Collaborative landing system of unmanned aerial vehicle and unmanned vehicle

Abstract

The invention discloses a collaborative landing system of an unmanned aerial vehicle and an unmanned vehicle, and relates to the technical field of collaborative working systems, the collaborative landing system comprises the unmanned aerial vehicle and the unmanned vehicle which are in wireless communication with each other, a rope winding and unwinding assembly is arranged at the bottom of the unmanned aerial vehicle, and the tail end of a rope of the rope winding and unwinding assembly is connected with a magnetic unit which moves up and down along with rope winding. The top of the unmanned vehicle is provided with a parking platform, the interior of the parking platform is provided with an airflow capturing unit, and the airflow capturing unit generates high-pressure airflow having a suspension effect on the magnetic unit or low-pressure airflow having an adsorption effect on the magnetic unit above the parking platform. The middle of the parking platform is provided with a magnetic attraction assembly used for being matched with the magnetic unit in a magnetic attraction mode and capable of winding or releasing the rope in a rotatable mode. According to the invention, stable docking landing of the unmanned aerial vehicle can be ensured, the positioning precision during landing is higher, the cost is lower, and the anti-interference capability of the unmanned aerial vehicle during landing in severe weather is significantly enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of collaborative working systems, and particularly to a collaborative landing system for an unmanned aerial vehicle and a trolley. Background Art

[0002] With the wide application of unmanned aerial vehicles in scenarios of complex terrains and collaborative operations with mobile unmanned trolleys (such as automatic battery replacement, material transfer, etc.), precise landing technology has become the key to ensuring the safe landing of unmanned aerial vehicles and their subsequent smooth execution of tasks. Especially when an unmanned aerial vehicle collaborates with a mobile platform, the landing accuracy is required to reach the millimeter level to ensure that devices such as robotic arms can perform precise operations.

[0003] The existing collaborative takeoff and landing of unmanned aerial vehicles and unmanned trolleys can generally be divided into three categories: the first is manual positioning landing based on a monocular camera; the second is autonomous landing based on image recognition; the third is high-precision landing technology based on lidar. Among them, in the first type of landing method, it is overly dependent on manual control, its ranging range is limited, usually only effective within a few meters, and due to the lack of three-dimensional space perception, the positioning accuracy is poor. Moreover, when the environmental light changes or the weather is bad, the camera may be interfered, thus affecting the landing accuracy; although the second type can improve the degree of automation of landing, in harsh weather such as strong light, rain, and fog, the image quality is likely to decline, resulting in the failure of feature point extraction and matching, affecting the recognition accuracy, and causing the unmanned aerial vehicle to be unable to stably achieve precise landing; although the third type has a high positioning accuracy and can better adapt to complex terrains, due to the high cost of lidar and the high requirements for technologies such as the vibration adaptability of the unmanned aerial vehicle platform and real-time data transmission, its application is restricted by cost and technical thresholds. Furthermore, in harsh meteorological conditions such as rain, fog, and sand and dust, the laser signal will be scattered, resulting in a significant decline in positioning accuracy and affecting all-weather applications.

[0004] In view of this, the inventor of the present invention has conducted in-depth research on the above problems, and thus this case has emerged. Summary of the Invention

[0005] The present invention provides a collaborative landing system for an unmanned aerial vehicle and an unmanned vehicle, aiming to solve the problems existing in the existing collaborative takeoff and landing technology of unmanned aerial vehicles and unmanned vehicles, such as low positioning accuracy, poor anti-interference ability, high cost, and poor adaptability to bad weather.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A collaborative landing system for an unmanned aerial vehicle and an unmanned vehicle, comprising an unmanned aerial vehicle and an unmanned vehicle that communicate wirelessly with each other. A rope winding and unwinding assembly is provided at the bottom of the unmanned aerial vehicle. The end of the rope of the rope winding and unwinding assembly is connected to a magnetic force unit that moves up and down as the rope is wound. A landing platform is provided at the top of the unmanned vehicle. An air flow capturing unit is provided inside the landing platform. The air flow capturing unit generates a high-pressure air flow with a suspending effect or a low-pressure air flow with an adsorbing effect on the magnetic force unit above the landing platform. A magnetic adsorption assembly for magnetically attracting and cooperating with the magnetic force unit and capable of winding or releasing the rope in a rotatable manner is provided in the middle of the landing platform.

