Hangar drone paddle position adjustment device

Abstract

The application relates to the technical field of unmanned aerial vehicle (UAV) blade position adjustment, and particularly discloses a hangar UAV blade position adjustment device applied to the technical field of UAV blade position adjustment, which comprises a hangar, a landing mechanism and a UAV, four groups of blades are arranged on the UAV, and the landing mechanism is arranged in the hangar; the hangar comprises a nest box body, a left top door and a right top door, two groups of left rocker arms are arranged on the left side of the top of the nest box body, the two groups of left rocker arms are arranged on the front and back sides of the top of the nest box body, one end of each of the two groups of left rocker arms is hinged to the nest box body, and the other end is hinged to the left top door; elastic soft plates are arranged on the side edges of the left top door, the middle parts of the elastic soft plates are fixed to the left top door, two buffer zones are formed between the left top door and the elastic soft plates, a dot matrix pressure sensor and an anti-abrasion layer are arranged on the side of the elastic soft plate away from the left top door, and the application can realize storage of a large UAV in a small hangar.

Description

Technical Field

[0001] This invention relates to the field of drone propeller position adjustment technology, specifically a hangar drone propeller position adjustment device. Background Technology

[0002] Multi-rotor drones have a wide range of applications due to their vertical takeoff and landing and hovering capabilities. When used in conjunction with unmanned hangars, the rotor blades are in different states after landing, and the envelope of the rotor blades is larger than that of the drone itself. If the rotor blades are left to scatter, they often occupy a large amount of unused storage space in the hangar, resulting in an increased hangar size and reduced hangar flexibility.

[0003] Therefore, it is necessary to provide a hangar-mounted UAV propeller position adjustment device to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a hangar drone propeller position adjustment device that can center the drone and move the propeller to one side during the closing of the left and right top doors, so that the propeller will not be damaged when the top doors are closed, and to enable a small hangar to accommodate a large drone, thereby solving the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a hangar-mounted unmanned aerial vehicle (UAV) propeller position adjustment device, comprising a hangar, a landing mechanism and an UAV, wherein the UAV is equipped with four sets of propellers and the landing mechanism is located inside the hangar;

[0006] The hangar includes a nest box, a left top door and a right top door. Two sets of left rocker arms are provided on the top left side of the nest box. The two sets of left rocker arms are located on the front and rear sides of the top of the nest box. One end of the two sets of left rocker arms is hinged to the nest box and the other end is hinged to the left top door.

[0007] The left top door is equipped with elastic flexible plates on its sides, and the middle part of each elastic flexible plate is fixed to the left top door. Two buffer zones are formed between the left top door and the elastic flexible plates. A dot matrix pressure sensor and an anti-wear layer are provided on the side of the elastic flexible plate away from the left top door. The dot matrix pressure sensor is located between the elastic flexible plate and the anti-wear layer. The right top door has the same structure on its sides, and two buffer zones are also formed between the right top door and the elastic flexible plates.

[0008] According to the above technical solution, the dot matrix pressure sensor is electrically connected to a data acquisition and analysis module, which is used to acquire the pressure value detected by the dot matrix pressure sensor and the location where the pressure value appears.

[0009] According to the above technical solution, two right rocker arms are hinged on the left side of the top of the nest box. The two right rocker arms are located on the front and rear sides of the top of the nest box. One end of each of the two right rocker arms is hinged to the nest box, and the other end is hinged to the right top door.

[0010] According to the above technical solution, a dual-purpose air pump is placed inside the nest box. The dual-purpose air pump is connected to several air pipes. Electric control valves are provided on each of the several air pipes. The other ends of the several air pipes are connected to four sets of bladder groups. Two of the bladder groups are respectively located in the two buffer zones formed by the left top door and the elastic soft board, and the other two bladder groups are located in the buffer zone formed by the right top door and the elastic soft board.

[0011] According to the above technical solution, the bladder group includes a first side bladder, a middle bladder and a second side bladder. The first side bladder and the second side bladder are respectively located on both sides of the middle bladder. The first side bladder, the middle bladder and the second side bladder are in contact with the elastic soft board in the buffer zone.

