One-way self-centering auxiliary device for landing of unmanned aerial vehicle

Abstract

The invention discloses a one-way self-centering auxiliary device for landing of an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles. The one-way self-centering auxiliary device for landing of the unmanned aerial vehicle comprises an unmanned aerial vehicle system, an unmanned aerial vehicle hangar and a bottom plate support, the unmanned aerial vehicle hangar is fixedly installed at the top of the bottom plate support through bolts, the unmanned aerial vehicle system comprises an unmanned aerial vehicle body, and V-shaped vehicle arms are fixedly connected to the outer surfaces of the two sides of the unmanned aerial vehicle body; a power system is fixedly mounted at the tail end of the V-shaped arm, an RTK antenna is fixedly mounted on the outer surface of the V-shaped arm, a holder pod is fixedly mounted at the tail end of the unmanned aerial vehicle body, a wireless charging module receiving end is fixedly mounted in the center of the bottom of the unmanned aerial vehicle body, and an image transmission system and a ranging system are fixedly mounted at the bottom of the unmanned aerial vehicle body. Self-centering landing of the unmanned aerial vehicle can be achieved through the V-shaped slope guide structure, an additional driving mechanism is not needed, and mechanical abrasion and maintenance are avoided.

Description

A one-way self-homing auxiliary device for UAV landing Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a one-way self-homing auxiliary device for UAV landing. Background Technology

[0002] A drone is an aircraft that can fly remotely or autonomously without direct human control. It typically consists of an airframe, power system, navigation system, and payload, and is widely used in military reconnaissance, agricultural plant protection, aerial photography, logistics transportation, environmental monitoring, and disaster relief. Drone technology combines advanced technologies such as aviation, electronics, communications, and artificial intelligence, giving it advantages such as high flexibility, low operating costs, and adaptability to complex environments. With continuous technological advancements, drones are becoming increasingly powerful, with significantly improved flight accuracy and endurance, providing efficient and convenient solutions for various industries. In the current era of rapid drone technology development, hangars not only provide storage space for drones but also serve functions such as charging, battery replacement, data transmission, and equipment testing to facilitate drone landings.

[0003] The most common way to land drones is by combining centimeter-level positioning with QR code recognition, and then using mechanical guidance to complete the final alignment. However, this mechanical guidance method involves frequent mechanical contact and friction, which not only requires regular lubrication and component replacement, increasing maintenance costs and downtime, but may also lead to alignment failure due to mechanical jamming, wear and tear, posing a certain risk of failure and making it difficult to meet the needs of high-reliability operation scenarios. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a one-way self-centering auxiliary device for UAV landing, thereby solving the problems mentioned in the background art, such as the difficulty in meeting the requirements of high-reliability operation due to mechanical wear, high maintenance costs, and susceptibility to failure in traditional centering methods that rely on mechanical guidance.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a one-way self-homing auxiliary device for drone landing, comprising a drone system, a drone hangar, and a base plate support. The drone hangar is bolted to the top of the base plate support. The drone system includes a drone fuselage, with V-shaped arms fixedly connected to the outer surfaces of both sides of the drone fuselage. A power system is fixedly installed at the end of the V-shaped arms, and an RTK antenna is fixedly installed on the outer surface of the V-shaped arms. A gimbal pod is fixedly installed at the tail end of the drone fuselage. A wireless charging module receiver is fixedly installed at the center of the bottom of the drone fuselage. An image transmission system and a ranging system are fixedly installed at the bottom of the drone fuselage. The drone hangar includes a hangar body, with a central horizontal panel and two inclined panels fixedly installed on the upper surface of the hangar body. A QR code is located at the center of the upper surface of the central horizontal panel. A wireless charging module transmitter is fixedly installed inside the hangar body, positioned directly below the QR code.

[0006] Preferably, an RTK control module is fixedly installed inside the drone fuselage, and the RTK antenna is electrically connected to the RTK control module.

