Device for simulating mobile landing of unmanned aerial vehicle

Abstract

The invention particularly relates to a device for simulating mobile landing of an unmanned aerial vehicle. The device comprises mobile landing equipment, a sliding platform, an unmanned aerial vehicle simulation device and a landing platform. The mobile landing equipment is provided with an inclined track, the sliding platform slides along the track through a guide sliding assembly, and the simulated unmanned aerial vehicle device is detachably connected below the sliding platform through a hanging assembly; when the sliding platform slides to the low-position end of the track, the separation structure on the bottom support collides with the balance rod, so that the simulation unmanned aerial vehicle device is disconnected from the sliding platform and lands on the landing plate. According to the device, physical equivalent simulation of the mobile landing process of the unmanned aerial vehicle is realized through the continuous process of slippage, separation and landing, but the damage risk of the real unmanned aerial vehicle in the experiment process is completely isolated; therefore, a technical problem that it is difficult to directly verify the mobile landing stability, attitude change and landing impact of the unmanned aerial vehicle body under safe, controllable and repeatable conditions in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a device for simulating the movement and landing of a UAV. Background Technology

[0002] Autonomous landing technology for drones on mobile platforms is key to expanding their applications. This includes enabling drones to land on moving vehicles, undulating sea platforms, or cruising ships. At its core, this technology relies on the deep coupling of the drone's dynamic visual recognition system and flight control system, which require extensive and reliable training to establish a highly robust control model.

[0003] Currently, training and testing devices for this purpose are mainly divided into two categories, but both have significant limitations: Motion simulation platforms based on multi-degree-of-freedom parallel mechanisms: These platforms directly control the platform to perform multi-degree-of-freedom motion through hydraulic or electric servo mechanisms to simulate the swaying of a carrier (such as a ship). However, these systems are complex in structure, expensive to manufacture, and usually require customization for specific loads, resulting in long development cycles and poor economic efficiency. More importantly, they still require testing on real drones or their core components, failing to fundamentally solve the testing risk problem.

[0004] A simplified simulation platform based on physical motion: This type of platform slides by being pulled by a motor. While this device reduces the complexity and cost of the platform itself, its training and evaluation process still relies entirely on actual drone landings. Alternatively, a "tank within a tank" structure can be used, where a vehicle moves to simulate ocean waves to test the forces acting on the load on the floating platform. The focus of this approach is to simulate the force state and motion response of the floating platform carrying a load, in order to obtain the load's position data or attitude information, thereby providing a reference for drone landing control. However, this approach does not construct direct simulation verification experiments for the drone landing process.

[0005] In summary, the common core deficiency of existing technologies lies in their inability to conduct prior verification of the dynamic compatibility and stability of the entire "drone-mobile platform" landing system while avoiding the risks associated with real drones. Furthermore, directly using real drones, especially high-value industrial-grade drones, for mobile landing tests faces two major challenges: High economic risks: A failed landing can cause drone propellers to break, fuselage to shatter, or even damage core electronic equipment, resulting in economic losses of tens of thousands to hundreds of thousands of yuan; Uncontrollable safety hazards: If the drone goes out of control, ejects, or crashes during the test, it may cause personal injury and secondary accidents to on-site operators or equipment. The consequences are particularly serious in densely populated areas or special operating environments (such as at sea or in chemical plants).

[0006] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] This invention provides a device for simulating the movement and landing of a drone, which can effectively overcome the defects existing in the prior art.

[0008] Other features and advantages of the invention will become apparent from the following detailed description, or may be learned in part by practice of the invention.

[0009] According to a first aspect of the present invention, an apparatus for simulating the movement and landing of a drone is provided, the apparatus comprising: The mobile landing equipment is equipped with a support frame and a track; the support frame is located at the high end of the track. The sliding platform is equipped with a guide sliding component, a support plate, and a hanging component; wherein, the guide sliding component is located on the first side of the support plate and is used to drive the sliding platform to slide along the track, and the hanging component is located on the second side of the support plate and is used to suspend the simulated drone device; The drone simulation device consists of a fuselage and adjustable landing gear located at the bottom of the fuselage. The fuselage has a counterweight cavity for accommodating counterweights, and the angle and length of the landing gear are adjustable to simulate the mass and shape of the drone under test. The landing platform is located at the lower end of the track and works in conjunction with the mobile landing equipment to tilt the track between the landing platform and the mobile landing equipment. The landing platform is equipped with a bottom support and a landing plate. The bottom support is equipped with a detachment structure, which is used to collide with the mounting plate of the suspension simulated drone device when the sliding platform slides to the lower end of the track, thereby detaching the simulated drone device from the sliding platform and allowing the simulated drone device to land on the landing plate.

[0010] In some exemplary embodiments, the support frame includes: Base; A vertical support frame is set on the base. Multiple transverse rail mounting beams are spaced apart on the vertical support frame to support the high end of the rails. The tilt angle of the rails can be adjusted by selecting transverse rail mounting beams of different heights. The track fixing structure is installed on the transverse track mounting beam and is used to limit and fix the track located on the track mounting beam.

