Universal take-off and landing device and method for nest clamping and moving vertical take-off and landing unmanned aerial vehicle

Abstract

The invention relates to a universal take-off and landing device and method for a nest clamping and moving vertical take-off and landing unmanned aerial vehicle, belongs to the technical field of unmanned aerial vehicles, and solves one of the problems that in the prior art, the landing precision requirement of the unmanned aerial vehicle is high, and the adaptation universality of a nest and the unmanned aerial vehicle is insufficient. The landing gear comprises a landing gear, a landing platform, a clamping rod and a motor. The landing gear is used for connecting the unmanned aerial vehicle, and the take-off and landing platform is a support platform for take-off and landing of the unmanned aerial vehicle and fixedly mounted at the top of the nest; the clamping rod is used for clamping the undercarriage and moving the undercarriage to any target position on the lifting platform; the number of the clamping rods is four, and the motor is used for controlling the clamping rods to move in the direction perpendicular to the length direction of the clamping rods. The four clamping rods and the undercarriage are adopted for clamping and moving the unmanned aerial vehicle staying at any position of the take-off and landing platform, and the requirement for the landing precision of the unmanned aerial vehicle can be lowered.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a universal take-off and landing device and method for UAVs that can be held in a nest and moved vertical take-off and landing. Background Technology

[0002] Vertical takeoff and landing (VTOL) drones, with their advantages of requiring no runway and flexible deployment, are widely used in many fields such as logistics and distribution, inspection and monitoring, emergency rescue, and agricultural plant protection. To improve operational efficiency and automation levels, deploying unmanned "drone nest" systems has become an important development trend. In the automated interaction process between the drone nest and the drone, the takeoff and landing structure plays a crucial role. It includes the support structure for drone takeoff and landing and the clamping mechanism of the drone nest system for holding and moving the drone (such as transporting it to a charging position, detection position, or takeoff position). Existing solutions require high accuracy in the drone's landing position.

[0003] Furthermore, the landing gear configuration, materials, strength, and interface locations often vary significantly between different models and manufacturers of vertical takeoff and landing (VTOL) drones. Currently, the mainstream solution involves customizing the clamping and movement mechanisms of the drone nest for a single, specific model. This results in a single nest only serving one or a very limited number of drone models, severely restricting the versatility and deployment flexibility of the nest system.

[0004] To accommodate various aircraft models, either multiple dedicated drone nests need to be built, or an extremely complex and costly reconfigurable gripping system needs to be designed inside the nest. Therefore, there is an urgent need to design a universal take-off and landing structure that can adapt to various vertical take-off and landing UAVs with different configurations and facilitates the gripping and movement of the drone by the nest. Summary of the Invention

[0005] Based on the above analysis, the present invention aims to provide a universal take-off and landing device and method for nest clamping and moving vertical take-off and landing UAVs, in order to solve one of the problems in the prior art: high accuracy requirements for UAV landing, insufficient compatibility and universality between nest and UAV, easy wear and tear of UAV take-off and landing device, and high maintenance cost.

[0006] On one hand, the present invention provides a universal take-off and landing device for holding and moving a vertical take-off and landing (VTOL) drone in a nest, including a landing gear, a landing platform, clamping rods, and a motor; the landing gear is used to connect the drone and provide support for the drone to land on the ground or the landing platform; the landing platform is a support platform for the drone's take-off and landing, and is fixedly installed on the top of the nest; the clamping rods are used to clamp the landing gear and move the landing gear to any target position on the landing platform; four clamping rods are provided, wherein the left and right clamping rods are parallel to the length direction of the landing platform, and the front and rear clamping rods are parallel to the width direction of the landing platform; the motor is used to control the clamping rods to move in a direction perpendicular to the length direction of the clamping rods themselves.

[0007] Furthermore, the landing gear includes a slide tube connector, a transverse slide tube, a longitudinal slide tube, and a buffer frame.

[0008] Furthermore, the slide connector is used to connect the transverse slide, the longitudinal slide, and the buffer frame.

[0009] Furthermore, the slide connector includes a horizontal tube, a vertical tube, and a vertical clamp.

