CN114408205A - An unmanned aerial vehicle hangar and its control method - Google Patents

Abstract

The application provides an unmanned aerial vehicle hangar and a control method thereof, comprising the following steps: the parking apron is pushed out from the side surface of the box body or pushed into the box body from the side surface of the box body through a pushing device; the parking apron is provided with a charging module for charging the unmanned aerial vehicle parked on a charging position of the parking apron; set up position moving mechanism on the air park for unmanned aerial vehicle descends back on the air park, moves the position of unmanned aerial vehicle to the position of charging, still is used for unmanned aerial vehicle to move the position of taking off on the air park from the displacement of charging when taking off from the air park, with unmanned aerial vehicle. Through set up on the parking apron fill the position and take off the position, guarantee that the unmanned aerial vehicle can charge with the position alignment that charges, when unmanned aerial vehicle need take off from the parking apron simultaneously, move the position of unmanned aerial vehicle from the displacement that charges to the position of taking off, unmanned aerial vehicle wing can not collide the unmanned aerial vehicle hangar when guaranteeing unmanned aerial vehicle takes off, guarantee the security that unmanned aerial vehicle takes off, also shorten the parking apron length in unmanned aerial vehicle hangar simultaneously.

Description

A UAV hangar and its control method

technical field

The invention belongs to the technical field of unmanned aerial vehicle hangars, and particularly relates to an unmanned aerial vehicle hangar and a control method thereof.

Background technique

With the deepening of the understanding of the application value of UAVs, UAVs have shown a rapid development trend in the consumer, industrial and military markets. Drones are increasingly used in aerial photography, agriculture, forestry and plant protection, security, surveying and mapping, logistics, inspection and other fields.

The drone hangar is generally used to dock and charge the drone. After the drone landed on the apron of the drone hangar, the landing point of the drone is not necessarily on the apron. If the drone needs to be parked at the charging position of the apron, a position moving mechanism can be set on the apron to move the drone to the charging position. At present, after the drone is fully charged, the take-off is also taken off at the charging position. In order to ensure that the drone's wings will not collide with the drone's hangar when the drone takes off, the drone's hangar will be shut down. The length of the ping is set relatively long, which causes the overall volume of the UAV hangar to be larger and increases the weight of the UAV hangar.

SUMMARY OF THE INVENTION

Aiming at the defects in the prior art, the present invention provides an unmanned aerial vehicle hangar and a control method thereof, so as to solve the problem that in the prior art, after the unmanned aerial vehicle is fully charged, the take-off is also taken off at the charging position. In order to ensure that the drone wings will not collide with the drone hangar when the drone takes off, the length of the apron of the drone hangar is set to be relatively long, resulting in a larger overall volume of the drone hangar, increasing the The weight of the drone hangar.

In order to solve the above problems, the embodiments of the present application are implemented in the following ways:

The embodiment of the present application provides a hangar for an unmanned aerial vehicle, including:

A box body and a parking pad arranged in the box body, the parking pad is pushed out from the side of the box body or pushed into the box body from the side of the box body by a pushing device;

The parking apron is provided with a charging module for charging the unmanned aerial vehicle parked on the charging position of the parking apron;

The parking apron is provided with a position moving mechanism, which is used to move the position of the drone to the charging position after the drone lands on the parking pad, and is also used to move the drone to the charging position when the drone is landed on the parking pad. When the man-machine needs to take off from the apron, the position of the drone is moved from the charging position to the take-off position on the apron.

Further, after the apron is pushed out of the box, the charging position is closer to the box than the take-off position.

Further, after the parking pad is pushed out from the box, when the drone is in the take-off position, the drone is close to the wing of the box and is far away from the stop of the box. The exit of the ping is greater than or equal to the preset distance.

Further, the preset distance is 40 cm.

Further, the position moving mechanism includes a rod driving mechanism and a plurality of push rods, and the plurality of push rods are respectively arranged along the edge of the apron;

After the drone is parked on the parking apron, the rod driving mechanism drives the push rod to move, thereby driving the drone to move to the charging position;

When the drone needs to take off from the apron, the rod driving mechanism drives the push rod to move, thereby driving the drone to move to the take-off position.