[0008] Further, the rope winding and unwinding assembly includes two oppositely arranged vertical plates. A winding shaft is provided between the two vertical plates. The rope is wound around the winding shaft, and a first driving unit for driving the winding shaft to rotate is provided on the outer side of any one of the vertical plates.

[0009] Further, the magnetic force unit includes a floating plate and a first magnetic attraction module. The rope passes through the floating plate and is connected to the first magnetic attraction module.

[0010] Further, an accommodation cavity is recessed inside the landing platform. An annular stepped groove is provided above the accommodation cavity. The air flow capturing unit is provided inside the accommodation cavity. A frustum is provided above the air flow capturing unit. A gap for air flow to pass through is provided between the frustum and the accommodation cavity. A vent that penetrates through is provided in the middle of the frustum. The magnetic adsorption assembly is provided inside the vent.

[0011] Further, the air flow capturing unit includes a fan and a second driving unit for driving the fan to rotate; the magnetic adsorption assembly includes a horizontally arranged rotating shaft and a second magnetic attraction module provided in the middle of the rotating shaft. The two ends of the rotating shaft respectively extend into the inside of the frustum, and a third driving unit for driving the rotating shaft to rotate is provided at any one end of the rotating shaft; a valve plate for opening or closing the vent is provided below the second magnetic attraction module. When the fan rotates forward to generate a high-pressure air flow with a suspending effect, the valve plate is in a closed state; when the fan rotates in reverse to generate a low-pressure air flow with an adsorbing effect, the valve plate is in an open state.

[0012] Further, a vertically arranged fourth driving unit is provided inside the accommodation cavity. The output end of the fourth driving unit is provided with a rotatable rotating frame. The top of the rotating frame extends outward and is provided with a plurality of support rods. A ring-shaped track is provided on the plurality of support rods. The top surface of the ring-shaped track is recessed inward to form an inclined slope structure. A plurality of spaced installation grooves are recessed at the bottom of the ring-shaped track. A roller is provided in each installation groove. The plurality of support rods respectively pass through the plurality of rollers.

[0013] Further, an infrared emitter for emitting infrared light is provided on the front of the above-mentioned drone; an infrared sensor for receiving infrared light and converting it into an electrical signal for output to the above-mentioned fourth drive unit is provided in the middle of one side of the above-mentioned unmanned vehicle.

[0014] Further, landing gears are provided at the bottom of the above-mentioned drone, and a third magnetic attraction module is provided on the bottom surface of the landing gears. A fourth magnetic attraction module magnetically cooperating with the above-mentioned third magnetic attraction module is correspondingly provided on the top surface of the above-mentioned parking platform.

[0015] Further, a tension sensor for detecting changes in the rope tension is provided on the top of the above-mentioned parking platform.

[0016] The present invention further includes a collaborative landing method for a drone and an unmanned vehicle, which adopts the above-mentioned collaborative takeoff and landing system for a drone and an unmanned vehicle, and includes:

[0017] S1. The drone locates and flies to a preset area above the unmanned vehicle;

[0018] S2. The drone releases the floating disk, and an auxiliary air flow is generated by the air flow capture unit of the unmanned vehicle to make the floating disk hover at a designated position;

[0019] S3. The air flow capture unit switches the air flow direction to adsorb the floating disk. If the adsorption fails, the floating disk recovery is triggered and step S2 is repeated;

[0020] S4. The drone and the unmanned vehicle are pulled closer in cooperation through the traction of the magnetic attraction assembly until the drone docks on the parking platform;

[0021] S5. The drone rotates on the parking platform and aligns the nose through calibration by the infrared sensor;

[0022] S6. The drone and the parking platform are fixed through the magnetic attraction module

[0023] S7. The first drive unit and the third drive unit are started to drive the rope to wind around the take-up reel, and the tension generated during the process causes the separation of the first magnetic attraction module and the second magnetic attraction module.

