rod; when the straight rod moves, the hinged rod is driven to move, and the horizontal state of the disc is adjusted to adapt to the unevenness of the ground.

[0015] A regulation system, the system is applied to the above-mentioned UAV adaptive landing gear, wherein: the regulation system includes a sensor module, a control module and an execution module; the sensor module is used to monitor the height of the UAV and the ground, and simultaneously detect the attitude information of the UAV and the flatness information of the landing ground below; the control module is used to receive and process the signal of the sensor module; the execution module controls the landing gear assembly according to the signal sent by the control module.

[0016] As a preferred solution of the adjustment system described in the present invention, the sensor module includes an altitude sensor, a UAV attitude sensor and a terrain sensor. The altitude sensor is used to monitor the distance between the UAV and the ground in real time, and outputs a take-off signal when the altitude reaches a first threshold during the take-off phase, and outputs a landing signal when the altitude approaches the ground to a second threshold during the landing phase; the UAV attitude sensor is used to detect the attitude information of the UAV and transmit the information to the control module; the terrain sensor is used to detect the flatness of the ground and transmit the information to the control module.

[0017] As a preferred solution of the adjustment system described in the present invention, the control module includes a central processing unit and a control strategy. The central processing unit is used to receive signals from the sensor module and output control instructions according to a preset strategy. The control strategy is integrated inside the central processing unit. At the same time, the control strategy includes a take-off control strategy and a landing control strategy. The take-off control strategy is used to send an instruction to the execution module to retract the landing gear when the take-off signal is received; the landing control strategy is used to send an instruction to the execution module to deploy the landing gear and adjust the landing gear status according to the terrain sensor information when the landing signal is received.

[0018] As a preferred solution of the adjustment system described in the present invention, wherein: the execution module includes a servo motor, a drive motor and an adjustment motor; the servo motor is used to receive instructions from the control module to drive the flip plate to flip in the storage box during take-off and landing; the drive motor is used to receive instructions from the control module to drive the support legs to rise and fall in the accommodating shell; the adjustment motor is used to control the rotation of the first adjustment gear, the second adjustment gear and the third adjustment gear in the adjustment member, thereby adjusting the horizontal state of the disc.

[0019] As a preferred solution of the adjustment system described in the present invention, the take-off control strategy in the control module further includes: an initialization step, which is used to initialize the communication connection with the servo motor and the drive motor when the system starts, and set the initial parameters of the motor, and at the same time obtain the initial altitude data of the altitude sensor; an altitude monitoring and judgment step, which is used to continuously receive the altitude data of the altitude sensor during the flight and be triggered when the altitude exceeds a first threshold; a drive motor control instruction generation step, which is used to send a retraction instruction to the drive motor, so that the support leg retracts upward in the accommodating shell, and ensures that it retracts to a predetermined position based on the position feedback information of the support leg; a servo motor control instruction generation step, which is used to send a flip instruction to the servo motor, driving the flip plate to be stored in the storage box.

[0020] As a preferred solution of the adjustment system described in the present invention, the landing control strategy in the control module further includes: an altitude monitoring and judgment step, which is used to continuously receive altitude data from the altitude sensor during the landing phase and be triggered when the altitude is lower than a second threshold; a servo motor deployment control step, which is used to send a deployment instruction to the servo motor to flip the flip plate from a horizontal state to a vertical state; a terrain perception and support leg height adjustment step, which is used to receive ground flatness information from the terrain sensor, analyze and calculate the height value that needs to be adjusted for each support leg, send a height adjustment instruction to the drive motor, and fine-tune the speed and direction of the drive motor through a feedback control strategy until the drone is in a horizontal state; an adjustment part action control step, which is used to determine the adjustment gear that needs to be adjusted when the terrain sensor detects unevenness on the ground, send a rotation instruction to the corresponding adjustment motor, and fine-tune the rotation of the adjustment motor according to the inclination angle feedback of the disc and the relative position relationship with other discs.