[0010] Furthermore, one end of the transverse tube is fixedly connected to the middle of the longitudinal tube, and the central axes of the transverse tube and the longitudinal tube are perpendicular to each other. The other end of the transverse tube forms a transverse sliding tube mounting groove, and a transverse sliding tube fixing hole is provided on the circumferential surface of the transverse tube.

[0011] Furthermore, the interior of the longitudinal tube forms a longitudinal sliding tube mounting groove that runs through the entire longitudinal tube, and a longitudinal sliding tube fixing hole is provided on the side of the longitudinal tube opposite to the transverse tube.

[0012] Furthermore, the vertical clamps extend upward from the top of the longitudinal tube, forming a buffer frame mounting groove between the two vertical clamps, and buffer frame fixing holes are provided on the vertical clamps.

[0013] Furthermore, the end of the horizontal slide tube is located in the horizontal slide tube mounting groove and is fixed through the horizontal slide tube fixing hole.

[0014] Furthermore, the longitudinal slide tube passes through the longitudinal slide tube mounting groove and is fixedly connected to the slide tube connector through the longitudinal slide tube fixing hole.

[0015] On the other hand, the present invention provides a method for holding and moving a vertical take-off and landing (VTOL) drone in a nest, which uses the general take-off and landing device described above to achieve the holding and movement of the drone in the nest.

[0016] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0017] (1) The landing device of the present invention uses four clamping rods and landing gear to clamp and move the UAV that is stationary at any position on the landing platform. This can reduce the accuracy requirements for UAV landing. When the UAV lands, the landing gear can be placed at any position on the landing platform. The UAV is transported to a specific position on the landing platform and stably clamped by the clamping rods to carry cargo, charge and swap batteries, and perform other tasks.

[0018] (2) The universal take-off and landing device structure for nest clamping and mobile vertical take-off and landing UAVs of the present invention adopts an adjustable mounting point landing gear, and the bottom is equipped with an addable, subtractable and replaceable ball bearing base. Combined with nest take-off and landing platform and UAV clamping rod, it can realize the rapid adaptation of common vertical take-off UAVs and nests on the market. It can be widely used in various automated nest and UAV systems to realize the universality and economy of the product.

[0019] (3) The ball bearing base of the present invention can be replaced as a whole, and the universal ball bearings under the base can also be replaced individually, reducing the maintenance cost of ball bearing wear after multiple take-offs and landings.

[0020] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0021] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0022] Figure 1 This is a schematic diagram (open state) of the universal take-off and landing device for nest clamping and moving vertical take-off and landing UAVs of the present invention;

[0023] Figure 2 This is a schematic diagram (clamping state) and a partial enlarged view of the universal take-off and landing device for nest clamping and moving vertical take-off and landing UAVs of the present invention;

[0024] Figure 3 This is a schematic diagram of the universal landing device for nest clamping and moving vertical take-off and landing UAVs of the present invention (clamping state, landing gear position changed).

[0025] Figure 4 This is a schematic diagram of the landing gear structure of the universal landing device of the present invention;

[0026] Figure 5 for Figure 4 Three views of the landing gear, where (a) is the front view, (b) is the top view, and (c) is the side view;

[0027] Figure 6 The following are three views and isometric views of the slide tube connector of the universal landing device of the present invention, wherein (a) is a front view, (b) is a top view, (c) is a side view, and (d) is an isometric view;

[0028] Figure 7 The following are three views and axonometric views of the ball bearing base of the universal lifting device of the present invention, wherein (a) is a front view, (b) is a top view, (c) is a side view, and (d) is an axonometric view;

[0029] Figure 8 A schematic diagram of the assembly of a drone and its landing gear;

[0030] Figure 9Diagram showing how to reduce the spacing between installation points for landing gear and adapt it to small drones.

