Unmanned aerial vehicle take-off platform and application thereof in vehicle-mounted unmanned aerial vehicle device

Abstract

The invention discloses an unmanned aerial vehicle take-off platform and application thereof in a vehicle-mounted unmanned aerial vehicle device, and the unmanned aerial vehicle platform comprises a supporting plate, a base, an attitude sensor A fixed in the middle of the lower end face of the supporting plate, four lifting driving assemblies arranged at four corners of the base, a controller and the like. According to the scheme, the four lifting driving assemblies which are oppositely arranged in pairs are matched with the attitude sensor A and the controller, so that the inclined attitude of the supporting plate can be accurately regulated and controlled; the controller can drive the lifting driving assemblies at the off-diagonal positions to synchronously act through closed-loop iteration regulation and control logic on the basis of attitude data obtained by the attitude sensor A, inclination errors are rapidly counteracted, the supporting plate tends to be horizontal, and compared with a traditional single-drive or dual-drive or diagonal drive structure, the structure is simple and convenient to operate. According to the design, the precision and response speed of attitude adjustment are greatly improved, the problem that the take-off and landing attitude of the unmanned aerial vehicle is unbalanced on an uneven ground or a mobile carrier is effectively solved, and the take-off and landing safety and reliability of the unmanned aerial vehicle in a complex scene are improved.

Description

Technical Field

[0001] This invention relates to the fields of unmanned aerial vehicle (UAV) technology and automated control technology, specifically to a UAV take-off platform and its application in vehicle-mounted UAV devices, which is particularly suitable for application scenarios that require stable take-off and landing and energy replenishment of UAVs on complex terrain or mobile carriers. Background Technology

[0002] With the rapid development of drone technology, it has been widely used in various fields such as aerial surveying and mapping, emergency rescue, logistics transportation, and power line inspection. Stable take-off and landing of drones are key prerequisites for ensuring their operational reliability. However, in actual application scenarios, drones often need to complete take-off and landing operations on uneven ground (such as mountains, hills, and field operation areas) or mobile carriers (such as vehicle cargo boxes). In this case, the lack of traditional flat take-off and landing surfaces can easily lead to drones becoming unbalanced during take-off and landing, causing malfunctions such as tipping over and collisions, which seriously affect operational safety and equipment lifespan.

[0003] In existing technologies, some simple drone take-off and landing platforms can only provide basic load-bearing functions and cannot adaptively adjust their attitude according to the slope of the site to ensure levelness, making it difficult to meet the needs of use in complex terrain. The few platforms with attitude adjustment functions mostly adopt symmetrical single-drive or dual-drive structures, which have low adjustment accuracy, slow response speed, and attitude instability caused by diagonal drive. At the same time, energy replenishment during drone operation relies on manual battery replacement or manual connection of charging equipment, which is cumbersome and inefficient. Especially in remote operation scenarios, the timeliness and safety of manual replenishment are difficult to guarantee.

[0004] Furthermore, as a crucial carrier for mobile operations, the compatibility of the vehicle-mounted drone takeoff and landing platform with the vehicle and its shock absorption performance directly affect the drone's takeoff and landing stability. Existing vehicle-mounted takeoff and landing platforms are mostly directly fixed to the vehicle's cargo box, lacking effective shock absorption structures. Bumps during vehicle movement can easily cause platform damage or drone misalignment. At the same time, there is a lack of dedicated takeoff and landing platform designs for common work vehicles such as pickup trucks, making it difficult to meet the diverse needs of mobile operations.

[0005] In summary, existing UAV take-off and landing platforms suffer from technical defects such as insufficient attitude adjustment accuracy, poor adaptability to complex scenarios, low degree of automation in energy replenishment, and inadequate vehicle-mounted compatibility and shock absorption performance. These defects restrict the widespread application of UAVs in complex environments and mobile operations. There is an urgent need for a UAV take-off platform and related methods that feature high-precision attitude control, automated charging assistance, good vehicle-mounted compatibility, and shock absorption performance. Summary of the Invention

[0006] In view of this, the purpose of this invention is to propose a drone take-off platform and its application in a vehicle-mounted drone device. The take-off platform can adaptively adjust the attitude of the platform area according to the tilt of the actual application scenario to meet the needs of drone take-off and landing. Moreover, during auxiliary charging, it can promptly cut off the power supply and disconnect from the charging plug, providing operators with flexible and convenient work assistance.

[0007] To achieve the above-mentioned technical objectives, the technical solution adopted by this invention is as follows: A drone launch platform, comprising: The support plate has a platform area in the middle of its upper surface. The platform area is used to contact the landing gear of the UAV for the UAV to take off or land. The base is located below the support plate; Attitude sensor A is fixedly installed in the middle of the lower end face of the support plate and is used to acquire the attitude of the support plate. The lifting drive assembly consists of four components arranged in pairs opposite each other at the upper corner of the base. The four lifting drive assemblies are used to adjust the tilt posture of the support plate. The controller is connected to the attitude sensor A and the two pairs of lifting drive components, and controls the operation of the lifting drive components to complete the tilting attitude adjustment of the support plate.

