Sudden failure unmanned helicopter landing device and landing control system

Abstract

The invention discloses a sudden failure unmanned helicopter landing device and a landing control system, and belongs to the technical field of unmanned helicopter landing control. The sudden failure unmanned helicopter landing device comprises a main clamping assembly and an auxiliary clamping assembly, the main clamping assembly is used for clamping a pair of landing sledge bars at the bottom of an undercarriage in the vertical direction, and the auxiliary clamping assembly is used for clamping two pairs of supporting rods which are fixed to the two landing sledge bars and are symmetrically arranged front and back in the horizontal direction. And after the main clamping assembly clamps the two landing pinch bars, the auxiliary clamping assembly can clamp the two pairs of supporting rods from the front side and the rear side respectively, so that the undercarriage is in a stable posture capable of vertically landing, and a faulted helicopter is centralized and fixed. In addition, the landing control system can drive the landing device to automatically move towards the faulted helicopter, so that the faulted helicopter can be ready to land at any time, and the faulted helicopter can be automatically transferred to a designated place, which is convenient and fast.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned helicopter landing control, in particular to a sudden failure unmanned helicopter landing device and a landing control system. Background Art

[0002] Unmanned helicopters maintain flight stability by controlling the three attitude angles of the helicopter. The flight control system uses inertial measurement units (IMUs) such as gyroscopes and accelerometers to obtain the helicopter's attitude information in real time, and then generates corresponding torque to correct attitude deviations by adjusting the rotor pitch, tail rotor speed and other control surfaces according to preset attitude instructions. For example, when the helicopter sways and tilts, the system will automatically adjust the rotor pitch in different directions to generate a reverse rolling torque to restore the helicopter to a stable attitude.

[0003] However, in actual flight, once the above-mentioned flight control system of the unmanned helicopter fails suddenly, due to the lack of timely and active human intervention by the pilot, it is difficult for the faulty helicopter to land smoothly relying only on the programmed flight control system. Figure 1-3 The unmanned helicopter with a skid-type landing gear shown in the figure mainly includes a pair of landing skid rods arranged in parallel and two pairs of support rods fixed on the two landing skid rods. The two landing skid rods are arranged symmetrically on the left and right, and the two pairs of support rods are arranged symmetrically on the two landing skid rods. Like other unmanned helicopters, the most common failure of the skid-type unmanned helicopter in flight failure is the unstable posture of swaying and tilting. In this flight state, it is difficult for the skid landing gear to contact the ground smoothly and finally land stably. The skid landing gear only occupies a very small weight ratio of the entire unmanned helicopter, so it is almost impossible for the faulty unmanned helicopter to land smoothly. Instead, when landing, the fuselage will sway unsteadily, which is very likely to cause the propeller to touch the ground, or the tail and other parts to hit the ground, causing the helicopter to crash.

[0004] Therefore, for unmanned helicopters, while improving their own flight control systems, it is even more necessary to design a landing device and control system that can actively and forcibly control the helicopter to land, so that when necessary, active intervention can be made on faulty unmanned helicopters that meet the requirements to force a smooth landing. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] In view of the deficiencies in the prior art, the present invention provides a sudden failure unmanned helicopter landing device and a landing control system to solve the problem in the prior art that an unmanned helicopter that lands on a skid is difficult to land smoothly when a sudden failure causes the unmanned helicopter to present an unstable flight posture of swinging and tilting.

[0007] (II) Technical solution

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a sudden failure unmanned helicopter landing device, comprising a main clamping assembly and a secondary clamping assembly, the main clamping assembly is used to clamp a pair of landing skids at the bottom of the landing gear from a vertical direction, and the secondary clamping assembly is used to clamp two pairs of support rods fixed on the two landing skids and arranged symmetrically in front and back from a horizontal direction, and only after the main clamping assembly clamps the two landing skids, the secondary clamping assembly can clamp the two pairs of support rods from the front and back sides respectively, so that the landing gear is in a stable posture capable of vertical landing.