[0031] Figure label:

[0032] 1-Landing gear, 11-Slide tube connector, 111-Bumper bracket mounting hole, 112-Bumper bracket mounting slot, 113-Transverse slide tube mounting hole, 114-Transverse slide tube mounting slot, 115-Longitudinal slide tube mounting hole, 116-Longitudinal slide tube mounting slot, 12-Transverse slide tube, 13-Longitudinal slide tube, 14-Bumper bracket, 141-UAV mounting hole, 15-Ball bearing base, 151-Ball bearing mounting bracket, 152-Universal ball bearing, 153-Roller 154-Ball base clamping hole; 155-Universal ball fastening hole; 2-Landing platform; 31-Left clamping rod; 32-Right clamping rod; 33-Front clamping rod; 34-Rear clamping rod; 4-Motor; 41-First motor; 42-Second motor; 43-Third motor; 44-Fourth motor; 45-Fifth motor; 46-Sixth motor; 47-Seventh motor; 48-Eighth motor; 5-UAV. Detailed Implementation

[0033] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0034] Example 1

[0035] A specific embodiment of the present invention, such as Figure 1 , Figure 2 and Figure 3 As shown, a universal take-off and landing device for nest clamping and mobile vertical take-off and landing UAVs is disclosed.

[0036] The universal landing gear of this embodiment includes a landing gear 1, a landing platform 2, a clamping rod 3, and motors 4 (including a first motor 41 to an eighth motor 48). The landing gear 1 is used to connect to the UAV 5 (e.g., Figure 8 As shown, (connected via UAV mounting hole 141), it provides support for UAV 5 to land on the ground or take-off and landing platform. The take-off and landing platform 2 is a support platform for UAV take-off and landing and can be installed on top of the drone's nest. Clamping rods 3 are used to clamp the landing gear 1 and move it to any target position on the take-off and landing platform 2. There are four clamping rods 3: left clamping rod 31, right clamping rod 32, front clamping rod 33, and rear clamping rod 34. The left clamping rod 31 and right clamping rod 32 are parallel to the length direction of the take-off and landing platform 2 and have the same length as the platform 2; the front clamping rod 33 and rear clamping rod 34 are parallel to the width direction of the platform 2 and have the same length as the platform 2. A motor 4 is used to control the movement of the clamping rods 3.

[0037] Figure 1 In the released state, that is, the drone 5 (only the landing gear 1 is shown) is located at any position on the take-off and landing platform 2. Eight motors control four clamping rods 3 to be located around the edges of the take-off and landing platform 2. The landing gear 1 is not restrained by the clamping rods 3. The drone 5 lands on the take-off and landing platform 2 or waits for take-off on the take-off and landing platform 2.

[0038] Figure 2 and Figure 3 In the clamping state, when the drone lands on the landing platform 2, the four clamping rods 3 clamp the landing gear 1 from all sides to secure the drone 5 (e.g., Figure 2 As shown). Figure 2 In the enlarged portion, during the movement of the landing gear 1 by the clamping rod 3, the left clamping rod 31 and the right clamping rod 32 contact the outside of the buffer frame mounting groove, and the front clamping rod 33 and the rear clamping rod 34 contact the plane of the longitudinal sliding tube 13 opening.

[0039] If it is necessary to move landing gear 1 and drone 5 to other locations on landing platform 2 (such as...), Figure 3 As shown), the four clamping rods 3 first slightly loosen their clamping state on the landing gear 1 (the contact surfaces of the four clamping rods 3 and the landing gear 1 are separated by a certain distance, less than 1cm). First, move the left clamping rod 31 and the right clamping rod 32 along the Y direction, and then move the front clamping rod 33 and the rear clamping rod 34 along the X direction; after reaching the position, the clamping rods 3 clamp the landing gear 1 again.

[0040] The landing device in this embodiment solves the problem of high landing accuracy requirements for UAVs in the prior art, allowing the UAV to land only on the landing platform 2.

[0041] In this embodiment, the take-off and landing platform 2 is a conventional rectangular UAV take-off and landing platform, the structure of which will not be described in detail here.

[0042] In this embodiment, the left clamping rod 31 and the right clamping rod 32 are located above the front clamping rod 33 and the rear clamping rod 34. In other embodiments, the opposite may be true.

[0043] Each clamping rod 3 has a motor at both ends. The motors at both ends run synchronously, driving the clamping rod 3 to move freely in a direction perpendicular to its own length.

[0044] For details, see Figure 2 The left clamping rod 31 is equipped with a first motor 41 and a second motor 42 at both ends, the right clamping rod 32 is equipped with a third motor 43 and a fourth motor 44 at both ends, the front clamping rod 33 is equipped with a fifth motor 45 and a sixth motor 46 at both ends, and the rear clamping rod 34 is equipped with a seventh motor 47 and an eighth motor 48 at both ends.

