Takeoff and landing transfer platform for unmanned aerial vehicle

Abstract

The present disclosure relates to a take-off and landing transfer platform for a UAV, comprising a mobile chassis, a take-off and landing platform and a sensing device, the take-off and landing platform is arranged on the mobile chassis, the top surface of the take-off and landing platform is used for take-off and / or landing of the UAV, and the sensing device can comprise a first radar, the top surface of the take-off and landing platform has a concave recess, the first radar is arranged in the recess, and the detection surface of the first radar is exposed to the top surface of the take-off and landing platform. The technical solution provided by the present disclosure integrates the take-off and landing platform on the mobile chassis, can realize movement and position transfer of the take-off and landing platform, can be adjusted according to operation mode adjustment or business condition adjustment, and has higher deployment flexibility. In addition, the take-off and landing transfer platform is used for take-off and landing and transfer of the UAV, can greatly reduce the cost of manual carrying, can improve operation efficiency, and has low construction cost compared with large-scale deployment of construction facilities such as UAV hangars.

Description

Technical Field

[0001] This disclosure relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a take-off and landing transfer platform for UAVs. Background Technology

[0002] In related technologies, an automated drone hangar is set up for drone take-off and landing. However, this solution has poor deployment flexibility, high construction costs, requires a large number of hangars to meet business throughput demands, and has low efficiency. In addition, it may require manual handling of drones between take-off and landing points, resulting in high labor costs. Utility Model Content

[0003] The purpose of this disclosure is to provide a take-off and landing transfer platform for unmanned aerial vehicles (UAVs) that offers high deployment flexibility, low construction and labor costs, and improved relocation efficiency, thereby at least partially solving the aforementioned technical problems.

[0004] To achieve the above objectives, a first aspect of this disclosure provides a take-off and landing transfer platform for unmanned aerial vehicles (UAVs), comprising: Mobile chassis; A take-off and landing platform, mounted on the mobile chassis, the top surface of which is used for take-off and / or landing of the UAV; and The sensing device includes a first radar, the top surface of the landing platform has a concave recess, the first radar passes through the recess, and the detection surface of the first radar is exposed on the top surface of the landing platform.

[0005] Optionally, the take-off and landing transfer platform includes a support frame disposed between the mobile chassis and the take-off and landing platform, the recess includes a through hole penetrating the take-off and landing platform, the first radar is connected to the support frame, and the detection surface is exposed to the top surface of the take-off and landing platform through the through hole.

[0006] Optionally, the sensing device includes a mounting plate connected to the support frame and embedded in the through hole. The mounting plate has a through hole, and the first radar is connected to the bottom surface of the mounting plate and passes through the through hole. The detection surface, the top surface of the mounting plate, and the top surface of the take-off and landing platform are flush.

[0007] Optionally, the sensing device further includes a second radar connected to the support frame; wherein the first radar is a 4D millimeter-wave radar and the second radar is an omnidirectional lidar.

[0008] Optionally, the support frame includes a column and a support frame. The bottom end of the column is connected to the mobile chassis, and the top end of the column is connected to the support frame. The lifting platform is mounted on the support frame, and both the first radar and the second radar are connected to the support frame. There is an installation space between the top surface and the bottom surface of the support frame, a portion of the first radar is located in the installation space, and the second radar is connected to the bottom surface of the support frame.

[0009] Optionally, the first radar and the second radar are arranged opposite each other in the height direction; and / or, The first radar is located at the center of the take-off and landing platform; and / or, the sensing device further includes one or more visual recognition devices connected to the support frame, the one or more visual recognition devices being arranged around the outer periphery of the support frame; and / or, the take-off and landing transfer platform includes a control box disposed on the mobile chassis and located between the support frame and the mobile chassis, the control box being signal-connected to the sensing device and the mobile chassis respectively; and / or, the take-off and landing transfer platform includes a battery device disposed below the mobile chassis.

[0010] Optionally, the mobile chassis includes a base and multiple sets of drive components connected to the base. The drive components include a servo motor, a wheel frame, a motor, and wheels. The servo motor and the wheel frame are connected to the base, and the motor and the wheels are connected to the wheel frame. The servo motor is used to drive the wheel frame to rotate in order to control the direction of the wheels, and the motor is used to drive the wheels to rotate.

[0011] Optionally, a motor controller is provided on the outer wall of the wheel frame, and the motor controller is connected to the motor; and / or, the motor is a hub motor; and / or, the mobile chassis further includes a conductive slip ring, the conductive slip ring is disposed on the base and passes through the wheel frame, the conductive slip ring is electrically connected to the motor controller disposed on the wheel frame, and the center line of the conductive slip ring coincides with the rotation axis of the wheel frame.