[0021] Beneficial effects of the present invention: The present invention provides comprehensive information to the control module through the sensor module. Based on the feedback from the sensor module, the control module accurately controls the servo motor, the drive motor and the adjustment motor through strategies to control the movement of the flip plate inside the storage box. During takeoff, the flip plate is stored therein to reduce flight resistance. The overall volume becomes smaller during transportation, making it easier to carry. The drive motor and the support legs in the support component can adjust their heights, and the limit structure is used to ensure stability. The adjustment member can make the disc adapt to the unevenness of the ground, and cooperate with the support legs to keep the drone in a horizontal state. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0023] Figure 1 This is a schematic diagram of the overall structure of an adaptive landing gear and adjustment system for a UAV of the present invention;

[0024] Figure 2 is a schematic structural diagram of a landing gear assembly in the present invention;

[0025] Figure 3 It is a schematic diagram of the structure of the flip plate in the present invention;

[0026] Figure 4 is a side sectional view of the flip plate of the present invention;

[0027] Figure 5 It is a schematic diagram of the overall structure of the adjusting member in the present invention;

[0028] Figure 6 It is a schematic diagram of the structure of the first adjusting gear, the second adjusting gear and the third adjusting gear in the present invention;

[0029] Figure 7 It is a schematic diagram of the connection relationship between the hinged rod and the disc in the present invention;

[0030] Figure 8 is a flow chart of the regulating system in the present invention;

[0031] Fig. 9 It is a flow chart of the control module in the present invention;

[0032] Fig.10 It is a schematic diagram of the flow of the execution module in the present invention controlling the operation of the servo motor;

[0033] Fig.11It is a schematic diagram of the flow of the execution module in the present invention controlling the operation of the drive motor;

[0034] Fig.12 It is a schematic diagram of the flow of the execution module in the present invention controlling and adjusting the operation of the motor;

[0035] Fig.13 It is a flow chart of the take-off control strategy in the control module of the present invention;

[0036] Fig.14 It is a flow chart of the landing control strategy in the control module of the present invention.

[0037] Reference numerals: 100, drone;

[0038] 200, landing gear assembly; 201, storage box; 2011, mounting plate; 2012, motion slot; 2013, arc slot; 202, servo motor; 2021, second movable plate; 203, flip plate; 2031, slide column; 2032, connecting rod; 2033, first movable plate; 2034, flip rod; 204, mounting shell; 2041, drive motor; 2042, screw; 2043, storage Shell; 2044, limit plate; 2045, support leg; 2046, limit slot; 205, adjustment member; 2051, first adjustment gear; 2052, second adjustment gear; 2053, third adjustment gear; 2054, fixing rod; 2055, first output gear; 2056, second output gear; 2057, third output gear; 2058, straight rod; 2059, hinged rod; 206, disc. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0040] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0041] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0042] Example 1

[0043] This is the first embodiment of the present invention, which provides an adaptive landing gear for a drone.

[0044] Specifically, refer to Figure 1 , Figure 2 and Figure 4 , including drone 100;

[0045] The landing gear assembly 200 provided at the end of the drone 100 includes a storage box 201 fixed to the end of the drone 100, a servo motor 202 and a flip plate 203 are provided inside the storage box 201, the servo motor 202 is used to drive the flip plate 203 to flip inside the storage box 201, and a support component is also provided at the end of the flip plate 203, and the support component is used to support the drone 100 to land;

[0046] The servo motor 202 pushes the flip plate 203 to flip on the inner wall of the storage box 201 when the drone 100 lands, so as to support the drone 100 on the ground. When the ground is uneven, the drive motor 2041 installed inside the support component drives the support legs 2045 to retract and adjust to adapt to the height of the ground and keep the drone 100 in a horizontal state. When the drone 100 takes off, the drive motor 2041 drives the support legs 2045 to retract and the servo motor 202 drives the flip plate 203 to flip so that it is flipped and retracted into the storage box 201.

[0047] The storage box 201 is fixed under the drone 100, and the flip plates 203 are symmetrically arranged on both sides of the storage box 201. The servo motor 202 drives the flip plates 203 to flip inside the storage box 201. When the drone 100 takes off, the flip plates 203 are flipped and stored inside the storage box 201, reducing the part of the drone 100 exposed outside, which can reduce resistance during flight and prevent the landing gear assembly 200 from touching obstacles such as tree branches and wires. During transportation, the flip plates 203 are flipped and stored, making the overall volume smaller and convenient for transportation and carrying.

