Tailstock type unmanned aerial vehicle hangar and using method thereof

Abstract

The invention relates to the technical field of unmanned aerial vehicle hangars, in particular to a tailstock type unmanned aerial vehicle hangar and a using method thereof. The rotating device is located at the bottom of the parking chamber and used for changing the angle of the parking chamber, so that the direction of the parking chamber is consistent with the landing direction of the unmanned aerial vehicle; the parking room comprises a lifting platform, a hangar outer cover, a spare part storage mechanism, a homing device, an anti-toppling device, a charging module and a communication control module. The homing device comprises two homing devices, and the two homing devices are symmetrically arranged on the take-off and landing platform and used for homing the unmanned aerial vehicle located on the take-off and landing platform; the anti-toppling device is configured to clamp a foot stool of the unmanned aerial vehicle located in the clamping induction area so as to prevent the unmanned aerial vehicle from toppling. The anti-toppling hangar has the advantages that the homing device and the anti-toppling device form a dual anti-toppling guarantee when the hangar is subjected to external impact, and compared with a hangar without the anti-toppling device, the anti-toppling hangar is more diversified in use scene.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle hangars, and specifically provides a tail-seat type unmanned aerial vehicle hangar and a use method thereof. Background Art

[0002] In recent years, with the rapid development of drone-related technologies and the introduction and implementation of relevant national and local policies, the demand for drones has increased significantly. The mainstream and widely used drones on the market are mainly divided into three categories: rotary-wing drones, fixed-wing drones and tail-seat drones. However, most of the drone hangars on the market are for rotary-wing drones and conventional fixed-wing drones, and there are only a few hangars specifically for tail-seat drones.

[0003] Compared with traditional quadcopter and fixed-wing drones, tail-seat drones have unique advantages: they can complete vertical take-off and landing in restricted areas; they combine the vertical take-off advantages of rotors and the speed and range advantages of fixed wings. After entering the level flight mode, their unique aerodynamic shape design can support long-duration flight, and their application scenarios are more diverse.

[0004] Based on the unique take-off and landing mode and usage requirements of tail-seat UAVs, the hangar design needs to solve the following key issues: provide a reliable take-off and landing platform that is convenient for facing the wind to ensure the stability of the UAV during take-off and landing; set up an effective anti-dumping device to deal with possible external impacts; equip the charging module to provide a continuous energy supply for the UAV; and integrate the communication control module to achieve effective monitoring and management of the UAV. The realization of these functions will provide comprehensive protection for the work of tail-seat UAVs.

[0005] The Chinese patent announcement number is CN220483605U, and the announcement date is February 13, 2024. The utility model patent named "UAV hangar" discloses a UAV hangar whose docking platform can be linked to the hangar door through a connecting rod to flip outward to open or flip inward to close. It uses a device to drive the platform and the hangar door to link, simplifying the hangar structure and improving the take-off and landing efficiency, but the solution does not have the function of providing wireless charging for drones, and cannot provide energy support and guarantee for repeated operations of drones.

[0006] The Chinese patent announcement number is CN117529302A, and the announcement date is August 23, 2024. The invention patent named "UAV hangar, UAV take-off and landing system and vehicle" discloses a UAV hangar with a centering device, supporting wireless charging and capable of being used with a vehicle. However, this solution does not have a device for the UAV to maintain communication and information transmission with the outside, and cannot transmit the UAV status and command in time, and has certain deficiencies in terms of ease of operation. Summary of the invention

[0007] In order to solve the above problems, the present invention provides a tail-seat UAV hangar and a method of using the same, which can realize the smooth take-off and landing of the tail-seat UAV against the wind, and also has the advantages of providing energy supply for repeated operations of a single sortie of the UAV and realizing long-distance control.