[0045] The first motor 41 and the second motor 42 move synchronously to control the left clamping rod 31 to reciprocate along the Y direction; the third motor 43 and the fourth motor 44 move synchronously to control the right clamping rod 32 to reciprocate along the Y direction; the fifth motor 45 and the sixth motor 46 move synchronously to control the front clamping rod 33 to reciprocate along the X direction; the seventh motor 47 and the eighth motor 48 move synchronously to control the rear clamping rod 34 to reciprocate along the X direction.

[0046] The connection and driving method between the motor and the clamping rod 3 can employ conventional techniques. For example, a rack can be installed around the lifting platform 2, and a gear can be installed at the motor output end. The gear meshes with the rack, and the gear shaft is rotatably connected to the end of the clamping rod 3. The motor drives the gear to rotate, and the gear translates relative to the rack, thereby driving the clamping rod 3 to reciprocate. This invention is not limited to this connection and driving method.

[0047] By cooperating with the four clamping rods 3 and the landing gear 1, the UAV that is stationary at any position on the take-off and landing platform can be clamped and moved, reducing the accuracy requirements for UAV landing.

[0048] like Figure 4 and Figure 5 As shown, the landing gear 1 includes a slide tube connector 11, a transverse slide tube 12, a longitudinal slide tube 13, a buffer frame 14, and ball bearing bases 15. The slide tube connector 11 connects the transverse slide tube 12, the longitudinal slide tube 13, and the buffer frame 14. The transverse slide tube 12 increases the rigidity of the landing gear 1, preventing excessive deformation of the landing gear 1 caused by the clamping rod 3. The longitudinal slide tube 13 mounts the ball bearing bases 15. The buffer frame 14 connects to the drone (by screwing or other means) through a first through hole 141 at the top and is connected to the slide tube connector 11 at the bottom. The ball bearing bases 15 are mounted on the longitudinal slide tube 13, and the number of ball bearing bases 15 mounted on the longitudinal slide tube 13 can be determined based on the weight of the drone being carried.

[0049] The structure of the slide connector 11 is as follows Figure 6 As shown, the system includes a horizontal tube, a vertical tube, and vertical clamps. One end of the horizontal tube is fixedly connected to the middle of the vertical tube, and the central axes of the horizontal and vertical tubes are perpendicular to each other; preferably, they are integrally formed. The other end of the horizontal tube forms a horizontal sliding tube mounting groove 114, and a horizontal sliding tube fixing hole 113 is provided on the circumference of the horizontal tube. The interior of the vertical tube forms a longitudinal sliding tube mounting groove 116, which extends through the entire vertical tube. A longitudinal sliding tube fixing hole 115 is provided on the side of the vertical tube opposite to the horizontal tube. The vertical clamps extend upward from the top of the vertical tube, and a buffer frame mounting groove 112 is formed between two vertical clamps; buffer frame fixing holes 111 are provided on the vertical clamps.

[0050] See Figure 4 , Figure 5The end of the transverse slide tube 12 is located within the transverse slide tube mounting groove 114 and is fixed by means of screwing or other methods through the transverse slide tube fixing hole 113. The longitudinal slide tube 13 passes through the longitudinal slide tube mounting groove 116 and is fixedly connected to the slide tube connector 11 by means of screwing or other methods through the longitudinal slide tube fixing hole 115. The end of the buffer frame 14 is located within the buffer frame mounting groove 112 and is fixed by means of screwing or other methods through the buffer frame fixing hole 111.

[0051] like Figure 9 As shown, the position of the slide tube connector 11 in the longitudinal slide tube 13 is adjustable, thereby making the spacing of the buffer frame 14 adjustable. The spacing of the buffer frame 14 can be determined according to the size of the UAV, which is convenient for adapting to various types of vertical take-off and landing UAVs. For example, when adapting to small UAVs, the spacing between the buffer frame 14, the slide tube connector 11 and the transverse slide tube 12 in the direction parallel to the longitudinal slide tube 13 is reduced, and small UAVs can be installed on the buffer frame 14.

[0052] The landing gear structure is connected to the UAV 5 via a buffer frame 14. The buffer frame 14 is adjustable in spacing to accommodate UAVs of various sizes. The buffer frame 14 is made of carbon fiber reinforced resin matrix composite material, which has the advantages of strong creep resistance and fatigue resistance. This structure solves the problem of insufficient compatibility between the landing gear housing and the UAV in the prior art, and improves the installation compatibility of the landing gear.