[0048] When the drone 100 lands, the servo motor 202 drives the flip plate 203 to flip out from the inside of the storage box 201, and the flip plate 203 faces downward as a whole. At this time, the support component below the flip plate 203 contacts the ground, supporting the drone 100 on the ground. At the same time, the drive motor 2041 inside the support component drives the support legs 2045 to perform telescopic adjustment according to the unevenness of the current landing ground, ensuring that all four support legs 2045 fall on the ground and the drone 100 as a whole remains in a horizontal state, so as to provide a uniform lift when taking off later, and avoid the drone 100 being in an unbalanced state when taking off later due to the tilt of the drone 100 when landing, resulting in sideslip, rotation or an uncontrollable ascending trajectory later.

[0049] Example 2

[0050] This is the second embodiment of the present invention, which is implemented based on the previous embodiment.

[0051] Specifically, refer to Figure 2 The inner wall of the storage box 201 is provided with a mounting plate 2011, and the outer wall of the mounting plate 2011 is penetrated with a movement groove 2012 and an arc groove 2013, and the arc groove 2013 is connected with the movement groove 2012 to form a whole.

[0052] Among them, the mounting plates 2011 are symmetrically installed on both sides of the storage box 201, and a mounting plate 2011 is fixed on both sides of each flip plate 203. The movement groove 2012 vertically penetrates the surface of the mounting plate 2011. The bottom end of the arc groove 2013 and the bottom end of the movement groove 2012 are located on the same horizontal line, and the upper end position is connected to the middle part of the movement groove 2012.

[0053] Preferably, a sliding column 2031 is provided on the outer wall of the flip plate 203 and the end of the sliding column 2031 extends to the inner wall of the motion groove 2012 and slides therewith, a connecting rod 2032 is provided on the inner wall of the flip plate 203 and a first movable plate 2033 is sleeved on the outer wall of the connecting rod 2032, a flip rod 2034 is provided on the outer wall of the first movable plate 2033, a second movable plate 2021 is provided on the axis of the servo motor 202 and the second movable plate 2021 is sleeved on the outer wall of the flip rod 2034, the servo motor 202 drives the flip rod 2034 to move on the inner wall of the storage box 201 through the second movable plate 2021, when the flip rod 2034 moves, it drives the sliding column 2031 to slide on the inner wall of the motion groove 2012 through the first movable plate 2033, when the sliding column 2031 slides into the inner wall of the arc groove 2013, the flip plate 203 flips on the inner wall of the storage box 201.

[0054] There are two slide posts 2031 on the outer wall of the flip plate 203. Figure 3 As shown in , at this time, the two slide columns 2031 are in a horizontal position, one is located at the bottom end of the motion groove 2012, and the other is in the bottom end of the arc groove 2013. At this time, the flip plate 203 has been flipped by the servo motor 202. In the storage state, the two slide columns 2031 are both located inside the motion groove 2012, and the slide column 2031 that falls inside the arc groove 2013 is located at the upper end of the motion groove 2012.

[0055] A connecting rod 2032 is arranged on the surface of the flip plate 203, the first movable plate 2033 is symmetrically arranged on the surface of the connecting rod 2032, and the other end of the first movable plate 2033 is connected to a flip rod 2034, and the middle position of the flip rod 2034 is connected to the second movable plate 2021 at the axis of the servo motor 202.

[0056] The servo motor 202 is fixed to the inner wall of the storage box 201, and drives the first movable plate 2033 to move through the second movable plate 2021. When the servo motor 202 rotates, the sliding column 2031 on the side of the flip plate 203 moves downward inside the motion groove 2012, and the flip plate 203 also moves vertically downward. When the sliding column 2031 at the bottom falls into the inside of the motion groove 2012, the servo motor 202 continues to flip, and the sliding column 2031 above enters the inside of the arc groove 2013 and flips along the arc groove 2013 until it falls to the bottom of the arc groove 2013. At this time, the flip plate 203 changes from being horizontal to the storage box 201 to being vertical to the storage box 201; when the servo motor When 202 rotates to drive the flip plate 203 to be retracted, the second movable plate 2021 first drives the flip rod 2034 to lift it upward. At this time, the sliding column 2031 inside the arc groove 2013 first slides along the inner wall of the arc groove 2013 and slides into the interior of the motion groove 2012. At this time, the flip plate 203 changes from being perpendicular to the storage box 201 to being horizontal to the storage box 201, and the servo motor 202 continues to flip and lifts the flip rod 2034 upward. At this time, the sliding column 2031 that originally entered the arc groove 2013 continues to move up on the inner wall of the motion groove 2012, and the flip plate 203 moves up inside the storage box 201 until the sliding column 2031 hits the top of the motion groove 2012.

