Unmanned aerial vehicle hangar

Abstract

The invention discloses an unmanned aerial vehicle hangar. The unmanned aerial vehicle hangar comprises a box body; the box cover is rotatably connected with the box body; the parking apron driving unit is connected with the inner wall surface of the box cover; the parking apron is connected with the parking apron driving unit; when the box cover is opened, the parking apron driving unit drives the parking apron to rotate in the first direction so that the parking apron can be completely / partially located outside the box cover, or when the parking apron driving unit drives the parking apron to rotate in the second direction so that the box cover can completely seal the box body, the parking apron can be completely located outside the box cover. The parking apron is completely contained in an inner space defined by the box body and the box cover. An oppositely-opened box cover structure does not need to be arranged, the unmanned aerial vehicle can be parked only by rotating the box cover by a small angle and ensuring that the parking apron extends out of the installation space in the box cover, meanwhile, the situations that a large number of structures are arranged in the box body, and consequently the structure is crowded, and faults occur frequently are avoided, and the structural design is more balanced and reasonable.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), in particular to an UAV hangar. Background Art

[0002] In the existing parking devices for unmanned aerial vehicles, a rotatable box cover structure is provided on the parking platform, and the parking space of the unmanned aerial vehicle is opened or closed by rotating the box cover to realize the take-off and landing of the unmanned aerial vehicle.

[0003] The patent application with application number 202321863464.6 and patent name "UAV Nest" discloses a similar solution, but the solution has the following defects: the receiving platform is set in the box body, and the two box covers need to be rotated at a large angle in a split manner to make the receiving platform completely exposed to the outside, so as to provide sufficient movement space for the landing of the drone. Therefore, when in use, it is required to reserve enough space to ensure that the two box covers can rotate in opposite directions at a predetermined angle. In addition, during the landing process, the drone needs to pass through the area between the two box covers, and there is a possibility of collision with the box covers (especially when the box covers are not flipped into place), resulting in the drone being unable to accurately land on the receiving platform below. Furthermore, since the receiving platform is located at the bottom of the box cover (that is, roughly flush with the rotating shaft), the drone needs to descend a long distance to land on the low receiving platform. The longer the descent distance, the more complicated the control process of the drone, the more variables there are, and the difficulty of landing control is increased. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a drone hangar, which does not require a double-opening box cover structure. It only needs the box cover to be rotated at a small angle to ensure that the helipad extends to the outside of the internal installation space of the box cover to park the drone. At the same time, it avoids structural congestion and frequent failures caused by a large number of structures being arranged in the box body, making the structural design more balanced and reasonable.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A drone hangar is provided, comprising:

[0007] Box;

[0008] A box cover, which is rotatably connected to the box body;

[0009] A helipad driving unit connected to the inner wall surface of the box cover;

[0010] A helipad, which is connected to the helipad driving unit;

[0011] When the box lid is open, the apron driving unit drives the apron to rotate in a first direction so that the apron is completely / partially located outside the box lid, or, the apron driving unit drives the apron to rotate in a second direction so that when the box lid completely closes the box body, the apron is completely accommodated in the internal space formed by the box body and the box lid.

[0012] Preferably, when the internal installation space of the box body is completely closed by the box cover, the apron is completely / partially accommodated in the internal installation space of the box cover.

[0013] Preferably, when the apron is completely / partially located outside the box cover, the distance between it and the upper end surface of the box body is 400-600 mm.

[0014] Preferably, the apron drive unit comprises:

[0015] A helipad push rod connected to the helipad;

[0016] A helipad shaft, connected to the helipad;

[0017] A helipad push rod driving motor, connected to the helipad push rod, is used to drive the helipad push rod to perform linear telescopic motion, so as to drive the helipad to rotate around the helipad rotating shaft;

[0018] And a control unit, which is connected to the apron push rod driving motor and is used to control the operation of the apron push rod driving motor.

[0019] Preferably, the control unit can be installed on the box body or the box cover.

[0020] Preferably, there are multiple apron push rods and apron push rod driving motors, and each apron push rod driving motor is connected to a corresponding apron push rod to control the corresponding apron push rod to perform linear telescopic movement.

[0021] Preferably, the control unit outputs a PWM drive signal to drive all apron push rod drive motors to move synchronously.