[0011] In some exemplary embodiments, the guide sliding assembly includes: Multiple pulleys are provided on the first side of the support plate, wherein the pulleys are provided with flanges on both sides and a groove in the middle of the pulleys; A pulley bracket is provided on the first side of the support plate for mounting multiple pulleys. By embedding a track in the pulley bracket and using flanges and grooves to limit the track on both sides, the sliding platform can slide stably along the track.

[0012] In some exemplary embodiments, the mounting component includes: A traction rope assembly is located on the second side of the support plate; The load-bearing rod is suspended at the lower end of the traction rope assembly along the width direction of the load-bearing plate, and the simulated drone device is suspended below the load-bearing plate through the counterweight cavity inserted into the body; A counterweight bar, spanning the middle of the load-bearing bar, is used to limit the swing of the simulated drone device relative to the load-bearing bar, and to release the connection between the sliding platform and the simulated drone device by colliding with the detachment structure.

[0013] In some exemplary embodiments, the counterweight cavity includes: The first opposite sidewalls of the counterweight chamber are respectively provided with L-shaped openings that match the load-bearing rods; wherein, by inserting the load-bearing rods into the L-shaped openings, the simulated drone device is suspended below the sliding platform; The counterweight cavity has I-shaped openings on its second opposite sidewalls that match the balance bar; the length of the second opposite sidewall is less than the length of the first opposite sidewall. By inserting the balance bar into the I-shaped opening, the simulated drone device is subjected to attitude constraint and balance support.

[0014] In some exemplary embodiments, the tripod includes: Multiple support feet are located at the bottom of the machine body; A length adjustment structure is provided on the support leg to adjust the length of the support leg; An angle adjustment structure is located between the support feet and the fuselage to adjust the unfolding angle of the support feet relative to the fuselage.

[0015] In some exemplary embodiments, the bottom support of the landing platform further includes: The base frame has a landing plate at the bottom; A vertical support frame is installed on the upper part of the base frame; Multiple track fixing structures are installed on a vertical support frame to fix the lower end of the track; Multiple reinforcing support rods are installed on the base frame to improve the structural stability of the base frame.

[0016] In some exemplary embodiments, the landing plate has an anti-slip layer on its upper surface for cushioning and limiting the simulated drone device after landing.

[0017] In some exemplary embodiments, the detachment structure is disposed on a vertical support frame and located at a corresponding position on the motion path of the simulated drone device. It is used to collide with the balance bar suspended on the simulated drone device in the sliding platform when the sliding platform slides to the lower end of the track, thereby causing the load-bearing bar to detach from the L-shaped opening on the simulated drone device and disconnect the connection between the simulated drone device and the sliding platform.

[0018] This invention provides an apparatus for simulating the mobile landing of a drone. The apparatus includes a mobile landing device, a sliding platform, a drone simulator, and a landing platform. The mobile landing device is equipped with an inclined track. The sliding platform slides along the track via a guide sliding assembly. The drone simulator is detachably connected to the lower part of the sliding platform via a mounting assembly, simulating the movement of a drone during the sliding process. When the sliding platform slides to the lower end of the track, a detachment structure on the bottom support impacts a balance bar suspended from the drone simulator within the sliding platform, causing the load-bearing bar to detach from the L-shaped opening in the drone simulator's fuselage. This disconnects the drone simulator from the sliding platform, allowing it to land on the landing platform. The installation height at the higher end of the track is adjusted using a support frame in the mobile landing device to change the track's inclination angle. The drone simulator is equipped with a counterweight cavity and adjustable tripods to simulate the weight distribution and tripod shape of a real drone. This device achieves a physical equivalent simulation of the UAV's mobile landing process through a continuous process of sliding, detachment, and landing. This allows for a physical equivalent simulation of the UAV's real landing process while completely isolating it from the damage risks of real UAVs during re-experimentation. This solves the technical problem in existing technologies that make it difficult to directly verify the stability, attitude changes, and landing impact of the UAV's mobile landing under safe, controllable, and repeatable conditions.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0021] Figure 1This schematic diagram illustrates the structure of a device for simulating the movement and landing of a drone, an exemplary embodiment of the present invention. Figure 2 This schematic diagram illustrates the overall structure of the support frame according to an exemplary embodiment of the present invention. Figure 3 This schematic diagram illustrates the overall structure of the sliding platform according to an exemplary embodiment of the present invention. Figure 4 This schematic diagram illustrates the structure of the pulley and track in an exemplary embodiment of the present invention. Figure 5 This schematic diagram illustrates the overall structure of a simulated drone device according to an exemplary embodiment of the present invention. Figure 6 This schematically illustrates a front view of a simulated unmanned aerial vehicle (UAV) device according to an exemplary embodiment of the present invention. Figure 7 This schematic diagram illustrates the overall structure of the bottom support of the landing platform according to an exemplary embodiment of the present invention.

