Unmanned aerial vehicle capture docking device

Abstract

The application relates to a UAV capturing and parking device, which comprises a platform base, guide rail grooves and a central column; the guide rail grooves are arranged radially on the platform base around the central column, each guide rail groove extends from the outer edge to the center and is divided into two sections: the outer section is an inclined gentle slope section, and the inner section is an inwardly concave horizontal parking surface; the outer edge of the central column is provided with telescopic buffer rods; a magnetic attraction fixing device is arranged below the horizontal parking surface, and a Hall sensor is arranged on the horizontal parking surface; a wireless charging device is integrated in the central column; after the UAV lands into the guide rail groove, the telescopic buffer rods stop the UAV through buffer pads, the Hall sensor detects that the UAV is in place and triggers the magnetic attraction fixing device to be electrified to attract and fix the UAV, and the wireless charging device performs wireless charging on the fixed UAV. Compared with the prior art, the application has the advantages of strong adaptability to complex environments, high fixing reliability, excellent anti-interference capability, effective inhibition of magnetic interference, improved multi-UAV recovery efficiency and strong universality.

Description

Technical Field

[0001] This invention relates to the field of drone recovery technology, and in particular to a drone capture and parking device. Background Technology

[0002] Unmanned aerial vehicles (UAVs) require frequent takeoffs, landings, and recoveries in scenarios such as inspection, surveying, security, and search and rescue. Due to battery capacity limitations, small multi-rotor / ducted drones have short flight times and require reliable landing, return to their designated positions, fixation, and recharging. Accurately landing and stably fixing UAVs at designated locations in vehicle-mounted, ship-mounted, mobile platform, or under disturbed environments such as wind and vibration is a challenge in the recovery process; furthermore, the swarm recovery of multiple UAVs lacks compact and low-complexity docking mechanisms.

[0003] The existing technology and its shortcomings are as follows: (1) Recovery methods such as net collision / blocking and parachute descent: are prone to collision damage, have great limitations on machine type and site, still require manual placement and fixation after recovery, and are inconvenient for integrated charging.

[0004] (2) Precision docking recovery (such as contact docking where the airborne conical body and the platform conical groove cooperate): requires high accuracy of UAV terminal navigation and is difficult to center in disturbed environments; contact charging contacts are prone to corrosion and poor contact in humid / salt spray / dusty environments.

[0005] (3) Active robotic arm / claw gripping recovery: The mechanism is complex and costly, and has high requirements for the attitude and positioning accuracy of the UAV.

[0006] In summary, existing technologies have the following shortcomings: high requirements for landing accuracy, difficulty in centering in disturbed environments, unreliable fixation, easy corrosion of contact charging, and lack of compact parking arrangements for multiple aircraft. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the existing technology by providing a drone capture and parking device that reduces the requirements for drone landing accuracy, has strong adaptability to complex environments, high fixation reliability, excellent anti-interference ability, effectively suppresses magnetic interference, ensures drone navigation safety, improves multi-drone recovery efficiency, has a compact spatial layout, high wireless charging reliability, low maintenance cost, low energy consumption, simple and efficient control logic, excellent drainage performance, wide environmental adaptability, strong versatility, and comprehensive scenario coverage.

[0008] The objective of this invention can be achieved through the following technical solutions: This invention provides a drone capture and parking device, comprising a platform base, a guide rail groove, and a central column; The guide rails are arranged radially around the central column on the platform base. Each guide rail extends from the outer edge to the center and is divided into two sections: the outer section is an inclined gentle slope section, and the inner section is a horizontally recessed mooring surface. The outer edge of the central column is provided with a telescopic buffer rod, and the end of the telescopic buffer rod is provided with a buffer pad. A magnetic fixing device is provided below the horizontal mooring surface, and a Hall sensor is provided on the horizontal mooring surface. A wireless charging device is integrated inside the central column. The drone is equipped with casters at the bottom. After landing and entering the guide rail, the drone slides along the inclined slope to the horizontal parking surface under the action of gravity. The extended retractable buffer rod stops the drone through the buffer pad. After the Hall sensor detects that the drone is in place, it triggers the magnetic fixing device to be powered on and fix the drone. The wireless charging device wirelessly charges the fixed drone.

