An active capture unmanned aerial vehicle nest system and a capture method thereof

Abstract

The application discloses an active capturing type unmanned aerial vehicle nest system and a capturing method thereof, and belongs to the field of unmanned aerial vehicle nest systems. The active capturing type unmanned aerial vehicle nest system comprises an unmanned aerial vehicle nest for receiving an unmanned aerial vehicle, wherein the unmanned aerial vehicle nest comprises a shell and a bearing frame arranged in the shell; an entrance is arranged on the shell; a lifting device is arranged in the shell and is drivingly connected with the bearing frame to drive the bearing frame to ascend or descend relative to the entrance of the shell; an open capturing area is arranged on the bearing frame and is used for receiving the unmanned aerial vehicle; a plurality of supporting brackets for receiving the unmanned aerial vehicle are arranged on the bearing frame; and a capturing device capable of capturing the unmanned aerial vehicle is arranged on the supporting bracket. The active capturing type unmanned aerial vehicle nest system and the capturing method thereof can be used for capturing and taking and placing unmanned aerial vehicles in different terrain environments and improving the transfer stability of the unmanned aerial vehicles.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) equipment technology, and specifically to an active capture UAV nest system and its capture method. Background Technology

[0002] Most existing drone nests are fixedly installed on the ground. For example, patent CN202610000643.9, an active capture drone nest system, discloses a fixed nest for capturing drones. However, with the continuous development of drone technology and the expansion of its application scenarios, mobile collaborative operation scenarios such as drones and unmanned vehicles working together, unmanned vehicles and robots working together, drones and robot dogs cooperating, and drones and ships working together at sea are becoming increasingly common.

[0003] Unlike the operating environment of traditional road-based fixed drone nests, drone nests mounted on drones are subject to movement, shaking, and attitude changes. This places higher demands on the reliability of drone parking and the coordinated and precise landing control. The traditional fixed nest mounting and landing adaptation solutions are no longer sufficient to meet the usage requirements of drone nests. Summary of the Invention

[0004] This invention overcomes the shortcomings of the prior art and provides an active capture-type UAV nest system and its capture method, which can be compatible with the capture and release of UAVs in different terrain environments and improve the stability of UAV transfer.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: an active capture drone nest system, comprising: a drone nest for receiving drones, the drone nest including a shell and a support frame disposed within the shell, the shell having an entrance / exit, and a lifting device disposed within the shell, the lifting device being drivenly connected to the support frame for driving the support frame to rise and fall relative to the entrance / exit of the shell; the support frame having an open capture area for receiving drones; the support frame also having several support brackets for receiving drones; and the support brackets having capture devices for capturing drones.

[0006] In a preferred embodiment of the present invention, the capturing device includes a connecting plate disposed on a support frame, and a swinging clamp block that can be opened and closed relative to the connecting plate is rotatably connected to the connecting plate; The two ends of the swing clamp are a swing end and an opening and closing end, respectively. The swing end is driven to be connected to the telescopic mechanism set on the support frame. The telescopic mechanism drives the opening and closing end to rotate around the pivot point where the swing clamp is rotatably connected to the connecting plate, thereby causing the opening and closing ends of the swing clamp to open and close relative to each other, which is used to limit the frame of the UAV.

[0007] In a preferred embodiment of the present invention, a limiting clamping block is rotatably connected to the opening and closing end; one end of the limiting clamping block is connected to the connecting plate through an elastic connector; the other end of the limiting clamping block is arranged facing the corresponding limiting clamping block; a defined area is obtained between the swing clamping block and the limiting clamping block, and the size and opening and closing of the defined area are adjusted by the relative opening and closing of the swing clamping block and the limiting clamping block.

[0008] In a preferred embodiment of the present invention, a linkage mechanism is rotatably connected to the connecting plate, and the swinging clamping block and the clamping tray preset in the defined area are respectively driven to be connected to the telescopic mechanism through the linkage mechanism; The linkage mechanism drives the swinging clamp to open and close to its limit, and drives the clamping plate to move up and down relative to the swinging clamp within the limited area.

[0009] In a preferred embodiment of the present invention, the linkage mechanism includes a linkage assembly rotatably connected to a connecting plate; One end of the linkage assembly is connected to the clamping plate, and the other end of the linkage assembly is connected to the telescopic mechanism drive. The clamping plate is located in a restricted area, and the clamping plate is moved up and down within the restricted area by a telescopic mechanism driving the linkage assembly.