[0022] Reference numerals: 1. Mobile landing device; 11. Support frame; 12. Track; 13. Base; 14. Vertical support frame; 15. Horizontal track mounting beam; 16. Track fixing structure; 2. Sliding platform; 21. Guide sliding assembly; 22. Bearing plate; 23. Hanging assembly; 211. Pulley; 212. Pulley bracket; 231. Traction rope assembly; 232. Load-bearing rod; 233. Balance bar; 3. Simulated drone device; 31. Fuselage; 32. Leg; 311. Counterweight cavity; 312. L-shaped opening; 313. I-shaped opening; 321. Support foot; 4. Landing platform; 41. Bottom support; 42. Landing plate; 43. Detachment structure; 44. Impact mechanism; 411. Base frame; 412. Vertical support frame; 413. Track fixing structure; 414. Reinforcing support rod. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the present invention clearer, specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention and not all of them. In the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances. In addition, the accompanying drawings are schematic illustrations of the present invention.

[0024] To address the shortcomings and deficiencies of existing technologies, this exemplary embodiment provides a device for simulating the movement and landing of a drone. (Reference) Figure 1 As shown, the device includes: The mobile landing device 1 is equipped with a support frame 11 and a track 12; wherein the support frame 11 is located at the high end of the track. The sliding platform 2 is provided with a guide sliding component 21, a support plate 22 and a hanging component 23; wherein, the guide sliding component is provided on the first side of the support plate and is used to drive the sliding platform to slide along the track, and the hanging component is provided on the second side of the support plate and is used to suspend the simulated drone device. The simulated drone device 3 is equipped with a fuselage 31 and an adjustable tripod 32 located at the lower part of the fuselage; the fuselage is provided with a counterweight cavity 311 for accommodating counterweights, and the angle and length of the tripod are adjustable to simulate the mass and shape of the drone under test. The landing platform 4 is located at the lower end of the track and works with the mobile landing equipment to tilt the track between the landing platform and the mobile landing equipment. The landing platform is equipped with a bottom support 41 and a landing plate 42. The bottom support is equipped with a detachment structure 43, which is used to collide with the attachment component 23 of the suspended drone device 3 when the sliding platform slides to the lower end of the track, thereby detaching the connection between the drone device and the sliding platform and allowing the drone device to land on the landing plate.

[0025] The following will describe in more detail the various modules of a device for simulating the movement and landing of a drone in this exemplary embodiment, with reference to the accompanying drawings and embodiments.

[0026] In some exemplary embodiments, reference Figure 2 As shown, Figure 2 This is a schematic diagram of the overall structure of the support frame. The support frame 11 includes: Base 13; A vertical support frame 14 is set on the base. Multiple transverse rail mounting beams 15 are spaced apart on the vertical support frame to support the high end of the rail. The tilt angle of the rail can be adjusted by selecting transverse rail mounting beams of different heights. The track fixing structure 16 is set on the transverse track mounting beam and is used to limit and fix the track located on the transverse track mounting beam.

[0027] Specifically, the base 13 is used to contact the ground and provide stable support for the entire mobile landing device 1; the vertical support frame 14 is vertically mounted on the base 13 to lift and support the high end of the track 12 and to provide an installation foundation for the transverse track mounting beams 15. Multiple transverse track mounting beams 15 are arranged at intervals along the height direction of the vertical support frame 14, with different heights of the transverse track mounting beams 15 corresponding to different installation positions of the high end of the track 12. In actual use, the high end of the track 12 can be selectively installed on the transverse track mounting beams 15 at the target height according to the required simulated landing speed, sliding stroke, or motion state, thereby changing the tilt angle of the track 12 relative to the horizontal plane.

[0028] The track fixing structure 16 is installed on the transverse track mounting beam 15 to limit and fix the track 12 after it is placed in position, so as to prevent the track 12 from shifting laterally, loosening or detaching during the sliding of the sliding platform 2, thereby ensuring the stable operation of the sliding platform 2 along the track 12 and improving the safety and repeatability of the entire simulated landing process. The track fixing structure 16 includes, but is not limited to, limiting components and fasteners.

[0029] In some exemplary embodiments, reference Figure 3 As shown, Figure 3 This is a schematic diagram of the overall structure of the sliding platform. The guide sliding assembly 21 includes: Multiple pulleys 211 are disposed on the first side of the support plate 22, wherein the pulleys 211 are provided with flanges on both sides and a groove in the middle. The pulley bracket 212 is disposed on the first side of the support plate 22 for mounting multiple pulleys 211. Furthermore, by embedding the track 12 into the pulley bracket 212, and by using flanges and grooves to limit the track 12 on both sides, the sliding platform 2 can slide stably along the track 12.

[0030] Further, refer to Figure 4 As shown, Figure 4 This is a schematic diagram of the pulley and track assembly. The pulley 211 has flanges on both sides and a groove in the middle. The pulley bracket 212 is a U-shaped groove adapted to the shape of the track 12. It not only installs and supports the pulley 211, allowing it to rotate relative to the bracket, thus reducing frictional resistance when the sliding platform moves along the track and improving the smoothness and repeatability of the sliding process, but also, when the track 12 is installed at the corresponding position on the sliding platform 2, the track 12 is embedded in the U-shaped groove, with the flanges located on both sides of the track 12 to provide lateral restraint. Through the cooperation of the groove, flanges, and U-shaped groove, not only is the guiding stability between the pulley and track improved, but the risk of lateral sway and derailment during the sliding process is also reduced, ensuring smooth sliding of the platform along the track.

