WO2021010869A1

WO2021010869A1 - Landing platform for vertical takeoff and landing uav

Info

Publication number: WO2021010869A1
Application number: PCT/RU2020/050158
Authority: WO
Inventors: Айдар Ринатович ГАБДУЛЛИН; Муса Музагитович ГАЛИМОВ; Александр Сергеевич КЛИМЧИК
Original assignee: Автономная некоммерческая организация высшего образования "Университет Иннополис"
Priority date: 2019-07-16
Filing date: 2020-07-14
Publication date: 2021-01-21
Also published as: RU2722249C9; RU2722249C1

Abstract

The invention relates to the design of a landing platform for a vertical takeoff and landing unmanned aerial vehicle (henceforth UAV) and can be applied in the development of automatic UAV charging and servicing stations. A vertical takeoff and landing UAV landing platform comprises a landing surface, electrical contacts and a UAV positioning device. The positioning device is provided as iris diaphragms connected to an opening/closing drive. According to another embodiment, the positioning device is provided as iris diaphragms connected to an opening/closing drive, and funnels, the total number of iris diaphragms and funnels being no greater than the maximum number of UAV supports.

Description

Landing platform for vertical take-off and landing UAVs

Technology area

The invention relates to the design of a landing platform for an unmanned aerial vehicle (hereinafter - UAV) vertical takeoff and landing, and can be used in the development of automatic charging and maintenance stations for UAVs.

As a rule, the deviation of a vertical takeoff and landing UAV from a given landing point makes it difficult or impossible to replace / charge batteries or perform any other manipulations with the UAV in automatic mode. Therefore, the UAV landing platforms are equipped with a UAV positioning device during or after landing.

Prior art

Known automatic stations for charging and servicing UAVs containing passive UAV positioning devices upon landing.

The automatic station, according to US patent 9,139,310 B1, contains conical funnels on the landing platform at the locations of the UAV chassis. This design positions the UAV if the deviation from the landing point is not more than the radius of the funnel cone in the upper part. This design is capable of receiving vehicles with the same chassis arrangement.

The landing platform for the UAV, according to US D805,018 S, is made according to the size of the location of the UAV supports and contains inclined surfaces around it. After landing, the UAV rolls down these surfaces and is positioned on the landing platform.

The UAV landing device, according to US 9,499,265 B2, contains a landing platform in the form of a conical recess, in which contacts for charging the battery, a removable battery and other devices are installed. The UAV has an annular support, from which the legs rise, forming a frame of a directional point downward of the truncated pyramid. Positioning accuracy during landing is ensured by the interaction of the annular support and the legs with a tapered recess.

Positioning along the vertical axis of rotation is achieved by rotating the landing platform bearing surface around the vertical axis. The source provides for the possibility of making the landing prototype in the form of a polygon. In this case, the support of the BILA must have the same shape, and this allows to provide the desired orientation without rotating the support surface of the landing platform.

The aircraft docking system US 9,561,871 B2 includes a landing pad and an aircraft. The landing area has a tapered surface that descends towards the center. In the center there is a recess in the dimensions of the landing surface of the aircraft. The air vehicle has a landing surface with wheels. The protrusion and landing gear are located on the underside of the aircraft. After landing on the tapered surface, the air vehicle rolls towards the center and its landing surface descends into the central recess. The air vehicle and the landing site have contacts for supplying voltage for charging the battery, which are in contact with each other.

The UAV landing device, according to US 2016 / 00395.41 A1, contains a landing pad made in the form of a crown, a UAV landing device in the form of two crosswise rods. In the depressions there are contacts for supplying the charging voltage, on the landing rods there are counter contacts. The landing platform has mechanisms for fixing the landing rods. The landing platform contains radiation sources, the UAV has a video camera or radiation sensors.

Known automatic stations for charging and servicing UAVs, in which, after landing on the platform, its location is corrected by some active device (manipulator) that acts on the UAV supports.

The automatic station, according to the application US 2014/0124621 A1, accepts the UAV on a flat landing platform. The positioning mechanism contains two pairs of parallel bars that are mounted orthogonally to each other. After landing the UAV, the alignment mechanism moves the UAVs in pairs into the zone positioning in which charging, battery replacement or other maintenance is carried out. For better service, the UAV can be additionally fixed with a special device or alignment mechanism.

According to the application WO 2017/221235 A1, the alignment mechanism contains only two opposite strips, on which W-shaped notches are made. The distance between the inner points of the cutouts is equal to the distance between the supports of the received UAV for vertical take-off and landing. This solution simplifies the design and speeds up the alignment process.

The automatic station, according to the application US 2014/0319272 A1, also accepts the UAV on a flat landing platform, but after that, the UAV, with the help of two strips, brings the device of their landing zone into the charging and maintenance area.

The prototype of the invention is a landing platform according to the application US20180148170 A1, which contains a device for positioning the UAV by acting upon its support after landing. The device contains a cross-piece installed in the center of the platform on the vertical axis and pins of contacts for supplying voltage for charging the UAV battery or communicating with it. After the UAV has landed, the crosspiece is rotated. The interaction of the crosspiece with the supports and the supports with the landing surface leads to the rotation of the UAV and its displacement until the vertical axis of the UAV coincides with the axis of rotation of the cross. The rotation of the crosspiece lasts until the UAV supports snap into the spots.

The disadvantage of this device is the low positioning speed of the UAV, the absence of a mechanism for holding the UAV in the charging position, low positioning accuracy after the UAV landing, and low reliability of electrical contacts.

These disadvantages do not allow the use of this landing platform on moving objects.

Disclosure of invention

The technical problem of the invention is:

Creation of a high-speed landing platform for vertical take-off and landing UAVs with reliable retention of the UAV; Creation of a landing platform suitable both for stationary installations and for equipping mobile objects;

Creation of a universal landing platform for various configurations of received UAVs;

Ensuring the accuracy of UAV positioning on the landing surface of the landing pad;

Ensuring high reliability of UAV landing in the active mode by increasing the accuracy of landing of the received UAV;

Ensuring reliable electrical contact with the UAV located on the landing platform.

The technical result is achieved by the fact that the landing platform for vertical take-off and landing UAVs contains a landing surface, electrical contacts and a UAV positioning device, which, in accordance with the proposed solution, is made in the form of iris diaphragms connected to a closing / opening drive.

Optimally, the landing platform for vertical take-off and landing UAVs should contain at least two iris diaphragms.

The landing platform for UAVs with vertical take-off and landing assumes that additional iris diaphragms can be installed on the iris diaphragms.

The landing platform for UAVs with vertical take-off and landing assumes that the upper surfaces of the iris diaphragms can be made in the form of funnels.

The landing platform for UAVs with vertical take-off and landing assumes that funnels can be installed on the upper surfaces of the iris diaphragms.

