Aquatic hangar for amphibious unmanned aerial vehicle

Abstract

The invention discloses a water hangar for an amphibious unmanned aerial vehicle. The water hangar comprises a hangar shell, an internal frame, electrical equipment and a water surface fixing device, the electrical equipment comprises an electrical control box, a lifting motor, a right push rod motor, a left push rod motor and the like; wherein a controller and drivers of the lifting motor, the left push rod motor and the right push rod motor are arranged in the electrical control box, and the controller can receive a remote control command to conveniently and remotely control the hangar; a solar cell panel is installed on the upper surface of the top of the hangar and can supply power to an electrical system in the hangar. The hangar is installed and deployed on the shore of the water area, the amphibious unmanned aerial vehicle can return to the hangar from the water surface, and tasks such as polling or rescue of the water area can be responded in time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle hangar, and particularly relates to a water hangar for amphibious unmanned aerial vehicle. BACKGROUND

[0002] With the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles are widely used in many fields. In order to realize long-term remote control of unmanned aerial vehicles, unmanned aerial vehicle hangars are built in corresponding outdoor locations to store unmanned aerial vehicles. The unmanned aerial vehicle hangar usually has the functions of storing, taking off, charging or replacing the battery of the unmanned aerial vehicle, and can directly deploy the unmanned aerial vehicle to the area near the work site, so that the unmanned aerial vehicle can automatically fly to the work area according to the actual requirements.

[0003] These land-mounted hangars can only be used for ordinary unmanned aerial vehicles, and the ordinary land hangars cannot play the advantages of water navigation of amphibious unmanned aerial vehicles, especially the amphibious unmanned aerial vehicles.

[0004] At present, amphibious unmanned aerial vehicles need to navigate on the water surface, and the lower surface is generally not equipped with a lens for precise positioning. When returning to the hangar, it is difficult to accurately land in the hangar from the air. The land-mounted hangar cannot make the amphibious unmanned aerial vehicle return to the hangar from the water surface. At the same time, after the amphibious unmanned aerial vehicle returns to the hangar from the water surface, the part of the fuselage has water, and the ordinary hangar does not have a device for removing and draining water from the fuselage. SUMMARY

[0005] In order to overcome the deficiencies of the prior art, the present application provides the following technical scheme. A water hangar for amphibious unmanned aerial vehicles comprises a hangar shell, an internal frame, electrical equipment and a water surface fixing device. The hangar shell comprises a front louver, a right top, a left top, a right door, a left door, a right louver, a left louver, a rear louver, a left side baffle and a right side baffle. The upper part of the hangar shell is the right top and the left top. The left side of the hangar shell is sequentially provided from top to bottom with the left door, the left louver and the left side baffle. The right side of the hangar shell is sequentially provided from top to bottom with the right door, the right louver and the right side baffle. A push rod motor upper connecting rod and a right door limiting connecting column are installed in the middle part of the inner side of the right door. A push rod motor upper connecting rod and a left door limiting connecting column are installed in the middle part of the inner side of the left door.

[0006] The internal frame comprises a front crossbar, a lifting slide, a left crossbar, a right crossbar, a rear crossbar, internal columns, frame columns, a lifting platform and a fixed pulley, each of the four corners of the internal frame has a frame column, the left crossbar is connected with the front crossbar and the rear crossbar at two ends respectively, the right crossbar is connected with the front crossbar and the rear crossbar at two ends respectively, one end of the front crossbar is connected with the left crossbar and the frame column and the other end is connected with the right crossbar and the frame column, a front louver is installed on the outer side of the front crossbar, a rear louver and an electrical control box are installed on the outer side of the rear crossbar, one end of the rear crossbar is connected with the left crossbar and the frame column and the other end is connected with the right crossbar and the frame column, the middle part of the left crossbar is a left crossbar middle part front end bar, two internal columns and a lifting slide are installed on the right side of the left crossbar middle part front end bar, the middle part of the right crossbar is a right crossbar middle part front end bar, two internal columns and a lifting slide are installed on the left side of the right crossbar middle part front end bar, a push rod motor lower connecting rod is installed on the upper surface of the right crossbar middle part front end bar and the left crossbar middle part front end bar, two of the internal columns are installed on the right side of the left crossbar middle part front end bar and the other two are installed on the left side of the right crossbar middle part front end bar, two of the lifting slides are installed on the right side of the left crossbar middle part front end bar and the other two are installed on the left side of the right crossbar middle part front end bar, two pulleys are installed on each side of the lifting platform, the internal frame of the lifting platform is a slide for the pulleys on both sides of the lifting platform;

