Take-off and landing platform suitable for mooring unmanned aerial vehicle and unmanned aerial vehicle system

Abstract

The utility model discloses a take-off and landing platform suitable for a mooring unmanned aerial vehicle and an unmanned aerial vehicle system, belongs to the technical field of unmanned aerial vehicles, and aims to solve the problems that the take-off and landing platform is easy to damage when an existing unmanned aerial vehicle lands and the like. The utility model discloses a take-off and landing platform suitable for mooring an unmanned aerial vehicle, which comprises a platform main body, a mooring line winding drum and a mooring line are arranged on the platform main body, and one end of the mooring line is fixedly connected to the mooring line winding drum; the mobile platform is movably connected to the platform main body; and the damping device is used for eliminating impact on the mobile platform when the mooring unmanned aerial vehicle lands. According to the take-off and landing platform suitable for the mooring unmanned aerial vehicle and the unmanned aerial vehicle system, the shock absorption device can eliminate impact on the mobile platform when the mooring unmanned aerial vehicle lands, so that the mooring unmanned aerial vehicle can stably land on the mobile platform, the mooring unmanned aerial vehicle and / or the mobile platform are / is prevented from being damaged, and the overall service life is prolonged. The mooring unmanned aerial vehicle can land on the mobile platform under the traction effect of the mooring line, and precise landing is ensured.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a take-off and landing platform and UAV system suitable for tethered UAVs. Background Technology

[0002] A tethered drone is a drone equipped with a tether line. The tether line provides traction and power to the drone, resulting in better stability and a longer continuous flight distance. Additionally, during descent, the tether line accurately measures the drone's distance from the ground, allowing for calibration of the descent maneuver.

[0003] Most existing tethered drones are equipped with a take-off and landing platform. One end of the tether line is connected to the drone, and the other end is connected to the take-off and landing platform. The drone can be retrieved onto the platform by winding up the tether line. The drawbacks of this type of tethered drone include: the drone retains a certain flight speed when landing, and the kinetic energy combined with the drone's own weight can cause the drone to collide with or crash into the take-off and landing platform, causing the platform to move or even be damaged, thus shortening the lifespan of the take-off and landing platform. Utility Model Content

[0004] The purpose of this invention is to propose a take-off and landing platform and a drone system suitable for tethered drones, which solves the problem that existing drones are prone to damage to the take-off and landing platform when landing, and the overall device has a longer service life.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A take-off and landing platform for tethered drones includes: a platform body on which a tether line reel and a tether line are disposed, one end of the tether line being fixedly connected to the tether line reel and capable of being wound around the tether line reel; a mobile platform movably connected to the platform body, the mobile platform being capable of rising and falling relative to the platform body, the mobile platform having a through hole for the tether line to pass through; and a shock-absorbing device disposed on the mobile platform, the shock-absorbing device being used to eliminate the impact on the mobile platform when the tethered drone lands.

[0007] In one preferred embodiment, the shock absorption device includes an elastic element that can elastically deform when the tethered drone lands on the mobile platform to eliminate the impact of the tethered drone landing on the mobile platform.

[0008] In one preferred embodiment, the tethering reel is equipped with a rotation angle measuring device, and the extension length of the tethering line can be obtained by the rotation angle and the outer diameter of the tethering reel.

[0009] In one preferred embodiment, the take-off and landing platform for tethered drones further includes a control device that is signal-connected to both the mobile platform and the tethered drone.

[0010] In one preferred embodiment, the mobile platform is equipped with an automatic gripper assembly, and the control device is connected to the shock-absorbing device and the automatic gripper assembly respectively. The control device can receive a signal that the shock-absorbing device is triggered, and the control device can control the automatic gripper assembly to close its claws.

[0011] In one preferred embodiment, the take-off and landing platform for tethered drones further includes a magnetic field shielding device for reducing interference from the magnetic field signals of electronic devices to the tethered drone.

[0012] In one preferred embodiment, a lifting device with adjustable speed is installed on the mobile platform.

[0013] In one preferred embodiment, the strength of the material used to prepare the tethering thread is higher than a set value.