[0012] According to the above technical solution, the landing mechanism includes a landing platform, a front-back centering mechanism and a left-right centering mechanism. The landing platform is fixed to the top of the nest box. The front-back centering mechanism and the left-right centering mechanism are both arranged on the top of the landing platform. The structures and connection methods of the left-right centering mechanism and the front-back centering mechanism are the same, only the setting directions are different.

[0013] According to the above technical solution, the front-back centering mechanism includes two sliding seats, a motor, a bidirectional screw rod and two limiting through grooves. The two limiting through grooves are arranged collinearly on the landing platform. Each limiting through groove has two. The two sliding seats are in a "mouth" shape. The two sliding seats are respectively arranged in the two limiting through grooves at both ends in the horizontal direction. The two sliding seats are slidably connected to the landing platform.

[0014] According to the above technical solution, two bearing seats and a support seat are fixedly connected to the bottom of the landing platform. The two sliding seats are located between the two bearing seats. The support seat is located between the two sliding seats. The bidirectional screw rod is located between the two bearing seats. The two ends of the bidirectional screw rod are respectively connected to the two bearing seats by bearings. The bidirectional screw rod is in transmission connection with the two sliding seats. The output end of the motor penetrates through the support seat and is in bevel gear transmission connection with the bidirectional screw rod.

[0015] According to the above technical solution, the analysis method of the acquisition and analysis module is as follows:

[0016] The first step: Determine whether the UAV is completely stored inside the hangar;

[0017] The second step: Determine whether the UAV is horizontally stored inside the hangar;

[0018] Step 3: Determine if there are any abnormal blade contact pressures inside the hangar where the drone is stored;

[0019] Step 4: Determine if the drone propellers are stuck.

[0020] According to the above technical solution, after the left and right top doors are completely closed, the acquisition and analysis module obtains the contact pressure values ​​detected by the dot matrix pressure sensor and the location where the pressure values ​​appear, and records the detected contact pressure values ​​as follows: The obtained position height is recorded as Where i is the number of propeller blades and k is the number of contact points between the propeller blades and the flexible plate. Since the UAV has four sets of propeller blades, corresponding to four buffer zones, and each set has two blades, a maximum of two contact points will be formed when the blades contact the flexible plate. , ;

[0021] With the left and right top doors fully closed, what is the permissible height difference between the contact points when the drone's propellers come into contact with the flexible plate? The normal contact pressure threshold F and the allowable contact pressure difference during inflation and deflation of the bag assembly. ;

[0022] Specifically, the data acquisition and analysis module obtains several sets of data. Maximum height difference , ;

[0023] exist At that time, the drone was stored horizontally inside the hangar, and the drone storage was normal;

[0024] exist If the drone is tilted and stored inside the hangar, indicating an abnormal storage situation, the data collection and analysis module will issue an alarm.

[0025] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0026] This invention features a left and right top door with elastic flexible plates on their sides. When the left and right top doors encounter the propellers during closing, they can actively retract the propellers to a safe position through various methods such as deformation, pushing, pushing, or guiding sliding. This avoids the problems of traditional rigid hangar doors easily jamming, squeezing, or even breaking the propellers, making it possible to store large drones in small hangars. At the same time, by setting a dot matrix pressure sensor and an anti-wear layer on the elastic flexible plate, it can not only detect whether there is contact, but also obtain the precise location distribution and pressure of the contact point, ensuring the safety and reliability of the storage process.

[0027] By setting up a dual-purpose air pump and bag assembly, the local shape and stiffness of the flexible flexible plate can be actively and precisely changed by inflating or deflating specific bags. This allows a hangar to adapt to the propeller retraction requirements of UAVs of different sizes and models, greatly improving the versatility and flexibility of the hangar. Attached Figure Description

[0028] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention in the open state;

[0030] Figure 2 This is a schematic diagram of the overall structure of the present invention in the closed state;

[0031] Figure 3 This is a top view of the overall structure of the present invention in the open state;

[0032] Figure 4 This is the invention Figure 3 Enlarged structural diagram of region A in the middle;

[0033] Figure 5 This is a front sectional view of the overall structure of the present invention in the open state;

[0034] Figure 6 This is a top view of part of the structure of the present invention;

