Building construction area grabbing type parking structure based on unmanned aerial vehicle inspection

Abstract

This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically a gripping and parking structure for construction areas inspected by UAVs. It includes a chassis with a built-in landing pad, and the UAV body is positioned above the landing pad. A cabin is located at the bottom of the UAV body, and a first micro winch is installed on the inner top wall of the cabin. A first winding roller is mounted on the first micro winch. In this invention, the first winding roller is driven by the first micro winch to rotate at a uniform speed, achieving smooth and controllable release of the rope, preventing the permanent magnet plate from falling freely and reducing impact rebound. The permanent magnet plate automatically centers and attracts the rope after magnetic contact with the landing pad, eliminating the need for an additional positioning mechanism. During winding, two limiting rings guide the rope to wind evenly, preventing overlapping and jamming. The rope, as a flexible connector, can absorb impact energy, enabling flexible deployment and descent of the UAV. It is insensitive to harsh environments such as light, dust, rain, and fog.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically a gripping and parking structure for building construction areas based on UAV inspection. Background Technology

[0002] For drone-grabbing and parking structures in construction environments, the most mature and mainstream solution in the industry is the automated airport, i.e., the drone nest. This solution realizes the automatic recovery, battery replacement and storage of drones through an integrated mechanical structure, and can be regarded as an engineering implementation of the "ground robotic arm grasping" concept.

[0003] Existing drone-grabbing landing structures designed for construction sites still have certain shortcomings in practical applications. Due to the complex and ever-changing construction environment, if drones rely solely on sensor modules for landing pad positioning, they are easily affected by factors such as changes in lighting, dust, and electromagnetic interference, leading to a decrease in positioning accuracy and an inability to accurately land at the designated landing pad position. If the drone deviates from the center of the landing pad or even lands outside the platform, a crash accident may occur, resulting in damage to the aircraft.

[0004] Based on this, the present invention designs a gripping and stopping structure for construction areas based on drone inspection, in order to solve the above problems. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, this invention proposes a drone-based grabbing and landing structure for construction areas. This invention primarily addresses the deficiencies of existing drone-based grabbing and landing structures for construction areas in practical applications. Due to the complex and variable construction environment, if drones rely solely on sensor modules for landing pad positioning, they are easily affected by factors such as changes in lighting, dust, and electromagnetic interference, leading to decreased positioning accuracy and inability to accurately land at the designated landing pad position. If the drone deviates from the center of the landing pad or even lands outside the platform, a crash may occur, resulting in damage to the aircraft.

[0006] The technical solution adopted by this invention to solve its technical problem is: a gripping and parking structure for construction areas based on drone inspection, including a chassis, a parking apron inside the chassis, and a drone body above the parking apron; a cabin is located at the bottom of the drone body, and a first micro winch is installed on the inner top wall of the cabin. A first winding roller is installed on the first micro winch, and two limiting rings are fixedly sleeved on the first winding roller. A rope is installed on the first winding roller at a position corresponding to the two limiting rings, and a permanent magnet plate is fixedly connected to the bottom end of the rope. The bottom of the permanent magnet plate is magnetically attracted to the top of the parking apron.

[0007] Preferably, horizontal rails are fixedly connected to both the front and rear sides of the top of the helipad. Two first slide blocks arranged symmetrically are slidably connected to each horizontal rail. The opposite faces of the two first slide blocks on one side are engaged with first threaded cylinders. The two first threaded cylinders on one side are internally threaded to the same first double-threaded screw. A first motor is installed at one end of the first double-threaded screw. The bottom of the first motor body is installed on the top of the helipad. A first bearing is rotatably connected to the other end of the first double-threaded screw. The bottom of the first bearing is fixedly connected to the top of the helipad.

[0008] The opposing surfaces of the two first slide blocks are fixedly connected to longitudinal push plates, and the opposing surfaces of the two longitudinal push plates are respectively clamped and connected to the left and right sides of the permanent magnet plate.

[0009] Preferably, longitudinal rails are fixedly connected to both the left and right sides of the top of the helipad, and two second slide blocks arranged symmetrically are slidably connected to each longitudinal rail. The opposite faces of the two second slide blocks on one side are engaged with second threaded cylinders. The two second threaded cylinders on one side are internally threaded to the same second double-threaded screw. A second motor is installed at one end of the second double-threaded screw, and the bottom of the second motor body is installed on the top of the helipad. A second bearing is rotatably connected to the other end of the second double-threaded screw, and the bottom of the second bearing is fixedly connected to the top of the helipad.

[0010] Two opposing second slides are fixedly connected to a horizontal push plate on their opposite sides, and the opposite sides of the two horizontal push plates are respectively clamped and connected to the front and back of the permanent magnet plate.

[0011] Preferably, the bottom of the permanent magnet plate is provided with multiple buffer grooves, and a buffer shaft is slidably connected in each buffer groove. A spring is connected to the top of the buffer shaft, and the top of the buffer shaft forms an elastic support with the inner top wall of the buffer groove through the spring. A buffer plate is fixedly connected to the bottom of the multiple buffer shafts, and a rubber pad is provided at the bottom of the buffer plate.