[0007] The fixed pulley has 14, two fixed pulleys are installed on the front end and the rear end of the lower surface of the lifting platform, two fixed pulleys are installed on the upper part of the rear crossbar, and a total of eight fixed pulleys are installed on the four internal columns;

[0008] The electrical equipment includes: electrical control box, lifting motor, right push rod motor, left push rod motor, right door limit switch, left door limit switch, upper limit switch, middle limit switch, lower limit switch, lower limit connecting rod, fan and battery; the fan is installed on two front crossbars and two rear crossbars, the electrical control box is installed at the lower left of the outer side of the rear crossbar, the lifting motor is installed at the middle of the inner side of the rear crossbar, a winding column is installed on the rotating shaft of the upper part of the lifting motor, the rear end of the right push rod motor is installed on the push rod motor lower connecting rod of the front end bar of the middle part of the right crossbar, the front end of the push rod of the right push rod motor is installed on the push rod motor upper connecting rod of the inner side of the right door, the rear end of the left push rod motor is installed on the push rod motor lower connecting rod of the front end bar of the middle part of the left crossbar, the front end of the push rod of the left push rod motor is installed on the push rod motor upper connecting rod of the inner side of the left door, the upper limit switch, the middle limit switch, the lower limit connecting rod, the lower limit switch are sequentially installed on the inner column body in front of the right from top to bottom, the lower limit contact sheet is above the lower limit switch, the lower limit connecting rod is installed with the lower limit contact sheet in the middle and the lifting platform contact sheet at the end, the right door limit switch is installed on the bar of the middle part of the right crossbar, the left door limit switch is installed on the bar of the middle part of the left crossbar, and the battery is installed on the upper surface of the buoyancy tank.

[0009] The water surface fixing device includes: buoyancy tank, fixed pile, front end protection shell and pile connecting ring, the lower part of the frame column body, the lower crossbar of the left crossbar, the lower crossbar of the right crossbar and the battery are installed on the upper surface of the buoyancy tank, the front end protection shell is installed at the front end of the buoyancy tank, the pile connecting ring has two ends installed on the lower crossbar of the rear crossbar and another two ends installed on the lower crossbar of the front crossbar, and the middle upper part of the fixed pile is in the circular ring of the pile connecting ring.

[0010] In order to more clearly describe the position of the above-mentioned elements, the position of the front shutter is taken as front, the position of the electrical control box is taken as rear, the inside of the hangar is taken as inner side, and the outside of the hangar is taken as outer side, to distinguish front, rear, left, right, inner and outer.

[0011] Preferably, the upper surfaces of the right top and the left top are installed with solar cell panels, which can charge the battery.

[0012] Preferably, during the descending process of the lifting platform, when the lower surface of the lifting platform presses the lifting platform contact sheet, the lifting platform contact sheet drives the lower limit connecting rod and the lower limit contact sheet to descend, the descending of the lower limit contact sheet presses the switch at the upper end of the lower limit switch, the lower limit switch sends a signal to the controller to make the lifting motor stop rotating, and then the lifting platform stops descending and pauses.

[0013] Preferably, the upper rotating arm of the right door limit switch is connected with the right door limit connecting column by a non-elastic rope; when the right door is closed, the rope is in a relaxed state, and when the right door is opened to a certain extent, the rope is in a taut state. The upper rotating arm of the left door limit switch is connected with the left door limit connecting column by a non-elastic rope; when the left door is closed, the rope is in a relaxed state, and when the left door is opened to a certain extent, the rope is in a taut state.

[0014] Preferably, the fixed pulley and the winding column are wound with two non-elastic ropes; there is one fixed pulley on each side of the upper end of the rear crossbar, one fixed pulley is installed on the top of the right rear internal column, one fixed pulley is installed on the top of the left front internal column, one fixed pulley is installed on the front side and the right side of the top of the right front internal column, one fixed pulley is installed on the middle of the right front internal column, one fixed pulley is installed on the front side and the left side of the top of the left rear internal column, and one fixed pulley is installed on the middle of the left rear internal column. The first wire is wound from the upper half of the winding column, passes through the fixed pulley on the right side of the upper end of the rear crossbar, the fixed pulley on the right side of the top of the right front internal column, the fixed pulley in the middle of the right front internal column, the fixed pulley on the front side of the top of the right front internal column, the fixed pulley on the right front side of the lower surface of the lifting platform, the fixed pulley on the left front side of the lower surface of the lifting platform, and the fixed pulley on the top of the left front internal column in sequence, and finally the end of the wire is fixed on the upper part of the left crossbar. The second wire is wound from the lower half of the winding column, passes through the fixed pulley on the left side of the upper end of the rear crossbar, the fixed pulley on the left side of the top of the left rear internal column, the fixed pulley in the middle of the top of the left rear internal column, the fixed pulley on the front side of the top of the left rear internal column, the fixed pulley on the left rear side of the lower surface of the lifting platform, the fixed pulley on the right rear side of the lower surface of the lifting platform, and the fixed pulley on the top of the right rear internal column in sequence, and finally the end of the wire is fixed on the upper part of the right crossbar. When the lifting motor rotates, the winding column rotates, and the two ropes wound on the winding column make the lifting platform freely ascend and descend.