[0022] Preferably, the control unit drives all the apron push rod drive motors to act synchronously through the following steps:

[0023] Real-time acquisition of the number of pulse signals n sent by the encoder of each apron push rod drive motor within the current synchronous control cycle k. If within the current synchronous control cycle k, the number of pulse signals n of at least one apron push rod drive motor is ≥ the pulse signal number threshold, and the number of pulse signals n of at least one apron push rod drive motor is < the pulse signal number threshold, the control unit stops sending PWM drive signals to the apron push rod drive motors with the number of pulse signals n ≥ the pulse signal number threshold;

[0024] After s synchronous control cycles k, the control unit simultaneously sends the same PWM drive signal to each apron push rod drive motor to drive all apron push rod drive motors to move synchronously, so that all apron push rod drive motors can drive the corresponding apron push rod 31 to move the same stroke within the same synchronous control cycle k; s is a positive integer, and its value makes the number of pulse signals emitted by the encoder of the apron push rod drive motor with a pulse signal number n<pulse signal number threshold value ≥pulse signal number threshold value from the current synchronous control cycle k.

[0025] Preferably, the pulse signal quantity threshold value = ((v*k) / l)*m, wherein v is the movement speed of the apron push rod; l is the stroke of the apron push rod when each apron push rod driving motor rotates one circle; k is the synchronous control period; and m is the number of pulse signals emitted by the motor encoder when each apron push rod driving motor rotates one circle.

[0026] Preferably, the drone hangar further comprises:

[0027] A box cover push rod, one end of which is connected to the box body, and the other end is connected to the box cover;

[0028] The box cover push rod driving motor is connected to the box cover push rod and is used to drive the box cover push rod to perform linear telescopic motion, so as to drive the box cover to rotate through the linear telescopic motion.

[0029] The present invention has the following beneficial effects:

[0030] The drone hangar structure of the present invention is simple in design, and it does not need to be provided with a split-cover structure, and the helipad is installed on the cover. Therefore, the cover only needs to be rotated at a small angle to ensure that the helipad can be fully / partially extended to the outside of the internal installation space of the cover to park the drone. In addition, the helipad can be stored in the internal installation space of the cover, so that the internal installation space of the cover can be fully utilized, avoiding the crowded structure and frequent failures caused by a large number of structures being arranged in the box body, making the structural design more balanced and reasonable.

[0031] At the same time, since the helipad is located above the installation space inside the box after being unfolded, its position is relatively high, so the drone does not need to descend to the bottom position of the box cover, which can greatly reduce the descent distance of the drone and reduce the difficulty of landing control.

[0032] Furthermore, the control unit can drive all apron push rod drive motors to move synchronously through PWM drive signals, ensuring that all apron push rods extend and retract synchronously and have consistent strokes, thereby ensuring that the apron surface is always flat. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The overall structural diagram of the UAV hangar when the helipad is unfolded in the present invention;

[0034] Figure 2 This is a top view of the drone hangar when the lid is closed in the present invention;

[0035] Figure 3 This is a front view of the drone hangar when the cover is closed in the present invention;

[0036] Figure 4 The figure is an overall structural diagram of the UAV hangar when the helipad in the present invention is folded. DETAILED DESCRIPTION

[0037] 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.

[0038] Embodiment 1:

[0039] like Figure 1-3 As shown, this embodiment provides a drone hangar, which includes:

[0040] The box body 1 has an internal installation space 11;

[0041] The box cover 2 has an internal installation space 21 and is rotatably connected to the box body 1 to open or close the internal installation space 11 of the box body; in this embodiment, the box cover 2 can be connected to a rotating shaft 12 or other components installed on the box body 1 to realize the rotation of the box cover 2, and there is only one box cover 2;

[0042] A helipad driving unit 3 connected to the inner wall surface of the box cover 2;

[0043] A helipad 4, which is connected to the helipad driving unit 3;

[0044] When the box cover 2 is opened, the apron driving unit 3 drives the apron 4 to rotate along a first direction (such as counterclockwise) so that the apron 4 is completely / partially located outside the internal installation space 21 of the box cover and above the internal installation space 11 of the box body, so that the drone 100 is parked on the apron 4, or, the apron driving unit 3 drives the apron 4 to rotate along a second direction (such as clockwise) so that when the box cover 2 completely closes the internal installation space 11 of the box body, the apron 4 is completely accommodated in the internal space enclosed by the box body 1 and the box cover 2, wherein the internal space enclosed by the box body 1 and the box cover 2 is composed of the internal installation space 11 of the box body and the internal installation space 21 of the box cover; the first direction and the second direction are opposite.