[0057] A mounting shell 204 is fixed to the outer wall of the flip plate 203 and a receiving shell 2043 is arranged at the end of the mounting shell 204, a supporting leg 2045 is movably arranged on the inner wall of the receiving shell 2043, a limiting groove 2046 is arranged on the outer wall of the supporting leg 2045, the limiting groove 2046 is slidably matched with the limiting plate 2044 arranged on the inner wall of the receiving shell 2043, the driving motor 2041 is located inside the mounting shell 204 and a screw 2042 is connected to the axis of the driving motor 2041, the end of the screw 2042 extends to the inner wall of the supporting leg 2045, and the driving motor 2041 drives the supporting leg 2045 to rise and fall on the inner wall of the receiving shell 2043 through the rotation of the screw 2042.

[0058] Among them, the mounting shell 204 is fixed on the surface of the flip plate 203, the driving motor 2041 is fixed inside the mounting shell 204, a containing shell 2043 is fixed below the mounting shell 204, and a screw 2042 at the axis of the driving motor 2041 passes through the top of the containing shell 2043 and is screwed to the supporting leg 2045 inside the containing shell 2043, and a limiting groove 2046 opened on the surface of the supporting leg 2045 cooperates with the limiting plate 2044 on the inner wall of the containing shell 2043 to prevent the supporting leg 2045 from rotating together inside when the screw 2042 rotates, and the supporting leg 2045 can only be raised and lowered inside the containing shell 2043.

[0059] Better, refer to Figure 5 to Figure 7The end of the support leg 2045 is provided with an adjusting member 205, and the adjusting member 205 includes a first adjusting gear 2051, a second adjusting gear 2052 and a third adjusting gear 2053. The axis of the adjusting member 205 is provided with a fixing rod 2054, and the outer wall of the fixing rod 2054 is provided with a first output gear 2055, and the first output gear 2055 is meshed with the first adjusting gear 2051. The outer wall of the first output gear 2055 is provided with a second output gear 2056, and the second output gear 2056 is meshed with the second adjusting gear 2052. The outer wall of the wheel 2056 is sleeved with a third output gear 2057 and the third output gear 2057 is meshed with the third adjusting gear 2053. The outer walls of the first output gear 2055, the second output gear 2056 and the third output gear 2057 are respectively provided with straight rods 2058. The outer walls of the straight rods 2058 are hinged with hinged rods 2059 and the hinged rod 2059 is hinged with a disc 206 at one end away from the straight rod 2058. When the straight rod 2058 moves, it drives the hinged rod 2059 to move, thereby adjusting the horizontal state of the disc 206 to adapt to the unevenness of the ground.

[0060] The adjusting member 205 is fixed to the bottom of the supporting leg 2045, and the fixing rod 2054 is fixed to the axis position of the lower surface of the supporting leg 2045. Figure 5 As shown, the surface of the fixing rod 2054 is sleeved with a first output gear 2055, the outer wall of the first output gear 2055 is sleeved with a second output gear 2056, and the surface of the second output gear 2056 is sleeved with a third output gear 2057, as shown in FIG. Figure 6 As shown, a straight rod 2058 is provided on the outer wall of each output gear. Although the length and installation height of each output gear are different, the top position height of each straight rod 2058 is the same, and a hinged rod 2059 is hinged at the top position of the straight rod 2058. At the other end position of the hinged rod 2059, a disc 206 is hinged, and the disc 206 is in a horizontal state.

[0061] The first adjusting gear 2051, the second adjusting gear 2052 and the third adjusting gear 2053 are arranged in an array around the fixed rod 2054. The first adjusting gear 2051 corresponds to the first output gear 2055. Similarly, an adjusting motor is arranged under each adjusting gear to control the rotation of the adjusting gear.

[0062] When the adjusting gear rotates, the corresponding output gear meshing with it will rotate, and the straight rod 2058 on the outer wall will follow the rotation and drive the hinged rod 2059 to move. When the hinged rod 2059 moves, the disk 206 on the surface will change from a horizontal state to a posture inclined toward the moving hinged rod 2059. Although the other two straight rods 2058 do not move, the hinged rod 2059 at the end moves at the end of the straight rod 2058 to adapt to the inclination of the disk 206. Although the disk 206 is tilted, the center of gravity remains unchanged.