[0015] Preferably, the electrical control box has a controller and the drivers of the lifting motor, the left push rod motor and the right push rod motor; the controller can receive remote control commands and feedback signals of the right door limit switch, the left door limit switch, the upper limit switch, the middle limit switch and the lower limit switch; the controller can control the drivers of the lifting motor, the left push rod motor and the right push rod motor to make the lifting motor rotate, the left push rod motor ascend and descend, and the right push rod motor ascend and descend.

[0016] Preferably, the buoyancy tank is completely immersed in water to bear a buoyancy greater than the gravity of the entire hangar device, so that the entire hangar is placed on the water surface with the lower surface of the buoyancy tank below the water surface and the upper surface of the buoyancy tank above the water surface; the front end of the front protective shell is narrower to facilitate the enlargement of the entrance of the amphibious unmanned aerial vehicle returning to the hangar from the water surface.

[0017] Preferably, the lower part of the fixed pile is fixed in the soil under the shallow water area on the bank; if the hangar is installed in a water area with large water level changes, the length of the fixed pile is increased to avoid the pile connection ring being higher than the upper part of the fixed pile.

[0018] Compared with the prior art, the application has the beneficial effects that:

[0019] (1) The amphibious unmanned plane can return to the hangar from the water surface without the need to take off again and land on the upper part of the hangar; the amphibious unmanned plane can be used for more time for flight or related work, and the effective working time can be prolonged each time.

[0020] (2) The hangar is installed and deployed on the bank of the water area, which facilitates timely response to water area inspection or rescue tasks.

[0021] (3) The structure is reasonably designed, and after the amphibious unmanned plane returns to the hangar from the water surface, the water on the outside of the amphibious unmanned plane can be blown dry as soon as possible by the water removal fan, which facilitates the replacement of the battery next time and also avoids the water flowing to the electrical equipment in the hangar.

[0022] (4) The top of the hangar has a solar panel, which can provide power for the electrical system of the hangar, and remote power supply is not needed. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is the axial view of the overall structure schematic diagram of the application;

[0024] Figure 2 is the overall structure schematic diagram of the application, wherein (a) is a front view and (b) is a rear view;

[0025] Figure 3 is the overall structure schematic diagram of the application, wherein (a) is a right view and (b) is a left view;

[0026] Figure 4 is the overall structure schematic diagram of the application, wherein (a) is an upper view and (b) is a lower view;

[0027] Figure 5 is the front view of the internal frame structure schematic diagram of the application;

[0028] Figure 6 is the rear view of the internal frame structure schematic diagram of the application;

[0029] Figure 7 is the left view of the internal frame structure schematic diagram of the application;

[0030] Figure 8 is the upper view of the internal frame structure schematic diagram of the application;

[0031] Figure 9 is the axial view of the internal frame structure schematic diagram of the present application;

[0032] Figure 10 is the partial view of the rear crossbar of the internal frame of the present application;

[0033] Figure 11 is the right view of the internal cross-sectional view of the present application;

[0034] Figure 12 is the left view of the internal cross-sectional view of the present application;

[0035] Figure 13 is the partial schematic diagram of the left door limit switch of the present application, wherein (a) is the side view, (b) is the axial view;

[0036] Figure 14 is the partial schematic diagram of the stroke switch mounted on the frame column of the present application, wherein (a) is the axial view of the three stroke switches, (b) is the side view of the lower limit switch, (c) is the axial view of the lower limit switch;

[0037] Figure 15 is the distribution position of the fixed pulley on the internal frame of the present application;

[0038] Figure 16 is the electrical equipment control relationship diagram of the present application;

[0039] Figure 17 is the working state of the present application at different times, wherein (a) is the state of the amphibious unmanned aerial vehicle preparing for take-off, (b) is the state of the amphibious unmanned aerial vehicle returning from the water surface.

