RU160508U1 - Device intended for implementation of landing of an unmanned aircraft telephone type on a flat vertical surface - Google Patents

Device intended for implementation of landing of an unmanned aircraft telephone type on a flat vertical surface Download PDF

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Publication number
RU160508U1
RU160508U1 RU2015147330/11U RU2015147330U RU160508U1 RU 160508 U1 RU160508 U1 RU 160508U1 RU 2015147330/11 U RU2015147330/11 U RU 2015147330/11U RU 2015147330 U RU2015147330 U RU 2015147330U RU 160508 U1 RU160508 U1 RU 160508U1
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Russia
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vacuum
control unit
uav
bellows
landing
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RU2015147330/11U
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Russian (ru)
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Андрей Иванович Бодренко
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Андрей Иванович Бодренко
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C25/00Alighting gear

Abstract

A device for landing a helicopter-type unmanned aerial vehicle on a flat vertical surface mounted on this helicopter-type unmanned aerial vehicle, comprising a landing control unit, a vacuum pump, a vacuum pipe, a pressure sensor, an accelerometer, a vacuum inlet, a vacuum bellows suction cup for a vacuum pipeline , check valve, lower support, two vacuum suction cups for the lower support, servo drive, power supply, while the power supply is installed with the ability to supply electric energy to the landing control unit, a vacuum pump, a pressure sensor, an accelerometer, a servo drive, ensuring their normal operation, and the accelerometer is installed with the ability to measure the apparent acceleration due to the movement of a helicopter-type unmanned aerial vehicle, and with the possibility of transmitting the results of these measurements to the landing control unit, and the vacuum pipe is attached to the vacuum pump, and the vacuum bellows suction is attached to the vacuum pipe the suction pipe and the pressure sensor is installed with the possibility of measuring the air pressure in the cavity of the bellows vacuum suction cup, and with the possibility of transmitting the results of these measurements through the vacuum inlet to the landing control unit, and the vacuum pump is installed with the possibility of pumping air from the cavity of the bellows vacuum suction cup through the vacuum pipe, and a non-return valve is installed in the vacuum pipe and is placed between the pressure sensor and the vacuum pump with the possibility of passing air pumped from bands

Description

Utility Model Name

A device designed to land a helicopter-type unmanned aerial vehicle on a flat vertical surface.

The technical field to which the utility model relates.

The invention relates to the technique of landing unmanned aerial vehicles and can be used to land unmanned aerial vehicles of a helicopter type on flat vertical surfaces.

State of the art

Currently, there is a significant development in the field of industrial use of unmanned aerial vehicles of the helicopter type (hereinafter, the UAV VT). This is due to the ongoing miniaturization of electronic equipment.

UAV VT has one or more than one rotor. A BT UAV with remote control contains a remote control unit (otherwise called a ground-based remote control), a BT UAV control unit (also called a flight controller, or VT UAV control board), which is installed on the VT UAV. The UAV VT control unit is designed to receive commands transmitted from the remote control unit, and to control the operation of equipment installed on the VT UAV in accordance with the received commands. The remote control unit is designed to transmit commands to the VT UAV control unit. Remote control of the UAV VT flight is the transfer of commands through the remote control unit to the VT UAV control unit for, for example, the following: horizontal flight of the UAV VT in a given direction and at a given speed, vertical flight of a UAV VT (vertical rise and vertical decrease) at a given speed, the rotation of the VT UAV, hovering of the VT UAV, as well as for controlling the operation of additional equipment installed on the VT UAV.

From the prior art (see Zagordan A.M. Elementary theory of a helicopter. - M .: Military Publishing House of the Ministry of Defense of the USSR. 1955.) it is known that when a horizontal flight of a helicopter occurs, the fuselage tilts the nose (the helicopter tilts forward). At the same time, with an increase in the horizontal flight speed of the helicopter, the angle of inclination of the helicopter fuselage on the nose also increases. The horizontal speed of the helicopter is determined by the operating mode of the rotor, and depends on the flight weight of the helicopter, the height of the helicopter.

Vertical reduction is the main method of landing a UAV VT. The method of landing the UAV VT on a horizontal surface is to vertically lower the UAV VT on a horizontal surface, at a speed not exceeding the maximum allowable for a safe landing, until it comes into contact with a horizontal surface.