The landing platform for UAVs with vertical take-off and landing assumes that each iris can have its own actuator for closing / opening the diaphragm.

The landing platform for UAVs with vertical take-off and landing assumes that the iris diaphragms can be kinematically interconnected and / or connected to a single diaphragm closing / opening drive. The landing platform for UAVs with vertical take-off and landing assumes that the actuator / actuators for closing / opening the iris diaphragms contain a brake.

The landing platform for UAVs with vertical take-off and landing assumes that the actuator / actuators for closing / opening the diaphragms of the iris diaphragms contain a self-braking mechanism.

The landing platform for UAVs with vertical take-off and landing assumes that each link of the kinematic circuit of the diaphragm closing / opening drive can contain an elastic movable clutch.

The landing platform for UAVs with vertical take-off and landing assumes that each iris is installed with the possibility of elastic rotation about its axis.

The landing platform for vertical take-off and landing UAVs assumes that at least the iris blades are made of electrically conductive material.

The UAV landing platform for vertical take-off and landing contains a landing surface, electrical contacts and a UAV positioning device, which, in accordance with the proposed solution, is made in the form of iris diaphragms connected to a closing / opening drive and funnels, and the total number of iris diaphragms and funnels is not more than maximum number of UAV supports.

The landing platform for vertical take-off and landing UAVs assumes that the iris diaphragms and funnels are movable.

The landing platform for UAVs with vertical takeoff and landing assumes that iris diaphragms and funnels are connected to actuators to move along the landing surface.

The landing platform for UAVs with vertical take-off and landing assumes that iris and funnels can be installed on movable bases, each movable base is connected to a corresponding actuator for movement. The landing platform for UAVs with vertical take-off and landing assumes that the total number of moving bases is equal to the maximum number of supports

UAVs received by this landing platform.

The landing platform for vertical take-off and landing UAVs assumes that it contains at least one position sensor of the received UAV.

The essence of the invention is disclosed in the following graphic material.

FIG. 1a shows a landing platform for a vertical take-off and landing UAV containing two iris diaphragms for positioning the UAV.

FIG. 16 shows a landing platform for a vertical take-off and landing UAV, containing two iris diaphragms for positioning the UAV with an installed and positioned UAV.

FIG. 2a and 26 depict an iris diaphragm, front view and rear view.

FIG. Za shows a landing platform for a vertical take-off and landing UAV containing the number of iris diaphragms for positioning the UAV equal to the number of supports of the received UAV.

FIG. 36 depicts a landing platform for a vertical take-off and landing UAV containing the number of iris diaphragms for positioning the UAV equal to the number of supports of the received UAV with an installed and positioned UAV.

FIG. 4a, 46, 4c, 4d and 4e show options for the placement of iris diaphragms on the landing platform, depending on their number.

FIG. 5a and 56 show a landing platform for a vertical take-off and landing UAV in which additional iris diaphragms are installed on the iris diaphragms.

FIG. 6 shows a diagram for calculating the permissible deviation of the UAV landing when landing on a landing platform with iris diaphragms for successful positioning.

FIG. 7a shows an iris diaphragm, the upper surface of which is made with a funnel (section).

FIG. 76 shows an iris diaphragm, on the upper surface of which an overlay in the form of a funnel (cut) is installed. FIG. 8a, 86 depicts a landing platform for a vertical take-off and landing UAV with iris diaphragms, the upper surface of which is made in the form of a funnel, or an overhead funnel is installed on them, and funnels

FIG. 9a, 96, a landing platform with two movable iris diaphragms is shown.

FIG. 10a, 106 depict a landing platform with movable iris diaphragms and funnels.

FIG. 11a, 116, 11c shows a variant of the landing platform with movable bases, on which iris diaphragms are installed and funnels can be installed, each movable base has a drive for movement.

FIG. 11a, the landing platform is configured to receive an UAV with six supports located at the vertices of a regular hexagon.

FIG. The 116 landing platform is configured to receive a UAV with four supports.

FIG. 11 in the landing platform is configured to receive a UAV with six supports installed in two rows.

FIG. 12a, 126 show variants of individual diaphragm closing / opening drive circuits.

FIG. 13 shows a variant of the kinematic diagram of the diaphragm closing / opening drive, in which all iris diaphragms are kinematically connected to each other.

FIG. 14a shows an elastic movable clutch.

FIG. 146 shows a resilient movable clutch incorporated into a gear.

FIG. 15 shows a variant of the drive circuit of the iris diaphragms installed coaxially one above the other.

FIG. 16 shows the installation of the iris diaphragm with the possibility of elastic rotation about its axis.

FIG. 17a, 176, 17c and 17d depict embodiments of the supports of the received UAV, containing elements for holding with an iris diaphragm and electrical contacts.

The landing platform (Fig.1a) contains a landing surface 1, on which electrical contacts 2 are installed and a positioning device in the form iris diaphragms 3, which are located coaxially with the supports 4 (Fig. 16) of the received UAV 5. The number of iris diaphragms must be at least two.

A toothed sector 6 is installed on each iris diaphragm 3, which is connected to a diaphragm closing / opening drive, consisting of a gear 7 mounted on a motor shaft 8 (gear motor) 9, which is powered by a driver

(not shown). The landing platform may also contain sensors 10 for the angular position of the toothed sector 6, or the driver (not shown) of the motor 9 may be configured to stop when the load torque increases.

Iris diaphragm 3 (Fig. 2a and 26) contains an annular frame 11 with concentric holes 12, petals 13 and a crown 14 with radial grooves 15. On the petals 13 axial pins 16 are installed, which are inserted into concentric holes 12 of the annular frame 11 and driven pins 17, which are located in the grooves 15 of the crown 14. The annular frame 11 has a leash 18 for turning it relative to the crown 14. The inner edges 20 of the petals 13 form arcs of the central (diaphragm) hole 19. The more petals 13 contains the iris diaphragm 3, the closer to the circle is approached by the central (diaphragm) hole 19. Depending on the angular position of the annular frame 11 relative to the crown 14, the central hole 19 can have a size from the inner diameter D of the annular frame 11 to the minimum value, which is determined by the ratio of the sizes of the iris diaphragm 3 parts.

The landing platform can have iris diaphragms 3 of a different design. At the same time, the ability to position the UAV 5 will be preserved.

FIG. 16 shows a landing platform with a landed and positioned UAV 5. The annular frame 11 of the iris diaphragms 3 are rotated relative to the crown 14 and the petals 13 reduced the diameter of the diaphragm hole 19 to the diameter of the supports 4 of the UAV 5 and hold the supports 4 of the UAV 5 with their edges 20. Pos. 21 indicates the body of the received UAV 5.

