Take-off and landing support of surveying and mapping unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicle undercarriages, and discloses a landing support of a surveying and mapping unmanned aerial vehicle, which comprises an unmanned aerial vehicle main body, a driving motor is arranged at the bottom end of the unmanned aerial vehicle main body, an undercarriage is in transmission connection with an output shaft of the driving motor, and the undercarriage comprises a first connecting rod of which the top end is in transmission connection with the output shaft of the driving motor; a connecting block is arranged at the bottom of the outer surface of the first connecting rod, a second connecting rod is fixedly installed at the bottom end of the first connecting rod through the connecting block, a supporting frame is arranged at the other end of the second connecting rod, and a piezoelectric sensor is arranged in the connecting block. According to the landing support of the surveying and mapping unmanned aerial vehicle, due to the arrangement of landing gears and structures on the landing gears, supporting frames on the landing gears can make contact with the uneven ground through different rotation and inclination angles between the two sets of landing gears, and a relatively stable and effective support is formed for an unmanned aerial vehicle body; and the phenomenon that the unmanned aerial vehicle main body inclines due to the uneven ground is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicle landing gear, and in particular to a landing bracket for a surveying and mapping unmanned aerial vehicle. Background Art

[0002] A surveying drone is a drone used to collect geographic information. Through the various sensors and cameras it carries, it can shoot and scan the target area from the air, thereby enabling automated, intelligent and specialized rapid acquisition of remote sensing information on land resources, natural environment, earthquake-stricken areas and other spaces, and can complete the processing, modeling and application analysis of remote sensing information; At present, most of the existing UAV landing gears are fixed structures. In order to ensure the stability of the flight attitude, the UAV needs to take off or land on flat ground. However, most surveying and mapping UAVs work in the field, where the ground environment is relatively complex and the flatness is poor. When supporting the UAV, the fixed landing gear is very likely to cause the fuselage to tilt due to the uneven ground, which greatly affects the stability of the UAV fuselage during takeoff or landing operations, and the tilt causes greater flight risks and safety hazards during takeoff or landing operations.

[0003] Therefore, there is an urgent need for a landing support structure for a UAV to solve the defects of the above-mentioned existing surveying and mapping UAV when taking off or landing in the wild. Summary of the invention

[0004] The present application proposes a landing bracket for a surveying and mapping UAV, which is capable of taking off or landing on a ground with poor flatness, effectively improving the adaptability of the surveying and mapping UAV to the ground environment, making it safer and more reliable when operating in the field. This is used to solve the problem that surveying and mapping UAVs mostly work in the field, where the ground environment is relatively complex and has poor flatness, making it difficult for a fixed landing bracket to ensure the stability of the UAV body when taking off or landing in the field, thereby causing a greater flight risk when taking off or landing.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solutions: a landing bracket of a surveying and mapping UAV, comprising a UAV main body for surveying and mapping operations, a group of driving motors are respectively provided in the middle of both sides of the bottom end of the UAV main body, and a landing gear is connected to the output shaft of the driving motor through a worm gear transmission, so that when the landing gear is folded or lowered, the driving motor can form a self-locking for the landing gear, and the landing gear comprises a first connecting rod with a top end drivingly connected to the output shaft of the driving motor, a connecting block is provided at the bottom of the outer surface of the first connecting rod, and a second connecting rod is fixedly installed at the bottom end of the first connecting rod through the connecting block, a support frame with a "Y"-shaped structure is provided at the other end of the second connecting rod, and a piezoelectric sensor forming a feedback connection with the driving motor is provided inside the connecting block; When the main body of the UAV is landing, the driving motor is energized to trigger and drive the landing gear to rotate. As the landing gear rotates continuously, the bottom end of the upper support frame contacts the ground until the first connecting rod and the second connecting rod are bent in half to squeeze the piezoelectric sensor on the connecting block, and a current signal of a preset intensity is generated and fed back to the driving motor to control it to automatically close. Under the transmission action of the worm gear, the relative position of the landing gear can be maintained to support the main body of the UAV. When the ground where the drone body lands is uneven, the two sets of landing gears are relatively independently controlled so that they stop after rotating and tilting at different angles, and the drone body is kept in a relatively stable state without tilting, thereby effectively improving the stability and reliability of the drone body during takeoff or landing. After the main body of the drone takes off, the piezoelectric sensor on the connecting block is no longer squeezed and generates a current signal, so the drive motor can rotate in the opposite direction and drive the landing gear to return to its initial position.