In the event of a threat of adverse weather conditions under which it is impossible to continue the flight of the VT UAV, it is necessary to immediately carry out the emergency landing of the VT UAV in the absence of a free horizontal surface for landing the UAV VT. For example, when a BT UAV is flying near high-rise buildings, if a sufficiently high altitude is set, the VT UAV may not have enough time to land safely on a horizontal surface for a UAV when it becomes necessary to make an emergency landing. Currently, there are a large number of landing systems UAV VT on horizontal surfaces.

Document: US 8577535 B2, “System and method for providing perceived first-order control of an unmanned vehicle” (Assignee: Massachusetts Institute of Technology, Cambridge, MA (US)) cited: “Mircrodrones GmbH, md4-200 specification sheet and flyer, 2009 ”, which mentions the UAV VT: quadrocopter md4-200.

VT UAV md4-200 (see URL: http://www.microdrones.com/en/products/md4-200/technical-data/ (accessed: 10/25/2015)) is a VT UAV with vertical take-off and landing remotely controlled. The mass of the md4-200 is about 800 grams, the maximum carrying capacity of the md4-200 is 250 grams, the length of the md4-200 with rotating screws is less than 1 meter, the flight duration of the md4-200 is about 30 minutes. Quadrocopter md4-200 contains four rotors. In the document: US 2014/0099853 A1 “Remote-control flying copter and method”, (Assignee: QFO LABS, INC., Bloomington, MN (US)) give an example of a BT UAV: a Parrot AR Drone quadrocopter weighing less than 500 grams, which is controlled via remote control via smartphone using Wi-Fi connection. Also in this document (see US 2014/0099853 A1) give an example of a BT UAV: a Walkera QR LadyBird mini quadrocopter remotely controlled and weighing less than 100 grams.

Document: US 2015/0120094 A1 “Unmanned aerial vehicle delivery system” (Applicant: Amazon Technologies, Inc., Seattle, WA, US) describes a method for delivering goods using a BT UAV, and describes the importance and need for a safe landing of a VT UAV . This document also describes a method of landing a UAV VT on horizontal surfaces, carried out by means of radio control.

The prior art (see Belyanin PN Industrial robots. - M: Engineering. 1975.) known vacuum gripping devices, in particular, vacuum gripper. The vacuum grip is distinguished by its simplicity of design and low weight. Vacuum grippers are used when working with sheet parts. One of the main elements of a vacuum grip is a suction cup, which is made of an elastic, flexible material. The air is pumped out from under the suction cup by a vacuum pump through a hose. To start and turn off the vacuum pump, a sensor is built into the pump line, by means of which a signal is supplied to the control system when a specified degree of vacuum is generated.

The book "Gripping devices and tools of industrial robots" (see Kozyrev Yu.G. Gripping devices and tools of industrial robots. - M .: KNORUS, 2010.) describes methods for designing vacuum gripping devices. This book examines passive suction cups and active vacuum grippers with a vacuum autonomous vacuum pump. Passive suction cups are vacuum grippers, through which they ensure the formation of vacuum by displacing air from the cavity of the suction cup by pressing it to the surface of the part. Passive suction cups can be continuous elastic, while holding the part is ensured by a vacuum created due to the elastic deformation of the suction cup alone. There are suction cups made of corrugated rubber (bellows vacuum suction cups), allowing you to grab objects with an inclined upper surface. In the book (see Kozyrev Yu.G. Gripping devices and tools of industrial robots. - M .: KNORUS, 2010.) the mathematical formula of the holding force created by means of a vacuum gripping device is given:

R = S · K · (P-Q),

where R is the holding force created by the vacuum gripper, N;

S is the geometric projection area of the suction cup, limited by the internal contour, m 2 ;

K is the total coefficient of the actual force of vacuum attraction;

P is the atmospheric pressure, Pa;

Q - residual pressure inside the chamber of the suction cup, Pa.

This mathematical formula is used for a passive suction cup, and in this book (see Kozyrev Yu.G. Gripping devices and tools of industrial robots. - M .: KNORUS, 2010.) the possible values for (P-Q) from 0.03 are given MPa to 0.035 MPa. However, this mathematical formula is also used for active gripping devices with the creation of a vacuum by an autonomous vacuum pump, but the value of Q is determined by the degree of vacuum provided by the pump. In this book (see Kozyrev Yu.G. Gripping devices and tools of industrial robots. - M .: KNORUS, 2010.) the possible values for K are from 0.8 to 0.85.