The choice of the minimum number of iris diaphragms 3 is determined by the fact that two iris diaphragms 3 allow positioning the UAV 5 with the necessary alignment of the supports 4 relative to contacts 2.

With an increase in the number of iris diaphragms 3, the load on the UAV supports 4 decreases

5 and blades 13 of iris 3 and this can speed up the work on positioning the UAV 5. The maximum number of iris 3 is the number of supports 4 UAV 5 with the maximum possible number of supports accepted by this landing platform.

FIG. For and 36 depicts a landing platform with the number of iris diaphragms 3, equal to the number of supports 4 received by the UAV 5.

FIG. 4a, 46, 4c, 4d, 4e show options for the placement of iris diaphragms 3 on the landing surface 1 with different numbers of iris diaphragms. Pos. 4a .. 4d schematically marked the support of the received UAV 5 with the identification of each support 4.

If the number of iris diaphragms 3 on the landing surface 1 is two pieces (Fig. 4a), they are spaced to opposite sides of the body 21 of the received UAV 5 at the distance of the location of the most distant supports 4a and 4d. This arrangement of iris diaphragms 3 allows you to create a pair of forces spaced relative to the center of gravity of the UAV and deploy it with the least effort on supports 4a and 4d and iris diaphragms 3. When the UAV is transferred in parallel, the forces on supports 4a and 4d are also evenly distributed.

If the number of iris diaphragms 3 on the landing surface 1 is three pieces (Fig. 46), they are spaced evenly across the locations of the supports 4a, 4b and 4e. The uniform arrangement of the iris diaphragms 3 in this case ensures the uniformity of the load on the supports 4a, 4c, 4e and the iris diaphragms 3.

If the number of iris diaphragms 3 on the landing surface 1 is four pieces (Fig.4c), they are installed symmetrically with respect to two maximally spaced supports 4e and 4c, that is, at the locations of the supports 4a, 46, 4d, 4d., That is, each pair of iris diaphragms 3 are spaced apart on opposite sides of the body 21 of the received UAV 5 and are spaced from each other at a distance of the location of the most distant supports 4a, 4d and 46, 4d.

If the number of iris diaphragms 3 on the seating surface 1 is five (Fig. 4d), they are installed at the locations of all supports, except one. For example, at the locations of the supports 4a, 46, 4b, 4d, 4d or similar.

For other options for the location of the supports 4 of the received UAV 5, other configurations of the location of the iris diaphragms 3 are possible. In this case, the iris diaphragms 3 are installed with a maximum distance from each other on opposite sides of the body and are evenly distributed over the supports 4 of the received UAV 5. FIG. 5a and 56 depict landing platforms for UAVs 5 for vertical take-off and landing, in which additional iris diaphragms 3a (second tier) are installed on top of the iris diaphragms 3.

The landing platform of FIG. 5a contains the minimum number - two iris diaphragms 3 (main) and two additional iris diaphragms ZA (second tier) and additional iris diaphragms of the third, etc. can be installed. tiers. Additional iris diaphragms Za do not differ from iris diaphragm 3 (main)

The landing platform of FIG. 56 contains iris diaphragms 3, the number of which is equal to the number of supports 4 of the received UAV 5. In this case, additional iris diaphragms are installed on all iris diaphragms 3 for the second tier, and additional iris diaphragms of the third, etc. can be installed. tiers. For each iris diaphragm 3 and additional iris diaphragm 3a, gear sectors 6 and 6a are installed, which are connected to the diaphragm closing / opening drive, consisting of gears 7, 7a mounted on the shaft 8 of the engine (gear motor) 9, which operate from their drivers ( not shown). The landing platform can also contain sensors 10 for the angular position of the gear sector 6, and the driver (not shown) of the motor 9 can be configured to stop when the load torque increases.

Additional iris diaphragms can be installed on top of each iris diaphragm of 3 landing platforms according to schemes 4a, 46, 4b, 4d, forming tiers of iris diaphragms 3a, etc.

Two or more tiers of iris diaphragms can reduce the load on the blades of 13 iris diaphragms 3 and 3a and disperse the load on the support 4 of the UAV 5. As a result, this makes it possible to increase the positioning speed of the UAV 5 without the risk of overloading the iris diaphragms 3, 3a and supports 4 of the UAV 5. In addition in addition, provided that at least the blades of 13 iris diaphragms 3, 3a, etc. made of electrically conductive material, it is possible to provide two or more electrical contacts on the support 4 of the UAV 5.

FIG. 6 shows a diagram for calculating the permissible deviation of the UAV landing, at which positioning will be successful.

The following designations are adopted: A is the distance of two adjacent supports 4 of the received UAV 5; d is the diameter of the supports 4 of the received UAV 5;

D is the diameter of the diaphragm opening 19 of the iris 3 with a fully open diaphragm.

D 1 - outer diameter of the iris diaphragm 3.

Iris diaphragm 3 is capable of positioning the UAV 5, if the supports 4 of the UAV 5, upon landing, fall into the fully open diaphragm hole 19 of the iris diaphragm 3. Therefore, the larger the diameter D of the diaphragm hole 19 at the maximum open diaphragm, the greater the permissible landing deviation of the UAV 5, at which positioning will be successful. However, the outer diameter D 1 of the iris diaphragm 3 cannot be greater than the distance A of two adjacent supports 4 of the received UAV 5.

Obviously, the maximum permissible landing deviation of the received UAV 5 will be equal to:

X = (D-d) / 2, where X is the maximum allowable landing deviation of the received UAV 5 when landing on the iris diaphragm 3.

The maximum permissible landing deviation of the received UAV 5 can be increased if the upper surfaces of the additional iris diaphragms Behind the upper tier are made in the form of funnels or funnels with an outer diameter equal to the outer diameter of the additional iris diaphragm 3a are installed on them. With a single-tier installation of iris diaphragms 3, the funnel is installed on the existing iris diaphragm 3.

In this case, the maximum permissible landing deviation of the received UAV 5 will be equal to:

Xl = (Dl-d) / 2, where XI is the maximum allowable landing deviation of the received UAV 5 when landing on the funnel installed on the iris diaphragm 3.

Considering that the maximum value of D1 is equal to the distance of adjacent supports 4 of the received UAV 5, the maximum allowable landing deviation of the received UAV 5, when landing on a funnel, installed on an iris diaphragm 3, will be equal to:

Xl = (A-d) / 2, that is, the same as when the UAV landed on the funnels.

For successful positioning of the UAV after landing, the UAV control unit 5 must ensure the landing accuracy not lower than the specified values.

FIG. 7a shows an iris diaphragm 3, the upper surface of which is made by a funnel 22. Iris diaphragm 3 contains an annular frame 11, the upper surface of which is made in the form of a funnel 22. The outer and inner diameters of the annular frame 11 coincide with the outer and inner diameters of the iris diaphragm 3. The angle of inclination of the surface funnel 22 is made larger than the angle of friction of a pair of materials of the annular frame 11 and the support 4 of the received UAV 5.

