RU2710887C1 - Landing place for drone - Google Patents

Abstract

FIELD: aviation.SUBSTANCE: unmanned aircraft landing platform comprises multitiered funnels with possibility of telescopic folding in certain manner, guides and bases.EFFECT: enabling expansion of landing platform capabilities for possibility of receiving UMAC with low clearance or low landing of suspended cargo.23 cl, 31 dwg

Description

The invention relates to the design of the landing site of stationary or mobile automatic stations for receiving, charging, storing and servicing multi-rotor unmanned aerial vehicles (UAVs) and can be used to create a UAV maintenance network that will allow you to perform various tasks using UAVs whose flight range is limited by capacity battery.

Automatic battery charging and UAV maintenance require accurate positioning and orientation of the UAV at the landing site. Positioning uncertainty arises due to inaccurate operation of the control system during the landing process, as well as under the influence of weather factors such as gusty wind, fog, snow, rain, which generally impair the guidance process or introduce inaccuracies at the last moment of UAV landing, when the control system is no longer able to carry out the adjustment of the location of the seated apparatus with the necessary accuracy.

Automatic landing sites of the UAV charging and maintenance station are known, in which, after landing on the platform, its location is adjusted by some active device (manipulator).

The landing platform of the automatic station, according to the application US 2014/0124621 A1, receives UAVs on a flat plane. After landing the UAV, the leveling mechanism moves the four UAV bars into the positioning zone, in which charging, battery replacement or other type of maintenance is carried out.

The landing platform of the automatic station, according to the application US 2014/0319272 A1, also receives UAVs on a flat surface, but after this, the UAV with the help of two straps takes the device out of the landing zone into the charging and maintenance zone.

Another type of landing stations contains passive UAV positioning devices when landing. The positioning accuracy is ensured by the interaction of any element of the landing UAV with the guide element of the landing site.

The landing platform for UAVs, according to US D 805,018 S, is made according to the size of the UAV tower supports and has inclined surfaces around it. After landing, the UAV rolls over these surfaces and is positioned on the landing platform.

Automatic station, according to patent US 9,139,310 B1, contains conical recesses (funnels) on the landing platform at the locations of the UAV support. This design positions the UAV if the deviation from the landing point is not more than the radius of the funnel in the upper part. This design is capable of receiving devices with the same arrangement of supports.

The prototype of the invention is a landing platform for UAVs of vertical take-off and landing, containing funnels mounted coaxially to the vertical supports of the received UAVs, guides with bases installed below the funnels, contacts for connecting voltage for charging the UAV battery or communicating with it US 20170217323 A1.

Such a landing platform is capable of landing UAVs with accurate positioning in the event that each support of the device falls into its funnel. That is, this device allows a deviation in landing equal to the radius of the upper base of the funnel cone. The desire to ensure a successful landing with a maximum deviation forces the diameter of the upper base of the cone of the funnel to be made as large as possible, and this in turn leads to an increase in the depth of the cone and, as a result, to an increase in the clearance of the UAV or the minimum height of the suspension of cargo or camera on the UAV. Thus, for a UAV with a small clearance or low load suspension, this platform cannot have a large funnel depth, and therefore, a large radius of the upper base of the funnel cone and, accordingly, ensure a successful landing with a large deviation of the landing apparatus.

An object of the invention is to expand the capabilities of the landing platform by providing the possibility of receiving UAVs with low clearance or low landing of a suspended load.

Simplification of the landing process and increase of landing reliability by expanding the permissible deviation during UAV landing, as well as providing unimpeded descent of UAV supports to the center of the funnel under the influence of gravity without delays or distortions of the UAV.

Enabling the use of the landing platform on a moving object by fixing the UAV on the site after landing.

Facilitate and increase the reliability of UAV take-off from the landing platform, by raising the UAV before take-off and ejection.

The technical result is achieved by the fact that in the landing platform of an unmanned aerial vehicle (UAV), containing funnels, guides and bases, in accordance with the proposed solution, each funnel is multi-tiered with the possibility of telescopic folding.

In the landing platform, tiers of the same level of all funnels have equal heights and angles of the cone.

In the landing platform, the heights of tiers of different levels can be equal. In the landing platform, the heights of the tiers of different levels can be different. In the landing platform, the angles of the cones of the tiers of different levels can be equal. In the landing platform, the angles of the cones of the tiers of different levels can be different.

In the landing platform, the guides are separated from the lower tiers of the funnels.

In the landing platform, the bases are movable.

In the landing platform, the upper sections of all funnels are made of the same geometric shape.

In the landing platform, all tiers of the funnels can be made movable, and the guides are made stationary.

In the landing platform, one of the tiers of the funnels can be made stationary, the remaining tiers and guides are made movable.

In the landing platform, tiers of one level of all funnels, guides and bases can be interconnected and have linear drives.

In the landing platform, tiers of one level of all funnels, guides and bases can be installed on a single plate and connected to actuators of linear movements.

In the landing platform, sensors for detecting the touch of UAV support can be installed on each tier, guide and base.

In the landing platform, at least one of the tiers can be installed with a decrease in the drain line.

In the landing platform, at least one of the tiers can be installed in excess of the drain line.

In the landing platform, all the tiers of the funnels can be installed so that the upper edges are at the same level, while the width of the body of the tiers of the funnels is less than the diameter of the contact surface of the UAV support.

In the landing platform, the tiers of the funnel frame the landing pad made in the form of a polyhedron connecting the guides, while the surface of the landing pad, the guides and the upper edges of the tiers are installed at the same level, the width of the body of the tiers of the funnel is less than the diameter of the contact surface of the UAV support.

