Vehicle-mounted three-freedom-degree unmanned aerial vehicle take-off and landing platform

Abstract

The invention relates to the technical field of unmanned aerial vehicle take-off and landing platforms, in particular to a vehicle-mounted three-degree-of-freedom unmanned aerial vehicle take-off and landing platform which comprises a vehicle-mounted mounting frame, a three-degree-of-freedom motion platform, an unmanned aerial vehicle take-off and landing platform body and an unmanned aerial vehicle. An unmanned aerial vehicle take-off and landing platform with a centering and clamping function is fixedly installed at the top end of the three-degree-of-freedom motion platform, the unmanned aerial vehicle is centered and clamped when landing on the unmanned aerial vehicle take-off and landing platform, and the vehicle-mounted three-degree-of-freedom unmanned aerial vehicle take-off and landing platform has the centering and clamping function and can balance road surface fluctuation.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV take-off and landing platforms, and particularly to a vehicle-mounted three-degree-of-freedom UAV take-off and landing platform. Background Art

[0002] A UAV is an aircraft controlled by radio remote control equipment and a self-prepared program control device; UAVs have a wide range of applications in modern society, covering fields such as aerial photography and videography, agriculture and plant protection, power line inspection, disaster rescue, environmental monitoring, express delivery and logistics, etc.; and vehicle-mounted UAV technology is an important development direction of current UAV technology. A vehicle-mounted UAV take-off and landing platform is an important part of realizing vehicle-mounted UAV technology. Currently, some vehicle-mounted UAVs have emerged; however, the current vehicle-mounted UAV take-off and landing platforms do not have a centering and clamping function. When the UAV takes off and lands, its position is not fixed and manual adjustment is required, resulting in a low degree of automation and being not conducive to the programming of the UAV take-off and landing procedures; at the same time, in the process of vehicle movement, the current vehicle-mounted UAVs are affected by the undulation of the road surface, and the take-off and landing platform is unstable, resulting in the inability of the UAV to take off and land. Summary of the Invention

[0003] The purpose of the present invention is to provide a vehicle-mounted three-degree-of-freedom UAV take-off and landing platform to solve the technical problems existing in the above background art.

[0004] To achieve the above purpose, the technical solution of the present invention is as follows:

[0005] A vehicle-mounted three-degree-of-freedom UAV take-off and landing platform, comprising: a vehicle-mounted mounting frame, a three-degree-of-freedom motion platform, a UAV take-off and landing platform, and a UAV. The top end of the vehicle-mounted mounting frame is fixedly installed with a three-degree-of-freedom motion platform capable of balancing road surface undulations. The top end of the three-degree-of-freedom motion platform is fixedly installed with a UAV take-off and landing platform having a centering and clamping function. When the UAV lands on the UAV take-off and landing platform, it is centered and clamped.

[0006] Further, the three-degree-of-freedom motion platform includes: a lower platform, an upper platform, and a telescopic mechanism. The lower platform is fixedly installed at the top end of the vehicle-mounted mounting frame. The upper platform is located directly above the lower platform. There are three groups of telescopic mechanisms. The fixed ends of the three groups of telescopic mechanisms are circumferentially arrayed and hinged to the top end of the lower platform, and the telescopic ends of the three groups of telescopic mechanisms are circumferentially arrayed and hinged to the bottom end of the upper platform.

[0007] Further, the telescopic mechanism includes: a bearing seat, a bottom flange, a servo electric cylinder, an upper fork, and a horizontal Hooke's joint. The fixed end of the servo electric cylinder is hinged to the bearing seat through the bottom flange. The bearing seat is fixedly installed at the top end of the lower platform. The telescopic end of the servo electric cylinder is fixedly connected to the upper fork. The upper fork is hinged to the horizontal Hooke's joint. The horizontal Hooke's joint is fixedly installed at the bottom end of the upper platform.

[0008] Further, the bottom flange includes a bottom plate and a connecting shaft. The connecting shaft is fixedly connected to the bottom end of the bottom plate. Two bearing seats are respectively hinged to the axial two ends of the connecting shaft. The fixed end of the servo electric cylinder is fixedly installed on the top end of the bottom plate; the upper fork is U-shaped; the horizontal Hooke hinge includes a base and a shaft head. The shaft head is rotatably installed on the base. The outer end of the shaft head is hinged to the upper fork, and the base is fixedly installed at the bottom end of the upper platform.