[0009] Furthermore, the main clamping assembly includes an upper clamping plate and a lower clamping plate which are arranged relatively to each other in an upper part, and a rotatable screw perpendicular to the screw is installed on the upper part of one end of the lower clamping plate, and a guide column perpendicular to the screw is fixed thereto, and one end of the upper clamping plate is threadedly sleeved on the screw, and one end of the upper clamping plate is also vertically slidably sleeved on the guide column, so that when the screw rotates, the upper clamping plate can move vertically relative to the lower clamping plate.

[0010] Furthermore, the auxiliary clamping assembly includes a first slide plate, a second slide plate, a threaded tube and a threaded rod. One end of the threaded tube is rotatably installed inside one end of the first slide plate, and the other end thereof is threadedly inserted with the threaded rod. One end of the threaded rod located outside the threaded tube is fixed on the second slide plate, so that when the threaded tube rotates, the two slide plates move closer to each other and clamp the two pairs of support rods.

[0011] Furthermore, a mounting hole is provided in the end of the upper clamping plate, and a worm wheel threadedly sleeved on the lead screw is coaxially provided in the mounting hole, and a pressure-bearing spring is coaxially installed on the end face of the worm wheel. A positioning tube is provided on the outer side of the pressure-bearing spring, one end of which is fixed to the end face of the worm wheel, and the other end of which is vertically slidably inserted in the inner wall of the mounting hole, so that the worm wheel and the upper clamping plate form a whole under normal conditions. When the upper clamping plate is pressed on the landing skid rod, the worm wheel rotates relative to the upper clamping plate under the guidance of the positioning tube, and the threaded tube rotates to make the two slides approach each other and clamp the two pairs of support rods; a worm shaft is coaxially fixed to the end of the threaded tube, and the worm shaft is rotatably installed in the upper clamping plate and is perpendicular to the length direction of the upper clamping plate. The worm shaft is always meshed and connected with the worm wheel.

[0012] Furthermore, two ends of the worm shaft are respectively fitted with a bearing, and the bearing is installed in the end of the upper clamping plate.

[0013] Furthermore, one end of the bottom end of the lead screw exposed at the bottom of the lower clamping plate is drivingly connected to a main shaft of a driving motor, and the driving motor is installed at the bottom of the lower clamping plate.

[0014] At the same time, the present invention also proposes a landing control system for an unmanned helicopter with a sudden failure, including the unmanned helicopter landing device mentioned above, as well as a hydraulic vertical telescopic arm, a hydraulic horizontal telescopic arm, a landing vehicle, and an automatic tracking system. The unmanned helicopter landing device with a sudden failure is installed on the hydraulic vertical telescopic arm through the hydraulic horizontal telescopic arm, and the hydraulic vertical telescopic arm is installed on the landing vehicle; the landing vehicle is installed with the automatic tracking system, and the automatic tracking system can capture the position information of the faulty unmanned helicopter and guide the landing vehicle to move toward the real-time position of the faulty unmanned helicopter. When the landing vehicle moves to the bottom of the faulty unmanned helicopter and the distance height maintained therefrom is within a set range, the landing vehicle stops and the hydraulic telescopic arm is raised to the corresponding height, so that the hydraulic horizontal telescopic arm can drive the main clamping assembly to clamp the two landing skid rods.

[0015] Furthermore, the automatic tracking system includes a radar system, which is used to measure the distance, relative speed and angle information between the aircraft and the vehicle by emitting electromagnetic waves and receiving echoes reflected by the faulty unmanned helicopter.

[0016] Furthermore, the automatic tracking system includes a vehicle-mounted camera and an image analysis and processing module. Through an image processing algorithm, the vehicle-mounted camera can capture the image features of the faulty unmanned helicopter and calculate the position of the faulty unmanned helicopter in the image, and determine the spatial position of the aircraft relative to the vehicle by combining the vehicle's own position information and the camera's calibration parameters.