Further, the parking apron is a square plate-like structure;

There are four push rods, two of which are arranged in parallel front and rear, and the other two are arranged in parallel left and right;

The two push rods parallel to the front and the rear can move in the front and back directions or backward, and the two push rods parallel to the left and right can move in the left and right directions or the back.

Further, after the drone is parked on the parking apron, the rod driving mechanism drives the four push rods to move, thereby driving the drone to move to the charging position;

When the drone needs to take off from the apron, the rod driving mechanism drives at least a target push rod to move and then drives the drone to move to the take-off position, and the target push rods are four of the The push rod is disposed in the push-out direction of the apron and is close to the box when the apron is in a fully pushed-out state.

Further, the charging module is a wireless charging module for wirelessly charging the drone parked on the charging position of the apron.

Further, at least two layers of the parking pads are arranged in the box, and the at least two layers of the parking pads divide the interior space of the box into N parking bays that can accommodate drones from top to bottom, The N is equal to the number of the parking pads.

The embodiment of the present application also provides a control method based on any one of the above-mentioned UAV hangars, comprising the following steps:

After the UAV hangar receives the request to land from the UAV, the parking pad in the undocked state is pushed out from the side of the box of the UAV hangar by the pushing device for the said UAV hangar. drone docking;

After the drone landed on the apron, the position of the drone is moved to the charging position on the apron by the position moving mechanism on the apron, and the The apron is pushed into the box from the side of the box, and the drone is charged through the charging position;

When the unmanned aerial vehicle needs to take off from the apron, the apron is pushed out from the side of the box by the pushing device, and the position of the unmanned aerial vehicle is moved from the position by the position moving mechanism. The charging position is moved to the take-off position on the apron.

beneficial effect

The present application provides an unmanned aerial vehicle hangar and a control method thereof, comprising: a box body and a parking pad arranged in the box body, the parking pad is pushed out from the side of the box body or pushed into the box body from the side of the box body by a pushing device ;The apron is provided with a charging module, which is used to charge the drone parked on the charging position of the apron; a position moving mechanism is set on the apron, which is used to recharge the drone after landing on the apron. The position of the man-machine is moved to the charging position, and is also used to move the position of the drone from the charging position to the take-off position on the apron when the drone needs to take off from the apron. By setting the charging position and take-off position of the drone on the apron, it is ensured that the drone can be aligned with the charging position for charging, and when the drone needs to take off from the apron, the position of the drone is moved from the charging position. At the take-off position, it ensures that the drone’s wings will not collide with the drone’s hangar when the drone takes off, which ensures the safety of the drone’s take-off, and also shortens the length of the apron of the drone’s hangar. The overall volume of the UAV hangar is reduced, and the weight of the UAV hangar is reduced.

Description of drawings

In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are required to be used in the description of the specific embodiments or the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. In the drawings, each element or section is not necessarily drawn to actual scale.

1 is a schematic diagram of a UAV hangar provided by the present embodiment;

reference number

The box 10 , the apron 20 , the charging position 30 , the take-off position 40 , and the push rod 50 .

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It is to be understood that, when used in this specification and the appended claims, the terms "comprising" and "comprising" indicate the presence of the described features, integers, steps, operations, elements and/or components, but do not exclude one or The presence or addition of a number of other features, integers, steps, operations, elements, components, and/or sets thereof.

It should also be understood that the terminology used in the present specification is for the purpose of describing particular embodiments only and is not intended to limit the present invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

It should further be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items .

Example 1

In order to solve the problem in the prior art, after the UAV is charged on the UAV hangar, the take-off also takes off at the charging position of the UAV hangar. In order to ensure that the UAV takes off when the UAV takes off The wings will not collide with the UAV hangar. The length of the apron of the UAV hangar is set relatively long, which causes the overall volume of the UAV hangar to be larger and increases the weight of the UAV hangar. The embodiment provides an unmanned aerial vehicle hangar. Referring to FIG. 1, the unmanned aerial vehicle hangar includes:

The box body 10 and the apron 20 arranged in the box body 10 , the apron 20 is pushed out from the side of the box body 10 or pushed into the box body 10 from the side of the box body 10 by the pushing device.