[0009] Further, the servo electric cylinder is a retractable electric cylinder; a sheet metal cover is fixedly connected to the edge position at the top end of the lower platform. The top end of the sheet metal cover is located below the bottom end of the upper platform. A control panel is fixedly installed on the left side of the sheet metal cover. A gyroscope is fixedly installed in the middle of the bottom end of the upper platform. The control panel is integrated with a communication interface, a circuit breaker and a power interface. The communication interface is connected to the controller through a network cable. The gyroscope detects the angle change of the upper platform in real time and transmits the detected angle change information to the controller through the communication interface in real time. The controller controls the expansion and contraction of the three servo electric cylinders respectively to keep the upper platform in a horizontal state.

[0010] Further, the UAV takeoff and landing platform includes an aluminum profile frame, angle steel plates, a takeoff and landing platform and a cross-shaped centering and clamping mechanism. The aluminum profile frame is a square frame structure. The takeoff and landing platform is a square plate body. There are four angle steel plates. The takeoff and landing platform is fixedly installed on the top end of the aluminum profile frame through the four angle steel plates; the cross-shaped centering and clamping mechanism includes a Y-direction push rod, an X-direction push rod and a synchronous drive assembly. There are two Y-direction push rods and two X-direction push rods arranged in parallel. The two Y-direction push rods are respectively perpendicular to the two X-direction push rods. The Y-direction push rods are movably arranged above the takeoff and landing platform. The X-direction push rods are movably arranged above the Y-direction push rods. The synchronous drive assembly is installed on the aluminum profile frame to drive the two Y-direction push rods and the two X-direction push rods to move towards or away from each other respectively, so as to realize centering and clamping or releasing the fixation of the UAV landing gear.

[0011] Further, the aluminum profile frame includes Y-direction long profiles, X-direction long profiles and X-direction short profiles. There are three Y-direction long profiles. There are two X-direction long profiles. There are six X-direction short profiles. The three Y-direction long profiles are arranged parallel and equidistantly along the X direction. The two X-direction long profiles are symmetrically fixedly installed at the Y-direction two ends of the three Y-direction long profiles. The six X-direction short profiles are respectively evenly fixedly installed between the three Y-direction long profiles. Angle codes are fixedly installed at the joints of the Y-direction long profiles and the X-direction long profiles and at the joints of the Y-direction long profiles and the X-direction short profiles.

[0012] Further, the synchronous drive assembly includes: bottom corner fixing seats, linear optical axes, linear bearings, synchronous belt clamping blocks, synchronous belts, motor brackets, servo motors, synchronous drive pulleys, shaft seats, axle shafts, bearings, synchronous driven pulleys, and push rod connectors. Four bottom corner fixing seats are respectively arranged at the four corners of the bottom end of the aluminum profile frame. The four bottom corner fixing seats are distributed in a circumferential array. Four linear optical axes are fixedly installed between the four bottom corner fixing seats. Adjacent two linear optical axes are arranged perpendicular to each other. Two linear bearings are respectively sleeved and slidably connected to the axial two sides of each linear optical axis, and the two linear bearings on the same linear optical axis are symmetrically arranged; on one side of the bottom end of the bottom corner fixing seat, a servo motor is fixedly installed through a motor bracket. A synchronous drive pulley is fixedly installed on the top output shaft of the servo motor. On the other side of the bottom end of the bottom corner fixing seat, an axle shaft is fixedly installed through a shaft seat. The axle shaft is rotatably connected with a synchronous driven pulley through a bearing; one side of the synchronous belt is drivingly connected to the synchronous drive pulley. The other side of the synchronous belt is drivingly connected to the synchronous driven pulley corresponding to another bottom corner fixing seat adjacent to the bottom corner fixing seat corresponding to the synchronous drive pulley drivingly connected to this synchronous belt. The four synchronous belts are respectively arranged parallel to the four sides of the square of the aluminum profile frame. The bottom end of the linear bearing is fixedly installed with a synchronous belt clamping block. The two synchronous belt clamping blocks at the bottom ends of the two linear bearings on the same linear optical axis respectively clamp and fix the parallel two sides of the synchronous belt at the position directly below this linear optical axis. Two push rod connectors are symmetrically fixedly installed at the outer ends of the two linear bearings on the same linear optical axis. The front and rear ends of the Y-direction push rod are respectively fixedly installed on the tops of the two symmetrically arranged push rod connectors in the front and rear. The left and right ends of the X-direction push rod are respectively fixedly installed on the tops of the two symmetrically arranged push rod connectors on the left and right.