[0040] Explanation of reference signs: 1, hangar shell; 100, front louver; 101, right top; 102, left top; 103, right door; 1031, right door limiting connecting column; 104, left door; 1041, left door limiting connecting column; 105, right louver; 106, left louver; 107, rear louver; 108, left side baffle; 109, right side baffle; 2, internal frame; 200, front horizontal pole; 201, lifting slide; 202, left horizontal pole; 2021, left horizontal pole middle front end pole; 203, right horizontal pole; 2031, right horizontal pole middle front end pole; 204, rear horizontal pole; 205, internal column body; 206, frame column body; 207, lifting platform; 208, fixed pulley; 209, push rod motor lower connecting rod; 210, push rod motor upper connecting rod; 3, electrical equipment; 301, electrical control box; 302, lifting motor; 3021, winding column; 303, right push rod motor; 304, left push rod motor; 305, right door limiting switch; 306, left door limiting switch; 307, upper limiting switch; 308, lower limiting connecting rod; 3081, lower limiting contact piece; 3082, lifting platform contact piece; 309, middle limiting switch; 310, lower limiting switch; 311, fan; 312, battery; 4, water surface fixing device; 401, buoyancy tank; 402, fixing pile; 403, front end protection shell; 404, pile connecting ring. DETAILED DESCRIPTION

[0041] The application will be further described in detail below with reference to the drawings and specific embodiments. Obviously, the specific embodiments described here are only used to explain the application, and are not used to limit the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the application.

[0042] Please refer to Figures 1 to 17 The application provides the following technical scheme, a water surface hangar for amphibious unmanned aerial vehicle, comprising: a hangar shell 1, an internal frame 2, electrical equipment 3 and a water surface fixing device 4, the hangar shell 1 comprises a front louver 100, a right top 101, a left top 102, a right door 103, a left door 104, a right louver 105, a left louver 106, a rear louver 107, a left side baffle 108 and a right side baffle 109, the upper part of the hangar shell 1 is the right top 101 and the left top 102, the left side of the hangar shell 1 is sequentially from top to bottom the left door 104, the left louver 106 and the left side baffle 108, the right side of the hangar shell 1 is sequentially from top to bottom the right door 103, the right louver 105 and the right side baffle 109, the inner side middle part of the right door 103 is provided with a push rod motor upper connecting rod 210 and a right door limiting connecting column 1031, and the inner side middle part of the left door 104 is provided with a push rod motor upper connecting rod 210 and a left door limiting connecting column 1041;

[0043] The internal frame 2 comprises a front crossbar 200, a lifting slide 201, a left crossbar 202, a right crossbar 203, a rear crossbar 204, internal columns 205, frame columns 206, a lifting platform 207 and fixed pulleys 208. Each of the four corners of the internal frame 2 has a frame column 206. The left crossbar 202 is connected to the front crossbar 200 and the rear crossbar 204 at the two ends, respectively. The right crossbar 203 is connected to the front crossbar 200 and the rear crossbar 204 at the two ends, respectively. The front crossbar 200 is connected to the left crossbar 202 and the frame column 206 at one end and connected to the right crossbar 203 and the frame column 206 at the other end. The front crossbar 200 is externally mounted with a front louver 100. The rear crossbar 204 is externally mounted with a rear louver 107 and an electrical control box 301. The rear crossbar 204 is connected to the left crossbar 202 and the frame column 206 at one end and connected to the right crossbar 203 and the frame column 206 at the other end. The middle front end of the left crossbar 202 is a left crossbar middle front end bar 2021. Two internal columns 205 and a lifting slide 201 are mounted on the right side of the left crossbar middle front end bar 2021. The middle front end of the right crossbar 203 is a right crossbar middle front end bar 2031. Two internal columns 205 and a lifting slide 201 are mounted on the left side of the right crossbar middle front end bar 2031. The upper surfaces of the right crossbar middle front end bar 2031 and the left crossbar middle front end bar 2021 are each mounted with a push rod motor lower connecting rod 209. The internal columns 205 have two installed on the right side of the left crossbar middle front end bar 2021 and the other two installed on the left side of the right crossbar middle front end bar 2031. The lifting slides 201 have two installed on the right side of the left crossbar middle front end bar 2021 and the other two installed on the left side of the right crossbar middle front end bar 2031. The lifting platform 207 has two pulleys on each side. The interior of the lifting slide 201 is a slide for the pulleys on both sides of the lifting platform 207.

[0044] The fixed pulleys 208 are 14 in total. Two fixed pulleys 208 are mounted on the front end and the rear end of the lower surface of the lifting platform 207. Two fixed pulleys 208 are mounted on the upper part of the rear crossbar 204. Eight fixed pulleys 208 are mounted on the four internal columns 205 in total.