[0012] Optionally, the drive assembly includes a gear set, and the servo motor is connected to the wheel frame via the gear set; wherein, the gear set includes a drive gear connected to the servo motor and a driven gear ring connected to the wheel frame, the drive gear meshing with the driven gear ring, the driven gear ring being rotatably connected to the base around its own axis, and the conductive slip ring passing through the center of the driven gear ring; and / or, the number of drive assemblies is three sets, the three sets of drive assemblies being arranged at the three corners of an equilateral triangle; and / or, the base includes three support beams arranged in an equilateral triangle, two connected support beams being connected by a mounting base, and the drive assembly being mounted on the mounting base; and / or, a position sensor is provided on the base, and a trigger is provided on the wheel frame, the position sensor being used to detect the position of the trigger to determine the rotation angle of the wheel frame relative to the base.

[0013] By integrating the take-off and landing platform onto a mobile chassis using the aforementioned technical solution, the platform can be moved and relocated. It can be quickly deployed and withdrawn according to operational models or business conditions, offering greater deployment flexibility. Furthermore, using this take-off and landing transfer platform for UAV take-off, landing, and transfer significantly reduces the cost of manual handling and improves operational efficiency. Compared to large-scale deployments of UAV hangars and other similar facilities, the construction cost of the mobile take-off and landing platform is lower. In addition, a concave recess is formed on the top surface of the take-off and landing platform, allowing the first radar to penetrate and directly expose its detection surface to the top of the platform. This provides an unobstructed top-level detection field of view, improving detection accuracy and coordination with UAVs. It also reduces or avoids mechanical interference with UAVs, lowering the risk of scratches. Attached Figure Description

[0014] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0015] Figure 1 This is a schematic diagram of the overall structure of the take-off and landing transfer platform provided in the exemplary embodiments of this disclosure. Figure 1 ; Figure 2 yes Figure 1 A magnified view of position A in the middle; Figure 3 This is a schematic diagram of the overall structure of the take-off and landing transfer platform provided in the exemplary embodiments of this disclosure. Figure 2 ; Figure 4 yes Figure 3 A magnified view of position B in the middle; Figure 5 This is a schematic diagram of the overall structure of the take-off and landing transfer platform provided in the exemplary embodiments of this disclosure. Figure 3 ; Figure 6 This is a top view of the take-off and landing platform provided in the exemplary embodiments of this disclosure; Figure 7 This is a schematic diagram of the overall structure of the take-off and landing transfer platform provided in the exemplary embodiments of this disclosure. Figure 4 Among them, the first radar was removed; Figure 8 This is a schematic diagram of the overall structure of the take-off and landing transfer platform provided in the exemplary embodiments of this disclosure. Figure 5 Among them, the mounting plate and the first radar were removed.

[0016] Explanation of reference numerals in the attached figures 1. Mobile chassis; 11. Base; 111. Support beam; 112. Mounting base; 113. Reinforcing components; 2. Lifting and lowering platform; 21. Recess; 210. Through hole; 3. Sensing device; 31. First radar; 310. Detection surface; 32. Second radar; 33. Mounting plate; 330. Through hole; 34. Visual recognition device; 4. Support frame; 41. Column; 42. Support frame; 421. First frame; 422. Second frame; 423. Mounting structure; 424. Mounting space; 4231. Mounting beam; 4232. Support plate; 5. Accommodation space; 6. Control box; 7. Drive assembly; 71. Servo motor; 72. Wheel frame; 73. Wheel; 74. Gear set; 741. Drive gear; 742. Driven gear ring; 7421. Outer ring; 75. Motor; 8. Motor controller; 81. Drive wiring harness; 9. Conductive slip ring; 10. Battery device; 1000. Position sensor. Detailed Implementation

[0017] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0018] In this disclosure, unless otherwise stated, "inner" and "outer" refer to the inner and outer contours of the corresponding components. Furthermore, the terms "first" and "second" used in this disclosure are for distinguishing one element from another and are not sequential or significant. In addition, when the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0019] according to Figures 1 to 8As shown, this disclosure provides a take-off and landing transfer platform for unmanned aerial vehicles (UAVs). The take-off and landing transfer platform for UAVs may include a mobile chassis 1, a take-off and landing platform 2, and a sensing device 3. The take-off and landing platform 2 is mounted on the mobile chassis 1. The top surface of the take-off and landing platform 2 is used for UAV take-off and / or landing. The sensing device 3 may include a first radar 31. The top surface of the take-off and landing platform 2 has a concave recess 21. The first radar 31 passes through the recess 21, and the detection surface 310 of the first radar 31 is exposed on the top surface of the take-off and landing platform 2.