[0010] In a preferred embodiment of the present invention, the linkage mechanism further includes a second linkage assembly rotatably connected to the connecting plate, one end of the second linkage assembly rotatably connected to the connecting plate, and the other end of the second linkage assembly rotatably connected to one end of the swing clamp block.

[0011] In a preferred embodiment of the present invention, the first linkage assembly adopts a scissor-type telescopic linkage, and the forked ends of the first linkage assembly are respectively slidably limited in the waist-shaped groove of the clamping plate to accommodate the opening and closing pitch changes when the first linkage assembly is telescopic. The converging end of the first linkage assembly is drivenly connected to the telescopic mechanism. And / or, the second linkage assembly adopts a V-shaped hinged rocker arm, the forked ends of the second linkage assembly are rotatably connected to one end of the swing clamp, the converging end of the second linkage assembly is driven and connected to the telescopic mechanism, and the other end of the swing clamp is rotatably connected to the limit clamp.

[0012] In a preferred embodiment of the present invention, the carrier frame adopts a polyhedral frame structure, and a longitudinally through storage area is reserved inside the carrier frame; a support frame is provided in the storage area, and a longitudinally through capture area is reserved inside the support frame; the capture area is used to store the drone, and the drone's frame is limited on the support frame by a capture device; a support bracket is provided above the support frame; several mounting frames are provided inside the support frame; a telescopic mechanism is provided on the mounting frame; and the telescopic rod of the telescopic mechanism is drivenly connected to a linkage mechanism. And / or, the outer shell includes a base, a enclosure, and a hatch that are connected to the outer shell, a vehicle frame is provided inside the outer shell, the vehicle frame is provided with an open storage area, the base is provided below the vehicle frame, the enclosure is provided around the outer perimeter of the vehicle frame, and the hatch is provided above the vehicle frame that opens and closes relative to each other, with the hatch corresponding to the opening of the storage area.

[0013] In a preferred embodiment of the present invention, the lifting device includes: a lifting motor disposed within a housing, and a lead screw arranged longitudinally within a carrier frame. One end of the lead screw is pivotally connected via a rotating seat fixedly disposed on the carrier frame, and the other end of the lead screw is screwed to a rotating seat fixedly disposed on a support frame. The drive end of the lifting motor is connected to the lead screw via a transmission structure to drive the lead screw to rotate in both directions, thereby driving the support frame to rise and fall longitudinally relative to the carrier frame.

[0014] In a preferred embodiment of the present invention, a method for capturing drone nests, employing an active drone nest-capturing system, includes the following steps: When it is necessary to capture a drone, the drive lifting device raises the support frame relative to the outer shell until the upper part of the support frame extends out of the outer shell, and the drone is supported by the top of the support frame that extends out of the outer shell. The capture device installed on the drive support frame grabs the drone's frame and confines the drone to the support frame. The support frame supports the drone's frame, the capture device confines the frame, and the drone's landing gear is stored in the support frame, thus completing the drone's receiving and confinement. The drive lifting device lowers the carrier frame relative to the outer shell for retraction until the carrier frame is retracted into the storage area of ​​the outer shell, thus completing the capture of the drone; When it is necessary to release the drone, reverse the capture steps.

[0015] This invention addresses the deficiencies in the technical background, and the beneficial technical effects of this invention are: An active capture-type UAV nesting system and its capture method are disclosed, which can be compatible with the retrieval and placement of UAVs in different terrain environments and improve the stability of UAV transfer.

[0016] 1. The lifting device drives the support frame to rise and fall relative to the carrier frame, which improves the flexibility of the support frame in supporting drones and optimizes the convenience of drone storage and retrieval.

[0017] 2. The support frame is raised via a lead screw and optical shaft. There are four support frames at the four corners of the support frame. These four support frames are used to support the arms in the drone's frame. The lead screw is driven by a lifting motor and transmission structure, which transmits power to the lead screw. The rotation of the lead screw raises the support frame, improving the stability of the lifting and lowering of the support frame and the carrier frame.