[0063] In summary, during use, when the drone 100 takes off, the driving motor 2041 causes the supporting legs 2045 to retract upward inside the accommodating shell 2043 through the screw 2042, and the overall height becomes shorter. Then, the servo motor 202 drives the flip rod 2034 to flip upward. At this time, the sliding column 2031 on the surface of the flip plate 203 slides from the arc groove 2013, and the flip plate 203 changes from being perpendicular to the storage box 201 to being horizontal to the storage box 201, and continues to move upward. After entering the inside of the motion groove 2012, the sliding column 2031 in the arc groove 2013 continues to move upward until it touches the top of the motion groove 2012.

[0064] When the drone 100 lands, the servo motor 202 controls the flip plate 203 to flip down, and the sliding column 2031 on the surface slides downward in the motion groove 2012. When the sliding column 2031 below falls to the bottom of the motion groove 2012, as the second movable plate 2021 continues to flip, the sliding column 2031 above slides into the arc groove 2013 and falls to the bottom of the arc groove 2013. At this time, the flip plate 203 changes from a horizontal state to a vertical state, and the supporting legs 2045 below are perpendicular to the ground. The driving motor 2041 adjusts each The height of each support leg 2045 is adjusted to adapt to the unevenness of the ground. At the same time, when the ground supported by the disc 206 has bumps or depressions, the corresponding adjusting gear is driven to rotate by controlling the motor, and the straight rod 2058 is driven to move by the corresponding output gear, so that the surface of the disc 206 is tilted and close to the ground. At this time, the center of gravity of the tilted disc 206 is at the same height as the center of gravity of the other disc 206. By adjusting the height of the support leg 2045 and the disc 206, it is ensured that the upper drone 100 is in a horizontal state when it lands.

[0065] Example 3

[0066] Reference Figure 8 to Figure 14 , which is the third embodiment of the present invention, and this embodiment is implemented based on the previous embodiment.

[0067] The sensor module includes:

[0068] An altitude sensor is installed on the body of the drone 100, and is used to monitor the distance between the drone 100 and the ground in real time, and output a take-off signal when the altitude reaches a first threshold during the take-off phase, and output a landing signal when the altitude approaches the ground to a second threshold during the landing phase;

[0069] The attitude sensor is located inside the drone 100 and is used to detect the attitude information of the drone 100 in real time and transmit it to the control module;

[0070] A terrain sensor, disposed on the landing gear support component, is used to detect the flatness information of the ground and transmit the information to the control module;

[0071] Control module, including:

[0072] A central processing unit, used to receive signals from the sensor module and output control instructions according to a preset strategy;

[0073] Control strategy, which includes take-off control strategy and landing control strategy, among which:

[0074] The takeoff control strategy is used to send a command to the execution module to retract the landing gear when receiving the takeoff signal;

[0075] The landing control strategy is used to send instructions to the execution module to deploy the landing gear and adjust the landing gear status according to the terrain sensor information when receiving the landing signal;

[0076] Execution module, including:

[0077] The servo motor 202 is used to receive the command of the control module and drive the flip plate 203 to flip in the storage box 201 during take-off and landing;

[0078] The driving motor 2041 is used to receive the command of the control module and drive the supporting leg 2045 to rise and fall in the accommodating shell 2043;

[0079] The adjusting motor is used to control the rotation of the first adjusting gear 2051 , the second adjusting gear 2052 and the third adjusting gear 2053 in the adjusting member 205 , so as to adjust the horizontal state of the disk 206 .

[0080] The takeoff control strategy in the control module further includes:

[0081] After the drone 100 is started, the control system starts working immediately. First, the initialization operation is performed to establish a communication link with the servo motor 202 and the drive motor 2041, and the initial parameters of the motors are set, such as the initial position of the servo motor 202, the initial speed of the drive motor 2041, etc., and the initial height data of the height sensor at this time is obtained.

[0082] During the take-off process of the drone 100, the altitude sensor continuously transmits the real-time distance information between the drone 100 and the ground to the control system. The control system continuously monitors and analyzes these data, and once it detects that the altitude of the drone 100 exceeds the preset take-off threshold altitude first threshold, it formally enters the take-off control process.