[0009] Furthermore, a high-permeability magnetic shielding structure is provided between the magnetic fixing device and the UAV magnetic compass. Furthermore, the magnetic fixing device adopts a closed magnetic circuit design to suppress the interference of the magnetic field on the UAV's magnetic compass.

[0010] Furthermore, the Hall sensor is also used to provide feedback on the position or attitude information of the UAV, and the control system dynamically adjusts the magnetic attraction force of the magnetic fixing device in a closed loop based on the feedback information from the Hall sensor.

[0011] Furthermore, a drainage channel is provided around the bottom of the central column to drain the liquid flowing towards the center.

[0012] Furthermore, the outer edge of the central pillar is provided with a cushioning pad to absorb the impact kinetic energy of the drone sliding to the center.

[0013] Furthermore, when the drone is launched, the retractable buffer rod retracts, and the magnetic fixing device releases the drone when powered off.

[0014] Furthermore, each guide rail slot corresponds to an independent parking position, and each guide rail slot can hold one drone.

[0015] Furthermore, the magnetic fixing device is powered on only after the Hall sensor outputs a positioning signal, and remains powered off during the approach and gliding phases of the UAV along the inclined slope.

[0016] Furthermore, the inclination angle of the inclined slope section is set to satisfy the following conditions: the UAV can reliably take off and slide along the slope under its own gravity, and the speed when sliding to the horizontal parking surface is within a controllable range.

[0017] The drone includes a drone fuselage, a ducted protective ring, an X-shaped arm, casters, and a rotating base. One end of the X-shaped arm is fixed to the drone fuselage, and the other end is connected to the ducted protective ring.

[0018] The device is compatible with one or more of the following carriers: fixed platform, vehicle-mounted platform, ship-mounted platform, or floating platform.

[0019] Compared with the prior art, the present invention has the following advantages: (1) Reduced requirements for UAV landing accuracy and strong adaptability to complex environments. Through a two-section guide rail groove with a gentle slope and a concave horizontal docking surface, combined with the passive rolling design of the four corner casters at the bottom of the UAV, the UAV can slide to the center docking position by its own gravity after landing in the groove, without the need for high-precision navigation docking. Even in disturbed environments such as wind disturbance, vehicle / shipborne platform swaying, and floating platform undulation, it can still reliably return to its position, solving the problems of difficult alignment and low fault tolerance in traditional precision docking and recovery.

[0020] (2) High reliability and excellent anti-interference capability. A collaborative mechanism of retractable suspended buffer bar for stopping and magnetic fixation is adopted: the buffer bar first absorbs the sliding kinetic energy of the UAV through the end buffer pad to complete the initial stopping; the magnetic device is then energized to attract, and the dual action ensures that the UAV will not shift or fall off in the environment of platform vibration and turbulence. When launching, the buffer bar automatically retracts and the magnetic attraction is de-energized, and the release process is simple and without jamming, avoiding the complex unlocking structure of mechanical claws.

[0021] (3) Effectively suppress magnetic interference and ensure the safety of UAV navigation. On the one hand, the magnetic attraction device is only powered on after the Hall sensor detects that the UAV is fully in position. During the approach and taxiing phases of the UAV, the magnetic attraction is in a de-energized state to avoid the magnetic field generated in advance from interfering with the UAV's magnetic compass. On the other hand, through the high-permeability magnetic shielding structure or closed magnetic circuit design between the magnetic attraction and the UAV compass, the influence of the residual magnetic field is further weakened to ensure the normal operation of the UAV navigation system. The Hall sensor is only responsible for detection and does not undertake the shielding function, so the detection accuracy is not affected.

