A sudden failure unmanned helicopter landing device and landing control system

Abstract

The application discloses a sudden failure unmanned helicopter landing device and a landing control system, and belongs to the technical field of unmanned helicopter landing control; wherein 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 skid rods at the bottom of an undercarriage from a vertical direction; the auxiliary clamping assembly is used for clamping two pairs of support rods arranged in a front-rear symmetry mode fixed on the two landing skid rods from a horizontal direction; and after the main clamping assembly clamps the two landing skid rods, the auxiliary clamping assembly can clamp the two pairs of support rods from the front and rear sides respectively, so that the undercarriage is in a stable posture capable of vertical landing, and the faulty helicopter is righted and fixed. In addition, the landing control system of the application can automatically move towards the faulty helicopter with the landing device, so that the faulty helicopter is ready to land at any time, and the faulty helicopter can be automatically transferred to a designated place, which is convenient and fast.

Description

TECHNICAL FIELD

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

[0002] The unmanned helicopter keeps flight stable by controlling three attitude angles of the helicopter, and the flight control system thereof acquires attitude information of the helicopter in real time by using inertial measurement units (IMU) such as gyroscopes and accelerometers, and then generates corresponding moments by adjusting control surfaces such as pitch of rotors and rotating speed of tail rotors to correct attitude deviation according to preset attitude instructions. For example, when the helicopter appears to be tilted, the system will automatically adjust the pitch of rotors in different directions to generate reverse rolling moments, so that the helicopter returns to a stable attitude.

[0003] However, in actual flight, once the flight control system of the unmanned helicopter suddenly fails, due to lack of timely and active intervention by the pilot, it is difficult for the failed helicopter to land smoothly only by relying on the programmed flight control system, for example Figures 1-3 The unmanned helicopter shown in the figure is of a skid type landing gear, and the skid type landing gear of the unmanned helicopter mainly includes a pair of parallel arranged landing skid rods and two pairs of support rods fixed on the landing skid rods. The two landing skid rods are arranged symmetrically left and right, and the two pairs of support rods are arranged symmetrically front and back 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 attitude of tilting, in this flight state, the skid landing gear is difficult to stably contact the ground and finally land stably, and the skid landing gear only occupies a very small weight ratio of the entire unmanned helicopter, so it is more difficult for the failed unmanned helicopter to land smoothly, but the tilting of the fuselage during landing may cause the propeller to touch the ground or the tail to collide with the ground, resulting in the helicopter crashing.

[0004] Therefore, for the unmanned helicopter, it is necessary to design a landing device and control system that can actively and forcibly control the landing of the helicopter, so as to actively intervene in the failed unmanned helicopter under necessary conditions and forcibly land stably. SUMMARY

[0005] (1) Technical problems solved

[0006] In view of the deficiencies of the prior art, the present application provides a sudden failure unmanned helicopter landing device and landing control system to solve the problem that the skid landing unmanned helicopter is difficult to land stably when it suddenly fails and presents an unstable flight attitude of tilting.

[0007] (II) Technical Solution

[0008] To achieve the above object, the present application provides the following technical solution: 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 skid rods at the bottom of the landing gear from the vertical direction, and the secondary clamping assembly is used to clamp two pairs of support rods arranged in front and back symmetry fixed on the two landing skid rods from the horizontal direction, and the secondary clamping assembly can clamp the two pairs of support rods from the front and back sides respectively after the main clamping assembly clamps the two landing skid rods, so that the landing gear is in a stable attitude that can land vertically.

[0009] Further, the main clamping assembly comprises an upper clamping plate and a lower clamping plate arranged oppositely, a vertical rotatable lead screw is installed on the upper part of one end of the lower clamping plate, and a vertical guide column is fixed, one end of the upper clamping plate is threadedly connected to the lead screw, and the other end of the upper clamping plate is vertically and slidingly connected to the guide column, so that when the lead screw rotates, the upper clamping plate can move vertically and close to the lower clamping plate.