[0045] Specifically, the working process of the drone hangar is as follows:

[0046] In the initial state, if Figure 2-3 As shown, the box cover 2 completely encloses the installation space 11 inside the box, and the upper end surface of the box 1 and the lower end surface of the box cover 2 are parallel to the horizontal plane; at the same time, the apron 4 is completely accommodated in the internal space enclosed by the box 1 and the box cover 2;

[0047] like Figure 1 As shown, the box cover 2 is driven to rotate in a first direction (such as counterclockwise) to open the box cover 2, and the apron driving unit 3 is started to drive the apron 4 contained entirely in the internal space enclosed by the box body 1 and the box cover 2 to rotate in a first direction (such as counterclockwise), so that the apron 4 is unfolded to be completely / partially located outside the internal installation space 21 of the box cover and parallel to the horizontal plane. At this time, the drone 100 is controlled to land and finally park on the apron 4; in this process, the rotation direction of the box cover 2 when it is opened is the same as the first direction;

[0048] like Figure 3 As shown, after the UAV 100 on the apron 4 takes off, the apron driving unit 3 drives the apron 4 to rotate in a second direction (such as clockwise), so that the apron 4 is folded toward the inside of the installation space 21 inside the box cover;

[0049] The box cover 2 is driven to rotate in the second direction (such as clockwise) to close the box cover 2, so that the internal installation space 11 of the box body is completely enclosed by the box cover 2, and at the same time the apron 4 is accommodated in the internal space enclosed by the box body 1 and the box cover 2; preferably, in this embodiment, when the internal installation space 11 of the box body is completely enclosed by the box cover 2, the apron 4 is completely / partially accommodated in the internal installation space 21 of the box cover.

[0050] In this embodiment, when the box cover 2 is opened, its rotation angle along the first direction is 70°-150° (preferably 80°-120°, particularly preferably 90°-100°), and when the apron 4 is completely / partially located outside the internal installation space 21 of the box cover, its distance from the upper end surface of the box body 1 is 400-600mm.

[0051] Therefore, the structure design of the drone hangar in this embodiment is simple, and it only needs to set up one box cover 2, without setting up a double-opening box cover structure, and the apron 4 is installed on the box cover 2, rather than being set in the box body 1. Therefore, it is only necessary to rotate the box cover at a small angle to ensure that the apron 4 can be fully / partially extended to the outside of the internal installation space 21 of the box cover to park the drone, and there is no need to reserve a large rotation space for the box cover to rotate at a large angle. In addition, the apron 4 can be stored in the internal installation space 21 of the box cover, so that the internal installation space 21 of the box cover can be fully utilized, avoiding the structural crowding and frequent failures caused by a large number of structures (such as aprons, apron lifting structures, etc.) being set in the box body 1, making the structural design more balanced and reasonable.

[0052] At the same time, since the helipad 4 is located above the installation space 11 inside the box after being unfolded, its position is relatively high, so the drone 100 does not need to descend to the bottom position of the box cover 2, which can greatly reduce the descent distance of the drone 100 and reduce the difficulty of landing control.

[0053] Embodiment 2:

[0054] The difference between this embodiment and embodiment 1 is that Figure 1 As shown, the apron driving unit 3 includes:

[0055] A helipad push rod 31, which is connected to the helipad 4;

[0056] A helipad shaft 32, which is connected to the helipad 4;

[0057] The apron push rod driving motor (not shown) is connected to the apron push rod 31 and is used to drive the apron push rod 31 to perform linear telescopic motion, so as to drive the apron 4 to rotate around the apron rotating shaft 32; in this embodiment, the apron push rod driving motor is installed in the installation space 11 inside the box body or in the installation space 21 inside the box cover;

[0058] And a control unit, which is connected to the apron push rod drive motor and is used to control the operation of the apron push rod drive motor. In this embodiment, the control unit can be installed on the box body 1 or the box cover 2, or installed on other terminals independent of the box body 1 and the box cover 2 (such as a remote control, etc.). At the same time, the control unit may include a touch screen, thereby realizing signal interaction by touching the screen to realize the control of the apron push rod drive motor.

[0059] Furthermore, in the present embodiment, there may be multiple apron push rods 31 and apron push rod driving motors, and each apron push rod driving motor is connected to a corresponding apron push rod 31 to control the corresponding apron push rod 31 to perform linear telescopic movement. At the same time, each apron push rod driving motor is the same and is a brushed DC motor. The control unit outputs a PWM driving signal to drive all apron push rod driving motors to move synchronously.

