A cluster of unmanned aerial vehicle nests

Abstract

The utility model belongs to unmanned aerial vehicle control technical field discloses a cluster unmanned aerial vehicle nest, including multiple sets of flying mechanism and a set of motion control subsystem. Flying mechanism is by base, lifting platform, centering unit and fixed unit are composed, lifting platform adopts scissor type structure and integrates wireless charger, centering unit realizes unmanned aerial vehicle accurate centering through X and Y direction electric module, and fixed unit drives hook claw locking unmanned aerial vehicle foot stool through drive arrangement. Motion control subsystem controls all mechanism actions uniformly, and communicates with external equipment. The nest can be disposed in standard outdoor shelter, realizes unmanned aerial vehicle's automatic flying, recycling, centering, fixing and charging whole process unattended operation, solves multiple sets of independent nest system scheduling not unified, response delay problem, improves the efficiency and reliability of cluster operation.

Description

Technical Field

[0001] This utility model belongs to the field of unmanned aerial vehicle (UAV) control technology, and in particular relates to a cluster of UAV nests. Background Technology

[0002] Currently, drone nesting equipment has been applied to some extent, enabling functions such as automatic launch and recovery, online charging, and centering and fixing, thus achieving unattended operation. When multiple drones need to be networked together, multiple drone nesting devices are required. However, each nesting device has its own control system, which can easily lead to delays and congestion when the drone ground station interacts with these nesting control systems. This makes unified scheduling and command difficult and may also affect operational safety. Utility Model Content

[0003] The purpose of this invention is to provide a cluster of unmanned aerial vehicles (UAVs) nests to solve the aforementioned technical problems.

[0004] To achieve the above objectives, the specific technical solution of this utility model for a cluster of unmanned aerial vehicle (UAV) nests is as follows: A cluster of unmanned aerial vehicles (UAVs) is installed in an outdoor container, comprising multiple launch mechanisms and a motion control subsystem. Each launch mechanism includes: The base is fixedly installed inside the outdoor container. A lifting platform, installed on the base, is used to carry drones in and out of the outdoor cabin and is equipped with a wireless charger for charging drones. A centering unit, installed on the lifting platform, is used to adjust the drone to the center position of the lifting platform; A fixing unit, installed on the lifting platform, is used to fix the drone after it has been adjusted by the centering unit; A motion control subsystem is electrically connected to all the launching mechanisms to uniformly control the actions of each launching mechanism and to interact with external devices.

[0005] Furthermore, the lifting platform adopts a scissor lift structure, including a base, inner fork arm, outer fork arm, electric push rod, platform, landing pad, and wireless charger. The base is installed on the base, and the inner and outer fork arms connect the platform and the base by hinge. The platform is raised and lowered by the electric push rod that is hinged to the outer fork arm. The landing pad is installed on the platform, and the wireless charger is installed on the landing pad for charging the drone after it is fixed in place.

[0006] Furthermore, the centering unit includes an X-axis centering unit and a Y-axis centering unit, which are installed on the platform. The X-axis centering unit and the Y-axis centering unit are used together to center the UAV located at any position on the helipad to the center position on the helipad.

[0007] Furthermore, the X-axis centering unit includes an X-axis electric module and an X-axis centering rod. Two sets of X-axis electric modules are respectively installed on the front and rear sides of the landing pad of the lifting platform. The X-axis centering rod is installed on the X-axis electric module. The X-axis electric module is used to drive the two X-axis centering rods to push the drone landing gear inward simultaneously to achieve X-axis centering of the drone.

[0008] Furthermore, the Y-axis centering unit includes a Y-axis electric module, a Y-axis centering rod, and a centering lever. The Y-axis electric module is installed on the left and right sides of the landing pad of the lifting platform, the Y-axis centering rod is installed on the Y-axis electric module, and the centering lever is installed in the groove of the Y-axis centering rod. The Y-axis electric module is used to drive the centering lever to push the UAV landing gear inward, thereby achieving Y-axis centering of the UAV.

