An amphibious unmanned aerial vehicle-oriented water hangar
By designing a floating hangar, the problems of amphibious drones returning to the water and landing accurately were solved, enabling efficient operation and automatic water removal for the drones, extending their working time, and simplifying the battery replacement process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HANGZHOU XIANGDING TECHNOLOGY CO LTD
- Filing Date
- 2025-08-16
- Publication Date
- 2026-06-05
AI Technical Summary
Existing land-based hangars cannot meet the requirements for precise landing and water surface return of amphibious drones, and lack fuselage dewatering devices, resulting in water remaining in some areas of the fuselage after the amphibious drones return to the water surface, affecting normal use.
A floating hangar has been designed, including a hangar shell, an internal frame, electrical equipment, and a water surface fixing device. It has precise positioning, water removal function, and solar power supply, enabling amphibious drones to return to the water surface and automatically drain water.
This technology enables amphibious drones to return directly from the water surface to the hangar, extending working hours, improving operational efficiency, preventing water from flowing into the hangar, and simplifying the battery replacement process.
Smart Images
Figure CN224324129U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) hangar technology, and in particular to a water hangar for amphibious UAVs. Background Technology
[0002] With the rapid development of drone technology, drones are beginning to be widely used in various fields. To enable long-term remote control of drone operations, drone hangars are being built in appropriate outdoor locations to store them. These hangars typically have functions such as drone storage, takeoff and landing, charging, and battery replacement, allowing drones to be deployed directly to areas near the work site and automatically fly to the designated area according to actual requirements.
[0003] These land-based hangars are only suitable for ordinary drones. For drones with special configurations, especially amphibious drones, these ordinary land-based hangars cannot take advantage of their amphibious drone surface navigation capabilities.
[0004] Currently, amphibious drones need to navigate on water, and their lower surfaces are generally not equipped with cameras for precise positioning. When returning to the hangar, it is difficult for them to land accurately in the hangar from the air. Land-based hangars cannot allow amphibious drones to return from the water. In addition, after amphibious drones return from the water to the hangar, some areas of the fuselage are still wet, and ordinary hangars do not have devices for removing and draining water from the fuselage. Utility Model Content
[0005] To overcome the shortcomings of the existing technology, this utility model provides the following technical solution: a water hangar for amphibious unmanned aerial vehicles (UAVs), comprising: a hangar shell, an internal frame, electrical equipment, and a water surface fixing device. The hangar shell includes a front louver, a right top, a left top, a right door, a left door, a right louver, a left louver, a rear louver, a left side panel, and a right side panel. The upper part of the hangar shell consists of the right top and the left top. The left side of the hangar shell, from top to bottom, consists of the left door, the left louver, and the left side panel. The right side of the hangar shell, from top to bottom, consists of the right door, the right louver, and the right side panel. A push rod motor connecting rod and a right door limiting connecting post are installed in the middle of the inner side of the right door. A push rod motor connecting rod and a left door limiting connecting post are installed in the middle of the inner side of the left door.
[0006] The internal frame includes: a front crossbar, a lifting slide, a left crossbar, a right crossbar, a rear crossbar, internal columns, frame columns, a lifting platform, and fixed pulleys. Each of the four corners of the internal frame has a frame column. The left crossbar connects to the front and rear crossbars at both ends, and the right crossbar connects to the front and rear crossbars at both ends. One end of the front crossbar connects to the left crossbar and the frame column, and the other end connects to the right crossbar and the frame column. A front louver is installed on the outer side of the front crossbar. A rear louver and an electrical control box are installed on the outer side of the rear crossbar. One end of the rear crossbar connects to the left crossbar and the frame column, and the other end connects to the right crossbar and the frame column. The middle front end of the left crossbar is the left crossbar middle front bar. Two internal columns and a lifting slide are installed on the right side of the front bar in the middle of the horizontal bar. The front middle of the right horizontal bar is called the front bar in the middle of the right horizontal bar. Two internal columns and a lifting slide are installed on the left side of the front bar in the middle of the right horizontal bar. The upper surface of both the front bar in the middle of the right horizontal bar and the front bar in the middle of the left horizontal bar is equipped with a lower connecting rod of the push rod motor. Two internal columns are installed on the right side of the front bar in the middle of the left horizontal bar and the other two are installed on the left side of the front bar in the middle of the right horizontal bar. Two lifting slides are installed on the right side of the front bar in the middle of the left horizontal bar and the other two are installed on the left side of the front bar in the middle of the right horizontal bar. There are two pulleys on each side of the lifting platform. The interior of the lifting slide is the slide for the pulleys on both sides of the lifting platform.