[0013] Further, it further includes: drone clamping blocks. There are four drone clamping blocks. The four drone clamping blocks are divided into two groups in pairs and are symmetrically fixedly installed on the front and rear sides of the two Y-direction push rods between the two X-direction push rods for clamping the landing gear of the drone.

[0014] Further, it further includes: photoelectric switch brackets, photoelectric switches, and photoelectric switch shims. There are four photoelectric switch brackets, four photoelectric switches, and four photoelectric switch shims. The four photoelectric switches are respectively fixedly installed on the inner sides of the four sides of the aluminum profile frame through the four photoelectric switch brackets. Four photoelectric switch shims are respectively fixedly installed on the four synchronous belt clamping blocks fixedly installed on the side of the four synchronous belts close to the center of the aluminum profile frame. The four photoelectric switch shims respectively cooperate with the four photoelectric switches.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] The UAV takeoff and landing platform with the function of centering and clamping can automatically center and clamp the UAV when it lands, without manual adjustment, which is beneficial to the programming of the UAV takeoff and landing procedures; the three-degree-of-freedom motion platform that can balance the road surface undulation enables the vehicle-mounted UAV to reduce the impact of road surface undulation on the takeoff and landing of the UAV during vehicle movement, ensuring that the UAV can still take off and land normally during vehicle movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural view of the present invention;

[0018] Figure 2 is a schematic structural view of the three-degree-of-freedom motion platform in the present invention;

[0019] Figure 3 is a left view of the three-degree-of-freedom motion platform in the present invention;

[0020] Figure 4 is a schematic structural view of the three-degree-of-freedom motion platform after removing the upper platform in the present invention;

[0021] Figure 5 is a structural view of the UAV takeoff and landing platform in the present invention;

[0022] Figure 6 is a structural view of the UAV takeoff and landing platform after removing the takeoff and landing platform in the present invention;

[0023] Figure 7 is a bottom perspective view of the UAV takeoff and landing platform after removing the takeoff and landing platform in the present invention.

[0024] The reference numerals in the drawings are: 1-vehicle-mounted mounting frame, 2-three-degree-of-freedom motion platform, 201-lower platform, 202-upper platform, 203-bearing seat, 204-bottom flange, 205-servo electric cylinder, 206-upper fork, 207-horizontal Hooke hinge, 208-gyroscope, 209-sheet metal cover, 210-control panel, 3-UAV takeoff and landing platform, 301-aluminum profile frame, 302-angle code, 303-angle steel plate, 304-takeoff and landing platform, 305-bottom angle fixing seat, 306-linear optical axis, 307-linear bearing, 308-synchronous belt clamping block, 309-synchronous belt, 310-motor support, 311-servo motor, 312-synchronous drive pulley, 313-axis seat, 314-axle, 315-bearing, 316-synchronous driven pulley, 317-push rod connecting piece, 318-Y-direction push rod, 319-X-direction push rod, 320-UAV clamping block, 321-optical switch support, 322-optical switch, 323-optical switch baffle, 4-UAV. DETAILED DESCRIPTION OF THE INVENTION

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0026] Referring to Figures 1 to 7 As shown, a vehicle-mounted three-degree-of-freedom UAV takeoff and landing platform includes: a vehicle-mounted mounting frame 1, a three-degree-of-freedom motion platform 2, a UAV takeoff and landing platform 3, and a UAV 4. A three-degree-of-freedom motion platform 2 capable of balancing road surface undulations is fixedly installed at the top of the vehicle-mounted mounting frame 1. A UAV takeoff and landing platform 3 with a centering and clamping function is fixedly installed at the top of the three-degree-of-freedom motion platform 2. When the UAV 4 lands on the UAV takeoff and landing platform 3, it is centered and clamped.