[0020] By integrating the take-off and landing platform 2 onto the mobile chassis 1 using the aforementioned technical solution, the platform 2 can be moved and relocated. It can be quickly deployed and withdrawn according to operational models or business conditions, offering greater deployment flexibility. Furthermore, using this take-off and landing transfer platform for UAV take-off, landing, and transfer significantly reduces the cost of manual handling and improves operational efficiency. Compared to large-scale deployment facilities such as UAV hangars, the construction cost of the mobile take-off and landing platform is lower. In addition, a concave recess 21 is formed on the top surface of the take-off and landing platform 2, through which the first radar 31 passes, directly exposing the detection surface 310 to the top surface of the platform 2. This provides an unobstructed detection field of view from the top, improving detection accuracy and coordination with UAVs. It also reduces or avoids mechanical interference with UAVs, lowering the risk of scratches.

[0021] The take-off and landing platform 2 can be constructed in any suitable manner. For example, the take-off and landing platform 2 can be constructed as a circular platform to increase the load-bearing area and facilitate the parking of the UAV. Alternatively, the take-off and landing platform 2 can also be constructed as a polygonal platform, such as a rectangle. The take-off and landing platform 2 can be made of any suitable material. This disclosure is not limited thereto.

[0022] In addition, markings such as visual QR codes, geometric shapes, and patterns can be set on the top surface of the take-off and landing platform 2 for drones to identify and land on.

[0023] The vertical projection of the take-off and landing platform 2 can cover the mobile chassis 1, thereby increasing the surface area of ​​the platform and indirectly improving the success rate of drone landing. It can also provide effective protection and shielding for the components below. In addition, the take-off and landing surface (i.e., the top surface) of the platform 2 can accommodate one or more drones. This disclosure is not limited thereto.

[0024] In some feasible ways, for example, refer to Figures 3 to 5As shown, the take-off and landing transfer platform may include a support frame 4 disposed between the mobile chassis 1 and the take-off and landing platform 2. The recess 21 may include a through hole 210 penetrating the take-off and landing platform 2. The first radar 31 is connected to the support frame 4, and the detection surface 310 is exposed to the top surface of the take-off and landing platform 2 through the through hole 210. Through the above structural design, the first radar 31 is directly mounted on the support frame 4, which has higher rigidity and is associated with the vehicle coordinate system. This can improve the stability of the connection and the accuracy of positioning, and can also optimize the wiring layout. The wiring harness of the first radar 31 is arranged in the space below the take-off and landing platform 2, which is convenient for wiring and protection, and is more conducive to modular assembly and replacement. At the same time, the detection surface 310 is exposed to the outside world through the through hole 210. This can provide the first radar 31 with an unobstructed upward field of view while keeping the take-off and landing surface (i.e., the top surface of the take-off and landing platform 2) flat and without forming a protrusion, thereby improving the reliability of the whole machine.

[0025] Among them, "above" and "below" can be "up" and "down" along the vertical direction or the height direction.

[0026] In some feasible ways, for example, refer to Figure 1 , Figure 6 and Figure 7 As shown, the sensing device 3 may include a mounting plate 33, which is connected to the support frame 4 and embedded in a through hole 210. The mounting plate 33 has a through hole 330, and the first radar 31 is connected to the bottom surface of the mounting plate 33 and passes through the through hole 330. By embedding the mounting plate 33 connected to the support frame 4 in the through hole 210 and opening the through hole 330 on the mounting plate 33 to connect and pass the first radar 31 from below, the mounting plate 33 can form a stable mounting structure to improve the stability of the installation of the first radar 31, and can to a certain extent avoid collisions with the first radar 31 during the installation of the take-off and landing platform 2, thus providing protection for the first radar 31.

[0027] In some feasible implementations, the top surfaces of the detection surface 310, the mounting plate 33, and the landing platform 2 can be flush, effectively preventing the UAV from rubbing against the first radar 31 during takeoff and landing. The mounting plate 33 limits and positions the first radar 31, ensuring it remains in a preset position (e.g., the center of the landing platform 2), thus guaranteeing its field of view. Furthermore, the first radar 31 can be quickly installed and removed from below the landing platform 2, facilitating future maintenance. Additionally, the coplanarity of the detection surface 310 and the top surface of the landing platform 2 allows for more accurate acquisition of the UAV's relative altitude and position, aiding in landing determination and reducing blind spots and false alarms caused by obstructions.