[0018] 3. By fine-tuning the height of the support frame, the drone's arm can be directly supported, improving the compatibility of the support. Combined with a capture device to clamp and position the drone, the compatibility of drone clamping and positioning is further optimized. On one hand, the support frame houses the lower part of the drone; on the other hand, the upper part of the support frame supports the drone's mounting frame. Simultaneously, by clamping and limiting the drone's attitude within the support frame, it is more conducive to the safe and stable storage or transfer of the drone in its nest. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is an axial view structural schematic diagram of an active capture-type unmanned aerial vehicle (UAV) nest system according to a preferred embodiment of the present invention; Figure 2 This is a side view of a preferred embodiment of the active capture type unmanned aerial vehicle (UAV) nesting system of the present invention. Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure of AA; Figure 4 This is a top view of a preferred embodiment of the active capture-type unmanned aerial vehicle (UAV) nesting system of the present invention. Figure 5 This is a schematic diagram of the axial structure of an active capture unmanned aerial vehicle (UAV) nesting system after removing the hatch and enclosure, according to a preferred embodiment of the present invention. Figure 1 ; Figure 6 This is a front view of a preferred embodiment of the present invention, showing the structure of an active capture unmanned aerial vehicle (UAV) nest system after the hatch and enclosure have been removed. Figure 7 This is an axial view of a preferred embodiment of the present invention, showing the structure of an active capture unmanned aerial vehicle (UAV) nesting system after removing the hatch and enclosure. Figure 2 ; Figure 8 This is an axial view of the structure of an active capture UAV nest system after removing the hatch and enclosure and removing the UAV, according to a preferred embodiment of the present invention. Figure 9 This is a schematic diagram of the axial view of a preferred embodiment of the present invention, showing the active capture UAV nesting system after the outer shell has been removed. Figure 1 ; Figure 10 This is a schematic diagram of the axial view of a preferred embodiment of the present invention, showing the active capture UAV nesting system after the outer shell has been removed. Figure 2 ; Figure 11 This is a front view of a preferred embodiment of the present invention, showing the structure of an active capture UAV nest system after the outer shell has been removed. Figure 12 This is a top view of a preferred embodiment of the present invention, showing the structure of an active capture UAV nest system after the outer shell has been removed. Figure 13 This is a top-view structural diagram of an active capture UAV nest system according to a preferred embodiment of the present invention after the outer shell has been removed; Figure 14 This is an axial view of the preferred embodiment of the present invention when the carrier captures a drone. Figure 1 ; Figure 15 This is an axial view of the preferred embodiment of the present invention when the carrier captures a drone. Figure 2 ; Figure 16 This is a front view schematic diagram of the structure when the carrier captures the drone in a preferred embodiment of the present invention; Figure 17 This is a schematic diagram of the axial view of the support frame in a preferred embodiment of the present invention; Figure 18 This is a front view of the support frame in a preferred embodiment of the present invention; Figure 19 This is a schematic diagram of the axial structure of the capturing device in a preferred embodiment of the present invention. Figure 1 ; Figure 20 This is a schematic diagram of the axial structure of the capturing device in a preferred embodiment of the present invention. Figure 2 ; Figure 21 This is a schematic diagram of the rear view of the capture device when it is not clamped in a preferred embodiment of the present invention; Figure 22 This is a front view of the preferred embodiment of the present invention, showing the capture device clamping the arm of the drone in the frame. Figure 23 This is a rear view of the structure of the capture device clamping the arm of the drone in the frame in a preferred embodiment of the present invention; Among them, 1. Unmanned aerial vehicle (UAV) nest; 11. Outer shell; 111. Base; 112. Enclosure; 113. Hatch cover; 114. Vehicle cavity; 2. Unmanned aerial vehicle (UAV); 21. Frame; 22. Landing gear; 23. Rotor; 24. Drive control mechanism; 3. Vehicle frame; 31. Storage area; 4. Support frame; 41. Capture area; 42. Support bracket; 43. Mounting frame; 5. Lifting device; 51. Lifting motor; 52. Drive belt; 53. Synchronous pulley; 54. Lead screw; 541. Variable coupling; 55. Guide rod; 56. Mounting plate. 6. Capturing device; 61. Connecting plate; 611. Swinging clamp; 612. Limiting clamp; 613. Elastic connector; 62. Telescopic mechanism; 621. Telescopic rod; 63. Linkage mechanism; 64. Clamping plate; 641. Waist-shaped slide. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams, which are only used to illustrate the basic structure of the present invention and therefore only show the components relevant to the present invention.