[0009] Furthermore, the fixing unit includes a drive device, a reversing device, bearing seats, connecting rods, and hooks. The fixing unit as a whole is fixed to the landing pad of the lifting platform by four bearing seats. The two ends of the drive device are connected to two reversing devices through couplings. The reversing devices are rotatably connected to two bearing seats on one side through connecting rods. The reversing devices are used to reverse the output end of the drive device to form two sets of opposing motion mechanisms. The hooks are fixedly installed on the connecting rods. The drive device and the reversing devices work together to drive the four hooks to rotate, thereby fixing the drone landing gear after centering, thus achieving drone fixation.

[0010] Furthermore, the fixing unit also includes a sensor, which is fixedly installed on one side of the hook and is used to identify the movement state of the hook. The sensor is electrically connected to the motion control subsystem, and the motion control subsystem can determine whether the UAV is securely fixed by the on / off signal of the sensor.

[0011] Furthermore, the electric push rod of the lifting platform, the X-axis electric module and Y-axis electric module of the centering unit, and the drive device of the fixing unit are all electrically connected to the motion control subsystem. The motion control subsystem is used for motion control and signal processing of multiple launch mechanisms, including controlling the lifting platform to rise and fall, the centering unit to center, and the fixing unit to fix the UAV; it is also used to interact with the cabin and ground station software to achieve automatic control.

[0012] Furthermore, the outdoor cabin is a standard piece of equipment, equipped with an information communication interface and a power supply interface for connection to the motion control subsystem.

[0013] Furthermore, the number of the launching mechanisms is four.

[0014] The cluster drone nest of this utility model has the following advantages: Integrated centralized control and high scheduling efficiency: A unified motion control subsystem is used to control multiple launch mechanisms simultaneously, which solves the delay and blocking problems that exist when multiple independent drone nest systems interact. This facilitates unified scheduling and command by the ground station and significantly improves the efficiency and response speed of multi-UAV collaborative operations.

[0015] Compact structure and reasonable layout: The launch mechanism adopts a modular design, integrating lifting, centering, fixing and charging functions into one unit. It can be flexibly deployed in standard outdoor cabins, with strong adaptability, and is easy to install and maintain in various outdoor environments.

[0016] High degree of automation, enabling unattended operation: From drone launch, recovery, repositioning, fixing to charging, the entire process can be completed automatically by the motion control subsystem without human intervention, truly realizing all-weather unattended operation of swarm drones.

[0017] Precise and reliable centering and fixing: The centering mechanism is driven by independent X and Y electric modules, and the fixing unit is monitored by sensors. It can accurately adjust and lock the drone in the center of the landing pad, ensuring stability and safety during charging and storage.

[0018] Convenient charging ensures continuous operation: The lifting platform integrates a wireless charger, allowing drones to start charging immediately after being centered and fixed, quickly preparing energy for subsequent missions and ensuring the continuous operation capability of the drone swarm.

[0019] Strong environmental adaptability: The entire system is deployed in an outdoor container with an openable and closable top cover. The top cover can be closed after the lifting platform is retrieved, effectively preventing wind, sand, dust, and rain, protecting the drone and the internal equipment of the drone nest, and extending its service life.

[0020] Flexible expansion and easy scaling: The system supports the coordinated operation of multiple launch mechanisms (such as four sets) and can be managed uniformly through the motion control subsystem. The number of launch nests can be flexibly increased or decreased according to actual operational needs, making it easy to deploy and manage large-scale UAV swarms. Attached Figure Description

[0021] Figure 1 This is a plan view of the cluster of drone nesting equipment.

[0022] Figure 2 This is a schematic diagram of the three-dimensional structure of the drone launch mechanism 1.

[0023] Figure 3This is a schematic diagram of the three-dimensional structure of the lifting platform 2.

[0024] Figure 4 This is a schematic diagram of the three-dimensional structure of the X-direction centering unit 3.

[0025] Figure 5 This is a schematic diagram of the three-dimensional structure of the Y-direction centering unit 4.

[0026] Figure 6 This is a schematic diagram of the three-dimensional structure of fixed unit 5.

[0027] Figure 7 This is the control logic block diagram of the motion control subsystem.