[0008] To achieve the above-mentioned purpose, the technical solution created by the present invention is implemented as follows: a tail-seat UAV hangar, comprising: a parking room and a rotating device; the rotating device is located at the bottom of the parking room, and is used to change the angle of the parking room so that the direction of the parking room is consistent with the landing direction of the UAV; the parking room comprises: a take-off and landing platform, which is used to support the take-off and landing of the UAV; a hangar cover, which is arranged on the take-off and landing platform; a spare parts storage device, which is connected to the bottom surface of the take-off and landing platform; a first accommodating cavity is formed between the bottom surface of the take-off and landing platform and the top plate of the spare parts storage mechanism; the bottom plate of the spare parts storage device is connected to the rotating device; a homing device, which comprises two homing devices, which are symmetrically arranged on the take-off and landing platform, and are used to center the UAV located on the take-off and landing platform; an anti-dumping device, which is configured to clamp the tripod of the UAV located in the clamping sensing area to prevent the UAV from tipping over.

[0009] Furthermore, the hangar cover includes a hangar back panel, a hangar flap, two hangar side panels, two back panel servos and two flap servos; wherein, the hangar back panel is connected to one long side of the take-off and landing platform; the hangar flap is rotatably connected to the other long side of the take-off and landing platform; the two flap servos are arranged at intervals on the take-off and landing platform, and the output ends of the two flap servos are connected to the hangar flap; the two hangar side panels are rotatably connected to the two ends of the hangar back panel; the fixed ends of the two back panel servos are arranged on the hangar back panel, and the output end of each back panel servo is respectively connected to a corresponding hangar side panel for driving it to rotate outward.

[0010] Furthermore, the spare parts storage mechanism includes a rectangular cylinder, a bottom plate, a top plate and a drawer group; wherein the bottom plate is connected to the bottom surface of the rectangular cylinder; the top plate is connected to the inner wall of the rectangular cylinder and is located below the top surface of the rectangular cylinder, forming a second accommodating cavity with the bottom plate; and multiple drawers are located in the second accommodating cavity.

[0011] Furthermore, the take-off and landing platform is provided with a guide hole for the tripod of the UAV to pass through.

[0012] Furthermore, each homing device includes a lateral moving component, a longitudinal moving component and at least two sensors; wherein the lateral moving component includes a first linear slide and a moving frame; the first linear slide is connected to the hangar cover, and the moving frame is arranged on the first slider of the first linear slide, and the extension direction of the moving frame is perpendicular to the moving direction of the first slider; the longitudinal moving component is arranged on the moving frame, and the longitudinal moving component includes a second linear slide, a third linear slide, a first push plate and a second push plate; the second linear slide is located above the third linear slide, and the movement directions of the second linear slide and the third linear slide are opposite; the first push plate is arranged on the second slider of the second linear slide and is close to the first linear slide; the second push plate is arranged on the third slide of the third linear slide and is away from the first linear slide; the two sensors are respectively located on the lateral moving component and the longitudinal moving component.

[0013] Furthermore, the anti-dumping device includes a fixed column, a sensing device, a plurality of gripping servos and a plurality of gripping clamps corresponding to the plurality of gripping servos; the fixed column has a through hole extending along the axis, and a plurality of arc grooves are evenly distributed on the outer peripheral surface of the fixed column; the sensing device is arranged on the inner wall of the through hole; each gripping clamp servo is located in the corresponding arc groove, and each gripping clamp is connected to a gripping clamp servo; when the tripod of the UAV is located in the clamping sensing area of ​​the sensing device, each gripping clamp servo drives the gripping clamp to rotate inward and fasten the tripod.

[0014] Furthermore, the rotating device includes a base, a turntable and a signal receiving device; the turntable and the signal receiving device are both arranged on the base; the turntable is connected to the bottom plate of the spare parts storage mechanism; the signal receiving device is used to receive the heading information of the UAV; the turntable drives the hangar to rotate according to the heading information.

[0015] Furthermore, the tail-seat UAV hangar also includes a charging module; the charging module is located in the first accommodating cavity, and includes a charging integrated device, a charging cable and a first charging electrode; the first charging electrode is arranged on the inner wall of the through hole, located below the sensing device, and opposite to the second charging electrode located on the outer peripheral surface of the tripod near the bottom.