[0045] The electrical equipment 3 includes: an electrical control box 301, a lifting motor 302, a right push rod motor 303, a left push rod motor 304, a right door limit switch 305, a left door limit switch 306, an upper limit switch 307, a middle limit switch 309, a lower limit switch 310, a lower limit connecting rod 308, a fan 311, and a battery 312; the fan 311 is installed on the front crossbar 200 and the rear crossbar 204, two on each; the electrical control box 301 is installed on the lower left side of the outside of the rear crossbar 204; the lifting motor 302 is installed on the inside of the middle of the rear crossbar 204; the rotating shaft on the upper part of the lifting motor 302 is installed with a winding column 3021; the rear end of the right push rod motor 303 is installed on the push rod motor lower connecting rod 209 on the front end crossbar 2031 of the right crossbar; the front end of the push rod of the right push rod motor 303 is installed on the push rod motor upper connecting rod 210 on the inside of the right door 103; the rear end of the left push rod motor 304 is installed on the push rod motor lower connecting rod 209 on the front end crossbar 2021 of the left crossbar; the front end of the push rod of the left push rod motor 304 is installed on the push rod motor upper connecting rod 210 on the inside of the left door 104; the upper limit switch 307, the middle limit switch 309, the lower limit connecting rod 309, and the lower limit switch 310 are installed on the right front internal column 205 from top to bottom; the lower limit switch 310 is provided with a lower limit contact piece 3081 above; the middle of the lower limit connecting rod 308 is provided with a lower limit contact piece 3081 and the end is provided with a lifting platform contact piece 3082; the right door limit switch 305 is installed on the crossbar in the middle of the right crossbar 203; the left door limit switch 306 is installed on the crossbar in the middle of the left crossbar 202; the battery 312 is installed on the middle of the upper surface of the buoyancy tank 401.

[0046] The water surface fixing device 4 includes: a buoyancy tank 401, a fixed pile 402, a front end protection shell 403, and a pile connecting ring 404; the lower part of the frame column 206, the lower crossbar of the left crossbar 202, the lower crossbar of the right crossbar 203, and the battery 312 are installed on the upper surface of the buoyancy tank 401; the front end protection shell 403 is installed at the front end of the buoyancy tank 401; the pile connecting ring 404 has two installed on the two ends of the lower crossbar of the rear crossbar 204 and another two installed on the two ends of the lower crossbar of the front crossbar 200; the middle upper part of the fixed pile 402 is in the ring of the pile connecting ring 404.

[0047] In order to further clearly describe the position of the above-mentioned elements, the position of the front shutter 100 is taken as front, the position of the electrical control box 301 is taken as rear, the inside of the hangar is taken as inside, and the outside of the hangar is taken as outside, to distinguish front, rear, left, right, inside, and outside.

[0048] As Figure 1 and 3As shown, the upper surfaces of the right and left roof 101 and 102 are installed with solar panels which can charge the battery. The hangar installed outdoors also does not need remote power supply.

[0049] The upper rotating arm of the right door limit switch 305 is connected with the right door limit connecting column 1031 by a non-elastic rope. When the right door 103 is closed, the rope is in a relaxed state, and when the right door 103 is opened to a certain extent, the rope is in a tight state. As shown, Figure 13 The upper rotating arm of the left door limit switch 306 is connected with the left door limit connecting column 1041 by a non-elastic rope. When the left door 104 is closed, the rope is in a relaxed state, and when the left door 104 is opened to a certain extent, the rope is in a tight state. The push rod of the push rod motor can also automatically stop at the limit position of its full extension or return. Therefore, when the right door 103 and the left door 104 are fully closed, the push rods of the left push rod motor 304 and the right push rod motor 303 are in the fully returned state, so that the limit switches can also be installed less.