[0024] From the above description of the structure of the present invention, the present invention has the following advantages:

[0025] First, the drone and unmanned vehicle collaborative landing system of the present invention realizes the stable landing of the drone by setting a rope retracting and releasing assembly, a magnetic force unit, an air flow capturing unit, and a magnetic adsorption assembly. When the drone flies above the unmanned vehicle, the rope retracting and releasing assembly gradually unreels the rope. The magnetic force unit floats above the unmanned vehicle under the action of the air flow, and then adsorbs together with the magnetic adsorption assembly. Subsequently, the magnetic force unit and the magnetic adsorption assembly rotate to complete the winding of the rope, thereby ensuring that the drone can dock and land smoothly. Compared with the prior art, it not only has higher positioning accuracy and lower cost during landing, but also significantly enhances the anti-interference ability of the drone in bad weather.

[0026] Second, the present invention realizes the automatic rotation of the drone after docking and accurately completes the operation of aligning the nose by setting an infrared emitter for emitting infrared light on the front of the drone, an infrared sensor for receiving infrared light in the middle of the unmanned vehicle, and a circular track and a fourth driving unit for driving the circular track to rotate in the parking platform, reducing manual intervention and improving the efficiency and accuracy of drone operation.

[0027] Third, the present invention sets a tension sensor capable of real-time monitoring of the rope tension, so that the speed of the second driving unit can be correspondingly adjusted according to the rope tension when winding the rope, improving the stability and accuracy of the drone landing process.

[0028] Fourth, a third magnetic attraction module is provided at the bottom of the landing gear of the drone of the present invention, and a fourth magnetic attraction module magnetically matched with the third magnetic attraction module at the bottom of the landing gear of the drone is provided on the parking platform, thereby ensuring that the drone can be firmly fixed on the parking platform after landing, improving the docking stability, and the magnetic locking method is more convenient and fast when unlocking, providing great convenience for the rapid takeoff and landing of the drone. Description of the Drawings

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0030] Figure 2 It is a schematic diagram of the structure of the drone of the present invention.

[0031] Figure 3 It is a schematic diagram of the structure of the unmanned vehicle of the present invention.

[0032] Figure 4 It is a partial cross-sectional view of the unmanned vehicle of the present invention.

[0033] Figure 5 It is a cross-sectional view of the unmanned vehicle of the present invention.

[0034] Figure 6 It is a schematic diagram of the structure of the accommodation cavity of the present invention.

[0035] Figure 7 This is a schematic structural diagram of the first magnetic attraction module and the second magnetic attraction module of the present invention during winding.

[0036] Figure 8 This is a flowchart of the landing method of the present invention.

[0037] Reference numerals: 10 - unmanned aerial vehicle; 11 - rope winding and unwinding assembly; 111 - vertical plate; 112 - winding reel; 113 - rope; 12 - magnetic force unit; 121 - floating plate; 122 - first magnetic attraction module; 14 - first camera; 20 - unmanned vehicle; 21 - parking platform; 211 - accommodating cavity; 212 - stepped groove; 22 - air flow capturing unit; 221 - fan; 222 - second driving unit; 223 - fixing rod; 23 - frustum; 231 - air outlet; 232 - connecting rod; 24 - magnetic adsorption assembly; 241 - rotating shaft; 242 - second magnetic attraction module; 243 - third driving unit; 25 - valve plate; 26 - fourth driving unit; 261 - rotating frame; 262 - support rod; 263 - annular track; 264 - ramp structure; 265 - mounting groove; 266 - roller; 27 - empty slot; 271 - grille plate; 28 - second camera; 30 - wire winding groove. Detailed implementation manners

[0038] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments.

[0039] Refer to Figure 1 , a collaborative landing system for an unmanned aerial vehicle and an unmanned vehicle, including an unmanned aerial vehicle 10 and an unmanned vehicle 20. In this embodiment, a first control unit (not shown in the figure) is provided inside the unmanned aerial vehicle 10, and a second control unit (not shown in the figure) wirelessly communicating with the first control unit is provided inside the unmanned vehicle 20. The first control unit includes a flight controller for receiving instructions from a remote controller or other control units and capable of adjusting the flight state, a first wireless communication module integrated with modules such as Wi-Fi, LTE, 5G, Bluetooth, etc. and capable of performing real-time data exchange with the unmanned vehicle 20 or other devices, and a first sensor (such as an IMU, GPS module, vision sensor, lidar, etc.); the second control unit includes a vehicle control unit responsible for the motion control and path planning of the unmanned aerial vehicle 10, capable of receiving instructions from the first control unit, and adjusting the vehicle position according to the instructions, a second wireless communication module, a second sensor (such as lidar, camera, GPS module, inertial sensor, etc.), and a driving mechanism (such as a motor and a driving system) for controlling the movement of the unmanned vehicle 20. Since the above technologies are all publicly available technical means, only a brief description is made here, and no further elaboration will be made later.