[0027] In this embodiment, the three-degree-of-freedom motion platform 2 includes: a lower platform 201, an upper platform 202, and a telescopic mechanism. The lower platform 201 is fixedly installed at the top of the vehicle-mounted mounting frame 1. The upper platform 202 is located directly above the lower platform 201. There are three groups of telescopic mechanisms. The fixed ends of the three groups of telescopic mechanisms are distributed in a circumferential array and hinged to the top of the lower platform 201. The telescopic ends of the three groups of telescopic mechanisms are distributed in a circumferential array and hinged to the bottom of the upper platform 202;

[0028] In this embodiment, the telescopic mechanism includes: a bearing seat 203, a bottom flange 204, a servo electric cylinder 205, an upper fork 206, and a horizontal Hooke's joint 207. The fixed end of the servo electric cylinder 205 is hinged to the bearing seat 203 through the bottom flange 204. The bearing seat 203 is fixedly installed at the top of the lower platform 201. The telescopic end of the servo electric cylinder 205 is fixedly connected to the upper fork 206. The upper fork 206 is hinged to the horizontal Hooke's joint 207. The horizontal Hooke's joint 207 is fixedly installed at the bottom of the upper platform 202;

[0029] In this embodiment, the bottom flange 204 includes: a bottom plate and a connecting shaft. The connecting shaft is fixedly connected to the bottom end of the bottom plate. Two bearing seats 203 are respectively hinged to the axial two ends of the connecting shaft. The fixed end of the servo electric cylinder 205 is fixedly installed at the top of the bottom plate; the upper fork 206 is U-shaped; the horizontal Hooke's joint 207 includes: a base and a shaft head. The shaft head is rotatably installed on the base. The outer end of the shaft head is hinged to the upper fork 206. The base is fixedly installed at the bottom of the upper platform 202;

[0030] In this embodiment, the servo electric cylinder 205 is a folding electric cylinder, which decelerates the motor and amplifies the motor torque, enabling the platform to carry a greater load. It can carry the unmanned aerial vehicle 4 with a heavier self-weight. At the same time, it can well balance the impact during the takeoff and landing of the unmanned aerial vehicle 4, with less energy loss. A sheet metal cover 209 is fixedly connected to the top edge position of the lower platform 201. The top of the sheet metal cover 209 is located below the bottom of the upper platform 202. A control panel 210 is fixedly installed on the left side of the sheet metal cover 209. A gyroscope 208 is fixedly installed in the middle of the bottom of the upper platform 202. The control panel 210 is integrated with a communication interface, a circuit breaker, and a power interface. The communication interface is connected to the controller through a network cable. The gyroscope 208 detects the angle change of the upper platform 202 in real time and transmits the detected angle change information to the controller through the communication interface. The controller controls the expansion and contraction of the three servo electric cylinders 205 respectively to keep the upper platform 202 in a horizontal state.

[0031] The gyroscope 208 detects the angle change of the upper platform 202 in real time and transmits the detected angle change information to the controller through the communication interface. The controller controls the expansion and contraction of the three servo electric cylinders 205 respectively to keep the upper platform 202 in a horizontal state. The three-degree-of-freedom motion platform in the present invention can well reduce the impact of road surface undulations on the takeoff and landing of the unmanned aerial vehicle, ensuring that the unmanned aerial vehicle can still take off and land normally during the vehicle movement.

[0032] In this embodiment, the unmanned aerial vehicle takeoff and landing platform 3 includes: an aluminum profile frame 301, angle steel plates 303, a takeoff and landing platform 304, and a cross-shaped centering and clamping mechanism. The aluminum profile frame 301 is in a square frame structure. The takeoff and landing platform 304 is a square plate body. There are four angle steel plates 303. The takeoff and landing platform 304 is fixedly installed on the top of the aluminum profile frame 301 through the four angle steel plates 303. The cross-shaped centering and clamping mechanism includes: a Y-direction push rod 318, an X-direction push rod 319, and a synchronous drive assembly. There are two Y-direction push rods 318 and two X-direction push rods 319, which are all arranged in parallel. The two Y-direction push rods 318 are respectively perpendicular to the two X-direction push rods 319. The Y-direction push rod 318 is movably arranged above the takeoff and landing platform 304. The X-direction push rod 319 is movably arranged above the Y-direction push rod 318. The synchronous drive assembly is installed on the aluminum profile frame 301 to drive the two Y-direction push rods 318 and the two X-direction push rods 319 to move towards or away from each other respectively, so as to realize centering and clamping or releasing the fixation of the landing gear of the unmanned aerial vehicle.