[0022] It should be noted that if directional indicators (such as up, down, bottom, top, etc.) are involved in the embodiments of the present invention, these directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more of that feature. Unless otherwise explicitly specified and limited, the terms "set," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in the present invention can be understood from the specific circumstances. Example 1

[0023] like Figures 1-23 As shown, an active capture drone nest system includes: a drone nest 1 for receiving drones 2, the drone nest 1 including a shell 11, a carrier cavity 114 pre-set inside the shell 11, a support frame 4 disposed inside the carrier cavity 114, a lifting device 5 disposed inside the shell 11, the lifting device 5 being drivenly connected to the support frame 4, the lifting device 5 being used to drive the support frame 4 to rise and fall relative to the shell 11; an open capture area 41 disposed on the support frame 4, the capture area 41 being used to receive drones 2; a plurality of support brackets 42 disposed on the support frame 4 for receiving drones 2; and a capture device 6 disposed on the support brackets 42 for capturing drones 2. In this embodiment, the outer shell 11 is fitted onto the outside of the support frame 4. The support frame 4 is driven by the lifting device 5 to move longitudinally relative to the carrier cavity 114 of the outer shell 11, so that the upper end of the support frame 4 extends out of the carrier cavity 114 of the outer shell 11, or the support frame 4 is retracted into the carrier cavity 114 of the outer shell 11, thereby realizing the storage and release of the drone 2 supported on the support frame 4.

[0024] Specifically, the outer shell 11 includes a base 111 and a surrounding plate 112 that are connected to form a drone nest. The base 111 is located below the support frame 4, and the surrounding plate 112 surrounds the outer perimeter of the support frame 4.

[0025] Specifically, the outer shell 11 adopts a rectangular frame structure with faceted edges. The carrier cavity 114 of the outer shell 11 has an entrance / exit, forming an open-top structure. A carrier frame 4 is installed inside the carrier cavity 114, with a longitudinally extending capture area 41 reserved within it. The capture area 41 is used to house the drone 2, and the drone 2's frame 21 is secured to the carrier frame 4 by a capture device 6. A support bracket 42 is installed on the upper part of the carrier frame 4. Several mounting brackets 43 are installed inside the carrier frame 4, and a telescopic mechanism 62 is installed on each mounting bracket 43. The telescopic rod 621 of the telescopic mechanism 62 is drivenly connected to the linkage mechanism 63. The carrier frame 4 adopts a polyhedral frame structure; in this embodiment, a rectangular frame structure is used. This structure complements the outer shell 11, facilitating the longitudinal lifting and lowering of the carrier frame 4 relative to the carrier cavity 114 of the outer shell 11, effectively preventing structural interference between the carrier frame 4 and the structure of the outer shell 11 during lifting and lowering. Support brackets 42 are provided diagonally across the support frame 4. This facilitates the support of the frame 21 of the drone 2 and allows the landing gear 22 of the drone 2 to enter the capture area 41 of the support frame 4 longitudinally, improving the ease of storage of the drone 2. Furthermore, four support brackets 42 are horizontally positioned across the diagonals of the support frame 4, while four mounting brackets 43 are respectively positioned at the four diagonals of the support frame 4. The support brackets 42 are located at the upper end of the support frame 4, and the mounting brackets 43 are longitudinally positioned below the support brackets 42 and at the middle of the support frame 4, facilitating the installation of the capture device 6 on the mounting brackets 43 and support brackets 42.

[0026] Specifically, the lifting device 5 includes a lifting motor 51 disposed within the housing 11, and a lead screw 54 arranged longitudinally within the housing 11. One end of the lead screw 54 is pivotally connected via a rotating seat fixedly disposed on the housing 11, and the other end of the lead screw 54 is screwed to a rotating seat 541 fixedly disposed on the support frame 4. The drive end of the lifting motor 51 is connected to the lead screw 54 via a transmission structure, used to drive the lead screw 54 to rotate forward and backward, driving the support frame 4 to rise and fall longitudinally relative to the housing 11. In this embodiment, the transmission structure adopts the belt drive of a synchronous pulley 53 and a transmission belt 52 in the prior art. One of the synchronous pulleys 53 is connected to the drive end of the lifting motor 51 as the driving pulley, and the driving pulley is provided with two transmission belt grooves. The lower parts of the lead screws 54, which are positioned opposite each other, are connected to corresponding synchronous pulleys 53 as driven pulleys. The lifting motor 51 drives the driving pulley to rotate. The driving pulley is connected to the driven pulleys of the two lead screws 54 via corresponding transmission belts 52, driving the driven pulleys to drive the lead screws 54 to rotate, thus achieving longitudinal lifting and lowering of the internal support frame 4 relative to the external outer casing 11. More specifically, to further improve the stability of the lifting device 5, longitudinally arranged guide rods 55 are respectively provided on opposite surfaces inside the outer casing 11. The two ends of the guide rods 55 are slidably limited inside the carrier cavity 114 of the outer casing 11 by sliding sleeves. The guide rods 55 and the lead screws are arranged in a rectangular pattern on the four sides of the carrier cavity 114. The lifting motor 51 is fixedly mounted below the carrier cavity 114 in the outer casing 11 by a mounting plate 56.