[0006] Furthermore, an angular displacement sensor is provided on the output shaft of the drive motor, which is used to detect the rotational displacement of the output shaft on the drive motor, and when the piezoelectric sensor does not generate a current signal, regulate the angular displacement of the reverse rotation of the drive motor, and turn off the drive motor when the landing gear returns to its initial position.

[0007] Furthermore, an electromagnetic coil movably connected to the other end of the second connecting rod is provided in the middle of one end of the support frame, wherein the movable connection between the second connecting rod and the electromagnetic coil ensures that both ends of the other side of the support frame can be in contact with the ground, thereby preventing the other end of the support frame from being suspended in the air due to the unevenness of the ground, and the chamber formed by the electromagnetic coil and the second connecting rod is filled with magnetorheological fluid, and the magnetic field generated by the electromagnetic coil can be used to solidify the magnetorheological fluid to fix the support frame and form effective support for the drone body.

[0008] Furthermore, a feedback connection is formed between the electromagnetic coil and the piezoelectric sensor, and the electromagnetic coil is triggered when the piezoelectric sensor generates a current signal of a preset strength due to being squeezed, and the power trigger for the electromagnetic coil is automatically turned off when the piezoelectric sensor is no longer squeezed and generates a current signal.

[0009] Furthermore, a spiral groove arranged in a ring array is provided at the other end of the outer surface of the second connecting rod and in the inner cavity of the electromagnetic coil, which can effectively improve the connection strength between the second connecting rod and the support frame when the magnetorheological fluid therein solidifies, and make it less likely to tilt or shake during the process of supporting the drone body.

[0010] Furthermore, a groove with an elliptical cross-section is provided on one side of the outer surface of the second connecting rod, and a group of connecting frames are provided on both sides of the outside of the electromagnetic coil, and a limiting plate whose inner wall contacts the outer surface of the groove is provided on the inner side of the end of the connecting frame, and the limiting plate is elastically connected to the connecting frame through an elastic member movably sleeved thereon, so that when the support frame is subjected to force, the support frame in a rotating state can be restored to its initial position through the groove and the limiting plate.

[0011] The beneficial effects of the present invention are as follows: The present application provides a landing gear for a surveying and mapping UAV. The landing gear and the structure thereon are arranged by utilizing different rotation and tilt angles between two sets of landing gears so that the support frames thereon can respectively come into contact with uneven ground and form a relatively stable and effective support for the UAV body. The UAV body will not tilt due to uneven ground, which effectively improves the safety and stability of the UAV body during takeoff or landing and makes the surveying and mapping UAV more adaptable to the ground environment during field operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without creative work: Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a front view of the structure of the present invention; Figure 3 It is a structural schematic diagram of the landing gear of the present invention; Figure 4 is a schematic structural diagram of the first connecting rod of the present invention; Figure 5 It is a structural schematic diagram of the support frame of the present invention.