[0083] At this time, the control system first sends a retraction command to the drive motor 2041, and the drive motor 2041 starts to operate, and drives the support leg 2045 to retract upward in the housing 2043 through the threaded connection structure between the screw 2042 and the support leg 2045. During the retraction period, the feedback device inside the drive motor 2041 will monitor the position information of the support leg 2045 in real time and transmit it back to the control system. Based on this feedback information, the control system accurately controls the speed and direction of the drive motor 2041 to ensure that the support leg 2045 can be accurately retracted to the predetermined position, thereby effectively reducing the overall height of the landing gear and reducing the air resistance encountered by the drone 100 during flight.

[0084] When the driving motor 2041 completes the task of retracting the supporting legs 2045, the control system immediately issues a flipping command to the servo motor 202. The servo motor 202 drives the flip plate 203 to flip in the storage box 201 by means of the linkage mechanism formed by the second movable plate 2021, the flip rod 2034, the first movable plate 2033 and the sliding column 2031. The sliding column 2031 slides in the motion groove 2012 and the arc groove 2013 according to a specific trajectory. The control system accurately controls the rotation angle and speed of the servo motor 202 according to the real-time position feedback information of the sliding column 2031 in the motion groove 2012 and the arc groove 2013, ensuring that the flip plate 203 can be stably and smoothly stored in the storage box 201, avoiding collision or interference with other components of the drone 100, thereby ensuring the stability and safety of the landing gear of the drone 100 during the flight phase.

[0085] The landing control strategy in the control module further includes:

[0086] When the drone 100 enters the landing phase, the altitude sensor continuously sends the distance data between the drone 100 and the ground to the control system. The control system receives and pays close attention to these data in real time, and once the altitude is lower than the preset landing threshold height second threshold, the landing control process is immediately started.

[0087] The control system first sends an unfolding command to the servo motor 202. After receiving the command, the servo motor 202 starts to operate, and drives the flip plate 203 to gradually flip from a horizontal state to a vertical state through a linkage mechanism. During the flipping process, the control system accurately controls the rotation of the servo motor 202 according to the position feedback information of the slide column 2031, ensuring that the flip plate 203 can be accurately flipped out of the storage box 201 and finally perpendicular to the ground, providing stable and reliable initial support for the landing of the drone.

[0088] At the same time, the terrain sensor installed on the landing gear support component begins to scan the flatness of the ground and transmits the data obtained from the scan to the control system. After receiving the ground flatness information from the terrain sensor, the control system immediately conducts in-depth analysis and processing of the data to construct a three-dimensional map model of the ground.

[0089] By carefully comparing and calculating the ground height information of the area corresponding to each support leg 2045 in the three-dimensional map model, the precise height value that needs to be adjusted for each support leg 2045 is obtained.

[0090] Subsequently, the control system sends a height adjustment command to the drive motor 2041, and the drive motor 2041 drives the support leg 2045 to perform a lifting operation in the housing 2043 according to the command. During the adjustment process, the control system adopts a feedback control strategy, and according to the actual position feedback information of the support leg 2045, the speed and direction of the drive motor 2041 are fine-tuned in real time to ensure that the drone 100 can always maintain a horizontal state.

[0091] In addition, the control system will also synchronously receive data transmitted by the drone attitude sensor to further verify and calibrate the horizontal state of the drone 100.

[0092] If the attitude sensor detects that the drone 100 is still tilted, the control system will finely adjust the height of the support legs 2045 again according to the degree of tilt until the drone 100 is in an ideal completely horizontal state.

[0093] When the terrain sensor detects that the ground is uneven, the control system will further determine the adjustment gear that needs to be adjusted based on the scanning data. The control system accurately calculates the angle direction and angle value of the adjustment gear according to the location and degree of the uneven ground and the contact angle between the support leg 2045 and the ground.

[0094] The control system sends a rotation command to the corresponding adjustment motor, and the adjustment motor drives the adjustment gear to rotate after receiving the command. Since the adjustment gear is meshed with the first output gear 2055, the second output gear 2056, and the third output gear 2057, the rotation of the adjustment gear drives the straight rod 2058 to move, and the straight rod 2058 drives the disc 206 to tilt through the hinge rod 2059, so that the disc 206 can fit the uneven ground tightly.