[0014] On the other hand, the present invention adopts the following technical solution:

[0015] The unmanned aerial vehicle (UAV) system includes a tethered UAV, and the UAV system also includes the aforementioned take-off and landing platform suitable for the tethered UAV, with the other end of the tether line fixedly connected to the tethered UAV.

[0016] In one preferred embodiment, the tethered drone is equipped with a distance detection device, which is used to measure the distance between the tethered drone and the mobile platform.

[0017] The landing platform for tethered drones disclosed in this utility model includes a platform body, a mobile platform, and a shock absorption device. The shock absorption device can eliminate the impact of the tethered drone on the mobile platform when it lands, allowing the tethered drone to land smoothly on the mobile platform, avoiding damage to the tethered drone and / or the mobile platform, extending the overall service life, improving the overall reliability, and meeting the needs of various usage scenarios, making the product highly competitive.

[0018] The unmanned aerial vehicle (UAV) system disclosed in this utility model also includes the aforementioned take-off and landing platform suitable for tethered UAVs. The tethered UAV can descend to a set position on the mobile platform under the traction of the tether line, ensuring a precise landing. It is especially suitable for landing tethered UAVs while vehicles or boats are in motion. There is no need to set up complex control programs for the tethered UAV to match the speed and trajectory of the vehicle or boat, making it more convenient to use, with a low probability of landing failure and a wide range of applications. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the unmanned aerial vehicle system when the mobile platform is in a low position, according to a specific embodiment of this utility model.

[0020] Figure 2 This is a schematic diagram of the structure of the unmanned aerial vehicle system when the mobile platform is at a high position, according to a specific embodiment of this utility model.

[0021] In the picture:

[0022] 1. Platform body; 2. Mobile platform; 3. Tethered drone; 11. Tether line reel; 12. Tether line; 13. Support column; 21. Mobile platform through hole; 22. Automatic gripper assembly. Detailed Implementation

[0023] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0024] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0025] Furthermore, 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0027] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0028] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0029] This embodiment discloses a take-off and landing platform applicable to tethered unmanned aerial vehicles (UAVs) and a UAV system including the take-off and landing platform, such as... Figure 1 and Figure 2 As shown, the drone system also includes a tethered drone 3, and a take-off and landing platform for parking the tethered drone 3.

[0030] The take-off and landing platform for tethered drones includes a platform body 1, a mobile platform 2, and a shock-absorbing device. The platform body 1 is equipped with a tether line reel 11 and a tether line 12, and the tether line 12 can be wound around the tether line reel 11. The mobile platform 2 is movably connected to the platform body 1 and can rise and fall relative to the platform body 1. The shock-absorbing device is installed on the mobile platform 2.

[0031] The mobile platform 2 has a through hole 21 for the tether line 12 to pass through. One end of the tether line 12 is fixedly connected to the tether line reel 11, and the other end is fixedly connected to the tethered drone 3. The tethered drone 3 can descend to a set position on the mobile platform 2 under the traction of the tether line 12, ensuring a precise landing. It is especially suitable for landing the tethered drone 3 while vehicles or boats are moving. There is no need to set up complex control programs for the tethered drone 3 to match the speed and trajectory of the vehicle or boat, making it more convenient to use, with a low probability of landing failure, and a wide range of applications.

[0032] The shock absorption device can eliminate the impact of the tethered drone 3 on the mobile platform 2 when it lands, so that the tethered drone 3 can land smoothly on the mobile platform 2, avoiding damage to the tethered drone 3 and / or the mobile platform 2, extending the overall service life, improving the overall reliability, and meeting the needs of various usage scenarios (including but not limited to vehicle environment, complex terrain and dynamic environment), making the product highly competitive.

[0033] The specific method by which the mobile platform 2 rises and falls relative to the platform body 1 is not limited. In this embodiment, the platform body 1 includes four parallel support columns 13, and the four corners of the mobile platform 2 are slidably connected to the corresponding support columns 13. Driven by the drive device, the mobile platform 2 can move up and down along the support columns 13, thereby reducing the distance between the mobile platform 2 and the tethered drone 3 in flight, which is beneficial for the tethered drone 3 to land accurately on the mobile platform 2.

