Automatic propeller returning method of unmanned aerial vehicle and unmanned aerial vehicle hangar

Abstract

The invention provides an unmanned aerial vehicle automatic propeller returning method and an unmanned aerial vehicle hangar, the unmanned aerial vehicle hangar comprises a side wall, a hangar door and a landing platform, and the method comprises the following steps: in response to a received first signal representing that an unmanned aerial vehicle lands on the landing platform, controlling the landing platform to move to a first position close to the inner arc surface of the hangar door, part of paddles of the unmanned aerial vehicle interfere with the inner arc surface to return; and in response to a received second signal representing that part of the paddles are returned, controlling the landing platform to move to a second position in the unmanned aerial vehicle hangar, so that the rest of the paddles of the unmanned aerial vehicle interfere with the side wall to return.

Description

Technical Field

[0001] This invention relates to the field of drone propeller return technology, and in particular to an automatic drone propeller return method and a drone hangar. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are unmanned aircraft operated using radio remote control equipment and related control devices. With the development of UAV technology, their application fields are constantly expanding and deepening. For example, UAVs are used in fields such as performances, aerial photography, agriculture, plant protection, express delivery, disaster relief, surveying and mapping, power line inspection, and water sampling, greatly expanding the uses of UAVs.

[0003] As a take-off and landing platform for drones, the drone hangar primarily serves to protect and store drones, and even to charge and transmit data. After completing their mission, drones land from high altitudes to a designated location within the hangar. During the storage process, a propeller return device is typically installed outside the drone's housing cavity within the hangar. After the propeller return is completed, the drone is completely returned to the hangar's cavity. Alternatively, propeller return may not be performed at all. Regardless of whether a propeller return device is installed or not, the drone hangar requires a larger space, which is not conducive to the lightweight and miniaturized design of drone hangars. In addition, during the propeller return process, the propeller is usually returned first, followed by the drone being placed into the hangar, resulting in low drone storage efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic propeller return method and a drone hangar to solve the technical problem that drone hangars are large in size and have low propeller return efficiency due to the need to set up additional propeller return devices or reserve space for propeller deployment.

[0005] The specific technical solution is as follows:

[0006] A first aspect of this application provides an automatic propulsion method for a drone, applied to a drone hangar, the drone hangar including side walls, hangar doors, and a landing platform, the method comprising:

[0007] In response to receiving a first signal indicating that the UAV has landed on the landing platform, the landing platform is controlled to move to a first position close to the inner arc surface of the hangar door, so that some of the UAV's propellers interfere with the inner arc surface to return to propeller position;

[0008] In response to receiving a second signal indicating that the partial propeller blades have returned to their original position, the landing platform is controlled to move to a second position within the UAV hangar, such that the remaining propeller blades of the UAV interfere with the side wall for return to their original position.

[0009] In some embodiments, the drone includes a first propeller, a second propeller, a third propeller, and a fourth propeller, the controlling the landing platform to move to a first position close to an inner arc surface of the hangar door to make part of the propellers of the drone interfere with the inner arc surface to fold back, comprises:

[0010] controlling the landing platform to continue to move towards the inner arc surface of the hangar door, so that the fourth propeller and the third propeller slide along the inner arc surface in turn;

[0011] When the landing platform continues to move to the first position, the third propeller and the fourth propeller complete the folding back.

[0012] In some embodiments, the controlling the landing platform to move to a second position inside the drone hangar so that the remaining propellers of the drone interfere with the side wall to fold back, comprises:

[0013] controlling the landing platform to continue to move inside the drone hangar, so that the second propeller and the first propeller slide along the side wall in turn;

[0014] When the landing platform continues to move to the second position, the first propeller and the second propeller complete the folding back.

[0015] In some embodiments, before responding to the first signal, the method further comprises:

[0016] in response to receiving a third signal representing that the drone is ready to land, controlling the hangar door to open a preset angle, and controlling the landing platform to move to a third position away from the side wall;

[0017] controlling the landing platform to move from the third position to the first position close to the inner arc surface of the hangar door.

[0018] In some embodiments, the landing platform is connected to the hangar door, and the step of controlling the hangar door to open a preset angle and controlling the landing platform to move to a third position away from the side wall comprises:

[0019] controlling the hangar door to open a preset angle to drive the landing platform to move to a third position away from the side wall;

[0020] or,

[0021] controlling the landing platform to move to a third position away from the side wall to drive the hangar door to open a preset angle.

[0022] In some embodiments, the step of controlling the landing platform to move to a second position inside the drone hangar comprises:

[0023] controlling the hangar door to close to drive the landing platform to move to a second position inside the UAV hangar;

[0024] or,

[0025] controlling the landing platform to move to a second position inside the UAV hangar to drive the hangar door to close.

[0026] In some embodiments, the step of controlling the landing platform to move to the first position close to the inner arc surface of the hangar door comprises:

[0027] controlling the landing platform to rotate and move to the first position close to the inner arc surface of the hangar door at a first rotation speed, wherein the first rotation speed is less than a preset multiple of a second rotation speed of the propeller of the UAV.