[0040] Refer to Figures 1 to 3, a rope winding and unwinding assembly 11 is provided at the bottom of the drone 10. The end of the rope 113 of the rope winding and unwinding assembly 11 is connected to a magnetic force unit 12 that moves up and down as the rope 113 is wound. A landing platform 21 is provided at the top of the unmanned vehicle 20. An air flow capture unit 22 is provided inside the landing platform 21. The air flow capture unit 22 can generate a high-pressure air flow with a levitation effect on the magnetic force unit 12 or a low-pressure air flow with an adsorption effect above the landing platform 21. A magnetic adsorption assembly 24 is provided in the middle of the landing platform 21 for magnetic adsorption cooperation with the magnetic force unit 12 and capable of winding or releasing the rope 113 in a rotatable manner.

[0041] Referring to Figures 1 to 3 , the rope winding and unwinding assembly 11 includes two oppositely arranged vertical plates 111. A winding shaft 112 is provided between the two vertical plates 111. A rope 113 is wound around the winding shaft 112. And a first driving unit (not shown in the figure) for driving the winding shaft 112 to rotate is provided on the outer side of any one of the vertical plates 111. In this embodiment, the first driving unit is a first motor, and the first motor is preferably a brushless DC motor, which not only has high efficiency but also smaller volume. During application, its output shaft is connected to the winding shaft 112 through a coupling, so as to drive the winding shaft 112 to rotate. The rope 113 is tightened or released under the drive of the winding shaft 112, thereby realizing the function of winding and unwinding the rope 113.

[0042] Referring to Figures 1 to 6 , the magnetic force unit 12 includes a circular floating disk 121 and a first magnetic adsorption module 122. A connection hole (not shown in the figure) for the rope 113 to pass through is provided in the middle of the floating disk 121. The rope 113 passes through the connection hole of the floating disk 121 and is connected to the first magnetic adsorption module 122. In this embodiment, the landing platform 21 is circular, and an inverted frustum-shaped accommodation cavity 211 is recessed inside it. An annular stepped groove 212 is provided above the accommodation cavity 211. An air flow capture unit 22 is provided in the accommodation cavity 211. A frustum 23 concentric with the landing platform 21 is provided above the air flow capture unit 22. A gap for air flow is provided between the frustum 23 and the accommodation cavity 211. A through vent 231 is provided in the middle of the frustum 23, and the vent 231 has a structure that gradually tapers from top to bottom. A magnetic adsorption assembly 24 is provided in the vent 231. In this embodiment, the air flow capture unit 22 includes a fan 221 and a second driving unit 222 for driving the fan 221 to rotate. The second driving unit 222 is vertically arranged at the bottom of the accommodation cavity 211, and the output end of the second driving unit 222 is fixedly connected to the fan 221. A vacant groove 27 is recessed at the bottom of the accommodation cavity 211. A grille plate 271 is provided at the top of the vacant groove 27, and a number of circulation holes (not shown in the figure) for air circulation are provided on the grille plate 271.

[0043] The magnetic adsorption assembly 24 includes a horizontally arranged rotating shaft 241 and a second magnetic adsorption module 242 provided in the middle of the rotating shaft 241. Both ends of the rotating shaft 241 extend into the inside of the frustum 23. The second magnetic adsorption module 242 is located in the middle of the air outlet 231, and a third driving unit 243 for driving the rotation of the rotating shaft 241 is provided at any one end of the rotating shaft 241. In this embodiment, the second driving unit 222 and the third driving unit 243 are a second motor and a third motor respectively. The second motor and the third motor are preferably brushless DC motors. In order to improve the landing accuracy, a tension sensor (not shown in the figure) for the rope 113 to pass through and capable of detecting the change in the tension of the rope 113 is also provided on the top of the parking platform 21.