FIG. 76 shows an iris diaphragm 3, on the upper surface of which there is a cover plate 23 made in the form of a funnel. The outer and inner diameters of the lining 23 coincide with the outer and inner diameters of the annular frame 11 of the iris diaphragm. The angle of inclination of the surface of the funnel of the pad 23 is made greater than the angle of friction of the pair of materials of the pad 23 and the support 4 of the received UAV 5.

FIG. 8a shows a landing platform for a UAV 5 vertical take-off and landing with two iris diaphragms 3, the upper surface of which is made by a funnel 22 (or a superimposed funnel 23 is installed on them, not shown in the figure). On the remaining locations of the supports 4 of the received UAV 5, funnels 24 are installed, which exactly repeat the external shape of the iris diaphragms 3, the upper surface of which is made by a funnel 22 or a superimposed funnel 23 is installed on them.

FIG. 86 depicts a landing platform for a UAV 5 vertical take-off and landing with two iris diaphragms 3, the upper surface of which is made by a funnel 22 (or they are equipped with an overhead funnel 23, not shown in the figure). On the remaining locations of the supports 4 of the received UAV 5, funnels 25 are installed, in which the outer diameter, height and angle of inclination of the funnel surface are equal to the outer diameter, height and angle of inclination of the funnel surface of iris diaphragms 3, the upper surface of which is made by funnel 22 or on them an overhead funnel is installed 23. Thus, as shown in FIG. 8a and 86, landing platforms contain a combined UAV positioning device, consisting of a funnel and an iris diaphragm. This solution increases the permissible deviation of the UAV during landing to the requirements of the funnel, while the positioning device has a low height and high positioning speed.

FIG. 9a, 96 shows a diagram of an embodiment of a landing platform with two movable iris diaphragms 3.

The landing platform contains two iris diaphragms 3, at least one of them is installed on the landing surface 1 with the ability to move, which makes the landing platform universal, capable of receiving UAVs 5 with a different number of supports 4 and different distances between them. FIG. 9a and 96 move both iris diaphragms 3.

The distance between the iris diaphragms 3 is related to the distance between the nearest supports 4 of the received UAV 5 by the following relationships:

B 1 = 1.41xA for the received UAV 5 with four supports 4 installed at the tops of the square;

B2 = 1.618xA;

For UAV 5 with five supports 4 located along the vertices of the regular pentagon;

ВЗ = 2хА for the received UAV 5 with six supports 4 placed along the vertices of the regular hexagon.

For the received UAV 5 with a different number and placement of supports 4, the distance between the iris diaphragms 3 can be calculated based on specific geometric relationships.

Iris diaphragms 3 are connected to drives for moving along the seating surface 1, consisting of a tension 26 and a drive 27 pulleys, between which a toothed belt 28 is stretched. A toothed belt 28 is connected at both ends to an iris diaphragm 3. The drive pulley 27 is connected to a motor or motor. gearbox 29. The diaphragm closing / opening drive contains a motor 30 mounted on the crown 14 (not visible) of the iris diaphragm 3. A gear 9 is installed on the output shaft of the motor 30, which engages with the toothed sector 16. Thus, the diaphragm closing / opening drive is installed above the landing surface 1 and can move together with the iris diaphragm 3 along the surface of the landing surface 1.

FIG. 10a, 106 shows a diagram of a variant of a landing platform with movable iris diaphragms 3 and funnels 24 (or 25).

This version of the landing platform may contain:

- the number of movable iris diaphragms 3 from two to the number of supports 4 UAV 5 with the maximum possible number of supports 4, received by this landing platform.

- the number of movable funnels 24 (or 25) from zero to the number of supports 4 UAV 5 with the maximum possible number of supports 4, received by this landing platform minus two;

- while the total number of movable funnels 24 (or 25) and movable iris diaphragms 3 is no more than the number of supports 4 UAV 5 with the maximum possible number of supports 4, received by this landing platform.

FIG. 10a, 106 shows a diagram of a variant of the landing platform containing two movable iris diaphragms 3 and two movable funnels 24 (or 25). This landing platform is capable of accepting UAV 5 with three or more supports 4. In addition, the configuration of the arrangement of the supports 4 of the received UAV 5 can be arbitrary.

The drive for moving along the landing surface 1 of each movable iris diaphragm 3 and each movable funnel 24 (or 25) contains three or more winches 31, which are connected to the iris diaphragm 3 or funnel 24 (or 25) using cables 32.

The diaphragm closing / opening drive contains a motor 30 mounted on the crown 14 (not visible) of the iris diaphragm 3. A gear 9 is installed on the output shaft of the motor 30, which engages with the toothed sector 6. Thus, the diaphragm closing / opening drive is installed above the landing surface 1 and can move together with the iris diaphragm 3 along the surface of the landing surface 1.

The landing platform may also contain at least one sensor 33 of the position of the received UAV 5, which can be installed stationary or movably. This sensor (or a group of sensors) is required to determine the deviation of the UAV 5 from the landing point in the horizontal plane and to determine the yaw angle of the UAV 5 relative to a given direction during landing. The results of processing information from the position sensor can be used to correct the location of the iris 3 and funnels 24 (or 25) when the UAV 5 lands in order to increase the landing reliability.

The position sensor 33 can be an optical flow sensor, a set of photo detectors, sonars, one or more video cameras, etc.

In the embodiment shown in FIG. 10a and 106 variants, a video camera is used as a position sensor 33, which determines the position of the UAV 5 from its image or from the image of a marker installed on it.

FIG. 10a shows a diagram of the UAV landing variant 5 with four supports 4 located at the tops of the square. Iris diaphragms 3 and funnels 24 are installed at the tops of a square with side A equal to the distance between the nearest supports 4 of the received UAV.

FIG. 106 shows a variant of UAV landing 5 with six supports 4 located along the tops of an equilateral hexagon. Iris diaphragms 3 and funnels 24 (or 25) are installed at the vertices of a rectangle formed by supports 4a, 4b, 4d, 4e with a distance between supports 4a and 4e; 4c and 4d equal to the distance A between the nearest supports 4 of the received UAV 5, while the distance between the supports 4a and 4b; 4d and 4f are equal and correspond to:

B = 1.73 x A.

For a different number and configuration of the supports 4 of the received UAV 5, the locations of the iris 3 and the funnels 24 (or 25) can be calculated based on the corresponding geometry of the location of the supports 4.

The implementation of iris diaphragms 3 and funnels 24 (or 25) movable allows you to obtain a universal landing platform, in which the location of the positioning devices is adjusted before receiving the UAV for a specific configuration and number of supports of the received UAV. In addition, such a landing platform allows you to correct the location of the iris 3 and funnels

24 (or 25) during landing in active mode, which also increases the reliability of a successful UAV landing 5.