[0035] In the diagram: 1. Hangar; 11. Nest housing; 12. Left top door; 13. Right top door; 14. Left rocker arm; 15. Right rocker arm; 16. Dual-purpose air pump; 17. Bag assembly; 171. First side bag; 172. Middle bag; 173. Second side bag; 18. Flexible flexible plate; 2. Landing mechanism; 21. Landing platform; 22. Front and rear centering mechanism; 221. Bearing seat; 222. Sliding seat; 223. Support seat; 224. Motor; 225. Bidirectional lead screw; 226. Limiting slot; 23. Left and right centering mechanism; 3. UAV. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Please see Figures 1-6The present invention provides a technical solution: a hangar drone propeller position adjustment device, including a hangar 1, a landing mechanism 2 and a drone 3. The drone 3 is equipped with four sets of propellers. The landing mechanism 2 is located in the hangar 1. The landing mechanism 2 is used to center the landed drone 3. The hangar 1 is used to store the drone 3 and adjust the position of the drone 3's propellers.

[0038] Specifically, such as Figures 1-4 As shown, hangar 1 includes a nest box 11, a left top door 12 and a right top door 13. Two sets of left rocker arms 14 are provided on the top left side of the nest box 11. The two sets of left rocker arms 14 are located on the front and rear sides of the top of the nest box 11. One end of the two sets of left rocker arms 14 is hinged to the nest box 11 and the other end is hinged to the left top door 12. When the left top door 12 is pulled, the left top door 12 rotates relative to the hinge point of the left rocker arm 14 under the drive of the left rocker arm 14, and the left rocker arm 14 rotates relative to the hinge point between the left rocker arm 14 and the nest box 11.

[0039] Two sets of right rocker arms 15 are hinged to the top left side of the nest box 11. The two sets of right rocker arms 15 are located on the front and rear sides of the top of the nest box 11. One end of the two sets of right rocker arms 15 is hinged to the nest box 11, and the other end is hinged to the right top door 13. When the right top door 13 is pulled, the right top door 13 rotates relative to the hinge point of the right rocker arm 15 under the drive of the right rocker arm 15. The right rocker arm 15 rotates relative to the hinge point between the right rocker arm 15 and the nest box 11. Thus, by pulling the left top door 12 and the right top door 13, the left top door 12 is rotated by the left rocker arm 14, and the right top door 13 is rotated by the right rocker arm 15, so as to realize the opening and closing of the left top door 12 and the right top door 13.

[0040] It should be noted that the angle between the left top door 12 and the nest box 11 remains constant, that is, the top surface of the left top door 12 is always parallel to the ground.

[0041] Furthermore, such as Figure 3 and Figure 4 As shown, each side of the left top door 12 is provided with an elastic soft plate 18. The middle part of the elastic soft plate 18 is fixed to the left top door 12, thus forming two buffer zones between the left top door 12 and the elastic soft plate 18. A dot matrix pressure sensor and an anti-wear layer are provided on the side of the elastic soft plate 18 away from the left top door 12. The dot matrix pressure sensor is located between the elastic soft plate 18 and the anti-wear layer. The side of the right top door 13 has the same structure, so that two buffer zones are also formed between the right top door 13 and the elastic soft plate 18.

[0042] The dot matrix pressure sensor is electrically connected to a data acquisition and analysis module, which is used to obtain the pressure value detected by the dot matrix pressure sensor and the location where the pressure value appears.

[0043] It should be noted that, since the elastic soft plate 18 is elastic and its two ends and middle are fixed to the left top door 12 or the right top door 13, the elastic soft plate 18 is arranged in an approximately semi-circular shape inside the left top door 12 or the right top door 13. This state is also the initial state.

[0044] In actual operation, during the rotation and closing of the left top door 12 and the right top door 13, if the propeller of the UAV 3 comes into contact with the wear-resistant layer of the elastic soft plate 18 inside the left top door 12, the elastic soft plate 18 will deform as the left top door 12 and the right top door 13 continue to close, pushing the propeller away from the contact and continuing to close the left top door 12 and the right top door 13, thus achieving the purpose of retracting the propeller; if the propeller of the UAV 3 comes into contact with the wear-resistant layer of the elastic soft plate 18 inside the right top door 13, the action is the same.

[0045] Correspondingly, if the initial position of the blade is around the approximately semi-circular elastic flexible plate 18, the blade will be moved by the elastic flexible plate 18 to achieve the purpose of retraction during the closing process of the left top door 12 and the right top door 13.