[0031] Optionally, multiple pulleys 211 may be arranged in pairs on the first side of the support plate 22 and respectively roll in cooperation with two rails 12 to keep the support plate 22 under balanced force during sliding. The rails 12 may be constructed as a single rail or two or more rails, as long as they are suitable for providing support for the mobile landing device 1. The rails 12 may be constructed as cylindrical rails.

[0032] In some exemplary embodiments, reference Figure 3 As shown, the mounting component 23 includes: The traction rope assembly 231 is disposed on the second side of the support plate 22; The load-bearing rod 232 is suspended at the lower end of the traction rope assembly along the width direction of the load-bearing plate, and the simulated drone device is suspended below the load-bearing plate through the counterweight cavity inserted into the body. The balance bar 233 is straddling the middle of the load-bearing bar and is used to limit the swing of the simulated drone device relative to the load-bearing bar.

[0033] Specifically, the traction rope assembly 231 is disposed on the second side of the support plate 22 and extends downward from the support plate 22 to establish a flexible connection between the support plate 22 and the lower load-bearing rod 232. The load-bearing rod 232 is disposed along the width direction of the support plate 22 and is suspended below the support plate 22 by the traction rope assembly 231. The load-bearing rod 232 is used to cooperate with the counterweight cavity on the simulated drone device 3. After the load-bearing rod 232 is inserted into the counterweight cavity 311, the simulated drone device 3 is suspended below the support plate 22.

[0034] The balance bar 233 is located in the middle area of ​​the load-bearing bar 232 and is arranged to cross the load-bearing bar 232. The balance bar 234 is also connected to the load-bearing plate 22 through the traction rope assembly 231. It is used to limit the swing of the simulated drone device 3 relative to the load-bearing bar 232 when it is suspended, thereby improving the attitude stability of the simulated drone device 3 as it slides along the track 12 with the sliding platform 2. The balance bar 233 also collidees with the detachment structure 43 to release the connection between the sliding platform 2 and the simulated drone device 3.

[0035] Furthermore, the traction rope assembly 231 includes multiple traction ropes spaced apart. The upper ends of the multiple traction ropes are respectively connected to the second side of the support plate 22, and the lower ends are respectively connected to the load-bearing rod 232 and the balance rod 233, so that the load-bearing rod 232 and the balance rod 233 are suspended together below the support plate 22. Among them, the load-bearing rod 232 is used to provide the main suspension support for the simulated drone device, and the balance rod 233 is used to provide auxiliary limiting and balance constraints. The two work together to reduce the swaying amplitude of the simulated drone device during the sliding process, thereby improving the repeatability and reliability of the subsequent disengagement and landing processes.

[0036] In some exemplary embodiments, reference Figure 5 As shown, Figure 5 This is a schematic diagram simulating the overall structure of an unmanned aerial vehicle (UAV) device. The counterweight cavity 311 includes: The first opposite sidewalls of the counterweight cavity are respectively provided with L-shaped openings 312 that match the load-bearing rods; wherein, by inserting the load-bearing rods into the L-shaped openings, the simulated drone device is suspended below the sliding platform. The counterweight cavity has I-shaped openings 313 on its second opposite sidewalls that match the balance bar; the length of the second opposite sidewall is less than the length of the first opposite sidewall. By inserting the balance bar into the I-shaped opening, the simulated drone device is subjected to attitude constraint and balance support.

[0037] Specifically, the first opposing sidewalls are the two long sidewalls of the counterweight cavity 311, and the second opposing sidewalls are the two short sidewalls of the counterweight cavity 311. The L-shaped opening 312 provides a mounting and bearing position for the load-bearing rod 232, enabling the simulated drone device 3 to be stably suspended below the load-bearing plate 22; the I-shaped opening 313 is used in conjunction with the balance bar 234 to limit the swing and rotation of the simulated drone device during the sliding process, thereby improving the attitude stability of the simulated drone device during its movement along the track.

[0038] The load-bearing rod 232 is inserted into the L-shaped opening 312 on the corresponding side wall of the fuselage to form a suspension support for the simulated drone device; the balance rod 233 is inserted into the I-shaped opening 313 on the other opposite side wall of the fuselage to provide attitude constraint and balance support for the simulated drone device. Through the cooperative arrangement between the load-bearing rod and the L-shaped opening, and the balance rod and the I-shaped opening, not only can a stable connection between the simulated drone device and the sliding platform be achieved, but also, when the sliding platform moves to the lower end of the track, a disengagement structure can be used to achieve rapid separation between the simulated drone device and the sliding platform.

[0039] Furthermore, the counterweight cavity 311 is used to accommodate counterweight blocks. By adjusting the number, mass, and distribution position of the counterweight blocks in the counterweight cavity 311, the weight and center of gravity distribution characteristics of different types of UAVs can be simulated, thereby improving the physical simulation effect of the device on the landing process of real UAVs.

[0040] In some exemplary embodiments, reference Figure 5 As shown, the tripod 32 includes: Multiple support feet 321 are located at the lower part of the machine body; The support legs are equipped with a length adjustment structure for adjusting the length of the support legs; An angle adjustment structure is provided between the support legs and the fuselage to adjust the unfolding angle of the support legs relative to the fuselage.