[0060] Embodiment 3:

[0061] The difference between this embodiment and embodiment 2 is that the control unit drives all the apron push rod drive motors to act synchronously through the following steps:

[0062] Real-time acquisition of the number of pulse signals n sent by the encoder of each apron push rod drive motor within the current synchronous control cycle k. If within the current synchronous control cycle k, the number of pulse signals n of at least one apron push rod drive motor is ≥ the pulse signal number threshold, and the number of pulse signals n of at least one apron push rod drive motor is < the pulse signal number threshold, the control unit stops sending PWM drive signals to the apron push rod drive motors with the number of pulse signals n ≥ the pulse signal number threshold;

[0063] After s synchronous control cycles k, the control unit simultaneously sends the same PWM drive signal to each apron push rod drive motor to drive all apron push rod drive motors to move synchronously, so that all apron push rod drive motors can drive the corresponding apron push rods 31 to move the same stroke within the same synchronous control cycle k; s is a positive integer, and its value is such that from the current synchronous control cycle k, the number of pulse signals n is less than the pulse signal number threshold, and the number of pulse signals emitted by the encoder of the apron push rod drive motor is greater than the pulse signal number threshold. For example, in this embodiment, the value range of s can be [1, 10];

[0064] The pulse signal quantity threshold value = ((v*k) / l)*m, wherein v is the movement speed of the apron push rod 31; l is the stroke of the apron push rod 31 when each apron push rod driving motor rotates one circle; k is the synchronous control period, and in this embodiment, k=pt, p is a positive integer, and the value range is [10, 50], t is the PWM period of each apron push rod driving motor, such as 1ms; m is the number of pulse signals emitted by the motor encoder when each apron push rod driving motor rotates one circle; v, l, k, and m are all known values.

[0065] For example, in this embodiment, if v=20mm / s, l=2mm, k=10ms, m=20, it is only necessary to control each apron push rod drive motor to send out 2 pulse signals in each synchronous control cycle to ensure that each apron push rod 31 moves the stroke corresponding to the 2 pulse signals.

[0066] If in the current synchronous control cycle, the number of pulse signals of the apron push rod drive motor is ≥2, and at the same time the number of pulse signals of the apron push rod drive motor is <2, it means that the movement of all motors is not synchronized, and the movement strokes in the synchronous control cycle are different. At this time, the control unit stops sending PWM drive signals to the apron push rod drive motor with the number of pulse signals ≥2, and the motor stops moving, but the control unit continues to send PWM drive signals to the apron push rod drive motor with the number of pulse signals <2, and the motor continues to move, and its encoder continues to send pulse signals;

[0067] After s synchronous control cycles k, when the pulse signals sent by the encoder of the apron push rod driving motor with the number of pulse signals <2 are also ≥2, the control unit simultaneously sends the same PWM driving signal to each apron push rod driving motor, thereby ensuring that the encoder of each apron push rod driving motor can send 2 pulse signals within the same synchronous control cycle k, so that each apron push rod 31 moves the same stroke, thereby ensuring that all apron push rods 31 are synchronously extended and retracted with consistent strokes, thereby ensuring that the apron surface is always flat.

[0068] Embodiment 4:

[0069] The difference between this embodiment and embodiment 2 is that Figure 1 , as shown in 4, the drone hangar also includes:

[0070] A box cover push rod 5, one end of which is connected to the box body 1, and the other end is connected to the box cover 2;

[0071] A box cover push rod driving motor is arranged in the installation space 11 inside the box body and connected to the box cover push rod 5, and is used to drive the box cover push rod 5 to perform a linear telescopic motion, so as to drive the box cover 2 to rotate through the linear telescopic motion, so as to complete the opening and closing of the box cover 2;

[0072] And rollers are connected to the bottom of the box 1 to facilitate the overall movement of the drone hangar.

[0073] Similarly, there can be multiple box cover push rods 5 and box cover push rod driving motors, and each box cover push rod driving motor drives a corresponding box cover push rod 5 to move. In this embodiment, the box cover push rod driving motor can be connected to the control unit to drive the box cover push rod driving motor to move through the control unit.

[0074] In summary, the structure design of the drone hangar in the present invention is simple, and it only needs to be provided with one box cover, and there is no need to provide a double-opening box cover structure, and the helipad is installed on the box cover. Therefore, it is only necessary to rotate the box cover at a small angle to ensure that the helipad can be fully / partially extended to the outside of the internal installation space of the box cover to park the drone. In addition, the helipad can be stored in the internal installation space of the box cover, so that the internal installation space of the box cover can be fully utilized, avoiding the crowded structure and frequent failures caused by a large number of structures being arranged in the box body, making the structural design more balanced and reasonable.