[0016] Furthermore, the tail-seat UAV hangar also includes a communication control module; the communication control module is located in the first accommodating cavity, and includes a communication integration device, a first communication cable and a first connector; the first structure is connected to the communication integration device through the first communication cable; the connector is located at the bottom of the through hole and is plugged into the second structure at the bottom of the tripod.

[0017] A method for using a tail-mounted UAV hangar is implemented based on the above-mentioned tail-mounted UAV hangar, and includes the following contents: S1: When the UAV is about to land near the hangar, the slewing device receives the UAV heading position signal, and the slewing device drives the parking room to rotate so that the direction of the parking room is consistent with the landing direction of the UAV.

[0018] S2: The hangar cover opens and the drone lands on the take-off and landing platform.

[0019] S3: The homing device identifies the position of the drone and pushes the drone to glide to the center position.

[0020] S4: The tripod of the UAV falls into the clamping sensing area of ​​the anti-dumping device, and the anti-dumping device clamps the tripod; at this time, the first charging electrode of the charging module in the hangar docks with the second charging electrode of the tripod, and charging begins; at the same time, the first connector of the communication control module in the hangar docks with the second connector of the tripod, and data transmission is performed.

[0021] Compared with the prior art, the present invention can achieve the following beneficial effects: The homing device and anti-dumping device of the present invention constitute a double anti-dumping protection for the hangar when it is subjected to external impact. Compared with the hangar without anti-dumping device, the present invention is more diversified in usage scenarios. When the hangar cover is in a closed state, it can play a role of dustproof and waterproof to a certain extent, thereby extending the service life of the hangar and the drone inside. In addition, the communication control module of the hangar can realize the remote transmission of drone information and the direct issuance of drone operation commands without the operator approaching or contacting the drone, which not only simplifies the operation process of the drone, but also greatly improves the convenience of drone operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the structure of a tail-seat UAV hangar provided according to an embodiment of the present invention; Figure 2 is a structural schematic diagram of a shutdown room in an open state provided according to an embodiment of the present invention; Figure 3 It is a structural schematic diagram of a drone, a spare parts storage mechanism, an anti-dumping device, a charging module, and a communication control module provided in an embodiment of the present invention; Figure 4 is a structural schematic diagram of a take-off and landing platform provided according to an embodiment of the present invention; Figure 5 is a structural schematic diagram of a spare parts storage mechanism provided according to an embodiment of the present invention; Figure 6 is a schematic structural diagram of a homing mechanism provided according to an embodiment of the present invention; Figure 7 is a schematic structural diagram of an anti-dumping device provided according to an embodiment of the present invention; Figure 8 is a schematic structural diagram of a first charging electrode, a first connector and an anti-dumping device provided according to an embodiment of the present invention; Fig. 9 It is a schematic diagram of the structure of a rotating device provided according to an embodiment of the present invention.

[0023] The reference numerals include: 1, parking room; 11, landing platform; 111, guide hole; 12, hangar cover; 121, hangar back panel; 122, hangar cover; 123, hangar side panel; 124, back panel servo; 125, cover servo; 13, spare parts storage mechanism; 131, rectangular cylinder; 132, bottom plate; 133, top plate; 134, drawer group; 14, homing mechanism; 141, lateral moving assembly; 1411, first linear slide; 1412, moving frame; 142, longitudinal moving assembly; 1421, second linear slide; 1422, third linear slide ;1423, first push plate;1424, second push plate;143, sensor;15, anti-dumping device;151, fixed column;152, induction device;153, gripping servo;154, gripping;155, through hole;156, arc groove;157, fixed plate;16, charging module;161, first charging electrode;17, communication control module;171, first connector;2, rotating device;21, base;22, turntable;23, signal receiving device;211, connecting plate;212, column;3, UAV;31, middle wing;32, outer wing;33, tripod. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the invention more clear, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the invention and do not constitute a limitation of the invention.