In the landing platform, the guides contain devices for holding the UAV. In the landing platform, the guides can be made in the form of a collet clamp.

On the landing platform, the guides may include pneumatic clamps.

In the landing platform, at least a portion of the rail bases may comprise at least one extendable pin contact, for example a banana pin contact.

In the landing platform, the movable base of the guides can be connected to a drive for ejecting UAVs from the landing platform, for example, a pneumatic cylinder.

The invention is illustrated by the following graphic material.

In FIG. 1 shows a graphical diagram of the UAV landing on the landing platform with funnels and presents the most important from the point of view of operation dimensions of the platform and the UAV.

In FIG. 2 and 2a are top views of landing sites for a different number of supports.

In FIG. 3 is a graphical diagram of the breakdown of the landing platform funnels into tiers.

In FIG. 3a and 3b show a graphical diagram of the funnels for different angles of inclination and the relative position of the tiers of the funnels of the landing platform.

In FIG. 3c shows the extension element A of FIG. 3a

In FIG. 3g shows an external element B of FIG. 3b

In FIG. 3d shows the remote element B of FIG. 3b

In FIG. 4, 4a, 4b and 4c show top views of landing sites for a different number of supports with a breakdown of funnels into tiers.

In FIG. 5 shows a graphical diagram of the landing platform after landing the UAV.

In FIG. 6 shows the design of the landing platform, implementing the circuit of FIG. 3, 4 and 5.

In FIG. 7 shows the landing platform of FIG. 6 side view.

In FIG. 8 is a sectional view of the landing platform of FIG. 6 along the two axes of the funnels.

In FIG. 9 is a sectional view of the landing platform of FIG. 6 along two axes of the funnels in the case of driving all the tiers from one plane.

In FIG. 10 shows a landing platform in which one of the lower tiers of the funnels is installed in excess of the drain line

In FIG. 11 shows a landing platform in which the upper section of the upper tier of the funnel is made in the form of a polyhedron.

In FIG. 12 shows a landing platform in which the upper edges of all tiers of the funnels are located at the same level.

In FIG. 13 is a diagram explaining the relationship of the landing surface of UAV supports and funnels.

In FIG. 14 shows the landing platform, in which the upper edges of all tiers of the funnels are located at the same level and are made in the form of a polyhedron.

In FIG. 15 shows the landing platform, in which the upper edges of all tiers of the funnels are located at the same level, the section along the axes of the guides.

In FIG. 16 shows the landing platform, where the tiers of the funnel frame the landing site, made in the form of a polyhedron.

In FIG. 17 shows a guide made in the form of a collet.

In FIG. 18 shows a guide comprising a pneumatic clamp.

In FIG. 19 shows a base with a pin contact.

In FIG. 20 shows a base ejection drive.

In FIG. 21 is a graphical diagram of the landing platform during the take-off of the UAV.

In FIG. 1 shows the UAV landing plan 1 with supports 2 and suspended load 3 on the landing platform 4 with funnels 5, guides 6 and bases 7. The number of funnels 5, guides 6 and base 7 coincides with the number of supports 2 of the UAV 1. Funnels 5, guides 6 and the bases 7 are mounted coaxially to the supports 2 of the received UAV 1. Position 4a denotes the upper plane of the landing platform 4. Position 8 indicates the drain line — the line of the greatest angle of inclination of the surface of the funnel 5, along which the legs 2 of the UAV descend 1. Position 9 denotes the lowest point 1 and UAV; 10 - the lowest point of the suspended load 3; 11 - the lower plane of the supports 2 UAV 1. The guides 6 and the base 7 may be cylindrical or have the shape of a polyhedron. For convenience of presentation, the following letter designations are accepted in the application:

H1 - UAV clearance height1 - distance from the lower plane 11 of the supports 2 to the lowest point 9 of the UAV body 1;

H2 - The smallest distance from the lower plane 11 of the supports 2 to the lowest point 10 of the cargo 3 suspended on the UAV 1;

Нк - Funnel height 5;

Нц - Height of guides 6;

Rк - The radius of the funnel 5 in the upper plane;

α is the angle of inclination of the drain line 8 of the funnel 5 to the horizon;

d is the diameter of the supports 2 UAV 1;

And - the distance between adjacent guides 6 of the landing platform 4, equal to the distance between the centers of the adjacent supports 2 UAV 1.

After UAV 1 landing on landing platform 4, the lowest point 9 of UAV case 1 or the lowest point 10 of cargo 3 suspended on UAV 1 must not touch the upper surface 4a of landing platform 4. To fulfill this condition, the sum of the heights of funnel 5 and guides 6 must be less than the height of the UAV1 clearance or the smallest distance from the lower point 11 of the supports 2 to the lowest point 10 of the cargo 3 suspended on the UAV 1:

Нц + Нк <H1

Нц + Нк <Н2

The angle of inclination of the drain line 8 funnels 5 should be greater than the angle of friction of the materials of the pair of support 2 and funnel 5.

where μ is the coefficient of friction of materials of a pair of supports 2 and funnels 5,

α _Tr - the angle of friction of the materials of the pair of supports 2 and funnels 5.

When landing, the UAV 1 will be successfully positioned in the event that each support 2 falls into the corresponding funnel 5. This condition is met if the deviation of the supports 2 of the UAV 1 from the axis of the corresponding funnels 5 is no more than

where X is the largest permissible deviation during landing.