[0010] Further, the secondary clamping assembly comprises a first sliding plate, a second sliding plate, a threaded tube and a threaded rod, one end of the threaded tube is rotatably installed in one end of the first sliding plate, the other end of the threaded tube is threadedly connected to the threaded rod, and one end of the threaded rod fixed to the second sliding plate, so that when the threaded tube rotates, the two sliding plates close to each other to clamp the two pairs of support rods.

[0011] Further, the end of the upper clamping plate has a mounting hole, a worm gear is coaxially arranged in the mounting hole and threadedly connected to the lead screw, a pressure spring is coaxially arranged on the end face of the worm gear, one end of the pressure spring is fixed to the end face of the worm gear, and the other end is vertically and slidingly inserted into the positioning cylinder in the inner wall of the mounting hole, so that in the normal state, the worm gear and the upper clamping plate form a whole, when the upper clamping plate is pressed on the landing skid rod, the worm gear rotates relative to the upper clamping plate under the guidance of the positioning cylinder, and the threaded tube rotates to make the two sliding plates close to each other to clamp the two pairs of support rods; a section of worm shaft is coaxially fixed to the end of the threaded tube, the worm shaft is rotatably installed in the upper clamping plate and perpendicular to the length direction of the upper clamping plate, and the worm shaft is always connected with the worm gear.

[0012] Further, a bearing is installed on each end of the worm shaft.

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

[0014] Meanwhile, the application also provides a sudden failure unmanned helicopter landing control system, which comprises the sudden failure unmanned helicopter landing device, a hydraulic vertical telescopic arm, a hydraulic horizontal telescopic arm, a landing vehicle and an automatic tracking system.

[0015] Further, the automatic tracking system comprises a radar system, which measures the distance, relative speed and angle information between the aircraft and the vehicle by emitting electromagnetic waves and receiving the echo reflected by the sudden failure unmanned helicopter.

[0016] Further, the automatic tracking system comprises a vehicle-mounted camera and an image analysis processing module, which can capture the image features of the sudden failure unmanned helicopter and calculate the position of the sudden failure unmanned helicopter in the image by means of an image processing algorithm, and determine the spatial position of the aircraft relative to the vehicle in combination with the position information of the vehicle itself and the calibration parameters of the camera.

[0017] Further, the automatic tracking system comprises a global satellite positioning system and a distance calculation module, the global satellite positioning system being used to obtain the accurate position coordinates of the aircraft and the vehicle; the sudden failure unmanned helicopter and the landing vehicle are both equipped with high-precision GPS devices, so that the respective position information can be transmitted to the landing vehicle on the ground in real time through a data link, and the distance calculation module obtains the position and distance information of the aircraft relative to the vehicle by calculating the coordinate difference between the two.

[0018] (Three) beneficial effects

[0019] The present invention provides a landing device and landing control system for an unmanned helicopter with sudden failures, which has the following beneficial effects: the landing device for an unmanned helicopter with sudden failures of the present invention utilizes two sets of clamping components to gradually and step-by-step control the skid of the unmanned helicopter for forced fixation, 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 also automatically tracks the position of the faulty unmanned helicopter based on the landing control system formed by the landing device, 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 need for additional configuration of transfer equipment and many complicated operations of transfer installation, which is very convenient and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figures 1-3 The figure is a schematic diagram of the structure of an existing unmanned helicopter with a skid-type landing gear;

[0021] Figure 4 This is a schematic top view of the unmanned helicopter landing device in the present invention when it has just entered the skid-type landing gear;

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

[0023] Figure 6 for Figure 4 A magnified view of the structure at point 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 Schematic diagram of the end face of the installation structure of the worm wheel and worm shaft in the upper clamping plate;

[0026] Figure 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, screw 5, worm gear 6, first slide 7, second slide 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 embodiments 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 derived from these embodiments in this application by persons of ordinary skill in the art without any creative effort should fall within the scope of protection of the present invention.