[0028] In a second aspect, the present application provides a UAV hangar applied to any of the methods of the first aspect, comprising:

[0029] a main swing arm;

[0030] a landing platform rotationally connected to one end of the main swing arm, used for landing a UAV;

[0031] a containing cavity formed by a bottom plate, a side wall and a hangar door, the side wall is rotationally connected to one end of the main swing arm and the hangar door away from the landing platform, the hangar door comprises an inner arc surface on the side facing the containing cavity, the inner arc surface is used for folding the part of the propeller of the UAV, and the side wall comprises an inner side wall on the side facing the containing cavity, the inner side wall is used for folding the remaining propeller of the UAV.

[0032] In some embodiments, the inner side wall is provided with a plurality of propeller folding supports, the propeller folding supports have a first spacing therebetween, the UAV comprises a first propeller, a second propeller, a third propeller and a fourth propeller, any two adjacent propellers of the first propeller, the second propeller, the third propeller and the fourth propeller have a second spacing therebetween, and the first spacing is equal to the second spacing.

[0033] In some embodiments, the main swing arm is rotationally connected to the side wall through a first rotation axis, the main swing arm is rotationally connected to the landing platform through a second rotation axis, one end of the main swing arm close to the first rotation axis is fixedly connected to the hangar door, and the main swing arm and the inner arc surface have a fixed included angle therebetween.

[0034] The unmanned aerial vehicle automatic folding method and the unmanned aerial vehicle hangar provided by the embodiment of the application receive a first signal representing that the unmanned aerial vehicle lands on the landing platform, control the landing platform to move to a first position close to the inner arc surface of the hangar door, so that part of the blades of the unmanned aerial vehicle interfere with the inner arc surface to fold, receive a second signal representing that the folding of part of the blades is completed, control the landing platform to move to a second position in the unmanned aerial vehicle hangar, so that the remaining blades of the unmanned aerial vehicle interfere with the side wall to fold, and the folding is realized by the interference between the inner arc surface of the hangar door and the inner side wall of the side wall and the blades of the unmanned aerial vehicle. After the unmanned aerial vehicle lands on the landing platform, the folding can be completed in the process of the landing platform retracting the accommodating cavity, the internal space of the accommodating cavity is effectively avoided from being occupied by an additional independent folding device, the folding device arranged outside the accommodating cavity is effectively avoided, the redundant structure of the hangar is reduced, the overall size of the hangar is reduced, and after the unmanned aerial vehicle lands on the landing platform, the landing platform can be close to the inner arc surface and the side wall, the landing attitude of the unmanned aerial vehicle does not need to be controlled, and the folding can be effectively realized regardless of the position of the blades.

[0035] In addition, the unmanned aerial vehicle first interferes with the hangar door to fold part of the blades, and the folding of the remaining blades is completed in the process of entering the hangar, so that the folding and the entering of the hangar are synchronized, and the entering efficiency of the unmanned aerial vehicle is improved.

[0036] Meanwhile, the landing platform is rotated to be close to the inner arc surface of the hangar door to fold part of the blades, the landing platform is rotated into the accommodating cavity to fold the remaining blades by the inner side wall, the jamming problem caused by the simultaneous interference of multiple blades is avoided, and the folding success rate is improved.

[0037] Of course, implementing any product or method of the application does not necessarily need to achieve all the advantages above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the application, and other embodiments can also be obtained by those skilled in the art based on these drawings.

[0039] Figure 1 The flow chart of the unmanned aerial vehicle automatic folding method of the embodiment of the application;

[0040] Figure 2 The schematic diagram of the unmanned aerial vehicle landing on the landing platform of the embodiment of the application;

[0041] Figures 3 to 5 The schematic diagram of the interference process between the 4# blade and the hangar door of the embodiment of the application;

[0042] Figure 6 The schematic diagram of the inside of the accommodating cavity of the embodiment of the application;

[0043] Figures 7 to 9 Figure 3 is a schematic diagram of the interference process between the 3rd propeller and the hangar door according to an embodiment of the present application;

[0044] Figure 10 Figure 4 is a schematic diagram of the propeller returning according to an embodiment of the present application;

[0045] Figures 11 to 12 Figure 2 is a schematic diagram of the interference process between the 2nd propeller and the returning support according to an embodiment of the present application;

[0046] Figures 13 to 14 Figure 1 is a schematic diagram of the interference process between the 1st propeller and the returning support according to an embodiment of the present application;

[0047] Figure 15 Figure 5 is a schematic diagram of the hangar door closing and the 1st and 2nd propellers returning according to an embodiment of the present application.

[0048] The reference signs are as follows:

[0049] Side wall 1, hangar door 2, main swing arm 3, landing platform 4, power distribution cabinet 7, scratch-proof sheet 8, unmanned aerial vehicle 10, first rotating shaft 11, second rotating shaft 12, first support 13, second support 14, third support 15, inner arc surface 21. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art based on the present application belong to the scope of protection of the present application.