[0027] Specifically, the capturing device 6 includes a connecting plate 61 mounted on a support bracket 42 of the support frame 4, and a telescopic mechanism 62 mounted on the support frame 4. A pair of swing clamps 611 capable of opening and closing relative to each other are rotatably connected to the connecting plate 61, and a clamping plate 64 located between the spaced-apart swing clamps 611. Pivoting holes are provided at both ends of the connecting plate 61, through which the swing clamps 611 are rotatably connected to the connecting plate 61. The swing clamps 611 and the clamping plate 64 are driven to the telescopic mechanism 62 via a linkage mechanism 63; the linkage mechanism 63 drives the swing clamps 611 to open and close to their limits, and drives the clamping plate 64 to rise and fall relative to the swing clamps 611 within a defined area.

[0028] Furthermore, the swing clamp 611 adopts an L-shaped swing block structure, with the swing end and the opening / closing end at both ends. The swing end is driven and connected to the telescopic mechanism 62 mounted on the support frame 4. Under the drive of the telescopic mechanism 62, the opening / closing end rotates around the connecting plate 61 as a pivot point, causing the swing clamp 611 to open and close relative to each other, thereby limiting the frame 21 of the UAV 2. When the swing clamp 611 is open, the opposing swing clamps 611 are arranged in a U-shape. When locking is required, the opposing swing clamps 611 are arranged in a closed quadrilateral shape. Furthermore, a limiting clamping block 612 is rotatably connected to the opening and closing end; one end of the limiting clamping block 612 is connected to the connecting plate 61 through an elastic connector 613; the other end of the limiting clamping block 612 is arranged facing the corresponding limiting clamping block 612; a limited area is obtained between the swinging clamping block 611 and the limiting clamping block 612, and the size and opening and closing of the limited area are adjusted by the relative opening and closing of the swinging clamping block 611 and the limiting clamping block 612.

[0029] Furthermore, the linkage mechanism 63 includes a first linkage assembly and a second linkage assembly rotatably connected to the front and back sides of the connecting plate 61, respectively. One end of the first linkage assembly is connected to the clamping support plate 64, and the other end is driven to the telescopic mechanism 62. The clamping support plate 64 is located in a defined area, and the telescopic mechanism 62 drives the first linkage assembly to move the clamping support plate 64 up and down within the defined area. In this embodiment, the first linkage assembly is a scissor-type telescopic linkage. The forked ends of the first linkage assembly are slidably limited within the waist-shaped grooves 641 on the clamping support plate 64 to accommodate the opening and closing pitch changes of the first linkage assembly during telescopic movement. The converging end of the first linkage assembly is driven to the telescopic mechanism 62. One end of the second linkage assembly is rotatably connected to the connecting plate 61, and the other end is rotatably connected to one end of the swing clamping block 611. In this embodiment, the second linkage assembly adopts a V-shaped hinged swing arm. The forked ends of the second linkage assembly are rotatably connected to one end of the swing clamp 611, the converging end of the second linkage assembly is driven to the telescopic mechanism 62, and the other end of the swing clamp 611 is connected to the limiting clamp 612. Example 2

[0030] Based on Embodiment 1, in this embodiment, the outer shell 11 includes a base 111, a surrounding plate 112, and a hatch 113 connected together to form a UAV nest. The base 111 is located below the support frame 4, the surrounding plate 112 surrounds the outer perimeter of the support frame 4, and the hatch 113 is relatively openable and closable above the support frame 4, corresponding to the entrance and exit of the vehicle cavity 114. In this embodiment, the opening structure of the hatch 113 adopts the assembly connection relationship in the prior art, for example, using a hinge connection structure in the prior art, and realizing the opening and closing operation through manual operation. Alternatively, it can use an electric hinge structure in the prior art, realizing the opening and closing of the hatch 113 through electric operation in the prior art. However, it is not limited to this. In other embodiments, the setting and opening and closing structure and method of the hatch 113 can be adjusted according to actual usage requirements, as long as the functions and effects to be achieved in this solution can be basically realized. Specific methods and connection structures will not be described or listed in detail here. Example 3

[0031] Based on Embodiment 1, in this embodiment, a carrier cavity 114 is pre-set inside the outer shell 11, and a carrier frame 3 is disposed inside the carrier cavity 114 (that is, the outer shell 11 surrounds the outside of the carrier frame 3). In this embodiment, the carrier frame 3 is used as a structure inside the outer shell 11, and the support frame 4 is driven to rise and fall and be placed in the storage area 31 of the carrier frame 3 by the lifting device 5.

