CN-121990214-A - Unmanned aerial vehicle automatic paddle returning method and unmanned aerial vehicle hangar

CN121990214ACN 121990214 ACN121990214 ACN 121990214ACN-121990214-A

Abstract

The embodiment of the application provides an automatic unmanned aerial vehicle paddle returning method and an unmanned aerial vehicle hangar, the automatic unmanned aerial vehicle paddle returning method is applied to the unmanned aerial vehicle hangar and an unmanned aerial vehicle, the unmanned aerial vehicle hangar comprises side walls, hangar doors and landing platforms, the hangar doors comprise lifting pieces capable of lifting in the vertical direction, the method comprises the steps that the unmanned aerial vehicle hangar responds to a received first signal representing that an unmanned aerial vehicle drops to the landing platforms, the lifting pieces are controlled to lift, so that part of paddles of the unmanned aerial vehicle interfere with the lifting pieces to be returned to paddles, and the unmanned aerial vehicle hangar responds to a received second signal representing that part of paddles are returned to paddles, and the landing platforms are controlled to move to a first position in the unmanned aerial vehicle hangar, so that the rest paddles of the unmanned aerial vehicle interfere with the side walls to be returned to paddles.

Inventors

CHEN FANGPING
ZHAO ZHE
CUI SHAOHUA
XIA LINGANG
PANG YU
WANG FENG
ZHANG XIAOJIE

Assignees

天津云圣智能科技有限责任公司

Dates

Publication Date: 20260508
Application Date: 20260311

Claims (10)

1. The utility model provides an unmanned aerial vehicle automatic paddle returning method which is characterized in that is applied to unmanned aerial vehicle hangar and unmanned aerial vehicle, unmanned aerial vehicle hangar includes lateral wall, hangar door and landing platform, the hangar door includes the lifter that can follow vertical direction and go up and down, the method includes: The unmanned aerial vehicle hangar responds to the received first signal representing that the unmanned aerial vehicle falls to the landing platform, and controls the lifting piece to ascend, so that part of paddles of the unmanned aerial vehicle interfere with the lifting piece to return to paddles; The unmanned aerial vehicle hangar responds to the received second signal representing that the partial paddles are completely arranged, and the landing platform is controlled to move to a first position in the unmanned aerial vehicle hangar, so that the residual paddles of the unmanned aerial vehicle and the side walls interfere with each other to arrange paddles.
2. The method of claim 1, wherein the unmanned aerial vehicle comprises a first blade, a second blade, a third blade, and a fourth blade, the lift comprises a door body and a lift stop protruding from the top of the door body, the controlling the lift to lift causes a portion of the blades of the unmanned aerial vehicle to interfere with the lift to return to a pitch, comprising: The unmanned aerial vehicle hangar controls the door body to ascend to a first height; After the first blade, the second blade and the lifting limiting piece interfere with each other, the unmanned aerial vehicle switches the rotation directions of the first blade and the second blade; the unmanned aerial vehicle hangar responds to the received third signal representing the interference of the first blade, the second blade and the lifting limiting piece, and controls the door body to continuously rise to the second height; The unmanned aerial vehicle responds to the received fourth signal representing that the door body rises to the second height, the rotation direction of the first blade and the rotation direction of the second blade are switched again, and the paddle returning is completed until the first blade, the second blade and the door body interfere.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises, The unmanned aerial vehicle hangar control the door body top rises to first height, includes: The unmanned aerial vehicle hangar controls the door body to ascend until receiving a first in-place signal which is sent by the position detection sensor and represents that the door body ascends to a first height; the unmanned aerial vehicle hangar control the door body top continues to rise to the second height, includes: the unmanned aerial vehicle hangar controls the door body to ascend until receiving a second in-place signal which is sent by the position detection sensor and used for representing the door body to ascend to a second height.
4. The method of claim 2, wherein the controlling the landing platform to move to a first position within a drone hangar such that remaining paddles of the drone interfere with the sidewall to pitch comprises: The unmanned aerial vehicle hangar controls the landing platform to continuously move towards the side wall, so that the third blade, the fourth blade and the inner wall of the side wall interfere, and when the landing platform moves to a first position, the third blade and the fourth blade are subjected to blade returning.
5. The method of claim 1, wherein prior to the drone hangar responding to the first signal, the method further comprises: The unmanned aerial vehicle hangar responds to the received fifth signal representing the preliminary landing of the unmanned aerial vehicle, and the hangar door and the landing platform are controlled to rotate around one side of the side wall to the outside of the unmanned aerial vehicle hangar by a preset angle.
6. The method of any one of claims 1-5, wherein the controlling the landing platform to move to a first location within a drone hangar comprises: the landing platform is controlled to rotate around one side of the side wall to a first position in the unmanned aerial vehicle warehouse at a first rotation speed, and a second rotation speed of the unmanned aerial vehicle blade is larger than a preset multiple of the first rotation speed.
7. A drone hangar for use in the method of any one of claims 1 to 6, comprising: The machine warehouse comprises a bottom plate, side walls and a machine warehouse door, wherein the bottom plate, the side walls and the machine warehouse door surround to form a containing cavity, and the side walls are rotationally connected with one end of the machine warehouse door; The landing platform is used for landing the unmanned aerial vehicle, a first end of the main swing arm is rotationally connected with the side wall, a second end of the main swing arm is connected with the hangar door, a third end of the main swing arm is connected with the landing platform, and the hangar door and the landing platform can rotate relative to the side wall along with the main swing arm; Wherein, the hangar door is including the lifter that can follow vertical direction and go up and down, the lifter is used for returning to the oar to unmanned aerial vehicle's some paddles, the lateral wall includes the orientation hold the inside wall of chamber one side, the inside wall is used for returning to the oar to unmanned aerial vehicle's remaining paddles.
8. The unmanned aerial vehicle hangar of claim 7, wherein the lifting member comprises a door body and a lifting limiting member protruding from the top of the door body, the lifting limiting member being used for pitching part of the paddles of the unmanned aerial vehicle; The inside wall of lateral wall is equipped with the lateral wall locating part, the lateral wall locating part is used for returning to the oar to unmanned aerial vehicle's surplus paddle.
9. The unmanned aerial vehicle hangar of claim 8, wherein the hangar door comprises a hangar door body, the lifting member is slidably connected with the hangar door body, a position detection sensor is provided on the hangar door body, and the position detection sensor is used for detecting the position of the lifting member in the vertical direction.
10. The unmanned aerial vehicle hangar of claim 8, wherein the sidewall limiter comprises a first structure and/or a second structure; The first structure comprises a limiting rod, the top end of the limiting rod is fixedly connected with the top of the side wall through a connecting piece, and a first preset distance is reserved between the limiting rod and the side wall in the horizontal direction; the second structure comprises an arc-shaped protruding structure, the arc-shaped protruding structure is positioned on the inner side of the side wall, and a protruding vertex of the arc-shaped protruding structure and the side wall are provided with a second preset distance in the horizontal direction; A first side wall limiting piece of the two side wall limiting pieces is of the first structure or the second structure; and the second side wall limiting piece of the two side wall limiting pieces is of the first structure or the second structure.