The apron 20 is provided with a charging module for charging the drone parked on the charging position 30 of the apron 20 . The charging module can use contact charging or non-contact charging. In one embodiment, the charging module is a wireless charging module, which is used to wirelessly charge the drone parked on the charging position 30 of the apron 20 , the wireless charging module can be realized by using a transmitting coil, the transmitting coil can be set under the parking pad 20, and a receiving coil can be set on the drone correspondingly to receive the energy transmitted by the transmitting coil. When the drone is charging on the apron 20, the apron 20 is generally completely located in the box 10. Considering the wingspan of the drone, in order to maximize the use of the space of the apron 20, optionally, in this implementation In an example, the charging position is set in the middle of the apron 20 to make full use of the space of the apron 20 . In the case of wireless charging, the receiving coil may be set in different positions of the drone, such as on one of the two tripods of the drone, or between the two legs of the drone and behind the tripod. Half of the position, in this embodiment, when setting the charging position 30 of the apron 20, the entire space occupied by the apron 20 of the drone can be divided into the charging position 30. The projection on the apron 20 is in the shape of "11", and the entire space occupied by the drone tripod on the apron 20 is the "mouth" shape formed by connecting the "11" shape end to end, that is, "mouth" The area occupied by the font is charging bit 30. Optionally, the charging position 30 may be greater than or equal to the entire space occupied by the drone stand on the apron 20 .

The apron 20 is provided with a position moving mechanism, which is used to move the position of the drone to the charging position 30 after the drone lands on the apron 20 , and is also used when the drone needs to take off from the apron 20 , move the drone's position from charging position 30 to take-off position 40 on the tarmac.

By setting the UAV's charging position 30 and take-off position 40 on the apron 20, it is ensured that the UAV can be aligned with the charging position 30 for charging. The position is moved from the charging position 30 to the take-off position 40 to ensure that the drone's wings will not collide with the drone's hangar when the drone takes off, which ensures the safety of the drone's take-off and shortens the time of the drone. The length of the apron 20 of the garage reduces the overall volume of the UAV hangar and reduces the weight of the UAV hangar.

Optionally, in this embodiment, after the parking pad 20 is pushed out of the box body 10 , the charging position 30 is closer to the box body 10 than the take-off position 40 . The take-off position 40 is set to be away from the direction of the box body 10, so as to avoid as much as possible the occurrence of the collision of the drone's wing against the drone's hangar when the drone takes off.

Optionally, in this embodiment, after the apron 20 is pushed out of the box body 10 , when the drone is at the take-off position 40 , the drone is close to the wing of the box body 10 and is separated from the apron 20 of the box body 10 . The exit is greater than or equal to the preset distance. When setting the take-off position 40, it can be considered that after the apron 20 is pushed out from the box body 10, the distance between the UAV wing closest to the box body 10 and the exit of the apron 20 of the box body 10 is set to be greater than or equal to the predetermined distance. Set the distance to avoid the collision of the drone's wing against the drone hangar when the drone takes off as much as possible, so as to ensure the smooth take-off of the drone. In one embodiment, the preset distance is 40 centimeters, that is, the safe distance of the drone taking off is greater than or equal to 40 centimeters.

Optionally, in this embodiment, the position moving mechanism includes a rod driving mechanism and a plurality of push rods 50, and the plurality of push rods 50 are respectively disposed along the edge of the parking pad 20;

After the drone is parked on the apron 20 , the rod driving mechanism drives the push rod 50 to move, thereby driving the drone to move to the charging position 30 ;

When the drone needs to take off from the apron 20 , the rod driving mechanism drives the push rod 50 to move, thereby driving the drone to move to the take-off position 40 .

Optionally, in this embodiment, the parking pad 20 is a square plate-like structure;

There are four push rods 50, of which two push rods 50 are arranged in parallel front and rear, and the other two push rods 50 are arranged in parallel left and right;

The two push rods 50 parallel to the front and rear can move in the front and back directions or the back, and the two push rods 50 parallel to the left and right can move in the left and right directions or the back.

Optionally, in this embodiment, after the drone is parked on the parking pad 20, the rod driving mechanism drives the four push rods 50 to move, thereby driving the drone to move to the charging position 30;

When the drone needs to take off from the apron 20 , the rod driving mechanism drives at least the target push rod 50 to move and then drives the drone to move to the take-off position 40 . The push rod 50 of the box body 10 is close to the push rod 50 in the push-out direction and when the apron 20 is in the fully push-out state.