Vacuum gripping devices may have a sealing element ensuring the tightness of the working area (see Kozyrev Yu.G. Gripping devices and tools of industrial robots. - M.: KNORUS, 2010.). Passive suction cups are always equipped with a sealing element. If there is a sealing element in the active vacuum gripper, there is no need to constantly remove air from the suction cup of this active vacuum gripper, and when the necessary vacuum is reached, the cavity of the gripper is disconnected from the vacuum device. Most often, the sealing element is made of rubber. The properties of the material from which the suction cup for the vacuum gripper is made affect the reliability of this vacuum gripper. Sufficiently low Shore A hardness values provide a reliable fit of the vacuum suction cup sealing element to the mounting surface.

J. Schmalz GmbH (see URL: http://www.schmalz.com (accessed: 10.25.2015)) supplies, for example, the suction cup “PFYN 30 PU-55 G1 / 8-AG”, (see URL : http://www.schmalz.com/np/pg/produkte/ansicht?art=2938 (accessed: 10.25.2015)), weighing less than 8 grams, with a lifting force of 34 N, with a diameter of 30 mm, made of material, hardness according to Shore A, 55. Also, this company supplies, for example, the bellows-type suction cup “FGA 53 NBR-55 N018”, (see URL: http://www.schmalz.com/np/pg/produkte/ansicht? art = 1702 (accessed: 10/25/2015)), weighing less than 20 grams, with a lifting force of 51 N, a diameter of 53 mm, made of material, shore hardness A, 55.

Currently, the technology of creating miniature vacuum pumps, miniature batteries, miniature equipment for measuring pressure is rapidly developing. For example, ET Technology LTD. (see URL: http://www.et-pump.com (accessed: 10/25/2015)) supplies, for example, a miniature pump, model "Diaphragm DC pump A23" (see URL: http: // www. et-pump.com/diaphragm_a23.html (accessed: 10/25/2015)), weighing 70 grams, with a maximum vacuum value of -0.25 bar created by a vacuum pump, with an electric supply voltage of 6V to 12V.

To regulate and completely block the flow of gas into the vacuum system, a vacuum valve is used. To carry out the operation of the vacuum system, a vacuum valve is used, in particular a non-return valve, which is installed in the vacuum pipe to allow air to pass in only one direction through the vacuum pipe. For example, The Lee Company (see URL: http://www.theleeco.com (accessed October 25, 2015)) supplies check valves, for example, the Axial Flow 187 Lee Chek CKFA1871001 A check valve (see URL : http://leecat.theleeco.com/ecatalog/chek-valves/en/CKFA1871001A (accessed: 10/25/2015)), weighing less than 2 grams, with a valve diameter of less than 5 mm.

For example, Freescale Semiconductor, Inc. (see URL: http://www.freescale.com (accessed: 10.25.2015)) supplies continuous pressure sensors; for example, a continuous pressure sensor, model MPX4200A, weighing 4 grams, with a measured absolute pressure of 20 kPa to 200 kPa, with an electrical supply voltage of about 5 V (see URL: http://www.freescale.com/webapp/sps/ site / prod_summary.jsp? code = MPX4200 (accessed: 10/25/2015)).

When controlling the UAV VT, accelerometers are used to determine the apparent acceleration due to the movement of the VT UAV. For example, STMicroelectronics (see URL: http://www.st.com (accessed October 25, 2015)) supplies an accelerometer, model LSM303D (see URL: http://www.st.com/web/catalog / sense_power / FM89 / SC1449 / PF253884 (accessed: 10/25/2015)), not more than 3 mm in width, not more than 3 mm in length, not more than 1 mm in height, with an electric supply voltage of not more than 3.6 V.

To carry out the transfer of electrical energy into the evacuated vacuum vessel without violating the vacuum, a vacuum inlet is used. For example, the Kurt J. Lesker Company (see URL: http://www.lesker.com (accessed: 10/25/2015)) supplies the Weldable 500 Volts, Part. No .: EFT0011031, for electrical voltage up to 500V and current strength up to 10A (see URL: http://www.lesker.com/newweb/feedthroughs/power_feedthroughs.cfm?pgid=500v_weld (accessed: 10.25.2015)), with a diameter of not more than 4 mm and not more than 70 mm in length.