[0029] like Figure 4 The landing device of an unmanned helicopter with a sudden failure shown in the figure mainly includes a main clamping assembly and a secondary clamping assembly. The main clamping assembly here is used to clamp a pair of landing skid bars 1 at the bottom of the landing gear from the vertical direction, that is, clamp the landing skid bars 1 in the upper and lower 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 in a front-to-back symmetrical arrangement from the horizontal direction, that is, it clamps the two pairs of support bars 2 from the front-to-back direction of the unmanned helicopter, and only after the main clamping assembly clamps the two landing skid bars 1 can the secondary clamping assembly 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 easier for the propeller to stop and the unmanned helicopter to land smoothly and steadily. The device is gradually clamped and fixed in stages to minimize the impact and shaking of the landing gear of the faulty unmanned helicopter when it is fixed.

[0030] Specifically, if Figures 4-5 As shown, the main clamping assembly in this embodiment includes an upper clamping plate 3 and a lower clamping plate 4 arranged relative to each other in an upper and lower direction. The upper portion of one end of the lower clamping plate 4 is specially equipped with a rotatable screw 5 perpendicular to the lower clamping plate 4. The screw 5 can be driven by a motor or the like to rotate. At the same time, a guide column 9 perpendicular to the upper clamping plate 3 of the main clamping assembly is also fixed thereto. The guide column 9 can be a rectangular column structure. One end of the upper clamping plate 3 is threadedly mounted on the screw 5, and one end of the upper clamping plate 3 is also vertically slidably mounted on the guide column 9, thereby forming a screw mechanism. When the screw 5 is driven by a driving device such as a motor and rotates, the upper clamping plate 3 can move vertically relative to the lower clamping plate 4, thereby achieving vertical clamping of the 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 includes a first slide 7, a second slide 8, a threaded tube 11 and a threaded rod 12, as shown in FIG. Figures 4-5One end of the threaded pipe 11 is rotatably installed in one end of the first slide plate 7, that is, the threaded pipe 11 can freely rotate in the first slide plate 7 and cannot be separated from the first slide plate 7. Specifically, it can be as shown in the structure Figure 7 so that when the threaded pipe 11 moves axially, the first slide plate 7 moves linearly synchronously. The other end of the threaded pipe 11 is threadedly inserted with a threaded rod 12, which is fixed to the second slide plate 8 at one end outside the threaded pipe 11 and is integrated with the second slide plate 8. When the threaded pipe 11 rotates, the two slide plates can be close to each other to clamp the two pairs of support rods 2 by the action of the threaded pair. In the above implementation structure, because the landing skid rod 1 and the support rod 2 are arranged in pairs, rectangular strip-shaped structures or other rod-shaped, column-shaped structures can be used universally; of course, in order to improve stability, the slide plate can be adaptively designed to correspond to the specific shape of the support rod 2 and the structure shape of the slide plate and the landing skid rod 1 to ensure that the slide plate can fully contact the support rod 2; and the above clamping plate can also be made to correspond to the shape to fully contact the landing skid rod 1.