In this embodiment, when the drone is parked on the parking apron 20, the rod driving mechanism starts to work, and the left push rod 50 and the right push rod 50 of the parking apron 20 move toward the charging position 30 of the parking apron 20 opposite to each other, The front push rod 50 and the rear push rod 50 of the apron 20 move toward the charging position 30 of the apron 20 facing each other. Driven by the four push rods 50 , the drone that is not parked at the charging position 30 of the apron 20 moves toward the charging position 30 , which ensures smooth charging of the drone. After the drone is moved to the charging position 30 of the apron 20 , driven by the rod driving mechanism, the four push rods 50 return to the original position, and return to the position close to the edge of the apron 20 . When the apron 20 is in the fully pushed out state, if the push rod 50 in the push-out direction of the apron 20 and near the exit of the apron 20 of the box 10 is the left push rod 50, in the push-out direction of the apron 20, And the push rod 50 at the exit of the apron 20 away from the box body 10 is the right push rod 50. When the drone is charged and needs to take off, the left push rod 50 moves toward the take-off position 40 of the apron 20, thereby driving the drone. Drone moves from charging position 30 to take-off position 40. When pushing the drone from the charging position 30 to the take-off position 40, in addition to the solution of only using the left push rod 50 to work, the left push rod 50 and the front push rod 50 can also be used to work together, or the left push rod 50 can be used to work together. The push rod 50 and the rear push rod 50 work together, or a solution in which the left push rod 50, the front push rod 50 and the rear push rod 50 work together is adopted.

Optionally, in this embodiment, at least two layers of parking pads 20 are arranged in the box body 10 , and the at least two layers of parking pads 20 divide the interior space of the box body 10 into N parking spaces that can accommodate drones from top to bottom. Cabin, N is equal to the number of parking pads 20 , that is, the number of parking bays is equal to the number of parking pads 20 ; In this embodiment, the pushing directions of the at least two floors of the parking pads 20 may be in the same direction, for example, all are pushed out from the right side of the box body 10 , or they may be in different directions, for example, at least one floor of the parking pads 20 is pushed out from the left side of the box body 10 . Pushing out from the side, at least one floor of the apron 20 is pushed out from the right side of the box body 10 .

Embodiment 2

This embodiment proposes a method for controlling the unmanned aerial vehicle hangar based on any one of the embodiments. For the structure and function of the unmanned aerial vehicle hangar, refer to the description in the first embodiment, which will not be repeated here. The method includes the following steps:

S1. After the unmanned aerial vehicle hangar receives the request to land from the unmanned aerial vehicle hangar, the parking apron 20 in the unparked state is removed from the unmanned aerial vehicle hangar by the pushing device of the unmanned aerial vehicle hangar. The side of the box 10 is pushed out for the drone to dock.

S2. After the drone lands on the parking pad 20, the position of the drone is moved to the charging position 30 on the parking pad 20 by the position moving mechanism on the parking pad 20, The pushing device pushes the parking pad 20 from the side of the box body 10 into the box body 10, and then charges the drone through the charging position 30;

When the drone lands on the apron 20 , its landing position is likely to be offset from the charging position 30 . If the drone is not moved to the charging position 30 first, the apron 20 is pushed into the box 10 inside, the drone may collide with the box 10, and the drone cannot enter the box 10 smoothly, so before pushing the apron 20 into the box 10, the drone needs to be moved to the charging position 30 , to ensure that the drone enters the box 10 smoothly.

S3. When the UAV needs to take off from the parking pad 20, the parking pad 20 is pushed out from the side of the box body 10 by the pushing device, and the unmanned aerial vehicle is pushed out by the position moving mechanism. The position of the aircraft is moved from the charging position 30 to the take-off position 40 on the tarmac 20 .

In this embodiment, by setting the charging position 30 and the take-off position 40 of the drone on the parking pad 20, it is ensured that the drone can be aligned with the charging position 30 for charging, and when the drone needs to take off from the parking pad 20, no The position of the man-machine is moved from the charging position 30 to the take-off position 40, which ensures that the drone wing will not collide with the drone hangar when the drone takes off, which ensures the safety of the drone taking off, and also shortens the time to use. The length of the apron 20 of the man-machine hangar reduces the overall volume of the drone hangar and reduces the weight of the drone hangar.