[0053] The structure of the buffer frame 14 is as follows Figure 4 , Figure 5 As shown, the overall structure is arc-shaped, including a top mounting platform, two arc-shaped sections on both sides, and fixing plates at both ends. The mounting platform is a flat plate structure with a first through hole 141 for fixed connection to the UAV. One end of the arc-shaped section is connected to one edge of the mounting platform, and the other end extends downward along the arc surface, with a fixing plate at the end. The fixing plate has a second through hole for insertion into the buffer frame mounting slot 112, and is fixed by means of screws or other methods through the buffer frame fixing holes 111. The arc-shaped structure of the buffer frame 14 reduces the impact received by the UAV during landing, thus protecting the UAV structure.

[0054] The structure of the ball bearing base 15 is as follows Figure 7 As shown, the system includes a ball bearing base body 151 and universal ball bearings 152. The ball bearing base body 151 is fitted onto the longitudinal sliding tube 13, and the universal ball bearings 152 are fixedly disposed at the bottom of the ball bearing base body 151, contacting the landing platform 2. By setting the ball bearing base 15, the problem of difficulty in moving the drone while gripped by the landing gear can be solved, allowing the landing gear 1 to move freely in any direction on the landing platform 2, reducing the friction force experienced by the drone during movement.

[0055] The ball bearing base body 151 includes a mounting base, an annular portion, and clamping lugs. The mounting base is a rectangular plate, with its top fixedly connected to the annular portion, a plurality of universal balls 152 disposed at its bottom, and a plurality of universal ball bearing fastening holes 155 disposed on its sides. The annular portion includes two semi-rings with openings at the top, for fitting onto the outer circumferential surface of the longitudinal sliding tube 13. Preferably, there are two annular portions, located at opposite ends of the mounting base along its length. A ball bearing base fastening hole 154 is disposed in the middle of each semi-ring. Each semi-ring has an upward protrusion at its top, forming a clamping lug, and a ball bearing base clamping hole 153 is disposed on the clamping lug.

[0056] After the ball bearing base body 151 is installed into the longitudinal slide tube 13, the clamping lugs on both sides of the ball bearing base clamping hole 153 (through hole) are screwed together, thereby deforming the ball bearing base 15 and squeezing the longitudinal slide tube 13. The ball bearing base 15 is prevented from sliding axially relative to the longitudinal slide tube 13 by friction. It is also double-fastened by rubber-headed screws through the ball bearing base fastening hole 154 (threaded hole), which is convenient for disassembly.

[0057] The universal ball bearing 152 is installed in the groove at the bottom of the ball bearing base body 151 and is secured with a rubber-head nut through the universal ball bearing fastening hole 155 (threaded hole) for easy replacement. The ball bearing base 15 is a replaceable consumable part. The ball bearing base 15 can be removed when the UAV takes off and lands on the ground, and is installed when taking off and landing on the drone's landing platform 2. The universal ball bearing 152 will wear down during use. When the wear becomes severe, only the universal ball bearing 152 can be replaced, thus saving on maintenance costs. This design solves the problem of easy wear of UAV landing devices in existing technologies and reduces costs.

[0058] The universal ball bearings 152 at the bottom of the ball bearing base 15 allow the drone to move freely in four directions (forward, backward, left, and right) under the push of the clamping rod 3. The number of ball bearing bases 15 can be increased or decreased according to the weight of the drone to meet the needs of drones with different takeoff weights, further improving the installation adaptability of the landing gear.

[0059] Driven by the motor, the clamping rod 3 can move to the perimeter of the landing gear 1 and contact the opening of the longitudinal slide tube 13 of the landing gear 1 or the outer surface of the vertical clamping plate of the slide tube connector 11, respectively. Figure 2 As shown, the landing gear 1 is clamped. Furthermore, by controlling the movement of the clamping rod 3, the landing gear 1 can be moved to achieve the transport of the landing gear 1 and the UAV 5.

[0060] The landing structure of this invention is unique and ingenious, and can be widely applied to vertical take-off and landing UAVs and their supporting multi-functional nesting systems. It reduces the requirements for UAV landing accuracy, reduces wear on the landing gear and take-off and landing platform, enhances durability, and improves system economy.