On the other hand, the radius of the funnel 5 is limited by the contact of the funnels 5 with each other. Given that the funnels 5 under all the supports 2 are the same, the funnels 5 will touch in the middle between the supports 2. Obviously, you should take adjacent supports 2, between which the smallest distance (see Fig. 2 and 2a):

or

The depth of the funnels 5 directly depends on the radius of the funnel 5 on the upper plane 4a of the landing platform 4 and the angle of inclination of the drain line 8.

These relations allow us to calculate the relationship between the permissible deviation X landing UAV1 and the clearance height H2 UAV 1 or the smallest distance H2 from the lower plane 11 of the supports 2 to the lowest point 10 of the cargo 3 suspended on the UAV 1.

In FIG. 2 and 2a are top views of landing sites 4a for a different number of UAV supports 2 and the distance between the guides 6 for each case. Other variants of landing sites 4a are also possible for the appropriate number of supports 2 and their location.

In FIG. 3 shows a graphical breakdown of the funnels 5 of the landing platform 4 into its component parts - tiers.

Each funnel 5 is multi-tiered with the possibility of telescopic folding (axial movement) and contains an upper 12, one or more intermediate 13 and lower 14 tiers. The tiers of the same level of all funnels have equal heights and angles of the cone

The guides 6 are separated from the lower 14 tiers of the funnels 5. The bases 7 are movable, for example, with a linear drive, and can be in any, including the lower (7) or upper (7a) part of the guides 6. Between the lower 15 edge of the upper tier 12 funnel 5 and the upper 16 edge of the intermediate 13 tier of the funnel 5 there is a gap 17. Between the lower 18 edge of the intermediate 13 tier of the funnel 5 and the upper 19 edge of the lower 14 tier of the funnel 5 there is a gap 20. Between the lower 21 edge of the lower 14 tier of the funnel 5 and the guide 6 clearance 22. The presence of these exclusions the influence of the tiers of the funnels 5 on each other when determining the location of the UAV supports.

23 in FIG. 3, the upper edge of the upper 12 tier of the funnel 5 is marked, which coincides with the seating surface 4a of the landing platform 4. The landing surface 4a of the landing platform 4 may be absent. In this case, the upper surface 23 of the upper 12 tier of the funnels 5 is taken as the surface of the landing site 4A.

In FIG. 3a and 3b show a graphical diagram of the funnels for different angles of inclination and the relative position of the tiers of the funnels of the landing platform.

The following notation is accepted:

H3-height of the upper 12 tier of the funnel 5;

Н4 - height of the middle 13 tier of funnels 5;

Н5 - height of the lower 14 tier of funnels 5;

α1 - the angle of the cone of the upper 12 tier of the funnel 5;

α2 - the angle of the cone of the middle 13 tier of the funnel 5;

α3 - the angle of inclination of the cone of the lower 14 tier of the funnels 5;

In FIG. 3c-3d show options for changing the drain line 8 when moving from one tier of the funnel 5 to another tier.

Depending on the tilt angles α1, α1, α3 of the tiers 12, 13, 14 and their height relative to each other when moving from one tier to another, drain lines 8 can keep their direction, change the tilt angle, lower (lower) or rise stepwise . In FIG. 3c shows a variation of the angle of inclination of the drain line 8; in FIG. 3G - option to lower the drain line 8; in FIG. 3D - option with excess flow line 8.

In FIG. Figure 3c shows the change in the angle of inclination of drain line 8 during the transition from the upper 12th tier to the middle tier 13. The angle of inclination of the drainage line 8 during the transition from the upper 12th tier to the middle 13th tier changed from α1 to α2.

In FIG. Figure 3g shows a decrease in drain line 8 when moving from the upper 12 tier of the funnel 5 to the lower 13 tier 5. The magnitude of the decrease is equal to the gap 20 between the lower 18 edge of the upper 12 tier and the upper 19 edge of the middle tier 13 of the funnel 5.

In FIG. 3d shows the excess of drain line 8 during the transition from the middle 13 tier to the lower 14 tier of the funnel 5. The magnitude of the excess is equal to the rise of the upper edge 19 of the lower 14 tier over the lower 15 edge of the middle 13 tier of the funnel 5.

The heights H3, H4, H5 of tiers 12, 13.14 of different levels can be both equal (Fig. 3), and different (unequal) (Fig. 3a, 3b). The angles α1, α2, α3 of the cones of the tiers 12, 13, 14 of different levels of the funnel 5 can be equal (Fig. 3) or different (unequal) (Fig. 3a, 3b).

One or more tiers 13, 14 of the funnel 5 can be installed with a decrease in the drain line 8.

One or more tiers of 13.14 funnels 5 and guides 6 can be installed in excess of the drain line 8.

Such solutions allow you to control the landing process, providing unimpeded descent of the UAV supports 2 to the center of the funnel 5 under the influence of gravity without delays or distortions of the UAV 1, or stopping the movement to reduce the descent speed.

In FIG. 4, 4a, 4b and 4c show top views of landing sites 4a for a different number of supports 2 of the received UAV 1 with a breakdown of the funnels into tiers 12, 13, 14 and various shapes of the upper 23 edges of the upper 12 tiers of funnels 5.

The upper sections of the upper 12 tiers of all funnels 5 are made of the same geometric shape, while depending on the number and location of the supports 2 of the received UAV 1, they can be, for example, a circle, a triangle, a square, a rectangle, an isosceles trapezoid, a regular or irregular polyhedron. The shape (geometry) of this section is designed to provide the maximum possible deviation of the UAV 1, at which its support 2 will fall inside this form. In the process of moving downward, the cross section of the funnel 5 can change and in the lower section should repeat the geometry of the upper section of the guide 6. In this case, the lower section of the upper tier should coincide with the upper section of the lower tier.