Those of ordinary skill in the art can realize that the units of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two, in order to clearly illustrate the interchangeability of hardware and software In the above description, the composition of each example has been described generally in terms of function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

In the embodiments provided in this application, it should be understood that the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units may be combined into one unit, and one unit may be detached. Divided into multiple units, or some features can be ignored, etc.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. The scope of the invention should be included in the scope of the claims and description of the present invention.

Claims (10)

1. an unmanned aerial vehicle hangar, is characterized in that, comprises: A box body and a parking pad arranged in the box body, the parking pad is pushed out from the side of the box body or pushed into the box body from the side of the box body by a pushing device; The parking apron is provided with a charging module for charging the unmanned aerial vehicle parked on the charging position of the parking apron; The parking apron is provided with a position moving mechanism, which is used to move the position of the drone to the charging position after the drone lands on the parking pad, and is also used to move the drone to the charging position when the drone is landed on the parking pad. When the man-machine needs to take off from the apron, the position of the drone is moved from the charging position to the take-off position on the apron. 2 . The UAV hangar according to claim 1 , wherein after the parking pad is pushed out from the box, the charging position is closer to the box than the take-off position. 3 . 3. The unmanned aerial vehicle hangar according to claim 1, wherein after the parking pad is pushed out from the box, when the unmanned aerial vehicle is in the take-off position, the unmanned aerial vehicle is close to the The distance between the wing of the box body and the exit of the apron of the box body is greater than or equal to a preset distance. 4. The UAV hangar according to claim 3, wherein the preset distance is 40 cm. 5. The unmanned aerial vehicle hangar according to any one of claims 1 to 4, wherein the position moving mechanism comprises a rod driving mechanism and a plurality of push rods, the plurality of push rods are respectively along the stop The edge setting of the ping; After the drone is parked on the parking apron, the rod driving mechanism drives the push rod to move, thereby driving the drone to move to the charging position; When the drone needs to take off from the apron, the rod driving mechanism drives the push rod to move, thereby driving the drone to move to the take-off position. 6. The unmanned aerial vehicle hangar according to claim 5, wherein the parking apron is a square plate structure; There are four push rods, two of which are arranged in parallel front and rear, and the other two are arranged in parallel left and right; The two push rods parallel to the front and the rear can move in the front and back directions or backward, and the two push rods parallel to the left and right can move in the left and right directions or the back. 7. The unmanned aerial vehicle hangar according to claim 6, characterized in that, after the unmanned aerial vehicle is parked on the parking apron, the rod driving mechanism drives the four push rods to move, thereby driving all the moving the drone to the charging position; When the drone needs to take off from the apron, the rod driving mechanism drives at least a target push rod to move and then drives the drone to move to the take-off position, and the target push rods are four of the The push rod is disposed in the push-out direction of the apron and is close to the box when the apron is in a fully pushed-out state. 8. The unmanned aerial vehicle hangar according to any one of claims 1 to 4, wherein the charging module is a wireless charging module, which is used for charging all the vehicles parked on the charging position of the parking apron. The drone is wirelessly charged. 9. The unmanned aerial vehicle hangar according to any one of claims 1 to 4, wherein at least two layers of the parking pads are arranged in the box, and the at least two layers of the parking pads attach the boxes to the The interior space of the body is divided from top to bottom into N parking bays capable of accommodating drones, where N is equal to the number of the parking pads. 10. A control method based on the unmanned aerial vehicle hangar according to any one of claims 1 to 9, wherein the method comprises the following steps: After the UAV hangar receives the request to land from the UAV, the parking pad in the undocked state is pushed out from the side of the box of the UAV hangar by the pushing device for the said UAV hangar. drone docking; After the drone landed on the apron, the position of the drone is moved to the charging position on the apron by the position moving mechanism on the apron, and the The apron is pushed into the box from the side of the box, and the drone is charged through the charging position; When the unmanned aerial vehicle needs to take off from the apron, the apron is pushed out from the side of the box by the pushing device, and the position of the unmanned aerial vehicle is moved from the position by the position moving mechanism. The charging position is moved to the take-off position on the apron.

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