[0012] Preferably, the bottom of the buffer plate has multiple through holes, each through hole is slidably connected to a vertical shaft, the top of the multiple vertical shafts is connected to the bottom of the permanent magnet plate, the bottom of each vertical shaft has a clamp groove, each clamp groove is slidably connected to a ball, and the multiple ball are slidably connected to the top of the helipad.

[0013] Preferably, the first take-up roller has a pipe interface, a flexible tube is inserted into the pipe interface, the top end of the flexible tube is connected to a suction tube, a first one-way valve is installed on the suction tube, the top end of the flexible tube is also connected to a pressure relief pipe, a second one-way valve is installed on the pressure relief pipe, and the top end of the rope is connected to the bottom of the pressure relief pipe.

[0014] Preferably, a second threading hole is provided on the top of the helipad corresponding to the rope, and a third threading hole is provided on the opposite side of the permanent magnet plate and the buffer plate corresponding to the second threading hole.

[0015] Preferably, a second miniature winch is installed at the bottom of the helipad corresponding to the second threading hole. The second miniature winch is equipped with a second winding roller. The second winding roller has multiple first threading holes arranged in a circular array. The bottom end of the rope passes through two third threading holes, a second threading hole, and one of the first threading holes and enters the inner side of the second winding roller, and is connected to a counterweight.

[0016] The beneficial effects of this invention are as follows:

[0017] 1. In this invention, the first winding roller is driven to rotate at a uniform speed by the first micro winch, so as to achieve smooth and controllable release of the rope, avoid the permanent magnet plate falling freely and reduce impact rebound. After the permanent magnet plate comes into magnetic contact with the landing pad, it automatically centers and is attracted, without the need for an additional positioning mechanism. During winding, two limit rings guide the rope to wind evenly to prevent overlapping and jamming. The rope, as a flexible connector, can absorb impact energy and realize the flexible pulling and lowering of the UAV. Moreover, the entire control only requires forward and reverse commands and is not sensitive to harsh environments such as light, dust, rain and fog.

[0018] 2. In this invention, the buffer pad first contacts the helipad to form the first level of flexible buffer, which absorbs the initial impact by elastic deformation. The buffer shaft retracts into the buffer groove under the reaction force, and simultaneously squeezes the spring to generate compression deformation, converting the impact kinetic energy into elastic potential energy to form the second level of buffer. The two levels of buffer consume energy step by step, significantly reducing the peak impact force transmitted to the permanent magnet plate, avoiding rigid collisions that could cause the permanent magnet plate to break or damage the helipad. The buffer shaft retracts directionally along the groove to ensure vertical translation without deviation. After the impact ends, the spring automatically recovers, and the bottom of the permanent magnet plate remains parallel to the helipad, forming the maximum effective adsorption area.

[0019] 3. In this invention, the buffer pad first contacts the helipad to form the first level of flexible buffer, which absorbs the initial impact by elastic deformation. The buffer shaft retracts into the buffer groove under the reaction force, and simultaneously squeezes the spring to generate compression deformation, converting the impact kinetic energy into elastic potential energy to form the second level of buffer. The two levels of buffer consume energy step by step, significantly reducing the peak impact force transmitted to the permanent magnet plate, avoiding rigid collisions that could cause the permanent magnet plate to break or damage the helipad. The buffer shaft retracts directionally along the groove to ensure vertical translation without deviation. After the impact ends, the spring automatically recovers, and the bottom of the permanent magnet plate remains parallel to the helipad, forming the maximum effective adsorption area.

[0020] 4. In this invention, the system automatically activates the anti-interference mode when the environment is harsh. After the hose is released synchronously with the rope, it expands radially due to its own elastic memory effect. The first one-way valve opens and inflates through the suction tube. When the hose passes through the third threading hole, it is radially squeezed, and the internal pressure increases. The second one-way valve automatically opens and discharges excess gas through the pressure relief pipe, stabilizing the internal pressure within the preset range. This passive inflation and pressure stabilization mechanism does not require an independent air pump and electronic control, and has high reliability. In the final stage of landing, the connection medium smoothly transitions from a flexible rope to a rigid hose, which significantly enhances the wind resistance, suppresses the horizontal sway of the UAV, and improves landing accuracy. Attached Figure Description

[0021] The invention will now be further described with reference to the accompanying drawings.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the invention after disassembly;

[0024] Figure 3 This is the present invention. Figure 2 A three-dimensional structural diagram of the UAV body viewed from below.