[0034] The specific structure of the shock absorption device is not limited, as long as it can eliminate the impact of the tethered drone 3 on the mobile platform 2 when it lands. In this embodiment, the shock absorption device includes an elastic element. When the tethered drone 3 lands on the mobile platform 2, the elastic element can undergo elastic deformation to eliminate the impact of the tethered drone 3 on the mobile platform 2 when it lands. The elastic element can be, but is not limited to, a spring and a sheet spring.

[0035] When the elastic element is a spring, one end of the spring abuts against the mobile platform 2, and the other end abuts against the platform body 1. The connection position between the other end of the spring and the platform body 1 is not limited, as long as a stable fixed connection can be achieved. When the tethered drone 3 lands on the mobile platform 2, the mobile platform 2 will move relative to the platform body 1, thereby compressing or extending the spring set between the mobile platform 2 and the platform body 1. The elastic force of the spring acts on the mobile platform 2, forming resistance to the movement of the mobile platform 2, reducing the moving speed of the mobile platform 2, avoiding damage to the mobile platform 2 itself and the tethered drone 3 due to excessive movement, and improving the stability of the landing of the tethered drone 3.

[0036] The working principle of the spring is similar to that of the spring, so it will not be described in detail here.

[0037] Based on the above structure, a rotation angle measuring device is provided on the tether line drum 11, which can record the rotation angle (number of rotations) of the tether line drum 11. The length of the tether line 12 wound on the tether line drum 11 during this period can be calculated by the rotation angle and the outer diameter of the tether line drum 11. When the tethered drone 3 is retrieved, the length value is positive, and when the tethered drone 3 is launched, the length value is negative.

[0038] It is understandable that the total length of the tether line 12 is a fixed value, that is, the sum of the length of the tether line 12 wound on the tether line reel 11 and the extended length of the tether line 12 remains unchanged. The extended length of the tether line 12 during this period can be calculated by the rotation angle and outer diameter of the tether line reel 11. This extended length decreases when the tethered drone 3 is retrieved and increases when the tethered drone 3 is launched.

[0039] The specific structure of the rotation angle measuring device is not limited; any existing device capable of measuring rotation angles is acceptable.

[0040] Based on the above structure, the take-off and landing platform suitable for tethered drones also includes a control device. To achieve automated operation, the control device is signal-connected to both the mobile platform 2 and the tethered drone 3, automatically adjusting the flight status of the tethered drone 3 and simultaneously regulating the take-off and landing of the mobile platform 2. When the tethered drone 3 needs to land on the mobile platform 2, the control device can automatically control (or self-control) the entire landing process, ensuring that the sequence of steps is not disrupted. Specifically, the landing steps of the tethered drone 3 are: preparing for landing → the mobile platform 2 rises → the tether line reel 11 rotates, and the tether line 12 pulls back the tethered drone 3 → the fixing device on the mobile platform 2 locks the landing gear of the tethered drone 3 → the tether line reel 11 stops rotating, and the wings of the tethered drone 3 stop rotating → the mobile platform 2 descends, completing the landing and recovery operation.

[0041] The specific structure of the fixing device on the mobile platform 2 is not limited, as long as it can lock the landing gear of the tethered drone 3. In this embodiment, the fixing device consists of four sets of automatic gripping hook assemblies 22 respectively located at the four corners of the mobile platform 2. The control device is connected to the shock absorption device and the automatic gripping hook assemblies 22 respectively. When the tethered drone 3 lands, the control device receives a signal that the shock absorption device is triggered. The control device can then control the automatic gripping hook assemblies 22 to close their claws. The claws of the four sets of automatic gripping hook assemblies 22 can hook onto four positions on the landing gear of the tethered drone 3 respectively, resulting in a more secure lock. It should be noted that... Figure 1 and Figure 2 This is merely a structural diagram and does not constitute a limitation on the size ratio of the tethered drone 3 and the mobile platform 2.