[0025] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0027] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0028] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0029] like Figures 1 to 9 As shown, an embodiment of the present invention provides a tail-seat type UAV hangar, comprising: a parking room 1 and a rotating device 2. The rotating device 2 is located at the bottom of the parking room 1, and is used to change the angle of the parking room 1 so that the direction of the parking room 1 is consistent with the landing direction of the UAV 3.

[0030] In this embodiment, the drone 3 is a tail-seat drone, including a middle wing 31, an outer wing 32, a tripod 33, a second charging electrode and a second connector.

[0031] The hangar room 1 includes a take-off and landing platform 11 , a hangar cover 12 , a spare parts storage mechanism 13 , a homing device, an anti-dumping device 15 , a charging module 16 and a communication control module 17 .

[0032] The take-off and landing platform 11 is used to support the take-off and landing of the UAV 3. A guide hole 111 is provided on the take-off and landing platform 11, and the guide hole 111 is used for the tripod 33 of the UAV 3 to pass through. When the UAV 3 is in the center position of the take-off and landing platform 11, the tripod 33 is located at the position of the guide hole 111 and passes through the guide hole 111. The structure of the guide hole 111 is a combination of a conical hole and a cylindrical hole. When the tripod 33 passes through the guide hole 111, the conical hole guides the tripod 33. In this embodiment, the number of the guide holes 111 is 4, which is equal to the number of the tripod 33.

[0033] The hangar cover 12 is arranged on the landing platform 11. The hangar cover 12 includes a hangar back plate 121, a hangar cover 122, two hangar side plates 123, two back plate steering gears 124 and two cover steering gears 125. The hangar back plate 121 and the hangar cover 122 are arranged on both sides of the landing platform 11 opposite to each other, and the hangar cover 122 is rotatably connected to one side of the landing platform 11. Two cover steering gears 125 are arranged on the landing platform 11 at intervals, and the output end of each cover steering gear 125 is connected to the hangar cover 122 through a first connecting rod.

[0034] In this embodiment, the hangar flap 122 is an L-shaped structure. One end of the hangar flap 122 is rotatably connected to the take-off and landing platform 11, and the other end of the hangar flap 122 is in contact with the hangar backboard 121. At this time, the hangar backboard 121 and the hangar flap 122 are in a closed state. When the flap servo 125 drives the hangar flap 122 to rotate outward, the hangar backboard 121 and the hangar flap 122 are in an open state. The flap servo 125 drives the hangar flap 122 to rotate between 0-90 degrees.

[0035] The two hangar side panels 123 are rotatably connected to the two ends of the hangar back panel 121. The fixed ends of the two back panel servos 124 are arranged on the hangar back panel 121, and the output end of each back panel servo 124 is connected to the corresponding hangar side panel 123 through the second connecting rod, so as to drive it to rotate outward. When the hangar side panels 123 are perpendicular to the hangar back panel 121, the hangar side panels 123 and the hangar back panel 121 are in a closed state. When the back panel servo 124 drives the hangar side panels 123 to rotate outward, so that the hangar back panel 121 and the hangar side panels 123 are located in the same plane, the hangar side panels 123 and the hangar back panel 121 are in an open state.

[0036] When the hangar back plate 121 and the hangar cover 122, the hangar side plate 123 and the hangar back plate 121 are all in a closed state, the hangar cover 12 is in a closed state (such as Figure 1As shown in FIG. 1 , the hangar cover 12 and the take-off and landing platform 11 form a closed space, which can be dustproof and waterproof to a certain extent. When the hangar back panel 121 and the hangar cover 122, the hangar side panel 123 and the hangar back panel 121 are all in the open state, the hangar cover 12 is in the open state (as shown in FIG. 1 ). Figure 2 As shown), at this time, the drone 3 can take off or land.

