Self-adaptive full-autonomous electromagnetic adsorption type landing assisting device for multi-rotor unmanned aerial vehicle

Abstract

The utility model belongs to the technical field of unmanned helicopters, and particularly relates to a self-adaptive full-autonomous electromagnetic adsorption type landing assisting device for a multi-rotor unmanned aerial vehicle. Comprising a main body supporting frame, a self-recovery sliding electromagnetic adsorption mechanism and a control box, wherein the self-recovery sliding electromagnetic adsorption mechanism and the control box are arranged on the main body supporting frame; the main body supporting frame is connected with a foot stool of the multi-rotor unmanned aerial vehicle through a connecting structure; when the multi-rotor unmanned aerial vehicle lands, the self-recovery sliding electromagnetic adsorption mechanism makes contact with the landing platform and then sends a trigger signal to the control box, the control box controls the self-recovery sliding electromagnetic adsorption mechanism to be magnetically attracted to the landing platform, and landing of the multi-rotor unmanned aerial vehicle is assisted. The landing trigger state can be judged more accurately through the mechanical trigger limit switch, it is guaranteed that the multi-rotor unmanned aerial vehicle is stably, accurately and quickly locked with the mother platform, and sideslip or rollover is prevented.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned helicopters, in particular to a self-adaptive fully autonomous electromagnetic adsorption type landing auxiliary device for a multi-rotor unmanned aerial vehicle. Background Art

[0002] Air-to-ground or air-to-sea mother-and-child robotic systems not only combine the high-altitude and wide-field capabilities of drones with the long-endurance capabilities of ground or sea platforms, but are therefore gaining increasing attention in the field of cross-domain collaboration. However, the core foundation of cross-domain collaboration for air-to-ground or air-to-sea mother-and-child robotics is the ability of drones to safely take off and land on the mother platform, and to be stably attached to it for long-distance transport. Multi-rotor drones, due to their numerous advantages, such as hovering and precise control, are increasingly being used in air-to-ground or air-to-sea mother-and-child robotic platforms.

[0003] However, for some small and medium-sized multi-rotor unmanned helicopters, the design of the harpoon device is too complicated, and during the release and recovery process of the mother-and-child platform, there is an urgent need for a device that can adaptively adapt to the landing platform posture and achieve fully autonomous control adsorption or separation, so as to improve the unmanned and fully autonomous level of the air-to-ground or air-to-sea mother-and-child robot system. Utility Model Content

[0004] In response to the above problems, the purpose of the present utility model is to provide an adaptive fully autonomous electromagnetic adsorption landing assist device for multi-rotor UAVs. The device replaces the complex harpoon device with a simple adaptive fully autonomous electromagnetic adsorption landing assist device, thereby realizing fully autonomous and adaptive locking between the sub-platform and the mother platform in large-attitude landing conditions during the release or recovery process of the air-to-ground or air-to-sea mother-and-child robot system, thereby preventing the sub-platform (multi-rotor UAV) from tipping over or sliding off the mother platform.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] The utility model provides an adaptive fully autonomous electromagnetic adsorption landing assistance device for a multi-rotor UAV, comprising a main support frame, a self-recovering sliding electromagnetic adsorption mechanism and a control box arranged on the main support frame, wherein the main support frame is connected to the tripod of the multi-rotor UAV through a connecting structure; when the multi-rotor UAV lands, the self-recovering sliding electromagnetic adsorption mechanism contacts the landing platform and sends a trigger signal to the control box, and the control box controls the self-recovering sliding electromagnetic adsorption mechanism to be magnetically attracted to the landing platform, thereby assisting the multi-rotor UAV to land.

[0007] The self-recovering sliding electromagnetic adsorption mechanism includes an electromagnetic suction cup, a universal ball head connecting rod, a return spring and a sliding connecting rod, wherein the universal ball head connecting rod has a ball joint, the lower end of the universal ball head connecting rod is fixedly connected to the electromagnetic suction cup, the upper end of the universal ball head connecting rod is connected to the sliding connecting rod, the sliding connecting rod is slidably connected to the main support frame, the return spring is sleeved on the upper part of the universal ball head connecting rod, and the upper end of the return spring abuts against the main support frame; the electromagnetic suction cup is connected to the control box through a cable.

[0008] When the electromagnetic chuck is in a non-contact state with the landing platform, the electromagnetic chuck is kept in a horizontal state by gravity;

[0009] When the electromagnetic chuck contacts the landing platform, the electromagnetic chuck can adaptively fit and absorb the landing platform.

[0010] A ground trigger disc is sleeved on the universal ball head connecting rod. When the ground trigger disc moves up and down with the universal ball head connecting rod, it will trigger or cut off the trigger limit switch of the control box, thereby energizing the electromagnetic suction cup.