[0007] There are 14 fixed pulleys. Two fixed pulleys are installed at the front and rear ends of the lower surface of the lifting platform, two fixed pulleys are installed at the upper part of the rear crossbar, and a total of 8 fixed pulleys are installed on the four internal columns.
[0008] The electrical equipment includes: an electrical control box, a lifting motor, a right push rod motor, a left push rod motor, a right door limit switch, a left door limit switch, an upper limit switch, a middle limit switch, a lower limit switch, a lower limit connecting rod, a fan, and a battery; two fans are installed on the front crossbar and two on the rear crossbar; the electrical control box is installed on the lower left side of the outer side of the rear crossbar; the lifting motor is installed on the inner middle part of the rear crossbar; a winding column is installed on the upper shaft of the lifting motor; the rear end of the right push rod motor is installed on the lower connecting rod of the push rod motor on the front end of the middle part of the right crossbar; the front end of the push rod of the right push rod motor is installed on the upper connecting rod of the push rod motor on the inner side of the right door. The rear end of the left push rod motor is mounted on the lower connecting rod of the push rod motor on the front end of the middle section of the left crossbar. The front end of the push rod of the left push rod motor is mounted on the upper connecting rod of the push rod motor on the inside of the left door. The upper limit switch, middle limit switch, lower limit connecting rod, and lower limit switch are mounted sequentially from top to bottom on the inner column on the front right. The lower limit switch has a lower limit contact piece above it. The lower limit connecting rod has a lower limit contact piece installed in the middle and a lifting platform contact piece installed at its end. The right door limit switch is mounted on the middle section of the right crossbar. The left door limit switch is mounted on the middle section of the left crossbar. The battery is mounted in the middle of the upper surface of the buoyancy box.
[0009] The water surface fixing device includes: a buoyancy box, a fixed pile, a front protective shell, and a pile connecting ring. The upper surface of the buoyancy box is equipped with the lower part of the frame column, the lower horizontal bar of the left horizontal bar, the lower horizontal bar of the right horizontal bar, and a battery. The front protective shell is installed at the front end of the buoyancy box. Two of the pile connecting rings are installed at both ends of the lower horizontal bar of the rear horizontal bar, and the other two are installed at both ends of the lower horizontal bar of the front horizontal bar. The upper middle part of the fixed pile is inside the ring of the pile connecting ring.
[0010] To more clearly describe the location of the above components, the front is the location of the louvers, the back is the location of the electrical control box, the inside of the hangar is the inside, and the outside of the hangar is the outside, thus distinguishing the front, back, left, right, inside, and outside.
[0011] Preferably, solar panels are mounted on the upper surfaces of the right and left tops, which can charge the battery.
[0012] Preferably, during the descent of the lifting platform, when the lower surface of the lifting platform presses against the lifting platform contact piece, the lifting platform contact piece will drive the lower limit connecting rod and the lower limit contact piece to descend. The descending lower limit contact piece will press against the upper switch of the lower limit switch, and the lower limit switch will send a signal to the controller to stop the lifting motor from rotating, thereby stopping the descent of the lifting platform and pausing it.
[0013] Preferably, the upper rotating arm of the right door limit switch is connected to the right door limit connecting post using a non-elastic rope; when the right door is closed, this rope is in a slack state, and when the right door is opened to a certain extent, this rope is in a taut state. Similarly, the upper rotating arm of the left door limit switch is connected to the left door limit connecting post using a non-elastic rope; when the left door is closed, this rope is in a slack state, and when the left door is opened to a certain extent, this rope is in a taut state.
[0014] Preferably, the fixed pulleys and the winding post together wind two ropes made of non-elastic material; there is a fixed pulley on each side of the upper end of the rear crossbar, a fixed pulley installed at the top of the inner post on the right rear, a fixed pulley installed at the top of the inner post on the left front, a fixed pulley installed on the front and right sides of the top of the inner post on the right front, a fixed pulley installed in the middle of the inner post on the right front, a fixed pulley installed on the front and left sides of the top of the inner post on the left rear, and a fixed pulley installed in the middle of the inner post on the left rear. The first line starts from the upper half of the winding post, passes sequentially through the fixed pulley on the right side of the upper end of the rear crossbar, the fixed pulley on the right side of the top of the inner post on the right front, the fixed pulley in the middle of the inner post on the right front, the fixed pulley on the front side of the top of the inner post on the right front, the fixed pulley on the right front of the lower surface of the lifting platform, the fixed pulley on the left front of the lower surface of the lifting platform, and the fixed pulley at the top of the inner post on the left front, finally fixing the end of the line to the upper part of the left crossbar. The second rope starts from the lower half of the winding column, passing sequentially through the fixed pulleys on the upper left side of the rear crossbar, the left side of the top of the inner column on the left rear, the middle fixed pulley at the top of the inner column on the left rear, the front fixed pulley at the top of the inner column on the left rear, the fixed pulley on the lower left rear of the lifting platform, the fixed pulley on the lower right rear of the lifting platform, and the top fixed pulley of the inner column on the right rear. Finally, the end of the rope is fixed to the upper part of the right crossbar. When the lifting motor rotates, it drives the winding column to rotate, and the two ropes wound on the winding column enable the lifting platform to rise and fall freely.
