Multifunctional shipborne unmanned aerial vehicle take-off and landing platform

Abstract

The invention provides a multifunctional shipborne unmanned aerial vehicle take-off and landing platform, and relates to the technical field of shipborne unmanned aerial vehicle take-off and landing platforms, stable take-off and landing of a large-scale marine rescue unmanned aerial vehicle are achieved through the take-off and landing platform, a bearing electric telescopic rod and three electromagnetic damping telescopic rods are controlled through sensing of a self-stabilization system, and horizontal and vertical stability of the take-off and landing platform is achieved; the unmanned aerial vehicle landing auxiliary system can sense the position and posture of an unmanned aerial vehicle undercarriage, precise landing and fixing of an unmanned aerial vehicle are achieved, stable and high-freedom-degree connection between components is achieved through a connecting structure, an annular rotating base is connected with an electromagnetic damping telescopic rod, circumferential movement of a take-off and landing platform is achieved, and the unmanned aerial vehicle landing auxiliary system is stable and reliable. The problems that a traditional shipborne unmanned aerial vehicle take-off and landing platform is greatly influenced by water surface fluctuation and is low in response speed are solved, the take-off and landing accuracy and stability of a large-scale marine rescue unmanned aerial vehicle are improved, and the rescue unmanned aerial vehicle can be better maintained through the vertical lifting function.

Description

Technical Field

[0001] The present invention relates to the technical field of shipborne unmanned aerial vehicle take-off and landing platforms, and in particular to a multifunctional shipborne unmanned aerial vehicle take-off and landing platform. Background Art

[0002] In recent years, with the development of unmanned driving technology, the application of drones and unmanned ships in coordinated rescue in maritime search and rescue missions has become more and more extensive, and drone landing at sea has become an important research field. With the gradual application of artificial intelligence algorithms in the field of intelligent equipment, building an intelligent ship-borne drone landing platform has become an achievable goal. The ship-borne drone landing platform has the characteristics of simple structure, easy manufacturing, and strong reliability. It can sense and predict sea surface fluctuations based on sensor data to ensure the stability of the landing platform and achieve precise landing of drones. In order to achieve efficient search of drones in maritime rescue missions, stable maintenance equipment is required, so the research on ship-borne drone landing platforms is bound to be a major topic.

[0003] Most of the water drone landing platforms currently used collect the current water surface fluctuation data through sensors, directly control the telescopic rod to achieve horizontal stability of the landing platform, and do not handle the noise in the data well to achieve precise control. Single horizontal stability cannot guarantee the stable landing of drones, and cannot provide good support for large rescue drones. This traditional landing platform has a slow response time and cannot ensure the stability of the landing platform at all times. It cannot sense the posture information of the drone landing gear when the water surface fluctuates greatly, and cannot achieve precise docking of the drone landing gear through the offset and rotation of the landing platform in time, and cannot achieve safe landing of the drone. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a multifunctional ship-borne UAV take-off and landing platform to solve the problems raised by the above technical background, namely, the slow response time of the take-off and landing platforms on the current market to water surface fluctuations, the inability to ensure the stability of the take-off and landing platforms at all times, the inability to perceive the position information of the UAV landing gear when the water surface fluctuations are large, the inability to timely achieve precise docking of the UAV landing gear through the offset and rotation of the take-off and landing platform, and the inability to achieve safe take-off and landing of large-scale maritime rescue UAVs.

[0005] A multifunctional shipborne UAV take-off and landing platform, comprising a take-off and landing platform, a self-stabilizing system, a UAV landing auxiliary system, a connecting structure, a ring-shaped rotating base, a load-bearing base, and a stepping motor;

[0006] The self-stabilizing system includes a load-bearing electric telescopic rod, three electromagnetic damping telescopic rods, and a control box; an onboard computer, an attitude sensing integrated module, a control panel, and a power distribution board are arranged in the control box, wherein the attitude sensing integrated module is a three-axis acceleration module and a three-axis gyroscope module; the attitude sensing integrated module collects water surface fluctuation data and transmits it to the onboard computer, the onboard computer removes noise points in the water surface fluctuation data and performs data optimization, the control panel controls the extension and retraction of the load-bearing electric telescopic rod, controls the extension and retraction of the three electromagnetic damping telescopic rods, and controls the stepper motor to complete the movement of the circular rotating platform, and the power distribution board supplies power to the self-stabilizing system, the UAV landing auxiliary system, and the stepper motor respectively.