[0011] The landing trigger disc is located above the ball joint of the universal ball head connecting rod, and the landing trigger disc is fixed by a limit nut; the lower end of the reset spring abuts against the limit nut, and the reset spring is used to reset the universal ball head connecting rod after the multi-rotor drone flies away from the landing platform, thereby separating the landing trigger disc from the trigger limit switch.

[0012] The main body support frame is provided with a free sliding flange, the sliding connecting rod passes through the free sliding flange and is slidably matched with the free sliding flange, and the upper end of the sliding connecting rod is provided with an axial limiting shoulder.

[0013] The electromagnetic chuck is a circular electromagnet with a power supply of 24V DC and a suction force of 80kg.

[0014] The main body support frame is provided with a floor-triggering strobe light connected to the control box; when the self-recovering sliding electromagnetic adsorption mechanism sends a trigger signal to the control box, the control box controls the floor-triggering strobe light to strobe.

[0015] The connecting structure includes a tripod connecting rod and a UAV tripod pipe clamp, wherein the UAV tripod pipe clamp is sleeved on the tripod of the multi-rotor UAV, one end of the tripod connecting rod is connected to the UAV tripod pipe clamp, and the other end is connected to the main support frame.

[0016] The advantages and beneficial effects of the utility model are:

[0017] 1. The utility model can realize the fully autonomous and adaptive locking between the sub-platform and the mother platform in the case of large-attitude landing during the release or recovery process of the air-to-ground or air-to-sea mother-and-child robot system, which can prevent the sub-platform (multi-rotor drone) from tipping over or sliding off the mother platform.

[0018] 2. The electromagnetic suction cup of the utility model is connected to the sliding connecting rod through a universal ball head connecting rod, which can effectively cope with the full fit between the electromagnetic suction cup and the landing platform when the multi-rotor drone lands in a large attitude.

[0019] 3. This utility model adopts a separate control system for each system, which is both reliable and safe. The landing trigger state can be judged more accurately by mechanically triggering the limit switch, ensuring that the multi-rotor drone is locked with the mother platform stably, accurately and quickly to prevent sideslip or rollover. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural diagram of a self-adaptive and fully autonomous electromagnetic adsorption landing assist device for a multi-rotor UAV of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of a multi-rotor drone equipped with the utility model;

[0022] Figure 3 This is a flowchart of the application workflow of the utility model;

[0023] In the figure: 1-electromagnetic suction cup, 2-fastening nut, 3-universal ball head connecting rod, 4-landing trigger disc, 5-limit nut, 6-return spring, 7-trigger limit switch, 8-main body support frame, 9-free sliding flange, 10-sliding connecting rod, 11-control box, 12-tripod connecting rod, 13-UAV tripod pipe clamp, 14-landing trigger strobe light, 15-multi-rotor UAV, 16-landing platform. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] See also Figures 1 to 3 As shown, the utility model provides an adaptive fully autonomous electromagnetic adsorption landing assistance device for a multi-rotor UAV, comprising a main support frame 8 and a self-recovering sliding electromagnetic adsorption mechanism and a control box arranged on the main support frame 8, wherein the main support frame 8 is connected to the tripod of the multi-rotor UAV 15 through a connecting structure; when the multi-rotor UAV 15 lands, the self-recovering sliding electromagnetic adsorption mechanism contacts the landing platform 16 and sends a trigger signal to the control box, and the control box controls the self-recovering sliding electromagnetic adsorption mechanism to be magnetically attracted to the landing platform 16, thereby assisting the multi-rotor UAV 15 to land.

[0026] See also Figure 1 As shown, in an embodiment of the present invention, the self-recovering sliding electromagnetic adsorption mechanism includes an electromagnetic suction cup 1, a universal ball head connecting rod 3, a reset spring 6 and a sliding connecting rod 10, wherein the universal ball head connecting rod 3 has a ball joint, the lower end of the universal ball head connecting rod 3 is fixedly connected to the electromagnetic suction cup 1, the upper end of the universal ball head connecting rod 3 is connected to the sliding connecting rod 10, the sliding connecting rod 10 is slidingly connected to the main support frame 8, the reset spring 6 is sleeved on the upper part of the universal ball head connecting rod 3, and the upper end of the reset spring 6 is in contact with the main support frame 8; the electromagnetic suction cup 1 is connected to the control box through a cable.

[0027] When the electromagnetic chuck 1 is not in contact with the landing platform 16, the electromagnetic chuck 1 is kept horizontal by gravity because the universal ball joint connecting rod 3 has a ball joint. When the electromagnetic chuck 1 is in contact with the landing platform 16, the electromagnetic chuck 1 can adaptively fit and absorb the landing platform 16.