[0051] As described above in the background, in the related art, the propeller returning device is arranged outside the cavity of the unmanned aerial vehicle hangar for accommodating the unmanned aerial vehicle, and after the propeller returning is completed, the unmanned aerial vehicle is stored into the cavity of the unmanned aerial vehicle hangar. For example, the common unmanned aerial vehicle hangar is of the lifting type, before the unmanned aerial vehicle lands, the platform carrying the unmanned aerial vehicle is lifted from the cavity of the hangar, and the unmanned aerial vehicle lands on the platform. The propeller returning device is arranged around the top end of the hangar, and the number of the propeller returning devices strictly corresponds to the number of the propellers. During the landing of the unmanned aerial vehicle, the corresponding propellers need to be arranged into the propeller returning device at the same time, otherwise the propeller may not be matched with the propeller returning device, resulting in the failure of the propeller returning. After the propeller returning of the unmanned aerial vehicle is completed, the platform is lowered into the cavity of the hangar, but the propeller returning device of the unmanned aerial vehicle hangar is outside the cavity, and cannot be effectively stored, which is not conducive to the lightweight and miniaturization of the unmanned aerial vehicle hangar. Secondly, if the propeller returning of the unmanned aerial vehicle is not directly performed, the cavity of the hangar needs to have space for the propeller to be unfolded, which is also not conducive to the lightweight and miniaturization of the unmanned aerial vehicle hangar.

[0052] Based on this, referring to Figure 2 , Figure 3 and Figure 15 , the application provides a UAV hangar, which comprises a main swing arm 3, a landing platform 4 rotationally connected to one end of the main swing arm 3 and used for landing a UAV 10, a containing cavity formed by a bottom plate, side walls 1 and a hangar door 2, the side walls 1 being rotationally connected to the hangar door 2 and the end of the main swing arm 3 away from the landing platform 4, the hangar door 2 comprising an inner arc surface 21 on the side facing the containing cavity, the inner arc surface 21 being used for folding the part of the propeller of the UAV 10, and the side walls 1 comprising inner side walls on the side facing the containing cavity, the inner side walls being used for folding the remaining part of the propeller of the UAV 10.

[0053] In an example embodiment, when the hangar door 2 is closed, the hangar door 2 and the end of the side wall 1 away from the rotational connection are sealed and closed.

[0054] In an example embodiment, the UAV 10 can have two, three, four or more propellers, and in the application, four propellers are taken as an example.

[0055] In an example embodiment, the main swing arm 3 and the hangar door 2 can be rotationally connected to the same end of the side wall 1, as shown in Figure 1 , or can be rotationally connected to the two ends of the side wall 1, that is, the hangar door 2 is rotationally connected to one end of the side wall 1.

[0056] In an example embodiment, when the main swing arm 3 and the hangar door 2 are rotationally connected to the same end of the side wall 1, they can be rotationally connected to the same side of the side wall 1, or the main swing arm 3 and the hangar door 2 can be fixed and rotationally connected to the same side of the side wall 1 at the same time, that is, when the main swing arm 3 rotates, the hangar door 2 rotates with the main swing arm 3, and vice versa.

[0057] In an example embodiment, the landing platform 4 can be circular, and the landing platform 4 is provided with a centering device, which makes the UAV center relative to the landing platform 4 after the UAV lands on the landing platform 4, as shown in Figure 1 , in the application, the landing platform 4 can be disc-shaped.

[0058] In an example embodiment, the UAV 10 is a folding propeller UAV.

[0059] It can be understood that the main swing arm 3 and the hangar door 2 are both rotationally connected to the side wall 1, and the hangar door 2 can be opened and closed through the side surface. Similarly, when the main swing arm 3 rotates, the rotation plane can be parallel to the bottom plate. Before the UAV lands on the landing platform 4, the hangar door 2 needs to be opened first, the main swing arm 3 drives the landing platform 4 to extend out of the containing cavity, and then the UAV lands on the landing platform 4.

[0060] In the example embodiment, the UAV 10 is provided with a visual sensor, and during the UAV landing process, the visual sensor is used for adjusting the posture of the UAV so that the propeller of the UAV is located at a proper position, facilitating subsequent propeller folding.

[0061] In some embodiments, referring to Figure 3 the UAV automatic propeller folding method comprises:

[0062] S101, in response to receiving a first signal representing that the UAV 10 lands on the landing platform 4, the landing platform 4 is controlled to move to a first position close to the inner arc surface 21 of the hangar door 2, so that part of the propeller of the UAV 10 interferes with the inner arc surface 21 for folding;

[0063] S102, in response to receiving a second signal representing that the part of the propeller is folded, the landing platform 4 is controlled to move to a second position in the UAV hangar, so that the remaining propeller of the UAV 10 interferes with the side wall for folding.

[0064] In the example embodiment, the UAV hangar can be in communication with the UAV 10 to perceive the first signal and the second signal of the UAV 10, and then the UAV hangar performs the corresponding folding action. The UAV hangar and the UAV 10 can also be connected to a background control system (not shown in the figure), and the background control system is used to communicate with the UAV hangar and the UAV 10 to determine the first signal and the second signal of the UAV 10, and then control the UAV hangar to perform the corresponding folding action.