[0007] Preferably, the power system includes a motor mounting base, which is fixedly mounted to the end of the V-shaped arm by bolts. A drive motor is fixedly mounted on the top of the motor mounting base, and the output shaft of the drive motor is fixedly connected to a blade.

[0008] Preferably, the two hangar sloping panels are symmetrically distributed with the hangar middle horizontal plate as the center line, and the V-shaped groove formed by the two hangar sloping panels and the hangar middle horizontal plate matches the V-shaped structure formed by the UAV fuselage and the two V-shaped arms.

[0009] Preferably, the image transmission system and the ranging system are fixedly installed adjacent to the bottom of the UAV fuselage.

[0010] Preferably, there are two RTK antennas, which are respectively fixedly installed on the outer surfaces of the two V-shaped arms, and RTK radars are fixedly installed on the outer surfaces of both sides of the hangar body.

[0011] Beneficial Effects: This invention provides a one-way self-centering auxiliary device for UAV landing. It offers the following advantages: 1. This one-way self-centering auxiliary device for UAV landing utilizes a specific angled inclined guide structure in conjunction with the UAV's V-shaped arm. It achieves passive centering using contact mechanics principles. During landing, the horizontal force generated by the contact between the UAV's arm and the inclined surface naturally guides the fuselage towards the center, ultimately achieving millimeter-level centering accuracy. This process relies entirely on the structure itself, requiring no additional drive components. This fundamentally eliminates the wear and jamming problems of traditional mechanical guide devices, significantly reducing maintenance costs and failure rates, and improving system reliability and service life.

[0012] 2. This one-way self-homing auxiliary device for UAV landing achieves high-precision positioning throughout the entire landing process by constructing a dual-mode collaborative guidance system of vision and RTK. The RTK system provides global centimeter-level positioning to ensure that the UAV accurately enters the landing airspace, while the vision and ranging system performs local identification and fine-tuning at the end of the landing to further eliminate deviations. The two modes work together to greatly enhance the system's adaptability and anti-interference ability in complex environments, ensuring a high success rate and stability throughout the entire process from return to home to homing landing. Attached Figure Description

[0013] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the overall front view structure of the present invention; Figure 3 is a schematic diagram of the overall side view structure of the present invention; Figure 4 is a schematic diagram of the overall exploded structure of the present invention; Figure 5 is a schematic diagram of the structure of the UAV system of the present invention; Figure 6 is a schematic diagram of the bottom structure of the UAV system of the present invention; Figure 7 is a schematic diagram of the structure of the UAV hangar of the present invention; Figure 8 is a schematic diagram of the structure of the inclined panel of the UAV hangar of the present invention under stress.

[0014] In the diagram: 1. Unmanned Aerial Vehicle (UAV) system; 101. UAV fuselage; 102. V-shaped arm; 103. Power system; 1031. Motor mounting base; 1032. Drive motor; 1033. Propeller blades; 104. RTK antenna; 105. RTK control module; 106. Gimbal pod; 107. Wireless charging module receiver; 108. Image transmission system; 109. Ranging system; 2. UAV hangar; 201. Hangar main body; 202. Hangar sloping panel; 203. Hangar middle horizontal panel; 204. QR code; 205. Wireless charging module transmitter; 206. RTK radar; 3. Base plate support. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] As shown in Figures 1-8, this invention provides a one-way self-homing auxiliary device for UAV landing, including a UAV system 1, a UAV hangar 2, and a base plate support 3. The UAV hangar 2 is fixedly mounted on the top of the base plate support 3 by bolts. The UAV system 1 includes a UAV fuselage 101, with V-shaped arms 102 fixedly connected to the outer surfaces of both sides of the UAV fuselage 101. A power system 103 is fixedly mounted at the end of the V-shaped arms 102, and an RTK antenna 104 is fixedly mounted on the outer surface of the V-shaped arms 102. A gimbal pod 106 is fixedly mounted at the tail end of the UAV fuselage 101. A wireless charging module receiver 107 is fixedly installed at the center of the bottom of the drone fuselage 101. An image transmission system 108 and a ranging system 109 are fixedly installed at the bottom of the drone fuselage 101. The drone hangar 2 includes a hangar body 201. A hangar middle horizontal plate 203 and two hangar sloping panels 202 are fixedly installed on the upper surface of the hangar body 201. A QR code 204 is set in the middle of the upper surface of the hangar middle horizontal plate 203. A wireless charging module transmitter 205 is fixedly installed inside the hangar body 201. The wireless charging module transmitter 205 is located directly below the QR code 204.