[0015] Preferably, the electrical control box contains a controller and drivers for the lifting motor, left push rod motor, and right push rod motor; the controller can receive remote control commands and feedback signals from the right door limit switch, left door limit switch, upper limit switch, middle limit switch, and lower limit switch; the controller can control the drivers for the lifting motor, left push rod motor, and right push rod motor to rotate, raise and lower the left push rod motor, and raise and lower the right push rod motor.
[0016] Preferably, the buoyancy of the buoyancy box when fully submerged in water is greater than the weight of the entire hangar assembly, so that when the entire hangar is placed on the water surface, the lower surface of the buoyancy box is below the water surface and the upper surface of the buoyancy box is above the water surface; the front end of the front protective shell is narrower, which facilitates expanding the entrance for the amphibious UAV to return to the hangar from the water surface.
[0017] Preferably, the lower part of the fixed pile is fixed in the mud below the shallow water on the shore; if the hangar is installed in water with large water level fluctuations, the length of the fixed pile should be increased to prevent the pile connecting ring from being higher than the upper part of the fixed pile.
[0018] Compared with the prior art, the beneficial effects of this utility model are:
[0019] (1) Amphibious drones can return to the hangar from the water without having to take off again and land on the upper part of the hangar; this allows amphibious drones to use more time for flight or related operations, and can extend the effective working time of each operation.
[0020] (2) The hangar is installed and deployed on the shore of the water area to facilitate timely response to water area inspection or rescue tasks.
[0021] (3) The structure is reasonably designed. After the amphibious drone returns to the hangar from the water, there is a water-removing fan that can quickly dry the water on the surface of the amphibious drone, making it easier to replace the battery next time. It also prevents the water from flowing into the electrical equipment inside the hangar.
[0022] (4) There are solar panels on the top of the hangar, which can provide power to its own electrical system, eliminating the need for remote power supply. Attached Figure Description
[0023] Figure 1 This is an axial view of the overall structural schematic diagram of this utility model;
[0024] Figure 2 This is a schematic diagram of the overall structure of this utility model, wherein (a) is a front view and (b) is a rear view;
[0025] Figure 3 This is a schematic diagram of the overall structure of this utility model, wherein (a) is a left view and (b) is a right view;
[0026] Figure 4 This is a schematic diagram of the overall structure of this utility model, wherein (a) is a top view and (b) is a bottom view;
[0027] Figure 5 This is a front view of the internal frame structure diagram of this utility model;
[0028] Figure 6 This is a rear view of the internal frame structure diagram of this utility model;
[0029] Figure 7 This is a right view of the internal frame structure diagram of this utility model;
[0030] Figure 8 This is a top view of the internal frame structure diagram of this utility model;
[0031] Figure 9 This is an axial view of the internal frame structure of this utility model;
[0032] Figure 10 This is a partial view of the rear crossbar of the internal frame of this utility model;
[0033] Figure 11 This is the left view of the internal cross-sectional view of this utility model;
[0034] Figure 12 This is the right view of the internal cross-sectional view of this utility model;
[0035] Figure 13 This is a partial schematic diagram of the left door limit switch of this utility model, wherein (a) is a side view and (b) is an axial view;
[0036] Figure 14 This is a partial schematic diagram of the limit switches installed on the frame column of this utility model, wherein (a) is an axial view of the three limit switches, (b) is a side view of the lower limit switch, and (c) is an axial view of the lower limit switch.
[0037] Figure 15 The distribution positions of the fixed pulleys on the internal frame of this utility model;
[0038] Figure 16 This is a control diagram of the electrical equipment according to this utility model;
[0039] Figure 17 These are the working states of this utility model at different times, where (a) is the state in which the amphibious drone is preparing to take off, and (b) is the state in which the amphibious drone returns from the water.