In FIG. 5 is a graphical diagram of the landing platform 4 after UAV 1 landing. All tiers 12, 13 and 14 of the funnels 5 and guides 6 are telescopically folded (pushed into each other), while all the upper 23, 16 and 19 edges or all the lower 15, 18 and The 21 edges of the tiers 12, 13, and 14 of the funnels 5 can be in one line. The bases 7 are located in the lower part of the guides 6. This position of the elements of the landing platform 4 provides the smallest distance Н2 from the surface of the base 7 to the lower 11 point of the UAV case 1 or Н2 from the surface of the base 7 to the lower 10 point of the load 3 suspended on the UAV 1. As can be seen from graphics, this distance can be reduced so many times, from how many tiers funnel 5 is made.

Figures 6 and 7 show the construction of the landing platform in various projections, implementing the schemes of Figs. 3, 4 and 5. In FIG. 8 and 9 depict sections of various design options for landing platforms 4 along the axes of two guides 6.

Landing platform 4 contains a base plate 24, over which a plate 25 is sequentially installed with the bases 7 installed on it; plate 26 with guides 6 mounted thereon; plate 27 with the lower 14 tiers of funnels 5 mounted on it; one or more plates 28 with intermediate 13 tiers of funnels 5 mounted on them; plate 29 with the upper 12 tiers of funnels installed on it 5. Each plate contains all tiers of the same level or all guides 6, or all bases 7.

Tiers 12, 13, 14 of the same level of all funnels 5, guides 6 and bases 7 installed on the landing platform 4, can be interconnected and have linear drives (not shown in Fig.)

Tiers of the same level 12, 13, 14 of all funnels 5, guides 6 and bases 7 installed on the landing platform 4, can be installed on single plates 25-29 and connected to linear actuators 30-33. The plate 29 is connected to the plate 28 using actuators 30 linear displacements; the plate 28 is connected to the plate 27 using actuators 31 linear displacements; the plate 27 is connected to the plate 26 using actuators 32 linear displacement; the plate 26 is connected to the base plate 24 using racks 34. The plate 25 is connected to the base plate 24 using the actuator 33.

Actuators of 30-33 linear movements can be electric, pneumatic (pneumatic cylinder), hydraulic (hydraulic cylinder) or linear actuators or mechanisms of a different type, capable of moving plates at a given speed. The number of actuators of linear movements of each plate is determined by the weight of the structure and the necessary dynamics.

This allows the same tiers 12, 13, 14 of all funnels 5, guides 6 and the bases 7 to move synchronously.

Figures 6-12 reflect the implementation of the scheme of the landing platform 4, in which the guides 6 are made stationary, the bases 7 and tiers 12, 13 and 14 of the funnels 5 are made movable relative to the vertical axis. With this arrangement, the plate 26 is connected to the base plate 24 using racks 34.

Any one of the tiers 12 or 13, or 14 of the funnels 5 can be installed motionless, the remaining tiers and guides 6 are made movable in compliance with the same principle and the corresponding placement of linear actuators.

When implementing other schemes with the base plate 24 using racks 34 of the appropriate length, a plate is connected containing the tier, which for this configuration is stationary. The plates of the moving tiers 12, 13, 14 of the funnel 5, the guides 6 and the base 7 are connected to each other or to the base plate 24 using linear actuators.

In FIG. 6, 7, and 8, the plate 26 with the guides 6 is made stationary. In this case, all the tiers 12, 13 and 14 of the funnels 5 are lowered down, and the base 7 is moved up.

It is also possible to connect the base plate 24 to each of the plates 25-29 by means of actuators 30-33 of linear displacement (Fig. 9).

As an actuator 33 linear movement of the plate 25 can be applied to the drive, capable of tossing the UAV 1 up (catapult). It can be, for example, a large-diameter pneumatic cylinder connected to a compressor through a large-capacity pneumatic equipment.

The landing platform contains sensors that determine the contact of the UAV supports 2 of the tiers 12,13,14 funnels 5, guides 6 and the base 7. Each tier 12, 13 and 14 of the funnels 5, each guide 6 and each base 7 can be mounted on the sensors 35 definitions of touching the supports, for example, weight sensors that are installed on the respective plates 25-29. The number of sensors 35 for determining the contact of supports, for example, weight sensors on each tier 12, 13, 14 should be selected in such a way as to determine the presence of a load applied to any point of this element.

Each plate 25-29 can be installed on the sensors 36 determine the touch of the supports, for example, weight sensors, which are connected to the corresponding actuator 30-33 linear displacement or rack 34.

Each linear actuator 30-33 can be mounted on weight sensors 37, which are connected to a respective plate 25-29 or base plate 24.

The presence of gaps 17, 20, 22 between the tiers 12, 13 and 14 of the guide funnels 5 and the guides 6 eliminates false alarms of the sensors 35, 36, 37.

It is also possible to use sensors that use other principles to determine the contact of the UAV supports 2 of the tiers 12, 13, 13, guides 6 and base 7, for example, an electrocontact, optical, capacitive, vibration, pressure sensor, etc., which can be installed on each tier 12, 13, 14, guides 6 and bases 7.

In FIG. 10 shows an embodiment of the landing platform 4, in which the lower tier 14 is installed in excess of the drain line 8 (Fig. 3d). In this configuration, the upper 19 edge of the lower 14 tier is above the lower 15 edge of the middle 13 tier. The excess value is selected so that the tiers form a barrier for the further descent of the UAV legs 2. This solution allows you to stop the movement of the UAV legs 2 and thereby reduce the speed of the UAV legs 2 while entering the rails 6. The landing platform 4 may have several tiers funnels 5 installed with excess drain line 8.