[0046] Correspondingly, if the initial position of the propeller blade is within the inner circle of the approximately semi-circular elastic flexible plate 18, during the closing process of the left top door 12 and the right top door 13, the propeller blade will slide along the anti-wear layer of the elastic flexible plate 18 to achieve the purpose of retraction. This can prevent the propeller blade tip from getting stuck and not opening when it hits the side of the top door, and the top door from continuing to close, which could result in the propeller blade breaking or even damage to the UAV 3.

[0047] like Figure 4 and Figure 5 As shown, a dual-purpose air pump 16 is placed inside the machine nest housing 11. The dual-purpose air pump 16 is connected to several air pipes, each of which is equipped with an electrically controlled valve. The other end of the air pipes is connected to four sets of bag groups 17. Two sets of bag groups 17 are located in the two buffer zones formed by the left top door 12 and the elastic soft plate 18, respectively. The other two sets of bag groups 17 are located in the buffer zone formed by the right top door 13 and the elastic soft plate 18.

[0048] It should be noted that the nest box 11 is the foundation of the entire hangar 1. The nest box 11 also houses the control unit, communication unit, etc., which are not shown in the figure. The dual-purpose air pump 16 is an air pump that can both inflate and depress air. It is an existing structure and will not be described in detail here.

[0049] The pouch group 17 includes a first side pouch 171, a middle pouch 172, and a second side pouch 173. The first side pouch 171 and the second side pouch 173 are located on both sides of the middle pouch 172, and the first side pouch 171, the middle pouch 172, and the second side pouch 173 are located in a buffer zone and in contact with the elastic soft plate 18.

[0050] In actual operation, the dual-purpose air pump 16 is controlled to start inflation, and the electronically controlled valves corresponding to the bags that need to be inflated in the buffer zone bag group 17 are opened, so that inflation can be carried out. When the electrically controlled valve on the air pipe connecting the first side pouch 171 is opened, the inflated first side pouch 171 gradually bulges, lifting the area near the end of the elastic plate 18 in the buffer zone. This pushes the elastic plate 18 towards the inner side of the approximately semi-circular elastic plate 18, increasing the space near the end of the elastic plate 18 in the buffer zone, thus reducing the space at the corresponding position on the inner side of the elastic plate 18 and fixing the position of the elastic plate 18, thereby achieving the effect of adjusting the position of the elastic plate 18. Similarly, when the electrically controlled valve on the air pipe connecting the middle pouch 172 is opened, the space in the middle of the buffer zone is increased. Similarly, when the electrically controlled valve on the air pipe connecting the second side pouch 173 is opened, the space near the middle of the elastic plate 18 in the buffer zone is increased. By adjusting the buffer zone space, the position of the elastic plate 18 is adjusted, allowing the elastic plate 18 to move and retract the propellers of various sizes of UAVs 3, improving the flexibility of the hangar 1 and expanding its applicability.

[0051] Conversely, the dual-purpose air pump 16 is started to inflate, and the electronically controlled valves corresponding to the bags that need to be evacuated in the buffer zone 17 are opened, which allows for evacuation. This releases the corresponding bags from the support of the elastic plate 18, and the elastic plate 18 returns to its initial position under its own elastic force. The elastic plate 18 can also return to its initial position when the left top door 12 and right top door 13 are closed, and when the elastic plate 18 moves and retracts the propellers of the UAV 3, the UAV 3 exerts a reverse force on the elastic plate 18, making the elastic plate 18 approximately semi-circular.

[0052] Specifically, such as Figure 1 , Figure 5 and Figure 6 As shown, the landing mechanism 2 includes a landing platform 21, a front-to-back centering mechanism 22, and a left-to-right centering mechanism 23. The landing platform 21 is fixed to the top of the nest box 11. The front-to-back centering mechanism 22 and the left-to-right centering mechanism 23 are both located on the top of the landing platform 21. The front-to-back centering mechanism 22 is used to clamp the drone 3 from the front-to-back direction, and the left-to-right centering mechanism 23 is used to clamp the drone 3 from the left-to-right direction.