[0028] Explanation of markings in the diagram: 1. Launching mechanism; 2. Motion control subsystem; 11. Base; 12. Lifting platform; 13. Centering unit; 14. Fixing unit; 121. Base; 122. Inner fork arm; 123. Outer fork arm; 124. Electric push rod; 125. Platform; 126. Helipad; 127. Wireless charger; 131. X-axis centering unit; 132. Y-axis centering unit; 1311. X-axis electric module; 1312. X-axis centering rod; 1321. Y-axis electric module; 1322. Y-axis centering rod; 1323. Centering lever; 141. Drive device; 142. Reversing device; 143. Bearing seat; 144. Connecting rod; 145. Claw; 146. Sensor. Detailed Implementation

[0029] To better understand the purpose, structure, and function of this utility model, the following description, in conjunction with the accompanying drawings, provides a more detailed account of a cluster of unmanned aerial vehicle (UAV) nests.

[0030] like Figure 1 As shown, the present invention provides a cluster of unmanned aerial vehicle (UAV) nests, which are installed in an outdoor container and include four launch mechanisms 1 and an automated control subsystem 2.

[0031] The outdoor modular shelter is standard equipment, with an openable and closable movable top cover. When the top cover is opened, drones can enter and exit. It also has information communication interfaces and power supply interfaces for establishing communication and power connections with the device of this invention.

[0032] like Figure 2As shown, each launch mechanism 1 includes a base 11, a lifting platform 12, a centering unit 13, and a fixing unit 14. The base 11 is installed on the floor inside the cabin and centered with the movable top cover of the cabin; the base 11 is made of welded steel structure and serves as the installation foundation for the launch mechanism. The lifting platform 12 is installed on the base 11 and centered with the movable top cover of the cabin, used to carry the drone in and out of the cabin. The lifting platform 12 also has wireless charging functionality for charging the drone. The centering unit 13 is installed on the upper surface of the lifting platform 12 for adjusting the drone's position on the lifting platform 12. The fixing unit 14 is installed on the upper surface of the lifting platform 12 for fixing the drone after adjustment and centering.

[0033] like Figure 3 As shown, the lifting platform 12 adopts a scissor lift structure, including a base 121, an inner fork arm 122, an outer fork arm 123, an electric push rod 124, a platform 125, a landing pad 126, and a wireless charger 127. The base 121 is mounted on the base 11 and forms the foundation of the lifting platform 12. The inner fork arm 122 and the outer fork arm 123 are hinged to connect the platform 125 and the base 121. The electric push rod 124, hinged to the outer fork arm 123, enables the platform 125 to be raised and lowered. The landing pad 126 is mounted on the platform 125, and the wireless charger 127 is mounted on the landing pad 126 for charging the drone after it has been centrally fixed.

[0034] like Figure 4 As shown, the centering unit 13 includes an X-axis centering unit 131 and a Y-axis centering unit 132. The X-axis centering unit 131 and the Y-axis centering unit 132 are installed on the platform 125. Through the joint operation of the X-axis centering unit 131 and the Y-axis centering unit 132, the UAV located at any position on the helipad 126 can be adjusted to center the UAV at the center of the helipad 126.

[0035] The X-axis centering unit 131 includes an X-axis electric module 1311 and an X-axis centering rod 1312. Two sets of X-axis electric modules 1311 are respectively installed on the front and rear sides of the landing pad 126 of the lifting platform 12. The X-axis centering rod 1312 is installed on the X-axis electric module 1311. Through electrical synchronous control, both X-axis centering rods 1312 simultaneously push the drone's landing gear inwards, achieving X-axis centering of the drone.

[0036] like Figure 5As shown, the Y-axis centering unit 132 includes a Y-axis electric module 1321, a Y-axis centering rod 1322, and a centering lever 1323. Two sets of Y-axis electric modules 1321 are respectively installed on the left and right sides of the landing pad 126 of the lifting platform 12. The Y-axis centering rod 1322 is installed on the Y-axis electric module 1321, and the centering lever 1323 is installed in the groove of the Y-axis centering rod 1322. Through electrical synchronous control, all four centering levers 1323 simultaneously push the drone's landing gear inward, achieving Y-axis centering of the drone.