In FIG. 11 shows an embodiment of the landing platform, in which the upper 23 edge of the upper 12 tier of the funnel 5 is made square, and the lower 18 edge is rounded. The upper 16 edge of the intermediate 13 tier of the funnel 5 is made as the lower 15 edge of the upper 12 tier of the funnel 5 and has a transitional shape that allows you to smoothly go to the upper 19 edge of the lower 14 tier having a circular cross-section. The cross section of the funnel 5, when moving downward, smoothly passes from a square to a circle.

The shape of the upper cross section of the funnels 5 depends on the number and shape of the location of the UAV support 2, and is designed to provide the maximum possible deviation of the UAV 1, at which its support 2 will fall inside this shape. It can be a triangle, square, rectangle, isosceles trapezoid, regular or irregular polyhedron.

In FIG. 12 shows an embodiment of the landing platform 4, in which the funnels are mounted so that the upper edges 23, 16, 19 of all tiers 12, 13, 14 of the funnel 5 and the guides 6 are located at the same level. The width T of the tiers of the funnels 5 (the step of placing the vertices) (Fig. 13) is less than the diameter dk of the contact surface 38 of the supports 38 of the supports 2 of the received UAV 1.

In FIG. 15 is a sectional view of the landing platform 4 of FIG. 12 along the axes of the guides 6. The landing platform contains a base plate 24 over which there is a plate 25 with bases 7, a plate 26 with guides 6 and tiers 12, 13, 14. Each tier 12, 13, 14 is connected to the linear displacement actuator 39, mounted on the plate 26, which is mounted on the base plate 24 on the uprights 34. The base plate 25 is connected to the base plate 24 using an actuator 33 linear displacement, which is made in the form of a large diameter pneumatic cylinder.

In FIG. 14 shows an embodiment of a landing platform that implements the solutions of FIG. 12, in which the tiers 12, 13 are made in the form of a polygon. The lower tier 14 has a transition from square to circle. The shape of the tiers 12, 13, 14 of the funnels 5 is selected depending on the number and shape of the location of the UAV support 2, and is designed to provide the maximum possible deviation of the UAV 1, at which its support 2 will fall inside this figure. It can be a triangle, square, rectangle, isosceles trapezoid, regular or irregular polyhedron.

In FIG. 16 shows the landing platform 4, in which the tiers 12, 13, 14 of the funnel 5 frame the landing site 4a, made in the form of a polyhedron connecting the guides 6, while the surface of the landing site 4a, the guides 6 and the upper 23, 16, 19 edges of the tiers 12, 13.14 are installed at the same level, the width of the body of the tiers 12, 13, 14 of the funnel 5 is less than the diameter of the contact surface of the support 2 of the UAV1.

Each tier 12, 13, 14 of the funnel 5 is mounted on the plate 26 and is driven by one or more actuators 39 of linear displacements. Plate 26 is mounted on plate 24 on struts 34.

The top 12 tier of the funnel 5 before landing UAV 1 can be raised up or installed above the remaining tiers. This allows you to exclude the exit of the supports 2 beyond the tier 12 already at the landing stage. The support 2, located above the tier 12 will be moved by him to the center of the landing site 4a already in the process of landing.

The guides 6 contain devices for holding the UAV 1, for example, a mechanical, pneumatic or hydraulic clamp for fixing and holding the supports 2 of the UAV 1. This allows the landing platform to be used on moving objects. FIG. 17 shows the guide 6, made in the form of a collet. The housing 40 of the guide 6 has longitudinal sections 41, which divide it into sectors 42, the outer part of the housing 40 has a conical surface 43. A ring 44 with a mating conical part 43a is put on the housing 40. Ring 44 is coupled to a linear actuator (not shown). When the ring 44 moves, the conical surfaces 43 and 43 of the case 40 and the ring 44 interact with each other, push the sectors 42 toward the center, compressing the UAV support 2 1. A different collet clamping mechanism is possible.

In FIG. 18 shows a guide 6 containing a pneumatic clamp. In the housing 40 of the guide 6, an inner annular groove 45 is made, where a flexible element 46 is installed. A fitting 48 is connected to the inner annular groove 45 through an opening 47 for connecting to pneumatic equipment. The connection of the housing 40 of the guide 6 with the flexible element 46 should be tight.

In FIG. 19 shows the base 7 of the guides 6 with a pin contact 50, for example of the banana pin type. The housing 49 is hollow and a linear displacement actuator 51 is installed in it, and a pin contact 50 is mounted on the rod 52 thereof. A voltage supply wire (not shown) is connected to the pin contact. On the stem 52 of the actuator 51 linear displacements can be installed several pin contacts 50.

In fig. 20 shows a drive for bailout UAV1 during take-off. The drive is made in the form of a membrane pneumatic cylinder 33 of large diameter. The housing 54 of the pneumatic cylinder 33 is mounted on the base plate 24, the stem 55 is connected to the plate 25 on which the bases are installed 7. In the normal state, the membrane 56 is lowered down due to the force of the spring 58. The pneumatic cylinder contains a fitting 57 to which air pressure is supplied. The pneumatic circuit contains a valve 59, which provides high air flow and a receiver 61, which are used when operating the pneumatic cylinder as a catapult and a small valve 60 connected to the network through a reducer 62, used when using the pneumatic cylinder 33 as a drive base 7. Pos. 53 shows the rod cavity of the pneumatic cylinder 33.

The choice of a membrane pneumatic cylinder is due to the fact that it has a small mass of moving parts and a large membrane area 56, which allows you to create a large dynamic force that is required for the operation of the catapult. As a catapult drive, other types of mechanisms can be used that provide a large dynamic force to push the UAV. For example, it may be a pre-loaded spring of great effort.