[0065] In the example embodiment, the UAV hangar receives the first signal representing that the UAV 10 lands on the landing platform 4. The landing platform 4 is connected to the main swing arm 3 through rotation, and the UAV hangar can control the landing platform 4 to rotate relative to the main swing arm 3, so that the landing platform 4 is close to the first position of the inner arc surface 21 of the hangar door 2, and part of the propeller of the UAV interferes with the inner arc surface 21 for folding. Alternatively, the landing platform 4 can be connected to the side wall 1 through the rotation of the main swing arm 3, and the UAV hangar can control the main swing arm 3 to rotate relative to the side wall 1, so that the landing platform 4 is close to the first position of the inner arc surface 21 of the hangar door 2, and part of the propeller of the UAV 10 interferes with the inner arc surface 21 for folding. Then, through the rotation connection of the main swing arm 3 and the side wall 1, the landing platform 4 can control the main swing arm 3 to rotate relative to the side wall, so that the landing platform 4 retracts into the accommodating cavity, and the landing platform 4 reaches the second position close to the inner side wall, and the remaining propeller of the UAV 10 interferes with the inner side wall for folding. The inner arc surface 21 of the hangar door 2 and the inner side wall of the side wall 1 are used to interfere with the propeller of the UAV 10 respectively to achieve folding. After the UAV 10 lands on the landing platform 4, folding can be completed during the process of retracting the landing platform 4 into the accommodating cavity, effectively avoiding the occupation of the internal space of the accommodating cavity by the additional independent folding device, and effectively avoiding the setting outside the accommodating cavity, reducing the redundant structure of the UAV hangar, and reducing the overall size of the UAV hangar.

[0066] In addition, the UAV 10 first interferes with the hangar door 2 to realize partial blade folding, and completes the remaining blade folding during the process of entering the hangar, so that the folding and the entering the hangar are synchronized, thereby improving the entering efficiency of the UAV 10. Meanwhile, the landing platform 4 is rotated to the inner arc surface 21 close to the hangar door 2 to realize partial blade folding, and is rotated to the accommodating cavity to realize the remaining blade folding by the inner side wall, thereby avoiding the problem of jam caused by the interference of multiple blades at the same time, and improving the success rate of folding.

[0067] It should be noted that in the embodiment, the hangar door 2 is controlled to be opened, and the landing platform 4 is controlled to be stretched out from the accommodating cavity with the main swing arm 3, and the first signal is received, and the UAV 10 lands on the landing platform 4. The landing platform 4 can be first controlled to be rotated to be close to the inner arc surface 21 to realize partial blade folding by interfering with the inner arc surface 21, and then the landing platform 4 is controlled to be retracted into the accommodating cavity close to the inner side wall by the main swing arm 3 to realize the remaining blade folding by interfering with the inner side wall. Similarly, the first signal is received, and the UAV lands on the landing platform 4. The landing platform 4 can be first controlled to be retracted into the accommodating cavity by the main swing arm 3 to realize the remaining blade folding by interfering with the inner side wall, and then the hangar door 2 is controlled to be closed, and the landing platform 4 is rotated close to the inner arc surface 21 by the main swing arm 3 to realize partial blade folding by interfering with the inner side wall.

[0068] In some embodiments, before responding to the first signal, further comprising: in response to receiving a third signal representing that the UAV 10 is ready to land, controlling the hangar door 2 to open by a preset angle, and controlling the landing platform 4 to move to a third position away from the side wall 1.

[0069] The control of the landing platform 4 to move to the first position close to the inner arc surface 21 of the hangar door 2 comprises: controlling the landing platform 4 to move from the third position to the first position close to the inner arc surface 21 of the hangar door 2.

[0070] In the embodiment, the landing platform 4 is controlled to be rotated to the inner arc surface 21 close to the hangar door 2 to realize partial blade folding, and then the landing platform 4 is controlled to be retracted into the accommodating cavity by the main swing arm 3 to realize the remaining blade folding by interfering with the inner side wall. Figure 3As shown, before receiving the first signal, that is, before the UAV 10 lands, or before the UAV 10 takes off, the hangar door 2 is controlled to open to a preset position, and the main swing arm 3 is controlled to drive the landing platform 4 to extend into the accommodating cavity. At this time, the landing platform 4 is located at the first position, and part of the blades interfere with the inner arc surface 21. The landing platform 4 is controlled to rotate away from the inner arc surface 21 to the third position through the second rotating shaft 12. The UAV takes off or lands, and there is a gap between the blades and the inner arc surface 21, so that the blades do not interfere with the inner arc surface 21. This effectively avoids the interference between the high-speed rotating blades and the inner arc surface 21, so that the blades are not broken. For example, the 4# blade closest to the hangar door 2 does not interfere with the inner arc surface 21. After receiving the first signal, the UAV 10 lands on the landing platform 4, and the landing platform 4 is controlled to move from the third position to the first position close to the inner arc surface 21 of the hangar door 2, thereby completing the folding of part of the blades.

[0071] The UAV 10 generally vertically lands on the landing platform 4, and the blades of the UAV 10 rotate at high speed during flight. The blades directly interfere with the hangar door 2 during high-speed rotation. First, the blades are prone to breakage. Second, before the UAV stably lands on the landing platform 4, or during the process of the UAV taking off from the landing platform 4, the blades interfere with the inner arc surface 21, which is prone to cause the UAV 10 to lose control or be damaged.

[0072] In some embodiments, with reference to Figures 2 to 15 As shown, the main swing arm 3 is rotationally connected to the side wall 1 through the first rotating shaft 11, and the main swing arm 3 is rotationally connected to the landing platform 4 through the second rotating shaft 12. The main swing arm 3 is fixedly connected to the end of the hangar door 2 close to the first rotating shaft 11, and has a fixed included angle with the inner arc surface 21.

[0073] In an example embodiment, the axis of the first rotating shaft 11 is perpendicular to the bottom plate, and the axis of the second rotating shaft 12 is perpendicular to the bottom plate. The axis of the first rotating shaft 11 and the axis of the second rotating shaft 12 are imaginary straight lines, which refer to the center line of rotation or symmetry of the first rotating shaft 11.