[0032] Specifically, the carrier frame 3 adopts a polyhedral frame structure. In this embodiment, a rectangular frame structure is fixedly installed inside the outer shell 11, with the corners designed as faceted structures. The storage area 31 of the carrier frame 3 has a longitudinally continuous structure. A support frame 4 is provided within the storage area 31, and a longitudinally continuous capture area 41 is reserved within the support frame 4 for storing the drone 2. In this embodiment, the support frame 4 adopts a rectangular frame structure, which cooperates with the structure of the carrier frame 3 to facilitate the longitudinal lifting and lowering of the support frame 4 relative to the storage area 31 of the carrier frame 3, effectively avoiding structural interference between the support frame 4 and the structure of the carrier frame 3 when the support frame 4 is lifted or lowered.

[0033] Specifically, the lifting device 5 inside the outer shell 11 is mounted on the carrier frame 3. The lifting device 5 is driven to connect with the support frame 4, and the lifting device 5 is used to drive the support frame 4 to rise and fall relative to the outer shell 11 and the carrier frame 3. In this embodiment, the support frame 4 rises and falls longitudinally relative to the carrier frame 3 under the drive of the lifting device 5, so that the upper end of the support frame 4 extends out of the storage area 31 of the carrier frame 3, or the support frame 4 is retracted into the storage area 31 of the carrier frame 3, thereby realizing the storage and release of the drone 2 supported on the support frame 4.

[0034] Furthermore, the lifting device 5 includes: a lifting motor 51 disposed below the vehicle frame 3 within the housing 11; and a lead screw 54 arranged longitudinally within the vehicle frame 3. One end of the lead screw 54 is pivotally connected via a rotating seat 541 fixedly disposed on the vehicle frame 3, and the other end of the lead screw 54 is screwed to the rotating seat 541 fixedly disposed on the support frame 4. The drive end of the lifting motor 51 is connected to the lead screw 54 via a transmission structure, used to drive the lead screw 54 to rotate forward and backward, driving the support frame 4 to rise and fall longitudinally relative to the vehicle frame 3 within the housing 11. More specifically, to further improve the stability of the lifting device 5, longitudinally arranged guide rods 55 are respectively disposed on opposite surfaces of the vehicle frame 3 within the housing 11. The two ends of the guide rods 55 are slidably limited to the upper and lower ends of the vehicle frame 3 by sliding sleeves; the guide rods 55 and the lead screw are respectively arranged in a rectangular pattern on the four sides of the vehicle frame 3. The lifting motor 51 is fixedly disposed below the vehicle cavity 114 within the vehicle frame 3 via a mounting plate 56. Example 4

[0035] Based on Embodiment 3, the vehicle frame 3 is externally surrounded by an outer shell 11. The outer shell 11 includes a base 111, a surrounding panel 112, and a hatch 113, forming the UAV nest 1. The vehicle frame 3 has a reserved open storage area 31. The base 111 is located below the vehicle frame 3, the surrounding panel 112 surrounds the outer perimeter of the vehicle frame 3, and the hatch 113 is relatively openable and closable above the vehicle frame 3, corresponding to the opening of the storage area 31. In this embodiment, the opening structure of the hatch 113 adopts the assembly connection relationship of the prior art. Example 5

[0036] A method for capturing drone nests, implemented using an active drone nest-capturing system according to any one of Embodiments 1 to 4, includes the following steps: When it is necessary to capture the drone 2, the drive lifting device 5 drives the carrier frame 4 to lift relative to the carrier frame 3 until the upper part of the carrier frame 4 extends out of the carrier frame 3, and the drone 2 is supported by the top of the carrier frame 4 extending out of the carrier frame 3. The capture device 6 installed on the drive support frame 4 grabs the frame 21 of the drone 2 and confines the drone 2 on the support frame 4. The support frame 4 supports the frame 21 of the drone 2, and the capture device 6 confines the frame 21. The landing gear 22 area of ​​the drone 2 is stored in the support frame 4, thus completing the receiving and confinement of the drone 2. The drive lifting device 5 drives the carrier frame 4 to descend and retract relative to the vehicle frame 3 until the carrier frame 4 is retracted into the storage area 31 of the vehicle frame 3, thus completing the capture of the drone 2. When it is necessary to release drone 2, reverse the capture steps.