[0007] The connection structure includes a spherical connector I, three spherical connectors II and three cross connectors. The bottom of the lifting and landing platform is connected to one end of the load-bearing electric telescopic rod through the spherical connector I, and the other end of the load-bearing electric telescopic rod is fixed to the upper surface of the load-bearing base; the annular rotating base is installed on the outside of the load-bearing base, and three rectangular slots are provided on the annular rotating base. Each rectangular slot is provided with a cross connector, and the three rectangular slots maintain a horizontal angle of 120°. The bottoms of the three electromagnetic damping telescopic rods are connected to the annular rotating base through three cross connectors, and the tops of the three electromagnetic damping telescopic rods are connected to the lifting and landing platform through three spherical connectors II. The rotating gear of the stepping motor is meshed with the gear on the outer ring of the annular rotating base;

[0008] The UAV landing assistance system is arranged on the take-off and landing platform; the UAV landing assistance system comprises a signal transmission device, a camera, and a magnetic suction clamping device installed on the take-off and landing platform, the camera collects visual information of the UAV landing gear, the signal transmission device obtains the position information and visual information of the UAV landing gear and transmits it to the onboard computer, and after the UAV landing gear is aligned with the take-off and landing slot, the magnetic suction clamping device absorbs the UAV landing gear to complete the fixation.

[0009] The camera is arranged to maintain a vertical angle of 45° with the take-off and landing platform, and the signal transmission device is erected on both sides of the camera;

[0010] There are two lifting and landing slots, both of which are arranged on the lifting and landing platform. Each lifting and landing slot is provided with two circular slots. The magnetic suction clamping device is installed in the circular slot, and the upper surface of the load-bearing component of the magnetic suction clamping device is at the same height as the bottom of the circular slot.

[0011] The control box is arranged on the upper surface of the load-bearing base and is fitted with the side of the load-bearing electric telescopic rod;

[0012] The magnetic attraction component of the magnetic attraction clamping device is composed of two semi-annular magnetic materials.

[0013] The beneficial effects of adopting the above technical solution are:

[0014] The present invention provides a multifunctional shipborne UAV take-off and landing platform, which has the following beneficial effects:

[0015] 1. The multifunctional shipborne UAV landing and take-off platform adopts a large load-bearing electric telescopic rod to ensure the vertical stability of the landing and take-off platform, and provides good support for the take-off and landing of large UAVs. The spherical connector I improves the horizontal flexibility of the landing and take-off platform. Compared with the traditional electric telescopic rod, the electromagnetic damping telescopic rod in the self-stabilizing system has the characteristics of rapid response and precise positioning. Compared with the traditional UAV landing and take-off platform, the multifunctional UAV landing and take-off platform can realize the angle deflection of the three electromagnetic damping telescopic rods through the annular rotating platform, and cooperate with the load-bearing electric telescopic rod to complete the vertical take-off and landing of the landing and take-off platform, which increases the convenience of rescue UAV maintenance. Compared with adjusting the landing and take-off platform according to the current water surface fluctuation, the onboard computer in the self-stabilizing system can optimize the water surface fluctuation data through the ROS software under the Ubuntu system, and realize accurate and rapid active adjustment of the landing and take-off platform under complex sea conditions, which greatly improves the stability of the landing and take-off platform.

[0016] 2. The multifunctional shipborne UAV landing platform of the present invention can cooperate with the UAV to perform precise landing. The signal transmission device in the UAV landing auxiliary system can maintain data communication with the UAV, calculate the relative position in real time according to the independent coordinate system of the landing platform and the UAV, the camera collects the visual data of the UAV landing gear, the onboard computer receives the real-time data, and identifies the posture of the UAV landing gear through the ROS software under the Ubuntu system. At the same time, the control panel controls the self-stabilizing system through the PID control algorithm to achieve the horizontal stability of the landing platform, and realizes the circumferential rotation of the landing platform through the annular rotating platform. After the landing slot is aligned with the UAV landing gear, the electromagnetic clamping device will firmly lock the UAV landing gear to complete the precise landing, which greatly improves the safety and success rate of the landing of the rescue UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the overall structural diagram of the multifunctional shipborne UAV take-off and landing platform of the present invention;

[0018] Figure 2 It is a side view of the multifunctional shipborne UAV take-off and landing platform of the present invention;

[0019] Figure 3 A top view of the multifunctional shipborne UAV take-off and landing platform of the present invention;

[0020] Figure 4 This is a diagram of the interior of the control box of the multifunctional shipborne UAV take-off and landing platform of the present invention;

[0021] Figure 5This is a structural diagram of the annular rotating base of the multifunctional shipborne UAV take-off and landing platform of the present invention;

[0022] Figure 6 This is a diagram of the lowest altitude state of the multifunctional shipborne UAV take-off and landing platform of the present invention;