[0028] In the embodiment of the present invention, a ground trigger disc 4 is sleeved on the universal ball head connecting rod 3. When the ground trigger disc 4 moves up and down with the universal ball head connecting rod 3, it will trigger or cut off the trigger limit switch 7 of the control box, thereby energizing the electromagnetic suction cup 1.

[0029] Specifically, the electromagnetic chuck 1 is a circular electromagnet with a power supply of 24V DC and a suction force of 80kg. The electromagnetic chuck 1 is connected to the universal ball joint connecting rod 3 through a fastening nut 2 to prevent it from falling off due to long-term rotation.

[0030] The universal ball joint connecting rod 3 can make the electromagnetic suction cup 1 rotate with multiple degrees of freedom, thereby ensuring adaptive fit and adsorption between the electromagnetic suction cup 1 and the moving platform under different postures of the multi-rotor drone 15.

[0031] Furthermore, landing trigger disc 4 is located above the ball joint of universal ball joint connecting rod 3 and is secured by a limit nut 5. The lower end of a return spring 6 abuts against the limit nut 5. This spring is used to reset the universal ball joint connecting rod 3 after the multi-rotor drone 15 leaves the landing platform 16, thereby ensuring that the landing trigger disc 4 is fully separated from the trigger limit switch 7 to prevent accidental triggering. Landing trigger disc 4 is used to trigger the limit switch 7 upon landing of the multi-rotor drone 15.

[0032] In the embodiment of the present invention, the main support frame 8 is provided with a free sliding flange 9, through which a sliding connecting rod 10 passes and slidably engages. The upper end of the sliding connecting rod 10 is provided with an axial limit shoulder. The sliding connecting rod 10 can slide freely within the free sliding flange 9, thereby achieving full adsorption of the electromagnetic chuck 1 and the landing platform 16 during the landing process of the multi-rotor drone 15.

[0033] Furthermore, a ground-trigger strobe light 14 connected to a control box is provided on the main support frame 8. When the self-recovering sliding electromagnetic adsorption mechanism sends a trigger signal to the control box, the control box controls the ground-trigger strobe light 14 to strobe. Specifically, the control box 11 contains a controller.

[0034] In an embodiment of the present invention, the connecting structure includes a tripod connecting rod 12 and a UAV tripod pipe clamp 13, wherein the UAV tripod pipe clamp 13 is sleeved on the tripod of the multi-rotor UAV 15, one end of the tripod connecting rod 12 is connected to the UAV tripod pipe clamp 13, and the other end is connected to the main support frame 8.

[0035] The utility model senses the landing of the electromagnetic chuck 1 by triggering the limit switch 7, and controls the power on and off of the electromagnetic chuck 1 according to the flight control instruction state, and controls the on and off state of the strobe light 14 triggered by the landing.

[0036] The utility model provides an adaptive fully autonomous electromagnetic adsorption landing assist device for a multi-rotor drone, which has a simple structure and is easy to install. It only needs to be fixed to the two landing gears of the multi-rotor drone 15 through the drone tripod pipe clamp 13. There is no need to design any other complex mechanical devices on the mother platform. The landing platform only needs to be a flat iron surface, and it is not restricted by the landing position.

[0037] Figure 3 This is the application workflow diagram of the utility model; see Figure 3 As shown, the flight process (state) of the multi-rotor drone 15 is divided into four stages: before takeoff, after takeoff, during landing, and after landing. Before takeoff, the flight control system and the device described in the utility model are powered on and on standby, and the electromagnetic suction cup 1 is in the adsorption state. After receiving the takeoff command, the system enters the post-takeoff stage, and the electromagnetic suction cup 1 is released from the adsorption state until landing, that is, it remains in the power-off state during the execution of the mission in the air. When the controller in the control box receives the landing command, the entire system enters the "landing" mission state. That is, the controller constantly checks whether the electromagnetic suction cup has triggered the limit switch. Once triggered, it turns on the power of the electromagnetic suction cup 1, allowing the electromagnetic suction cup 1 to enter the adsorption state, firmly adsorbing the multi-rotor drone 15 on the landing platform 16 until the mother-and-child platform mission is completed and the engine is shut down and the system enters the power-off idle state according to the operating command.