[0028] A seal can be arranged between the mounting plate 33 and the through hole 210 to prevent contaminants from above from entering the wiring harness and structure located on the side of the take-off and landing platform 2 away from the top surface, thereby improving safety and stability. Exemplarily, the seal can be a sealing ring, sealing strip, or, for example, a rubber strip. This disclosure does not specifically limit its application.

[0029] In some feasible ways, for example, refer to Figure 3 and Figure 5 As shown, the sensing device 3 may also include a second radar 32, which is connected to the support frame 4. By setting the second radar 32, the second radar 32 and the first radar 31 form a cooperative sensing system, simplifying position calibration, reducing data errors, and improving the safety, reliability, and environmental adaptability of UAV take-off and landing and platform movement.

[0030] For example, the first radar 31 can be a 4D millimeter-wave radar, and the second radar 32 can be an omnidirectional lidar. The 4D millimeter-wave radar can output information such as distance / azimuth / pitch and radial velocity, and is less affected by the external environment (such as rain, fog, backlight, and dust), and can effectively acquire the position and take-off and landing information of the UAV. The omnidirectional lidar can provide 360-degree high-resolution planar / spatial obstacle detection and environmental recognition, enabling the mobile chassis 1 to obtain autonomous positioning, obstacle avoidance, and alignment functions, and is more reliable in use. In addition, the first radar 31 can combine its own positioning data with the Kalman filter algorithm to support the dynamic compensation movement of the mobile chassis 1, reducing the tracking error of the UAV landing point, for example, the tracking error can be less than 5cm. The second radar 32 can combine the SLAM algorithm (simultaneous localization and mapping) to build a mixed indoor and outdoor scene map to further improve obstacle avoidance capability and positioning accuracy, enabling the take-off and landing transfer platform to transfer from, for example, an underground parking garage to an open-air airport, to achieve stable obstacle avoidance and obstacle avoidance functions, and to support high-density cluster deployment.

[0031] In some feasible ways, for example, refer to Figures 1 to 8 As shown, the support frame 4 may include a column 41 and a support frame 42. The bottom end of the column 41 is connected to the mobile chassis 1, and the top end of the column 41 is connected to the support frame 42. The lifting platform 2 is mounted on the support frame 42. Thus, through the above structural design, the column 41 connects the mobile chassis 1 and the support frame 42 to form a stable frame structure. Furthermore, a space 5 can be formed between the support frame 4 and the mobile chassis 1, which can be used for, for example, installing a control box 6 or arranging wiring.

[0032] In some feasible implementations, both the first radar 31 and the second radar 32 are connected to the support frame 42. The support frame 42 can conveniently provide a mounting base for the first radar 31 and the second radar 32, facilitating assembly and positioning, and making the relative position of the sensing device 3 with the vehicle coordinate system more accurate and stable.

[0033] In some feasible implementations, there is an installation space between the top and bottom surfaces of the support frame 42, with part of the first radar 31 located in the installation space and the second radar 32 connected to the bottom surface of the support frame 42. This utilizes the space occupied by the support frame 42 due to its own thickness to accommodate part of the first radar 31, improving space utilization and ensuring effective protection of the first radar 31, reducing the impact of external shocks or vibrations. Furthermore, it prevents bulges on the landing surface, maintaining its flatness. The second radar 32, mounted on the bottom surface of the support frame 42, provides a nearly unobstructed 360-degree field of view and is protected from airflow interference during UAV takeoff and landing; it also facilitates wiring and maintenance.

[0034] In some feasible ways, for example, refer to Figures 1 to 8 As shown, the first radar 31 and the second radar 32 can be arranged opposite each other in the height direction, so that the first radar 31 and the second radar 32 can obtain the optimal field of view without obstructing each other. For example, the first radar 31 and the second radar 32 can both be located at the center of the take-off and landing platform 2. The detection surface 310 of the first radar 31 can detect the environment above the take-off and landing platform 2 to locate the position of the UAV and complete the landing of the UAV. The second radar 32, located below the take-off and landing platform 2, can obtain a 360° circumferential field of view, effectively avoiding mutual interference with the first radar 31.

