Self-balancing unmanned aerial vehicle take-off and landing platform

Abstract

The utility model provides a self-balancing unmanned aerial vehicle take-off and landing platform, the lower end face of the take-off and landing platform is fixedly provided with a controller, a wireless communication module and a storage battery, the wireless communication module is electrically connected with the controller and is used for realizing remote wireless communication with an upper computer, and the storage battery is electrically connected with the controller and is used for supplying power to a system. A balance leg connecting part protruding in the plane direction is arranged on one side of the take-off and landing platform, the two ends of the balance leg connecting part and the two ends of the other side, opposite to the balance leg connecting part, of the take-off and landing platform are each provided with a balance leg assembly, and the three balance leg assemblies work independently, are electrically connected with a controller on the take-off and landing platform and are used for adjusting the balance state of the take-off and landing platform. The problem that existing field detection lacks unmanned aerial vehicle take-off and landing platforms for various complex terrains is solved. The problem that existing field detection lacks unmanned aerial vehicle take-off and landing platforms for various complex terrains is solved. Belongs to the field detection field.

Description

Technical Field

[0001] The utility model relates to a self-balancing UAV take-off and landing platform, belonging to the field of field UAV detection. Background Art

[0002] At present, military and civilian drones are widely used. In the fields of field exploration and construction, drones are often used to detect field environments. The field environment is complex and diverse, and existing field exploration drones generally require a stable take-off and landing platform. Therefore, it is necessary to design a drone take-off and landing platform that can adapt to complex and diverse terrains. Summary of the invention

[0003] The utility model provides a self-balancing UAV take-off and landing platform to solve the problem that there is a lack of UAV take-off and landing platforms for various complex terrains in field exploration.

[0004] In order to solve the above problems, a self-balancing UAV landing platform is proposed, including a landing platform, a controller, a wireless communication module, a battery and a sensor unit are fixedly arranged on the lower end surface of the landing platform, the wireless communication module is electrically connected to the controller, and is used to realize remote wireless communication with the host computer, the battery is electrically connected to the controller, and supplies power to the system, the sensor unit is electrically connected to the controller, and is used to monitor the balance state of the landing platform, one side of the landing platform has a balance leg connecting part protruding along the plane direction, and a group of balance leg assemblies are respectively arranged on the balance leg connecting part and at both ends of the other side of the landing platform opposite to it, the three groups of balance leg assemblies work independently and are electrically connected to the controller on the landing platform, respectively, for adjusting the balance state of the landing platform, the working bottom ends of the three groups of balance leg assemblies are respectively provided with self-propelled wheel assemblies, the three groups of self-propelled wheel assemblies work independently and are electrically connected to the controller, and are used to drive the landing platform to walk.

[0005] In the aforementioned take-off and landing platform, the sensor unit is composed of a three-axis acceleration sensor and a three-axis gyroscope, both of which are electrically connected to the controller. The three-axis gyroscope is ENC-03MB, and the three-axis acceleration sensor is MMA7361 from Freescale.

[0006] In the aforementioned lifting and lowering platform, the self-propelled wheel assembly includes a bearing cylinder connected to the balancing leg assembly, a traveling motor is arranged inside the bearing cylinder, the traveling motor is electrically connected to the controller, and a traveling wheel is coaxially fixed to the output end of the traveling motor.

[0007] In the aforementioned take-off and landing platform, the balance leg assembly includes an adjustment motor, a main attitude adjustment swing arm, and an auxiliary attitude adjustment swing arm. Each group of balance leg assemblies is provided with two adjustment motors, the two adjustment motors are fixed on the same side of the take-off and landing platform, and are symmetrically distributed with respect to the length center line of the take-off and landing platform. The two adjustment motors work independently and are electrically connected to the controller. The output ends of the two adjustment motors are respectively fixedly connected to the upper end of a main attitude adjustment swing arm, the lower ends of the two main attitude adjustment swing arms are respectively rotatably connected to the upper end of an auxiliary attitude adjustment swing arm, and the lower ends of the two auxiliary attitude adjustment swing arms are both rotatably connected to the bearing cylinder of the corresponding self-propelled wheel assembly.