[0037] In other embodiments, in order to further improve the dustproof and waterproof effects, sealing strips are provided between the hangar back panel 121 and the hangar flap 122 and at the joints between the hangar side panels 123 and the hangar back panel 121, so that the enclosed space formed by the hangar cover 12 and the take-off and landing platform 11 can achieve a certain level of dustproof and waterproof performance.

[0038] Spare parts storage mechanism 13 such as Figure 5 As shown, it includes a rectangular cylinder 131, a bottom plate 132, a top plate 133 and a drawer group 134. Among them, the bottom plate 132 is connected to the bottom surface of the rectangular cylinder 131. The top plate 133 is connected to the inner wall of the rectangular cylinder 131 and is located below the top surface of the rectangular cylinder 131. The top surface of the rectangular cylinder 131 is connected to the bottom surface of the take-off and landing platform 11, and a first accommodating cavity is formed between the take-off and landing platform 11 and the top plate 133. A second accommodating cavity is formed between the top plate 133 and the bottom plate 132, and the drawer group 134 is located in the second accommodating cavity. The drawer group 134 stores spare parts of drones of different sizes, as well as supplies for drone 3 maintenance, hangar maintenance, etc. according to actual needs.

[0039] In this embodiment, a first connection block is provided at the upper outer edge of the rectangular cylinder 131, and a second connection block is provided at the outer edge of the bottom surface of the lifting and lowering platform 11 at a position corresponding to the first connection block. Bolts pass through the first connection block and the second connection block to fix the lifting and lowering platform 11 on the upper surface of the rectangular cylinder 131. The drawer group 134 includes two small drawers and one large drawer, and the large drawer is located between the two small drawers. The second accommodating cavity is divided into pull-out spaces adapted to the two small drawers and one large drawer by a partition plate, and the three pull-out spaces are parallel to each other. The two small drawers and one large drawer are connected to the pull-out spaces through a slide.

[0040] The homing device includes two homing mechanisms 14, which are symmetrically arranged on the take-off and landing platform 11 and are used to return the drone 3 located on the take-off and landing platform 11. Each homing mechanism 14 is as shown in FIG. Figure 6As shown, they all include a lateral moving component 141, a longitudinal moving component 142 and at least two sensors 143. Among them, the lateral moving component 141 includes a first linear slide 1411 and a moving frame 1412. In this embodiment, the first linear slide 1411 is connected to the hangar cover 12, and the moving frame 1412 is arranged on the first slider of the first linear slide 1411, and the extending direction of the moving frame 1412 is perpendicular to the moving direction of the first slider. In other embodiments, the first linear slide 1411 is connected to the take-off and landing platform 11.

[0041] The longitudinal moving assembly 142 is arranged on the moving frame 1412, and the longitudinal moving assembly 142 includes a second linear slide 1421, a third linear slide 1422, a first push plate 1423 and a second push plate 1424. The second linear slide 1421 is located above the third linear slide 1422, and the movement directions of the second linear slide 1421 and the third linear slide 1422 are opposite. The first push plate 1423 is arranged on the second slider of the second linear slide 1421 and is close to the first linear slide 1411; the second push plate 1424 is arranged on the third slider of the third linear slide 1422 and is away from the first linear slide 1411.

[0042] The two sensors 143 are respectively located on the transverse moving component 141 and the longitudinal moving component 142 .

[0043] When the drone 3 lands on the take-off and landing platform 11, the two homing mechanisms 14 respond simultaneously. The two sensors 143 in each homing mechanism 14 identify the landing position of the drone 3, and the first linear slide 1411 drives the moving frame 1412 to move to the landing position of the drone 3. Subsequently, the first push plate 1423 cooperates with the second push plate 1424 to clamp the wing 32 of the drone 3, and the homing mechanism 14 moves the drone 3 to the center position. The tripod 33 of the drone 3 passes through the guide hole 111 and enters the clamping sensing area of ​​the anti-dumping device 15.