[0074] In an example embodiment, the main swing arm 3 can be fixedly connected to the inner arc surface 21 of the hangar door 2, and then the hangar door 2 is rotationally connected to the side wall 1 through the first rotating shaft 11, so as to realize the rotational connection between the main swing arm 3 and the side wall 1 through the first rotating shaft 11.

[0075] In some embodiments, with reference to Figures 2 to 15 As shown, the hangar door 2 is rotationally connected to the side wall 1 through the first rotating shaft 11.

[0076] In the embodiment, the axis of the first rotating shaft 11 is arranged vertically to the bottom plate, the hangar door 2 is opened or closed in the way of side opening door, the closing track of the hangar door 2 is parallel to the bottom plate, after receiving the first signal, the hangar door 2 can be controlled to be opened through the first rotating shaft 11, after receiving the second signal, the hangar door 2 can be controlled to be opened through the first rotating shaft 11.

[0077] It should be noted that, in this process, the hangar door 2 can be closed simultaneously with the main swing arm 3 during the process of being recycled to the containing cavity through the first rotating shaft 11, or the hangar door 2 can be closed separately after the main swing arm 3 is recycled to the containing cavity.

[0078] In the exemplary embodiment, the landing platform 4 can be rotated to be close to the inner arc surface 21 through the second rotating shaft 12, so that part of the blades interfere with the inner arc surface 21 to return to the paddle, the main swing arm 3 can also drive the landing platform 4 to be close to the inner arc surface 21 through the first rotating shaft 11, so that part of the blades interfere with the inner arc surface 21 to return to the paddle, in the embodiment, the landing platform 4 is rotated to be close to the inner arc surface 21 through the second rotating shaft 12.

[0079] In the embodiment, after receiving the first signal, the unmanned aerial vehicle 10 lands on the landing platform 4, the axis of the second rotating shaft 12 is arranged vertically to the bottom plate, the landing platform 4 is controlled to be parallel to the bottom plate along the rotating track of the second rotating shaft 12 and the rotating track of the blades of the unmanned aerial vehicle 10, during the process that the landing platform 4 is horizontally rotated to the first position close to the inner arc surface 21 through the second rotating shaft 12, the inner arc surface 21 interferes with part of the blades of the unmanned aerial vehicle, during the process that the landing platform 4 continues to rotate to the first position, part of the blades continuously interfere with the inner arc surface 21 to return to the paddle; after receiving the second signal, part of the blades complete the return to the paddle, the axis of the first rotating shaft 11 is arranged vertically to the bottom plate, during the process that the landing platform 4 is controlled to be stretched out or recycled to the containing cavity, the track of the landing platform 4 is also parallel to the bottom plate, the main swing arm 3 is controlled to be rotated through the first rotating shaft 11 to drive the landing platform 4 to be horizontally recycled to the containing cavity, during the process that the landing platform 4 reaches the second position, the remaining blades continuously interfere with the inner side wall to return to the paddle, without the need to additionally arrange an independent return-to-paddle device outside the containing cavity, the redundant structure of the hangar is reduced, thereby reducing the overall size of the hangar.

[0080] At this point, all the return to the paddle is completed, multiple blades are returned to the paddle in batches, avoiding the problem of jam caused by the simultaneous interference of multiple blades, and improving the success rate of return to the paddle.

[0081] In some embodiments, the landing platform 4 is connected with the hangar door 2, the hangar door 2 is controlled to be opened by a preset angle, and the landing platform 4 is controlled to move to a third position away from the side wall 1, comprising:

[0082] controlling the hangar door 2 to open to a preset angle to drive the landing platform 4 to move to a third position away from the side wall 1;

[0083] Alternatively, controlling the landing platform 4 to move to a third position away from the side wall 1 to drive the hangar door 2 to open to a preset angle.

[0084] In this embodiment, the hangar door 2 is fixedly connected to the main swing arm 3 near one end of the first rotating shaft 11, and the main swing arm 3 and the inner arc surface 21 have a fixed included angle. During the process of controlling the hangar door 2 to open to a preset position through the first rotating shaft 11, the landing platform 4 is simultaneously horizontally extended out of the accommodating cavity by the main swing arm 3, so as to realize the landing of the unmanned aerial vehicle on the landing platform 4 or the take-off of the unmanned aerial vehicle from the landing platform 4. Alternatively, the landing platform 4 can be controlled to extend out of the accommodating cavity by the main swing arm 3 through the first rotating shaft 11, and the hangar door 2 can be simultaneously opened to a preset position by the main swing arm 3, thereby saving the sequence of opening the hangar door 2 and extending the landing platform 4 out of the accommodating cavity, and saving time.

[0085] In some embodiments, referring to Figures 3 to 10 As shown, controlling the landing platform 4 to move to a second position in the unmanned aerial vehicle hangar includes:

[0086] controlling the hangar door 2 to close to drive the landing platform 4 to move to a second position in the unmanned aerial vehicle hangar; or, controlling the landing platform 4 to move to a second position in the unmanned aerial vehicle hangar to drive the hangar door 2 to close.