[0033] In this embodiment, the aluminum profile frame 301 includes: Y-direction long profiles, X-direction long profiles, and X-direction short profiles. There are three Y-direction long profiles, two X-direction long profiles, and six X-direction short profiles. The three Y-direction long profiles are arranged parallel and equidistantly in the X direction. The two X-direction long profiles are symmetrically fixedly installed at the Y-direction two ends of the three Y-direction long profiles. The six X-direction short profiles are respectively evenly fixedly installed between the three Y-direction long profiles. Corner codes 302 are fixedly installed at the connection between the Y-direction long profiles and the X-direction long profiles and at the connection between the Y-direction long profiles and the X-direction short profiles. The setting of the corner codes 302 can improve the connection strength at the connection between the Y-direction long profiles and the X-direction long profiles and at the connection between the Y-direction long profiles and the X-direction short profiles.

[0034] In this embodiment, the synchronous drive assembly includes: bottom corner fixing seats 305, linear optical axes 306, linear bearings 307, synchronous belt clamping blocks 308, synchronous belts 309, motor brackets 310, servo motors 311, synchronous drive pulleys 312, shaft seats 313, axle shafts 314, bearings 315, synchronous driven pulleys 316 and push rod connectors 317. Four bottom corner fixing seats 305 are respectively arranged at the four corners of the bottom end of the aluminum profile frame 301. The four bottom corner fixing seats 305 are distributed in a circumferential array. Four linear optical axes 306 are fixedly installed between the four bottom corner fixing seats 305. Adjacent two linear optical axes 306 are arranged perpendicular to each other. Two linear bearings 307 are sleeved and slidably connected to both axial sides of each linear optical axis 306, and the two linear bearings 307 on the same linear optical axis 306 are symmetrically arranged; on one side of the bottom end of the bottom corner fixing seat 305, a servo motor 311 is fixedly installed through a motor bracket 310. A synchronous drive pulley 312 is fixedly installed on the top output shaft of the servo motor 311. On the other side of the bottom end of the bottom corner fixing seat 305, an axle shaft 314 is fixedly installed through a shaft seat 313. The axle shaft 314 is rotatably connected with a synchronous driven pulley 316 through a bearing 315; one side of a synchronous belt 309 is drivingly connected to the synchronous drive pulley 312, and the other side of the synchronous belt 309 is drivingly connected to the synchronous driven pulley 316 corresponding to another bottom corner fixing seat adjacent to the bottom corner fixing seat corresponding to the synchronous drive pulley 312 that is drivingly connected to this synchronous belt 309. The four synchronous belts 309 are respectively arranged parallel to the four sides of the square of the aluminum profile frame 301. The bottom ends of the linear bearings 307 are fixedly installed with synchronous belt clamping blocks 308. The two synchronous belt clamping blocks 308 at the bottom ends of the two linear bearings 307 on the same linear optical axis 306 respectively clamp and fix the parallel two sides of the synchronous belt 309 at the position directly below this linear optical axis 306. Two push rod connectors 317 are symmetrically and fixedly installed at the outer ends of the two linear bearings 307 on the same linear optical axis 306. The front and rear ends of the Y-direction push rod 318 are respectively fixedly installed on the tops of the two symmetrically arranged push rod connectors 317 in the front and rear. The left and right ends of the X-direction push rod 319 are respectively fixedly installed on the tops of the two symmetrically arranged push rod connectors 317 in the left and right; when the UAV takes off and lands, the controller respectively controls the four servo motors 311 to rotate forward or backward, and then drives the eight linear bearings 307 to slide linearly synchronously through the four synchronous belts 309, and drives the two Y-direction push rods 318 and the two X-direction push rods 319 to move towards each other or away from each other respectively, so as to realize the centering clamping or release of the UAV landing gear.

[0035] In this embodiment, it further includes: four drone clamping blocks 320. The four drone clamping blocks 320 are divided into two groups in pairs and symmetrically and fixedly installed on the front and rear sides of the two Y-direction push rods 318 between the two X-direction push rods 319, and are used to clamp the landing gear of the drone 4. The four set drone clamping blocks 320 can stably fix the landing gear of the drone 4.