[0042] The specific shape of the automatic gripper assembly 22 is not limited, as long as it has an open and closed state. When the tethered drone 3 is parked on the mobile platform 2, the automatic gripper assembly 22 is in the closed state, firmly locking the landing gear of the tethered drone 3; when the tethered drone 3 is ready to take off, the automatic gripper assembly 22 is in the open state, releasing the locking and fixing of the landing gear of the tethered drone 3, allowing the tethered drone 3 to detach from the mobile platform 2.

[0043] In this embodiment, the automatic gripper assembly 22 includes a base, a claw, and a rotary drive motor. The base is fixed on the mobile platform 2, and the claw is hinged to the base. The output end of the rotary drive motor is connected to the claw and can drive the claw to rotate around the hinge axis. When the tethered drone 3 is stationary on the mobile platform 2, the rotary drive motor causes the claw to swing towards the base until it latches onto the base, locking the feet of the tethered drone 3. When the tethered drone 3 is ready to take off, the rotary drive motor causes the claw to swing away from the base, releasing the locking of the feet of the tethered drone 3.

[0044] When the tethered drone 3 lands on the mobile platform 2, the specific method by which the shock-absorbing device sends a triggered signal is not limited, as long as it serves the function of pressure detection. In this embodiment, a trigger pin can be installed at one end of the spring and a trigger plate at the other end. When the tethered drone 3 stops on the mobile platform 2, the spring is compressed and deformed. When the spring is compressed to a set length, the trigger pin presses against the trigger plate, indicating that the tethered drone 3 has completed its landing. The contact between the trigger pin and the trigger plate connects their circuits, causing a signal change that triggers the shock-absorbing device, sending a signal that causes the grappling hook to swing and lock the landing gear of the tethered drone 3. It is understood that other existing devices that can send signals when the shock-absorbing device is under pressure are also feasible.

[0045] In addition to the shock absorption device sending a triggered signal, other methods can be used to determine whether the tethered drone 3 has landed on the mobile platform 2. For example, the extension length of the tether line 12 can be calculated using the rotation angle and outer diameter of the tether line reel 11. When the extension length is less than a set value (e.g., 10 cm, 20 cm, 30 cm, or 50 cm, etc.), it can be determined that the tethered drone 3 has completed landing. The structure is simple and reasonable, and easy to use.

[0046] The specific structure of the control device is not limited. In this embodiment, the control mechanism can be a centralized or distributed controller. For example, the controller can be a single microcontroller or a combination of multiple distributed microcontrollers. The microcontroller can run a control program to control the shock absorption device, the automatic gripping hook assembly 22, the mobile platform 2, and the tethered drone 3 to achieve their functions.

[0047] Since the vehicles and boats used to carry the tethered drone 3 are equipped with various electronic devices, the magnetic fields generated by these devices can interfere with the tethered drone 3, especially during landing, leading to inaccurate landing positions. To address this issue, the landing platform also includes a magnetic field shielding device to reduce magnetic field signal interference and ensure accurate landing of the tethered drone 3. The specific structure and location of the magnetic field shielding device are not limited, as long as it reduces the interference of the magnetic field signals from the electronic devices on the tethered drone 3.

[0048] Based on the above structure, an adjustable lifting device is installed on the mobile platform 2. Different moving speeds are used at different stages of the lifting of the mobile platform 2 to adapt to landing operations under different conditions and different types of tethered drones 3.

[0049] To successfully pull the hovering tethered drone 3 back onto the mobile platform 2, the material used to prepare the tether line 12 has a strength higher than a set value, ensuring the tether line 12 has sufficient strength. The specific value of this set value is not limited and can be determined based on specific circumstances, as long as the safety of the tethered drone 3 is guaranteed. It should be noted that the tether line 12 needs to possess a certain degree of flexibility, such as... Figure 1 and Figure 2 As shown, when the tethered drone 3 is in the second position, the tether line 12 is basically straight; when the tethered drone 3 is in the first and third positions, the tether line 12 will bend at the through hole 21 of the mobile platform, thereby giving the tethered drone 3 a larger hovering range and making it more convenient to use.