[0017] Furthermore, the automatic tracking system includes a global satellite positioning system and a distance calculation module. The global satellite positioning system is used to obtain the precise position coordinates of the aircraft and the vehicle respectively. The faulty unmanned helicopter and the landing vehicle are equipped with high-precision GPS devices so that their respective position information can be transmitted to the landing vehicle on the ground in real time through a data link. The distance calculation module obtains the orientation and distance information of the aircraft relative to the vehicle by calculating the coordinate difference between the two.

[0018] (III) Beneficial effects

[0019] The present invention provides a landing device and a landing control system for an unmanned helicopter with sudden failure, which have the following beneficial effects: the landing device for an unmanned helicopter with sudden failure of the present invention utilizes two sets of clamping components to gradually and step by step force the skid of the unmanned helicopter to be fixed and controlled, which can not only correct the stable posture of the skid-type landing gear before landing, and then correct the posture of the unmanned helicopter, but also utilizes two sets of clamping components to gradually clamp and fix in steps and parts to avoid damage to the unmanned helicopter, making the clamping type stable landing operation with forced stable posture more feasible and convenient. At the same time, the present invention is also based on the landing control system formed by the landing device, which automatically tracks the position of the faulty unmanned helicopter, and fixes the landing gear within a reasonable height range, and then automatically realizes the righting and landing operations of the faulty unmanned helicopter. In addition, after landing, the landing control system can be directly used to transfer the faulty unmanned helicopter to a maintenance point or other designated location, avoiding the many complicated operations of additional configuration of transfer equipment and transfer installation, which is very convenient and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1-Figure 3 It is a structural schematic diagram of an existing unmanned helicopter with a skid-type landing gear;

[0021] Figure 4 A schematic top view of the unmanned helicopter landing device in the present invention when a sudden failure has just been inserted into the skid-type landing gear;

[0022] Figure 5 A schematic top view of the unmanned helicopter landing device in the present invention when a sudden failure occurs and the skid-type landing gear is finally clamped;

[0023] Figure 6 for Figure 4 A magnified view of the structure at center A;

[0024] Figure 7 A partial structural diagram of the connection between the threaded tube and the worm shaft;

[0025] Figure 8 for Figure 6 An end view of the mounting structure of the worm wheel and the worm shaft in the upper clamping plate;

[0026] Fig. 9 for Figure 8 An enlarged view of the meshing structure between the worm wheel and the worm shaft.

[0027] In the figure: landing skid rod 1, support rod 2, upper clamping plate 3, lower clamping plate 4, lead screw 5, worm gear 6, first slide plate 7, second slide plate 8, guide column 9, worm shaft 10, threaded tube 11, threaded rod 12, guide rod 13, bearing 14, pressure spring 15, positioning cylinder 16. DETAILED DESCRIPTION

[0028] This specification will clearly and completely express the technical solutions in the following examples based on the drawings of the embodiments of the present invention. The implementation methods described in this specification are only some of the embodiments of the present invention, not all of them. All other embodiments extended and inspired by those skilled in the art based on these embodiments in this application without creative work should fall within the scope of protection of the present invention.

[0029] like Figure 4 The unmanned helicopter landing device with sudden failure shown in the figure mainly comprises a main clamping assembly and a secondary clamping assembly, wherein the main clamping assembly is used to clamp a pair of landing skid bars 1 at the bottom of the landing gear from the vertical direction, that is, to clamp the landing skid bars 1 in the up-and-down relative directions; and the secondary clamping assembly is used to clamp two pairs of support bars 2 fixed on the two landing skid bars 1 and arranged symmetrically in the front and back directions from the horizontal direction, that is, it clamps the two pairs of support bars 2 from the front-and-back directions of the unmanned helicopter, and only after the main clamping assembly clamps the two landing skid bars 1, the secondary clamping assembly can clamp the two pairs of support bars 2 from the front and back sides respectively, so that the pair of landing skid bars 1 at the bottom of the landing gear are finally clamped, and at the same time, Figure 5 As shown, the front and rear two pairs of support rods 2 are also clamped, and the landing gear is now firmly fixed by the landing device, so that the landing gear can be in a stable posture for vertical landing. Even if the unmanned helicopter is in an uncertain posture of hovering and swinging, it can be clamped and fixed by the landing device, which makes it easy for the propeller to stop and the unmanned helicopter to land smoothly and steadily. The landing gear is gradually clamped and fixed in batches to minimize the impact and shaking of the faulty unmanned helicopter's landing gear when it is fixed.