[0036] In this embodiment, it further includes: a photoelectric switch bracket 321, a photoelectric switch 322, and a photoelectric switch baffle 323. Four of each of the photoelectric switch bracket 321, the photoelectric switch 322, and the photoelectric switch baffle 323 are provided. The four photoelectric switches 322 are respectively fixedly installed on the inner sides of the four sides of the aluminum profile frame 301 through the four photoelectric switch brackets 321. Four photoelectric switch baffles 323 are respectively fixedly installed on the four synchronous belt clamping blocks 308 fixedly installed on the side of the four synchronous belts 309 close to the center of the aluminum profile frame 301. The four photoelectric switch baffles 323 cooperate with the four photoelectric switches 322 respectively. The four photoelectric switch baffles 323 move with the four synchronous belts 309. When the drone landing platform 3 centers and clamps the drone 4 in place, the four photoelectric switches 322 are all triggered and transmit signals to the controller, and the controller controls the four servo motors 311 to stop rotating respectively.

[0037] Working principle: The entire vehicle-mounted three-degree-of-freedom UAV take-off and landing platform is installed on the roof or other vehicle locations that are convenient for UAV take-off and landing (such as the open compartment of a pickup truck, etc.) through the vehicle-mounted mounting frame 1, and then the power supply (which can be a mobile power supply or the vehicle's own power supply) is connected to the power interface through the power wiring to power the electrical components in the entire vehicle-mounted three-degree-of-freedom UAV take-off and landing platform, and the controller (which can be a notebook with a control program written in it) is connected to the communication interface through a communication line. During the movement of the vehicle, the gyroscope 208 detects the angle change of the upper platform 202 in real time and transmits the detected angle change information to the controller in real time through the communication interface. The controller controls the extension and retraction of the three servo electric cylinders 205 respectively to keep the upper platform 202 in a horizontal state, thereby being able to effectively reduce the impact of road undulations on the take-off and landing of the UAV, and ensuring that the UAV can still take off and land normally during the movement of the vehicle; when the UAV During take-off, the controller simultaneously controls the four servo motors 311 to reverse, drives the eight linear bearings 307 to slide synchronously and linearly through the four synchronous belts 309, and drives the two Y-direction push rods 318 and the two X-direction push rods 319 to move in opposite directions respectively, thereby releasing the fixation of the drone. At this time, the drone 4 can take off normally; when the drone is landing, the two Y-direction push rods 318 and the two X-direction push rods 319 are respectively located at positions close to the four edges of the take-off and landing platform 304, and the drone first lands on the top of the take-off and landing platform 304. Then, the controller controls the four servo motors 311 to rotate forward respectively, drives the eight linear bearings 307 to slide synchronously and linearly through the four synchronous belts 309, and drives the two Y-direction push rods 318 and the two X-direction push rods 319 to move in opposite directions respectively. When the four photoelectric switches 322 are all triggered, the controller controls the four servo motors 311 to stop respectively, and the drone 4 is centered and clamped.

[0038] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "inside", "outside", "top / bottom" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0039] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any technician familiar with the profession, without departing from the scope of the technical solution of the present invention, according to the technical essence of the present invention, any simple modification, equivalent replacement and improvement made to the above embodiment still falls within the protection scope of the technical solution of the present invention.

Claims

1. A vehicle-mounted three-degree-of-freedom UAV takeoff and landing platform, characterized in that Comprising: A vehicle-mounted mounting rack (1), a three-degree-of-freedom motion platform (2), a UAV takeoff and landing platform (3), and a UAV (4). A three-degree-of-freedom motion platform (2) capable of balancing road surface undulations is fixedly installed at the top of the vehicle-mounted mounting rack (1). A UAV takeoff and landing platform (3) with a centering and clamping function is fixedly installed at the top of the three-degree-of-freedom motion platform (2). When the UAV (4) lands on the UAV takeoff and landing platform (3), it is centered and clamped.