[0013] In the figure: 1-UAV body, 2-driving motor, 3-landing gear, 4-first connecting rod, 5-second connecting rod, 6-support frame, 7-connecting block, 8-spiral groove, 9-groove, 10-electromagnetic coil, 11-connecting frame, 12-limiting plate, 13-elastic member. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0015] like Figure 1 , Figure 2 As shown, a landing support of a surveying and mapping UAV includes a UAV body 1 for surveying and mapping operations, a set of driving motors 2 are respectively provided in the middle of both sides of the bottom end of the UAV body 1, and a landing gear 3 is connected to the output shaft of the driving motor 2 through a worm gear (not shown in the figure), so that when the landing gear 3 is folded up or lowered, the driving motor 2 can form a self-locking for the landing gear 3, such as Figure 3 , Figure 4 As shown, the landing gear 3 includes a first connecting rod 4 with a top end drivingly connected to the output shaft of the driving motor 2, a connecting block 7 is provided at the bottom of the outer surface of the first connecting rod 4, and a second connecting rod 5 is fixedly installed at the bottom end of the first connecting rod 4 through the connecting block 7, a supporting frame 6 with a "Y"-shaped structure is provided at the other end of the second connecting rod 5, and a piezoelectric sensor forming a feedback connection with the driving motor 2 is provided inside the connecting block 7; When the drone body 1 is landing, the driving motor 2 is powered on and triggered to drive the landing gear 3 to rotate. As the landing gear 3 rotates continuously, the bottom end of the upper support frame 6 contacts the ground and limits the rotation of the second connecting rod 5. The top end of the first connecting rod 4, driven by the driving motor 2, continuously applies downward pressure to the first connecting rod 4 until the first connecting rod 4 and the second connecting rod 5 are bent in half and the piezoelectric sensor on the connecting block 7 is squeezed. A current signal of a preset intensity is generated and fed back to the driving motor 2 to control it to automatically close. The relative position of the landing gear 3 can be maintained under the transmission of the worm gear to support the drone body 1. When the ground where the drone body 1 lands is uneven, due to the relatively independent control between the two sets of landing gears 3, the two sets of landing gears 3 stop after rotating and tilting at different angles, and ensure that the drone body 1 is in a relatively stable state without tilting, so as to effectively improve the stability and reliability of the drone body 1 when taking off or landing; After the drone body 1 takes off, since the piezoelectric sensor on the connecting block 7 is no longer squeezed and generates a current signal, the driving motor 2 can rotate in the reverse direction and drive the landing gear 3 to return to the initial position.

[0016] In the present technical solution, an angular displacement sensor is provided on the output shaft of the drive motor 2, which is used to detect the rotational displacement of the output shaft on the drive motor 2, and when the piezoelectric sensor does not generate a current signal, regulate the angular displacement of the reverse rotation of the drive motor 2, and turn off the drive motor 2 when the landing gear 3 returns to its initial position.

[0017] like Figure 3 , Figure 5 As shown, in the present technical solution, an electromagnetic coil 10 movably connected to the other end of the second connecting rod 5 is provided in the middle of one end of the support frame 6, wherein the movable connection between the second connecting rod 5 and the electromagnetic coil 10 ensures that both ends of the other side of the support frame 6 can be in contact with the ground, preventing the other end of the support frame 6 from being suspended due to the unevenness of the ground, and the chamber formed by the electromagnetic coil 10 and the second connecting rod 5 is filled with magnetorheological fluid, and the magnetic field generated by the electromagnetic coil 10 can be used to solidify the magnetorheological fluid to fix the support frame 6 and form effective support for the drone body 1.

[0018] In the present technical solution, a feedback connection is formed between the electromagnetic coil 10 and the piezoelectric sensor, and the electromagnetic coil 10 is triggered when the piezoelectric sensor is squeezed and generates a current signal of a preset intensity. When the piezoelectric sensor is no longer squeezed and generates a current signal, the power trigger for the electromagnetic coil 10 is automatically turned off.

[0019] like Figure 4 , Figure 5 As shown, in the present technical solution, a spiral groove 8 arranged in a ring array is provided at the other end of the outer surface of the second connecting rod 5 and in the inner cavity of the electromagnetic coil 10, thereby effectively improving the connection strength between the second connecting rod 5 and the support frame 6 when the magnetorheological fluid therein solidifies, and making it less likely to tilt or shake during the process of supporting the drone body 1.