[0035] In some feasible ways, for example, refer to Figure 3 and Figure 5 As shown, the sensing device 3 may also include one or more visual recognition devices 34 connected to the support frame 42, with the one or more visual recognition devices 34 arranged around the outer periphery of the support frame 42. This further improves environmental recognition, forming an omnidirectional visual perception zone, enhancing the accuracy of obstacle detection, and enabling functions such as target marking and distance estimation. It also provides accuracy supplementation for the first radar 31 and the second radar 32, making it more reliable in use.

[0036] For example, the visual recognition device 34 may include a high-precision camera or an RGB (Red, Green, Blue) camera to scan and identify the surrounding environment, obtaining location information such as obstacles. Through the information feedback from the visual recognition device 34, the take-off and landing transfer platform for the drone can achieve obstacle avoidance and route planning. Furthermore, the visual recognition device 34 can adjust its direction in real time during movement according to business needs, based on algorithms, to obtain a field of view from different angles and directions.

[0037] The support frame 42 can be arranged around the recess 21, as exemplarily as follows: Figure 5 As shown, the support frame 42 may include a first frame 421 and a plurality of second frames 422. The first frame 421 is disposed around the recess 21, and the plurality of second frames 422 are arranged around and connected to the first frame 421. The first frame 421 has a mounting structure 423 for the first radar 31 and the second radar 32. The mounting structure 423 may include two mounting beams 4231 arranged opposite to each other along a first direction and bearing plates 4232 distributed and connected to the two mounting beams 4231. The beam 4231 is positioned near the through hole 210 of the recess 21. The size of the support plate 4232 can be greater than or equal to the size of the through hole 210, and it is positioned opposite to the through hole 210. The aforementioned installation space is formed between the support plate 4232 and the through hole 210. The first radar 31 and the mounting plate 33 for mounting the first radar 31 are positioned on the side of the support plate 4232 facing the landing platform 2, and the second radar 32 is positioned on the side of the support plate 4232 away from the landing platform 2 and connected to the support plate 4232. In this way, the space utilization rate can be further improved. The arrangement of the first frame 421 and the second frame 422 can provide installation conditions for other equipment (for example, a visual recognition device 34 or radar, column 41, etc. can be added adaptively).

[0038] Exemplarily, both the first frame 421 and the second frame 422 can be constructed as rectangular frames. It is understood that both the first frame 421 and the second frame 422 can be constructed by splicing beam structures, and the connection points of the first frame 421 and the second frame 422 can share the same or more beams. Exemplarily, the number of second frames 422 can be four, so that the connected first frames 421 and second frames 422 can form a "cross-shaped structure." The recess 21 can be located at the midpoint of the "cross-shaped structure" (e.g., the center of the landing platform 2). The visual recognition device 34 can be connected to the second frame 422 to be closer to the outer edge of the landing platform 2, thereby reducing structural interference and avoiding obstruction of vision. Alternatively, the visual recognition device 34 can also be connected to the landing platform 2. This disclosure is not limited thereto.

[0039] The number of the second frame 422 can also be adjusted according to actual needs; for example, the number of the second frame 422 can be two or three. This disclosure is not limited thereto.

[0040] In some feasible ways, for example, refer to Figure 1 As shown, the take-off and landing transfer platform may include a control box 6 mounted on the mobile chassis 1 and located between the support frame 42 and the mobile chassis 1. The control box 6 can be connected to the sensing device 3 and the mobile chassis 1 respectively. By optimizing the position of the control box 6, the signal and circuit wiring can be shortened, electromagnetic interference and communication delay can be reduced, and heat dissipation and maintenance can be facilitated. At the same time, it is far away from the take-off and landing platform 2 to avoid interference with the UAV.

[0041] The control box 6 may include a box body and a control module installed inside the box body. The control module is connected to the sensing device 3 and the mobile chassis 1 by signal. The sensing device 3 feeds back the surrounding environmental information to the control module. After receiving the signal, the control module controls the mobile chassis 1 to avoid obstacles and track the position of the UAV, so as to realize the docking of the take-off and landing transfer platform with the UAV.

[0042] The specific structure of the control box 6 and its control coordination with the sensing device 3 and the mobile chassis 1 are all relatively mature technologies, and those skilled in the art can refer to existing technical documents. This disclosure will not elaborate further here.

[0043] In some feasible ways, for example, refer to Figure 3 and Figure 5 As shown, the take-off and landing transfer platform for a drone may include a battery unit 10 disposed below the mobile chassis 1. The battery unit 10 is used to power, for example, the control box 6, the sensing device 3, and the mobile chassis 1. By optimizing the position of the battery unit 10, placing it below the mobile chassis 1 can lower the overall center of gravity of the drone, improve the stability of driving and parking, and facilitate replacement and protection, thereby improving the safety and maintainability of the take-off and landing transfer platform.