[0030] Specifically, if Figure 4-5 As shown, the main clamping assembly in this embodiment includes an upper clamping plate 3 and a lower clamping plate 4 arranged relatively to each other, and the upper part of one end of the lower clamping plate 4 is specially installed with a rotatable lead screw 5 which is perpendicular to the lead screw 5, and the lead screw 5 can be driven to rotate by a motor or the like. At the same time, a guide column 9 which is perpendicular to the lead screw 5 is also fixed to the upper clamping plate 3 of the main clamping assembly, and the guide column 9 can be a rectangular column structure. One end of the upper clamping plate 3 is threadedly sleeved on the lead screw 5, and one end of the upper clamping plate 3 is also vertically slidably sleeved on the guide column 9, thereby forming a lead screw mechanism, which can make the upper clamping plate 3 move vertically relative to the lower clamping plate 4 when the lead screw 5 is driven by a driving device such as a motor to rotate, so as to realize the vertical clamping of a pair of landing skid rods 1 at the bottom of the landing gear.

[0031] On the basis of the above structure, in more detail, the auxiliary clamping assembly used therein includes a first slide plate 7, a second slide plate 8, a threaded tube 11 and a threaded rod 12, such as Figure 4-5One end of the threaded tube 11 is rotatably mounted in one end of the first slide 7, that is, the threaded tube 11 can rotate freely in the first slide 7 and does not separate from the first slide 7. Specifically, it can be as follows Figure 7 The structure shown enables the threaded tube 11 to move axially and synchronously with the first slide plate 7. A threaded rod 12 is inserted into the other end of the threaded tube 11 in a threaded manner. The end of the threaded rod 12 located outside the threaded tube 11 is fixed to the second slide plate 8 and fixed to the second slide plate 8 as a whole. When the threaded tube 11 rotates, the two slide plates can move closer to each other by virtue of the effect of the thread pair, thereby clamping the two pairs of support rods 2. In the above implementation structure, because the landing skid rod 1 and the support rod 2 are arranged in pairs, a rectangular strip-shaped structure or other rod-shaped, columnar structure can be used universally; of course, in order to improve stability, the slide plate can be adaptively designed to a corresponding shape according to the specific shape of the support rod 2 and the structural shape of the slide plate fixed to the landing skid rod 1, so as to ensure that the slide plate can fully cooperate with the support rod 2; and the clamp plate used above is also the same. In order to improve applicability, it can also be made into a corresponding shape to fully cooperate with the landing skid rod 1.