[0025] Figure 4 This is a schematic diagram of the structure of the UAV body connected to the permanent magnet plate by ropes in this invention;

[0026] Figure 5 This is a schematic diagram of the longitudinal push plate and the transverse push plate in this invention;

[0027] Figure 6 This is a cross-sectional view of the buffer groove corresponding to the permanent magnet plate in this invention;

[0028] Figure 7 This is a cross-sectional view of the permanent magnet plate corresponding to the ball bearing in this invention;

[0029] Figure 8 This is a structural schematic diagram of the UAV body in cross-section according to the present invention;

[0030] Figure 9 This is the present invention. Figure 1 Schematic diagrams of the first and second miniature winches in the middle section;

[0031] Figure 10 This is a schematic diagram of the structure of the three types of UAV bodies in this invention;

[0032] Figure 11 This is the present invention. Figure 10 Enlarged structural diagram at point A;

[0033] Figure 12 This is the present invention. Figure 6Enlarged structural diagram at point B;

[0034] Figure 13 This is the present invention. Figure 7 Enlarged structural diagram at point C;

[0035] Figure 14 This is the present invention. Figure 8 A magnified structural diagram of the UAV body;

[0036] Figure 15 This is the present invention. Figure 14 A magnified structural diagram of point D in the middle;

[0037] Figure 16 This is the present invention. Figure 3 A magnified schematic diagram of the second miniature winch.

[0038] In the diagram: 1. Chassis; 2. Helipad; 3. UAV body; 4. Cabin; 5. First miniature winch; 6. First take-up roller; 7. Limiting ring; 8. Rope; 9. Permanent magnet plate; 10. Horizontal rail; 11. First slide; 12. First threaded cylinder; 13. First bidirectional screw; 14. First motor; 15. First shaft seat; 16. Longitudinal push plate; 17. Longitudinal rail; 18. Second slide; 19. Second threaded cylinder; 20. Second bidirectional screw; 21. Second motor; 22. 1. Horizontal push plate; 23. Buffer plate; 24. Buffer shaft; 25. Buffer groove; 26. Spring; 27. Rubber pad; 28. Vertical shaft; 29. ​​Clamp groove; 30. Ball bearing; 31. Through hole; 32. Pipe interface; 33. Hose; 34. Suction tube; 35. First one-way valve; 36. Pressure relief pipe; 37. Second one-way valve; 38. Second miniature winch; 39. Second winding roller; 40. First wire hole; 41. Second wire hole; 42. Second shaft seat; 43. Counterweight. Detailed Implementation

[0039] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0040] like Figures 1 to 16 As shown, a gripping and parking structure for construction areas based on drone inspection includes a chassis 1, a parking apron 2 inside the chassis 1, and a drone body 3 above the parking apron 2. A cabin 4 is located at the bottom of the drone body 3, and a first micro winch 5 is installed on the inner top wall of the cabin 4. A first winding roller 6 is installed on the first micro winch 5, and two limiting rings 7 are fixedly sleeved on the first winding roller 6. A rope 8 is installed on the first winding roller 6 at the position corresponding to the two limiting rings 7. A permanent magnet plate 9 is fixedly connected to the bottom end of the rope 8, and the bottom of the permanent magnet plate 9 is magnetically attracted to the top of the parking apron 2.

[0041] In this specific implementation, after the UAV body 3 completes the inspection of the construction area, it autonomously flies towards the helipad 2. When the UAV body 3 descends to a preset height above the helipad 2, the control system issues a command to start the first micro winch 5, driving the first winding roller 6 to rotate forward at a set speed. During this process, the first winding roller 6 gradually releases the pre-wound rope 8. Under the counterweight of the permanent magnet plate 9, the rope 8 is steadily and vertically lowered by its own weight until the bottom of the permanent magnet plate 9 contacts the center area of ​​the top of the helipad 2. Utilizing the magnetic attraction between the permanent magnet plate 9 and the helipad 2, the permanent magnet plate 9 automatically centers and firmly adheres to the surface of the helipad 2, achieving initial grasping and positioning. Subsequently, the control system again commands the first micro winch 5 to drive the first winding roller 6 in the reverse direction to uniformly wind up the released rope 8. During this process, the two limiting rings 7 apply lateral constraints to the rope 8, guiding the rope 8 to be evenly and tightly wound around the predetermined area of ​​the first winding roller 6, avoiding the rope 8 from overlapping or getting stuck. As the rope 8 gradually tightens, the permanent magnet plate 9 and the UAV body... The relative distance between the three is shortened. Utilizing the continuous magnetic attraction between the permanent magnet plate 9 and the landing pad 2, a stable and reliable mechanical gripping action is formed, assisting the UAV body 3 to land smoothly on the landing pad 2. The first micro winch 5 drives the first winding roller 6 to rotate at a set speed, achieving uniform and controllable release of the rope 8, avoiding free fall and ensuring that the permanent magnet plate 9 approaches the landing pad 2 smoothly, reducing impact and rebound. Magnetic material is placed near the center of the landing pad 2. Utilizing the magnetic attraction between the permanent magnet plate 9 and the landing pad 2, automatic centering and positioning are achieved at the moment of contact. Precise gripping can be completed without additional centering mechanisms, simplifying the structure and improving reliability. During the tightening process, it can absorb some impact energy, achieving flexible descent of the UAV body 3, reducing rigid impact on the landing pad 2 and the UAV body 3. Only the forward and reverse rotation of the first micro winch 5 needs to be controlled, without the need for complex position sensors or vision systems. The magnetic attraction technology combined with the rope 8 guidance method is insensitive to harsh construction environments such as light, dust, rain, and fog, ensuring robust landing after inspection and all-weather working capability.