[0023] Figure 7 This is a diagram of the landing state of the UAV of the multifunctional ship-borne UAV take-off and landing platform of the present invention;

[0024] Figure 8 This is a shipborne working state diagram of the multifunctional shipborne UAV take-off and landing platform of the present invention;

[0025] In the figure: 1- take-off and landing platform; 101- camera; 102- signal transmission device; 103- take-off and landing slot; 104- magnetic suction clamping device; 21- load-bearing electric telescopic rod; 22- electromagnetic damping telescopic rod; 23- onboard computer; 24- attitude perception integrated module; 25- control panel; 26- control box; 27- power distribution board; 31- large marine rescue UAV; 41- spherical connector I; 42- spherical connector II; 43- cross connector; 5- annular rotating base; 51- rectangular card slot; 6- load-bearing base; 7- stepper motor; 8- hull. DETAILED DESCRIPTION

[0026] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0027] A multifunctional shipborne UAV take-off and landing platform, such as Figure 1 , Figure 2 , Figure 3 As shown, it includes a take-off and landing platform 1, a self-stabilizing system, a UAV landing auxiliary system, a connecting structure, a ring-shaped rotating base 5, a load-bearing base 6, and a stepping motor 7;

[0028] The take-off and landing platform 1 can realize the stable take-off and landing of the large-scale marine rescue UAV 31. The self-stabilizing system can sense the water surface fluctuation to control the load-bearing electric telescopic rod 21 and the three electromagnetic damping telescopic rods 22 to realize the horizontal and vertical stability of the take-off and landing platform 1. The UAV landing auxiliary system can sense the position and posture of the UAV landing gear to realize the precise landing and fixation of the UAV. The connection structure is divided into a spherical connector and a cross connector to realize a stable and high-degree-of-freedom connection between components. The annular rotating base 5 is connected to the electromagnetic damping telescopic rod 22 to realize the circumferential movement of the take-off and landing platform 1. The stepper motor can accurately control the rotation angle of the annular rotating base 5, such as Figure 5 , Figure 6 As shown;

[0029] The self-stabilizing system includes a load-bearing electric telescopic rod 21, three electromagnetic damping telescopic rods 22, and a control box 26; the control box 26 is as follows Figure 4 As shown, an onboard computer 23, an attitude sensing integrated module 24, a control panel 25 and a power distribution board 27 are arranged therein, wherein the attitude sensing integrated module 24 is a three-axis acceleration module and a three-axis gyroscope module; the attitude sensing integrated module 24 collects water surface fluctuation data and transmits it to the onboard computer 23, the onboard computer 23 removes the noise of the water surface fluctuation data and optimizes the data, the control panel 25 controls the extension and retraction of the load-bearing electric telescopic rod 21 through a PID control algorithm to achieve the vertical stability of the take-off and landing platform 1, controls the extension and retraction of the three electromagnetic damping telescopic rods 22 to achieve the horizontal stability of the take-off and landing platform 1, and controls the stepper motor through a PID control algorithm to complete the movement of the annular rotating platform to achieve the circumferential movement of the take-off and landing platform 1, and the power distribution board 27 supplies power to the self-stabilization system, the UAV landing auxiliary system and the stepper motor respectively. In this embodiment, the control panel uses the existing STM32F103, and the above functions can be realized only by setting parameters; the attitude perception integrated module uses MPU-6050, and the onboard computer uses NIIDIA Jetson Orin Nano; the existing NIIDIA Jetson Orin Nano onboard computer has data optimization and drone landing gear recognition functions;

[0030] The connection structure includes a spherical connector I 41, three spherical connectors II 42 and three cross connectors 43. The spherical connector I 41 realizes the connection between the lifting and landing platform 1 and the load-bearing electric telescopic rod 21, the spherical connector II 42 realizes the connection between the lifting and landing platform 1 and the electromagnetic damping telescopic rod 22, and the cross connector 43 realizes the connection between the electromagnetic damping telescopic rod 22 and the annular rotating base 5; the bottom of the lifting and landing platform 1 is connected to one end of the load-bearing electric telescopic rod 21 through the spherical connector I, and the other end of the load-bearing electric telescopic rod 21 is fixed to the load-bearing base 6 The annular rotating base 5 is installed on the outside of the load-bearing base 6, and three rectangular slots 51 are provided on the annular rotating base 5. A cross connector is installed on each rectangular slot, and a horizontal angle of 120° is maintained between the three rectangular slots 51. The bottoms of the three electromagnetic damping telescopic rods 22 are connected to the annular rotating base 5 through three cross connectors 43, and the tops of the three electromagnetic damping telescopic rods 22 are connected to the lifting and landing platform 1 through three spherical connectors II 42. The rotating gear of the stepping motor 7 is meshed with the gear on the outer ring of the annular rotating base 5;