[0022] (4) Improved efficiency of multi-machine recovery and compact spatial layout. Multiple guide rails are arranged radially around the central column, with only one UAV per rail. This allows for parallel parking of multiple workstations within a limited platform area, meeting the batch recovery needs of UAV swarm operations and solving the problem of loose multi-machine layout and large footprint of traditional recovery devices.

[0023] (5) Wireless charging has high reliability and low maintenance cost. The central column integrates a wireless charging device, which automatically replenishes the power after the drone is parked and fixed. This avoids problems such as corrosion, oxidation and poor contact of contact charging contacts in humid, salt spray and dusty environments, reducing the frequency and cost of later maintenance. It is especially suitable for harsh application scenarios such as outdoor and marine environments.

[0024] (6) Low energy consumption and simple and efficient control logic. The magnetic attraction device is activated on demand and kept powered off during non-working periods, which reduces overall power consumption and unnecessary magnetic field exposure. The Hall sensor can synchronously feed back the position / attitude information of the UAV, supporting the closed-loop dynamic adjustment of the magnetic attraction force of the control system, taking into account both fixed reliability and energy consumption optimization, and the control implementation is easy.

[0025] (7) Excellent drainage performance and wide environmental adaptability. Drainage channels are set around the bottom of the central column to drain rainwater, waves, and accumulated washing water in a timely manner, avoiding equipment corrosion or electrical short circuits, and further expanding the feasibility of the device in humid environments such as outdoors and at sea.

[0026] (8) High versatility and comprehensive scenario coverage. The device can be adapted to various carriers such as fixed platforms, vehicle-mounted platforms, ship-mounted platforms, and floating platforms. It is suitable for both ordinary small multi-rotor UAVs and ducted UAVs with protective ducts. The application scenarios cover multiple fields such as inspection, surveying and mapping, security, and maritime search and rescue. Attached Figure Description

[0027] Figure 1 Capture an overhead view of the parking device using a drone; Figure 2 A sectional view of the parking device captured by the drone; Figure 3 This is a schematic diagram of the structure of a drone; Figure 4 This is a bottom view of the drone.

[0028] Reference numerals: 1-Platform base; 2-Guide rail groove; 3-Central column; 4-Inclined slope section; 5-Retractable buffer rod; 6-Magnetic fixing device; 7-Horizontal parking surface; 8-Hall sensor; 9-UAV; 10-Universal wheel; 12-Buffer pad; 13-Drainage trough; 14-UAV fuselage; 15-Culvert protection ring; 16-X-shaped arm; 17-Rotating seat. Detailed Implementation

[0029] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms, and other features not explicitly described in this technical solution are considered common technical features disclosed in the prior art.

[0030] Example 1 This embodiment provides a drone capture and parking device, such as Figures 1 to 4 As shown, it includes a platform base 1, a guide rail groove 2, and a central column 3; The guide rail grooves 2 are arranged radially around the central column 3 on the platform base 1. Each guide rail groove 2 extends from the outer edge to the center and is divided into two sections: the outer section is an inclined gentle slope section 4, and the inner section is an inwardly concave horizontal mooring surface 7. The outer edge of the central column 3 is provided with a telescopic buffer rod 5, and the end of the telescopic buffer rod 5 is provided with a buffer pad 12. A magnetic fixing device 6 is provided below the horizontal mooring surface 7, and a Hall sensor 8 is provided on the horizontal mooring surface 7. A wireless charging device is integrated inside the central column 3. The drone 9 is equipped with casters 10 at the bottom. After the drone 9 lands and enters the guide rail groove 2, it slides along the inclined slope section 4 to the horizontal parking surface 7 under the action of gravity. The extended retractable buffer rod 5 stops the drone through the buffer pad 12. After the Hall sensor 8 detects that the drone is in place, it triggers the magnetic fixing device 6 to be powered on and fix the drone 9. The wireless charging device wirelessly charges the fixed drone 9.