[0040] Explanation of reference numerals in the attached drawings: 1. Hangar exterior; 100. Front louver; 101. Right top; 102. Left top; 103. Right door; 1031. Right door limiting connecting column; 104. Left door; 1041. Left door limiting connecting column; 105. Right louver; 106. Left louver; 107. Rear louver; 108. Left side panel; 109. Right side panel; 2. Internal frame; 200. Front crossbar; 201. Lifting slide; 202. Left crossbar; 2021. Front end bar of the middle section of the left crossbar; 203. Right crossbar; 2031. Front end bar of the middle section of the right crossbar; 204. Rear crossbar; 205. Internal column; 206. Frame column; 207. Lifting platform; 208. Fixed... 1. Pulley; 209. Lower connecting rod of push rod motor; 210. Upper connecting rod of push rod motor; 3. Electrical equipment; 301. Electrical control box; 302. Lifting motor; 3021. Winding post; 303. Right push rod motor; 304. Left push rod motor; 305. Right door limit switch; 306. Left door limit switch; 307. Upper limit switch; 308. Lower limit connecting rod; 3081. Lower limit contact piece; 3082. Lifting platform contact piece; 309. Middle limit switch; 310. Lower limit switch; 311. Fan; 312. Battery; 4. Water surface fixing device; 401. Buoyancy box; 402. Fixing pile; 403. Front protective shell; 404. Pile connecting ring. Detailed Implementation
[0041] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0042] Please see Figures 1 to 17 This utility model provides the following technical solution: a water hangar for amphibious unmanned aerial vehicles (UAVs), comprising: a hangar shell 1, an internal frame 2, electrical equipment 3, and a water surface fixing device 4. The hangar shell 1 includes a front louver 100, a right top 101, a left top 102, a right door 103, a left door 104, a right louver 105, a left louver 106, a rear louver 107, a left side baffle 108, and a right side baffle 109. The upper part of the hangar shell 1 consists of the right top 101 and the left top. 102. From top to bottom, the left side of the hangar shell 1 consists of a left door 104, a left louver 106, and a left side panel 108. From top to bottom, the right side of the hangar shell 1 consists of a right door 103, a right louver 105, and a right side panel 109. The right door 103 has a push rod motor upper connecting rod 210 and a right door limiting connecting post 1031 installed in the middle of its inner side. The left door 104 has a push rod motor upper connecting rod 210 and a left door limiting connecting post 1041 installed in the middle of its inner side.
[0043] The internal frame 2 includes: a front crossbar 200, a lifting slide 201, a left crossbar 202, a right crossbar 203, a rear crossbar 204, an internal column 205, a frame column 206, a lifting platform 207, and a fixed pulley 208. Each of the four corners of the internal frame 2 has a frame column 206. The left crossbar 202 is connected to the front crossbar 200 and the rear crossbar 204 at both ends, and the right crossbar 203 is connected to the front crossbar 200 and the rear crossbar 204 at both ends. One end of the front crossbar 200 connects to the left crossbar 202 and the frame column 206, and the other end connects to the right crossbar 203 and the frame column 206. A front louver 100 is installed on the outer side of the front crossbar 200. A rear louver 107 and an electrical control box 301 are installed on the outer side of the rear crossbar 204. One end of the rear crossbar 204 connects to the left crossbar 202 and the frame column 206, and the other end connects to the right crossbar 203 and the frame column 206. The front end of the middle section of the left crossbar 202 is... The left horizontal bar has a middle front section bar 2021. Two internal columns 205 and a lifting slide 201 are installed on the right side of the left horizontal bar's middle front section bar 2021. The right horizontal bar 203 has a middle front section bar 2031 at its middle front end. Two internal columns 205 and a lifting slide 201 are installed on the left side of the right horizontal bar's middle front section bar 2031. A push rod motor lower connection is installed on the upper surface of both the right horizontal bar's middle front section bar 2031 and the left horizontal bar's middle front section bar 2021. The rod 209 has two internal columns 205 installed on the right side of the left horizontal bar front end bar 2021 and two other columns installed on the left side of the right horizontal bar front end bar 2031. The lifting slide 201 has two columns installed on the right side of the left horizontal bar front end bar 2021 and two other columns installed on the left side of the right horizontal bar front end bar 2031. The lifting platform 207 has two pulleys on each side. The interior of the lifting slide 201 is the slide for the pulleys on both sides of the lifting platform 207.