[0087] In this embodiment, the hangar door 2 is fixedly connected to the main swing arm 3 near one end of the first rotating shaft 11, and the main swing arm 3 and the inner arc surface 21 have a fixed included angle. During the process of controlling the landing platform 4 to move to a second position in the unmanned aerial vehicle hangar by the main swing arm 3 through the first rotating shaft 11, the remaining blades are interfered and returned to the paddle by the inner side wall, the hangar door 2 is simultaneously closed by the main swing arm 3, thereby saving the time of the unmanned aerial vehicle into the hangar; Alternatively, the hangar door 2 can be controlled to close through the first rotating shaft 11, and the landing platform 4 can be driven to move to a second position in the unmanned aerial vehicle hangar by the main swing arm 3 through the first rotating shaft 11, and the remaining blades are interfered and returned to the paddle by the inner side wall.

[0088] It should be noted that before receiving the first signal, that is, before the unmanned aerial vehicle lands, or before the unmanned aerial vehicle takes off, the hangar door 2 is controlled to open to a preset position, and the landing platform 4 is simultaneously extended out of the accommodating cavity by the main swing arm 3. After receiving the second signal, the hangar door 2 is controlled to close, and the landing platform 4 is simultaneously moved into the accommodating cavity by the main swing arm 3.

[0089] In some embodiments, referring to Figures 11 to 15As shown, the inner side wall is provided with a plurality of propeller returning supports, and the propeller returning supports have a first spacing. The unmanned aerial vehicle 10 includes a first propeller, a second propeller, a third propeller, and a fourth propeller. Any two adjacent propellers among the first propeller, the second propeller, the third propeller, and the fourth propeller have a second spacing. The first spacing is equal to the second spacing.

[0090] The landing platform 4 is controlled to move to a first position close to the inner arc surface 21 of the hangar door 2, so that part of the propellers of the unmanned aerial vehicle 10 interfere with the inner arc surface 21 to return the propellers, including:

[0091] The landing platform 4 is continuously controlled to move towards the inner arc surface 21 of the hangar door 2, so that the fourth propeller 4# and the third propeller 3# slide along the inner arc surface in sequence.

[0092] When the landing platform 4 continues to move to the first position, the third propeller 3# and the fourth propeller 4# complete the returning of the propellers.

[0093] In the exemplary embodiment, the propeller returning supports include a first support 13, a second support 14, and a third support 15, which are arranged on the inner side wall.

[0094] In this embodiment, during the process of controlling the hangar door 2 to open laterally, the main swing arm 3 is horizontally turned out of the accommodation cavity to the outside of the accommodation cavity together with the hangar door 2, and the landing platform 4 at the end of the main swing arm 3 is also horizontally turned out of the accommodation cavity to the outside of the accommodation cavity. The landing platform 4 is rotated in the horizontal direction to a third position away from the hangar door 2. Upon receiving a first signal, the unmanned aerial vehicle is vertically landed on the landing platform 4. During the process of controlling the landing platform 4 to rotate counterclockwise through the second rotating shaft 12 from the third position to the first position close to the inner arc surface 21, the first 4# propeller rotating clockwise first interferes with the inner arc surface 21 of the hangar door 2, and the motor of the 4# propeller is blocked. The blocking of the motor will cause an increase in internal current. The interference of the 4# propeller is determined by monitoring the motor current of the 4# propeller. During the process of continuously controlling the landing platform 4 to move close to the hangar door 2, the 4# propeller slides along the inner arc surface 21 of the hangar door 2, and the 3# propeller rotating clockwise approaches the hangar door 2. The 3# propeller interferes with the inner arc surface 21 of the hangar door 2, and the motor of the 3# propeller is blocked. The interference of the 3# propeller is also determined by monitoring the motor current of the 3# propeller. Before the landing platform 4 reaches the first position, the 3# propeller keeps sliding along the inner arc surface 21 of the hangar door 2 and continuously interferes until the landing platform 4 is retracted to the first position. At this time, the 3# and 4# propellers complete the returning of the propellers, and the motors of the 3# and 4# propellers are powered off.

[0095] In some embodiments, the landing platform 4 is controlled to move to a second position in the unmanned aerial vehicle hangar, so that the remaining propellers of the unmanned aerial vehicle 10 interfere with the side wall 1 to return the propellers, including:

[0096] The control platform 4 continues to move into the UAV hangar, so that the second propeller 2# and the first propeller 1# slide along the side wall 1 in turn; when the landing platform 4 continues to move to the second position, the first propeller 1# and the second propeller 2# complete the folding.

[0097] In this embodiment, the 1# and 2# propellers continue to rotate at a low speed, the hangar door 2 is controlled to rotate clockwise to close through the first rotating shaft 11, and the main swing arm 3 also drives the landing platform 4 in the first position to move into the containing cavity. The 2# propeller rotating clockwise first interferes with the third support 15, and the motor of the 2# propeller is blocked. With the closing of the hangar door 2, the 2# propeller slides on the inner side wall to continue to interfere. With the continuous closing of the hangar door 2, the 2# propeller slides to the second support 14 and interferes with the second support 14. The 1# propeller rotating clockwise interferes with the first support 13 in the containing cavity. Before the hangar door 2 is completely closed, the motor of the 1# propeller is blocked. The 1# propeller and the 2# propeller respectively interfere with the first support 13 and the second support 14, that is, slide on the surfaces of the first support 13 and the second support 14, until the hangar door 2 is closed, and the 2# and 1# propellers complete the folding and folding.