[0031] In a specific embodiment, the wireless charging device is constructed based on an electromagnetic induction wireless power transmission mechanism. Specifically, the central column 3 contains a high-frequency inverter circuit and a transmitting coil, while the drone body 14 contains a corresponding receiving coil and a rectifier and voltage regulator circuit. During charging, the high-frequency inverter circuit supplies a high-frequency alternating current to the transmitting coil, generating an alternating magnetic field around the transmitting coil. The receiving coil induces an alternating electromotive force in this alternating magnetic field, which is then rectified, filtered, and regulated to convert into direct current, charging the drone 9's battery. The starting and stopping of the transmitting coil is controlled by the detection signal of the Hall sensor 8. Specifically, the transmitting coil is activated only after the Hall sensor 8 outputs a signal indicating that the drone 9 has arrived and the magnetic attraction device 6 has completed its attraction and fixation. During the drone 9's approach and gliding phases, the transmitting coil remains off to avoid additional interference from the charging magnetic field to the drone 9's magnetic compass. In other optional embodiments, the wireless charging device can also employ magnetic resonance coupling to improve transmission distance and position tolerance. In a specific embodiment, a high-permeability magnetic shielding structure is provided between the magnetic attraction device 6 and the drone 9's magnetic compass. In a specific implementation, the magnetic fixing device 6 adopts a closed magnetic circuit design to suppress the interference of the magnetic field on the UAV magnetic compass.

[0032] In a specific implementation, the Hall sensor 8 is also used to provide feedback on the position or attitude information of the UAV 9, and the control system dynamically adjusts the magnetic attraction force of the magnetic fixing device 6 in a closed loop based on the feedback information from the Hall sensor 8.

[0033] In a specific embodiment, a drainage groove 13 is provided around the bottom of the central column 3 to drain the liquid flowing towards the center.

[0034] In a specific implementation, the outer edge of the central column 3 is provided with a buffer pad to absorb the impact kinetic energy of the drone 9 sliding to the center.

[0035] In a specific implementation, when the drone 9 is launched, the retractable buffer rod 5 retracts, and the magnetic fixing device 6 is de-energized to release the drone 9.

[0036] In a specific implementation, each guide rail slot 2 corresponds to an independent parking station, and each guide rail slot 2 is used to park one UAV 9.

[0037] In a specific implementation, the magnetic fixing device 6 is powered on only after the Hall sensor 8 outputs a positioning signal, and remains powered off during the approach and gliding phases of the UAV 9 along the inclined slope section 4.

[0038] In a specific implementation, the inclination angle of the inclined gentle slope section 4 is set to satisfy the following: the UAV can reliably take off and slide along the gentle slope under its own gravity, and the speed when sliding to the horizontal parking surface 7 is within a controllable range.

[0039] In a specific implementation, the inclination angle of the inclined gentle slope section 4 is set as follows: θ The length along the groove is L The overall rolling resistance coefficient between the caster wheel 10 and the guide rail groove 2 is μ The acceleration due to gravity is g The maximum landing speed allowed by the buffer pad 12 for the drone is ,but θ Simultaneously meet the conditions for initiation of slippage With final velocity constraint The former ensures that the UAV 9 can reliably take off and glide along the gently sloping section 4 under its own gravity, while the latter ensures that its speed when gliding to the horizontal parking surface 7 is within the absorbable range of the buffer pad 12; thus θ The range of values ​​is ,in Determined by the final velocity constraint, typically θ A range of 5° to 12° is acceptable.

[0040] In a specific implementation, when the device is mounted on a vehicle-mounted platform, ship-mounted platform, or floating platform, or other carrier subject to tilting, the slip condition further satisfies the tilting margin condition. ,Right now ,in The maximum tilt angle of the carrier platform in the direction of the outer edge of the guide rail groove 2 under working road or sea conditions is to ensure that the UAV 9 can still reliably take off when the platform tilts to the most unfavorable attitude.