[0008] As one possible implementation, the upper side surface of the support plate described in this solution is provided with protruding strips.

[0009] As one possible implementation, the support plate described in this solution is further provided with an annular rubber pad embedded in the middle of its upper surface.

[0010] As a possible implementation, this solution further includes a base and spring shock absorbers. The base is located below the pedestal. There are two pairs of spring shock absorbers, which are arranged opposite each other at the corners of the upper end face of the base. The lower end of the spring shock absorber is fixedly connected to the upper end face of the base, and its upper end is fixedly connected to the lower end face of the pedestal.

[0011] As one possible implementation, the drone described in this solution is further provided with a battery assembly having a charging slot for connecting to an external power source. The controller is also connected to an external power supply; the UAV takeoff platform also includes a charging connector assembly, which comprises: The charging plug has an end profile that conforms to the charging slot and is used to plug into the charging slot. The charging plug is electrically connected to the controller via a cable, and the controller controls the charging plug to output power to charge the battery components of the drone.

[0012] As a preferred implementation option, the charging connector assembly of this solution preferably includes a plug traction motor, a traction rope, and a connecting frame. The connecting frame is fixedly connected to the charging plug. The plug traction motor is fixed to the middle of the lower end face of the support plate and is electrically connected to the controller, which controls the start and stop of operation. The middle of the lower end face of the support plate is provided with a through groove. The end of the shaft of the plug traction motor is connected to a winding frame. One end of the traction rope is fixedly connected to the connecting frame, and the other end of the traction rope passes through the through groove and is fixedly connected to the winding frame. When the drone is parked on the platform area of ​​the support plate and the charging plug is inserted into the charging slot of the battery assembly on the drone, the plug traction motor drives the winding frame to wind up the traction rope, causing the traction rope to pull the charging plug away from the charging slot, thereby interrupting the charging of the drone's battery assembly.

[0013] As a preferred implementation option, the lifting drive assembly described in this solution preferably includes: The main body of the lead screw motor is fixed to the upper end face corner of the base; The reducer has its main body fixed to the upper end face corner of the base, the rotating shaft of the lead screw motor is connected to the power input end of the reducer, and the power output end of the reducer faces the lower end face of the support plate. A lead screw, one end of which is connected to the power output end of the reducer, and the other end of which extends along the direction close to the lower end face of the support plate; A slider is movably threaded onto the lead screw; A ball-head pin has a ball head at one end, and its end away from the ball head is fixedly connected to the lower end face of the support plate, with the ball head facing vertically downwards. The ball head seat has a ball head groove at one end, and is movably connected to the ball head of the ball head pin through the ball head groove. The other end of the ball head seat is a tubular connecting sleeve, the end of which is connected to the slider. The other end of the lead screw passes into the connecting sleeve of the ball head seat. The lead screw motor is electrically connected to the controller. The controller controls the lead screw motor to output driving force so that the reducer drives the lead screw to rotate, causing the slider connected to the lead screw to lift the ball head seat, and at the same time pulling the ball head pin to lift one corner of the support plate connected to it. A flexible dustproof sleeve is also provided between the ball head pin and the ball head seat; When the support plate is tilted, the controller simultaneously controls the screw motors of at least two lifting drive components. When two are controlled simultaneously, the two lifting drive components are not in diagonal positions.

[0014] Based on the above, this solution also proposes a method for horizontal control of a UAV takeoff platform, which utilizes the aforementioned UAV takeoff platform, including: S1. When the UAV takeoff platform is stationary, the controller acquires the attitude data of the support plate output by the attitude sensor A, and filters the attitude data to obtain the pitch angle and roll angle of the support plate relative to the direction of gravity. S2. The controller determines the tilt error of the support plate based on the pitch angle and roll angle, and calculates the target lifting amount corresponding to the four lifting drive components based on the tilt error and the corner position relationship of the four lifting drive components on the support plate, so that the target lifting amount is used to offset the tilt error so that the support plate tends to be horizontal. S3. The controller converts the target lifting amount into driving instructions for each lifting drive component, and controls at least two lifting drive components to move synchronously to execute the driving instructions, thereby driving at least two corner points of the support plate to rise and fall to adjust the posture of the support plate. When there are two lifting drive components moving synchronously, the two lifting drive components are not in diagonal positions. S4. After the lifting drive component moves, the controller acquires and filters the attitude data output by the attitude sensor A again. If the pitch angle and roll angle of the support plate both meet the preset horizontal threshold, the controller determines that the horizontal adjustment of the support plate is complete and stops adjusting the lifting drive component. Otherwise, it returns to execute S2 to S4 to form a closed-loop iterative adjustment until the support plate meets the preset horizontal threshold or reaches the preset timeout / iteration number threshold.