[0044] A valve plate 25 for opening or closing the air outlet 231 is provided below the second magnetic adsorption module 242. The valve plate 25 is substantially the same as the structure of the existing check valve. The number of valve plates 25 is two. The opposite ends of the two valve plates 25 are pivotally connected to the convex strips (not shown in the figure) inside the air outlet 231, and a spring (not shown in the figure) for preventing the valve plate 25 from opening upward is also provided at the bottom of the pivoting part of the two valve plates 25. In this way, when the fan 221 rotates forward to generate a high-pressure airflow with a suspension effect, the valve plate 25 blocks the air outlet 231 under the action of the spring, so that the air outlet 231 is in a closed state; when the fan 221 rotates in reverse to generate a low-pressure airflow with an adsorption effect, the valve plate 25 opens downward, so that the air outlet 231 is in an open state.

[0045] In this embodiment, the first magnetic adsorption module 122 and the second magnetic adsorption module 242 are a first magnet and a second magnet respectively. An arc-shaped protrusion is convex on the bottom surface of the first magnet, and an arc-shaped groove matching the shape of the above arc-shaped protrusion is concave on the top surface of the second magnetic strip. And winding grooves 30 for rope winding are concave on both sides of the first magnet and the second magnet, and arc-shaped edges are provided at the edges of the first magnet and the second magnet.

[0046] Refer to Figure 1To FIGS. 4, when in use, when the driver or the control unit manipulates the drone 10 to fly to an airspace about 1-2 m above the unmanned vehicle 20, the rope winding and unwinding assembly 11 of the drone 10 starts to unwind the rope 113, and the floating disc 121 and the first magnetic attraction module 122 gradually move downward. As the distance between the floating disc 121 and the unmanned vehicle 20 gradually decreases, the air flow capture unit 22 of the parking platform 21 is activated, and the second driving unit 222 drives the fan 221 to rotate. At this time, the valve plate 25 blocks the air outlet 231, and the air flow blown out by the fan 221 is discharged from the gap between the frustum 23 and the accommodation cavity 211, forming a ring-shaped high-pressure air flow with suspension force. The floating disc 121 is positioned and suspended about 10-20 cm above the parking platform 21 under the action of the air flow. Subsequently, the second driving unit 222 rotates in reverse, and the fan 221 generates a low-pressure air flow with adsorption force. Under the action of the wind force with adsorption force, the valve plate 25 opens the air outlet 231 of the frustum 23, and the first magnetic attraction module 122 and the second magnetic attraction module 242 are adsorbed together, thereby realizing the center point positioning of the drone 10 and the unmanned vehicle 20. It should be noted here that the valve plate 25 is not an essential technical feature of the present invention. Installing the valve plate 25 is only a preferred embodiment. In another embodiment, the valve plate 25 can also be removed.

[0047] Referring to Figures 1 to 7 , then, the third driving unit 243 is activated to drive the rotating shaft 241 to rotate, thereby driving the first magnetic attraction module 122 and the second magnetic attraction module 242 adsorbed together to rotate. Since the floating disc 121 is movably penetrated through the rope 113, and arc edges are provided at the edges of the first magnetic attraction module 122 and the second magnetic attraction module 242, the second magnetic attraction module 242 can drive the first magnetic attraction module 122 to rotate when rotating, and further wind the rope 113 around the winding grooves 30 of the first magnetic attraction module 122 and the second magnetic attraction module 242. Referring to Figure 5 , during this process, the tension sensor can detect the tension of the rope 113 in real time and correspondingly adjust the rotation speed of the third driving unit 243 to ensure that the drone 10 can descend smoothly during the traction docking process.