In addition to these elements, the UAV landing platform includes a control unit, a UAV battery charging unit, a graphic marker or a radiation source to ensure an accurate UAV landing, and other devices that ensure its operation (not shown).

In FIG. 21 shows the landing platform 4 when starting the UAV 1. The tiers 12, 13, 14 of the funnels 5 are telescopically folded. The base 7 of the guides 6 are raised to the upper position. Accordingly, the UAV 1 is raised from the landing plane 4A. This reduces the influence of the landing plane 4a on the operation of its propellers and reduces the thrust instability caused by this effect (screening effect). Therefore, takeoff is more reliable and stable.

The landing platform for UAV vertical takeoff and landing operates as follows.

Landing. UAV 1 flies up to the landing site, guided by satellite navigation or indications of its own inertial navigation. Next, the exact landing location and UAV 1 landing are determined based on the video camera installed on UAV1 and the image of the landing pad, graphic marker on the surface of the landing pad 4a or radiation source installed on the landing platform 4. The accuracy of UAV landing 1 is determined by the method of determining the landing site , dynamic characteristics of UAV 1, lighting conditions, meteorological landing conditions, especially gusty wind and visibility. Landing of the UAV 1 will be successful and the support 2 of the UAV 1 will go into the corresponding guides 6 and stand on the corresponding bases 7 in the event that each support 2 falls at least on the upper 12 tier of the corresponding funnel 5.

Obviously, the larger the area of the funnel 5, on which the support 2 is planted, the higher the reliability of the landing. An embodiment of the upper 12 tier of the funnel 5 in the form of a polyhedron in FIG. 46, 4c, 11, 14, and 16 increase the surface area for a successful fit compared to a circle of the same size. In particular, for a square this increase will be 26%, for a hexagon -10%.

Depending on the accuracy of landing, the UAV support 2 will touch one of the tiers 12, 13, 14 of the corresponding funnel 5. The moment of contact of the supports 2 depends on the tilt of the UAV 1. The touch moment and the presence of the support on any of the tiers 12,13 or 14 are determined by touch detection sensors supports 35, 36, 37.

The work of the landing platform 4, in which the guides 6 are made stationary, the tiers 12, 13 and 14 of the funnels 5 are movable relative to the vertical axis (see Fig. 8 and 9).

Touching the supports 2 of any of the tiers 12, 13, 14 of the funnel 5 of the UAV 1 continues to land. Each support 2 slides down the corresponding tier of the funnel 5, for example, from the upper 12 tier to the intermediate 13 tier. After passing the supports 2 to the lower tier of the funnel 5, the upper tier goes down. For example, if all supports 2 passed the upper 12 tier, slid to the intermediate 13 tier, then the upper 12 tier goes down together with the platform 29 by means of linear actuators 30. The lowering speed of the tiers 12, 13, 14 of the funnels 5 should be selected close to the lowering speed of the UAV 1 or higher. If the first contact of the supports 2 will be on the lower tiers, for example, on the lower 14 tier of the funnels 5, then the upper tiers 12, 13 of the funnels 5 immediately go down at an increased speed.

Supports 2 can touch simultaneously different tiers 12, 13, or 14 of funnels 5. In this case, the corresponding tiers are set in motion only after the supports 2 completely slide off, i.e. after the last support 2 slides off this tier. For example, one support 2 of UAV 1 touched one of the four funnels 5 of the upper 12 tiers, and the remaining supports 2 descended to the intermediate 13 tiers of the other three funnels 5. In this case, the upper 12 tiers wait until support 2 slides to 13 tiers, and only after of this, all the upper 12 tiers simultaneously go down.

The work of the landing platform, in which the upper 12 tiers of the funnels 5 are made stationary, the remaining tiers 13 and 14, the guides 6 and the base 7 are made movable relative to the vertical axis.

After the support 2 touches any tier 12,13 or 14 and after passing the last support of the upper tier 12, all tiers of the funnels 5, except for the upper 12, as well as the guides 6 and the base 7 are synchronously driven upward. The movement continues until the tier of the funnel 5, on which the UAV support 2 is currently located, is in the upper position. After the passage of the support 2 UAV 1 located in the upper position of the tier of the funnel, the movement resumes. And so, until the support reaches 2 guides 6 and the base 7.

This version of the landing platform allows you to quickly extinguish the rate of decrease in UAV 1 and to position less dynamically.

In the landing platform 4, in which one of the tiers 12, 13 or 14 is made stationary, the rest are movable relative to the vertical axis, the movement of the tiers of the funnels 5 upper relative to the fixed tier of the funnel 5 is similar to the work of the landing platform, the guides 6 of which are fixed, the tiers of the funnels 12, 13 and 14 are movable relative to the vertical axis; the movement of the tiers of the lower funnels relative to the fixed tier of the funnel 5 is similar to the operation of the landing platform, the upper tier 12 of which is fixed, the remaining tiers 13, 14 and the guides 6 are movable relative to the vertical axis.

The implementation of tiers 12, 13.14 funnels 5 with a different angle of inclination of the drain line 8 (Fig. 3A, 3B, 3C) allows you to control the landing process. For example, (Fig. 3a) a higher angle of inclination of the drain line 8 of the upper tier 12 of the funnel 5 makes it possible to reduce the horizontal component of the speed of the UAV 1, eliminates the possibility of its departure from the funnel 5. On the contrary, a flatter angle of the drain line 8 in the lower 14 tier of the funnel 5 allows reduce the speed of lowering the UAV 1, which allows each support 2 to smoothly, without impact, enter the corresponding guide 6.