[0050] As shown, Figure 15As shown, two inelastic ropes are wound around the fixed pulley 208 and the winding post 3021. There are 14 fixed pulleys 208. In order to facilitate a detailed description of the ropes wound around different fixed pulleys 208, these fixed pulleys 208 are numbered. The left fixed pulley 208 at the top of the rear crossbar 204 is marked as fixed pulley No. 0 2080 and the right fixed pulley 208 is marked as fixed pulley No. 1 2081. A fixed pulley 208 is mounted on the top of the right rear inner column 205, marked as fixed pulley No. 4 2084. A fixed pulley 208 is mounted on the top of the left front inner column 205, marked as fixed pulley No. 6 2086. A fixed pulley 208 is mounted on the front and right sides of the top of the right front inner column 205. 8 are denoted as fixed pulley No. 2082 and fixed pulley No. 5 2085, respectively. A fixed pulley 208 is mounted in the middle of the right front inner column 205, denoted as fixed pulley No. 3 2083. A fixed pulley 208 is mounted on the top front side and left side of the left rear inner column 205, denoted as fixed pulley No. 8 2088 and fixed pulley No. 7 2087, respectively. A fixed pulley 208 is mounted in the middle of the left rear inner column 205, denoted as fixed pulley No. 9 2089. The four fixed pulleys 208 on the lower surface of the lifting platform 207 are denoted as fixed pulley No. 10, fixed pulley No. 11, fixed pulley No. 12, and fixed pulley No. 13, respectively, according to their installation positions on the right front, left front, left rear, and right rear. Therefore, the first wire wound around the winding post 3021 has its starting end fixed on the upper half of the winding post 3021, and starts from the upper half of the winding post 3021, passes through fixed pulley No. 1 2081, fixed pulley No. 2 2082, fixed pulley No. 3 2083, fixed pulley No. 5 2085, fixed pulley No. 10 208, fixed pulley No. 11 208, and fixed pulley No. 6 2086 in sequence, and finally the end of the wire is fixed on the upper part of the left cross bar 202. The second wire wound around the winding post 3021 has its starting end fixed to the lower half of the winding post 3021. Starting from the lower half of the winding post 3021, the wire passes sequentially through fixed pulley 2080 No. 0, fixed pulley 2087 No. 7, fixed pulley 2089 No. 9, fixed pulley 2088 No. 8, fixed pulley 2088 No. 12, fixed pulley 208 No. 13, fixed pulley 208, and fixed pulley 2084 No. 4, before finally being fixed to the upper portion of the right crossbar 203. When the lifting motor 302 rotates, it drives the winding post 3021 to rotate, thereby driving the lifting platform 207 to rise and fall.

[0051] like Figure 14 As shown, when the lifting platform 207 is descending, when the lower surface of the lifting platform 207 hits the lifting platform contact piece 3082, the lifting platform contact piece 3082 will be pressed downward, and the lifting platform contact piece 3082 will drive the lower limit connecting rod 308 and the lower limit contact piece 3081 to descend. The lower limit contact piece 3081 will press the switch at the upper end of the lower limit switch 310 when it descends. The lower limit switch 310 will send a signal to the controller to stop the lifting motor 302 from rotating, thereby stopping the lifting platform 207 from descending and pausing.

[0052] like Figure 16 As shown, the electrical control box 301 contains a controller and drivers for the lifting motor 302, the left push rod motor 304, and the right push rod motor 303; the controller can receive remote control commands, and the controller can receive feedback signals from the right door limit switch 305, the left door limit switch 306, the upper limit switch 307, the middle limit switch 309, and the lower limit switch 310; the controller can control the drivers for the lifting motor 302, the left push rod motor 304, and the right push rod motor 303, so that the lifting motor 302 rotates, the left push rod motor 304 rises and falls, and the right push rod motor 303 rises and falls.

[0053] The buoyancy of buoyancy box 401 on the water surface must be greater than the gravity of the entire hangar assembly, so that when the entire hangar is placed on the water surface, the lower surface of buoyancy box 401 is below the water surface, and the upper surface of buoyancy box 401 is above the water surface. The front end of front protective shell 403 is narrower, which facilitates the expansion of the entrance for amphibious drones to return to the hangar from the water surface. The lower part of fixed pile 402 is fixed in the soil below the shallow water area near the shore. Concrete piers can also be used to fix the lower part of fixed pile 402. If the hangar is installed in waters with large water level fluctuations, the length of fixed pile 402 should be increased to prevent the pile connecting ring 404 from being higher than the upper part of fixed pile 402.

[0054] The process for an amphibious drone to exit the hangar: The controller in electrical control box 301 receives a remote control command, instructing the amphibious drone to perform a task. At this point, lift platform 207 begins to rise until it hits upper limit switch 307 and stops. The right and left doors 103 and 104 begin to open until the rope on the right door limit connecting post 1031 pulls the upper arm of the right door limit switch 305, and the rope on the left door limit connecting post 1041 pulls the upper arm of the left door limit switch 306. At this point, the right and left doors 103 and 104 are fully open and stop. The amphibious drone then begins to take off. After receiving the takeoff signal, the controller delays for one minute (this delay can be adjusted based on daily weather conditions) before the right and left doors 103 and 104 begin to close.