[0020] like Figure 4 , Figure 5As shown, in the present technical solution, a groove 9 with an elliptical cross-section is provided on one side of the outer surface of the second connecting rod 5, and a group of connecting frames 11 are respectively provided on both sides of the outside of the electromagnetic coil 10, and a limiting plate 12 whose inner wall contacts the outer surface of the groove 9 is provided on the inner side of the end of the connecting frame 11, and the limiting plate 12 is elastically connected to the connecting frame 11 through an elastic member 13 movably sleeved thereon, and then when the support frame 6 is subjected to force, the support frame 6 in a rotating state can be restored to its initial position through the groove 9 and the limiting plate 12.

[0021] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A landing support for a surveying and mapping UAV, comprising a UAV body (1), wherein a set of driving motors (2) are respectively provided in the middle of both sides of the bottom end of the UAV body (1), and a landing gear (3) is drivingly connected to the output shaft of the driving motor (2), characterized in that: The landing gear (3) comprises a first connecting rod (4) whose top end is drivingly connected to the output shaft of the drive motor (2); a connecting block (7) is provided at the bottom of the outer surface of the first connecting rod (4); a second connecting rod (5) is fixedly mounted on the bottom end of the first connecting rod (4) via the connecting block (7); a supporting frame (6) is provided at the other end of the second connecting rod (5); and a piezoelectric sensor is provided inside the connecting block (7) and is feedback-connected to the drive motor (2); When the drone body (1) is performing a landing operation, the driving motor (2) is energized to trigger and drive the landing gear (3) to rotate accordingly, until the first connecting rod (4) and the second connecting rod (5) are bent in half, thereby squeezing the piezoelectric sensor on the connecting block (7) and generating a current signal of a preset intensity to feed back to the driving motor (2) to control it to automatically close; After the drone body (1) takes off, the piezoelectric sensor on the connecting block (7) is no longer squeezed and generates a current signal, so the drive motor (2) rotates in the opposite direction and drives the landing gear (3) to return to its initial position.

2. The landing bracket of the surveying and mapping UAV according to claim 1, characterized in that: An angular displacement sensor is provided on the output shaft of the drive motor (2), which is used to detect the rotational displacement of the output shaft on the drive motor (2) and to regulate the angular displacement of the reverse rotation of the drive motor (2) when the piezoelectric sensor does not generate a current signal.

3. The landing bracket of the surveying and mapping UAV according to claim 2, characterized in that: An electromagnetic coil (10) movably sleeved with the other end of the second connecting rod (5) is provided in the middle of one end of the support frame (6), and a magnetorheological fluid is filled in the chamber formed by the electromagnetic coil (10) and the second connecting rod (5).

4. The landing bracket of the surveying and mapping UAV according to claim 3, characterized in that: A feedback connection is formed between the electromagnetic coil (10) and the piezoelectric sensor, and the electromagnetic coil (10) is triggered when the piezoelectric sensor generates a current signal of a preset strength due to being squeezed, and the energization triggering of the electromagnetic coil (10) is automatically turned off when the piezoelectric sensor is no longer squeezed and generates a current signal.

5. The landing bracket of the surveying and mapping UAV according to claim 4, characterized in that: A spiral groove (8) is provided at the other end of the outer surface of the second connecting rod (5) and is located in the inner cavity of the electromagnetic coil (10).

6. The landing bracket of the surveying and mapping UAV according to claim 5, characterized in that: A groove (9) having an elliptical cross-section is provided on one side of the outer surface of the second connecting rod (5), and a group of connecting frames (11) are provided on both sides of the outside of the electromagnetic coil (10), and a limit plate (12) whose inner wall contacts the outer surface of the groove (9) is provided on the inner side of the end of the connecting frame (11), and the limit plate (12) is elastically connected to the connecting frame (11) via an elastic member (13) movably sleeved thereon.

Images