[0061] Compared with the prior art, the universal take-off and landing device for nest clamping and moving vertical take-off and landing UAVs provided in this embodiment has at least the following advantages:

[0062] (1) The landing gear has wide installation adaptability. The landing gear is easy to install. Before the UAV takes off, it can be connected to various multi-rotor, compound wing, helicopter and other vertical take-off and landing UAVs by screwing through the first through hole on the top buffer frame. By adding or removing ball bearing brackets, it can be adapted to UAVs of different weights; by changing the distance between the buffer frames, it can be adapted to UAVs of different sizes.

[0063] (2) The landing device can reduce the accuracy requirements of UAV landing. When the UAV lands, the landing gear can be placed at any position on the landing platform. The UAV can be transported to a specific position on the landing platform by the clamping rod to carry cargo, charge and replace batteries, and perform testing.

[0064] (3) The landing gear buffer has a certain buffering capacity, which can buffer the UAV during the landing process and protect the UAV structure.

[0065] (4) The landing gear has good economy and maintainability. The universal ball bearings in contact with the ground are easy to replace. After wear, only a few parts need to be replaced, and the entire landing gear does not need to be replaced.

[0066] (5) The landing gear has the advantages of high strength, lightweight and corrosion resistance. The main structure of the landing gear is made of carbon fiber, aluminum alloy and corrosion-resistant stainless steel, which is lightweight and easy to process; the clamping rod can be made of aluminum alloy, stainless steel and other materials, which is easy to process and corrosion resistant.

[0067] Example 2

[0068] Another specific embodiment of the present invention discloses a method for nest clamping and moving a vertical take-off and landing (VTOL) drone, which uses the universal take-off and landing device for nest clamping and moving VTOL drones in Embodiment 1 to achieve nest clamping and movement of the drone.

[0069] The method for holding and moving a vertical takeoff and landing (VTOL) UAV in the nest according to this embodiment specifically includes the following steps:

[0070] S1: Detect take-off and landing platform 2 to determine if there is a drone that needs to be clamped and / or moved;

[0071] S2: Drive the clamping rod 3 to move toward the middle of the landing platform 2 until it comes into contact with the landing gear 1, thereby clamping the landing gear 1 and the UAV.

[0072] S3: Determine whether the position of landing gear 1 coincides with the target position. If they do not coincide, control the clamping lever 3 to move landing gear 1 and the UAV to the target position.

[0073] Specifically, in step S1, in the initial state, the left clamping rod 31 is located at the left edge of the lifting platform 2, the right clamping rod 32 is located at the right edge of the lifting platform 2, the front clamping rod 33 is located at the front edge of the lifting platform 2, and the rear clamping rod 34 is located at the rear edge of the lifting platform 2, as shown below. Figure 1 As shown.

[0074] Once the drone lands on landing platform 2, it can be detected using visual sensing elements, infrared scanning devices, or gravity sensing devices. Existing technologies can be used for the specific detection and assessment methods.

[0075] The system uses preset criteria to determine whether there is a drone that needs to be clamped and / or moved. If the result is yes, then step S2 is executed.

[0076] In step S2, all the clamping rods 3 are driven by motors to move towards the center of the landing platform 2, preferably at a constant speed. During the movement, the moving speed or resistance encountered by the clamping rods 3 is detected in real time. When a clamping rod 3 comes into contact with the landing gear 1, the motor driving that clamping rod 3 stops. After all the motors of the clamping rods 3 have stopped, the landing gear 1 and the UAV 5 are clamped, and step S3 is executed.

[0077] Step S3 specifically includes:

[0078] S31: Determine whether the position of landing gear 1 coincides with the target position. If they coincide, end the process; otherwise, proceed to S32.

[0079] S32: Control the clamping lever 3 to move the landing gear 1 and the UAV to the target position. Specifically, this includes:

[0080] S321: Control the first set of clamping rods 3 (two of the four clamping rods 3 that are parallel to each other) to move a certain distance away from the landing gear 1, so as to release the clamping on the landing gear 1; in the preferred embodiment, the certain distance is less than 1cm.