[0017] Specifically, an RTK control module 105 is fixedly installed inside the UAV fuselage 101. The RTK antenna 104 is electrically connected to the RTK control module 105. Through dual-antenna differential technology, it provides the UAV system 1 with centimeter-level high-precision positioning data and high-precision heading information, thereby enhancing the UAV's anti-interference capability and flight stability in complex electromagnetic environments.

[0018] Specifically, the power system 103 includes a motor mounting base 1031, which is fixedly mounted to the end of the V-shaped arm 102 by bolts. A drive motor 1032 is fixedly mounted on the top of the motor mounting base 1031. The output shaft of the drive motor 1032 is fixedly connected to a propeller blade 1033. The motor mounting base 1031 is set with a specific installation angle to ensure that the drive motor 1032 is installed tilted outward by 5 degrees. This design can optimize flight efficiency and enhance the attitude stability of the aircraft.

[0019] Specifically, the two inclined hangar panels 202 are symmetrically distributed with the central horizontal panel 203 of the hangar as the center line. The V-shaped groove formed by the two inclined hangar panels 202 and the central horizontal panel 203 matches the V-shaped structure formed by the UAV fuselage 101 and the two V-shaped arms 102. Through the principle of contact mechanics, the inclined reaction force received by the UAV during landing is decomposed into a horizontal component force pointing towards the landing center, thereby guiding the UAV to achieve unidirectional self-centering. Precise centering can be completed by relying solely on structural cooperation, which greatly reduces the maintenance requirements and failure rate of traditional mechanical guidance devices.

[0020] Specifically, the image transmission system 108 and the ranging system 109 are fixedly installed adjacent to the bottom of the UAV fuselage 101. The image transmission system 108 acts as a visual module to identify the QR code 204 on the hangar to obtain the position deviation, while the ranging system 109 provides accurate altitude information. The two work together to provide high-precision visual guidance for the UAV at the end of its descent.

[0021] Specifically, two RTK antennas 104 are provided and fixedly installed on the outer surfaces of the two V-shaped arms 102 respectively. RTK radars 206 are fixedly installed on the outer surfaces of both sides of the hangar body 201. The carrier phase differential is achieved by the two RTK antennas 104 distributed at both ends of the V-shaped arms 102, providing accurate heading angle measurement. The RTK radar 206 on the hangar serves as a ground reference station to transmit differential correction signals. Together, they form a high-precision relative positioning system, ensuring that the UAV can obtain stable and reliable sub-meter or even centimeter-level positioning services during the landing phase.