[0041] Further, refer to Figure 6 As shown, Figure 6 This is a front view of the simulated drone device. Multiple support legs 321 are located at the lower part of the fuselage 31 and distributed along both sides of the fuselage 31, used to support the fuselage after the simulated drone device lands on the landing pad. A length adjustment structure is provided on the support legs 321 to change the effective length of the support legs 321 to adapt to different heights and sizes of drone tripods; an angle adjustment structure is provided between the support legs 321 and the fuselage 31 to adjust the unfolding angle of the support legs 321 relative to the fuselage 31 to simulate the unfolding posture of different drone tripod models.

[0042] Optionally, the length adjustment structure 322 can adopt a telescopic rod structure, a sleeve rod structure, or a segmented adjustment structure with a locking element. By changing the extension length of the support foot 321, the ground clearance and support span of the simulated unmanned aerial vehicle device 30 can be adjusted. The angle adjustment structure 323 can be set at the connection end between the support foot 321 and the fuselage 31. Through a rotational connection, a hinged connection, or a connection structure with an angle locking function, the support foot 321 can be adjusted relative to the fuselage 31 to a preset unfolding angle and remain stable after adjustment.

[0043] By coordinating the support feet 321, length adjustment structure 322, and angle adjustment structure 323, the length, unfolding angle, and support form of the simulated UAV device can be adjusted according to different testing requirements. This improves the device's ability to simulate the real landing conditions of different UAV models and ensures that the landing attitude and stress state of the simulated UAV device on the landing plate are closer to the real working conditions.

[0044] In some exemplary embodiments, reference Figure 7 As shown, Figure 7 This is a schematic diagram of the overall structure of the bottom support of the landing platform. The bottom support 41 of the landing platform further includes: The base frame 411 has a landing plate 42 at the bottom; Vertical support frame 412 is installed on the upper part of the base frame; Multiple track fixing structures 413 are installed on a vertical support frame to fix the lower end of the track; Multiple reinforcing support rods 414 are installed on the base frame to improve the structural stability of the base frame.

[0045] Specifically, the base frame 411 is located at the bottom of the bottom support 41, serving to contact the ground and provide basic support for the entire landing platform. The landing plate 42 is located in the bottom area of ​​the base frame 411, serving to receive the simulated drone device after it is disconnected from the sliding platform 2. The vertical support frame 412 is located on the upper part of the base frame 411 and extends vertically, serving to support the lower end of the track 12 and providing an installation base for multiple track fixing structures 413. Multiple track fixing structures 413 are located on the vertical support frame 412 and at corresponding positions on the lower end of the track 12, serving to limit and fix the lower end of the track 12 to prevent displacement or loosening of the track 12 when the sliding platform 2 slides to the lower end. Multiple reinforcing support rods 414 are located between the base frame 411 and the vertical support frame 412, serving to improve the overall structural strength and anti-overturning capacity of the bottom support 41, thereby ensuring the stability of the support structure at the lower end of the track 12.

[0046] Specifically, multiple reinforcing support rods 414 are arranged at circumferential intervals along the base frame 411, forming a triangular support structure with the vertical support frame 412 to enhance the stability of the bottom support 41 when bearing the motion loads of the track 12, the sliding platform, and the simulated drone device. Through the coordinated arrangement of the base frame 411, the vertical support frame 412, the track fixing structure 413, and the reinforcing support rods 414, not only can reliable fixation of the lower end of the track be achieved, but a stable installation environment can also be provided for the detachment structure 43, thereby ensuring the smooth detachment and landing process of the simulated drone device 3 at the lower end of the track 12.

[0047] In some exemplary embodiments, the upper surface of the landing plate 42 is provided with an anti-slip layer for cushioning and limiting the simulated drone device after landing. The anti-slip layer may be Velcro or a rubber pad.

[0048] In some exemplary embodiments, reference Figure 7 As shown, the detachment structure 43 is installed on the vertical support frame and located at the corresponding position on the movement path of the simulated drone device 3. It is used to collide with the balance bar 233 suspended on the simulated drone device 3 in the sliding platform 2 when the sliding platform 2 slides to the lower end of the track 12, thereby causing the load-bearing bar 232 to detach from the L-shaped opening 312 of the body of the simulated drone device 3, so as to disconnect the connection between the simulated drone device 3 and the sliding platform 2.

[0049] Furthermore, an impact structure 44 is provided on the vertical support frame 412, corresponding to the track fixing structure 413 and extending towards the movement path of the support plate 22. This allows the support plate 22 to impact the impact structure 44 after the detachment structure 43 and the balance bar 233 collide at a predetermined position when the sliding platform slides along the track to its lower end. This impact causes the support bar 232 to detach from the L-shaped opening 312 on the fuselage of the simulated drone device 3, thus severing the connection between the simulated drone device 3 and the sliding platform 2. The impact structure 44 is equipped with anti-collision pads.

[0050] The setting position of the detachment structure 43 is coordinated with the relative positions of the support plate 22, the hanging component 23 and the simulated drone device 3, so as to ensure that when the sliding platform reaches the low end of the track, the support plate collides with the detachment structure during the continued movement, thereby triggering the separation action between the simulated drone device and the sliding platform.