[0053] Furthermore, such as Figure 5 and Figure 6As shown in the figure, the front and rear centering mechanism 22 includes two groups of sliding seats 222, a motor 224, a bidirectional screw rod 225, and two groups of limiting through grooves 226. The two groups of limiting through grooves 226 are arranged collinearly on the landing platform 21. Each group of limiting through grooves 226 has two. The two groups of sliding seats 222 are in a "square" shape. The two ends in the horizontal direction of the two groups of sliding seats 222 are arranged in the two groups of limiting through grooves 226. The two groups of sliding seats 222 are slidably connected to the landing platform 21;

[0054] Two groups of bearing seats 221 and a support seat 223 are fixedly connected to the bottom of the landing platform 21. The two groups of sliding seats 222 are located between the two groups of bearing seats 221. The support seat 223 is located between the two groups of sliding seats 222. The bidirectional screw rod 225 is located between the two groups of bearing seats 221. The two ends of the bidirectional screw rod 225 are respectively connected to the two groups of bearing seats 221 by bearings. The bidirectional screw rod 225 is in transmission connection with the two groups of sliding seats 222. The output end of the motor 224 penetrates through the support seat 223 and is in bevel gear transmission connection with the bidirectional screw rod 225.

[0055] The left and right centering mechanism 23 and the front and rear centering mechanism 22 have the same structure and connection method, only the setting directions are different, which can make the drone 3 at the middle position in the left and right positions.

[0056] In actual operation, after the drone 3 lands on the landing platform 21, the motor 224 of the front and rear centering mechanism 22 on it starts to rotate forward. Through bevel gear transmission, it drives the bidirectional screw rod 225 to rotate forward. Then, through the transmission connection between the bidirectional screw rod 225 and the two groups of sliding seats 222, it drives the two groups of sliding seats 222 to slide in the limiting through grooves 226 in the direction of approaching each other, so that the two groups of sliding seats 222 clamp the drone 3 in the front and rear directions, making the drone 3 at the middle position in the front and rear positions. Similarly, control the motor 224 of the left and right centering mechanism 23 to start to rotate forward, so that the two groups of sliding seats 222 of the left and right centering mechanism 23 clamp the drone 3 in the left and right directions, making the drone 3 at the middle position in the left and right positions;

[0057] On the contrary, control the motor 224 of the front and rear centering mechanism 22 to start to rotate reversely, so that the two groups of sliding seats 222 of the front and rear centering mechanism 22 loosen the drone 3 in the front and rear directions. Control the motor 224 of the left and right centering mechanism 23 to start to rotate reversely, so that the two groups of sliding seats 222 of the left and right centering mechanism 23 loosen the drone 3 in the left and right directions. Furthermore, by controlling the motor 224 on the front and rear centering mechanism 22 and the left and right centering mechanism 23 to start to rotate forward or reversely, it is possible to clamp, center, and loosen the drone 3 by adjusting the distance between the two groups of sliding seats 222.

[0058] Working principle:

[0059] After the drone 3 is used, control the drone 3 to land on the landing platform 21. First, control the motor 224 of the front and rear centering mechanism 22 to start rotating forward. Through the bevel gear transmission, drive the double-acting screw 225 to rotate forward. Then, the double-acting screw 225 is connected to the two sets of sliding seats 222, which drive the two sets of sliding seats 222 to slide towards each other in the limiting groove 226. This makes the two sets of sliding seats 222 clamp the drone 3 in the front and rear direction, so that the drone 3 is in the middle of the front and rear position. Then, control the motor 224 of the left and right centering mechanism 23 to start rotating forward. This makes the two sets of sliding seats 222 of the left and right centering mechanism 23 clamp the drone 3 in the left and right direction, so that the drone 3 is in the middle of the left and right position, thus centering the drone 3.

[0060] When the left top door 12 and the right top door 13 are pulled to move closer to each other, the left top door 12 and the right top door 13 are closed by the left rocker arm 14 driving the left top door 12 to rotate and the right rocker arm 15 driving the right top door 13 to rotate.

[0061] During the closing process of the left top door 12 and the right top door 13, the propellers of the drone 3 press against the wear-resistant layer of the elastic soft plate 18 of the left top door 12 and the right top door 13. The elastic soft plate 18 deforms and pushes the propellers away from it. The propellers slide along the wear-resistant layer of the elastic soft plate 18 to achieve the purpose of retracting the propellers, so that the small hangar can accommodate the large drone.