[0008] Compared with the prior art, the outdoor UAV take-off and landing platform described in the utility model can achieve a smooth landing of the UAV under special uneven terrain conditions. When the UAV is used in the field, if the set position of the take-off and landing platform is not flat, for example, the UAV needs to be taken off and landed on a slope, firstly, by adjusting the output of the adjustment motor and the walking motor, a quick response is achieved so that the take-off and landing platform can still maintain a stable state when the ground is uneven. The three sets of balance leg assemblies realize three-point support to ensure the stability of the platform when the UAV takes off and lands. It can also move by itself with the help of the wheel-leg structure without manual handling. It is more flexible and versatile to use, more adaptable, and easier to store. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a three-dimensional structural schematic diagram of embodiment 1 of the utility model;

[0010] Figure 2 It is a bottom plan view (bottom view) of Example 1 of the utility model;

[0011] Figure 3 This is a control principle diagram of Embodiment 1 of the present utility model;

[0012] Figure 4 It is a bottom plan view (bottom view) of Embodiment 2 of the present utility model;

[0013] Figure 5 It is a control principle diagram of embodiment 2 of the present utility model. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solutions and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0015] Example 1

[0016] See attached Figures 1 to 3This embodiment improves the field UAV take-off and landing platform, and assembles a wheel-leg balancing mechanism that adapts to all-terrain balance into the take-off and landing platform, so that the UAV can achieve a smooth and balanced landing in a very special terrain when landing. It specifically includes a take-off and landing platform 1, and the lower end surface of the take-off and landing platform 1 is also fixedly provided with a controller 3, a wireless communication module 5, and a battery 6. The wireless communication module 5 is electrically connected to the controller 3 for realizing remote wireless communication with the host computer, and the battery 6 is electrically connected to the controller 3 to power the system.

[0017] One side of the lifting and landing platform 1 is provided with a balancing leg connecting part 11 protruding along the plane direction, and a group of balancing leg assemblies 2 are respectively arranged on the balancing leg connecting part 11 and at both ends of the other side of the lifting and landing platform 1 opposite thereto, and the three groups of balancing leg assemblies 2 work independently and are respectively electrically connected to the controller 3 on the lifting and landing platform 1, so as to adjust the balance state of the lifting and landing platform 1, and the working bottom ends of the three groups of balancing leg assemblies 2 are respectively provided with self-propelled wheel assemblies 4, and the three groups of self-propelled wheel assemblies 4 work independently and are electrically connected to the controller 3, so as to drive the lifting and landing platform 1 to walk, and the self-propelled wheel assembly 4 includes a bearing cylinder 41 connected to the balancing leg assembly 2, and a walking motor 42 is arranged inside the bearing cylinder 41, and the walking motor 42 is electrically connected to the controller 3, and a walking wheel 43 is coaxially fixed to the output end of the walking motor 42.

[0018] The balancing leg assembly 2 includes an adjustment motor 21, a main attitude adjustment swing arm 22, and an auxiliary attitude adjustment swing arm 23. Each group of balancing leg assemblies 2 is provided with two adjustment motors 21, the two adjustment motors 21 are fixed to the same side of the take-off and landing platform 1, and are symmetrically distributed with the length center line of the take-off and landing platform 1 as a reference. The two adjustment motors 21 work independently and are electrically connected to the controller 3. The output ends of the two adjustment motors 21 are respectively fixedly connected to the upper end of a main attitude adjustment swing arm 22, and the lower ends of the two main attitude adjustment swing arms 22 are respectively rotatably connected to the upper end of an auxiliary attitude adjustment swing arm 23. The two auxiliary attitude adjustment swing arms 23 are respectively connected to the upper end of the auxiliary attitude adjustment swing arm 23. The lower ends are rotatably connected to the supporting cylinder 41 of the corresponding self-propelled wheel assembly 4. With this arrangement, the controller 3 controls the adjustment motor 21 so that the adjustment motor 21 drives the main attitude adjustment swing arm 22 to rotate, and the auxiliary attitude adjustment swing arm 23 rotates with the rotation of the main attitude adjustment swing arm 22. The two main attitude adjustment swing arms 22 are driven to rotate by the two adjustment motors 21 respectively, so as to achieve the angle adjustment of the main attitude adjustment swing arm 22 and the auxiliary attitude adjustment swing arm 23, thereby achieving the position adjustment of the height direction and the horizontal direction of the self-propelled wheel assembly 4, ensuring that the take-off and landing platform 1 is in a balanced state, and at the same time being able to achieve the crossing of high obstacles.