[0081] S322: Control the second set of clamping rods 3 (the other two of the four clamping rods 3) to move synchronously in the same direction and at the same speed, so as to drive the landing gear 1 and the UAV 5 to move toward the target position along the X or Y direction, and stop after moving to the target position.

[0082] S323: Control the second set of clamping rods 3 to move a certain distance away from the landing gear 1 to release the clamping on the landing gear 1; in the preferred embodiment, the certain distance is less than 1cm.

[0083] S324: Control the first set of clamping rods 3 to move a certain distance toward the landing gear 1 to achieve clamping of the landing gear 1.

[0084] S325: Control the first set of clamping rods 3 to move synchronously, with the same direction and speed, driving the landing gear 1 and the UAV to move towards the target position along the Y or X direction, and stop after moving to coincide with the target position.

[0085] In a preferred embodiment, step S4 is further included: controlling the second set of clamping rods 3 to move a certain distance toward the landing gear 1 to achieve clamping of the landing gear 1.

[0086] The method of this embodiment solves the problem of difficulty in holding and moving VTOL UAVs in the prior art. It enables the holding and movement of VTOL UAVs by moving the four clamping rods. During the movement process, step S32 solves the problem of excessive friction between the UAV and the clamping rods, reducing collisions and friction between the landing gear 1 and the clamping rods 3, and extending the service life of the equipment.

[0087] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A universal take-off and landing device for nest-gripping and mobile vertical take-off and landing unmanned aerial vehicles, characterized in that, It includes a landing gear (1), a landing platform (2), a clamping rod (3), and a motor (4); the landing gear (1) is used to connect the UAV (5) and provide support for the UAV to land on the ground or the landing platform; the landing platform (2) is a support platform for the UAV to take off and land, and is fixedly installed on the top of the nest; the clamping rod (3) is used to clamp the landing gear (1) and move the landing gear (1) to any target position on the landing platform (2); there are four clamping rods (3), of which the left clamping rod (31) and the right clamping rod (32) are parallel to the length direction of the landing platform (2), and the front clamping rod (33) and the rear clamping rod (34) are parallel to the width direction of the landing platform (2); the motor (4) is used to control the clamping rods (3) to move in a direction perpendicular to the length direction of the clamping rod (3) itself.

2. The universal landing device according to claim 1, characterized in that, The landing gear (1) includes a slide tube connector (11), a transverse slide tube (12), a longitudinal slide tube (13), and a buffer frame (14).

3. The universal landing device according to claim 2, characterized in that, The slide tube connector (11) is used to connect the horizontal slide tube (12), the longitudinal slide tube (13), and the buffer frame (14).

4. The universal landing device according to claim 2 or 3, characterized in that, The slide connector (11) includes a horizontal tube, a vertical tube, and a vertical clamp.

5. The universal landing device according to claim 4, characterized in that, One end of the transverse tube is fixedly connected to the middle of the longitudinal tube, and the central axes of the transverse tube and the longitudinal tube are perpendicular to each other. The other end of the transverse tube forms a transverse sliding tube mounting groove (114), and a transverse sliding tube fixing hole (113) is provided on the circumferential surface of the transverse tube.

6. The universal landing device according to claim 4 or 5, characterized in that, The interior of the longitudinal tube forms a longitudinal sliding tube mounting groove (116), which runs through the entire longitudinal tube. A longitudinal sliding tube fixing hole (115) is provided on the side of the longitudinal tube opposite to the transverse tube.

7. The universal landing device according to any one of claims 6, characterized in that, The vertical clamps extend upward from the top of the longitudinal tube, and a buffer frame mounting groove (112) is formed between the two vertical clamps. Buffer frame fixing holes (111) are provided on the vertical clamps.

8. The universal landing device according to claim 7, characterized in that, The end of the horizontal slide tube (12) is located in the horizontal slide tube mounting groove (114) and is fixed by the horizontal slide tube fixing hole (113).

9. The universal landing device according to claim 8, characterized in that, The longitudinal slide tube (13) passes through the longitudinal slide tube mounting groove (116) and is fixedly connected to the slide tube connector (11) through the longitudinal slide tube fixing hole (115).

10. A method for holding and moving a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) in a nest, characterized in that, The universal landing device according to any one of claims 1-9 is used to achieve the clamping and movement of the UAV by the nest.

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