[0062] After the left top door 12 and right top door 13 are completely closed, the data acquisition and analysis module obtains the contact pressure values ​​detected by the dot matrix pressure sensor and the location where the pressure values ​​appear, and records the detected contact pressure values ​​as follows: The obtained position height is recorded as Where i is the number of propeller blades and k is the number of contact points between the propeller blades and the flexible plate 18, since the UAV 3 has four sets of propeller blades, each set of blades corresponds to one of the four buffer zones. Each set of blades has two blades, and a maximum of two contact points will be formed when the blades contact the flexible plate 18. , .

[0063] After the left top door 12 and right top door 13 are fully closed, the allowable contact position height difference, normal contact pressure threshold, and allowable contact pressure difference when the propeller blades of the UAV 3 contact the elastic flexible plate 18 are denoted as follows: The normal contact pressure threshold F, and the allowable contact pressure difference are denoted as F. When the maximum height difference between the blades of UAV 3 and the flexible plate 18 does not exceed the allowable height difference range, UAV 3 is normally centered inside the hangar 1. When the pressure between the blades of UAV 3 and the flexible plate 18 does not exceed the pressure threshold, UAV 3 blades are normally stored inside the hangar 1. When the maximum contact pressure difference during the inflation and deflation of the bag assembly 17 does not exceed the allowable contact pressure difference, UAV 3 blades can rotate normally.

[0064] It should be noted that, for ease of explanation, the number of propellers on the left front of the UAV 3 is set to 1, the number of the remaining propellers is set counterclockwise, and the number of contact points near the end of the flexible plate 18 is set to 1.

[0065] The analysis methods within the data acquisition and analysis module are as follows:

[0066] Step 1: Determine whether drone 3 is completely stored inside hangar 1.

[0067] If there are four or more groups When the number of propellers includes 1-4, it means that drone 3 is completely stored inside hangar 1, and drone 3 is stored normally.

[0068] If at least one set exists If there is a deformed or broken propeller blade or an abnormal centering of the UAV 3, the contact points with the elastic flexible plate 18 may be reduced. The data acquisition and analysis module will issue an alarm. After the staff pulls the left top door 12 and the right top door 13 and opens the left top door 12 and the right top door 13, and checks that there is no abnormality in the propeller blade of the UAV 3, the front and rear centering mechanism 22 and the left and right centering mechanism 23 are controlled to readjust the centering of the UAV 3 and the first step is repeated only once.

[0069] If it does not exist Since the size of the UAV 3 is small, its propellers can be completely stored inside the hangar 1 under any circumstances. However, in order to ensure that the UAV 3 is stored horizontally in the hangar 1, the dual-purpose air pump 16 is started to inflate, and the electronically controlled valve on the air pipe connected to the central bag 172 in the four buffer zones is opened. This increases the space in the middle of the buffer zone, causing the corresponding elastic plate 18 to be pushed up to one side of the UAV 3. Thus, the approximately semi-circular elastic plate 18, under the action of the central bag 172, forms two inverted W-shaped connections, so that the anti-wear layer on the elastic plate 18 contacts the propeller and can limit the propeller. At this time, the dot matrix pressure sensor can obtain the contact pressure when the UAV 3 propeller contacts the anti-wear layer on the elastic plate 18.

[0070] Step 2: Determine whether drone 3 is stored horizontally inside hangar 1.

[0071] The data acquisition and analysis module obtains several sets of data. The maximum height difference, the maximum height difference is , ;

[0072] if The drone 3 is stored horizontally inside hangar 1, and the drone 3 is stored normally.

[0073] if The drone 3 is tilted and stored inside the hangar 1. If the storage of drone 3 is abnormal, the data collection and analysis module will issue an alarm. After the staff pulls the left top door 12 and the right top door 13 to open them, they will check that drone 3 is placed horizontally. Then, they will control the front and rear centering mechanism 22 and the left and right centering mechanism 23 to readjust the centering of drone 3 and repeat the first and second steps only once.

[0074] Step 3: Determine whether there is any abnormal blade contact pressure inside the drone 3 stored in hangar 1.

[0075] Since the first step ensured that the drone 3 was completely housed inside the hangar 1, at least four sets of propeller blades with different serial numbers contact the wear-resistant layer of the elastic flexible plate 18, enabling the dot-matrix pressure sensor to detect pressure values. Consequently, at least four sets of propeller blades with different serial numbers will also be present at this point. .