[0051] After the balance bar 233 collides with the detachment structure 43, the motion state of the balance bar 233 changes, which in turn causes the load-bearing bar 232 in the attachment assembly to detach from the L-shaped opening 312 on the simulated drone device. This causes the simulated drone device to lose its attachment constraint to the sliding platform and fall onto the landing plate under the influence of gravity. The detachment structure 43 enables automatic separation between the simulated drone device and the sliding platform without manual intervention, thereby improving the safety, stability, and repeatability of the simulation test process.

[0052] Furthermore, the detachment structure 43 is located near the lower end of track 12 and is coordinated with the relative position of the landing plate, enabling the simulated drone device to land directly in the predetermined area of ​​the landing plate after separating from the sliding platform 2. This not only ensures the continuous connection between the separation and landing actions in space, but also avoids significant deviation of the simulated drone device after detachment, thereby improving the simulation accuracy of the actual movement and landing process of the drone.

[0053] In some exemplary embodiments, the apparatus further includes: An impact measurement device, mounted on the landing plate 42, is used to measure the impact parameters generated when the simulated unmanned aerial vehicle (UAV) device lands on the landing plate. The camera equipment, mounted on the landing plate 42, is used to capture the attitude changes and motion trajectory of the simulated drone device during its descent.

[0054] Specifically, an impact measurement device is installed on the landing board at the target landing position of the simulated drone. A camera is mounted on the landing board via a camera bracket. This camera can be a high-speed camera. The stability of the drone's landing is analyzed by combining video information collected by the camera with impact force information collected by the impact measurement device. If the drone's landing is stable, the corresponding landing angle and speed data are recorded. During the actual landing of a real drone, the landing angle and speed parameters can be adjusted based on the experimental data to ensure a smooth landing. If the drone cannot land smoothly, the length of the traction rope needs to be adjusted to control the drone's landing attitude angle, or the structure of the landing platform or the type and roughness of the landing surface needs to be adjusted to ensure the simulated drone lands smoothly on the landing board. The speed of the simulated drone's descent is changed by adjusting the angle of the track placement.

[0055] This embodiment provides another implementation method for simulating the movement and landing of a drone. The track 12 extends longitudinally to the track-mounted support frame 11. The side of the support frame is provided with a track inclination adjustment rod, i.e., a transverse track mounting beam 15. By adjusting the angle between the track and the horizontal plane, the landing acceleration of the drone model can be controlled. Then, the four pulley device of the sliding platform 2 can calculate the landing speed based on the acceleration and rolling distance, and then calculate the impact force.

[0056] The calculation process for landing speed is shown in the following formula:

[0057] Landing speed; This is the initial velocity, i.e., the velocity at the start of descent; if descending from a hovering position, it is 0. This refers to the acceleration during descent. This represents the distance traveled.

[0058] The calculation process for the impact force is shown in the following formula:

[0059] For drone quality; Landing speed; g is the buffer distance from impact to complete stop (e.g., tripod deformation, ground subsidence, etc.); g is the acceleration due to gravity. ).

[0060] Specifically, the track 12 can be constructed as a single track or two or more tracks, as long as they are suitable for providing support for the mobile landing device 3. Two tracks 12 can be constructed, one on each side of the track-mounted support 11, and the track 12 can be constructed as a cylindrical track. The sliding platform 2 has U-shaped grooves that engage with the track 12, allowing the track 12 to extend through these grooves. A pulley is installed on each U-shaped groove, with the flanges and grooves of the pulleys precisely engaging with the cylindrical surface of the guide rail to form a stable rolling contact, and secured and adjusted with screws. The vertical portions of these U-shaped grooves extend downwards, fixing the square load-bearing plate 11 with screws, allowing the entire sliding platform 2 to slide on the guide rails via the pulleys. The layout of the dual guide rails and multiple sets of pulleys ensures the stability of the load (simulating an unmanned aerial vehicle device). The simulated drone device is connected to the load-bearing rod via a slot, allowing it to be hung on a traction rope below the load-bearing plate. A pulley system drives the load-bearing plate, enabling the simulated drone device to slide down the track at different speeds. When the sliding platform reaches the lower end of the track, the detachment structure collides with the balance bar suspended from the simulated drone device within the sliding platform. The load-bearing plate then impacts the impact structure, causing the load-bearing rod to detach from the L-shaped opening in the simulated drone device's body, thus severing the connection between the simulated drone device and the sliding platform. Simultaneously, the impact force causes the simulated drone to detach from the track and fall onto the landing plate. Velcro on the landing plate immediately stabilizes the simulated drone, simulating the process of a drone landing when the landing platform's speed approaches the drone's horizontal speed, at which point the two become relatively stationary, and the drone lands on the landing platform.

[0061] Furthermore, by adjusting the length of the traction rope, different landing attitudes of the simulated drone device can be simulated, namely, different pitch and roll angles. These two angular parameters affect the reliability of the landing plan. Although the tilt angle of the track can adjust the angle at which the simulated drone device lands, when verifying the reliability of the landing plan given a fixed landing plan, it is necessary to adjust the simulated drone device to the landing attitude corresponding to the landing plan. At this time, adjusting only the track cannot meet the requirements of the landing plan, so the landing attitude of the simulated drone can be adjusted by using the traction rope.