[0032] As an optimal implementation structure, after the main clamping assembly temporarily clamps the landing skid bar 1, the two slides move closer to each other to further clamp the front and rear two pairs of support rods 2, and the main clamping assembly moves together with one of the slides, thereby causing the main clamping assembly to gradually slide relative to the clamped landing skid bar 1. The specific design structure is as follows: Please refer to Figure 8-9 , there is a vertical mounting hole in the end of the upper clamping plate 3. This mounting hole is a cylindrical through hole, and has an inner expansion section with a larger diameter in the middle section (the number is not shown in the figure), or an annular groove in the middle hole wall of the mounting hole. During manufacturing and installation, a worm wheel 6 is coaxially provided in the mounting hole and is threadedly sleeved on the lead screw 5. The worm wheel 6 can be coaxially arranged in the above-mentioned inner expansion section. Specifically, the end face of the worm wheel 6 is coaxially abutted and installed with a pressure spring 15. During specific manufacturing, a wear-resistant washer (not shown in the figure) can also be connected to the end of the pressure spring 15. The wear-resistant washer is coaxially located on the outside of the lead screw so that it can be in relative rotational contact with the end face of the worm wheel 6 during operation. In the above structural design, the pressure spring 15 elastically compresses the worm wheel 6 axially in the mounting hole. Specifically, it can be a pressure spring 15, or as Fig. 9The two pressure-bearing springs 15 shown in the figure are installed in coordination with each other. The outer sides of these pressure-bearing springs 15 are provided with a positioning tube 16 with one end fixed to the end face of the worm gear 6 and the other end vertically slidingly inserted in the inner wall of the mounting hole. That is, the two positioning tubes 16 and the worm gear 6 are designed as an integral whole. In this way, under normal conditions, based on the cooperation of the above-mentioned pressure-bearing springs 15, the worm gear 6 and the upper clamping plate 3 are formed into a whole. That is, the structure under normal conditions is actually a threaded connection between the upper clamping plate 3 and the screw 5, which is directly realized by the threaded connection between the worm gear 6 and the screw 5, while the upper clamping plate 3 itself is not threadedly connected to the screw 5, and the above-mentioned mounting hole is not a threaded hole, but can be a bare hole. During use, when the upper clamping plate 3 is pressed against the landing skid rod 1, that is, when the lead screw 5 rotates until the upper clamping plate 3 moves down to contact the landing skid rod, the lead screw 5 can no longer drive the upper clamping plate 3 to move down, and continuing to rotate the lead screw 5 will cause the end face of the worm wheel 6 to overcome the elastic force of the corresponding pressure spring 15, breaking the temporary integrity of the worm wheel 6 and the upper clamping plate 3, so that the integral structure formed by the lead screw 5 and the worm wheel 6 at this time rotates in the above-mentioned mounting hole, that is, the worm wheel 6 rotates in the upper clamping plate 3 under the guidance of the positioning tube 16, and the rotation of the worm wheel 6 drives the worm shaft 10 to rotate, and then drives the threaded tube 11 to rotate, so that through the action of the threaded pair, the two slides can be brought closer to each other, thereby clamping the two pairs of support rods 2. In the above structural design, in order to simplify the structure and realize linkage, such as Figure 5 , Figure 6 and Figure 8 As shown, a worm shaft 10 is coaxially fixed at the end of the threaded tube 11, and the worm shaft 10 is rotatably mounted in the upper clamping plate 3 and is perpendicular to the length direction of the upper clamping plate 3. The worm shaft 10 is always meshed and connected with the worm wheel 6. During manufacturing, a bearing 14 can be installed at each end of the worm shaft 10, and the bearing 14 is installed in the end of the upper clamping plate 3.

[0033] It is worth mentioning that the transmission structure design described above has a particularly critical design principle in specific operation, that is, after the two clamps clamp a pair of landing skid rods 1 relatively up and down, the first slide plate 7 connected to the upper clamp plate 3 through the worm shaft 10 and the threaded tube 11 is more difficult to move than the second slide plate 8. Therefore, when the threaded tube 11 rotates, the second slide plate 8 moves first, that is, the threaded rod 12 is screwed into the threaded tube 11, and the threaded tube 11 almost keeps rotating in situ. When the second slide plate 8 contacts the corresponding two support rods 2, the first slide plate 7 will start to move toward the pair of support rods 2 it is facing, that is, move closer to the second slide plate 8. During this period, the friction and extrusion force between the two clamps and the landing skid rod 1 will be overcome, so that the two clamps follow the first slide plate 7 to move closer to the second slide plate 8 until the first slide plate 7 is squeezed and contacted with the corresponding pair of support rods 2, so that the main clamping assembly and the auxiliary clamping assembly can firmly fix the landing gear together. In addition to the aforementioned better linkage, another important design intention of this structural design is to fully realize the staged and gradual clamping and fixing of the landing gear by the main clamping assembly and the auxiliary clamping assembly, which can minimize the huge impact and shaking caused by a sudden clamping at one time, and play a protective role for the unmanned helicopter. In view of the above process, after the two clamping plates clamp a pair of landing skid rods 1 and straighten the helicopter, they also need to translate with the first slide plate 7, so wear-resistant rubber can be attached to the opposite side of the two clamping plates to avoid mechanical scratch damage to the landing skid rod 1 as much as possible; in addition, if necessary, a corresponding anti-slip rubber layer can also be provided on the side of the slide plate to squeeze and contact with the support rod 1.