[0044] The anti-dumping device 15 is located in the first accommodating cavity, and the anti-dumping device 15 is configured to clamp the tripod 33 of the drone 3 located in the clamping sensing area to prevent the drone 3 from tipping over. The anti-dumping device 15 includes a fixed column 151, a sensing device 152, a plurality of gripping servos 153, and a plurality of gripping clamps 154 corresponding to the plurality of gripping servos 153. The fixed column 151 is connected to the top plate 133 of the spare parts storage mechanism 13. The fixed column 151 has a through hole 155 that passes through along the axis, and a plurality of arc grooves 156 and avoidance grooves are evenly distributed on the outer peripheral surface of the fixed column 151. Fixed plates 157 are evenly distributed on the outer peripheral surface of the fixed column 151, and the position of the fixed plate 157 is adapted to the position of the mounting portion of the gripping servos 153.

[0045] The sensing device 152 is arranged on the inner wall of the through hole 155. Each gripping servo 153 is located in the corresponding arc groove 156, each gripping clip 154 ​​is connected to a gripping servo 153, and each gripping clip 154 ​​is located in the avoidance groove. The clamping end of the gripping clip 154 ​​is provided with an arc portion adapted to the outer contour of the tripod 33 to ensure that the gripping clip 154 ​​and the tripod 33 fit tightly. When the tripod 33 is located in the clamping sensing area of ​​the sensing device 152, after a preset delay, the gripping servo 153 drives each gripping clip 154 ​​to rotate inward, so that the arc portion fastens the tripod 33. The through hole of the fixing column 151 limits the movement of the tripod 33 in the horizontal direction, and the gripping clip 154 ​​limits the movement of the tripod 33 in the vertical direction.

[0046] In this embodiment, when the tripod 33 extends into the through hole 155, the area where the signal emitted by the sensing device 152 is blocked is defined as the clamping sensing area. The preset delay refers to the time period from when the tripod 33 enters the clamping sensing area until the tripod 33 penetrates into the bottom of the through hole of the fixing column 151.

[0047] The charging module 16 is located in the first accommodating cavity, and includes a charging integrated device, a charging cable, and a first charging electrode 161. The charging integrated device is arranged on the top plate 133, one end of the charging cable is connected to the charging integrated device, and the other end of the charging cable is connected to the first charging electrode 161. The first charging electrode 161 is arranged on the inner wall of the through hole of the fixing column 151 and is located below the induction device 152. When the tripod 33 of the drone 3 extends into the bottom of the through hole 155, the first charging electrode 161 is opposite to the second charging electrode located on the outer peripheral surface of the tripod 33 near the bottom, and the drone 3 is charged by physical contact or electromagnetic induction.

[0048] The communication control module 17 is located in the first accommodating cavity, and includes a communication integration device, a first communication cable, a second communication cable, and a first connector 171. The communication integration device is arranged on the top plate 133, one end of the second communication cable is connected to the communication integration device, and the other end of the second communication cable passes through the hangar cover 12 to connect with the external equipment of the hangar. The first connector 171 is connected to the communication integration device through the first communication cable, and the first connector 171 is located at the bottom of the through hole 155 of the fixing column 151, and is plugged into the second connector at the bottom of the tripod 33.

[0049] The rotating device 2 is located at the bottom of the parking room 1 and is used to change the angle of the parking room 1 so that the direction of the parking room 1 is consistent with the landing direction of the drone 3.

[0050] Rotating device 2 Fig. 9As shown, it includes a base 21, a turntable 22 and a signal receiving device 23. The turntable 22 and the signal receiving device 23 are both installed on the base 21. The base 21 includes a connecting plate 211 and four columns 212, and the four columns 212 are located at the four corners of the connecting plate 211. The turntable 22 is located on the connecting plate 211 and is connected to the bottom plate 132 of the spare parts storage mechanism 13. The signal receiving device 23 is connected to one of the four columns 212 through a connecting piece, and is used to receive the heading information of the drone 3. In this embodiment, the turntable 22 is a servo motor turntable, which drives the parking room 1 to rotate according to the heading information of the drone 3 received by the signal receiving device 23, so as to achieve the direction adjustment of the parking room 1.