[0044] The battery device 10 can be the same model as the UAV's battery to facilitate standardized maintenance later on. This disclosure is not limited thereto.

[0045] In some feasible ways, for example, refer to Figures 1 to 8As shown, the mobile chassis 1 may include a base 11 and multiple drive components 7 connected to the base 11. Each drive component 7 may include a servo motor 71, a wheel frame 72, a motor, and wheels 73. The servo motor 71 and wheel frame 72 are connected to the base 11, and the motor and wheels 73 are connected to the wheel frame 72. The servo motor 71 drives the wheel frame 72 to rotate, thereby controlling the steering of the wheels 73. The motor drives the wheels 73 to rotate. Through this structural design, the motor can drive the wheels 73 to move, and the servo motor 71 can drive the wheel frame 72 to steer the wheels 73, thus achieving rapid and precise multi-directional and multi-angle adjustments. This allows the take-off and landing transfer platform to start and stop quickly even in confined spaces, enabling precise docking of UAVs. The multiple drive components 7 further enhance the mobility of the take-off and landing transfer platform, improve obstacle avoidance capabilities, reduce slippage and wear on the wheels 73, thereby significantly improving docking efficiency, operational stability, and overall reliability.

[0046] For example, the number of drive components 7 can be three sets, which can be arranged in a triangle; or the number of drive components 7 can be four sets, which can be arranged in a rectangle; or the number of drive components 7 can be more than one set, and they can be arranged in any suitable manner. This disclosure does not impose specific limitations in this regard, and those skilled in the art can make adjustments according to actual needs, as long as the smooth movement of the take-off and landing transfer platform can be ensured.

[0047] In some feasible embodiments, a motor controller 8 can be mounted on the outer wall of the wheel frame 72, and the motor controller 8 is connected to the motor. This enables a short-distance connection between the motor controller 8 and the motor, thereby reducing signal transmission time and wiring harness length, and thus improving torque response speed.

[0048] The motor controller 8 and the control box 6 work together. The control box 6 can be used for global path planning control, and the motor controller 8 can be used for motor control. This reduces the algorithm load on the control box 6, improves the modularity of the system, and makes it more reliable and stable.

[0049] For example, the motor can be a hub motor, which is installed inside the walking wheel 73 to further reduce the external space occupation, optimize the wiring layout, and avoid the impact of the walking wheel 73's movement and turning on the wiring harness.

[0050] In some feasible ways, for example, refer to Figures 1 to 8As shown, the mobile chassis 1 may also include a conductive slip ring 9, which is mounted on the base 11 and passes through the wheel frame 72. The conductive slip ring 9 is electrically connected to the motor controller 8 mounted on the wheel frame 72, and the center line of the conductive slip ring 9 coincides with the rotation axis of the wheel frame 72. Through the above structural design, by setting the conductive slip ring 9 on the base 11 and passing through the wheel frame 72, and by aligning the center line of the conductive slip ring 9 with the rotation axis of the wheel frame 72, stable power supply and communication to the motor controller 8 can be achieved when the wheel frame 72 continuously turns / rotates, avoiding fatigue damage caused by wire harness entanglement and repeated bending, and ensuring the stability and smoothness of the wheel frame 72's steering. In addition, the conductive slip ring 9, in conjunction with the hub motor, can simplify the transmission chain, improve the compactness of the layout, and enhance the mobility and reliability of the mobile chassis 1.

[0051] In some feasible ways, for example, refer to Figures 1 to 8 As shown, the drive assembly 7 may include a gear set 74, and the servo motor 71 is connected to the wheel frame 72 through the gear set 74; wherein, the gear set 74 may include a drive gear 741 connected to the servo motor 71 and a driven gear ring 742 connected to the wheel frame 72, the drive gear 741 meshes with the driven gear ring 742, the driven gear ring 742 is rotatably connected to the base 11 around its own axis, and the conductive slip ring 9 passes through the center position of the driven gear ring 742. Through the above structural design, the combination of the servo motor 71 and the gear set 74 can further improve the steering accuracy. The meshing of the driving gear 741 and the driven gear ring 742 can improve the torque output. In this way, a smaller servo motor 71 can be selected to reduce space occupation and control costs. The driven gear ring 742 is rotatably mounted on the base 11 around its own axis, and the conductive slip ring 9 is arranged through the center hole of the driven gear ring 742 to improve the compactness of the structure, reduce eccentricity and load, and ensure that the servo motor 71 can drive the wheel frame 72 to achieve 360° continuous steering while avoiding wire harness tangling and ensuring the reliability of electrical connection.