[0032] As an optimal implementation structure, after temporarily clamping the landing skid rod 1, the main clamping assembly will move with one of the slide plates during the process of moving the two slide plates to close to each other and further clamp the front and rear two pairs of support rods 2, thereby causing the main clamping assembly to gradually slide relative to the landing skid rod 1 that has been clamped. The specific design structure is as follows: please refer to Figures 8-9 The end of the slide plate 3 has a vertical mounting hole, which is a cylindrical through hole with a larger inner expansion hole section (not shown in the figure) at the middle section, or an annular groove on the inner hole wall of the mounting hole. During installation, a threaded sleeve on the lead screw 5 is coaxially provided in the mounting hole, and the worm wheel 6 can be coaxially arranged in the above-mentioned inner expansion hole section. Specifically, the end face of the worm wheel 6 is coaxially provided with a pressure spring 15, and a wear-resistant washer (not shown in the figure) can be connected to the end of the pressure spring 15 during manufacturing. The wear-resistant washer is coaxially located on the outside of the lead screw to be in relative rotation with the end face of the worm wheel 6 during work. In the above structure design, the pressure spring 15 elastically presses the worm wheel 6 axially in the mounting hole, which can be a pressure spring 15, or as Figure 9The two pressure springs 15 shown opposite each other are fitted and installed, and the outer side of the pressure springs 15 is provided with a positioning cylinder 16 fixed at one end of the end face of the worm wheel 6 and vertically slidingly inserted into the inner wall of the mounting hole, that is, the two positioning cylinders 16 and the worm wheel 6 are designed as a whole, so that under normal circumstances, based on the cooperation of the above-mentioned pressure springs 15, the worm wheel 6 and the upper clamping plate 3 form a whole, that is, the structure under normal circumstances is actually the threaded connection between the upper clamping plate 3 and the lead screw 5, which is directly realized through the threaded connection of the worm wheel 6 and the lead screw 5, and the upper clamping plate 3 itself is not threaded with the lead screw 5, and the above-mentioned mounting hole is not a threaded hole, but can be a light hole. In the use process, when the upper clamping plate 3 is pressed on the landing skid rod 1, that is, when the lead screw 5 rotates to the lower part of the upper clamping plate 3 to contact the landing skid rod, the lead screw 5 cannot drive the upper clamping plate 3 to move downward any more, 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, break the temporary integrity of the worm wheel 6 and the upper clamping plate 3, so that the whole structure formed by the lead screw 5 and the worm wheel 6 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 cylinder 16, the worm wheel 6 rotates to drive the worm shaft 10 to rotate, and then drive the threaded tube 11 to rotate, so that through the action of the threaded pair, the two sliding plates can be brought together to clamp the two pairs of support rods 2. In the above structure design, in order to simplify the structure and realize linkage, as shown in Figure 5 、 Figure 6 and Figure 8 , a section of worm shaft 10 is coaxially fixed at the end of the threaded tube 11, the worm shaft 10 is rotatably installed in the upper clamping plate 3 and perpendicular to the length direction of the upper clamping plate 3, and the worm shaft 10 is always connected with the worm wheel 6. In the manufacturing process, a bearing 14 can be installed at each end of the worm shaft 10.

[0033] It is worth mentioning that the above-mentioned transmission structure design, in the specific operation, there is a particularly key design principle, that is, after the two clamping plates oppositely clamp a pair of landing skid rods 1, the first sliding plate 7 connected to the upper clamping plate 3 through the worm shaft 10 and the threaded tube 11 is more difficult to move relative to the second sliding plate 8, so when the threaded tube 11 rotates, the second sliding plate 8 moves first, that is, the threaded rod 12 is screwed into the threaded tube 11, and the threaded tube 11 almost keeps the original state of rotation, when the second sliding plate 8 contacts the corresponding two support rods 2, the first sliding plate 7 will begin to move towards the pair of support rods 2 opposite to it, that is, move towards the second sliding plate 8, during which the frictional extrusion force of the two clamping plates and the landing skid rod 1 is overcome, so that the two clamping plates move together with the first sliding plate 7 towards the second sliding plate 8, until the first sliding plate 7 is extruded and contacted with the corresponding pair of support rods 2, so that the main clamping assembly and the auxiliary clamping assembly firmly fix the landing gear. The purpose of this structure design is not only the better linkage mentioned above, but also to fully realize the step-by-step clamping and fixing of the main clamping assembly and the auxiliary clamping assembly to the landing gear, so as to reduce the impact and shaking caused by one-time sudden clamping as much as possible, and to protect 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 will move together with the first sliding plate 7, so wear-resistant rubber can be attached to the side of the two clamping plates opposite to each other to avoid mechanical scratching and damage to the landing skid rod 1 as much as possible; in addition, if necessary, a corresponding anti-skid rubber layer can also be provided on the side of the sliding plate to extrude and contact with the support rod 1.

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

[0035] Specific to the design of driving force, those skilled in the art can adaptively connect the end of the lead screw 5 exposed below the bottom of the lower clamping plate 4 to the main shaft of a driving motor, and the driving motor is installed at the bottom of the lower clamping plate 4. When the driving motor starts, the lead screw 5 rotates.