2. The vehicle-mounted three-degree-of-freedom UAV takeoff and landing platform according to claim 1, characterized in that: The three-degree-of-freedom motion platform (2) includes: a lower platform (201), an upper platform (202), and a telescopic mechanism. The lower platform (201) is fixedly installed at the top of the vehicle-mounted mounting rack (1). The upper platform (202) is located directly above the lower platform (201). There are three groups of telescopic mechanisms. The fixed ends of the three groups of telescopic mechanisms are distributed in a circumferential array and are hinged to the top of the lower platform (201). The telescopic ends of the three groups of telescopic mechanisms are distributed in a circumferential array and are hinged to the bottom end of the upper platform (202).

3. The vehicle-mounted three-degree-of-freedom UAV takeoff and landing platform according to claim 2, wherein: The telescopic mechanism includes: a bearing seat (203), a bottom flange (204), a servo electric cylinder (205), an upper fork (206), and a horizontal Hooke's joint (207). The fixed end of the servo electric cylinder (205) is hinged to the bearing seat (203) through the bottom flange (204). The bearing seat (203) is fixedly installed at the top of the lower platform (201). The telescopic end of the servo electric cylinder (205) is fixedly connected to the upper fork (206). The upper fork (206) is hinged to the horizontal Hooke's joint (207). The horizontal Hooke's joint (207) is fixedly installed at the bottom end of the upper platform (202).

4. The vehicle-mounted three-degree-of-freedom UAV takeoff and landing platform according to claim 3, wherein: The bottom flange (204) includes: a bottom plate and a connecting shaft. The connecting shaft is fixedly connected to the bottom end of the bottom plate. Axial ends of the connecting shaft are respectively hinged to two bearing seats (203). The fixed end of the servo electric cylinder (205) is fixedly installed at the top of the bottom plate. The upper fork (206) is U-shaped. The horizontal Hooke's joint (207) includes: a base and a shaft head. The shaft head is rotatably installed on the base. The outer end of the shaft head is hinged to the upper fork (206). The base is fixedly installed at the bottom end of the upper platform (202).

5. The vehicle-mounted three-degree-of-freedom UAV takeoff and landing platform according to claim 3, characterized in that: The servo electric cylinder (205) is a retractable electric cylinder. A sheet metal cover (209) is fixedly connected to the edge position at the top of the lower platform (201). The top of the sheet metal cover (209) is located below the bottom end of the upper platform (202). A control panel (210) is fixedly installed on the left side of the sheet metal cover (209). A gyroscope (208) is fixedly installed in the middle of the bottom end of the upper platform (202). The control panel (210) is integrated with a communication interface, a circuit breaker, and a power interface. The communication interface is connected to a controller through a network cable. The gyroscope (208) detects the angle change of the upper platform (202) in real time and transmits the detected angle change information to the controller in real time through the communication interface. The controller controls the expansion and contraction of the three servo electric cylinders (205) respectively to keep the upper platform (202) in a horizontal state.

6. The vehicle-mounted three-degree-of-freedom UAV takeoff and landing platform according to claim 5, characterized in that: The UAV takeoff and landing platform (3) includes: an aluminum profile frame (301), angle steel plates (303), a takeoff and landing platform (304), and a cross-shaped centering and clamping mechanism. The aluminum profile frame (301) is in a square frame structure. The takeoff and landing platform (304) is a square plate. There are four angle steel plates (303). The takeoff and landing platform (304) is fixedly installed at the top of the aluminum profile frame (301) through the four angle steel plates (303). The cross-shaped centering and clamping mechanism includes: a Y-direction push rod (318), an X-direction push rod (319), and a synchronous drive assembly. There are two Y-direction push rods (318) and two X-direction push rods (319) both arranged in parallel. The two Y-direction push rods (318) are respectively perpendicular to the two X-direction push rods (319). The Y-direction push rod (318) is movably arranged above the takeoff and landing platform (304). The X-direction push rod (319) is movably arranged above the Y-direction push rod (318). The synchronous drive assembly is installed on the aluminum profile frame (301) and is used to drive the two Y-direction push rods (318) and the two X-direction push rods (319) to move towards or away from each other respectively, so as to realize centering and clamping or releasing the fixation of the UAV landing gear.