The installation (Fig. 3b) of the lower tiers of the funnels 5 and guides 6 with the lowering of the drain line 8 with respect to the upper tiers eliminates the possible delays of the supports 2 at the junctions of the tiers and leads to a more smooth lowering of the UAV 1.

The centering of UAV support 2 UAV 1 is associated with the lateral movement of UAV 1. After passing through all tiers of the funnel 5, support 2 should smoothly enter guide 6, which stops lateral movement and can cause UAV 1 to tip over if the lateral speed is high enough. One or more tiers 13 or 14 of the funnels 5 and the guides 6 can be installed in excess of the drain line 8 and form a barrier for further rolling of the supports 2 of the UAV 1. This stops the movement of the UAV 1 and does not allow it to accelerate too much. After stopping the UAV 1, the data of the tier of the funnels 5 or guides 6 go down and pass the supports 2 of the UAV 1 further down. As a result of this, the supports 2 approach the guides 6 having a low speed, which reduces the dynamic effects when the supports 2 enter the guides 6.

Having passed all the tiers of the funnels 5 of the support 2 of the UAV 1 fall into the guides 6. The movement of the supports 2 relative to the inner walls of the guides 6 can be difficult or stopped if skew occurs. The most reliable is the controlled entry of the supports 2 into the guides 6, when the bases 7 of the landing platform 4 are raised to the upper position 7a before landing the UAV 1 (Fig. 3), and after touching all the supports 2 of their bases 7, they synchronously fall down, eliminating possible distortions.

UAV fixing.

The fastening of the supports 2 UAV 1 in the guides 6 allows you to operate the landing platform 4 on moving objects, for example, on cars. The fastening also allows you to establish a reliable electrical connection of the UAV 1 with the landing platform with pin contacts 50. Such contacts, as a rule, require effort to enter pin contacts 50 into sockets. The support 2 in the guides 6 are secured after the UAV 1 supports 2 are completely lowered into the guides 6 on the base 7 and the base 7 is lowered to the lower position.

In the embodiment, when the guides 6 are made in the form of a collet (Fig. 17), the ring 44 is moved by a linear drive (not shown) along the housing 40, while the conical surfaces 43 and 43a interact, as a result of which the sectors 43 converge to the center and compress the support 2 UAVs 1.

In an embodiment of the guides 6 with a pneumatic clamp (Fig. 18), compressed air is supplied to the inner groove 45 of the housing 40 of the guide 6 through the opening 47 and the fitting 48. The flexible element 46 is inflated and with its inner wall covers the support 2 of the UAV1.

The electrical connection of the UAV with the landing platform for charging the battery or communication with it.

After securing the UAV supports 2 in the guides 6, the pin contacts 50 are extended using the linear displacement actuator 51. The pin contacts 50 are included in sockets (not shown) located on the supports 2 of the UAV 1. Such contacts provide a reliable connection under vibration conditions and allow high currents to be supplied. On each base 7, there may be one or more pin contacts 50, moved together by the linear actuator 51.

Operation of embodiments of landing platform 4, as shown in FIG. 12, 14, 16.

The configuration data of the landing platforms 4 work on the principle of a converging wave, which carries the supports 2 to the guides 6. After landing the UAV 1, each tier 12, 13, 14 of the funnels 5 is successively raised starting from tier 12, which is the outer one. When each of the tiers 12, 13, 14 of the funnel 5 of the support 2 is raised, located in the zone of the given tier of the funnel 12, 13, or 14 will shift to the center due to interaction with the inclined surface of this tier and, ultimately, will fall into the guides 6.

Scheme of the movement of the tiers of the funnels: the tier 12 rises, the support 2 slides to the tier 13, then the first of the tiers 13 rises, the tier 12 goes down, then the next of the tiers 13 rises, and after the rise, its first of the tiers 13 is lowered, etc. Thus, there is no moment when the supports 2 of the UAV 1 can for some reason go beyond that part of the tiers 12, 13 or 14, which moved it closer to the center. This enables reliable centering of the supports 2.

The upper tiers 12 of the funnels 5, installed before UAV 1 landing above the rest, improves the reliability of UAV landing 1 due to the fact that it eliminates the possibility of UAV 1 leaving the landing platform 4 after landing if it has a high lateral speed. The width of the body of the tiers 12 of the funnels 5 may be greater than the width of the body of the remaining tiers 13 and 14, which also allows you to expand the zone of successful landing.

It should be noted that the positioning of UAV 1 in this configuration of the landing platform is guaranteed with successive raising and lowering of all tiers of 12,13,15 funnels 5. In this regard, this configuration does not require touch sensors for each tier of funnels 5 and can be limited to one weight sensor, which shows the fact of UAV landing. This may be a weight sensor mounted on a stand 34 on which the plate 26 is mounted.

Take-off UAV from the landing site.

It is known that UAVs of vertical launch experience certain difficulties when separated from the landing platform. This is due to the interaction of air flows coming from the screw with the plane of the landing pad. The higher the location of the propellers, the less this interaction. This landing platform allows you to be above the landing plane 4A to the full height of the supports 2, as well as push up the base 7 (see Fig. 21). This makes it easier to take off UAV 1 from two points of view. Firstly, it raises the UAV propellers 1 above the landing pad 4a, and secondly, it ensures that the supports 2 extend evenly out of the guides 6, thereby preventing possible jamming and a bad start.

For take-off of the UAV 1, the pin contacts 50 are disconnected from the outlets of the supports of the UAV 2 by moving them with the actuator 51 linearly moving downwards, then the support of the UAV 2 from the guides 6 is released.