[0019] Through the above-mentioned field UAV take-off and landing platform, the three groups of balance leg assemblies 2 and the three groups of self-propelled wheel assemblies 4 can be controlled by the host computer through the controller 3 as needed to achieve flexible adjustment of the inclination, walking, steering, etc. of the take-off and landing platform 1, and can flexibly adapt to many complex terrains in the field.

[0020] Example 2

[0021] Refer to the attached Figure 4 and Figure 5 The difference between this embodiment and the first embodiment is that: it also includes a sensor unit 7, which is electrically connected to the controller 3 and used to monitor the balance state of the take-off and landing platform 1. The sensor unit is composed of a three-axis acceleration sensor 71 and a three-axis gyroscope 72. The three-axis acceleration sensor 71 and the three-axis gyroscope 72 are both electrically connected to the controller 3. The three-axis gyroscope 72 is ENC-03MB, and the three-axis acceleration sensor 71 is MMA7361 of Freescale. In this way, the balance posture detection of the take-off and landing platform 1 is realized through the three-axis acceleration sensor 71 and the three-axis gyroscope 72, and the tilt angle information of the take-off and landing platform 1 is accurately obtained, and the information is transmitted to the controller 3, so that the controller 3 can control the balance leg assembly 2 to realize the balance adjustment of the take-off and landing platform 1, which provides the possibility for the realization of remote control.

[0022] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-balancing UAV take-off and landing platform, comprising a take-off and landing platform (1), characterized in that: The lower end surface of the lifting and landing platform (1) is also fixedly provided with a controller (3), a wireless communication module (5) and a storage battery (6); the wireless communication module (5) is electrically connected to the controller (3) and is used to realize remote wireless communication with a host computer; the storage battery (6) is electrically connected to the controller (3) and is used to supply power to the system; one side of the lifting and landing platform (1) is provided with a balancing leg connecting portion (11) protruding in the plane direction; a group of balancing leg assemblies (2) are respectively provided on the balancing leg connecting portion (11) and at two ends of the other side of the lifting and landing platform (1) opposite thereto; the three groups of balancing leg assemblies (2) work independently and are respectively electrically connected to the controller (3) on the lifting and landing platform (1) and are used to adjust the balance state of the lifting and landing platform (1); the working bottom ends of the three groups of balancing leg assemblies (2) are respectively provided with self-propelled wheel assemblies (4); the three groups of self-propelled wheel assemblies (4) work independently and are electrically connected to the controller (3) and are used to drive the lifting and landing platform (1) to walk.

2. A self-balancing UAV take-off and landing platform according to claim 1, characterized in that: It also includes a sensor unit, which is electrically connected to the controller (3) and is used to monitor the balance state of the take-off and landing platform (1).

3. A self-balancing UAV take-off and landing platform according to claim 2, characterized in that: The sensor unit is composed of a three-axis acceleration sensor (71) and a three-axis gyroscope (72); the three-axis acceleration sensor (71) and the three-axis gyroscope (72) are both electrically connected to a controller (3); the three-axis gyroscope (72) is ENC-03MB, and the three-axis acceleration sensor (71) is MMA7361.

4. The self-balancing UAV take-off and landing platform according to claim 1, characterized in that: The self-propelled wheel assembly (4) comprises a bearing cylinder (41) connected to the balancing leg assembly (2), a travel motor (42) is arranged inside the bearing cylinder (41), the travel motor (42) is electrically connected to the controller (3), and a travel wheel (43) is coaxially fixed to the output end of the travel motor (42).

5. A self-balancing UAV take-off and landing platform according to claim 4, characterized in that: The balancing leg assembly (2) comprises an adjustment motor (21), a main posture adjustment swing arm (22), and a secondary posture adjustment swing arm (23). Each group of balancing leg assemblies (2) is provided with two adjustment motors (21). The two adjustment motors (21) are fixed to the same side of the take-off and landing platform (1) and are symmetrically distributed with the length midline of the take-off and landing platform (1) as a reference. The two adjustment motors (21) work independently and are electrically connected to the controller (3). The output ends of the two adjustment motors (21) are respectively fixedly connected to the upper end of a main posture adjustment swing arm (22). The lower ends of the two main posture adjustment swing arms (22) are respectively rotatably connected to the upper end of a secondary posture adjustment swing arm (23). The lower ends of the two secondary posture adjustment swing arms (23) are both rotatably connected to the bearing cylinder (41) of the corresponding self-propelled wheel assembly (4).

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