[0076] if This indicates that the contact pressure is normal. If all... The ideal situation is that there is no abnormal blade contact pressure when the UAV 3 is stored inside the hangar 1.

[0077] if The high contact pressure caused the drone 3 to be unable to be properly stored inside the hangar 1, resulting in abnormal rotation of the drone propellers. The data acquisition and analysis module then issued an alarm.

[0078] Step 4: Determine if the drone's three propellers are stuck.

[0079] The dual-purpose air pump 16 is started one by one to inflate the four buffer zone bag groups 17. If the blade corresponds to only one group... If the pressure value is detected, the electrically controlled valve connected to the corresponding side bag will open, while the electrically controlled valves connected to the other bags will close. At this time, the side bag will gradually inflate, pushing the elastic flexible plate 18 towards one side of the UAV 3. During this process, the propeller blades of the UAV 3 will continuously contact the anti-wear layer of the elastic flexible plate 18. The dot matrix pressure sensor can continuously obtain the contact pressure value and calculate the first maximum pressure difference. ;

[0080] If the blade corresponds to two sets Then first control the two sets of detection corresponding to the blades. The electrically controlled valve connected to the larger side pouch opens, while the electrically controlled valves connected to the other two pouches close, corresponding to only one set. Based on the detection, obtain the first maximum pressure difference value. Then, control the dual-purpose air pump 16 to extract air from the side bag. After extracting the gas, control the electrically controlled valve on the air pipe connecting the side bag to the other side bag to close, and control the electrically controlled valve on the air pipe connecting the other side bag to open. Repeat the above steps to obtain the second maximum pressure difference value. .

[0081] exist At this time, the propeller blade can rotate normally without jamming. If the test results of all four sets of propeller blades are normal, it is the ideal state, and the UAV 3 can be used normally.

[0082] exist If the propeller blades cannot rotate normally and are jammed, causing the side bags to bulge, the resistance increases when the flexible soft plate 18 is pushed to one side of the UAV 3 to indirectly push the propeller blades to rotate. The data acquisition and analysis module will issue an alarm, and the staff will check whether there is any abnormality in the corresponding propeller blades.

[0083] In this way, the drone 3 that landed on the landing platform 21 can be centered, and during the closing of the left top door 12 and the right top door 13, the flexible plate 18 touches the propeller of the drone 3 and deforms. This deformation is used to push the propeller to one side, so that the propeller will not be damaged when the top door is closed, and a large drone can be stored in a small hangar.

[0084] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0085] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A hangar-mounted unmanned aerial vehicle (UAV) propeller position adjustment device, comprising a hangar (1), a landing mechanism (2), and a UAV (3), characterized in that, The drone (3) is equipped with four sets of propellers, and the landing mechanism (2) is located inside the hangar (1); The hangar (1) includes a nest box (11), a left top door (12) and a right top door (13). Two sets of left rocker arms (14) are provided on the top left side of the nest box (11). The two sets of left rocker arms (14) are located on the front and rear sides of the top of the nest box (11). One end of the two sets of left rocker arms (14) is hinged to the nest box (11), and the other end is hinged to the left top door (12). Two sets of right rocker arms (15) are hinged to the top right side of the nest box (11). The two sets of right rocker arms (15) are located on the front and rear sides of the top of the nest box (11). One end of the two sets of right rocker arms (15) is hinged to the nest box (11), and the other end is hinged to the right top door (13). The left top door (12) is provided with elastic soft plates (18) on its side. The middle part of the elastic soft plates (18) is fixed to the left top door (12). Two buffer zones are formed between the left top door (12) and the elastic soft plates (18). A dot matrix pressure sensor and an anti-wear layer are provided on the side of the elastic soft plates (18) away from the left top door (12). The dot matrix pressure sensor is located between the elastic soft plates (18) and the anti-wear layer. The side structure of the right top door (13) is the same as that of the left top door (12). Two buffer zones are also formed between the right top door (13) and the elastic soft plates (18). The dot matrix pressure sensor is electrically connected to a data acquisition and analysis module, which is used to acquire the pressure value detected by the dot matrix pressure sensor and the location where the pressure value appears. The machine nest box (11) contains a dual-purpose air pump (16), which is connected to several air pipes. Each of the air pipes is equipped with an electrically controlled valve. The other end of each air pipe is connected to four sets of bag groups (17). Two sets of bag groups (17) are located in the two buffer zones formed by the left top door (12) and the elastic soft plate (18), respectively. The other two sets of bag groups (17) are located in the buffer zone formed by the right top door (13) and the elastic soft plate (18). The bag group (17) includes a first side bag (171), a middle bag (172), and a second side bag (173). The first side bag (171) and the second side bag (173) are located on both sides of the middle bag (172). The first side bag (171), the middle bag (172), and the second side bag (173) are located in the buffer zone and in contact with the elastic soft plate (18).