FIG. 11a, 116, 11c shows an embodiment of a landing platform containing movable bases 34a, 346, 34b, 34d, 34d, 34e. Each movable base 34a, 346, 34b, 34d, 34d, 34e is connected to a corresponding displacement drive made in the form of a linear module 35a, 356, 35b, 35g, 35d, 35e. Linear modules 35a ... 35e, in turn, are installed on linear modules 36. Thus, each movable base 34a ... 34e has the ability to move along two coordinates (indicated by arrows), and is limited only by their collision with each other. This allows you to receive UAV 5 with any configuration of the location of the supports 4. The indices of numbers 34a ... 34e correspond to the indices 4a ... 4e of the supports of the received UAV.

It is possible to use other types of drives capable of moving the movable bases 34a ... 34e with a given accuracy and dynamics.

The landing platform contains the number of movable bases 34a ... 34e equal to the number of supports 4 of the UAV 5 with the maximum possible number of supports 4 accepted by this landing platform. At least two movable bases 34a .. 34e contain iris diaphragms 3. The remaining movable bases 34a .. 34e can be free or contain funnels 24 (or 25).

The drive for closing / opening the iris diaphragm 3 contains a gear 7 mounted on the shaft 8 of the motor (geared motors) 9, which are powered by a driver (not shown). It is also possible the presence of sensors 10 (see Fig. 1a) of the angular position of the gear sector 16 (see Fig. 1a) or the motor driver 9 can be configured to stop when the load torque increases. Engine 9 is mounted on a bracket 37 mounted on a movable base 34.

The landing platform can also contain at least one sensor 33 of the position of the received UAV 5, for example, video cameras, which can be installed on stationary or movable supports.

FIG. 11a, the landing platform is tuned to receive the UAV 5 with six supports 4 located along the tops of a regular hexagon. FIG. 116 landing platform is configured to receive UAV 5 with four supports 4, located at the tops of the square.

In this embodiment, to receive the UAV 5, four movable bases 34 are required, according to the number of supports 4 of the received UAV 5. At least two movable bases 34 must contain iris diaphragms 3, the remaining two movable bases 34 may contain iris diaphragms 3 or funnels 24 (or 25) or be empty. Movable bases 34 not used for landing UAV 5 are removed from the area of placement of supports 4 of the received UAV 5 and do not take part in the reception and positioning of the UAV 5. Movable bases 34a, 346, 34d and 34d form a square with a side equal to the distance between the supports 4 of the received UAV , the movable bases 34b and 34e are removed from the area of placement of the supports 4 of the received UAV 5. In this case, the movable bases 34b and 34e do not contain iris diaphragms 3 or funnels 24 (or 25).

FIG. 11 in the landing platform is configured to receive UAV 5 with six supports 4, installed in two rows.

The use of mobile bases 34 allows you to obtain a universal landing platform, in which the mobile bases 34 are installed in advance before receiving the UAV for a specific configuration and the number of supports 4 of the received UAV 5. This landing platform also allows you to correct the location of the mobile base 34 during landing in an active mode, which also increases the reliability of a successful UAV landing 5.

In the above options for landing platforms for receiving UAVs 5 vertical takeoff and landing, each iris diaphragm 3 has its own actuator for closing / opening the diaphragm. In this case, each iris 3 operates independently of the others, the number of motors 9 is equal to the number of iris 3. The iris 3 can be kinematically connected and / or connected to a single diaphragm closing / opening drive.

FIG. 12a and 126 show variants of the individual diaphragm closing / opening drive circuits.

The drive of FIG. 12a contains a motor (geared motor) 9, a brake 38, an elastic movable clutch 39 and a gear 7, which engages with a toothed sector 6 mounted on an iris diaphragm 3. The motor 9 can be a stepper motor or servo motor is used, which has the property of braking. After motor 9, a worm gear 40 can be installed

(Fig. 126). The stepper motor, servo motor and worm gear are self-braking mechanisms and eliminates the need for brake 38.

The use of a brake 38 or a self-braking mechanism together with an elastic movable clutch 39 allows to distribute the loads on the iris mechanisms 3, as well as to ensure reliable retention of the UAV 5 supports 4 by elastic pressing of the petals 3 to the 4 supports.

FIG. 13 shows a variant of the kinematic diagram of the diaphragm closing / opening drive, in which all iris diaphragms 3 are kinematically connected to each other.

Each iris diaphragm contains a toothed sector 6. Each toothed sector 6 is connected to a gear 7, which is mounted on its shaft 44 and through an elastic movable clutch 39 is connected to a pulley 42. All pulleys 42 are connected by a drive belt 43 with a drive pulley 45, which is through a brake 38 connected to the motor 9. As the motor 9 can be used a stepper or servo motor, which have the property of braking. After the motor 9, a worm gear can be installed. The stepper motor, servo motor and worm gear 40 are self-braking mechanisms and their use eliminates the need for brake 38.

FIG. 14a shows a variant of the design of an elastic movable clutch 39. The elastic movable clutch 39 contains coaxially installed female 46 and male 47 half couplings, which are interconnected by a package 48 of leaf springs. An elastic movable clutch 39 can be integrated into the gear. In this case, the rim 49 of the gear is at the same time a covering half of the coupling (Fig. 146).

FIG. 15 shows a variant of the kinematic diagram of the closing / opening drive of the main and additional iris diaphragms, installed in tiers one above the other. Elastic movable couplings 39 are built into gears 7 and mounted on a common shaft 44.

It is possible to use elastic movable couplings 39 of a different design, providing the accumulation of elastic energy for pressing the petals 13 of the iris diaphragms 3 in the closed state. FIG. 16 shows the installation of the iris diaphragm 3 with the possibility of elastic rotation about its axis. Concentric grooves 50 are made on the movable base 34 (or the seating surface 1, not shown in the figure).

14 of the iris diaphragm 3, brackets 51 are installed, which protrude through concentric grooves 50. On a movable base 34 (or a seating surface

1, FIG. not shown) mounted brackets 52, which are connected to brackets 51 mounted on crown 14 by means of springs 53. Springs

53 pull the brackets 51 and 52 towards each other, and the bracket 51 mounted on the crown 14 of the iris diaphragm 3 touches the end of the sector 50. The springs 53 have a predetermined preload. This allows an elastic rotation of the iris diaphragm 3 about its axis after the petals 13 of the iris diaphragm

3 will touch the supports 4 of the UAV 5, that is, perform the function of elastic movable couplings and create the necessary interference of the petals 13 on the supports 4.