[0042] Specifically, horizontal rails 10 are fixedly connected to the front and rear sides of the top of the helipad 2. Two first slide blocks 11 are slidably connected to each horizontal rail 10. The opposite faces of the two first slide blocks 11 located on one side are engaged with first threaded cylinders 12. The two first threaded cylinders 12 located on one side are internally threaded to the same first double-threaded screw. A first motor 14 is installed at one end of the first double-threaded screw 13. The bottom of the first motor 14 is installed on the top of the helipad 2. The other end of the first double-threaded screw 13 is rotatably connected to a first bearing 15. The bottom of the first bearing 15 is fixedly connected to the top of the helipad 2.

[0043] Two opposing first slide blocks 11 are fixedly connected to the opposing surfaces of longitudinal push plates 16, and the opposing surfaces of the two longitudinal push plates 16 are respectively clamped and connected to the left and right sides of the permanent magnet plate 9.

[0044] Both sides of the top of the helipad 2 are fixedly connected with longitudinal rails 17. Each longitudinal rail 17 is slidably connected with two second slide blocks 18 arranged symmetrically. The opposite faces of the two second slide blocks 18 on one side are engaged with second threaded cylinders 19. The two second threaded cylinders 19 on one side are internally threaded with the same second double-threaded screw. One end of the second double-threaded screw 20 is equipped with a second motor 21. The bottom of the second motor 21 is installed on the top of the helipad 2. The other end of the second double-threaded screw 20 is rotatably connected with a second bearing 42. The bottom of the second bearing 42 is fixedly connected to the top of the helipad 2.

[0045] Two opposing second slide blocks 18 are fixedly connected to opposing surfaces with horizontal push plates 22, and the opposing surfaces of the two horizontal push plates 22 are respectively clamped and connected to the front and back of the permanent magnet plate 9.

[0046] Specifically, in this embodiment: after the bottom of the permanent magnet plate 9 is magnetically adsorbed onto the top of the landing pad 2, the system immediately initiates the first stage of the longitudinal alignment process: controlling the two first motors 14 to operate synchronously, the output ends of the first motors 14 drive the first bidirectional screws 13 connected to them to rotate. The two reverse threads on the first bidirectional screws 13 respectively engage with the two first threaded cylinders 12, converting the rotational motion into the two first slide blocks 11 moving in opposite directions along the same first slide rail. The two first slide blocks 11 respectively drive the longitudinal push plates 16 on them to move closer to each other until the two longitudinal push plates 16 contact and clamp the permanent magnet plate 9 from the left and right sides, completing the initial positioning of the left and right sides of the permanent magnet plate 9. Subsequently, the system initiates the second stage of the transverse alignment process: controlling the two second motors 21 to operate, the output ends of the second motors 21 drive the second bidirectional screws 20 to rotate. The reverse thread sections on the second bidirectional screws 20 respectively engage with the two second threaded cylinders 19, driving the two second slide blocks 18 to slide in opposite directions along the same second slide rail. Two second slide blocks 18 drive their respective horizontal push plates 22 to approach each other, contacting and clamping the permanent magnet plate 9 from the front and back, thus achieving precise positioning of the front and rear sides of the permanent magnet plate 9. Through the coordinated action of the two horizontal push plates 22 and the two vertical push plates 16, the permanent magnet plate 9 is quickly and accurately pushed to the center position at the top of the landing pad 2, achieving precise alignment with the UAV body 3. To reduce the positioning accuracy requirements of the permanent magnet plate 9, the landing pad 2 can adopt a design with a large area of ​​magnetically conductive material covering, increasing the effective adsorption area, so that the permanent magnet plate 9 can be reliably adsorbed at any landing point, and then smoothly guided to the center position by the push plates.

[0047] Specifically, the bottom of the permanent magnet plate 9 is provided with multiple buffer grooves 25, and each buffer groove 25 is slidably connected with a buffer shaft 24. The top of the buffer shaft 24 is connected with a spring 26, and the top of the buffer shaft 24 forms an elastic support with the inner top wall of the buffer groove 25 through the spring 26. The bottom of the multiple buffer shafts 24 is fixedly connected with a buffer plate 23, and a rubber pad 27 is provided at the bottom of the buffer plate 23.