[0052] The gear set 74 may be provided with a housing to protect it, extend its service life, and ensure the normal operation of the steering function of the take-off and landing transfer platform. This disclosure is not limited thereto.

[0053] For example, the output end of the servo motor 71 can be driven and connected to the drive gear 741. The driven gear ring may include an outer ring 7421 connected to the wheel frame 72 and an inner ring connected to the base 11. In addition, the conductive slip ring 9 can be detachably connected to the base 11 (e.g., the mounting base 112 mentioned below) via a connecting bracket. The conductive slip ring 9 passes through the inner ring, and the wire of the conductive slip ring 9 extends into the wheel frame 72 and passes through the side wall of the wheel frame 72 to connect with the motor controller 8. The drive harness 81 of the hub motor can extend to the outside and connect with the motor controller 8. In this way, the conductive slip ring 9 can provide stable power supply and signal transmission to the motor controller 8, and the motor controller 8 can control the hub motor to work through the drive harness 81 to control the movement of the wheel 73. This disclosure is not limited to this. In addition, the outer ring 7421 is rotatably fitted onto the inner ring, and the outer ring 7421 and the inner ring can slide together. A bearing or other structure can also be provided between the outer ring 7421 and the inner ring. This disclosure is not limited to this.

[0054] In some feasible ways, for example, refer to Figures 1 to 8 As shown, the number of drive components 7 can be three sets, and the three sets of drive components 7 are arranged at the three corners of an equilateral triangle. In this way, the base 11 can form a stable "three-point support" and symmetrical arrangement structure, which improves the uniformity of load distribution, the stability of the whole machine and the anti-tilting ability.

[0055] For example, the base 11 may include three support beams 111 arranged in an equilateral triangle. Two support beams 111 are connected by a mounting base 112. The drive assembly 7 is mounted on the mounting base 112. The triangular support structure formed by the support beams 111 has good bending resistance and is easy to disassemble and maintain. The mounting base 112 can provide conditions for the installation of the drive assembly 7.

[0056] The base 11 may be provided with reinforcing members 113 (e.g., reinforcing plates). The reinforcing members 113 may be distributed and connected to the two supporting beams 111. The reinforcing members 113 may be provided with, for example, columns 41, control boxes 6, battery devices 10, etc., to further improve the stability of the overall structure. The reinforcing members 113 may adopt, for example, beam structures or plate structures, etc., and this disclosure is not limited thereto.

[0057] The mounting base 112 can be constructed in any suitable form. For example, the mounting base 112 can be constructed as one or more solid or hollow plates. For instance, the mounting base 112 may include two plates arranged vertically, with corresponding support beams 111 clamped and connected between the two plates. Alternatively, the mounting base 112 may also be constructed as a column to adaptively adjust the overall weight of the machine and reduce the risk of tipping over during turning. This disclosure is not limited thereto.

[0058] In some feasible ways, for example, refer to Figure 4As shown, a position sensor 1000 can be installed on the base 11, and a trigger can be installed on the wheel frame 72. The position sensor 1000 is used to detect the position of the trigger to determine the rotation angle of the wheel frame 72 relative to the base 11. By installing the position sensor 1000 on the base 11 and the trigger on the wheel frame 72, the initial position of the walking wheels 73 can be obtained when the take-off and landing transfer platform starts. High-precision steering control can be achieved under the reference position and absolute angle calibration, ensuring the stability and controllability of the take-off and landing transfer platform during docking with the UAV and during take-off and landing.

[0059] The position sensor 1000 can be a Hall sensor, and the trigger can be a magnet. When the take-off and landing transfer platform is started, when the servo motor 71 drives the wheel frame 72 to rotate, the magnet moves synchronously with the wheel frame 72. When the magnet rotates to a position that the Hall sensor can detect, this position can be calibrated as the zero position to facilitate the precise movement of the take-off and landing transfer platform.

[0060] Alternatively, the position sensor 1000 can be other types of position sensors, such as proximity switches. When the take-off and transfer platform is started, the wheel frame 72 can be rotated to a position where the proximity switch can detect the trigger, and this position is calibrated as the zero position to facilitate the precise movement of the take-off and transfer platform. This disclosure will not elaborate on such variations.