[0048] Referring to Figures 1 to 4, a fourth driving unit 26 is vertically provided inside the accommodating cavity 211. A rotatable rotary frame 261 is provided at the output end of the fourth driving unit 26. A plurality of support rods 262 extend outward from the top of the rotary frame 261. A ring-shaped track 263 is provided on the plurality of support rods 262. An inclined ramp structure 264 is concavely provided on the top surface of the ring-shaped track 263. A plurality of spaced mounting grooves 265 are concavely provided at the bottom of the ring-shaped track 263. A roller 266 is provided in each mounting groove 265. The plurality of support rods 262 are respectively inserted through the plurality of rollers 266. When the fourth driving unit 26 drives the rotary frame 261 to rotate in the accommodating cavity 211, the rollers 266 provided on the support rods 262 at the top of the rotary frame 261 move on the ring-shaped stepped groove 212, thereby driving the ring-shaped track 263 to rotate. The fourth driving unit 26 is a fourth motor. Connecting rods 232 are provided on both sides of the frustum 23. The ends of the two connecting rods 232 are fixedly connected to the inner wall of the ring-shaped track 263 respectively. Fixed rods 223 are provided on both sides of the second driving unit 222. The ends of the two fixed rods 223 are fixedly connected to the rotary frame 261 respectively.

[0049] An infrared emitter (not shown in the figure) for emitting infrared light is provided on the front of the drone 10; an infrared sensor (not shown in the figure) for receiving infrared light and converting it into an electrical signal and outputting it to the second control unit is provided in the middle of one side of the unmanned vehicle 20. When the second control unit receives the signal, it will be transmitted to the fourth driving unit; during application, when the drone 10 lands on the landing platform 21, the landing gear (not shown in the figure) of the drone 10 lands on the ring-shaped track 263 accordingly. At this time, the orientation of the drone 10 is in a random state. Then, the fourth driving unit 26 inside the unmanned vehicle 20 starts to drive the ring-shaped track 263 and the drone 10 to rotate slowly horizontally. At this time, the infrared emitter remains in the emitting state. When the infrared light emitted by the infrared emitter is received by the infrared sensor, the infrared sensor converts the signal into an electrical signal and transmits it to the second control unit, and then the second control unit transmits an instruction to the fourth driving unit 26, and then the fourth driving unit 26 stops, thereby completing the alignment of the nose direction of the drone 10.

[0050] The bottom of the drone 10 is provided with landing gears (not shown in the figure). The landing gears are installed on the left and right sides, or on all four sides of the front, rear, left, and right of the bottom of the drone 10. The landing gears can be strip-shaped or arc-shaped. The bottom surface of each landing gear is provided with a third magnetic attraction module (not shown in the figure), and the top surface of the landing platform 21 is correspondingly provided with a fourth magnetic attraction module (not shown in the figure) that magnetically cooperates with the third magnetic attraction module. In this way, after the drone 10 realizes the center point positioning through the first magnetic attraction module 122 and the second magnetic attraction module 232 and lands on the landing platform 21, the landing gears naturally fall into the ramp structure 264 of the annular track 263 under the action of gravity. In this embodiment, the third magnetic attraction module is a third magnet, and the fourth magnetic attraction module is an electromagnet. When the drone 10 lands and completes the alignment of the nose direction, the electromagnet on the top surface of the landing platform 21 is energized to generate a magnetic field that adsorbs to the third magnetic attraction module on the bottom surface of the landing gear, thereby ensuring the precise positioning and stable docking of the drone 10. At this time, the strong adsorption effect between the electromagnet and the magnet realizes the firm connection between the drone 10 and the landing platform 21. Thus, the landing of the drone 10 is completed. In order not to affect the next takeoff of the drone 10, after the drone 10 docks, the recovery of the first magnetic attraction module 122 is required. First, start the first driving unit of the rope winding and unwinding assembly 11 to drive the winding shaft 112 to rotate forward; at the same time, start the third driving unit 243 to drive the rotating shaft 241 to rotate reversely at the same speed. During this process, the rope 113 gradually winds and recovers to the winding shaft 112. When the rope 113 gradually shortens, the pulling force between the first driving unit and the third driving unit 243 acts on the rope 113, causing the rope 113 to gradually tighten, and further separating the mutually adsorbed first magnetic attraction module 122 and the second magnetic attraction module 242. Thus, the recovery of the first magnetic attraction module 122 is completed.

[0051] Refer to Figures 1 to 4 , it should be noted here that both the drone 10 and the unmanned vehicle 20 of the present invention are provided with a first camera 14 and a second camera 25 for perceiving and photographing the surrounding environment. The first camera 14 and the second camera 25 are electrically connected to the first control unit and the second control unit respectively; the above-mentioned driving units are all powered by batteries, and the battery type can be a lithium polymer battery or a lithium ion battery.