The iris 3 or at least the petals 13 of the iris 3 can be made of an electrically conductive material. To each iris diaphragm 3 or to the petals 13, wires are connected to supply voltage (not shown). This allows the use of the petals 13 of the iris diaphragm 3 as an electrical contact for connection with the contacts located on the supports 4 of the received UAV 5. Contacts on the supports of the received UAV 5 must be made in the zone of contact of the petals 13 of the iris diaphragm 3. In case the iris diaphragm 3 is made entirely of electrically conductive material, electrical isolation measures should be taken between other iris diaphragms installed on the landing platform 3.

FIG. 17a, 176, 17c and 17d depict embodiments of the supports 4 of the UAV 5, containing elements for holding with the iris diaphragm 3, which can simultaneously serve as electrical contacts.

FIG. 17a shows a cylindrical support 4 of the UAV 5. The contact area 54 of the support 4 with the petals 13 of the iris diaphragm 3 can be made of an electrically conductive material and connected to the electrical circuit of the UAV 5 (not shown).

FIG. 176 shows a cylindrical support 4 of the UAV 5 with a head 55. This design of the supports 4 allows them to be kept from vertical movements, since downward movement is limited by the landing surface 1 (or movable base 34, not shown in the figure), and upward - by the petals 13 of the iris 3. Zone 54 the contact of the support 4 and the cap 55 with the petals 13 of the iris diaphragm 3 are made of an electrically conductive material and connected to the electrical circuit of the UAV 5 (not shown).

FIG. 17c shows a variant of the support 4 of the UAV 5 for positioning, holding and creating electrical contact with the iris diaphragm 3 and the additional iris diaphragm 3a, made of an electrically conductive material.

Support 4 may contain several contacts 56, 56a with annular grooves according to the number of tiers of iris diaphragms 3, 3a, etc. installed in the contact zone with the petals 13 and 136 iris diaphragms 3 and additional iris diaphragms 3A. Electrical contacts 56 and 56a with annular grooves are electrically isolated from each other by an insulator 57. Each electrical contact 56, 56a and the like. with annular grooves connected to the electrical circuit of the UAV 5 (not shown). This option allows you to create several contacts on the support 4. The shape of the electrical contacts 56 and 56a with annular grooves makes it possible to keep the supports 4 from vertical movements. If the iris diaphragms are 3, Behind, etc. made of electrically conductive material, they are insulated with an insulating gasket 58.

FIG. 17d depicts support 4 of the UAV 5 with a head 55 and a counterpart 59, which form an annular groove and are pressed together by means of a spring 60. This enhances the ability to hold the UAV 5.

The contact area 54 of the support 4 and the fungus 55 with the petals 13 by the iris diaphragm 3 is made of an electrically conductive material and connected to the UAV electrical circuit (not shown).

In the cases indicated in FIG. 17a, 176, 17b, 17d each iris diaphragm 3, 3a, etc. or petals 13, 13a and the like. connected to a control system or charger (not shown).

In addition to these nodes, the landing platform contains a control system, a power supply and battery charging unit for the received UAVs, drivers for servo motors, stepper motors or electric motors that are part of the landing platform, a landing marker or a radiation source for orientation of the UAV for precision landing, which are not presented in the graphic material and above description. The control system can store data on the configuration and the number of supports received by the UAV.

The mechanical and electrical assemblies and parts of the landing platform presented may be replaced by mechanical, electrical, hydraulic or pneumatic parts and assemblies for a similar purpose, providing a similar result.

Landing platform operation.

The work of the iris diaphragm.

In the open state of the iris diaphragm (Fig. 2a, 26), all the petals 13 are maximally extended, the diameter of the diaphragm opening 19 coincides with the inner diameter of the ring frame 11, the leash 18 is in the extreme position. To close the diaphragm, it is necessary to turn the leash 18 counterclockwise in Fig. 2a. In this case, the annular frame 11, turning, carries away the axial pins 16 and the petals 3. The central parts of the petals 13 begin to converge to the center of the iris diaphragm, forming the inner edges 20 of the diaphragm hole 19, which is the closer to the circle, the larger the number of petals 3. Regardless of the diameter of the diaphragm 19 it will be symmetrical to the center axis of the iris diaphragm. If support 4 of the UAV 5 is inserted into the open diaphragm hole 19 and the diaphragm is closed, the petals 13 with their inner edges 20 will push the support 4 to the center of the diaphragm hole 19. At the moment all the petals 13 close the support 4 (cylindrical body), it will be in the center of the iris diaphragm.

Thus, at any point inside the diaphragm hole 19, the support 4 of the UAV 5 will be moved to the center of the iris 3 by pushing it with the edges 20 of the petals 3, that is, it will be positioned. Moreover, the positioning point is located on the axis of the iris diaphragm and does not depend on the diameter of the support (cylindrical body). The petals 3 of the iris diaphragm wrap the support 4 of the UAV 5 and reliably keep it from moving.

Preparing for UAV landing on the landing platform.

To receive UAV 5 on the landing platform, iris diaphragms 3 and 3a must be open.

The control system of the landing platform interrogates the readings of the sensors 10 of the angular position of the toothed sectors of 6 iris diaphragms 3. If the iris diaphragms 3 are closed, then it gives the command to open. If the landing platform does not have sensors 10 for the angular position of the toothed sectors 6 of the iris diaphragms 3, the control system issues a command to open the iris diaphragms 3 and stops the drive motors as the moment of resistance increases.

Preparation for landing of variants of the landing platform of FIG. 1a, 5a.

These landing platforms receive UAVs 5 with a given distance between supports 4.

The landing platforms of FIG. 1a, 5a can receive UAV 5 with the number of supports 4 from four and more. The distance between the iris diaphragms 3 should be as follows:

B 1 = 1.41xA; for the received UAV 5 with four supports 4 installed along the vertices of the square (Fig.2a):

B2 = 1.618xA; for UAV 5 with five supports 4 located along the vertices of the regular pentagon:

ВЗ = 2хА

Preparation for landing of variants of the landing platform of FIG. For, 56, 8a, 86

These landing platforms accept UAVs 5 with a fixed configuration and a distance between supports 4.

Depending on the number of iris diaphragms 3 and funnels 24 (or 25), as well as on their location, the landing platforms as in Fig. For, 56, 8a, 86, UAVs 5 with the number of supports 4 from three and more can be taken, provided that the location of the iris diaphragms 3 and funnels 24 (or 25) coincides with the location of the supports 4 of the received UAV 5.

Preparation for landing of variants of the landing platform of FIG. 9a, 10a, 1 1a Before landing the UAV 5 on the landing platform of FIG. 9a, 10a and 1 1a, the control system should receive information about the type of the received UAV 5. The control system refers to the stored configuration data and the number of supports 4 of the received

UAV 5. The landing platform in accordance with these data sets the location of the iris 3 and funnels 24 (or 25) for the embodiment of FIG. 9a, 10a or movable bases 34 for version 1 1a for a specific location of the supports 4 of the received UAV 5.