[0044] There are 14 fixed pulleys 208. Two fixed pulleys 208 are installed at the front and rear ends of the lower surface of the lifting platform 207, and two fixed pulleys 208 are installed on the upper part of the rear crossbar 204. A total of 8 fixed pulleys 208 are installed on the four internal columns 205.
[0045] The electrical equipment 3 includes: an electrical control box 301, a lifting motor 302, a right push rod motor 303, a left push rod motor 304, a right door limit switch 305, a left door limit switch 306, an upper limit switch 307, a middle limit switch 309, a lower limit switch 310, a lower limit connecting rod 308, a fan 311, and a battery 312; two fans 311 are installed on the front crossbar 200 and two on the rear crossbar 204; the electrical control box 301 is installed on the lower left side of the outer side of the rear crossbar 204; the lifting motor 302 is installed on the inner middle part of the rear crossbar 204; a winding post 3021 is installed on the upper shaft of the lifting motor 302; the rear end of the right push rod motor 303 is installed on the push rod motor lower connecting rod 209 on the front end bar 2031 in the middle of the right crossbar; the front end of the push rod of the right push rod motor 303 is installed on the push rod motor on the inner side of the right door 103. The connecting rod 210, the rear end of the left push rod motor 304 is installed on the push rod motor lower connecting rod 209 on the front end bar 2021 of the middle part of the left crossbar, the front end of the push rod of the left push rod motor 304 is installed on the push rod motor upper connecting rod 210 inside the left door 104, the upper limit switch 307, the middle limit switch 309, the lower limit connecting rod 308, and the lower limit switch 310 are installed sequentially from top to bottom on the inner column 205 at the front right. The lower limit switch 310 is topped with a lower limit contact piece 3081, the lower limit connecting rod 308 is installed in the middle part with a lower limit contact piece 3081 and the end is installed with a lifting platform contact piece 3082, the right door limit switch 305 is installed on the bar in the middle part of the right crossbar 203, the left door limit switch 306 is installed on the bar in the middle part of the left crossbar 202, and the battery 312 is installed in the middle part of the upper surface of the buoyancy box 401.
[0046] The water surface fixing device 4 includes: a buoyancy box 401, a fixing pile 402, a front protective shell 403, and a pile connecting ring 404. The upper surface of the buoyancy box 401 is equipped with the lower part of the frame column 206, the lower horizontal bar of the left horizontal bar 202, the lower horizontal bar of the right horizontal bar 203, and a battery 312. The front protective shell 403 is installed at the front end of the buoyancy box 401. Two of the pile connecting rings 404 are installed at both ends of the lower horizontal bar of the rear horizontal bar 204, and the other two are installed at both ends of the lower horizontal bar of the front horizontal bar 200. The upper middle part of the fixing pile 402 is inside the ring of the pile connecting ring 404.
[0047] To further clarify the orientation of the above components, the front louver 100 is considered the front, the electrical control box 301 is considered the rear, the interior of the hangar is considered the inner side, and the exterior of the hangar is considered the outer side, thus distinguishing between front, rear, left, right, inner, and outer.
[0048] like Figure 1 and 3As shown, solar panels are installed on the upper surfaces of the hangar's right top 101 and left top 102, which can charge the batteries. Since the hangar is installed outdoors, it does not require remote power supply.
[0049] The upper rotating arm of the right door limit switch 305 is connected to the right door limit connecting post 1031 by a non-elastic rope; when the right door 103 is closed, this rope is in a slack state, and when the right door 103 is opened to a certain extent, this rope is in a taut state. Figure 13 As shown, the upper rotating arm of the left door limit switch 306 is connected to the left door limit connecting post 1041 using a non-elastic rope; this rope is slack when the left door 104 is closed, and taut when the left door 104 is opened to a certain extent. The push rod of the push rod motor can also automatically stop when it is fully extended or returned to its limit position. Therefore, when the right door 103 and the left door 104 are fully closed, the push rods of the left push rod motor 304 and the right push rod motor 303 are in the fully returned state, which can reduce the number of limit switches required.