[0052] The present invention also relates to a collaborative landing method for a drone and an unmanned vehicle, including,

[0053] Step 1: The drone 10 locates and flies to a preset area above the unmanned vehicle 20;

[0054] Step 2: The rope winding and unwinding assembly 11 of the drone 10 starts to release the floating disk 121, and the air flow capture unit 22 of the unmanned vehicle 20 starts to generate an annular floating air flow to make the floating disk 121 hover within a specified height range above the unmanned vehicle 20;

[0055] Step 3: Next, the air flow capture unit 22 switches the air flow direction to adsorb the floating tray 121. If the adsorption fails, the recovery of the floating tray 121 is triggered, that is, the rope winding and unwinding assembly 11 starts to wind the rope 113, thereby driving the floating tray 121 to move upward, and then repeating Step 2 again;

[0056] Step 4: The first magnetic attraction module 122 of the drone 10 and the second magnetic attraction module 242 of the unmanned vehicle 20 are adsorbed together, and under the action of the third driving unit 243, the cooperative traction of the drone 10 is realized until the drone 10 docks on the landing platform 21;

[0057] Step 5: The fourth driving unit 26 of the landing platform 21 drives the annular track 263 to rotate, so that the drone 10 above the annular track 263 rotates, and the alignment of the nose is achieved through the calibration of the infrared transmitter and the infrared sensor at the nose of the drone 10;

[0058] Step 6: The drone 10 and the landing platform 21 are fixed through the third magnetic attraction module and the fourth magnetic attraction module.

[0059] Step 7: Start the first driving unit and the third driving unit 243 to drive the rope 113 to wind around the winding shaft 112. When the rope 113 shortens, the pulling force separates the first magnetic attraction module 122 from the second magnetic attraction module 242, completing the recovery of the first magnetic attraction module 122.

[0060] The cooperative landing system of the drone 10 and the unmanned vehicle 20 of the present invention realizes the stable landing of the drone 10 by setting the rope winding and unwinding assembly 11, the magnetic force unit 12, the air flow capture unit 22 and the magnetic adsorption assembly 24. When the drone 10 flies above the unmanned vehicle 20, the rope winding and unwinding assembly 11 gradually unwinds the rope 113, and the magnetic force unit 12 floats above the unmanned vehicle 20 under the action of the air flow, and then adsorbs together with the magnetic adsorption assembly 24. Then, the third driving unit 243 drives the adsorbed magnetic force unit 12 and the magnetic adsorption assembly 24 to rotate, completing the winding of the rope 113, thereby ensuring the smooth docking and landing of the drone 10. And during the process, the tension sensor can also correspondingly adjust the speed of the third driving unit 243 according to the real-time monitored rope tension, ensuring the smoothness and accuracy of the landing process, improving the stability and landing accuracy of the system. At the same time, by setting the fourth magnetic attraction module on the landing platform 21 that magnetically cooperates with the bottom of the landing gear of the drone 10, it is ensured that the drone 10 can achieve stable docking after landing.

[0061] The above is only the specific implementation manner of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantive modification made to the present invention using this concept shall fall within the scope of infringement of the protection of the present invention.

Claims

1. A cooperative landing system for an unmanned aerial vehicle and an unmanned vehicle, comprising an unmanned aerial vehicle and an unmanned vehicle that communicate wirelessly with each other, characterized in that: A rope winding and unwinding assembly is provided at the bottom of the drone. The end of the rope of the rope winding and unwinding assembly is connected to a magnetic force unit that moves up and down as the rope is wound. A landing platform is provided at the top of the unmanned vehicle. An air flow capturing unit is provided inside the landing platform. The air flow capturing unit generates a high-pressure air flow with a levitation effect or a low-pressure air flow with an adsorption effect on the magnetic force unit above the landing platform. A magnetic adsorption assembly is provided in the middle of the landing platform for magnetically attracting and cooperating with the magnetic force unit and capable of winding or releasing the rope in a rotatable manner.