[0095] During the entire adjustment process, the control system will continuously and finely adjust the rotation of the adjustment motor according to the feedback information of the tilt angle of the disk 206 and the relative position relationship between each disk 206, to ensure that each disk 206 can fit closely to the ground and the center of gravity of all disks 206 can be maintained at the same horizontal height, thereby providing stable and balanced support for the drone 100 when landing, and effectively avoiding tilting, shaking or even imbalance of the drone 100 due to uneven ground.

[0096] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An adaptive landing gear for a drone, characterized in that: include Drones (100); A landing gear assembly (200) provided at the end of the drone (100), comprising a storage box (201) fixed to the end of the drone (100), wherein a servo motor (202) and a flip plate (203) are provided inside the storage box (201), wherein the servo motor (202) is used to drive the flip plate (203) to flip inside the storage box (201), and a support component is also provided at the end of the flip plate (203), wherein the support component is used to support the drone (100) to land; When the drone (100) is landing, the servo motor (202) pushes the flip plate (203) to flip on the inner wall of the storage box (201), so as to support the drone (100) on the ground. When the ground is uneven, the drive motor (2041) installed inside the support component drives the support legs (2045) to retract and adjust, so as to adapt to the height of the ground and keep the drone (100) in a horizontal state. When the drone (100) takes off, the drive motor (2041) drives the support legs (2045) to retract and the servo motor (202) drives the flip plate (203) to flip so that it flips and is retracted into the interior of the storage box (201).

2. The adaptive landing gear of a UAV as claimed in claim 1, characterized in that: The inner wall of the storage box (201) is provided with a mounting plate (2011), and the outer wall of the mounting plate (2011) is penetrated by a movement groove (2012) and an arc groove (2013), wherein the arc groove (2013) is connected with the movement groove (2012) to form a whole.

3. The adaptive landing gear of a UAV as claimed in claim 2, characterized in that: The outer wall of the flip plate (203) is provided with a sliding column (2031), and the end of the sliding column (2031) extends to the inner wall of the motion groove (2012) and slidably cooperates therewith; the inner wall of the flip plate (203) is provided with a connecting rod (2032), and the outer wall of the connecting rod (2032) is sleeved with a first movable plate (2033); the outer wall of the first movable plate (2033) is provided with a flip rod (2034); the axis of the servo motor (202) is provided with a second movable plate (2021), and the second movable plate (2021) is sleeved with the outer wall of the connecting rod (2032). The movable plate (2021) is sleeved on the outer wall of the flip rod (2034); the servo motor (202) drives the flip rod (2034) to move on the inner wall of the storage box (201) through the second movable plate (2021); when the flip rod (2034) moves, the sliding column (2031) is driven to slide on the inner wall of the motion groove (2012) through the first movable plate (2033); when the sliding column (2031) slides into the inner wall of the arc groove (2013), the flip plate (203) flips on the inner wall of the storage box (201).

4. The adaptive landing gear of a UAV as claimed in claim 3, characterized in that: The outer wall of the flip plate (203) is fixed with a mounting shell (204) and the end of the mounting shell (204) is provided with a receiving shell (2043); the inner wall of the receiving shell (2043) is movably provided with a supporting leg (2045); the outer wall of the supporting leg (2045) is provided with a limiting groove (2046); the limiting groove (2046) is slidably matched with a limiting plate (2044) provided on the inner wall of the receiving shell (2043); the driving motor (2041) is located inside the mounting shell (204) and a screw rod (2042) is connected at the axis of the driving motor (2041); the end of the screw rod (2042) extends to the inner wall of the supporting leg (2045); the driving motor (2041) drives the supporting leg (2045) to rise and fall on the inner wall of the receiving shell (2043) through the rotation of the screw rod (2042).

5. The adaptive landing gear of a UAV as claimed in claim 4, characterized in that: An adjusting member (205) is provided at the end of the supporting leg (2045), and the adjusting member (205) comprises a first adjusting gear (2051), a second adjusting gear (2052) and a third adjusting gear (2053). A fixing rod (2054) is provided at the axis of the adjusting member (205), and a first output gear (2055) is sleeved on the outer wall of the fixing rod (2054). The first output gear (2055) is meshed with the first adjusting gear (2051). A second output gear (2056) is sleeved on the outer wall of the first output gear (2055), and the second output gear (2056) is meshed with the second adjusting gear (2052). The outer wall of the output gear (2056) is sleeved with a third output gear (2057), and the third output gear (2057) is meshed with the third adjusting gear (2053). The outer walls of the first output gear (2055), the second output gear (2056), and the third output gear (2057) are respectively provided with straight rods (2058). The outer walls of the straight rods (2058) are hinged with hinged rods (2059), and one end of the hinged rod (2059) facing away from the straight rod (2058) is hinged with a disc (206). When the straight rod (2058) moves, it drives the hinged rod (2059) to move, so as to adjust the horizontal state of the disc (206) to adapt to the unevenness of the ground.