[0034] In addition, in the above structure, in order to make the two slide plates slide as smoothly as possible, Figure 4-5 As shown, a guide rod 13 is provided, and the cross section of the guide rod 13 is preferably rectangular. One end of the guide rod 13 is fixed to the second slide plate 8, and the other end thereof axially slides through the first slide plate 7 and then passes through the upper clamping plate 3.

[0035] Specifically with regard to the design of the driving force, a person skilled in the art can adaptively connect the end of the screw 5 exposed at the bottom of the lower clamping plate 4 to the main shaft of a driving motor. The driving motor is installed at the bottom of the lower clamping plate 4. When the driving motor is started, the screw 5 rotates.

[0036] Based on the above embodiments, as another specific implementation method, a sudden failure unmanned helicopter landing control system is introduced in detail. This sudden failure unmanned helicopter landing control system includes the sudden failure unmanned helicopter landing device mentioned above, as well as a hydraulic vertical telescopic arm, a hydraulic horizontal telescopic arm, a landing vehicle, and an automatic tracking system. Specifically, the sudden failure unmanned helicopter landing device is installed on the hydraulic vertical telescopic arm through a hydraulic horizontal telescopic arm, and horizontal telescopic and vertical telescopic are realized respectively. The vertical telescopic is to allow the sudden failure unmanned helicopter landing device to enter a height that can clamp the faulty unmanned helicopter that is about to land, and the horizontal telescopic is to allow the landing device to extend horizontally onto the landing gear. For example, the two clamps and two slides mentioned above are all along the direction perpendicular to the landing skid bar 1, wherein the two clamps are respectively located above and below the landing skid bar 1, that is, the two clamps are respectively located on the upper and lower sides of the landing skid bar 1, and the two slides are located on the front and rear sides of the two pairs of support rods 2 and are simultaneously above the landing skid bar 1. In this embodiment, the hydraulic vertical telescopic arm needs to be installed on the landing vehicle, so that the landing vehicle can carry the entire landing device to the direction of the faulty unmanned helicopter flexibly and quickly, which is not only more automatic and convenient, but also can avoid operators getting too close and being accidentally injured. For large unmanned helicopters, the landing vehicle used can be a body structure such as a crane, that is, the vehicle itself also has an external support frame or four support legs to have a greater carrying capacity.

[0037] As a specific implementation, the above-mentioned landing vehicle is equipped with an automatic tracking system, which can capture the location information of the faulty unmanned helicopter and guide the landing vehicle to move toward the real-time location of the faulty unmanned helicopter. Specifically, when the landing vehicle moves to the bottom of the faulty unmanned helicopter and the height distance maintained therefrom is within a set range, the landing vehicle stops, and then the hydraulic telescopic arm rises to a corresponding height, so that the hydraulic horizontal telescopic arm can drive the main clamping assembly to clamp the two landing skids 1, thereby fixing the landing gear of the faulty unmanned helicopter.