[0062] Specifically, the landing platform 4 includes an anti-slip landing plate 42, with an impact measuring device installed on the landing plate 42, and is located at the target position simulating a drone landing. Velcro can be used as the anti-slip surface of the landing plate. In practical applications, the landing surface layout can be adjusted according to specific measurement needs and the determined landing scheme. The surface can be set with or without auxiliary fixing structures, and the roughness of the landing surface can also be modified according to the specific landing method. Different landing surface types have different elastic and plastic parameters; setting these parameters in conjunction with the actual landing method can verify the reliability of the landing scheme.

[0063] A camera is mounted and fixed to the landing plate 42 via a camera bracket. Optionally, the camera is a high-speed camera. The stability of the drone's landing is analyzed by using video information collected by the camera and impact force information collected by the impact measurement device. If the drone's landing process is stable, the corresponding landing angle and speed data are recorded. Then, during the actual landing of a drone, the landing angle and speed parameters can be adjusted according to the experimental data to ensure a smooth landing. Otherwise, the track placement angle and the simulated drone's descent speed are further adjusted to ensure that the simulated drone lands smoothly on the landing plate.

[0064] Specifically, the drone model device 3 includes a fuselage 31 and a landing gear 32. The main body of the fuselage is composed of an upward-opening cuboid metal channel with two L-shaped openings 312 on the two longer sides and one I-shaped opening 313 on the two shorter sides. Counterweights can be added or removed inside the metal channel to simulate the weight of an actual drone. The L-shaped openings on the metal channel are used to suspend the drone model device on the load-bearing rod 232 of the sliding platform, while the balance bar 233 is engaged in the I-shaped opening to ensure the fuselage's balance. The drone model device 3 is fixed together. The sliding platform 2, carrying the drone simulation device 3, slides down the track 12. When it reaches the bottom of the track, the balance bar first impacts the landing platform support. The impact causes the load-bearing rod to detach from the L-shaped opening of the simulated drone device, meaning the drone simulation device detaches from the sliding platform and then comes to rest on the landing platform.

[0065] The traction component 231 below the sliding platform 2 can adjust the landing pitch angle of the drone model device 3. When the pulley slides down from above and hits the support of the landing platform, the simulated drone device is affected by the impact force, causing the load-bearing rod to detach from the L-shaped opening, and the simulated drone device 3 falls onto the landing plate, thus completing the simulated drone landing process. The tripod consists of adjustable angle and length brackets to simulate the different angles and lengths of the actual drone tripod.

[0066] Furthermore, by using the traction component 231, the drone model device 3 and the landing platform together can verify the reliability of the landing scheme. Specifically, if the landing scheme is determined, it means that the drone's landing attitude angle, speed, whether the landing surface has a fixed structure, and the type of the landing surface (e.g., elastic surface, smooth surface, rough surface) are known. The drone simulation device should also be replaced with a model of the same size, mass, and center of mass to execute the landing scheme. The reliability of the landing scheme is verified by using data obtained from the added impact force measuring device and camera equipment, and by observing whether the drone model lands smoothly and is fixed on the landing platform. If only the algorithm is known, the landing scheme can be simulated by using the device to set the aircraft attitude angle and landing speed given by the algorithm, in order to confirm which landing platform (whether it has auxiliary fixing devices / what the roughness of the landing contact surface is / the requirements for the landing surface material) can better improve the reliability of the landing algorithm.

[0067] If the landing platform and related equipment structure are fixed and cannot be adjusted, the landing attitude angles, speeds, and other parameters of the UAV can be simulated by adjusting the traction components in reverse. This verifies under what technical specifications the UAV model can reliably land and remain fixed on the landing platform. This allows for the reverse derivation of the landing attitude, speed, and other technical parameters for the UAV landing control algorithm.

[0068] The present invention adopts the above technical solution and has the following technical effects compared with the prior art: (1) Simulate the actual landing process of the drone: This device, through the precise coordination of key components such as the sliding platform, load-bearing rod, balance bar, and counterweight chamber, can highly simulate the actual landing process of a drone at the physical level. The adjustable tilt angle of the track, the weight and landing gear configuration of the simulated drone device, and the trigger mechanism for detachment from the structure work together to provide an accurate reproduction of the drone landing process, effectively improving the realism and reliability of the simulation test.

[0069] (2) Risks of isolating real drones: This device completely simulates the drone landing process without directly using a real drone, thus avoiding the risks of impact, damage, or failure that drones might encounter during actual landing. By adjusting the orbital angle and support structure, it simulates drone landing states under different environmental conditions, providing a safe and controllable testing platform for drone design and landing system optimization.

[0070] (3) Improve the safety and repeatability of simulation experiments: The structural design of this device ensures stable connection and automatic separation between the simulated UAV and the sliding platform, and can efficiently trigger the detachment and landing process of the simulated UAV. The cooperation between the detachment structure and the landing plate not only improves the smoothness of the landing process but also ensures the consistency of results in each test, greatly enhancing the safety and repeatability of the simulation test, making it suitable for multiple verifications and optimizations.