[0015] Based on the above, this solution also proposes a charging assistance method for a UAV takeoff platform, which utilizes the aforementioned UAV takeoff platform, including: A1. When the drone is parked on the platform area of ​​the support plate, the controller obtains the power status information of the battery component and generates an adaptive charging strategy based on the power status information. The adaptive charging strategy includes at least the charging start condition, the target value of the charging current or charging power, and the charging stop condition. A2. The controller controls the external power supply to output electrical energy to the battery component through the charging plug, so as to charge the battery component according to the adaptive charging strategy, and acquires the battery component's power status information and / or charging status information in real time or periodically during the charging process, so as to dynamically adjust the target value of the charging current or charging power according to the power status information and / or charging status information. A3. When the controller determines that the battery assembly meets the charging cutoff condition and reaches a fully charged state, the controller stops controlling the charging plug to output power and controls the plug traction motor to drive the winding frame to wind the traction rope, so that the traction rope pulls the connecting frame and then pulls the charging plug away from the charging slot, so as to realize the automatic disengagement of the charging plug. A4. After the charging plug is disconnected, the controller generates charging completion feedback information and outputs the charging completion feedback information to a preset human-machine interaction terminal and / or sends it to the drone terminal that is connected to the controller to provide feedback on the charging completion status of the battery component.

[0016] Based on the above, this solution also proposes a vehicle-mounted drone device, which utilizes the aforementioned drone takeoff platform, and the vehicle-mounted drone device is installed on the cargo bed of a pickup truck.

[0017] By adopting the above technical solution, the beneficial effects of the present invention compared with the prior art can be summarized as follows: In terms of high-precision attitude control and improved takeoff and landing stability in complex scenarios, this solution utilizes four opposing lifting drive components in conjunction with attitude sensor A and a controller to achieve precise control of the support plate's tilt attitude. Based on attitude data acquired by attitude sensor A, the controller uses closed-loop iterative control logic to drive at least two non-diagonal lifting drive components to move synchronously, quickly offsetting tilt errors and bringing the support plate closer to a horizontal position. Compared to traditional single-drive, dual-drive, or diagonal drive structures, this design significantly improves the accuracy and response speed of attitude adjustment, effectively solving the problem of unbalanced takeoff and landing attitude of UAVs on uneven ground or mobile carriers, reducing the risk of tipping over and collisions, and significantly improving the safety and reliability of UAVs during takeoff and landing in complex scenarios.

[0018] In terms of enhancing takeoff and landing positioning and buffer protection to ensure equipment safety, the convex strips on the upper side of the support plate can limit the landing gear of the parked UAV, preventing the UAV from shifting laterally and detaching from the support plate during platform attitude adjustment or vehicle movement; the annular rubber pad embedded in the middle of the upper side of the support plate can increase the contact friction between the landing gear and the platform area, while also playing a buffering role, reducing the impact force on the UAV during takeoff and landing, and further improving parking stability and equipment protection performance.

[0019] In terms of shock absorption design and improved vehicle adaptability, this solution forms a multi-point shock absorption and buffer structure by setting two pairs of spring shock absorbers between the base and the seat. This can effectively absorb the bumps and vibrations during vehicle travel, prevent vibration from being transmitted to the support plate and affecting the stability of the drone's parking, and at the same time protect the platform's own lifting drive components, controllers and other precision components from vibration damage. This vehicle-mounted drone device design that adapts to pickup truck cargo boxes expands the platform's mobile operation application scenarios and improves the equipment's practicality and scenario adaptability.

[0020] In terms of charging assistance to improve operational efficiency and convenience, this solution achieves automated charging of the drone's battery components through the cooperation of the charging connector assembly, controller, and external power supply. The controller can generate an adaptive charging strategy based on the battery power status information, dynamically adjusting the charging current or power to ensure charging safety and efficiency. After charging is completed, the plug traction motor can automatically pull the charging plug out of the charging slot via a traction rope without manual intervention. This effectively solves the problems of cumbersome and inefficient traditional drone energy replenishment operations, and is especially suitable for unattended energy replenishment in remote operation scenarios, greatly improving the continuity and automation of drone operations.

[0021] In terms of reasonable structural design, high reliability, and ease of maintenance, the lifting drive component of this solution adopts a combination structure of lead screw motor, reducer, lead screw, slider, ball head pin, and ball head seat, which has high transmission accuracy and strong load-bearing capacity. The flexible dust cover between the ball head pin and the ball head seat can effectively prevent dust and debris from entering the transmission structure and extend the service life of the component. Each component adopts a modular design with clear connection relationships, which facilitates installation, debugging, and subsequent maintenance. At the same time, the centralized control logic of the controller can realize the coordinated operation of attitude control and charging assistance functions, simplifying the control process and improving the stability and coordination of system operation.