[0048] Specifically, in this embodiment: the moment the permanent magnet plate 9 falls close to the helipad 2, its bottom buffer plate 23 first makes flexible contact with the top of the helipad 2 through the buffer pad. The elastic deformation of the buffer pad absorbs the initial impact energy, forming the first layer of buffer protection. Immediately afterwards, the buffer plate 23 is subjected to the reverse force of the helipad 2, causing multiple buffer shafts 24 to retract into their corresponding buffer grooves 25. During this retraction process, each buffer shaft 24 simultaneously compresses the spring 26 sleeved on it, causing the spring 26 to undergo compression deformation, converting the impact kinetic energy into elastic potential energy, forming the second layer of buffer protection. Through the synergistic effect of the above two-stage buffering mechanism, the impact energy of the falling permanent magnet plate 9 is fully absorbed and dissipated, effectively avoiding rigid collisions between the permanent magnet plate 9 and the helipad 2, and providing good protection for the permanent magnet plate 9. At the same time, the stable state of the buffer plate 23 after the two-stage buffering ensures that the bottom of the permanent magnet plate 9 can... The buffer plate 23 maintains a flat contact with the top of the helipad 2, thus facilitating magnetic adsorption. The elastic contact of the buffer pad serves as the first level of buffering, while the compression deformation of the spring 26 serves as the second level of buffering. The two levels of buffering absorb impact energy step by step, significantly reducing the peak impact force transmitted to the permanent magnet plate 9. The buffer pad preferentially contacts the surface of the helipad 2, utilizing the elastic properties of the material itself to achieve a soft landing, avoiding direct rigid impact between the permanent magnet plate 9 and the helipad 2, preventing the permanent magnet plate 9 from shattering or the helipad 2 from being damaged. The buffer shaft 24 retracts directionally along the buffer groove 25, ensuring that the buffer plate 23 only makes vertical translational movement when impacted, without tilting or jamming, ensuring that the spring 26 is subjected to uniform force. The spring 26 absorbs impact energy through compression deformation, and after the impact, the spring 26 returns to its original shape. After the two levels of buffering, the buffer plate 23 and the permanent magnet plate 9 are in a stable static state, with the bottom of the permanent magnet plate 9 remaining parallel to the top of the helipad 2, forming the maximum effective adsorption area.

[0049] Specifically, the bottom of the buffer plate 23 has multiple through holes 31, each through hole 31 is slidably connected to a vertical shaft 28, the top of the multiple vertical shafts 28 is connected to the bottom of the permanent magnet plate 9, the bottom of each vertical shaft 28 has a clamping groove 29, each clamping groove 29 is slidably connected to a ball bearing 30, and the multiple ball bearings 30 are slidably connected to the top of the landing pad 2.

[0050] In this specific embodiment, after the permanent magnet plate 9 magnetically attracts the helipad 2, the bottom of the buffer pad is stably supported by the top of the helipad 2, forming an upward reaction force. Driven by this reaction force, the permanent magnet plate 9 continues to move downward relative to the buffer plate 23, forcing multiple buffer shafts 24 to retract into their corresponding buffer grooves 25. At the same time, the springs 26 sleeved on the buffer shafts 24 are compressed, causing them to undergo elastic compression deformation and storing some of the attraction impact energy as elastic potential energy. Simultaneously, multiple vertical shafts 28 slide downward in their corresponding through holes 31, driving the balls 30 installed at the ends of the vertical shafts 28 to gradually extend downward until the balls 30 contact the top surface of the helipad 2. Since the balls 30 can roll freely, a low-resistance rolling friction pair is formed between them and the helipad 2, significantly reducing the horizontal movement resistance between the permanent magnet plate 9 and the helipad 2. Under this low-friction condition, the two horizontal push plates 22 and the two vertical push plates 16 can easily push the permanent magnet plate 9 to slide horizontally on the surface of the landing pad 2 to complete the centering and clamping positioning action without having to overcome a large static friction force, thereby improving the centering efficiency and reducing the load requirements on the push plate drive mechanism. The vertical shaft 28 slides directionally along the through hole 31 to ensure that the ball bearings 30 extend downward in a vertical direction, avoiding skewness and ensuring that all the ball bearings 30 contact the surface of the landing pad 2 at the same time to achieve uniform load. The ball bearings 30 adopt a smooth spherical contact. Compared with sliding friction or direct contact of hard parts, the rolling friction method greatly reduces the risk of wear and scratches on the surface of the landing pad 2. Since the rolling friction resistance is extremely small, the first motor 14 and the second motor 21 of the two horizontal push plates 22 and the two vertical push plates 16 can be selected with smaller power and lighter weight, which is conducive to the overall lightweight design of the chassis 1.

[0051] Specifically, the first take-up roller 6 has a pipe interface 32, a hose 33 is inserted into the pipe interface 32, the top end of the hose 33 is connected to a suction pipe 34, a first one-way valve 35 is installed on the suction pipe 34, the top end of the hose 33 is also connected to a pressure relief pipe 36, a second one-way valve 37 is installed on the pressure relief pipe 36, and the top end of the rope 8 is connected to the bottom of the pressure relief pipe 36.

[0052] A second wire hole 41 is provided on the top of the helipad 2 corresponding to the rope 8. A third wire hole is provided on the opposite side of the permanent magnet plate 9 and the buffer plate 23 corresponding to the second wire hole 41.

[0053] A second miniature winch 38 is installed at the bottom of the helipad 2 corresponding to the second cable threading hole 41. A second take-up roller 39 is provided on the second miniature winch 38. Multiple first cable threading holes 40 are arranged in a ring array on the second take-up roller 39. The bottom end of the rope 8 passes through two third cable threading holes, the second cable threading hole 41 and one of the first cable threading holes 40 and enters the inner side of the second take-up roller 39, and is connected to a counterweight 43.