[0098] It should be noted that in the case that the number of propellers of the UAV 10 is different, for example, three, the above process can be used. One propeller can complete the folding by interfering with the inner wall of the hangar door 2, and the other two propellers can complete the folding by the folding supports in the containing cavity.

[0099] In some embodiments, the step of controlling the landing platform 4 to move to the first position close to the inner arc surface 21 of the hangar door 2 includes:

[0100] The landing platform 4 is controlled to rotate and move to the first position close to the inner arc surface 21 of the hangar door 2 at a first rotating speed, wherein the first rotating speed is less than a preset multiple of a second rotating speed of the propeller of the UAV 10.

[0101] Reference Figures 11 to 15 As shown in the process of Figures 13 to 14 As shown in the process of closing the hangar door 2, the 1# propeller interferes with the first support 13 to complete the folding, the first rotating speed is greater than the preset multiple of the second rotating speed, and the 1# propeller is prevented from being dead on the first support 13.

[0102] It can be understood that during the closing process of the hangar door 2, the first rotating shaft 11 rotates, and at the same time, the landing platform 4 moves towards the first support 13, and at the same time, the blades rotate, and the arc exists between the returning support and the blade, and at any point of the arc, there is a tangent point and a tangent line, and the tip of the blade can be in contact with the tangent point, and the extension direction of the blade is perpendicular to the tangent line, which causes the 1# blade to be dead against the first support 13. By using the first rotation speed greater than the second rotation speed by a preset multiple, the dead point between the 1# blade and the first support 13 is effectively avoided, and the blade is smoothly returned.

[0103] In an example embodiment, when there are 4 propellers, the first rotation speed is greater than 4.9 times the second rotation speed, so that the blades effectively avoid the dead point with the returning support.

[0104] In some embodiments, the contact surface between the plurality of returning supports and the remaining blades is arc-shaped, and the arc-shaped surface has a second curvature, which is adapted to the sliding track of the remaining blades in the returning support.

[0105] In this embodiment, the control main swing arm 3 drives the landing platform 4 to return to the containing cavity parallel to the bottom plate through the first rotating shaft 11, and in the process of the landing platform 4 reaching the second position, the remaining blades continuously interfere with the returning support to achieve the returning of the blades. By arc design, and the first curvature of the arc is adapted to the sliding track of the remaining blades in the returning support, the excessive interference between the returning support and the remaining blades is effectively avoided, and the remaining blades cannot continuously interfere to effectively return the blades.

[0106] In some embodiments, referring to Figure 6 As shown, the contact surface between the returning support and the remaining blades and the inner arc surface 21 are provided with a scratch-proof plate.

[0107] In some embodiments, the inner side wall 1 is provided with a power distribution cabinet 7, and the power distribution cabinet 7 is located between the third support 15 and the second support 14, and the surface of the power distribution cabinet 7 is provided with a scratch-proof sheet 7.

[0108] In an example embodiment, the thickness of the scratch-proof sheet 8 can be not less than 1mm, and in the embodiment of the present application, the thickness of the scratch-proof sheet 8 is 1mm.

[0109] In an example embodiment, the scratch-proof sheet 8 can be made of transparent polyethylene terephthalate (PET) material, or transparent cyclic olefin copolymer or cellulose triacetate.

[0110] In an example embodiment, the power distribution cabinet 7 can be provided with a power supply to charge the unmanned aerial vehicle 10 entering the unmanned aerial vehicle hangar, and can also be provided with a corresponding control device, such as controlling the rotation of the first rotating shaft 11 and the second rotating shaft 12.

[0111] In the embodiment, the paddle interferes with the inner arc surface 21 of the hangar door 2 and the paddle returning support, mainly the paddle tip contacts the inner arc surface 21 and the paddle returning support, and the paddle tip of the remaining paddle continuously contacts the surface of the paddle returning support during the process that the landing platform 4 continuously moves to the first position by rotating about the second rotating shaft 12. The paddle tip of the remaining paddle continuously contacts the surface of the paddle returning support during the process that the landing platform 4 rotates to the second position while the hangar door 2 continuously closes. The friction between the paddle tip and the inner arc surface 21 of the hangar door 2 and the paddle returning support is reduced by the scratch-proof sheet 8, and the paddle is effectively protected.

[0112] In the example embodiment, the scratch-proof sheet 8 can be replaced regularly, and the disassembly of the remaining structure of the hangar is reduced, and the maintenance cost is reduced.

[0113] In some embodiments, the landing platform 4 comprises a support frame and a landing frame arranged in layers, the landing frame and the support frame are annular structures, and the main swing arm 3 is rotationally connected with the support frame. The support frame is provided with a clamping piece for fixing the unmanned aerial vehicle towards the middle of the annular structure of the support frame.

[0114] In the example embodiment, the support frame can be made of a material with high rigidity, such as stainless steel, aluminum alloy, or glass fiber reinforced plastic.

[0115] In the example embodiment, the unmanned aerial vehicle comprises a body and a wing, the wing is fixedly connected with the body, and the paddle of the propeller is rotationally connected to one end of the wing away from the body. After the unmanned aerial vehicle lands on the landing platform 4, the body is in the middle of the annular structure, and the wing is lapped on the annular structure.