7. The vehicle-mounted three-degree-of-freedom UAV takeoff and landing platform according to claim 6, characterized in that: The aluminum profile frame (301) includes: Y-direction long profiles, X-direction long profiles, and X-direction short profiles. There are three Y-direction long profiles. There are two X-direction long profiles. There are six X-direction short profiles. The three Y-direction long profiles are arranged parallel and equidistantly along the X direction. The two X-direction long profiles are symmetrically fixedly installed at the Y-direction two ends of the three Y-direction long profiles. The six X-direction short profiles are respectively evenly fixedly installed between the three Y-direction long profiles. Angle codes (302) are fixedly installed at the joints of the Y-direction long profiles and the X-direction long profiles and at the joints of the Y-direction long profiles and the X-direction short profiles.

8. The vehicle-mounted three-degree-of-freedom UAV takeoff and landing platform according to claim 6, characterized in that: The synchronous drive assembly includes: bottom corner fixing seats (305), linear optical axes (306), linear bearings (307), synchronous belt clamping blocks (308), synchronous belts (309), motor brackets (310), servo motors (311), synchronous drive pulleys (312), shaft seats (313), axle shafts (314), bearings (315), synchronous driven pulleys (316), and push rod connectors (317). Four bottom corner fixing seats (305) are respectively arranged at the four corners of the bottom end of the aluminum profile frame (301). The four bottom corner fixing seats (305) are distributed in a circumferential array. Four linear optical axes (306) are fixedly installed between the four bottom corner fixing seats (305). Adjacent two linear optical axes (306) are arranged perpendicular to each other. Two linear bearings (307) are sleeved and slidably connected to both axial sides of each linear optical axis (306), and the two linear bearings (307) on the same linear optical axis (306) are symmetrically arranged. One side of the bottom end of the bottom corner fixing seat (305) is fixedly installed with a servo motor (311) through a motor bracket (310). A synchronous drive pulley (312) is fixedly installed on the top output shaft of the servo motor (311). The other side of the bottom end of the bottom corner fixing seat (305) is fixedly installed with an axle shaft (314) through a shaft seat (313). The axle shaft (314) is rotatably connected with a synchronous driven pulley (316) through a bearing (315). One side of a synchronous belt (309) is drivingly connected to the synchronous drive pulley (312). The other side of the synchronous belt (309) is drivingly connected to the synchronous driven pulley (316) corresponding to another bottom corner fixing seat (305) adjacent to the bottom corner fixing seat (305) corresponding to the synchronous drive pulley (312) that is drivingly connected to this synchronous belt (309). The four synchronous belts (309) are respectively arranged parallel to the four sides of the square of the aluminum profile frame (301). The bottom end of the linear bearing (307) is fixedly installed with a synchronous belt clamping block (308). The two synchronous belt clamping blocks (308) at the bottom ends of the two linear bearings (307) on the same linear optical axis (306) are respectively clamped and fixed on the parallel two sides of the synchronous belt (309) at the position directly below this linear optical axis (306). Two push rod connectors (317) are symmetrically fixedly installed at the outer ends of the two linear bearings (307) on the same linear optical axis (306). The front and rear ends of the Y-direction push rod (318) are respectively fixedly installed on the tops of two symmetrically arranged push rod connectors (317) at the front and rear. The left and right ends of the X-direction push rod (319) are respectively fixedly installed on the tops of two symmetrically arranged push rod connectors (317) on the left and right.

9. The vehicle-mounted three-degree-of-freedom UAV takeoff and landing platform according to claim 8, wherein: It further includes: Drone clamping blocks (320). There are four drone clamping blocks (320). The four drone clamping blocks (320) are divided into two groups in pairs and are symmetrically fixedly installed on the front and rear sides of the two Y-direction push rods (318) between the two X-direction push rods (319) for clamping the landing gear of the drone (4).

10. A vehicle-mounted three-degree-of-freedom UAV takeoff and landing platform according to claim 8, characterized in that: It further includes: Photoelectric switch bracket (321), photoelectric switch (322) and photoelectric switch baffle (323). There are four of each of the photoelectric switch bracket (321), photoelectric switch (322) and photoelectric switch baffle (323). The four photoelectric switches (322) are respectively fixedly installed on the inner sides of the four sides of the aluminum profile frame (301) through four photoelectric switch brackets (321). Four photoelectric switch baffles (323) are respectively fixedly installed on four synchronous belt clamping blocks (308) fixedly installed on one side of the four synchronous belts (309) close to the center of the aluminum profile frame (301). The four photoelectric switch baffles (323) are respectively matched with the four photoelectric switches (322).

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