[0051] A method for using a tail-mounted UAV hangar is implemented based on the above-mentioned tail-mounted UAV hangar, and includes the following contents: S1: When the UAV 3 is about to land near the hangar, the slewing device 2 receives the heading position signal of the UAV, and the slewing device 2 drives the parking room 1 to rotate so that the direction of the parking room 1 is consistent with the landing direction of the UAV.

[0052] Specifically, the turntable 22 drives the parking room 1 to rotate according to the heading position signal of the drone 3 received by the signal receiving device 23, so that the direction of the parking room 1 is consistent with the heading of the drone 3.

[0053] S2: The flap servo 125 drives the hangar flap 122 to rotate outwards, and at the same time, the back panel servo 124 drives the hangar side panels 123 to rotate outwards, so that the hangar cover 12 is in an open state, and the UAV 3 lands on the take-off and landing platform 11.

[0054] S3: The homing device identifies the position of the UAV 3 and pushes the UAV 3 to glide to the center position.

[0055] Specifically, the two sensors 143 identify the landing position of the drone 3, and the first linear slide 1411 drives the moving frame 1412 to move to the landing position of the drone 3. Subsequently, the first push plate 1423 cooperates with the second push plate 1424 to clamp the wing 32 of the drone 3, and the homing mechanism 14 moves the drone 3 to the homing position. The tripod 33 of the drone 3 passes through the guide hole 111 and enters the clamping sensing area of ​​the anti-dumping device 15.

[0056] S4: The tripod 33 of the drone 3 falls into the clamping sensing area of ​​the anti-dumping device 15. After a preset delay, each gripping servo 153 drives its own gripping clamp 154 ​​to rotate inward, so that the gripping clamp 154 ​​fastens the tripod 33. At this time, the first charging electrode 161 of the charging module 16 docks with the second charging electrode on the tripod 33, and the drone 3 is charged through physical contact or electromagnetic induction. At the same time, after the first connector 171 of the communication control module 17 docks with the second connector on the tripod 33, data transmission is performed.

[0057] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A tail-seat UAV hangar, characterized in that: include: A parking room and a rotating device; the rotating device is located at the bottom of the parking room and is used to change the angle of the parking room so that the direction of the parking room is consistent with the landing direction of the drone; The parking room comprises: A take-off and landing platform, which is used to support the take-off and landing of the UAV; A hangar cover, wherein the hangar cover is arranged on the take-off and landing platform; A spare parts storage device, the spare parts storage device is connected to the bottom surface of the lifting and lowering platform; a first accommodating cavity is formed between the bottom surface of the lifting and lowering platform and the top plate of the spare parts storage mechanism; the bottom plate of the spare parts storage device is connected to the rotating device; A homing device, the homing device comprising two homing mechanisms, the two homing mechanisms being symmetrically arranged on the take-off and landing platform, and being used to center the UAV located on the take-off and landing platform; The anti-dumping device is configured to clamp the tripod of the drone within the clamping sensing area to prevent the drone from tipping over.

2. The tail-mounted UAV hangar according to claim 1, characterized in that: The hangar cover includes a hangar back plate, a hangar flap, two hangar side plates, two back plate steering gears and two flap steering gears; The hangar back plate and the hangar cover are arranged on both sides of the take-off and landing platform opposite to each other, and the hangar cover is rotatably connected to one side of the take-off and landing platform; two cover servos are arranged on the take-off and landing platform at intervals, and the output ends of the two cover servos are connected to the hangar cover through a first connecting rod; The two hangar side panels are rotatably connected to the two ends of the hangar back panel respectively; the fixed ends of the two back panel servos are arranged on the hangar back panel, and the output end of each back panel servo is connected to the corresponding hangar side panel through a second connecting rod, so as to drive it to rotate outward.