[0037] Furthermore, when the arm of the drone 2 in the frame 21 enters the slot formed by the swing clamp 611 and the limiting clamp 612 of the capturing device 6 from top to bottom, it first encounters the limiting clamp 612. The limiting clamp 612 is currently pulled upward by the elastic connector 613 (i.e., spring), and due to mechanical limiting, the gripping claw is currently in its highest upward state. After the arm overcomes the elastic connector 613 and enters the slot between the limiting clamps 612, the clamping arm is confined within the slot, preventing it from exiting. Once all four arms of the drone 2 are in the slot, they cannot detach. At this point, controlling the drone 2 to power down completes the capture of the drone 2. However, this is not the only possibility. In other embodiments, other elastic connector structures from the prior art can be selected according to actual usage requirements, as long as they can achieve the functions and effects desired by this invention.

[0038] Working principle: The inherent characteristics of UAV 2 dictate that it can only land in a horizontal orientation; however, the plane on which the UAV nest 1, carrying the nest, is located is often tilted. During landing operations, the UAV 2 is prone to instability due to the platform's tilt angle, causing it to tip over and potentially leading to a safety accident. To overcome this deficiency, this invention proposes an active capture-type UAV nest system and its capture method, which can complete the storage and retrieval of UAV 2 in various terrain environments, improving the transport stability of UAV 2, and is particularly suitable for operation scenarios with slopes, enabling reliable retrieval and placement of UAV 2.

[0039] During operation, the most common problem when drone 2 lands is tipping over due to instability. This method addresses this by fine-tuning the height of the support frame 4, which directly supports the drone 2's arms. The support frame 4 then corrects the drone 2's hovering plane to align with the entire platform of the nest. Even if there's an angle between the drone 2's hovering plane and the nest before landing, this device will correct it.

[0040] Of course, when the drone 2 lands, it is in operation, and each arm has lift. Without a mechanical device to restrain the arms, the drone 2 risks ejecting from the carrier frame 4, causing a hazard. However, this invention includes a capture device 6 on the carrier frame 4. When an arm in the frame 21 of the drone 2 enters the slot formed by the swinging clamp 611 and the limiting clamp 612 of the capture device 6 from top to bottom, it first encounters the limiting clamp 612. The limiting clamp 612 is currently pulled upwards by the elastic connector 613 (i.e., a spring), and due to mechanical restraint, the gripping claw is currently at its highest upward position. After the arm overcomes the elastic connector 613 and enters the slot between the limiting clamps 612, the arm is clamped and confined within the slot, preventing it from exiting. Once all four arms of the drone 2 are in the slots, they cannot detach. At this point, powering down the drone 2 completes the capture process.

[0041] The above specific embodiments are specific support for the concept proposed in this invention, and should not be used to limit the scope of protection of this invention. Any equivalent changes or modifications made on the basis of this technical solution in accordance with the technical concept proposed in this invention shall still fall within the scope of protection of this invention.

Claims

1. An active acquisition-type unmanned aerial vehicle (UAV) nesting system, comprising: A drone nest for receiving drones is characterized in that the drone nest includes an outer shell and a support frame disposed within the outer shell. The outer shell is provided with an entrance and an exit. A lifting device is disposed within the outer shell. The lifting device is drivenly connected to the support frame and is used to drive the support frame to rise and fall relative to the entrance and exit of the outer shell. The support frame is provided with an open capture area, which is used to store the drone; The support frame is also equipped with several support brackets for supporting the drone. The support bracket is equipped with a capture device capable of capturing drones.

2. The active acquisition-type UAV nesting system according to claim 1, characterized in that: The capturing device includes a connecting plate mounted on a support frame, and a swinging clamp that can open and close relative to the connecting plate is rotatably connected to the connecting plate. The two ends of the swing clamp are a swing end and an opening and closing end, respectively. The swing end is driven to be connected to a telescopic mechanism set on the support frame. The telescopic mechanism drives the opening and closing end to rotate around the pivot point where the swing clamp is rotatably connected to the connecting plate, thereby causing the opening and closing ends of the swing clamp to open and close relative to each other, which is used to limit the frame of the UAV.