[0038] As a specific embodiment, the automatic tracking system may include a radar system, which transmits electromagnetic waves and receives echoes reflected by the faulty unmanned helicopter, with the purpose of measuring the distance, relative speed and angle information between the aircraft and the vehicle, and determining the position parameter information. In addition, the automatic tracking system may also be an optical signal tracking system, that is, it includes a vehicle-mounted camera and an image analysis and processing module. Through the existing image processing algorithm, the vehicle-mounted camera can capture the image features of the faulty unmanned helicopter, and calculate the position of the faulty unmanned helicopter in the image, and determine the spatial position of the aircraft relative to the vehicle by combining the vehicle's own position information and the camera's calibration parameters. As another implementation means, the automatic tracking system mentioned above includes a global satellite positioning system and a distance calculation module, which is also a current technology means with more movement. The global satellite positioning system is used to obtain the precise position coordinates of the faulty unmanned helicopter and the landing vehicle. Specifically, a GPS device can be installed on the unmanned helicopter, and the high-precision GPS devices equipped on the faulty unmanned helicopter and the landing vehicle transmit their respective position information to the distance calculation module on the ground landing vehicle in real time through a data link. The distance calculation module calculates the coordinate difference between the two, and finally obtains the orientation and distance information of the aircraft relative to the vehicle.

[0039] It should be explained here that, in this specification, terms such as first and second are only used to distinguish one feature from another, and do not mean that there is a certain relationship or order between these technical features. The terms "including" and "comprising" refer to the inclusion of one or some technical means or features, specifically meaning that there are other existing or non-existing technical features that have not been included. The discussion in the above embodiments is only a representative example for the present invention, and is by no means the only restrictive constraint feature. A person of ordinary skill in the art should understand that, without departing from the technical content recorded in all the claims of this application, some simple substitutions and modifications can be made, thereby changing or becoming equivalent to other specific embodiments and application scenarios. However, no matter how the adaptability is changed, these embodiments will inevitably fall within the scope of protection of the present invention.

Claims

1. A sudden failure unmanned helicopter landing device, characterized in that: The invention comprises a main clamping assembly and a secondary clamping assembly, wherein the main clamping assembly is used to clamp a pair of landing skids (1) at the bottom of the landing gear from a vertical direction, and the secondary clamping assembly is used to clamp two pairs of support rods (2) fixed on the two landing skids (1) and arranged symmetrically in the front and rear direction from a horizontal direction, and only after the main clamping assembly clamps the two landing skids (1) can the secondary clamping assembly clamp the two pairs of support rods (2) from the front and rear sides respectively, so that the landing gear is in a stable posture capable of vertical landing.

2. The unmanned helicopter landing device for sudden failure according to claim 1, characterized in that: The main clamping assembly comprises an upper clamping plate (3) and a lower clamping plate (4) which are arranged relatively to each other in an upper and lower direction. A rotatable lead screw (5) is installed on the upper part of one end of the lower clamping plate (4) and a guide column (9) is fixed thereto which is perpendicular thereto. One end of the upper clamping plate (3) is threadedly sleeved on the lead screw (5), and one end of the upper clamping plate (3) is also vertically slidably sleeved on the guide column (9) so that when the lead screw (5) rotates, the upper clamping plate (3) can move vertically relative to the lower clamping plate (4).

3. The sudden failure unmanned helicopter landing device according to claim 2 is characterized in that: The auxiliary clamping assembly comprises a first slide plate (7), a second slide plate (8), a threaded tube (11) and a threaded rod (12); one end of the threaded tube (11) is rotatably mounted inside one end of the first slide plate (7); the other end of the threaded tube (11) is threadedly inserted with the threaded rod (12); one end of the threaded rod (12) located outside the threaded tube (11) is fixed to the second slide plate (8), so that when the threaded tube (11) rotates, the two slide plates move closer to each other and clamp the two pairs of support rods (2).