[0055] The process of amphibious UAV entering the hangar: the controller in the electrical control box 301 receives remote control command, and the amphibious UAV needs to return to the hangar from the water surface. The right door 103 and the left door 104 are completely closed; the lifting platform 207 starts to descend until the lower surface of the lifting platform 207 presses the lifting platform contact piece 3082, and then drives the lower limit connecting rod 308 and the lower limit contact piece 3081 to also move downward, pressing the switch at the upper end of the lower limit switch 310 to stop the rotation of the lifting motor 302 and the descent of the lifting platform 207. At this time, the amphibious UAV returns to the hangar and enters the lifting platform 207 of the hangar from between the two front protective shells 403. The amphibious UAV is generally equipped with GPS or RTK, and the trajectory of the amphibious UAV moving on the water surface can be judged to determine whether the amphibious UAV has completely entered the hangar. When the amphibious UAV completely enters the hangar, the lifting platform 207 starts to rise, and when the lifting platform 207 collides with the upper rotating arm of the middle limit switch 309, the lifting platform 207 stops rising, and all the fans 311 start to blow; after blowing for 3 minutes (it is expected that the water on the surface of the amphibious UAV has been basically blown dry), the lifting platform 207 continues to rise until the lifting platform 207 collides with the upper limit switch 307. Finally, the staff replaces the power supply of the amphibious UAV.

[0056] The above-described embodiments are merely intended to illustrate the preferred technical solutions of the present application, and not to limit the same; even though the foregoing embodiments of the present application have been described in detail, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features thereof; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A water hangar for amphibious drones, characterized by: include: A hangar shell (1), an internal frame (2), electrical equipment (3) and a water surface fixing device (4); the hangar shell (1) comprises a front shutter (100), a right roof (101), a left roof (102), a right door (103), a left door (104), a right shutter (105), a left shutter (106), a rear shutter (107), a left baffle (108) and a right baffle (109); the upper part of the hangar shell (1) is the right roof (101) and the left roof (102); the hangar shell (1) The left side of the hangar shell (1) is sequentially provided with a left door (104), a left shutter (106), and a left baffle (108) from top to bottom, and the right side of the hangar shell (1) is sequentially provided with a right door (103), a right shutter (105), and a right baffle (109) from top to bottom. The middle part of the inner side of the right door (103) is provided with a push rod motor upper connecting rod (210) and a right door limit connecting column (1031), and the middle part of the inner side of the left door (104) is provided with a push rod motor upper connecting rod (210) and a left door limit connecting column (1041); The internal frame (2) comprises: a front crossbar (200), a lifting slideway (201), a left crossbar (202), a right crossbar (203), a rear crossbar (204), an internal column (205), a frame column (206), a lifting platform (207) and a fixed pulley (208). Each of the four corners of the internal frame (2) has a frame column (206). The two ends of the left crossbar (202) are respectively connected to the front crossbar (200) and the rear crossbar (204). The two ends of the right crossbar (203) are respectively connected to the front crossbar (200) and the rear crossbar (204). The front crossbar (200) is connected to the left crossbar (202) and the frame column (206) at one end and to the right crossbar (203) and the frame column (206) at the other end. The front louver (100) is installed on the outside of the front crossbar (200). The rear louver (107) and the electrical control box (301) are installed on the outside of the rear crossbar (204). The rear crossbar (204) is connected to the left crossbar (202) and the frame column (206) at one end and to the right crossbar (203) and the frame column (206) at the other end. The front end of the middle portion of the horizontal bar (202) is the front end bar of the middle portion of the left horizontal bar (2021), and two internal columns (205) and a lifting slideway (201) are installed on the right side of the front end bar of the middle portion of the left horizontal bar (2021). The front end of the middle portion of the right horizontal bar (203) is the front end bar of the middle portion of the right horizontal bar (2031), and two internal columns (205) and a lifting slideway (201) are installed on the left side of the front end bar of the middle portion of the right horizontal bar (2031). The upper surfaces of the front end bar of the middle portion of the right horizontal bar (2031) and the front end bar of the middle portion of the left horizontal bar (221) are both installed. There is a lower connecting rod (209) of the push rod motor, two of the internal columns (205) are installed on the right side of the front end bar (2021) in the middle of the left horizontal bar and the other two are installed on the left side of the front end bar (2031) in the middle of the right horizontal bar, two of the lifting slides (201) are installed on the right side of the front end bar (2021) in the middle of the left horizontal bar and the other two are installed on the left side of the front end bar (2031) in the middle of the right horizontal bar, two pulleys are respectively provided on both sides of the lifting platform (207), and the interior of the lifting slide (201) is a slideway for the pulleys on both sides of the lifting platform (207); There are 14 fixed pulleys (208), two fixed pulleys (208) are installed on the front and rear ends of the lower surface of the lifting platform (207), two fixed pulleys (208) are installed on the upper part of the rear cross bar (204), and a total of 8 fixed pulleys (208) are installed on the four internal columns (205); The electrical equipment (3) comprises: an electrical control box (301), a lifting motor (302), a right push rod motor (303), a left push rod motor (304), a right door limit switch (305), a left door limit switch (306), an upper limit switch (307), a middle limit switch (309), a lower limit switch (310), a lower limit connecting rod (308), a fan (311) and a battery (312); the fan (311) is respectively installed on the front cross bar (200) and the rear cross bar (204). Two are installed, the electrical control box (301) is installed at the lower left side of the outside of the rear cross bar (204), the lifting motor (302) is installed at the middle part of the inside of the rear cross bar (204), the winding column (3021) is installed on the rotating shaft on the upper part of the lifting motor (302), the rear end of the right push rod motor (303) is installed on the push rod motor lower connecting rod (209) on the front end bar (2031) in the middle of the right cross bar, and the front end of the push rod of the right push rod motor (303) is installed on the push rod inside the right door (103). The motor upper connecting rod (210) is provided, the rear end of the left push rod motor (304) is installed on the push rod motor lower connecting rod (209) on the front end bar (2021) of the middle part of the left horizontal bar, the front end of the push rod of the left push rod motor (304) is installed on the push rod motor upper connecting rod (210) on the inner side of the left door (104), and the upper limit switch (307), the middle limit switch (309), the lower limit connecting rod (309), and the lower limit switch (310) are installed in sequence from top to bottom on the inner column (2021) at the right front. 5), a lower limit contact piece (3081) is located above the lower limit switch (310), a lower limit contact piece (3081) is installed in the middle of the lower limit connecting rod (308) and a lifting platform contact piece (3082) is installed at the end, the right door limit switch (305) is installed on the middle bar of the right horizontal bar (203), the left door limit switch (306) is installed on the middle bar of the left horizontal bar (202), and the battery (312) is installed in the middle of the upper surface of the buoyancy tank (401); The water surface fixing device (4) comprises: a buoyancy box (401), a fixing pile (402), a front end protection shell (403) and a pile connection ring (404); the lower part of the frame column (206), the lower cross bar of the left cross bar (202), the lower cross bar of the right cross bar (203), and a battery (312) are installed on the upper surface of the buoyancy box (401); the front end protection shell (403) is installed at the front end of the buoyancy box (401); the pile connection ring (404) has two parts installed at the two ends of the lower cross bar of the rear cross bar (204) and the other two parts installed at the two ends of the lower cross bar of the front cross bar (200); the upper middle part of the fixing pile (402) is within the circular ring of the pile connection ring (404).