[0050] like Figure 15As shown, two ropes made of non-elastic material are wound around the fixed pulley 208 and the winding post 3021. There are 14 fixed pulleys 208. To facilitate a detailed description of the rope wound on each fixed pulley 208, these fixed pulleys 208 are numbered. The left fixed pulley 208 at the top of the rear crossbar 204 is designated as fixed pulley 0 2080, and the right fixed pulley 208 is designated as fixed pulley 1 2081. A fixed pulley 208 is installed at the top of the inner post 205 at the right rear, designated as fixed pulley 4 2084. A fixed pulley 208 is installed at the top of the inner post 205 at the left front, designated as fixed pulley 6 2086. A fixed pulley 208 is installed on the front and right sides of the top of the inner post 205 at the right front. The fixed pulleys 208 and 2085 are designated as fixed pulley 2082 and 2085 respectively. A fixed pulley 208 is installed in the middle of the inner column 205 at the front right, designated as fixed pulley 3 2083. Two fixed pulleys 208 are installed on the top front and left sides of the inner column 205 at the rear left, designated as fixed pulley 8 2088 and fixed pulley 7 2087 respectively. A fixed pulley 208 is installed in the middle of the inner column 205 at the rear left, designated as fixed pulley 9 2089. The four fixed pulleys 208 on the lower surface of the lifting platform 207 are designated as fixed pulley 10, fixed pulley 11, fixed pulley 12, and fixed pulley 13 respectively, according to their installation positions at the front right, front left, rear left, and rear right. Therefore, the first thread wound around the winding post 3021 has its starting end fixed to the upper half of the winding post 3021. Starting from the upper half of the winding post 3021, the thread passes through the fixed pulleys 1-2081, 2-2082, 3-2083, 5-2085, 10-208, 11-208, and 6-2086 in sequence, and finally the end of the thread is fixed to the upper part of the left crossbar 202. The second thread wound around the winding post 3021 has its starting end fixed to the lower half of the winding post 3021. Starting from the lower half of the winding post 3021, the thread passes sequentially through fixed pulleys 0 (2080), 7 (2087), 9 (2089), 8 (2088), 12 (208), 13 (208), and 4 (2084), finally being fixed to the upper part of the right crossbar 203. When the lifting motor 302 rotates, it drives the winding post 3021 to rotate, thereby driving the lifting platform 207 to rise and fall.
[0051] like Figure 14 As shown, during the descent of the lifting platform 207, when the lower surface of the lifting platform 207 touches the lifting platform contact piece 3082, it will press the lifting platform contact piece 3082 downward. The lifting platform contact piece 3082 will drive the lower limit connecting rod 308 and the lower limit contact piece 3081 to descend. The lower limit contact piece 3081 will press the switch at the upper end of the lower limit switch 310 when it descends. The lower limit switch 310 will send a signal to the controller to stop the lifting motor 302 from rotating, thereby stopping the descent of the lifting platform 207 and pausing it.
[0052] like Figure 16 As shown, the electrical control box 301 contains a controller and drivers for the lifting motor 302, the left push rod motor 304, and the right push rod motor 303. The controller can receive remote control commands and feedback signals from the right door limit switch 305, the left door limit switch 306, the upper limit switch 307, the middle limit switch 309, and the lower limit switch 310. The controller can control the drivers for the lifting motor 302, the left push rod motor 304, and the right push rod motor 303, causing the lifting motor 302 to rotate, the left push rod motor 304 to move up and down, and the right push rod motor 303 to move up and down.
[0053] The buoyancy of the buoyancy tank 401 on the water surface must be greater than the weight of the entire hangar assembly, ensuring that when the entire hangar is placed on the water, the lower surface of the buoyancy tank 401 is below the water surface, while the upper surface of the buoyancy tank 401 is above the water surface. The front end of the protective shell 403 is narrower, which facilitates a larger entrance for the amphibious UAV to return to the hangar from the water surface. The lower part of the anchor pile 402 is fixed in the mud below the shallow water near the shore, or a cement block can be used to fix the lower part of the anchor pile 402. If the hangar is installed in water with large water level fluctuations, the length of the anchor pile 402 should be increased to prevent the pile connecting ring 404 from being higher than the upper part of the anchor pile 402.
[0054] The process of an amphibious drone leaving the hangar: The controller in the electrical control box 301 receives a remote control command, requiring the amphibious drone to perform a related task. At this time, the lifting platform 207 begins to rise until it stops at the upper limit switch 307. The right door 103 and the left door 104 begin to open until the rope on the right door limit connecting column 1031 pulls the upper rotating arm of the right door limit switch 305 to rotate, and the rope on the left door limit connecting column 1041 pulls the upper rotating arm of the left door limit switch 306 to rotate. At this time, the right door 103 and the left door 104 are fully open and stop moving. Then the amphibious drone begins to take off; after receiving the takeoff signal from the amphibious drone, the controller delays for 1 minute (the delay time can be changed according to the daily weather conditions), and the right door 103 and the left door 104 begin to close.