2. The collaborative landing system for an unmanned aerial vehicle and an unmanned vehicle according to claim 1, characterized in that: The rope winding and unwinding assembly includes two oppositely arranged vertical plates. A winding shaft is provided between the two vertical plates. The rope is wound around the winding shaft. And a first driving unit for driving the winding shaft to rotate is provided on the outer side surface of any one of the vertical plates.

3. The collaborative landing system for an unmanned aerial vehicle and an unmanned vehicle according to claim 1, characterized in that: The magnetic force unit includes a floating plate and a first magnetic attraction module. The rope passes through the floating plate and is connected to the first magnetic attraction module.

4. The collaborative landing system for an unmanned aerial vehicle and an unmanned vehicle according to claim 1, wherein: An accommodation cavity is recessed inside the landing platform. A ring-shaped stepped groove is provided above the accommodation cavity. The air flow capturing unit is provided in the accommodation cavity. A frustum is provided above the air flow capturing unit. A gap for air flow to pass through is provided between the frustum and the accommodation cavity. A vent hole is provided through the middle of the frustum. The magnetic adsorption assembly is provided in the vent hole.

5. The collaborative landing system for an unmanned aerial vehicle and an unmanned vehicle according to claim 4, wherein: The air flow capturing unit includes a fan and a second driving unit for driving the fan to rotate. The magnetic adsorption assembly includes a horizontally arranged rotating shaft and a second magnetic attraction module provided in the middle of the rotating shaft. Both ends of the rotating shaft extend into the inside of the frustum respectively. And a third driving unit for driving the rotating shaft to rotate is provided at any one end of the rotating shaft. A valve plate for opening or closing the vent hole is provided below the second magnetic attraction module. When the fan rotates forward to generate a high-pressure air flow with a levitation effect, the valve plate is in a closed state. When the fan rotates backward to generate a low-pressure air flow with an adsorption effect, the valve plate is in an open state.

6. The collaborative landing system for a drone and an autonomous vehicle according to claim 4, characterized in that: A fourth driving unit arranged vertically is provided inside the accommodation cavity. The output end of the fourth driving unit is provided with a rotatable rotating frame. Multiple support rods extend outward from the top of the rotating frame. A ring-shaped track is provided on the multiple support rods. The top surface of the ring-shaped track is recessed with an inclined slope structure. Multiple spaced installation grooves are recessed at the bottom of the ring-shaped track. A roller is provided in each installation groove. The multiple support rods respectively pass through the multiple rollers.

7. The collaborative landing system for a drone and an unmanned vehicle according to claim 6, characterized in that: An infrared emitter for emitting infrared light is provided on the front surface of the drone. An infrared sensor for receiving infrared light and converting it into an electrical signal and outputting it to the fourth driving unit is provided in the middle of one side of the unmanned vehicle.

8. The collaborative landing system for a drone and an unmanned vehicle according to claim 1, wherein: Landing gears are provided at the bottom of the drone. A third magnetic attraction module is provided on the bottom surface of the landing gears. A fourth magnetic attraction module magnetically attracting and cooperating with the third magnetic attraction module is correspondingly provided on the top surface of the landing platform.

9. The collaborative landing system for an unmanned aerial vehicle and an unmanned vehicle according to claim 1, wherein: A tension sensor for detecting changes in the rope tension is provided on the top of the landing platform.

10. A collaborative landing method for an unmanned aerial vehicle and an unmanned vehicle, characterized in that, It adopts the cooperative takeoff and landing system of the drone and the unmanned vehicle according to any one of claims 1 to 9, including: S1. The drone is positioned and flies to a preset area above the unmanned vehicle; S2. The drone releases the floating disk and generates an auxiliary airflow through the airflow capture unit of the unmanned vehicle to make the floating disk hover at the designated position; S3. The airflow capture unit switches the airflow direction to adsorb the floating disk. If the adsorption fails, the floating disk recovery is triggered and step S2 is repeated; S4. The drone and the unmanned vehicle are pulled closer together through the traction of the magnetic adsorption component until the drone docks at the docking station; S5. The drone rotates on the docking station and aligns the nose through calibration by the infrared sensor; S6. The drone and the docking station are fixed through the magnetic adsorption module S7. The first drive unit and the third drive unit are started to drive the rope to wind around the take-up reel, and the pulling force generated during the process separates the first magnetic adsorption module from the second magnetic adsorption module.

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