[0054] Specifically, this implementation involves the following: When the environment around the helipad 2 is relatively harsh, the system automatically activates the anti-interference landing mode, controlling the second miniature winch 38 to wind up the rope 8. During this winding process, the hose 33, pre-wound onto the first winding roller 6, is released synchronously with the rope 8. After the hose 33 is freed from the constraint of the first winding roller 6, it automatically expands radially under its own elastic memory effect. At this time, the first one-way valve 35 located at the air inlet end of the hose 33 opens, drawing air from the external environment through the suction pipe 34 and filling the hose 33, causing the hose 33 to gradually expand to the preset working diameter. As the expanded hose 33 continues to descend with the rope 8... When the hose passes through the third threading hole, the inner wall of the third threading hole exerts uniform radial pressure on the hose 33. Under this pressure, the internal air pressure of the hose 33 increases, generating positive internal pressure. When the internal pressure exceeds the set threshold, the second one-way valve 37 installed on the hose 33 automatically opens, and the excess gas in the hose 33 is discharged through the pressure relief pipe 36, thereby stabilizing the internal pressure of the hose 33 within the preset working pressure range. Through the above inflation and pressure stabilization mechanism, in the final stage of the UAV body 3 falling to the landing pad 2, the connecting medium is gradually changed from the initial flexible rope 8 to the rigid hose 33 with higher hardness, which significantly enhances the wind resistance and landing stability.

[0055] During operation, after completing the inspection of the construction area, the UAV body 3 autonomously flies towards the helipad 2. When the UAV body 3 descends to a preset height above the helipad 2, the control system issues a command to activate the first micro winch 5, driving the first winding roller 6 to rotate forward at a set speed. During this process, the first winding roller 6 gradually releases the pre-wound rope 8. Under the counterweight of the permanent magnet plate 9, the rope 8 is steadily and vertically lowered by its own weight until the bottom of the permanent magnet plate 9 contacts the center area of ​​the top of the helipad 2. Due to the magnetic attraction between the permanent magnet plate 9 and the helipad 2, the permanent magnet plate 9 automatically centers and firmly adheres to the surface of the helipad 2, achieving initial gripping and positioning. Subsequently, the control system instructs the first micro winch 5 to reverse the drive of the first winding roller 6, uniformly winding up the released rope 8. During this process, the two limiting rings 7 apply lateral constraints to the rope 8, guiding the rope 8 to wrap evenly and tightly around the predetermined area of ​​the first winding roller 6, preventing the rope 8 from overlapping or jamming. As the rope 8 gradually tightens, the relative distance between the permanent magnet plate 9 and the UAV body 3 shortens. Utilizing the continuous magnetic attraction between the permanent magnet plate 9 and the landing pad 2, a stable and reliable mechanical grasping action is formed, assisting the UAV body 3 to land smoothly on the landing pad 2. The first micro winch 5 drives the first winding roller 6 to rotate at a set speed, achieving uniform and controllable release of the rope 8, avoiding free fall and ensuring that the permanent magnet plate 9 approaches the landing pad 2 smoothly, reducing impact and rebound. Magnetic material is placed near the center of the landing pad 2. Utilizing the magnetic attraction between the permanent magnet plate 9 and the landing pad 2, automatic centering and positioning are achieved at the moment of contact, eliminating the need for an additional centering mechanism. The structure can achieve precise grasping, simplify the structure and improve reliability. The rope 8, as a flexible connector, can absorb some of the impact energy during the tightening process, realize the flexible pulling down of the UAV body 3, and reduce the rigid impact on the landing pad 2 and the fuselage of the UAV body 3. The entire control process only needs to control the forward and reverse rotation of the first micro winch 5, without the need for complex position sensors or vision systems. The magnetic adsorption technology combined with the rope 8 guidance method is not sensitive to harsh construction environments such as light, dust, rain and fog, ensuring the robustness of landing after inspection and all-weather working capability.

[0056] After the permanent magnet plate 9 is magnetically adsorbed onto the top of the landing pad 2, the system immediately initiates the first stage of the longitudinal alignment process: controlling the two first motors 14 to run synchronously, the output ends of the first motors 14 drive the first bidirectional screws 13 connected to them to rotate, and the two reverse threads on the first bidirectional screws 13 respectively mesh with the two first threaded cylinders 12 to transmit the rotational motion, converting the rotational motion into the two first slide blocks 11 moving in opposite directions along the same first slide rail. The two first slide blocks 11 respectively drive the longitudinal push plates 16 on them to move closer to each other until the two longitudinal push plates 16 contact and clamp the permanent magnet plate 9 from the left and right sides, completing the initial positioning of the left and right sides of the permanent magnet plate 9. Subsequently, the system initiates the second stage of the lateral alignment process: controlling the two second motors 21 to run, the output ends of the second motors 21 drive the two first slide blocks 12 to rotate. The bidirectional screw 20 rotates, and the reverse threaded section on the second bidirectional screw 20 respectively engages with the two second threaded cylinders 19, driving the two second slide blocks 18 to slide towards each other along the same second slide rail. The two second slide blocks 18 respectively drive the horizontal push plates 22 on them to approach each other, contacting and clamping the permanent magnet plate 9 from the front and back directions, completing the precise positioning of the front and rear sides of the permanent magnet plate 9. Through the coordinated action of the two horizontal push plates 22 and the two vertical push plates 16, the permanent magnet plate 9 is quickly and accurately pushed to the center position of the top of the landing pad 2, achieving precise alignment with the UAV body 3. In order to reduce the requirements for the positioning accuracy of the permanent magnet plate 9, the landing pad 2 can adopt a design with a large area of ​​magnetic conductive material covering, increasing the effective adsorption area, so that the permanent magnet plate 9 can be reliably adsorbed at any landing point, and then smoothly guided to the center position by the push plate.