3. The active acquisition-type UAV nesting system according to claim 2, characterized in that: A limiting clamp is rotatably connected to the opening and closing end; one end of the limiting clamp is connected to the connecting plate through an elastic connector; the other end of the limiting clamp is arranged opposite to the corresponding limiting clamp; a limited area is obtained between the swing clamp and the limiting clamp, and the size and opening and closing of the limited area are adjusted by the relative opening and closing of the swing clamp and the limiting clamp.

4. The active acquisition-type UAV nesting system according to claim 3, characterized in that: A linkage mechanism is rotatably connected to the connecting plate, and the swinging clamping block and the clamping plate preset in the limited area are respectively driven to be connected to the telescopic mechanism through the linkage mechanism; The linkage mechanism drives the swing clamp to open and close to its limit, and drives the clamping plate to rise and fall relative to the swing clamp within the defined area.

5. The active acquisition-type UAV nesting system according to claim 4, characterized in that: The linkage mechanism includes a linkage assembly 1 that is rotatably connected to the connecting plate; One end of the first connecting rod assembly is connected to the clamping plate, and the other end of the first connecting rod assembly is driven to the telescopic mechanism; The clamping plate is located in the defined area, and the clamping plate is moved up and down within the defined area by the telescopic mechanism driving the linkage assembly.

6. The active acquisition-type UAV nesting system according to claim 5, characterized in that: The linkage mechanism further includes a second linkage assembly rotatably connected to the connecting plate. One end of the second linkage assembly is rotatably connected to the connecting plate, and the other end of the second linkage assembly is rotatably connected to one end of the swing clamp.

7. The active acquisition-type UAV nesting system according to claim 6, characterized in that: The first linkage assembly adopts a scissor-type telescopic linkage. The forked ends of the first linkage assembly are respectively slidably limited in the waist-shaped groove of the clamping plate to accommodate the opening and closing pitch changes when the first linkage assembly is telescopic. The converging end of the first linkage assembly is drivenly connected to the telescopic mechanism. And / or, the second linkage assembly adopts a V-shaped hinged swing arm, the forked ends of the second linkage assembly are rotatably connected to one end of the swing clamp, the converging end of the second linkage assembly is drivenly connected to the telescopic mechanism, and the other end of the swing clamp is rotatably connected to the limiting clamp.

8. The active acquisition-type UAV nesting system according to claim 6, characterized in that: The vehicle frame adopts a polyhedral frame structure, and a longitudinally through storage area is reserved inside the vehicle frame; the carrying frame is set in the storage area, and a longitudinally through capture area is reserved inside the carrying frame; the capture area is used to store the drone, and the drone's frame is fixed on the carrying frame by a capture device; a support bracket is set above the carrying frame; several mounting frames are set inside the carrying frame; the telescopic mechanism is set on the mounting frame; the telescopic rod of the telescopic mechanism is drivenly connected to the linkage mechanism. And / or, the outer shell includes a base, a panel, and a hatch that are connected and enclosed, a vehicle frame is provided inside the outer shell, the vehicle frame is provided with a storage area with an opening, the base is provided below the vehicle frame, the panel is provided around the outer perimeter of the vehicle frame, and the hatch is provided above the vehicle frame that opens and closes relative to it, with the hatch corresponding to the opening of the storage area.

9. The active acquisition-type UAV nesting system according to claim 8, characterized in that: The lifting device includes a lifting motor housed within a housing and a lead screw arranged longitudinally within a vehicle frame. One end of the lead screw is pivotally connected via a screw seat fixedly mounted on the vehicle frame, and the other end of the lead screw is screwed to a screw seat fixedly mounted on a support frame. The drive end of the lifting motor is connected to the lead screw via a transmission structure to drive the lead screw to rotate in both directions, thereby driving the support frame to rise and fall longitudinally relative to the vehicle frame.

10. A method for capturing a drone's nest, characterized in that, The active acquisition-type UAV nest system according to any one of claims 1-9 is implemented by comprising the following steps: When it is necessary to capture a drone, the drive lifting device raises the support frame relative to the outer shell until the upper part of the support frame extends out of the outer shell, and the drone is supported by the top of the support frame that extends out of the outer shell. The capture device installed on the drive support frame grabs the drone's frame and confines the drone to the support frame. The support frame supports the drone's frame, the capture device confines the frame, and the drone's landing gear is stored in the support frame, thus completing the drone's receiving and confinement. The drive lifting device lowers the carrier frame relative to the outer shell for retraction until the carrier frame is retracted into the storage area of ​​the outer shell, thus completing the capture of the drone; When it is necessary to release the drone, reverse the capture steps.

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