[0075] At the same time, since the helipad is located above the installation space inside the box after being unfolded, its position is relatively high, so the drone does not need to descend to the bottom position of the box cover, which can greatly reduce the descent distance of the drone and reduce the difficulty of landing control.

[0076] Furthermore, the present invention may include multiple apron push rods and apron push rod driving motors, and each apron push rod driving motor is connected to a corresponding apron push rod, and the control unit drives all apron push rod driving motors to move synchronously through a PWM driving signal, ensuring that all apron push rods extend and retract synchronously and have consistent strokes, thereby ensuring that the apron surface is always flat.

[0077] It should be noted that the technical features in the above-mentioned embodiments 1-4 can be combined in any way, and the combined technical solutions all belong to the protection scope of the present application. In this article, terms such as "including", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0078] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A drone hangar, characterized in that: include: Box; A box cover, which is rotatably connected to the box body; A helipad driving unit connected to the inner wall surface of the box cover; A helipad, which is connected to the helipad driving unit; When the box lid is open, the apron driving unit drives the apron to rotate in a first direction so that the apron is completely / partially located outside the box lid, or, the apron driving unit drives the apron to rotate in a second direction so that when the box lid completely closes the box body, the apron is completely accommodated in the internal space formed by the box body and the box lid.

2. The drone hangar according to claim 1, characterized in that: When the internal installation space of the box body is completely closed by the box cover, the apron is completely / partially accommodated in the internal installation space of the box cover.

3. The drone hangar according to claim 1, characterized in that: When the apron is completely / partially located outside the box cover, the distance between the apron and the upper end surface of the box body is 400-600 mm.

4. The drone hangar according to claim 1, characterized in that: The apron drive unit comprises: A helipad push rod connected to the helipad; A helipad shaft, connected to the helipad; A helipad push rod driving motor, connected to the helipad push rod, is used to drive the helipad push rod to perform linear telescopic motion, so as to drive the helipad to rotate around the helipad rotating shaft; And a control unit, which is connected to the apron push rod driving motor and is used to control the operation of the apron push rod driving motor.

5. The drone hangar according to claim 4, characterized in that: The control unit can be installed on the box body or the box cover.

6. The drone hangar according to claim 4, characterized in that: There are multiple apron push rods and apron push rod driving motors, and each apron push rod driving motor is connected to a corresponding apron push rod to control the corresponding apron push rod to perform linear telescopic movement.

7. The drone hangar according to claim 4, characterized in that: The control unit outputs a PWM drive signal to drive all the apron push rod drive motors to move synchronously.

8. The drone hangar according to claim 7, characterized in that: The control unit drives all the apron push rod drive motors to act synchronously through the following steps: Real-time acquisition of the number of pulse signals n sent by the encoder of each apron push rod drive motor within the current synchronous control cycle k. If within the current synchronous control cycle k, the number of pulse signals n of at least one apron push rod drive motor is ≥ the pulse signal number threshold, and the number of pulse signals n of at least one apron push rod drive motor is < the pulse signal number threshold, the control unit stops sending PWM drive signals to the apron push rod drive motors with the number of pulse signals n ≥ the pulse signal number threshold; After s synchronous control cycles k, the control unit simultaneously sends the same PWM drive signal to each apron push rod drive motor to drive all apron push rod drive motors to move synchronously, so that all apron push rod drive motors can drive the corresponding apron push rod 31 to move the same stroke within the same synchronous control cycle k; s is a positive integer, and its value is selected so that from the current synchronous control cycle k, the number of pulse signals emitted by the encoder of the apron push rod driving motor with the number of pulse signals n<the pulse signal number threshold value ≥ the pulse signal number threshold value.

9. The drone hangar according to claim 8, characterized in that: The pulse signal quantity threshold value = ((v*k) / l)*m, wherein v is the movement speed of the apron push rod; l is the stroke of the apron push rod when each apron push rod driving motor rotates one circle; k is the synchronous control period; m is the number of pulse signals emitted by the motor encoder when each apron push rod driving motor rotates one circle.

10. The drone hangar according to claim 1, characterized in that: The drone hangar also includes: A box cover push rod, one end of which is connected to the box body, and the other end is connected to the box cover; The box cover push rod driving motor is connected to the box cover push rod and is used to drive the box cover push rod to perform linear telescopic motion, so as to drive the box cover to rotate through the linear telescopic motion.

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