[0036] Based on the above embodiments, as another specific embodiment, a sudden failure unmanned helicopter landing control system is introduced in detail as a specific embodiment. The sudden failure unmanned helicopter landing control system includes the sudden failure unmanned helicopter landing device mentioned above, and 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 the hydraulic horizontal telescopic arm, and realizes horizontal telescoping and vertical telescoping respectively. The vertical telescoping is to make the sudden failure unmanned helicopter landing device enter a height where it can clamp the landing failure unmanned helicopter, and the horizontal telescoping is to make the landing device horizontally extend into the landing gear, such as the two clamps and two slides mentioned above, which are along the direction perpendicular to the landing skid rod 1. Among them, the two clamps are respectively above and below the landing skid rod 1, that is, the two clamps are respectively on the upper and lower sides of the landing skid rod 1, and the two slides are on the front and rear sides of the two pairs of support rods 2 and above the landing skid rod 1. In this embodiment, the hydraulic vertical telescopic arm also needs to be installed on the landing vehicle, so that the landing vehicle can move the entire landing device to the direction of the failure unmanned helicopter flexibly and quickly. Not only is it more automatic and convenient, but also can avoid the operator from being injured by approaching. For large unmanned helicopters, the landing vehicle used can be a vehicle body structure such as a crane, which has an external support frame or four support legs to have greater carrying capacity.

[0037] As a specific embodiment, the landing vehicle is installed with an automatic tracking system, which can capture the position information of the failure unmanned helicopter and guide the landing vehicle to move to the real-time position of the failure unmanned helicopter. Specifically, when it is moved to the position directly below the failure unmanned helicopter and the distance to it is within the set range, the landing vehicle stops, and then 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 1 to fix the landing gear of the failure unmanned helicopter.

[0038] As a specific embodiment, the automatic tracking system can be a radar system that emits electromagnetic waves and receives echoes reflected back by the malfunctioning unmanned helicopter, aiming to measure the distance, relative speed and angle information between the aircraft and the vehicle, and determine the position parameter information. In addition, the automatic tracking system can also be an optical signal tracking, i.e., including a vehicle-mounted camera and an image analysis processing module, which can capture the image features of the malfunctioning unmanned helicopter through existing image processing algorithms, and calculate the position of the malfunctioning unmanned helicopter in the image, combined with the position information of the vehicle itself and the calibration parameters of the camera, to determine the spatial position of the aircraft relative to the vehicle. 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 kind of existing technical means that is currently moving more. The global satellite positioning system is used to obtain the accurate position coordinates of the malfunctioning unmanned helicopter and the landing vehicle. Specifically, a GPS device can be installed on the unmanned helicopter, and the high-precision GPS devices on the malfunctioning unmanned helicopter and the landing vehicle can transmit their respective position information to the distance calculation module on the landing vehicle on the ground in real time through a data link. Through the distance calculation module, the coordinate difference between the two is calculated to finally obtain the orientation and distance information of the aircraft relative to the vehicle.

[0039] It should be explained here that in the present specification, terms such as first, second, etc. are only used to distinguish one feature from another, and do not mean that there is a certain relationship or order between the technical features. The terms "include" and "contain" mean that there is one or more technical means or features, and the meaning is that there are other existing or non-existing technical features not listed. The discussion in the above examples is only a representative example of the present application, and is not the only limiting feature. Those skilled in the art should understand that some simple substitutions and modifications can be made without departing from the technical content of all the claims of the present application, so that changes or equivalents can be changed or equivalent to other specific embodiments and application scenarios. Regardless of how adaptively changed, these embodiments will inevitably fall within the scope of protection of the present application.

Claims

1. A sudden failure unmanned helicopter landing device, characterized by, The main clamping assembly is used to clamp the pair of landing skid rods (1) from the vertical direction, and the auxiliary clamping assembly is used to clamp the two pairs of support rods (2) arranged in front and back symmetry from the horizontal direction, and the main clamping assembly clamps the two landing skid rods (1), and then the auxiliary clamping assembly clamps the two pairs of support rods (2) from the front and back sides, so that the landing gear is in a stable posture that can land vertically. The main clamping assembly comprises upper and lower clamping plates (3) and (4) arranged oppositely, a vertical rotatable lead screw (5) is mounted on the upper part of one end of the lower clamping plate (4), a vertical guide column (9) is fixed, one end of the upper clamping plate (3) is threadedly connected to the lead screw (5), and the other end of the upper clamping plate (3) is vertically and slidingly connected to 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). The auxiliary clamping assembly comprises a first sliding plate (7), a second sliding plate (8), a threaded tube (11) and a threaded rod (12), one end of the threaded tube (11) is rotatably connected to the first sliding plate (7), the other end of the threaded tube (11) is threadedly connected to the threaded rod (12), and the threaded rod (12) is fixed to the second sliding plate (8), so that when the threaded tube (11) rotates, the two sliding plates are close to each other to clamp the two pairs of support rods (2).