[0022] In terms of control methods, the horizontal control method of this scheme ensures the accuracy and stability of attitude adjustment by filtering attitude data, accurately calculating the target rise and fall, and using closed-loop iterative control logic. The charging assistance method achieves full automation and safety of the charging process through adaptive charging strategy, real-time status monitoring, and automatic plug-in / plug-out control. The two methods are deeply adapted to the corresponding UAV take-off platform structure, forming a synergistic effect, ensuring the efficient and stable implementation of various platform functions, and further enhancing the practicality and promotion value of the overall system. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is the implementation posture of the UAV take-off platform when the UAV is parked in Implementation Example 1 of this scheme, where the UAV is a simplified structural diagram; Figure 2 This is a simplified three-dimensional view of the implementation structure of the UAV take-off platform in Embodiment 1 of this scheme; Figure 3 This is a simplified two-dimensional view of the implementation structure of the UAV takeoff platform in Embodiment 1 of this scheme; Figure 4 This is a simplified two-dimensional view of the implementation structure of the UAV take-off platform in Embodiment 1 of this scheme, wherein some structures are shown in cross-sectional view. Figure 5 yes Figure 4 Enlarged view of the local structure at point A; Figure 6 This is one of the simplified schematic diagrams of the auxiliary components provided on the base in Embodiment 1 of this solution; Figure 7 This is a simplified illustration of the auxiliary components provided on the base in Embodiment 1 of this solution; Figure 8 This is a simplified diagram of the connection between the controller and other electronic control components of the takeoff platform in Embodiment 1 of this scheme, which shows a simplified communication connection between the controller and attitude sensor B on the UAV. Figure 9 This is a schematic diagram of the UAV takeoff platform being mounted on the cargo bed of a pickup truck in Embodiment 1 of this solution; Figure 10 This is a simplified schematic diagram of the charging plug assembly in Embodiment 2 of this solution. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the invention. Similarly, the following embodiments are only some, not all, embodiments of the present invention, and all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1 Combination Figures 1 to 5 one and Figure 8As shown, this embodiment proposes a drone takeoff platform 100, which includes: The support plate 1 has a platform area 11 in the middle of its upper surface. The platform area 11 is used to contact the landing gear of the UAV 200 so that the UAV 200 can take off or land. Base 2 is located below the support plate 1; An attitude sensor A3 is fixedly installed at the middle of the lower end face of the support plate 1 and is used to acquire the attitude status of the support plate 1. The lifting drive assembly 4, numbered in the order of four and arranged in pairs opposite each other at the upper end corner of the base 2, is used to adjust the tilt posture of the support plate 1. The controller 5 is connected to the attitude sensor A3 and the two pairs of lifting drive components 4, and controls the operation of the lifting drive components 4 to complete the tilting attitude adjustment of the support plate 1.

[0027] To prevent the drone from sliding off the plane of the support plate 1 when it is parked on the platform area 11 of the support plate 1 due to transportation, as a possible implementation, the support plate 1 is further provided with an annular rubber pad 13 embedded in the middle of the upper end surface. In addition, the support plate 1 is provided with protruding strips 12 on the side of the upper end surface.

[0028] The flexibility of the rubber pad 13 helps to increase the friction between the landing gear 201 of the UAV 200 and the platform area 11; at the same time, the ridge 12 can provide a certain lateral restraint.

[0029] In summary, in terms of enhancing takeoff and landing positioning and buffer protection to ensure equipment safety, the convex strip 12 on the side of the upper end face of the support plate 1 can limit the landing gear 201 of the parked UAV, preventing the UAV 200 from shifting laterally and detaching from the support plate during platform attitude adjustment or vehicle movement; the annular rubber pad 13 embedded in the middle of the upper end face of the support plate 1 can increase the contact friction between the landing gear 201 and the platform area 11, and at the same time play a buffering role, reducing the impact force on the UAV 200 during takeoff and landing, and further improving parking stability and equipment protection performance.

[0030] During the external transport of the device, there may be some transport vibration. As a possible implementation method, this solution further includes a base 6 and spring shock absorbers 7. The base 6 is located below the base 2. There are two pairs of spring shock absorbers 7, which are arranged opposite each other at the corners of the upper end face of the base 6. The lower end of the spring shock absorber 7 is fixedly connected to the upper end face of the base 6, and its upper end is fixedly connected to the lower end face of the base 2.

[0031] By adding a base 6 and installing a spring shock absorber 7 between the base 6 and the base 2, the vibration impact generated by the platform during transportation can be reduced.