[0055] The process of an amphibious drone entering the hangar: The controller in the electrical control box 301 receives a remote control command requiring the amphibious drone to return to the hangar from the water. Right door 103 and left door 104 close completely; the lifting platform 207 begins to descend until its lower surface presses against the lifting platform contact piece 3082, which in turn causes the lower limit connecting rod 308 and lower limit contact piece 3081 to also descend, pressing against the upper switch of the lower limit switch 310, stopping the lifting motor 302 and halting the descent of the lifting platform 207. At this point, the amphibious drone returns to the hangar, entering the hangar's lifting platform 207 between the two front protective shells 403. Amphibious drones are generally equipped with GPS or RTK; by analyzing the drone's movement trajectory on the water surface, it can be determined whether it has completely entered the hangar. After the amphibious drone is fully inside the hangar, the lifting platform 207 begins to rise. When the lifting platform 207 touches the upper rotating arm of the middle limit switch 309, it stops rising, and all fans 311 begin blowing air. After blowing for 3 minutes (presumably until the water on the surface of the amphibious drone is mostly dried), the lifting platform 207 continues to rise until it touches the upper limit switch 307. Finally, staff replace the power supply for the amphibious drone.
[0056] The above-described embodiments are only used to illustrate the preferred technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.
Claims
1. A floating hangar for amphibious unmanned aerial vehicles, characterized in that, include: The hangar consists of an outer shell (1), an internal frame (2), electrical equipment (3), and a water surface fixing device (4). The hangar shell (1) includes a front louver (100), a right top (101), a left top (102), a right door (103), a left door (104), a right louver (105), a left louver (106), a rear louver (107), a left side panel (108), and a right side panel (109). The upper part of the hangar shell (1) consists of the right top (101) and the left top (102). From top to bottom, the left side of the hangar shell (1) consists of a left door (104), a left louver (106), and a left side panel (108). From top to bottom, the right side of the hangar shell (1) consists of a right door (103), a right louver (105), and a right side panel (109). The right door (103) has a push rod motor upper connecting rod (210) and a right door limiting connecting post (1031) installed in the middle of its inner side. The left door (104) has a push rod motor upper connecting rod (210) and a left door limiting connecting post (1041) installed in the middle of its inner side. The internal frame (2) includes: a front crossbar (200), a lifting slide (201), a left crossbar (202), a right crossbar (203), a rear crossbar (204), an internal column (205), a frame column (206), a lifting platform (207), and a fixed pulley (208). Each of the four corners of the internal frame (2) has a frame column (206). The left crossbar (202) is connected to the front crossbar (200) and the rear crossbar (204) at both ends, and the right crossbar (203) is connected to the front crossbar (200) and the rear crossbar (204) at both ends. The front crossbar (200) is connected at one end to the left crossbar (202) and the frame column (206), and at the other end to the right crossbar (203) and the frame column (206). A front louver (100) is installed on the outside of the front crossbar (200). A rear louver (107) and an electrical control box (301) are installed on the outside of the rear crossbar (204). One end of the rear crossbar (204) is connected to the left crossbar (202) and the frame column (206), and at the other end to the right crossbar (203) and the frame column (206). The left crossbar (204) is connected to the frame column (206). The middle front end of the horizontal bar (202) is the left horizontal bar middle front end bar (2021). Two internal columns (205) and a lifting slide (201) are installed on the right side of the left horizontal bar middle front end bar (2021). The middle front end of the right horizontal bar (203) is the right horizontal bar middle front end bar (2031). Two internal columns (205) and a lifting slide (201) are installed on the left side of the right horizontal bar middle front end bar (2031). The upper surfaces of both the right horizontal bar middle front end bar (2031) and the left horizontal bar middle front end bar (2021) are equipped with… There is a push rod motor lower connecting rod (209), the internal column (205) has two rods installed on the right side of the middle front bar (2021) of the left horizontal bar and two other rods installed on the left side of the middle front bar (2031) of the right horizontal bar, the lifting slide (201) has two rods installed on the right side of the middle front bar (2021) of the left horizontal bar and two other rods installed on the left side of the middle front bar (2031) of the right horizontal bar, the lifting platform (207) has two pulleys on each side, and the interior of the lifting slide (201) is the slide of the pulleys on both sides of the lifting platform (207); There are 14 fixed pulleys (208). Two fixed pulleys (208) are installed at the front and rear ends of the lower surface of the lifting platform (207). Two fixed pulleys (208) are installed on the upper part of the rear crossbar (204). A total of 8 fixed