[0061] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0062] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0063] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A take-off and landing transfer platform for unmanned aerial vehicles (UAVs), characterized in that, include: Mobile chassis; A take-off and landing platform is mounted on the mobile chassis, and the top surface of the take-off and / or landing platform is used for the take-off and / or landing of the UAV; as well as The sensing device includes a first radar, the top surface of the landing platform has a concave recess, the first radar passes through the recess, and the detection surface of the first radar is exposed on the top surface of the landing platform.

2. The take-off and landing transfer platform for unmanned aerial vehicles according to claim 1, characterized in that, The take-off and landing transfer platform includes a support frame disposed between the mobile chassis and the take-off and landing platform. The recess includes a through hole penetrating the take-off and landing platform. The first radar is connected to the support frame, and the detection surface is exposed to the top surface of the take-off and landing platform through the through hole.

3. The take-off and landing transfer platform for unmanned aerial vehicles according to claim 2, characterized in that, The sensing device includes a mounting plate, which is connected to the support frame and embedded in the through hole. The mounting plate has a through hole, and the first radar is connected to the bottom surface of the mounting plate and passes through the through hole. The detection surface, the top surface of the mounting plate, and the top surface of the lifting platform are flush.

4. The take-off and landing transfer platform for unmanned aerial vehicles according to claim 2, characterized in that, The sensing device also includes a second radar, which is connected to the support frame; The first radar is a 4D millimeter-wave radar, and the second radar is an omnidirectional lidar.

5. The take-off and landing transfer platform for unmanned aerial vehicles according to claim 4, characterized in that, The support frame includes a column and a support frame. The bottom end of the column is connected to the mobile chassis, and the top end of the column is connected to the support frame. The lifting platform is mounted on the support frame, and the first radar and the second radar are both connected to the support frame. The support frame has an installation space between its top and bottom surfaces, a portion of the first radar is located in the installation space, and the second radar is connected to the bottom surface of the support frame.

6. The take-off and landing transfer platform for unmanned aerial vehicles according to claim 5, characterized in that, The first radar and the second radar are arranged opposite each other in the height direction; and / or, The first radar is located at the center of the takeoff and landing platform; and / or, The sensing device further includes one or more visual recognition devices connected to the support frame, the one or more visual recognition devices being arranged around the outer periphery of the support frame; and / or, The take-off and landing transfer platform includes a control box mounted on the mobile chassis and located between the support frame and the mobile chassis. The control box is signal-connected to both the sensing device and the mobile chassis; and / or The take-off and landing transfer platform includes a battery device located below the mobile chassis.

7. The take-off and landing transfer platform for unmanned aerial vehicles according to any one of claims 1-6, characterized in that, The mobile chassis includes a base and multiple sets of drive components connected to the base. The drive components include a servo motor, a wheel frame, a motor, and wheels. The servo motor and the wheel frame are connected to the base, and the motor and the wheels are connected to the wheel frame. The servo motor is used to drive the wheel frame to rotate in order to control the direction of the wheels, and the motor is used to drive the wheels to rotate.

8. The take-off and landing transfer platform for unmanned aerial vehicles according to claim 7, characterized in that, A motor controller is provided on the outer wall of the wheel frame, and the motor controller is connected to the motor; and / or, The motor is a hub motor; and / or, The mobile chassis also includes a conductive slip ring, which is disposed on the base and passes through the wheel frame. The conductive slip ring is electrically connected to a motor controller disposed on the wheel frame, and the center line of the conductive slip ring coincides with the rotation axis of the wheel frame.

9. The take-off and landing transfer platform for unmanned aerial vehicles according to claim 8, characterized in that, The drive assembly includes a gear set, and the servo motor is connected to the wheel frame via the gear set; The gear set includes a drive gear connected to the servo motor and a driven gear ring connected to the wheel frame. The drive gear meshes with the driven gear ring, and the driven gear ring is rotatably connected to the base around its own axis. The conductive slip ring passes through the center of the driven gear ring.

10. The take-off and landing transfer platform for unmanned aerial vehicles according to claim 7, characterized in that, The number of drive components is three sets, and the three sets of drive components are arranged at the three corners of an equilateral triangle; and / or, The base includes three support beams arranged in an equilateral triangle, with two connected support beams linked by a mounting base, and the drive assembly mounted on the mounting base; and / or, A position sensor is provided on the base, and a trigger is provided on the wheel frame. The position sensor is used to detect the position of the trigger to determine the rotation angle of the wheel frame relative to the base.

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