[0031] The UAV landing assistance system is arranged on the take-off and landing platform 1; the UAV landing assistance system comprises a signal transmission device 102, a camera 101, and a magnetic suction clamping device 104 installed on the take-off and landing platform 1, wherein the signal transmission device 102 realizes data communication between the multifunctional shipborne UAV take-off and landing platform and the UAV, the camera 101 collects visual information of the UAV landing gear, the signal transmission device 102 obtains the position information and visual information of the UAV landing gear and transmits it to the onboard computer 23, the onboard computer 23 recognizes the posture of the UAV landing gear through the built-in ROS software, and after the UAV landing gear is aligned with the take-off and landing slot 103, the magnetic suction clamping device 104 sucks the UAV landing gear to complete the fixation, such as Figure 7 shown.

[0032] The camera 101 is arranged to maintain a vertical angle of 45° with the take-off and landing platform 1, and the signal transmission device 102 is erected on both sides of the camera 101;

[0033] There are two lifting and landing grooves 103, both are arranged on the lifting and landing platform 1, each lifting and landing groove is provided with two circular slots, the magnetic suction clamping device 104 is installed in the circular slot, and the upper surface of the load-bearing component of the magnetic suction clamping device 104 is at the same height as the bottom of the circular slot.

[0034] The control box 26 is arranged on the upper surface of the load-bearing base and is fitted with the side of the load-bearing electric telescopic rod 21;

[0035] The magnetic attraction component of the magnetic attraction clamping device 104 is composed of two semi-circular magnetic materials, which can be tightly attached to the landing gear of the drone in the closed state.

[0036] Example 1

[0037] The working principle of the multifunctional shipborne UAV landing and take-off platform is as follows: when using the multifunctional shipborne UAV landing and take-off platform, first, when the large-scale marine rescue UAV 31 needs to land for maintenance, the signal transmission device 102 installed on the landing and take-off platform 1 will immediately receive the signal, and the shipborne UAV landing and take-off platform will change from the standby state to the working state, and the attitude perception integration module 24 will collect the current water surface fluctuation data. The attitude perception integration module 24 is a three-axis acceleration module and a three-axis gyroscope module, which can efficiently perceive the water surface fluctuation. The water surface fluctuation data is transmitted to the onboard computer 23, and the real-time water surface fluctuation data is optimized and processed through its own program to ensure that the self-stabilizing system can respond to large fluctuations of the water surface in harsh environments more quickly.

[0038] After obtaining accurate data on water surface fluctuations, the control panel 25 uses a PID control algorithm to accurately control the movement of the load-bearing electric telescopic rod 21 to achieve the vertical stability of the take-off and landing platform 1. When dealing with large water surface fluctuations, the vertical movement can relieve the pressure on the electromagnetic damping telescopic rod 22. At the same time, the movement of the three electromagnetic damping telescopic rods 22 is controlled to achieve the horizontal stability of the take-off and landing platform 1. Thanks to the rapid response and precise positioning of the electromagnetic damping telescopic rod 22, as well as the advantage of the high freedom of the connection structure, the influence of water surface fluctuations on the stability of the take-off and landing platform 1 can be accurately dealt with, providing a stable take-off and landing environment for the drone.

[0039] Example 2

[0040] The working principle of the multifunctional shipborne UAV landing and take-off platform is as follows: when using the multifunctional shipborne UAV landing and take-off platform, it can cooperate with the large-scale marine rescue UAV 31 to improve the landing accuracy and stability. First, the signal transmission device 102 installed on the upper surface of the landing and take-off platform 1 plays the role of communicating with the UAV, establishing independent coordinate systems for the landing and take-off platform 1 and the UAV, and determining the position and distance information between the UAV landing gear and the landing and take-off platform by calculating the real-time position of the coordinate system. At the same time, the camera 101 can collect visual information of the UAV landing gear. After the data is transmitted to the onboard computer 23, the posture of the UAV landing gear is sensed through the built-in program, and the self-stabilizing system maintains the landing and take-off platform. 1 is vertical and stable, combined with the position and attitude information of the drone landing gear, the control panel 25 will control the precise movement of the stepper motor 7 to realize the rotation of the annular rotating base 5, and the rotation force of the annular rotating base 5 will affect the landing platform 1 through the electromagnetic damping telescopic rod 22, and finally realize the circumferential movement of the landing platform 1. According to the real-time posture information of the drone landing gear, the landing platform 1 is controlled to rotate to align with the positive direction of the landing gear. At this time, the landing slot 103 on the landing platform 1 will accurately align with the drone landing gear. After alignment, the drone slowly lands, and the magnetic suction clamping device 104 installed in the landing slot 103 will firmly absorb the drone landing gear to achieve precise landing of the drone.