2. The water hangar for amphibious drones according to claim 1, characterized in that: Solar panels capable of charging the battery (312) are installed on the upper surfaces of the right top (101) and the left top (102).

3. The water hangar for amphibious UAV according to claim 1, characterized in that: When the lifting platform (207) is in the process of descending, when the lower surface of the lifting platform (207) presses against the lifting platform contact piece (3082), the lifting platform contact piece (3082) drives the lower limit connecting rod (308) and the lower limit contact piece (3081) to descend, and the lower limit contact piece (3082) descends and presses the switch at the upper end of the lower limit switch (3010).

4. The water hangar for amphibious UAV according to claim 1, characterized in that: Two ropes made of non-elastic material are wound around the winding pole (3021); The starting end of the first rope is fixed to the upper half of the winding column (3021), and then passes through the fixed pulley (208) on the right side of the upper end of the rear crossbar (204), the fixed pulley (208) on the right side of the top end of the right front inner column (205), the fixed pulley (208) in the middle of the right front inner column (205), the fixed pulley (208) on the front side of the top end of the right front inner column (205), the fixed pulley (208) on the right front of the lower surface of the lifting platform (207), the fixed pulley (208) on the left front of the lower surface of the lifting platform (207), and the fixed pulley (208) on the top end of the left front inner column (205), and finally the end of the rope is fixed to the upper part of the left crossbar (202); The starting end of the second rope is fixed to the lower half of the winding column (3021), and then passes through the fixed pulley (208) on the left side of the upper end of the rear crossbar (204), the left fixed pulley (208) at the top of the left rear inner column (205), the middle fixed pulley (208) at the top of the left rear inner column (205), the front fixed pulley (208) at the top of the left rear inner column (205), the fixed pulley (208) at the left rear lower surface of the lifting platform (207), the fixed pulley (208) at the right rear lower surface of the lifting platform (207), and the top fixed pulley (208) of the right rear inner column (205), and finally the end of the rope is fixed to the upper part of the right crossbar (203).

5. The water hangar for amphibious UAV according to claim 1, characterized in that: The buoyancy of the buoyancy box (401) when fully immersed in water is 2-3 times the gravity of the entire hangar device.

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