[0057] As the permanent magnet plate 9 falls close to the helipad 2, its bottom buffer plate 23 first makes flexible contact with the top of the helipad 2 through the buffer pad. The elastic deformation of the buffer pad absorbs the initial impact energy, forming the first layer of buffer protection. Immediately afterwards, the buffer plate 23 is subjected to the reverse force of the helipad 2, causing multiple buffer shafts 24 to retract into their corresponding buffer grooves 25. During this retraction process, each buffer shaft 24 simultaneously compresses the spring 26 sleeved on it, causing the spring 26 to undergo compression deformation, converting the impact kinetic energy into elastic potential energy, forming the second layer of buffer protection. Through the synergistic effect of the above two-stage buffering mechanism, the impact energy of the falling permanent magnet plate 9 is fully absorbed and dissipated, effectively avoiding rigid collisions between the permanent magnet plate 9 and the helipad 2, and providing good protection for the permanent magnet plate 9. At the same time, the stable state of the buffer plate 23 after the two-stage buffering ensures that the bottom of the permanent magnet plate 9 can contact the helipad 2. The top maintains a flat contact posture, thus facilitating magnetic adsorption. The elastic contact of the buffer pad serves as the first level of buffering, while the compression deformation of the spring 26 serves as the second level of buffering. The two levels of buffering absorb impact energy step by step, significantly reducing the peak impact force transmitted to the permanent magnet plate 9. The buffer pad preferentially contacts the surface of the helipad 2, utilizing the elastic properties of the material itself to achieve a soft landing, avoiding direct rigid impact between the permanent magnet plate 9 and the helipad 2, preventing the permanent magnet plate 9 from shattering or the helipad 2 from being damaged. The buffer shaft 24 retracts directionally along the buffer groove 25, ensuring that the buffer plate 23 only makes vertical translational movement when impacted, without tilting or jamming, ensuring that the spring 26 is subjected to uniform force. The spring 26 absorbs impact energy through compression deformation, and after the impact, the spring 26 returns to its original shape. After the two levels of buffering, the buffer plate 23 and the permanent magnet plate 9 are in a stable static state, with the bottom of the permanent magnet plate 9 parallel to the top of the helipad 2, forming the maximum effective adsorption area.

[0058] After the permanent magnet plate 9 magnetically attracts the helipad 2, the bottom of the buffer pad is stably supported by the top of the helipad 2, generating an upward reaction force. Driven by this reaction force, the permanent magnet plate 9 continues to move downward relative to the buffer plate 23, forcing multiple buffer shafts 24 to retract into their corresponding buffer grooves 25. At the same time, the springs 26 sleeved on the buffer shafts 24 are compressed, causing them to undergo elastic compression deformation and storing some of the adsorption impact energy as elastic potential energy. Simultaneously, multiple vertical shafts 28 slide downward in their corresponding through holes 31, driving the balls 30 installed at the ends of the vertical shafts 28 to gradually extend downward until the balls 30 contact the top surface of the helipad 2. Since the balls 30 can roll freely, a low-resistance rolling friction pair is formed between them and the helipad 2, significantly reducing the horizontal movement resistance between the permanent magnet plate 9 and the helipad 2. Under friction, the two horizontal push plates 22 and the two vertical push plates 16 can easily push the permanent magnet plate 9 to slide horizontally on the surface of the landing pad 2 to complete the centering and clamping positioning action without having to overcome a large static friction force, thereby improving the centering efficiency and reducing the load requirements on the push plate drive mechanism. The vertical shaft 28 slides directionally along the through hole 31 to ensure that the ball 30 extends downward in a vertical direction, avoiding skewness and ensuring that all the ball 30 contacts the surface of the landing pad 2 at the same time to achieve uniform load. The ball 30 adopts a smooth spherical contact. Compared with sliding friction or direct contact of hard parts, the rolling friction method greatly reduces the risk of wear and scratches on the surface of the landing pad 2. Since the rolling friction resistance is extremely small, the first motor 14 and the second motor 21 of the two horizontal push plates 22 and the two vertical push plates 16 can be selected with smaller power and lighter weight, which is beneficial to the overall lightweight design of the chassis 1.