Description

Unmanned aerial vehicle automatic paddle returning method and unmanned aerial vehicle hangar Technical Field The application relates to the technical field of unmanned aerial vehicle pitching, in particular to an unmanned aerial vehicle automatic pitching method and an unmanned aerial vehicle hangar. Background Unmanned aerial vehicle is unmanned aerial vehicle that utilizes radio remote control equipment and relevant controlling means to operate, along with unmanned aerial vehicle technology's development, its application field is also expanding constantly and deepening increasingly, for example unmanned aerial vehicle application in performance, take photo by plane, agriculture, plant protection, express delivery transportation, disaster relief, survey and drawing, electric power inspection, water sampling etc. fields, has expanded unmanned aerial vehicle's usage greatly. Unmanned aerial vehicle hangar is as unmanned aerial vehicle's take-off and land platform, mainly play the effect of accomodating the unmanned aerial vehicle protection, charge and data transmission, after unmanned aerial vehicle descends to completion task, from the high altitude to appointed position in the hangar, and accomodate the in-process to unmanned aerial vehicle, usually in unmanned aerial vehicle hangar holds unmanned aerial vehicle's cavity outside setting up the device of returning to the oar, retrieve unmanned aerial vehicle completely to unmanned aerial vehicle hangar's cavity after accomplishing returning to the oar again, or directly not return to the oar to unmanned aerial vehicle, no matter the device of returning to the oar of setting in addition or not setting up the device of returning to the oar, all need unmanned aerial vehicle hangar to have bigger space, be unfavorable for unmanned aerial vehicle hangar's light weight miniaturization, in addition, unmanned aerial vehicle returns to the oar in-process at first, afterwards, unmanned aerial vehicle's warehouse entry efficiency is lower. Disclosure of Invention The embodiment of the application aims to provide an automatic unmanned aerial vehicle paddle returning method and an unmanned aerial vehicle library, so as to achieve miniaturization of the unmanned aerial vehicle library and improve warehousing efficiency of an unmanned aerial vehicle. The specific technical scheme is as follows: The embodiment of the application provides an automatic unmanned aerial vehicle paddle returning method which is applied to an unmanned aerial vehicle hangar and an unmanned aerial vehicle, wherein the unmanned aerial vehicle hangar comprises a side wall, a hangar door and a landing platform, the hangar door comprises a lifting piece capable of lifting along the vertical direction, and the method comprises the following steps: The unmanned aerial vehicle hangar responds to the received first signal representing that the unmanned aerial vehicle falls to the landing platform, and controls the lifting piece to ascend, so that part of paddles of the unmanned aerial vehicle interfere with the lifting piece to return paddles; The unmanned aerial vehicle hangar responds to the received second signal representing that the partial paddles are completely arranged, and the landing platform is controlled to move to a first position in the unmanned aerial vehicle hangar, so that the residual paddles of the unmanned aerial vehicle and the side walls interfere with each other to arrange paddles. In some embodiments, unmanned aerial vehicle includes first paddle, second paddle, third paddle and fourth paddle, the lifter includes the lift locating part that door body and door body top protrusion set up, control the lifter rises, makes unmanned aerial vehicle's partial paddle with the lifter interferes the paddle returns, includes: The unmanned aerial vehicle hangar controls the door body to ascend to a first height; After the first blade, the second blade and the lifting limiting piece interfere with each other, the unmanned aerial vehicle switches the rotation directions of the first blade and the second blade; the unmanned aerial vehicle hangar responds to the received third signal representing the interference of the first blade, the second blade and the lifting limiting piece, and controls the door body to continuously rise to the second height; The unmanned aerial vehicle responds to the received fourth signal representing that the door body rises to the second height, the rotation direction of the first blade and the rotation direction of the second blade are switched again, and the paddle returning is completed until the first blade, the second blade and the door body interfere. In some embodiments, the unmanned aerial vehicle hangar controls the door body top to rise to a first height, comprising: The unmanned aerial vehicle hangar controls the door body to ascend until receiving a first in-place signal which is sent by the position detection sensor and represents that the door body ascend