Currently, lithium-ion polymer batteries (LiPo) are installed on the BT UAV for use as an energy source. For example, HexTronik Limited HK (see URL: http://www.hextronik.com (accessed October 25, 2015)), deliveries through http://www.hobbyking.com, supplies lithium-ion polymer batteries Turnigy brand, for example, a Turnigy nano-tech 180mah 3S 25 ~ 40C Lipo Pack battery weighing less than 20 grams, with an electrical voltage of 11.1 V (see URL: http://www.hobbyking.com/hobbyking / store / _23339_Turnigy_nano_tech_180mah_3S_25_40C_Lipo_Pack.html (accessed: 10.25.2015)). This company also supplies, for example, a Turnigy nano-tech 120mAh 2S 25C Lipo Pack battery with a mass of less than 10 grams and an electric supply voltage of 7.4V (see URL: http://www.hobbyking.com/hobbyking/store /_29018_Turnigy_nano_tech_120mAh_2S_25C_Lipo_Pack_E_flite_Compatible_EFLB1202S20_UK_Warehouse_.htm (accessed: 10.25.2015)).

To control the equipment installed on the BT UAV, use the VT UAV control board (otherwise known as the flight controller) containing a microcontroller, for example, the BT UAV control board “Multiwii Lite V1.0 Flight Controller w / FTDI”, weighing less than 15 grams, s with an electric supply voltage of up to 5V, with the possibility of programming this control board of a BT UAV (see URL: http://www.hobbyking.com/hobbyking/store/_27109_MultiWii_Lite_V1_0_Flight_Controller_w_FTDI.html (accessed: 10.25.2015)).

To carry out the movement of structural elements of the utility model, a servo drive is used. For example, HexTronik Limited HK (see URL: http://www.hextronik.com (accessed October 25, 2015)) supplies Turnigy brand servos. For example, a “Turnigy MG90S DS / MG Servo” servo drive, weighing less than 15 grams, with a torque of 1.8 kg / cm, with an electrical supply voltage of up to 6V (see URL: http://www.hobbyking.com/hobbyking/ store / _9392_Turnigy_MG90S_Digital_Metal_Gear_Servo_1_8kg_13_4g_0_10sec.html (accessed: 10.25.2015)). The operation of the servo drive is controlled by a microcontroller connected to the servo drive, which, using special programs, transmits control signals to the servo drive to rotate the servo shaft and obtains the value of the current angle of rotation of the servo shaft.

Carbon reinforced plastic is used to make the VT UAV skeleton. Products made of carbon fiber are characterized by high strength and low weight.

For example, The Composites Store, Inc. (see URL: http://www.cstsales.com (accessed: 10/25/2015)) supplies tubes and rods made of carbon fiber. For example, a straight carbon fiber rod 1.2 m long, with a round diameter of 2 mm, has a mass of 6.2 grams (see URL: http://www.cstsales.com/carbon_rods.html (accessed: 10.25.2015 )). For example, a carbon fiber tube with a length of 1 m, with a diameter of a round outer section of 4 mm, with a diameter of a round inner section of 3 mm, has a mass of 7.7 grams (see URL: http://www.cstsales.com/Carbon_Fiber_Tubes.html ( Date of appeal: 10.25.2015)).

Outriggers are known in the art. An outrigger is a retractable support designed to increase stability and to prevent the mobile device from tipping over.

The prior art stands, designed to determine the coordinates of the center of mass of utility models.

At present, analogues of the device intended for landing the UAV VT on a flat vertical surface by means of a vacuum gripping device mounted on this VT UAV are not known.

Disclosure of a utility model The task to which the claimed utility model is directed is to ensure that the VT UAV landing on flat vertical surfaces. The technical result, the achievement of which the claimed utility model is aimed, is to ensure the landing of the UAV VT on flat vertical surfaces. The purpose of the claimed utility model is to land the UAV VT on a flat vertical surface through the application of the claimed utility model.