[0059] When the environment around the helipad 2 is relatively harsh, the system automatically activates the anti-interference landing mode, controlling the second miniature winch 38 to wind up the rope 8. During this winding process, the hose 33, pre-wound onto the first winding roller 6, is released synchronously with the rope 8. After the hose 33 is freed from the constraint of the first winding roller 6, it automatically expands radially under its own elastic memory effect. At this time, the first one-way valve 35 located at the air inlet end of the hose 33 opens, drawing air from the external environment through the suction pipe 34 and filling the hose 33, causing the hose 33 to gradually expand to the preset working diameter. As the expanded hose 33 continues to descend with the rope 8 and passes through the third... When threading the cable through the third threading hole, the inner wall of the third threading hole exerts uniform radial pressure on the hose 33. Under this pressure, the internal air pressure of the hose 33 increases, generating positive internal pressure. When the internal pressure exceeds the set threshold, the second one-way valve 37 installed on the hose 33 automatically opens, and the excess gas in the hose 33 is discharged through the pressure relief pipe 36, thereby stabilizing the internal pressure of the hose 33 within the preset working pressure range. Through the above inflation and pressure stabilization mechanism, in the final stage of the UAV body 3 falling to the landing pad 2, the connecting medium is gradually changed from the initial flexible rope 8 to the rigid hose 33 with higher hardness, which significantly enhances the wind resistance and landing stability.

[0060] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A drone-based inspection and grabbing landing structure for construction areas, comprising a chassis, a built-in landing pad, and a drone body mounted above the landing pad; characterized in that: The drone body has a cabin at its bottom. A first micro winch is installed on the inner top wall of the cabin. A first winding roller is installed on the first micro winch. Two limiting rings are fixedly sleeved on the first winding roller. A rope is installed on the first winding roller at the position corresponding to the two limiting rings. A permanent magnet plate is fixedly connected to the bottom end of the rope. The bottom of the permanent magnet plate is magnetically attracted to the top of the landing pad.

2. The construction area grabbing and stopping structure based on UAV inspection according to claim 1, characterized in that: The front and rear sides of the top of the helipad are fixedly connected with horizontal rails. Two first slide blocks are slidably connected on each horizontal rail. The opposite faces of the two first slide blocks on one side are engaged with first threaded cylinders. The two first threaded cylinders on one side are internally threaded with the same first double-threaded screw. A first motor is installed at one end of the first double-threaded screw. The bottom of the first motor body is installed on the top of the helipad. The other end of the first double-threaded screw is rotatably connected to a first bearing. The bottom of the first bearing is fixedly connected to the top of the helipad. The opposing surfaces of the two first slide blocks are fixedly connected to longitudinal push plates, and the opposing surfaces of the two longitudinal push plates are respectively clamped and connected to the left and right sides of the permanent magnet plate.

3. The construction area grabbing and stopping structure based on UAV inspection according to claim 2, characterized in that: Both sides of the top of the helipad are fixedly connected to longitudinal rails. Each longitudinal rail is slidably connected to two second slide blocks arranged symmetrically. The opposite faces of the two second slide blocks on one side are engaged with second threaded cylinders. The two second threaded cylinders on one side are internally threaded to the same second double-threaded screw. A second motor is installed at one end of the second double-threaded screw. The bottom of the second motor body is installed on the top of the helipad. The other end of the second double-threaded screw is rotatably connected to a second bearing. The bottom of the second bearing is fixedly connected to the top of the helipad. Two opposing second slides are fixedly connected to a horizontal push plate on their opposite sides, and the opposite sides of the two horizontal push plates are respectively clamped and connected to the front and back of the permanent magnet plate.

4. The construction area grabbing and stopping structure based on UAV inspection according to claim 3, characterized in that: The permanent magnet plate has multiple buffer grooves at its bottom, and a buffer shaft is slidably connected in each buffer groove. A spring is connected to the top of the buffer shaft, and the top of the buffer shaft is elastically supported by the spring and the inner top wall of the buffer groove. A buffer plate is fixedly connected to the bottom of the multiple buffer shafts, and a rubber pad is provided at the bottom of the buffer plate.

5. The construction area grabbing and stopping structure based on UAV inspection according to claim 4, characterized in that: The bottom of the buffer plate has multiple through holes, and each through hole is slidably connected to a vertical shaft. The top of each vertical shaft is connected to the bottom of the permanent magnet plate. Each vertical shaft has a clamp groove at its bottom end, and each clamp groove is slidably connected to a ball bearing. The ball bearings are slidably connected to the top of the helipad.

6. The construction area grabbing and stopping structure based on UAV inspection according to claim 5, characterized in that: The first take-up roller has a pipe interface, a flexible tube is inserted into the pipe interface, the top end of the flexible tube is connected to a suction tube, a first one-way valve is installed on the suction tube, the top end of the flexible tube is also connected to a pressure relief pipe, a second one-way valve is installed on the pressure relief pipe, and the top end of the rope is connected to the bottom of the pressure relief pipe.

7. A gripping and parking structure for construction areas based on UAV inspection, as described in claim 6, characterized in that: The top of the helipad has a second threading hole corresponding to the rope, and the permanent magnet plate and the buffer plate have a third threading hole corresponding to the second threading hole.

8. A gripping and stopping structure for construction areas based on UAV inspection, as described in claim 7, characterized in that: A second miniature winch is installed at the bottom of the helipad corresponding to the second threading hole. The second miniature winch is equipped with a second winding roller. The second winding roller has multiple first threading holes arranged in a circular array. The bottom end of the rope passes through two third threading holes, a second threading hole, and one of the first threading holes before entering the inside of the second winding roller and is connected to a counterweight.

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