[0032] In summary, in terms of shock absorption design, to improve vehicle compatibility, this solution sets two pairs of spring shock absorbers 7 between the base 2 and the base 6 to form a multi-point shock absorption and buffer structure, which can effectively absorb the bumps and vibrations during vehicle travel, prevent vibration from being transmitted to the support plate 1 and affecting the stability of the drone 200 when parked, and at the same time protect the platform's own lifting drive components 4, controller 5 and other precision components from vibration damage; this vehicle-mounted drone device design that adapts to pickup truck cargo boxes expands the platform's mobile operation application scenarios and improves the equipment's practicality and scenario adaptability.

[0033] Regarding lifting and adjustment, as a preferred implementation option, the lifting drive component 4 in this solution preferably includes: The main body of the lead screw motor 41 is fixed to the upper end face corner of the base 2; The reducer 42 has its main body fixed to the upper end face corner of the base 2. The rotating shaft of the lead screw motor 41 is connected to the power input end of the reducer 42, and the power output end of the reducer 42 faces the lower end face of the support plate 1. The lead screw 43 has one end connected to the power output end of the reducer 42, and the other end extends along the direction close to the lower end face of the support plate 1. The slider 44 is movably threaded onto the lead screw 43; The ball head pin 45 has a ball head 451 at one end and a rod 452 at the end away from the ball head 451. The rod 452 is fixedly connected to the lower end face of the support plate 1, and the ball head 451 is vertically downward. The ball head seat 46 has a ball head groove 461 at one end, and is movably connected to the ball head of the ball head pin 45 through the ball head groove 461. The other end of the ball head seat 46 is a tubular connecting sleeve 462, the end of which is connected to the slider 44. The other end of the lead screw 43 is inserted into the connecting sleeve 462 of the ball head seat 46. The lead screw motor 41 is electrically connected to the controller 5. The controller 5 controls the lead screw motor 41 to output driving force so that the reducer 42 drives the lead screw 43 to rotate, so that the slider 44 connected to the lead screw 43 drives the ball head seat 46 to rise and fall, and at the same time pulls the ball head pin 45 to drive the support plate 1 connected to it to rise and fall at one corner. A flexible dust cover 47 is also fitted between the ball head pin 45 and the ball head seat 46; When the support plate 1 is tilted, the controller 5 controls at least two or more lifting drive components 4 to work simultaneously with the screw motors 41. When two are controlled simultaneously, the two lifting drive components 4 are not in diagonal positions. Figure 8 In the middle, the lead screw motors 41 of the four lifting drive components 4 are respectively numbered ABCD to facilitate individual control.

[0034] This solution utilizes four opposing lifting drive components 4, along with attitude sensor A3 and controller 5, to achieve precise control of the support plate's tilt attitude. Based on attitude data acquired by attitude sensor A3, controller 5 uses closed-loop iterative control logic to drive at least two non-diagonally positioned lifting drive components 4 to move synchronously, quickly offsetting tilt errors and bringing the support plate 1 closer to horizontal. Compared to traditional single-drive, dual-drive, or diagonal-drive structures, this design significantly improves the accuracy and response speed of attitude adjustment, effectively solving the problem of unbalanced UAV takeoff and landing attitude on uneven ground or mobile carriers, reducing the risk of tipping over and collisions, and significantly improving the safety and reliability of UAV takeoff and landing in complex scenarios.

[0035] Based on the above, combined with Figure 9 As shown, the drone takeoff platform 100 of this embodiment can be used as a vehicle-mounted drone device, and the vehicle-mounted drone device 200 is installed on the cargo box 300 of a pickup truck.

[0036] To better mount the device of this embodiment on the cargo box 300, combined with Figure 6 As shown, a flexible pad 61 can also be provided on the lower end surface of the base 6 to generate relative friction with the cargo box 300 of the pickup truck, thereby improving placement stability. Combination Figure 7 As shown, a permanent magnet 62 can also be provided on the lower end surface of the base 6 to generate an attractive force with the cargo box 300 of the pickup truck, thereby improving the placement stability.

[0037] In this embodiment, the controller 5 can establish communication with the control circuit board of the UAV 200 through the built-in wireless communication module to obtain the component parameters of the UAV 200, especially the parameters of the attitude sensor B built into the UAV 200. The parameters of the attitude sensor B can be used to further verify whether the attitude adjustment of the support plate 1 meets the requirements.