6. An adjustment system, applied to an adaptive landing gear of a UAV as claimed in any one of claims 1 to 5, characterized in that: include: Sensor module, control module and execution module; The sensor module is used to monitor the height between the drone (100) and the ground, and simultaneously detect the attitude information of the drone (100) and the flatness information of the landing ground below; The control module is used to receive and process the signal from the sensor module; The execution module controls the landing gear assembly (200) according to the signal sent by the control module.

7. The regulating system according to claim 6, characterized in that: The sensor module includes an altitude sensor, a drone attitude sensor, and a terrain sensor. The altitude sensor is used to monitor the distance between the drone and the ground in real time, and output a take-off signal when the altitude reaches a first threshold during the take-off phase, and output a landing signal when the altitude approaches the ground to a second threshold during the landing phase; The drone attitude sensor is used to detect the attitude information of the drone and transmit the information to the control module; The terrain sensor is used to detect the flatness of the ground and transmit the information to the control module.

8. The regulating system according to claim 7, characterized in that: The control module includes a central processing unit and a control strategy. The central processing unit is used to receive the signal from the sensor module and output a control instruction according to a preset strategy. The control strategy is integrated inside the central processing unit. At the same time, the control strategy includes a take-off control strategy and a landing control strategy. The take-off control strategy is used to send an instruction to the execution module to retract the landing gear when receiving the take-off signal. The landing control strategy is used to send an instruction to the execution module to deploy the landing gear and adjust the landing gear state according to the terrain sensor information when the landing signal is received.

9. The regulating system according to claim 8, characterized in that: The execution module comprises a servo motor (202), a drive motor (2041) and an adjustment motor; The servo motor (202) is used to receive instructions from the control module and drive the flip plate (203) to flip inside the storage box (201) during take-off and landing; The driving motor (2041) is used to receive instructions from the control module and drive the supporting leg (2045) to rise and fall in the accommodating shell (2043); The adjusting motor is used to control the rotation of the first adjusting gear (2051), the second adjusting gear (2052) and the third adjusting gear (2053) in the adjusting member (205), thereby adjusting the horizontal state of the disk (206).

10. The regulating system according to claim 9, characterized in that: The takeoff control strategy in the control module further includes: An initialization step, for initializing the communication connection with the servo motor (202) and the drive motor (2041) when the system is started, setting the initial parameters of the motor, and obtaining the initial height data of the height sensor; An altitude monitoring and judgment step is used to continuously receive altitude data from an altitude sensor during flight and trigger when the altitude exceeds a first threshold; A drive motor control instruction generating step, for sending a retraction instruction to the drive motor (2041), causing the support leg (2045) to retract upward within the accommodating shell (2043), and ensuring that the support leg (2045) is retracted to a predetermined position based on position feedback information of the support leg (2045); The servo motor control instruction generation step is used to send a flip instruction to the servo motor (202) to drive the flip plate (203) to be stored in the storage box (201).

11. The regulating system according to claim 10, characterized in that: The landing control strategy in the control module further includes: An altitude monitoring and judgment step, for continuously receiving altitude data from an altitude sensor during the landing phase, and triggering when the altitude is lower than a second threshold; A servo motor unfolding control step, for sending an unfolding instruction to the servo motor (202) to flip the flip plate (203) from a horizontal state to a vertical state; The terrain sensing and support leg height adjustment step is used to receive ground flatness information from a terrain sensor, analyze and calculate the height value that needs to be adjusted for each support leg (2045), send a height adjustment instruction to the drive motor (2041), and fine-tune the speed and direction of the drive motor (2041) through a feedback control strategy until the drone (100) is in a horizontal state; The adjustment member action control step is used to determine the adjustment gear that needs to be adjusted when the terrain sensor detects the unevenness of the ground, send a rotation instruction to the corresponding adjustment motor, and finely adjust the rotation of the adjustment motor according to the inclination angle feedback of the disk (206) and the relative position relationship with other disks.

Images