pulleys (208) are installed on the four internal columns (205). The electrical equipment (3) includes: an electrical control box (301), a lifting motor (302), a right push rod motor (303), a left push rod motor (304), a right door limit switch (305), a left door limit switch (306), an upper limit switch (307), a middle limit switch (309), a lower limit switch (310), a lower limit connecting rod (308), a fan (311), and a battery (312); the fan (311) is mounted on the front crossbar (200) and the rear crossbar (204). Two are installed. The electrical control box (301) is installed on the lower left side of the outer side of the rear crossbar (204). The lifting motor (302) is installed in the middle of the inner side of the rear crossbar (204). The winding column (3021) is installed on the upper shaft of the lifting motor (302). The rear end of the right push rod motor (303) is installed on the push rod motor lower connecting rod (209) on the front end bar (2031) in the middle of the right crossbar. The front end of the push rod of the right push rod motor (303) is installed on the push rod inside the right door (103). The upper connecting rod (210) of the motor, the rear end of the left push rod motor (304) is installed on the push rod motor lower connecting rod (209) on the front end bar (2021) of the middle part of the left crossbar, the front end of the push rod of the left push rod motor (304) is installed on the push rod motor upper connecting rod (210) inside the left door (104), the upper limit switch (307), the middle limit switch (309), the lower limit connecting rod (308), and the lower limit switch (310) are installed from top to bottom on the inner column (20) of the right front. 5) Above the lower limit switch (310) is a lower limit contact piece (3081), the lower limit connecting rod (308) is equipped with a lower limit contact piece (3081) in the middle and a lifting platform contact piece (3082) is installed at the end, the right door limit switch (305) is installed on the middle of the right crossbar (203), the left door limit switch (306) is installed on the middle of the left crossbar (202), and the battery (312) is installed in the middle of the upper surface of the buoyancy box (401); The water surface fixing device (4) includes: a buoyancy box (401), a fixing pile (402), a front protective shell (403), and a pile connecting ring (404). The upper surface of the buoyancy box (401) is equipped with the lower part of the frame column (206), the lower horizontal bar of the left horizontal bar (202), the lower horizontal bar of the right horizontal bar (203), and a battery (312). The front protective shell (403) is installed at the front end of the buoyancy box (401). Two of the pile connecting rings (404) are installed at both ends of the lower horizontal bar of the rear horizontal bar (204), and the other two are installed at both ends of the lower horizontal bar of the front horizontal bar (200). The upper middle part of the fixing pile (402) is inside the ring of the pile connecting ring (404).
2. The water hangar for amphibious unmanned aerial vehicles according to claim 1, characterized in that, The upper surfaces of the right top (101) and left top (102) are equipped with solar panels that can charge the battery (312).
3. The water hangar for amphibious unmanned aerial vehicles according to claim 1, characterized in that, During the descent of the lifting platform (207), when the lower surface of the lifting platform (207) presses against the lifting platform contact piece (3082), the lifting platform contact piece (3082) will drive the lower limit connecting rod (308) and the lower limit contact piece (3081) to descend. The lower limit contact piece (3081) will press against the upper switch of the lower limit switch (310).
4. The water hangar for amphibious unmanned aerial vehicles according to claim 1, characterized in that, Two ropes made of non-elastic material are wound around the winding post (3021); The first rope starts at the upper half of the winding post (3021), and then passes through the fixed pulley (208) on the right side of the upper end of the rear crossbar (204), the fixed pulley (208) on the right side of the top of the inner column (205) in the front right, the fixed pulley (208) in the middle of the inner column (205) in the front right, the fixed pulley (208) on the front side of the top of the inner column (205) in the front right, the fixed pulley (208) on the front right of the lower surface of the lifting platform (207), the fixed pulley (208) on the front left of the lower surface of the lifting platform (207), and the fixed pulley (208) on the top of the inner column (205) in the front left. Finally, the end of the rope is fixed at the upper part of the left crossbar (202). The second rope starts at the lower half of the winding post (3021), and then passes in sequence through the fixed pulley (208) on the left side of the upper end of the rear crossbar (204), the left fixed pulley (208) at the top of the left rear inner column (205), the middle fixed pulley (208) at the top of the left rear inner column (205), the front fixed pulley (208) at the top of the left rear inner column (205), the fixed pulley (208) at the left rear of the lower surface of the lifting platform (207), the fixed pulley (208) at the right rear of the lower surface of the lifting platform (207), and the fixed pulley (208) at the top of the right rear inner column (205). Finally, the end of the rope is fixed at the upper part of the right crossbar (203).