Upon receipt by the control system of a command to prepare for receiving UAV 5:

- The control system of the landing platform of the execution fig. 9a adjusts the distance between the iris diaphragms 3 using the drive for moving along the seating surface 1. Motors 29 with the help of the pulley 27 move the toothed belt 28, which is connected to the iris diaphragms 3 until the specified distance between the iris diaphragms 3 is reached.

- The control system of the landing platform of the execution fig. 10a adjusts the location of the iris diaphragms 3 and funnels 24 (or 25) using the drive for moving along the landing surface 1 by synchronous operation of the winches 31, which set the lengths of the cables 32 and thereby determine the position of each iris diaphragm 3 and funnel 24 (or 25) along the landing surface 1.

- The control system of the landing platform of the execution fig. 11a adjusts the relative position of the mobile bases 34 with linear modules 35 and 36, which determine the position of each mobile base 34. If the number of supports 4 of the received UAV 5 is less than the number of mobile bases 34, the mobile bases 34 that are not used during landing are retracted away from the landing zone and do not take part in the process of receiving the UAV 5 (see Fig. 126). Empty movable bases 34 are displayed first, then movable bases 34 with funnels 24 (or 25).

Thus, the landing platforms of FIG. 9a, 10a and 11a with each reception of the UAV 5 will have a different, corresponding to the configuration of the supports 4 of the received UAV 5, the location of the iris diaphragms 3, funnels 24 (or 25) or movable bases 34, which makes it possible to receive UAVs with different configurations of supports.

UAV landing on the landing platform. Landing. UAV 5 flies up to the landing platform guided by satellite navigation or the readings of its own inertial navigation. Next, the exact landing site of the UAV and its landing are determined, guided by the video camera installed on the UAV 3 by the image of the landing pad and / or a graphic marker depicted on the landing surface 1 and / or the radiation source installed on the landing platform. The landing accuracy of the UAV 5 is determined by the method of determining the landing site, dynamic characteristics

UAV 5, lighting conditions, meteorological landing conditions, especially gusty winds and visibility. UAV 5 will land successfully if all supports

4 UAVs 5 will enter the corresponding diaphragm holes of 19 iris diaphragms

3 or fall into the corresponding 24 (or 25) funnels.

Landing platforms of FIG. 1a, Za, 5a, 56, 8a, 86, 9a, when UAV 5 lands, behave passively, do not perform any action. The landing accuracy of UAV 5 depends entirely on the capabilities of the received UAV 5 and weather conditions.

Landing platforms of FIG. 10a, 11a can behave both passively and actively.

With passive behavior, when the landing platform does not perform any actions, the landing accuracy of the UAV 5 depends entirely on the capabilities of the received UAV 5 and weather conditions.

The active behavior of the landing pads according to FIG. 10a, 1 1a is that during the landing of the UAV 5, the position sensor 33 of the UAV 5 determines the position in the horizontal plane and the yaw (turn) angle of the UAV 5. The control system receives data from the position sensors 33 of the UAV 5 and calculates the expected landing location of each support 4 UAVs 5. Drives of horizontal movements of each movable iris diaphragm 3, each funnel 24 (or 25) in the embodiment of FIG. 10a or each movable support 34 in the embodiment of FIG. 11a moves them to the expected position. Thus, at the moment of touching the landing surface 1, each support 4 of the UAV 5 is in the diaphragm hole 19 of the iris diaphragm 3 or inside the funnel 24 (or 25) closer to the axis of the iris diaphragms 3 or funnels 24 (or 25) than if the landing was made in passive operating mode of the landing platform.

The active behavior of the landing pad in automatic mode is especially effective at the last moment of landing, when the UAV 5 has a decrease in stock maneuverability. Mechanical system for moving iris diaphragms 3, funnels 24

(or 25) and movable bases 34 at this moment has a faster response, especially to reciprocating movements.

An increase in the accuracy of landing increases the reliability of the fit and the positioning time, since it shortens the path of movement of the supports 4 to the given positioning point.

UAV positioning 5 at the moment and after landing.

The landing platform containing funnels 24 (or 25) will perform primary positioning of the UAV 5 during landing if the supports 4 of the UAV 5 touch the surfaces of funnels 24 (or 25). Supports 4, touching funnels 24 (or 25), roll down them to the centers of funnels 24 (or 25) and fall on the landing surface 1. Supports 4 of the UAV 5, touching the iris diaphragm 3, the upper surfaces of which are made by funnels 22 or if they have overhead funnels 23 roll along them inside the diaphragm holes 19 of the iris diaphragms 3 onto the landing surface 1.

After UAV 5 landing, the landing platform positions the received UAV 5. For this, the iris diaphragms 3 are closed until the supports are completely closed by 4 edges of 20 petals of 13 iris diaphragms 3.

Upon receipt of information about the landing of the UAV 5 on the landing platform, the control system gives the command to close the diaphragms 3. The operation of the diaphragm closing drive. The brake 38 (see the diagram of Fig.12a) releases the shaft 8 of the engine 9, the engine 9 rotates the rotary elastic coupling 39, the rotation from the rotary elastic coupling 39 is transmitted to the shaft 44 and then to the gear 7, which rotates the toothed sector 6 mounted on the leash 18 iris diaphragm 3. The iris diaphragm 3 closes the diaphragm aperture 19, the edges 20 of the petals 13 push the support 4 of the UAV 5 to the center of the iris diaphragm 3. The moment of the end of positioning can be determined by the sensor 10 of the angular position of the gear sector 6 or by increasing the force of rotation resistance. Male 46 and female 47 coupling halves of the rotary elastic coupling 39 rotate relative to each other, stressing the leaf springs 48 (Fig. 14a). After the brake 38 is turned on and the engine 9 is turned off, the rotary elastic coupling 39 retains the given torque and the support 4 of the UAV 5 remain compressed by the inner edges 20 of the petals 3, which ensures reliable retention of the UAV 5 on the landing platform. The function of the brake can be performed by self-braking mechanisms, for example, a worm gear 40 (FIG. 126), or a stepper motor, or a servo motor.

The elastic rotary clutch 39 can be built into the gear 41 (Fig. 146). In this case, the accumulation of energy is carried out in the gear 41. This solution is especially convenient when the iris 3 and additional iris diaphragms 3A (Fig. 14c) rotate from one shaft.