[0116] In the embodiment, the unmanned aerial vehicle is fixed by the clamping device, which effectively avoids the force deviation of the unmanned aerial vehicle caused by the interference between the paddle and the inner arc surface 21 and the paddle returning support during the paddle returning process, and affects the paddle returning. It can be understood that the clamping device has a centering effect, so that the unmanned aerial vehicle is pushed to the middle of the landing platform 4 after landing on the landing platform 4, which is beneficial to the interference of different paddles and the smooth paddle returning.

[0117] In the embodiments described above, all or some of the steps can be implemented by software, hardware or firmware, or any combination thereof. When implemented by software, all or some of the steps can be implemented in the form of one or more computer programs. The computer program can be stored in any computer readable medium, and loaded into the computer system for execution. The computer readable medium includes: a computer storage medium and a computer communication medium. The computer storage medium includes: volatile media (such as random access memory (RAM) and others) and non-volatile media (such as read-only memory (ROM), floppy disks, CD-ROMs, optical disks, hard disks, etc.). The computer communication medium includes: computer networks and other media.

[0118] It should be noted that the relative terms, such as first and second, etc., are used only to differentiate one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. In addition, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0119] Each of the embodiments in the specification is described in a related manner, and the same or similar parts between each of the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments.

[0120] The above are only the preferred embodiments of the present application, and are not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for automatic propeller return of an unmanned aerial vehicle (UAV), characterized in that, Applied to a drone hangar, the drone hangar including side walls, hangar doors, and a landing platform, the method includes: In response to receiving a first signal indicating that the UAV has landed on the landing platform, the landing platform is controlled to move to a first position close to the inner arc surface of the hangar door, so that some of the UAV's propellers interfere with the inner arc surface to return to propeller position; In response to receiving a second signal indicating that the partial propeller blades have returned to their original position, the landing platform is controlled to move to a second position within the UAV hangar, such that the remaining propeller blades of the UAV interfere with the side wall for return to their original position.

2. The method according to claim 1, characterized in that, The drone includes a first blade, a second blade, a third blade, and a fourth blade. Controlling the landing platform to move to a first position close to the inner arc surface of the hangar door, so that some of the drone's blades interfere with the inner arc surface for propulsion, includes: The landing platform is controlled to move continuously toward the inner arc surface of the hangar door, so that the fourth blade and the third blade slide along the inner arc surface in sequence; As the landing platform continues to move to the first position, the third and fourth propeller blades return to their original positions.

3. The method according to claim 2, characterized in that, Controlling the landing platform to move to a second position within the UAV hangar, causing the remaining propeller blades of the UAV to interfere with the sidewall for propeller return, includes: The landing platform is controlled to move continuously into the UAV hangar, causing the second blade and the first blade to slide along the side wall in sequence. As the landing platform continues to move to the second position, the first and second propeller blades return to their original positions.

4. The method according to claim 1, characterized in that, Before responding to the first signal, the method further includes: In response to receiving a third signal indicating that the drone is ready to land, the hangar door is opened at a preset angle, and the landing platform is moved to a third position away from the side wall. Control the landing platform to move from the third position to the first position close to the inner arc surface of the hangar door.

5. The method according to claim 4, characterized in that, The landing platform is connected to the hangar door. The steps of controlling the hangar door to open to a preset angle and controlling the landing platform to move to a third position away from the side wall include: The hangar door is opened at a preset angle to move the landing platform to a third position away from the side wall. or, Control the landing platform to move to a third position away from the side wall, so as to drive the hangar door to open at a preset angle.

6. The method according to claim 5, characterized in that, The step of controlling the landing platform to move to the second position within the drone hangar includes: The hangar door is closed to move the landing platform to a second position inside the UAV hangar. or, The landing platform is controlled to move to a second position inside the drone hangar, thereby closing the hangar door.

7. The method according to any one of claims 1-6, characterized in that, The step of controlling the landing platform to move to a first position close to the inner curved surface of the hangar door includes: The landing platform is controlled to rotate and move to a first position close to the inner arc surface of the hangar door at a first rotation speed, wherein the first rotation speed is less than a preset multiple of the second rotation speed of the UAV's propeller blades.

8. A drone hangar applicable to the method of any one of claims 1 to 7, characterized in that, include: Main swing arm; The landing platform is rotatably connected to one end of the main swing arm and is used to land drones; The base plate, side walls, and hangar door form a receiving cavity. The side walls are rotatably connected to the hangar door and the end of the main swing arm away from the landing platform, respectively. The hangar door includes an inner arc surface facing the receiving cavity, which is used to return some of the UAV's propellers to their proper positions. The side walls include an inner side wall facing the receiving cavity, which is used to return the remaining UAV propellers to their proper positions.

9. The unmanned aerial vehicle hangar according to claim 8, characterized in that, The inner sidewall is provided with multiple propeller return supports, and the propeller return supports are spaced apart by a first distance. The UAV includes a first propeller, a second propeller, a third propeller, and a fourth propeller. Any two adjacent propellers among the first propeller, the second propeller, the third propeller, and the fourth propeller are spaced apart by a second distance, and the first distance is equal to the second distance.

10. The drone hangar according to claim 8, characterized in that, The main swing arm is rotatably connected to the side wall via a first rotating shaft, and the main swing arm is rotatably connected to the landing platform via a second rotating shaft. The main swing arm is fixedly connected to the end of the hangar door near the first rotating shaft, and there is a fixed angle between the main swing arm and the inner arc surface.

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