[0037] like Figure 6 As shown, the fixing unit 14 includes a drive unit 141, a reversing device 142, bearing seats 143, a connecting rod 144, hooks 145, and a sensor 146. The fixing unit 14 is fixed to the landing pad 126 of the lifting platform 12 by four bearing seats 143. The two ends of the drive unit 141 are connected to two reversing devices 142 through couplings. The reversing devices 142 are rotatably connected to two bearing seats 143 on one side through the connecting rod 144. The reversing devices 142 are used to reverse the output end of the drive unit 141, forming two sets of opposing motion mechanisms. The hooks 145 are fixedly installed on the connecting rod 144. Through the movement of the drive unit 141 and the reversing device 142, the four hooks 145 can be driven to rotate, thereby fixing the drone landing gear after centering, thus achieving drone fixation.

[0038] Sensor 146 is fixedly installed on one side of hook 145 to identify the movement state of hook 145. Sensor 145 is electrically connected to motion control subsystem 2. Motion control subsystem 2 can determine whether the UAV is securely fixed by the signal on / off of sensor 145.

[0039] The electric push rod 124 of the lifting platform 12, the X-axis electric module 1311 and Y-axis electric module 1321 of the centering unit 13, and the drive device 141 of the fixing unit 14 are all electrically connected to the motion control subsystem 2, such as Figure 7 As shown, the motion control subsystem 2 is used for motion control and signal processing of the four sets of launch mechanisms 1, including controlling the lifting platform 12 to lift and lower, the centering unit 13 to center, and the fixing unit 14 to fix the UAV; it is also used to interact with the cabin and ground station software to achieve automatic control.

[0040] The specific workflow of this utility model is illustrated by taking an unattended operation process as an example: S1: Motion control subsystem 2 receives the drone launch command, and the movable top cover on the top of the cabin opens.

[0041] S2: All lifting platforms 12 rise to their highest positions simultaneously; S3: Centralizing unit 13 and fixed unit 14 are released simultaneously; S4: The drones take off in sequence to perform their missions, completing the automatic launch of the drones.

[0042] Depending on the actual situation, the lifting platform 12 can be lowered to a low position, and the movable top cover of the cabin can be closed to prevent wind, sand, dust, etc.

[0043] S5: The motion control subsystem 2 receives the drone recovery command, the movable top cover on the top of the cabin opens, and the lifting platform 12 rises to the high position.

[0044] S6: The drone lands on the landing pad 126, the centering unit 13 moves to complete the centering of the drone in the XY direction, the fixing unit 14 fixes the centered drone, and the drone begins to charge automatically. S7: The lifting platform 12 descends to the low position, the movable top cover closes, and the automatic recovery of the drone is completed.

[0045] S8: Repeat the above S1-S7 tasks to complete the execution of the next task instruction.

[0046] It is understood that this utility model has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this utility model. Furthermore, under the teachings of this utility model, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of this utility model.

Claims

1. A cluster of unmanned aerial vehicle (UAV) nests, installed inside an outdoor container, characterized in that, It includes multiple launch mechanisms (1) and a motion control subsystem (2), each of the launch mechanisms (1) comprising: The base (11) is fixedly installed inside the outdoor container; A lifting platform (12) is installed on the base (11) for carrying drones in and out of the outdoor cabin and is equipped with a wireless charger (127) for charging drones. A centering unit (13) is installed on the lifting platform (12) to adjust the UAV to the center position of the lifting platform (12); A fixing unit (14) is installed on the lifting platform (12) to fix the UAV after it has been adjusted by the centering unit (13); A motion control subsystem (2) is electrically connected to all the launching mechanisms (1) for unified control of the actions of each launching mechanism (1) and for data interaction with external devices.

2. The cluster of unmanned aerial vehicle (UAV) nests according to claim 1, characterized in that, The lifting platform (12) adopts a scissor lift structure, including a base (121), an inner fork arm (122), an outer fork arm (123), an electric push rod (124), a platform (125), a landing pad (126), and a wireless charger (127). The base (121) is installed on the base (11). The inner fork arm (122) and the outer fork arm (123) are connected to the platform (125) and the base (121) by a hinge. The platform (125) is lifted and lowered by the electric push rod (124) which is hinged on the outer fork arm (123). The landing pad (126) is installed on the platform (125). The wireless charger (127) is installed on the landing pad (126) for charging the UAV after it is fixed in place.