2. The hangar unmanned aerial vehicle propeller position adjustment device according to claim 1, characterized in that, The landing mechanism (2) includes a landing platform (21), a front and rear centering mechanism (22), and a left and right centering mechanism (23). The landing platform (21) is fixed to the top of the nest box (11). The front and rear centering mechanism (22) and the left and right centering mechanism (23) are both located on the top of the landing platform (21). The left and right centering mechanism (23) and the front and rear centering mechanism (22) have the same structure and connection method, but different orientations.

3. The hangar unmanned aerial vehicle propeller position adjustment device according to claim 2, characterized in that, The front and rear centering mechanism (22) includes two groups of sliding seats (222), a motor (224), a bidirectional screw rod (225) and two groups of limiting through grooves (226). The two groups of limiting through grooves (226) are arranged collinearly on the landing platform (21). Each group of limiting through grooves (226) has two. The two groups of sliding seats (222) are in a "mouth" shape. The two groups of sliding seats (222) are respectively arranged at both ends in the horizontal direction in the two groups of limiting through grooves (226). The two groups of sliding seats (222) are slidably connected to the landing platform (21).

4. The hangar unmanned aerial vehicle propeller position adjustment device according to claim 3, characterized in that, Two groups of bearing seats (221) and a support seat (223) are fixedly connected to the bottom of the landing platform (21). The two groups of sliding seats (222) are located between the two groups of bearing seats (221). The support seat (223) is located between the two groups of sliding seats (222). The bidirectional screw rod (225) is located between the two groups of bearing seats (221). Both ends of the bidirectional screw rod (225) are respectively connected to the two groups of bearing seats (221) by bearings. The bidirectional screw rod (225) is in transmission connection with the two groups of sliding seats (222). The output end of the motor (224) penetrates through the support seat (223) and is in bevel gear transmission connection with the bidirectional screw rod (225).

5. The hangar unmanned aerial vehicle propeller position adjustment device according to claim 4, characterized in that, The analysis method in the acquisition and analysis module is as follows: The first step: Determine whether the UAV (3) is completely stored inside the hangar (1). The second step: Determine whether the UAV (3) is horizontally stored inside the hangar (1). The third step: Determine whether there is an abnormal blade contact pressure when the UAV (3) is stored inside the hangar (1). The fourth step: Determine whether the blades of the UAV (3) are stuck.

6. The hangar unmanned aerial vehicle propeller position adjustment device according to claim 5, characterized in that, After the left top door (12) and right top door (13) are completely closed, the acquisition and analysis module obtains the contact pressure value detected by the dot matrix pressure sensor and the location where the pressure value appears, and records the detected contact pressure value as... The obtained position height is recorded as i is the number of blades, and k is the number of contact points between the blades and the flexible plate (18). Since the UAV (3) has four sets of blades, which correspond to four buffer zones, and each set of blades has two blades, a maximum of two contact points will be formed when the blades contact the flexible plate (18). , ; After the left top door (12) and right top door (13) are fully closed, the allowable height difference of the contact position when the propeller of the UAV (3) contacts the flexible flexible plate (18) is as follows: The normal contact pressure threshold F and the allowable contact pressure difference during inflation and deflation of the bag group (17) ; Specifically, the data acquisition and analysis module obtains several sets of data. Maximum height difference , ; exist At that time, the drone (3) was horizontally stored inside the hangar (1), and the drone (3) was stored normally; exist When the drone (3) is tilted and stored inside the hangar (1), if the drone (3) is stored abnormally, the data collection and analysis module will issue an alarm.

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