4. The sudden failure unmanned helicopter landing device according to claim 3 is characterized in that: The end of the upper clamping plate (3) is provided with a mounting hole, and a worm wheel (6) threadedly sleeved on the lead screw (5) is coaxially provided in the mounting hole, and a pressure-bearing spring (15) is coaxially installed on the end face of the worm wheel (6), and a positioning cylinder (16) is provided on the outer side of the pressure-bearing spring (15), one end of which is fixed to the end face of the worm wheel (6), and the other end of which is vertically slidably inserted into the inner wall of the mounting hole, so that the worm wheel (6) and the upper clamping plate (3) form a whole under normal conditions, and when the upper clamping plate (3) is pressed on the landing skid rod (1), the worm wheel (6) rotates relative to the upper clamping plate (3) under the guidance of the positioning cylinder (16), and the threaded tube (11) rotates to make the two slide plates approach each other, thereby clamping the two pairs of support rods (2); A worm shaft (10) is coaxially fixed to the end of the threaded tube (11). The worm shaft (10) is rotatably mounted in the upper clamping plate (3) and is perpendicular to the length direction of the upper clamping plate (3). The worm shaft (10) is always meshed and connected with the worm wheel (6).

5. The sudden failure unmanned helicopter landing device according to claim 4 is characterized in that: The two ends of the worm shaft (10) are respectively fitted with a bearing (14), and the bearing (14) is installed in the end of the upper clamping plate (3); it also includes a guide rod (13), one end of which is fixed on the second slide plate (8), and the other end of which axially slides through the first slide plate (7) and then slides through the upper clamping plate (3).

6. The sudden failure unmanned helicopter landing device according to claim 4, characterized in that: The end of the lead screw (5) that is exposed from the bottom of the lower clamping plate (4) is drivingly connected to the main shaft of a driving motor, and the driving motor is installed at the bottom of the lower clamping plate (4).

7. A sudden failure unmanned helicopter landing control system, characterized in that: The method comprises the unmanned helicopter landing device for sudden failure, a hydraulic vertical telescopic arm, a hydraulic horizontal telescopic arm, a landing vehicle, and an automatic tracking system as described in any one of claims 1 to 5, wherein the unmanned helicopter landing device for sudden failure is installed on the hydraulic vertical telescopic arm through the hydraulic horizontal telescopic arm, and the hydraulic vertical telescopic arm is installed on the landing vehicle; The automatic tracking system is installed on the landing vehicle, and the automatic tracking system can capture the position information of the faulty unmanned helicopter and guide the landing vehicle to move towards the real-time position of the faulty unmanned helicopter. When the landing vehicle moves to the position directly below the faulty unmanned helicopter and the height distance maintained therefrom is within a set range, the landing vehicle stops, and the hydraulic telescopic arm rises to a corresponding height, so that the hydraulic horizontal telescopic arm can drive the main clamping assembly to move to a position where the two landing skid rods (1) are clamped, and the auxiliary clamping assembly can clamp the two pairs of support rods (2).

8. The unmanned helicopter landing control system for sudden failure according to claim 7, characterized in that: The automatic tracking system includes a radar system, which is used to measure the distance, relative speed and angle information between the aircraft and the vehicle by emitting electromagnetic waves and receiving echoes reflected by the faulty unmanned helicopter.

9. The sudden failure unmanned helicopter landing control system according to claim 7, characterized in that: The automatic tracking system includes a vehicle-mounted camera and an image analysis and processing module. Through an image processing algorithm, the vehicle-mounted camera can capture the image features of a faulty unmanned helicopter and calculate the position of the faulty unmanned helicopter in the image. Combined with the vehicle's own position information and the camera's calibration parameters, the spatial position of the aircraft relative to the vehicle is determined.

10. The unmanned helicopter landing control system for sudden failure according to claim 7, characterized in that: The automatic tracking system includes a global satellite positioning system and a distance calculation module, wherein the global satellite positioning system is used to obtain the precise position coordinates of the aircraft and the vehicle respectively; The faulty unmanned helicopter and the landing vehicle are both equipped with high-precision GPS devices, so that their respective position information can be transmitted in real time to the distance calculation module on the landing vehicle on the ground through a data link. The distance calculation module obtains the direction and distance information of the aircraft relative to the vehicle by calculating the coordinate difference between the two.

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