In the embodiment, when the guides 6 are made in the form of a collet clamp (Fig. 17), the collet is expanded by moving the ring 44 downwards, at which the conical surfaces 43 and 43a are separated, the sectors 42 of the guide 6 diverge from the center under the action of elastic forces and open the support 2 UAV 1.

In the embodiment of the guides with a pneumatic clamp (Fig. 18) in the inner groove 45 through the hole 47 and the fitting 48, the air pressure is released. The flexible element 46 is deflated, and its inner wall releases the support 2 UAV 1.

Raise the UAV 1 before takeoff.

Through the valve 60 and the reducer 62, air is supplied to the membrane cavity of the pneumatic cylinder 33, and the rod 55 of the pneumatic cylinder 33 lifts the plate 25 with the bases 7. The UAV 1 starts the engines and takes off from the landing platform when the base 7 is finished lifting.

UAV launch by bailout.

The launch by catapulting is preceded by disconnecting the pin contacts 50 from the sockets of the UAV support 2 and the UAV 1 support 2 from the guides 6. Moreover, the release of the UAV support 2 2 can be part of the ejection, in which the air pressure and the pneumatic cylinder rod 55 are supplied to the pneumatic cylinder 33 33 is gaining sufficient buoyancy.

For ejection, a valve 59 is opened, which ensures high air flow from the receiver 61 to the pneumatic cylinder 33. High pressure air enters the membrane cavity of the pneumatic cylinder 33, and the rod 55 pushes the plate 25 with the bases 7 with great force. The bases 7 force the supports 2 of the UAV 1 and the running time of the base 7 gives the UAV 1 speed sufficient to toss it up. The UAV 1 unscrews the propellers during ejection from the guides 6 and, after tossing, has sufficient traction to continue take-off.

Thus, the implementation of multi-tiered funnels with the possibility of folding (axial movement) allowed expanding the capabilities of the landing platform for receiving UAVs with low clearance or low load suspension.

The implementation of the upper sections of the upper tiers of the funnels, depending on the number and location of the supports of the UAV received, in the form of various geometric shapes, for example, a circle, triangle, square, rectangle, isosceles trapezoid, right or wrong polyhedron, simplifies the landing process and increases the reliability of landing due to expansion of the permissible deviation during the landing of the UAV.

The fastening of the UAV supports in the guides provides reliable fixation of the UAV on the landing platform and makes it possible to use the landing platform on a moving object.

Preliminary UAV lift before take-off and bailout increase the reliability of UAV take-off from the landing platform.

Claims (23)

1. The landing platform of the UAV, containing funnels, guides and bases, characterized in that each funnel is multi-tiered with the possibility of telescopic folding. 2. The UAV landing platform according to claim 1, characterized in that the tiers of the same level of all funnels have equal heights and angles of the cone. 3. The UAV landing platform according to claim 1, characterized in that the heights of the tiers of different levels can be equal 4. The UAV landing platform according to claim 1, characterized in that the heights of the tiers of different levels can be different. 5. The UAV landing platform according to claim 1, characterized in that the angles of the cones of the tiers of different levels can be equal. 6. The UAV landing platform according to claim 1, characterized in that the angles of the cones of the tiers of different levels can be different. 7. The UAV landing platform according to claim 1, characterized in that the guides are separated from the lower tiers of the funnels. 8. The UAV landing platform according to claim 1, characterized in that the bases are movable. 9. The UAV landing platform according to claim 1, characterized in that the upper sections of all the funnels are made of the same geometric shape. 10. The UAV landing platform according to claim 1, characterized in that all the tiers of the funnels can be made movable, and the guides are made stationary. 11. The UAV landing platform according to claim 1, characterized in that one of the tiers of the funnels is fixed, the remaining tiers and guides are movable. 12. The UAV landing platform according to claim 1, characterized in that the tiers of the same level of all funnels, guides and bases can be interconnected and have linear drives. 13. The UAV landing platform according to claim 1, characterized in that the tiers of the same level of all funnels, guides and bases can be installed on a single plate and connected to linear actuators. 14. The UAV landing platform according to claim 1, characterized in that sensors for detecting the touch of the UAV supports can be installed on each tier, guide and base. 15. The UAV landing platform according to claim 1, characterized in that at least one of the tiers is installed with a decrease in the drain line. 16. The UAV landing platform according to claim 1, characterized in that at least one of the tiers is installed with an excess of the drain line. 17. The UAV landing platform according to claim 1, characterized in that all the tiers of the funnels can be installed so that the upper edges are at the same level, while the width of the body of the tiers of the funnels is less than the diameter of the contact surface of the UAV support. 18. The UAV landing platform according to claim 1, characterized in that the funnel tiers frame the landing pad made in the form of a polyhedron connecting the guides, while the landing pad surface, the guides and the upper edges of the tiers are installed at the same level, the width of the funnel tier body is less than the diameter contact surface of the UAV support. 19. The landing platform for the UAV according to claim 1, characterized in that the guides contain devices for holding the UAV. 20. The landing platform for the UAV under item 1, characterized in that the guides can be made in the form of a collet clamp. 21. The landing platform for the UAV under item 1, characterized in that the guides may contain pneumatic clamps. 22. The landing platform for the UAV according to claim 1, characterized in that at least part of the base of the rails may contain at least one extendable pin contact, for example a contact of the banana pin type 23. The landing platform for the UAV according to claim 1, characterized in that the movable base of the guides can be connected to a drive for ejecting the UAV from the landing platform, for example, a pneumatic cylinder.

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