[0050] Based on the above structure, a distance detection device is installed at the bottom of the tethered drone 3. The distance detection device measures the distance between the tethered drone 3 and the mobile platform 2, and adjusts the parameters and status of the tethered drone 3 in a timely manner (for example, reducing the lift of the tethered drone 3, thereby reducing the tension on the tether line 12) and the position of the mobile platform 2. This reduces the ground effect (or ground effect), avoids the aerodynamic characteristics of the tethered drone 3 from being affected by the reflected airflow when the tethered drone 3 gets too close to the mobile platform 2, avoids the increase in lift and decrease in control accuracy caused by the reflected airflow, improves the stability of the tethered drone 3, and makes it safer to use.

[0051] The method of using this drone system is as follows: When the length of the tether line 12 meets the requirements and the distance between the tethered drone 3 and the platform body 1 also meets the requirements, the tethered drone 3 enters manual mode and is no longer in automatic flight mode. The mobile platform 2 rises as the tether line 12 is wound more around the tether line reel 11, ready to receive the tethered drone 3 as it lands. The tethered drone 3, now in manual mode and hovering horizontally, falls as the tether line 12 is retracted until it lands on the mobile platform 2.

[0052] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A take-off and landing platform suitable for tethered unmanned aerial vehicles, characterized in that, include: The platform body (1) is provided with a tethering reel (11) and a tethering line (12). One end of the tethering line (12) is fixedly connected to the tethering reel (11), and the tethering line (12) can be wound around the tethering reel (11). A mobile platform (2) is movably connected to the platform body (1), the mobile platform (2) is movable relative to the platform body (1), and the mobile platform (2) has a through hole (21) for the tethering line (12) to pass through; and, A shock-absorbing device is installed on the mobile platform (2) to eliminate the impact of the tethered drone (3) on the mobile platform (2) when it lands.

2. The take-off and landing platform for tethered unmanned aerial vehicles according to claim 1, characterized in that, The shock absorption device includes an elastic element that can undergo elastic deformation when the tethered drone (3) lands on the mobile platform (2) to eliminate the impact of the tethered drone (3) on the mobile platform (2) when it lands.

3. The take-off and landing platform for tethered unmanned aerial vehicles according to claim 1, characterized in that, The tethering reel (11) is equipped with a rotation angle measuring device, and the extension length of the tethering line (12) can be obtained by the rotation angle and outer diameter of the tethering reel (11).

4. The take-off and landing platform for tethered unmanned aerial vehicles according to claim 1, characterized in that, The take-off and landing platform for tethered drones also includes a control device, which is signal-connected to the mobile platform (2) and the tethered drone (3).

5. The take-off and landing platform for tethered unmanned aerial vehicles according to claim 4, characterized in that, The mobile platform (2) is equipped with an automatic gripping hook assembly (22). The control device is connected to the shock absorption device and the automatic gripping hook assembly (22) respectively. The control device can receive the signal that the shock absorption device is triggered. The control device can control the automatic gripping hook assembly (22) to close the hook.

6. The take-off and landing platform for tethered unmanned aerial vehicles according to any one of claims 1 to 5, characterized in that, The take-off and landing platform for tethered drones also includes a magnetic field shielding device, which is used to reduce the interference of magnetic field signals from electronic devices on the tethered drone (3).

7. The take-off and landing platform for tethered unmanned aerial vehicles according to any one of claims 1 to 5, characterized in that, The mobile platform (2) is equipped with a lifting device that allows for adjustable speed.

8. The take-off and landing platform for tethered unmanned aerial vehicles according to any one of claims 1 to 5, characterized in that, The strength of the material used to prepare the tether (12) is higher than a set value.

9. An unmanned aerial vehicle (UAV) system, including a tethered UAV (3), characterized in that, The unmanned aerial vehicle system further includes a take-off and landing platform suitable for tethered unmanned aerial vehicles as described in any one of claims 1 to 8, with the other end of the tether line (12) fixedly connected to the tethered unmanned aerial vehicle (3).

10. The unmanned aerial vehicle system according to claim 9, characterized in that, The tethered drone (3) is equipped with a distance detection device, which is used to measure the distance between the tethered drone (3) and the mobile platform (2).

Images