Installation of iris diaphragms 3 with the possibility of elastic rotation about its axis (Fig. 16) also allows you to accumulate energy and maintain the tightness of the petals 13 of the iris diaphragms 3 on the supports 4 of the UAV 5. After full contact of the edges of the iris diaphragms 20 of the supports 4 of the UAV 5, further rotation of the gear 7 leads to the rotation of the entire iris diaphragm 3 and the tension of the springs 53. After the brake 38 is turned on and the motor 9 is turned off, the voltage in the springs 53 is maintained and keeps the preload of the petals 13 on the support 4.

In the case when the iris diaphragms 3 are kinematically connected to each other and operate from a single drive, rotary elastic couplings 39 are installed on the line of each iris diaphragm 3. This allows each iris diaphragm 3 to be closed and effectively clamped each support 4.

With the active behavior of the landing platforms according to FIG. 10a, 1 1a during the landing of the UAV 5, the location of the iris diaphragms 3, craters 24 (or 25) or movable bases 34 after landing may be uncertain (different). If there are any manipulations with the UAV 5, which require the exact location of the UAV 3, the drives for the horizontal movement of the iris 3, the funnels 24 (or 25) or the movable bases 34 bring them to a given position.

Keeping the UAV on the landing platform.

FIG. 17a, 176, 17c, 17d, various versions of the supports 4 of the received UAV 5 are presented.

After landing UAV 5 (Fig. 17a) iris diaphragms 3 produce positioning of UAV 5 and compression by petals 13 of the supports 4. In this case, the iris diaphragm 3 is able to keep the support 4 from possible horizontal movements. However, iris diaphragms 3 cannot reliably hold the smooth support 4 from vertical movements. UAV 5 with such supports can be received and held on a stationary landing platform. When landing UAV 5 containing supports 4 with hats 55 (Fig. 176), several contacts 56, 56a with annular grooves (Fig.17c) and supports 4 with a cap 55 and a spring-loaded counterpart 59 (Fig.17d), iris diaphragms 3 perform positioning UAV 5 and compression by petals 13 of supports 4. Iris diaphragm 3 keeps support 4 from horizontal movements and is able to keep from vertical movements, since downward movement limited by the landing surface

1 or a movable base 34, and upwards - by the petals 13 of the iris diaphragm 3, which are fixed in the annular groove of the contacts 56, 56a. UAVs 5 with such supports 4 can be received and held on a landing platform of both a stationary type and on moving objects.

Power supply to the UAV.

At least the petals 13 of the iris diaphragms 3 are made of an electrically conductive material and the wires for supplying voltage from the control panel of the landing platform are connected to them. Compression of 4 UAV supports with 5 petals of 13 iris diaphragms 3 allows to create reliable multiple contact. Compression of the petals 13 by means of rotary elastic couplings 39 ensures reliable contact under vibration conditions that occur both in stationary conditions and when working on moving objects. All this together makes it possible to provide a reliable electrical connection with the UAV 5 installed on the landing pad. The voltage is supplied to the UAV 5 from the landing platform control panel.

Takeoff of the UAV from the landing platform.

To take off the UAV 5 from the landing platform, the control system stops supplying voltage to the contacts of the supports 4 of the UAV 5 and opens the iris diaphragms 3.

Thus, the use of iris diaphragms as a UAV positioning device, their combination with funnels, and a multi-tiered arrangement of iris diaphragms make it possible to create a high-speed landing platform for vertical take-off and landing UAVs with reliable UAV retention and suitable for both stationary and mobile objects.

Implementation of iris diaphragms and funnels movable, connected to displacement drives allows you to create a universal landing platform for various configurations of supports received by the UAV and to ensure in the active mode an accurate landing of the received UAV.

The implementation of at least the petals of the iris diaphragms from an electrically conductive material and additional compression of the supports by the petals due to compression by the elastic movable coupling allows for a reliable electrical connection with the UAV located on the landing platform.

Claims

Claim

1. A landing platform for a vertical take-off and landing UAV containing a landing surface, electrical contacts and a UAV positioning device by acting on its supports, characterized in that the positioning device is made in the form of iris diaphragms connected to a closing / opening drive.

2. Landing platform for UAVs with vertical take-off and landing along and. 1, characterized in that it contains at least two iris diaphragms.

3. Landing platform for UAVs with vertical take-off and landing along and. 1, characterized in that additional iris diaphragms can be installed on the iris diaphragms.

4. Landing platform for UAVs with vertical take-off and landing along and. 1, characterized in that the upper surfaces of the iris diaphragms are made in the form of funnels.

5. Landing platform for UAVs with vertical take-off and landing along and. 1, characterized in that funnels are installed on the upper surfaces of the iris diaphragms.

6. Landing platform for UAVs with vertical take-off and landing along and. 1, characterized in that each iris diaphragm has its own diaphragm closing / opening drive.

7. Landing platform for UAVs with vertical take-off and landing along and. 1, characterized in that the iris diaphragms are kinematically interconnected and / or connected to a single diaphragm closing / opening drive.

8. Landing platform for UAVs with vertical take-off and landing along and. 1, characterized in that the actuator / actuators for closing / opening the iris diaphragms contain a brake.

9. Landing platform for UAVs with vertical takeoff and landing along and. 1, characterized in that the actuator / actuators for closing / opening the diaphragms of the iris diaphragms comprise a self-braking mechanism.

10. Landing platform for UAVs with vertical take-off and landing on and. 1, characterized in that each link of the kinematic circuit of the diaphragm closing / opening drive contains an elastic movable clutch.

11. Landing platform for UAVs with vertical takeoff and landing on and. 1, characterized in that each iris diaphragm is mounted with the possibility of elastic rotation about its axis.

29

SUBSTITUTE SHEETS (RULE 26)

12. The landing platform for vertical take-off and landing UAVs according to claim 1, characterized in that at least the iris diaphragm blades are made of electrically conductive material.

13. Landing platform for vertical take-off and landing UAVs, containing a landing surface, electrical contacts and a UAV positioning device by acting on its supports, characterized in that the positioning device is made in the form of iris diaphragms connected to a closing / opening drive, and funnels, and the general the number of iris diaphragms and funnels is not more than the maximum number of UAV supports.

14. Landing platform for UAV vertical takeoff and landing on and. 13, characterized in that the iris diaphragms and funnels are movable.

15. Landing platform for UAVs with vertical take-off and landing on and. 13, characterized in that the iris diaphragms and funnels are connected to drives for moving along the landing surface.

16. Landing platform for UAVs with vertical takeoff and landing on and. 13, characterized in that the iris diaphragms and funnels can be installed on movable bases, each movable base is connected to a corresponding drive for movement.

17. Landing platform for UAVs with vertical take-off and landing on and. 13, characterized in that the total number of mobile bases is equal to the maximum number of UAV supports received by a given landing platform.

18. Landing platform for UAVs with vertical take-off and landing on and. 13, characterized in that it contains at least one position sensor of the received UAV.

thirty

SUBSTITUTE SHEETS (RULE 26)