[0022] The working principle of the above embodiment is as follows: After the UAV system 1 executes the return command, it first receives high-precision positioning signals through the RTK antenna 104 installed on its V-shaped arm 102 and the RTK control module 105 inside the fuselage, achieving centimeter-level precise positioning above the UAV hangar 2. During this stage, the UAV flies in position control mode and continuously senses the height and distance to the QR code 204 on the horizontal plate 203 in the middle of the hangar by relying on the ranging system 109 on the bottom of the fuselage. When it descends to a height of about 2 meters, it enters the landing preparation state. Subsequently, the UAV's flight mode switches from fixed-point mode to attitude mode, and the image transmission system 108 on its bottom is activated as a vision module to identify and track the QR code 204 directly below. At the same time, it combines the data from the ranging system 109 to obtain the height and position deviation in real time, and performs precise position fine-tuning to continuously reduce the deviation. During the continuous descent, if the UAV has a lateral position deviation, the V-shaped structure formed by its V-shaped arm 102 and the UAV fuselage 101 will first contact the hangar on one side. When the sloping panel 202 contacts the drone, the reaction force generated by the contact can be decomposed into a vertically upward component and a horizontal component pointing towards the center of the hangar's central horizontal plate 203 in order to maintain its flight attitude stability. In attitude mode, the drone will move laterally in accordance with the horizontal component to correct its position towards the landing center. This process is repeated as the drone descends, forming a cycle of "descent-contact-lateral movement-separation-re-descent", which continuously guides the drone to the center position. Finally, the drone lands smoothly on the central horizontal plate 203 of the hangar. The wireless charging module receiver 107 at the bottom of the drone is precisely aligned with the wireless charging module transmitter 205 inside the hangar body 201, located directly below the QR code 204, to achieve automatic charging. At the same time, the RTK radar 206 installed on the hangar body 201 continuously provides differential positioning data to the system, while the base plate bracket 3 provides stable support for the entire hangar device.

[0023] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0024] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A one-way self-homing auxiliary device for unmanned aerial vehicle (UAV) landing, comprising an UAV system (1), a UAV hangar (2), and a base plate support (3), characterized in that: The drone hangar (2) is fixedly mounted on the top of the base plate support (3) by bolts. The drone system (1) includes a drone fuselage (101). V-shaped arms (102) are fixedly connected to the outer surfaces of both sides of the drone fuselage (101). A power system (103) is fixedly mounted at the end of the V-shaped arms (102). An RTK antenna (104) is fixedly mounted on the outer surface of the V-shaped arms (102). A gimbal pod (106) is fixedly mounted at the tail end of the drone fuselage (101). A wireless charging module receiver (104) is fixedly mounted at the center of the bottom of the drone fuselage (101). 07), the bottom of the UAV fuselage (101) is fixedly installed with an image transmission system (108) and a ranging system (109). The UAV hangar (2) includes a hangar body (201). The upper surface of the hangar body (201) is fixedly installed with a hangar middle horizontal plate (203) and two hangar inclined plates (202). A QR code (204) is set in the middle of the upper surface of the hangar middle horizontal plate (203). A wireless charging module transmitter (205) is fixedly installed inside the hangar body (201). The wireless charging module transmitter (205) is located directly below the QR code (204).

2. The one-way self-homing auxiliary device for UAV landing according to claim 1, characterized in that: An RTK control module (105) is fixedly installed inside the fuselage (101) of the UAV, and the RTK antenna (104) is electrically connected to the RTK control module (105).

3. The one-way self-homing auxiliary device for UAV landing according to claim 1, characterized in that: The power system (103) includes a motor mounting base (1031), which is fixedly mounted on the end of the V-shaped arm (102) by bolts. A drive motor (1032) is fixedly mounted on the top of the motor mounting base (1031), and the output shaft of the drive motor (1032) is fixedly connected to a blade (1033).

4. The one-way self-homing auxiliary device for UAV landing according to claim 1, characterized in that: The two hangar sloping panels (202) are symmetrically distributed with the hangar middle horizontal plate (203) as the center line. The V-shaped groove formed by the two hangar sloping panels (202) and the hangar middle horizontal plate (203) matches the V-shaped structure formed by the UAV fuselage (101) and the two V-shaped arms (102).

5. A one-way self-homing auxiliary device for UAV landing according to claim 1, characterized in that: The image transmission system (108) and the ranging system (109) are fixedly installed adjacent to the bottom of the UAV fuselage (101).

6. A one-way self-homing auxiliary device for UAV landing according to claim 1, characterized in that: Two RTK antennas (104) are provided and fixedly installed on the outer surfaces of the two V-shaped arms (102), and RTK radars (206) are fixedly installed on the outer surfaces of both sides of the hangar body (201).

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