2. A sudden failure unmanned helicopter landing device according to claim 1, characterized in that, The end of the upper clamping plate (3) has a mounting hole, a worm gear (6) is coaxially arranged in the mounting hole and threadedly connected to the lead screw (5), the end face of the worm gear (6) is coaxially arranged and abuts against a pressure spring (15), the outer side of the pressure spring (15) is fixed to the end face of the worm gear (6) and vertically and slidingly connected to a positioning cylinder (16) in the inner wall of the mounting hole, so that the worm gear (6) and the upper clamping plate (3) form an integral body in the normal state, when the upper clamping plate (3) is pressed on the landing skid rod (1), the worm gear (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 sliding plates close to each other to clamp the two pairs of support rods (2). The end of the threaded tube (11) is coaxially fixed to a worm shaft (10), the worm shaft (10) is rotatably connected to the upper clamping plate (3) and perpendicular to the length direction of the upper clamping plate (3), and the worm shaft (10) is always connected to the worm gear (6).

3. A sudden failure unmanned helicopter landing device according to claim 2, characterised in that, The two ends of the worm shaft (10) are respectively connected to bearings (14), the bearings (14) are arranged in the ends of the upper clamping plate (3), a guide rod (13) is arranged, one end of the guide rod (13) is fixed to the second sliding plate (8), the other end of the guide rod (13) axially passes through the first sliding plate (7) and then slidingly passes through the upper clamping plate (3).

4. A sudden failure unmanned helicopter landing device according to claim 2, characterized in that, The bottom end of the lead screw (5) is drivingly connected to the main shaft of a driving motor, and the driving motor is arranged on the bottom of the lower clamping plate (4).

5. A sudden failure unmanned helicopter landing control system, characterized by, The landing device for the sudden failure unmanned helicopter, the hydraulic vertical telescopic arm, the hydraulic horizontal telescopic arm, the landing vehicle and the automatic tracking system are all included in the application, the landing device for the sudden failure unmanned helicopter 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 can capture the position information of the failure unmanned helicopter and guide the landing vehicle to move to the real-time position of the failure unmanned helicopter, when the landing vehicle is moved to the position directly below the failure unmanned helicopter and the distance between them is within the 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 move to the position of clamping two landing skid rods (1), and the auxiliary clamping assembly can clamp two pairs of support rods (2).

6. A catastrophic failure unmanned helicopter landing control system according to claim 5, wherein, The automatic tracking system includes a radar system, which measures the distance, relative speed and angle information between the aircraft and the vehicle by emitting electromagnetic waves and receiving the echo reflected by the failure unmanned helicopter.

7. A catastrophic failure unmanned helicopter landing control system according to claim 5, wherein, The automatic tracking system includes a vehicle-mounted camera and an image analysis processing module, which can capture the image features of the failure unmanned helicopter through image processing algorithms, calculate the position of the failure unmanned helicopter in the image, and determine the spatial position of the aircraft relative to the vehicle by combining the position information of the vehicle itself and the calibration parameters of the camera.

8. A catastrophic failure unmanned helicopter landing control system according to claim 5, wherein, The automatic tracking system includes a global satellite positioning system and a distance calculation module, and the global satellite positioning system is used to obtain the accurate position coordinates of the aircraft and the vehicle; The failure unmanned helicopter and the landing vehicle are both equipped with high-precision GPS devices, so that the respective position information can be transmitted to the distance calculation module on the landing vehicle on the ground in real time through a data link, and the distance calculation module obtains the position and distance information of the aircraft relative to the vehicle by calculating the coordinate difference between the two.

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