[0041] After the drone completes the landing, the signal transmission device 102 will receive the information of successful landing. At this time, the shipborne drone landing platform begins to enter the maintenance state. The control panel 25 controls the load-bearing electric telescopic rod 21 to vertically descend the landing platform 1, and controls the stepper motor 7 to rotate the annular rotating base 5. As the landing platform 1 descends, the electromagnetic damping telescopic rod 22 will have an angle deviation, and finally the overall height of the landing platform 1 is reduced, so that the upper surface of the landing platform 1 is combined with the surface of the hull 8 to prevent seawater from invading the internal components. At the same time, the convenience of the operator for the maintenance of the drone is improved. Figure 8 shown.

[0042] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) to form a technical solution.

Claims

1. A multifunctional shipborne UAV take-off and landing platform, characterized in that: It includes a take-off and landing platform, a self-stabilizing system, a UAV landing assist system, a connecting structure, a ring-shaped rotating base, a load-bearing base, and a stepping motor; The self-stabilizing system includes a load-bearing electric telescopic rod, three electromagnetic damping telescopic rods, and a control box; the connection structure includes a spherical connector I, three spherical connectors II and three cross connectors, the bottom of the lifting and landing platform is connected to one end of the load-bearing electric telescopic rod through the spherical connector I, and the other end of the load-bearing electric telescopic rod is fixed to the upper surface of the load-bearing base; the annular rotating base is installed on the outside of the load-bearing base, and three rectangular card slots are provided on the annular rotating base, each of which is provided with a cross connector, and the three rectangular card slots maintain a horizontal angle of 120°, the bottoms of the three electromagnetic damping telescopic rods are connected to the annular rotating base through three cross connectors, and the tops of the three electromagnetic damping telescopic rods are connected to the lifting and landing platform through three spherical connectors II, and the rotating gear of the stepping motor is meshed with the gear on the outer ring of the annular rotating base; The UAV landing assistance system is arranged on the take-off and landing platform; the UAV landing assistance system comprises a signal transmission device, a camera, and a magnetic suction clamping device installed on the take-off and landing platform, the camera collects visual information of the UAV landing gear, the signal transmission device obtains the position information and visual information of the UAV landing gear and transmits it to the onboard computer, and after the UAV landing gear is aligned with the take-off and landing slot, the magnetic suction clamping device absorbs the UAV landing gear to complete the fixation.

2. The multifunctional shipborne UAV take-off and landing platform according to claim 1, characterized in that: An onboard computer, an attitude sensing integrated module, a control panel and a power distribution board are arranged in the control box, wherein the attitude sensing integrated module is a three-axis acceleration module and a three-axis gyroscope module; the attitude sensing integrated module collects water surface fluctuation data and transmits it to the onboard computer, the onboard computer removes noise points of the water surface fluctuation data and optimizes the data through the built-in ROS software, the control panel controls the extension and retraction of the load-bearing electric telescopic rod, controls the extension and retraction of three electromagnetic damping telescopic rods, and controls the stepper motor to complete the movement of the annular rotating platform, and the power distribution board supplies power to the self-stabilization system, the UAV landing auxiliary system and the stepper motor respectively.

3. The multifunctional shipborne UAV take-off and landing platform according to claim 1, characterized in that: The camera is arranged to maintain a vertical angle of 45° with the take-off and landing platform.

4. The multifunctional shipborne UAV take-off and landing platform according to claim 1, characterized in that: The signal transmission devices are erected on both sides of the camera.

5. The multifunctional shipborne UAV take-off and landing platform according to claim 1, characterized in that: There are two lifting and landing slots, both of which are arranged on the lifting and landing platform. Each lifting and landing slot is provided with two circular slots. The magnetic suction clamping device is installed in the circular slot, and the upper surface of the load-bearing component of the magnetic suction clamping device is at the same height as the bottom of the circular slot.

6. The multifunctional shipborne UAV take-off and landing platform according to claim 2, characterized in that: The control box is arranged on the upper surface of the load-bearing base and is fitted with the side surface of the load-bearing electric telescopic rod.

7. The multifunctional shipborne UAV take-off and landing platform according to claim 1, characterized in that: The magnetic attraction component of the magnetic attraction clamping device is composed of two semi-annular magnetic materials.

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