[0038] The present invention provides an adaptive, fully autonomous electromagnetic adsorption landing assist device for multi-rotor drones. The controller in the control box 11 senses the landing state of the electromagnetic suction cup 1 by triggering the limit switch 7, thereby turning on or off the power switch of the electromagnetic suction cup 1 according to the flight instruction state output obtained from the flight control, and simultaneously turning on the landing trigger strobe light 14 to indicate whether the system device has entered the adsorption state. The entire self-recovering sliding electromagnetic adsorption mechanism can slide freely on the main support frame 8. The electromagnetic suction cup 1 is connected to the main support frame 8 via a universal ball head connecting rod 3, thereby ensuring full contact and adsorption between the electromagnetic suction cup 1 and the landing platform 16 even when the attitude of the multi-rotor drone 15 changes during landing. The adaptive, fully autonomous electromagnetic adsorption landing assist device for multi-rotor drones is fixed to the multi-rotor drone tripod via the drone tripod fixing pipe clamp 13, thereby ensuring that the multi-rotor drone 15 will not tip over or slide off the moving platform during take-off and landing.

[0039] The above description is only an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the scope of protection of the present invention.

Claims

1. An adaptive fully autonomous electromagnetic adsorption landing assist device for a multi-rotor UAV, characterized in that: The invention comprises a main support frame (8), a self-recovering sliding electromagnetic adsorption mechanism and a control box arranged on the main support frame (8), wherein the main support frame (8) is connected to the tripod of a multi-rotor unmanned aerial vehicle (15) through a connecting structure; when the multi-rotor unmanned aerial vehicle (15) lands, the self-recovering sliding electromagnetic adsorption mechanism contacts the landing platform (16) and sends a trigger signal to the control box, and the control box controls the self-recovering sliding electromagnetic adsorption mechanism to magnetically attract the landing platform (16), thereby assisting the multi-rotor unmanned aerial vehicle (15) to land.

2. The adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 1 is characterized in that: The self-restoring sliding electromagnetic adsorption mechanism comprises an electromagnetic suction cup (1), a universal ball head connecting rod (3), a reset spring (6) and a sliding connecting rod (10), wherein the universal ball head connecting rod (3) has a ball joint, the lower end of the universal ball head connecting rod (3) is fixedly connected to the electromagnetic suction cup (1), the upper end of the universal ball head connecting rod (3) is connected to the sliding connecting rod (10), the sliding connecting rod (10) is slidingly connected to the main support frame (8), the reset spring (6) is sleeved on the upper part of the universal ball head connecting rod (3), and the upper end of the reset spring (6) is in contact with the main support frame (8); the electromagnetic suction cup (1) is connected to the control box via a cable.

3. The adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 2, characterized in that: When the electromagnetic chuck (1) is in a non-contact state with the landing platform (16), the electromagnetic chuck (1) is kept in a horizontal state by gravity; When the electromagnetic chuck (1) contacts the landing platform (16), the electromagnetic chuck (1) can adaptively fit and adsorb the landing platform (16).

4. The adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 2, characterized in that: A ground triggering disc (4) is sleeved on the universal ball head connecting rod (3). When the ground triggering disc (4) moves up and down along with the universal ball head connecting rod (3), it triggers or cuts off the triggering limit switch (7) of the control box, thereby energizing the electromagnetic suction cup (1).

5. The adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 4 is characterized in that: The landing trigger disc (4) is located above the ball joint of the universal ball head connecting rod (3), and the landing trigger disc (4) is fixed by a limit nut (5); the lower end of the reset spring (6) is in contact with the limit nut (5), and the reset spring (6) is used to reset the universal ball head connecting rod (3) after the multi-rotor UAV (15) flies away from the landing platform (16), thereby separating the landing trigger disc (4) from the trigger limit switch (7).

6. The adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 2, characterized in that: The main body support frame (8) is provided with a free sliding flange (9), the sliding connecting rod (10) passes through the free sliding flange (9) and is slidably matched with the free sliding flange (9), and the upper end of the sliding connecting rod (10) is provided with an axial limiting shoulder.

7. The adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 2, characterized in that: The electromagnetic sucker (1) is a circular electromagnet with a power supply of 24V DC and a suction force of 80kg.

8. The adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 1, characterized in that: The main body support frame (8) is provided with a floor-triggering strobe light (14) connected to the control box; when the self-recovering sliding electromagnetic adsorption mechanism sends a trigger signal to the control box, the control box controls the floor-triggering strobe light (14) to strobe.

9. The adaptive fully autonomous electromagnetic adsorption landing assist device for a rotary wing UAV according to claim 1, characterized in that: The connection structure comprises a tripod connecting rod (12) and an unmanned aerial vehicle tripod pipe clamp (13), wherein the unmanned aerial vehicle tripod pipe clamp (13) is sleeved on the tripod of the multi-rotor unmanned aerial vehicle (15), one end of the tripod connecting rod (12) is connected to the unmanned aerial vehicle tripod pipe clamp (13), and the other end is connected to the main body support frame (8).

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