[0038] Example 2 Based on the above embodiment 1 (reference) Figures 1 to 8 Based on the structural foundation shown in Example 1, this embodiment proposes a method for horizontal control of a UAV takeoff platform 100, which utilizes the UAV takeoff platform 100 described in Example 1 above. The method includes: S1. When the UAV takeoff platform 100 is stationary, the controller 5 acquires the attitude data of the support plate 1 output by the attitude sensor A3, and filters the attitude data to obtain the pitch angle and roll angle of the support plate 1 relative to the direction of gravity. S2. The controller 5 determines the tilt error of the support plate 1 based on the pitch angle and roll angle, and calculates the target lifting amount corresponding to the four lifting drive components 4 based on the tilt error and the corner position relationship of the four lifting drive components 4 on the support plate 1, so that the target lifting amount is used to offset the tilt error so that the support plate 1 tends to be horizontal. S3. The controller 5 converts the target lifting amount into driving instructions for each lifting drive component 4, and controls at least two lifting drive components 4 to move synchronously to execute the driving instructions, thereby driving at least two corner points of the support plate 1 to move up and down to adjust the posture of the support plate 1. When there are two lifting drive components 4 moving synchronously, the two lifting drive components 4 are not in diagonal positions. S4. After the lifting drive component 4 is activated, the controller 5 acquires and filters the attitude data output by the attitude sensor A3 again. If the pitch angle and roll angle of the support plate 1 both meet the preset horizontal threshold, it is determined that the horizontal adjustment of the support plate 1 is completed and the adjustment of the lifting drive component 4 is stopped. Otherwise, it returns to execute S2 to S4 to form a closed-loop iterative adjustment until the support plate 1 meets the preset horizontal threshold or reaches the preset timeout / iteration number threshold.

[0039] As an example, this embodiment includes the following: In step S1, the controller 5 obtains the pitch angle of the support plate 1 relative to the direction of gravity based on the attitude data of the support plate 1 output by the attitude sensor A3. and roll angle ; and then determine the inclination parameters of the plane where support plate 1 is located: , Furthermore, the plane corresponding to support plate 1 can be expressed as: .

[0040] In step S2, the positional relationship of the four lifting drive components 4 on the support plate 1 can be expressed as ( x i y i )in, i =1-4, which are assumed to be the numbers of the four lifting drive components 4; Lifting drive component Target increase / decrease The solution can be obtained using the following formula:

[0041] in, The public height compensation is used to raise or lower the support plate as a whole without changing the horizontal adjustment direction of the support plate.

[0042] In this solution, the common height compensation amount The minimum lifting constraint is determined by satisfying the lifting drive stroke constraints of each lifting drive component 4. Under the premise ( Lifting drive component (Corresponding to the height of the support point), select to make Minimum or Max i ( The smallest .

[0043] When the initial calculated target rise / fall amount causes the height difference between any two support points after adjustment to exceed the preset allowable torsion threshold... At that time, controller 5 scales the target lift / relief proportionally, causing... ,in, ,and Lift-driven stroke constraints and torsion threshold Together they determined that the controller would The commands are converted into operating instructions for each lifting drive motor (lead screw motor) to enable it to run.

[0044] Example 3 This embodiment is largely the same as Embodiment 1, except that, as a possible implementation method, this embodiment further modifies the scheme in Embodiment 1 (in... Figures 1 to 8 Based on the above, combined with Figure 10 As shown, this embodiment adds a charging connector assembly 8; wherein, the drone 200 is provided with a battery assembly, the battery assembly 210 having a charging slot 211 for connecting to an external power source.

[0045] In this embodiment, the controller 5 is also connected to an external power supply; the UAV takeoff platform 100 also includes a charging connector assembly 8, which includes: The charging plug 81 has an end profile that is adapted to the charging slot 211 and is used to be plugged into the charging slot. The charging plug 81 is electrically connected to the controller 5 via a cable 811, and the controller 5 controls the charging plug 81 to output power so as to charge the battery assembly of the drone 200.

[0046] The charging connector assembly 8 described in this solution further includes a plug traction motor 82, a traction rope 83, and a connecting frame 84. The connecting frame 84 is fixedly connected to the charging plug 81. The plug traction motor 82 is fixed to the middle of the lower end face of the support plate 1 via a bracket 821 and is electrically connected to the controller 5, which controls its operation. The lower end face of the support plate 1 has a through groove 14. The end of the shaft of the plug traction motor 82 is connected to a winding frame 822. One end of the traction rope 83 is fixedly connected to the connecting frame 84. The other end of the traction rope 83 passes through the through groove 14 and is fixedly connected to the winding frame 822. When the drone 200 stops at the platform area 11 of the support plate 1 and the charging plug 81 is plugged into the charging slot 211 of the battery assembly 210 on the drone 200, the plug traction motor 82 drives the winding frame 822 to wind up the traction rope 83, so that the traction rope 83 pulls the charging plug 81 away from the charging slot 211, thereby interrupting the charging of the battery assembly 210 of the drone 200.

[0047] This embodiment achieves automated charging of the drone battery assembly 210 through the cooperation of the charging connector assembly 8, the controller 5, and the external power supply. The controller 5 can generate an adaptive charging strategy based on the battery power status information and dynamically adjust the charging current or power to ensure charging safety and efficiency. After charging is completed, the plug traction motor 82 can automatically pull the charging plug 81 out of the charging slot 211 via the traction rope 83 without manual intervention. This effectively solves the problems of cumbersome and inefficient traditional drone energy replenishment operations, and is especially suitable for unattended energy replenishment in remote operation scenarios, greatly improving the continuity and automation of drone operations.