[0071] Other embodiments of the invention will readily conceive of by those skilled in the art upon consideration of the specification and practice of the invention described above. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

[0072] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A device for simulating the movement and landing of a drone, characterized in that, The device includes: The mobile landing device (1) is equipped with a support frame (11) and a track (12); wherein the support frame (11) is located at the high end of the track (12); The sliding platform (2) is provided with a guide sliding component (21), a support plate (22) and a hanging component (23); wherein, the guide sliding component (21) is provided on the first side of the support plate (22) and is used to drive the sliding platform (2) to slide along the track (12); the hanging component (23) is provided on the second side of the support plate (22) and is used to suspend the simulated drone device (3). The simulated drone device (3) is equipped with a fuselage (31) and an adjustable tripod located at the bottom of the fuselage; wherein, the fuselage (31) is provided with a counterweight cavity (311) for accommodating counterweights, and the angle and length of the tripod (32) are adjustable, respectively for simulating the mass and shape of the drone to be tested; The landing platform (4) is located at the lower end of the track (12) and works with the mobile landing device (1) to tilt the track (12) between the landing platform (4) and the mobile landing device (4). The landing platform (4) is provided with a bottom support (41) and a landing plate (42). The bottom support (41) is provided with a detachment structure (43) for colliding with the attachment component (23) of the suspended drone device (3) when the sliding platform (2) slides to the lower end of the track (12), thereby detaching the connection between the drone device (3) and the sliding platform (2) and allowing the drone device (3) to land on the landing plate.

2. The apparatus according to claim 1, characterized in that, The support frame (11) includes: Base (13); A vertical support frame (14) is set on the base (13). Multiple transverse track mounting beams (15) are spaced apart on the vertical support frame (14) to support the high end of the track (12). The tilt angle of the track (12) can be adjusted by selecting transverse track mounting beams (15) of different heights. The track fixing structure (16) is set on the transverse track mounting beam (15) and is used to limit and fix the track (12) located on the transverse track mounting beam (15).

3. The apparatus according to claim 1, characterized in that, The guide sliding assembly (21) includes: Multiple pulleys (211) are provided on the first side of the support plate (22), wherein the pulleys (211) are provided with flanges on both sides and a groove in the middle of the pulley; The pulley bracket (212) is set on the first side of the bearing plate (22) for mounting multiple pulleys (211). The track (12) is embedded in the pulley bracket (212), and the track (12) is limited on both sides by the flange and the groove, so that the sliding platform (2) can slide stably along the track (12).

4. The apparatus according to claim 1, characterized in that, The mounting component (23) includes: A traction rope assembly (231) is disposed on the second side of the support plate (22); The load-bearing rod (232) is suspended at the lower end of the traction rope assembly (231) along the width direction of the load-bearing plate (22), and the simulated drone device (3) is suspended below the load-bearing plate (22) through the counterweight cavity (311) inserted into the body; A balance bar (233) spans the middle of the load-bearing bar (232) to limit the swing of the simulated drone device (3) relative to the load-bearing bar (232), and to release the connection between the sliding platform (2) and the simulated drone device (3) by impact between the balance bar (233) and the detachment structure (43).

5. The apparatus according to claim 4, characterized in that, The counterweight cavity (311) includes: The first opposite sidewalls of the counterweight cavity (311) are respectively provided with L-shaped openings (312) that match the load-bearing rod (232); wherein, by inserting the load-bearing rod (232) into the L-shaped opening (312), the simulated drone device (3) is suspended below the sliding platform (2); The counterweight cavity (311) has I-shaped openings (313) on its second opposite sidewalls that match the balance bar (233); the length of the second opposite sidewall is less than the length of the first opposite sidewall. By inserting the balance bar (233) into the I-shaped opening, the simulated unmanned aerial vehicle device (3) is subjected to attitude constraint and balance support.

6. The apparatus according to claim 1, characterized in that, The tripod (32) includes: Multiple support feet (321) are located on the lower part of the fuselage (31); A length adjustment structure is provided on the support foot (321) for adjusting the length of the support foot; An angle adjustment structure is set between the support foot (321) and the fuselage (31) to adjust the unfolding angle of the support foot relative to the fuselage.

7. The apparatus according to claim 1, characterized in that, The bottom support (41) of the landing platform also includes: The base frame (411) has a landing plate (42) at the bottom. A vertical support frame (412) is provided on the upper part of the base frame (411); Multiple track fixing structures (413) are set on the vertical support frame (412) to fix the lower end of the track (12); Multiple reinforcing support rods (414) are provided on the base frame (411) to improve the structural stability of the base frame (411).

8. The apparatus according to claim 1, characterized in that, The upper surface of the landing plate (42) is provided with an anti-slip layer, which is used to buffer and limit the simulated drone device (3) after landing.

9. The apparatus according to claim 7, characterized in that, The detachment structure (43) is set on the vertical support frame (412) and located at the corresponding position of the motion path of the simulated drone device (3). When the sliding platform (2) slides to the lower end of the track (12), it collides with the balance bar (233) suspended on the simulated drone device (3) in the sliding platform (2), causing the load-bearing bar (232) to detach from the L-shaped opening (312) of the body of the simulated drone device (3) to release the connection between the simulated drone device (3) and the sliding platform (2).

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