[0041] In specific implementations, the typical values ​​for the above parameters are: μ The value is 0.02 to 0.05 (the universal wheel 10 uses a hard wheel body such as polyurethane or nylon, and the groove surface is made of metal or composite material). L The depth is 0.5–1.0 m. The speed is 1–2 m / s; within this range, the speed is determined based on the aforementioned starting conditions and final velocity constraints. θ and L The specific value to be taken.

[0042] The drone 9 includes a drone fuselage 14, a duct protection ring 15, an X-shaped arm 16, casters 10, and a swivel base 17. One end of the X-shaped arm 16 is fixed to the drone fuselage 14, and the other end is connected to the duct protection ring 15.

[0043] The device is compatible with one or more of the following carriers: fixed platform, vehicle-mounted platform, ship-mounted platform, or floating platform.

[0044] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0045] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. A drone capture and parking device, characterized in that, It includes a platform base (1), a guide rail groove (2), and a central column (3); The guide rail grooves (2) are arranged radially around the central column (3) on the platform base (1). Each guide rail groove (2) extends from the outer edge to the center and is divided into two sections: the outer section is an inclined gentle slope section (4), and the inner section is a horizontal docking surface (7) that is concave inward. The outer edge of the central column (3) is provided with a telescopic buffer rod (5), and the end of the telescopic buffer rod (5) is provided with a buffer pad (12). A magnetic fixing device (6) is provided below the horizontal docking surface (7), and a Hall sensor (8) is provided on the horizontal docking surface (7). A wireless charging device is integrated inside the central column (3). The drone (9) is equipped with casters (10) at the bottom. After the drone (9) lands in the guide rail groove (2), it slides along the inclined slope section (4) to the horizontal parking surface (7) under the action of gravity. The extended telescopic buffer rod (5) stops the drone through the buffer pad (12). After the Hall sensor (8) detects that the drone is in place, it triggers the magnetic fixing device (6) to be powered on and fix the drone (9). The wireless charging device wirelessly charges the fixed drone (9).

2. The drone capture and parking device according to claim 1, characterized in that, A high-permeability magnetic shielding structure is provided between the magnetic fixing device (6) and the magnetic compass of the UAV (9).

3. The drone capture and parking device according to claim 1, characterized in that, The magnetic fixing device (6) adopts a closed magnetic circuit design to suppress the interference of the magnetic field on the magnetic compass of the UAV.

4. The drone capture and parking device according to claim 1, characterized in that, The Hall sensor (8) is also used to provide feedback on the position or attitude information of the UAV (9), and the control system dynamically adjusts the magnetic force of the magnetic fixing device (6) based on the feedback information of the Hall sensor (8) in a closed loop.

5. The drone capture and parking device according to claim 1, characterized in that, The bottom of the central column (3) is surrounded by a drainage channel (13) to drain the liquid flowing towards the center.

6. The drone capture and parking device according to claim 1, characterized in that, The outer edge of the central column (3) is provided with a cushioning pad to absorb the impact kinetic energy of the drone (9) sliding to the center.

7. The drone capture and parking device according to claim 1, characterized in that, When the drone (9) is launched, the retractable buffer rod (5) is retracted and the magnetic fixing device (6) is de-energized to release the drone (9).

8. The drone capture and parking device according to claim 1, characterized in that, Each guide rail slot (2) corresponds to an independent parking station, and each guide rail slot (2) is used to park one UAV (9).

9. The drone capture and parking device according to claim 1, characterized in that, The magnetic fixing device (6) is powered on only after the Hall sensor (8) outputs a positioning signal, and remains powered off during the approach and gliding phases of the UAV (9) along the inclined slope section (4).

10. A drone capture and parking device according to claim 1, characterized in that, The tilt angle of the inclined gentle slope section (4) is set to satisfy the following: the UAV can reliably take off along the gentle slope under its own gravity, and the speed when it slides to the horizontal parking surface (7) is within a controllable range.

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