[0048] In this design, the charging plug 81 and the charging slot 211 can be loosely fitted. Iron plates 86 can be provided on both sides of the charging slot 211, and magnets 85 can be provided on both sides of the connecting frame 84 to provide magnetic attraction and enhance the mating force between the charging plug 81 and the charging slot 211. This prevents interference and deformation of the charging slot 211 when the traction rope 83 is pulled.

[0049] Example 4 This embodiment proposes a charging assistance method for a drone takeoff platform 100, which utilizes the drone takeoff platform 100 described in Embodiment 3 above, and includes: A1. When the drone 200 is parked on the platform area 11 of the support plate 1, the charging plug 81 is connected to the charging slot 211 on the battery component 210 of the drone 200 by manual operation. The controller 5 obtains the power status information of the battery component 210 and generates an adaptive charging strategy based on the power status information. The adaptive charging strategy includes at least the charging start condition, the target value of the charging current or charging power, and the charging cut-off condition. A2. The controller 5 controls the external power supply to output electrical energy to the battery component 210 through the charging plug 81, so as to charge the battery component 210 according to the adaptive charging strategy, and acquires the power status information and / or charging status information of the battery component 210 in real time or periodically during the charging process, so as to dynamically adjust the target value of the charging current or charging power according to the power status information and / or charging status information. A3. When the controller 5 determines that the battery assembly meets the charging cutoff condition and reaches a fully charged state, the controller 5 stops controlling the charging plug 81 to output power and controls the plug traction motor 82 to drive the winding frame 822 to wind the traction rope 83, so that the traction rope 83 pulls the connecting frame 84 and then pulls the charging plug 81 out of the charging slot 211, so as to realize the automatic disengagement of the charging plug 81. A4. After the charging plug 81 is disconnected, the controller 5 generates charging completion feedback information and outputs the charging completion feedback information to a preset human-machine interaction terminal and / or sends it to the drone 200 terminal that is communicatively connected to the controller 5, so as to provide feedback on the charging completion status of the battery assembly 210.

[0050] In this embodiment, the controller 5 can establish communication with the control circuit board of the drone 200 through the built-in wireless communication module to obtain the component parameters of the drone 200, especially the power of the battery pack 210.

[0051] The above description is only a part of the embodiments of the present invention and does not limit the scope of protection of the present invention. Any equivalent device or equivalent process transformation made based on the content of the present invention specification and drawings, or direct or indirect application in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A drone takeoff platform, characterized in that, It includes: The support plate has a platform area in the middle of its upper surface. The platform area is used to contact the landing gear of the UAV for the UAV to take off or land. The base is located below the support plate; Attitude sensor A is fixedly installed in the middle of the lower end face of the support plate and is used to acquire the attitude of the support plate. The lifting drive assembly consists of four components arranged in pairs opposite each other at the upper corner of the base. The four lifting drive assemblies are used to adjust the tilt posture of the support plate. The controller is connected to the attitude sensor A and the two pairs of lifting drive components, and controls the operation of the lifting drive components to complete the tilting attitude adjustment of the support plate.

2. The UAV takeoff platform as described in claim 1, characterized in that, The upper side surface of the support plate is provided with protruding strips.

3. The UAV takeoff platform as described in claim 1, characterized in that, A ring-shaped rubber pad is embedded in the middle of the upper end surface of the support plate.

4. The UAV takeoff platform as described in claim 1, characterized in that, It also includes a base and spring shock absorbers. The base is located below the pedestal. There are two pairs of spring shock absorbers, which are arranged opposite each other on the upper end face corner of the base. The lower end of the spring shock absorber is fixedly connected to the upper end face of the base, and its upper end is fixedly connected to the lower end face of the pedestal.

5. The UAV takeoff platform as described in claim 1, characterized in that, The drone is equipped with a battery assembly that has a charging slot for connecting to an external power source. The controller is also connected to an external power supply; the UAV takeoff platform also includes a charging connector assembly, which comprises: The charging plug has an end profile that conforms to the charging slot and is used to plug into the charging slot. The charging plug is electrically connected to the controller via a cable, and the controller controls the charging plug to output power to charge the battery components of the drone.

6. The UAV takeoff platform as described in claim 5, characterized in that, The charging connector assembly also includes a plug traction motor, a traction rope, and a connecting frame. The connecting frame is fixedly connected to the charging plug. The plug traction motor is fixed to the middle of the lower end face of the support plate and is electrically connected to the controller, which controls its operation. The middle of the lower end face of the support plate has a through groove. The end of the shaft of the plug traction motor is connected to a winding frame. One end of the traction rope is fixedly connected to the connecting frame, and the other end of the traction rope passes through the through groove and is fixedly connected to the winding frame. When the drone is parked on the platform area of ​​the support plate and the charging plug is inserted into the charging slot of the battery assembly on the drone, the plug traction motor drives the winding frame to wind up the traction rope, causing the traction rope to pull the charging plug away from the charging slot, thereby interrupting the charging of the drone's battery assembly.