3. The cluster of unmanned aerial vehicle (UAV) nests according to claim 2, characterized in that, The centering unit (13) includes an X-axis centering unit (131) and a Y-axis centering unit (132). The X-axis centering unit (131) and the Y-axis centering unit (132) are installed on the platform (125). The X-axis centering unit (131) and the Y-axis centering unit (132) are used to jointly complete the centering adjustment of the UAV located at any position on the landing pad (126) to the center position of the landing pad (126).

4. The cluster of unmanned aerial vehicle (UAV) nests according to claim 3, characterized in that, The X-axis centering unit (131) includes an X-axis electric module (1311) and an X-axis centering rod (1312). The two sets of X-axis electric modules (1311) are respectively installed on the front and rear sides of the landing pad (126) of the lifting platform (12). The X-axis centering rod (1312) is installed on the X-axis electric module (1311). The X-axis electric module (1311) is used to drive the two X-axis centering rods (1312) to push the UAV landing gear inward at the same time to realize the X-axis centering of the UAV.

5. The cluster of unmanned aerial vehicle (UAV) nests according to claim 3, characterized in that, The Y-axis centering unit (132) includes a Y-axis electric module (1321), a Y-axis centering rod (1322), and a centering lever (1323). The Y-axis electric module (1321) is installed on the left and right sides of the landing pad (126) of the lifting platform (12). The Y-axis centering rod (1322) is installed on the Y-axis electric module (1321). The centering lever (1323) is installed in the groove of the Y-axis centering rod (1322). The Y-axis electric module (1321) is used to drive the centering lever (1323) to push the UAV landing gear inward at the same time to realize the Y-axis centering of the UAV.

6. The cluster of unmanned aerial vehicle (UAV) nests according to claim 3, characterized in that, The fixing unit (14) includes a drive device (141), a reversing device (142), a bearing seat (143), a connecting rod (144), and a claw (145). The fixing unit (14) is fixed to the landing pad (126) of the lifting platform (12) by four bearing seats (143). The two ends of the drive device (141) are connected to two reversing devices (142) through couplings. The reversing devices (142) are rotatably connected to two bearing seats (143) on one side through the connecting rod (144). The reversing devices (142) are used to reverse the output end of the drive device (141) to form two sets of opposing motion mechanisms. The claw (145) is fixedly installed on the connecting rod (144). The drive device (141) and the reversing device (142) work together to drive the four claws (145) to rotate, thereby fixing the UAV landing gear after centering, thus achieving UAV fixation.

7. The cluster of unmanned aerial vehicle (UAV) nests according to claim 6, characterized in that, The fixing unit (14) also includes a sensor (146), which is fixedly installed on one side of the hook (145) to identify the movement state of the hook (145). The sensor (146) is electrically connected to the motion control subsystem (2), and the motion control subsystem (2) can know whether the UAV is firmly fixed by the signal on / off of the sensor (146).

8. The cluster of unmanned aerial vehicle (UAV) nests according to claim 5, characterized in that, The electric push rod (124) of the lifting platform (12), the X-axis electric module (1311) and Y-axis electric module (1321) of the centering unit (13), and the drive device (141) of the fixing unit (14) are all electrically connected to the motion control subsystem (2). The motion control subsystem (2) is used for motion control and signal processing of multiple sets of launch mechanisms (1), including controlling the lifting platform (12) to rise and fall, the centering unit (13) to center, and the fixing unit (14) to fix the UAV; it is also used to interact with the cabin and ground station software to realize automatic control.

9. The cluster of unmanned aerial vehicle (UAV) nests according to claim 1, characterized in that, The outdoor cabin is a standard device, equipped with an information communication interface and a power supply interface that are connected to the motion control subsystem (2).

10. The cluster of unmanned aerial vehicle (UAV) nests according to claim 1, characterized in that, The number of the launching mechanism (1) is four.

Images