3. The tail-mounted UAV hangar according to claim 1, characterized in that: The spare parts storage mechanism includes a rectangular cylinder, a bottom plate, a top plate and a drawer group; wherein the bottom plate is connected to the bottom surface of the rectangular cylinder; the top plate is connected to the inner wall of the rectangular cylinder and is located below the top surface of the rectangular cylinder, forming a second accommodating cavity between the top plate and the bottom plate; and a plurality of drawers are located in the second accommodating cavity.

4. The tail-mounted UAV hangar according to claim 1, characterized in that: The take-off and landing platform is provided with a guide hole for the tripod of the UAV to pass through.

5. The tail-mounted UAV hangar according to claim 1, characterized in that: Each of the homing devices includes a lateral movement component, a longitudinal movement component and at least two sensors; The lateral moving assembly includes a first linear slide and a moving frame; the first linear slide is connected to the hangar cover, the moving frame is arranged on the first slider of the first linear slide, and the extending direction of the moving frame is perpendicular to the moving direction of the first slider; The longitudinal moving assembly is arranged on the moving frame, and the longitudinal moving assembly includes a second linear slide, a third linear slide, a first push plate and a second push plate; the second linear slide is located above the third linear slide, and the movement directions of the second linear slide and the third linear slide are opposite; the first push plate is arranged on the second slider of the second linear slide and is close to the first linear slide; the second push plate is arranged on the third slider of the third linear slide and is away from the first linear slide; The two sensors are respectively located on the lateral moving component and the longitudinal moving component, and are used to sense the position of the UAV on the take-off and landing platform.

6. The tail-mounted UAV hangar according to claim 1, characterized in that: The anti-dumping device comprises a fixed column, a sensing device, a plurality of gripping servos and a plurality of gripping clips corresponding to the plurality of gripping servos; the fixed column has a through hole penetrating along the axis, and a plurality of arc grooves are evenly distributed on the outer peripheral surface of the fixed column; the sensing device is arranged on the inner wall of the through hole; each of the gripping servos is located in the corresponding arc groove, and each of the gripping clips is connected to one of the gripping servos; When the tripod of the UAV is located in the clamping sensing area of ​​the sensing device, each of the gripping servos drives the gripping clamp to rotate inwards and fasten the tripod.

7. The tail-mounted UAV hangar according to claim 1, characterized in that: The rotating device includes a base, a turntable and a signal receiving device; the turntable and the signal receiving device are both arranged on the base; the turntable is connected to the bottom plate of the spare parts storage mechanism; the signal receiving device is used to receive the heading information of the UAV; the turntable drives the hangar to rotate according to the heading information.

8. The tail-mounted UAV hangar according to claim 6, characterized in that: The tail-seat UAV hangar also includes a charging module; the charging module is located in the first accommodating cavity, and includes a charging integrated device, a charging cable and a first charging electrode; the first charging electrode is arranged on the inner wall of the through hole, and is located below the sensing device.

9. The tail-mounted UAV hangar according to claim 8, characterized in that: The tail-seat UAV hangar also includes a communication control module; the communication control module is located in the first accommodating cavity, and includes a communication integration device, a first communication cable and a first connector; the first connector is connected to the communication integration device through the first communication cable; the connector is located at the bottom of the through hole.

10. A method for using a tail-mounted UAV hangar, implemented based on the tail-mounted UAV hangar according to any one of claims 1 to 9, characterized in that: It includes the following: S1: When the UAV is about to land near the hangar, the rotating device receives the UAV heading position signal, and the rotating device drives the parking room to rotate so that the direction of the parking room is consistent with the landing direction of the UAV; S2: the hangar cover is opened, and the UAV lands on the take-off and landing platform; S3: The homing device identifies the position of the UAV and pushes the UAV to glide to the center position; S4: The tripod of the UAV falls into the clamping sensing area of ​​the anti-dumping device. After a preset delay, the anti-dumping device clamps the tripod. At this time, the first charging electrode of the charging module in the hangar docks with the second charging electrode of the tripod to start charging. At the same time, the first connector of the communication control module in the hangar docks with the second connector of the tripod to perform data transmission.

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