7. The unmanned aerial vehicle (UAV) takeoff platform as described in any one of claims 1 to 6, characterized in that, The lifting drive component includes: The main body of the lead screw motor is fixed to the upper end face corner of the base; The reducer has its main body fixed to the upper end face corner of the base, the rotating shaft of the lead screw motor is connected to the power input end of the reducer, and the power output end of the reducer faces the lower end face of the support plate. A lead screw, one end of which is connected to the power output end of the reducer, and the other end of which extends along the direction close to the lower end face of the support plate; A slider is movably threaded onto the lead screw; A ball-head pin has a ball head at one end, and its end away from the ball head is fixedly connected to the lower end face of the support plate, with the ball head facing vertically downwards. The ball head seat has a ball head groove at one end, and is movably connected to the ball head of the ball head pin through the ball head groove. The other end of the ball head seat is a tubular connecting sleeve, the end of which is connected to the slider. The other end of the lead screw passes into the connecting sleeve of the ball head seat. The lead screw motor is electrically connected to the controller. The controller controls the lead screw motor to output driving force so that the reducer drives the lead screw to rotate, causing the slider connected to the lead screw to lift the ball head seat, and at the same time pulling the ball head pin to lift one corner of the support plate connected to it. A flexible dustproof sleeve is also provided between the ball head pin and the ball head seat; When the support plate is tilted, the controller simultaneously controls the screw motors of at least two lifting drive components. When two are controlled simultaneously, the two lifting drive components are not in diagonal positions.

8. A method for horizontal control of a UAV takeoff platform, which utilizes the UAV takeoff platform described in claim 7, characterized in that, It includes: S1. When the UAV takeoff platform is stationary, the controller acquires the attitude data of the support plate output by the attitude sensor A, and filters the attitude data to obtain the pitch angle and roll angle of the support plate relative to the direction of gravity. S2. The controller determines the tilt error of the support plate based on the pitch angle and roll angle, and calculates the target lifting amount corresponding to the four lifting drive components based on the tilt error and the corner position relationship of the four lifting drive components on the support plate, so that the target lifting amount is used to offset the tilt error so that the support plate tends to be horizontal. S3. The controller converts the target lifting amount into driving instructions for each lifting drive component, and controls at least two lifting drive components to move synchronously to execute the driving instructions, thereby driving at least two corner points of the support plate to rise and fall to adjust the posture of the support plate. When there are two lifting drive components moving synchronously, the two lifting drive components are not in diagonal positions. S4. After the lifting drive component moves, the controller acquires and filters the attitude data output by the attitude sensor A again. If the pitch angle and roll angle of the support plate both meet the preset horizontal threshold, the controller determines that the horizontal adjustment of the support plate is complete and stops adjusting the lifting drive component. Otherwise, it returns to execute S2 to S4 to form a closed-loop iterative adjustment until the support plate meets the preset horizontal threshold or reaches the preset timeout / iteration number threshold.

9. A charging assistance method for a drone takeoff platform, which utilizes the drone takeoff platform described in claim 6, characterized in that, It includes: A1. When the drone is parked on the platform area of ​​the support plate, the controller obtains the power status information of the battery component and generates an adaptive charging strategy based on the power status information. The adaptive charging strategy includes at least the charging start condition, the target value of the charging current or charging power, and the charging stop condition. A2. The controller controls the external power supply to output electrical energy to the battery component through the charging plug, so as to charge the battery component according to the adaptive charging strategy, and acquires the battery component's power status information and / or charging status information in real time or periodically during the charging process, so as to dynamically adjust the target value of the charging current or charging power according to the power status information and / or charging status information. A3. When the controller determines that the battery assembly meets the charging cutoff condition and reaches a fully charged state, the controller stops controlling the charging plug to output power and controls the plug traction motor to drive the winding frame to wind the traction rope, so that the traction rope pulls the connecting frame and then pulls the charging plug away from the charging slot, so as to realize the automatic disengagement of the charging plug. A4. After the charging plug is disconnected, the controller generates charging completion feedback information and outputs the charging completion feedback information to a preset human-machine interaction terminal and / or sends it to the drone terminal that is connected to the controller to provide feedback on the charging completion status of the battery component.

10. A vehicle-mounted unmanned aerial vehicle (UAV) device, which utilizes the UAV takeoff platform as described in any one of claims 1 to 7, characterized in that, The vehicle-mounted drone device is installed on the cargo bed of the pickup truck.

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