A device designed for landing a UAV VT on a flat vertical surface is placed on this UAV VT. In this case, the VT UAV is controlled remotely by transmitting signals to the VT UAV control unit through the VT UAV remote control unit. The device contains the following structural elements that are placed on the VT UAV: landing control unit, vacuum pump, vacuum pipe, pressure sensor, accelerometer, vacuum inlet, vacuum bellows suction cup for the vacuum pipe, non-return valve, lower support, two vacuum suction cups for the lower support, servo drive, power supply. All structural elements of this device are placed on the VT UAV so that the center of mass of the VT UAV, taking into account the installed equipment, has not changed its position or is shifted as close as possible to the VT UAV. For this, if necessary, a stand designed to measure the coordinates of the center of mass of useful models can be used.

The bellows vacuum suction cup for the vacuum pipe has an axial hole, a cavity, an axis of symmetry. The bellows vacuum suction cup contains a sealing element. The bellows vacuum suction cup is made of an elastic, flexible material, while the sealing element of the bellows vacuum suction cup has the ability to deform. The use of a bellows vacuum suction cup provides the application of a bellows vacuum suction cup on a flat vertical surface, with the formation of an enclosed space between the surface of the bellows vacuum suction cup and a flat vertical surface when landing UAV

VT on a flat vertical surface when tilting or turning the VT UAV fuselage.

Each vacuum suction cup for the lower support has a cavity, an axis of symmetry. Each vacuum suction cup for the lower support contains a sealing element and has no holes. Vacuum suction cups are made of elastic, flexible material, while the sealing elements of the vacuum suction cups are able to deform.

The vacuum pipe is made of durable and lightweight material in the form of a round thin-walled pipe. The vacuum pipe is hermetically connected to the vacuum pump, by creating a vacuum tight connection. In this case, the vacuum pipe is rigidly attached at one end to the vacuum pump. A bellows vacuum suction cup is rigidly and hermetically attached to the other end of the vacuum pipe by making a vacuum tight connection so that the axis of symmetry of the bellows vacuum suction cup contains the longitudinal axis of the vacuum pipe. In this case, the cavity of the bellows vacuum suction cup is hermetically connected to the cavity of the vacuum pipeline. The vacuum pipeline is rigidly attached to the VT UAV fuselage so that the longitudinal axis of the vacuum pipeline is located in a plane perpendicular to the axis of rotation of the VT UAV rotor, and the end of the vacuum pipeline with the bellows vacuum suction attached to it protrudes beyond all other structural components of the VT UAV and all elements of the rest of the equipment installed on this VT UAV, in the direction from the center of mass of the VT UAV to the end of the vacuum pipeline with the bellows vacuum attached to it tion. The vacuum pump is rigidly attached to the VT UAV fuselage. A vacuum inlet is tightly installed in the vacuum pipeline by making a vacuum-tight connection, designed to transfer electric energy to the pressure sensor in the vacuum pipe from the power supply without violating the vacuum, to transmit signals to the pressure sensor in the vacuum pipe from the landing control unit without breaking the vacuum , and to transmit signals representing the results of measurements made by the pressure sensor from the vacuum pipe to the unit landing control without breaking the vacuum. A pressure sensor is installed in the vacuum pipe, which, without violating the tightness of the vacuum pipe, is connected through a vacuum inlet to the landing control unit and to the power supply. A non-return valve is installed in the vacuum pipe, which is located between the pressure sensor and the vacuum pump so that the non-return valve passes air pumped out of the cavity of the bellows vacuum suction cup only in one direction to the vacuum pump through the vacuum pipe.

The vacuum pipeline is designed to pump air from the cavity of the bellows vacuum suction cup. At the same time, the vacuum pipeline together with the bellows vacuum suction cup attached to it is designed to be used as a support when landing the UAV VT on a flat vertical surface.

The pressure sensor is configured to perform air pressure measurements in the cavity of the bellows vacuum suction cup, and the transmission of the measurement results through the vacuum inlet to the landing control unit.

The servo drive is rigidly attached to the bottom of the VT UAV fuselage bottom, while the servo drive is mounted on the BT UAV so that the servo drive shaft is located closest to the center of mass of the VT UAV, and the axis of rotation of the servo drive shaft is perpendicular to the longitudinal axis of the vacuum pipe and is located in a plane perpendicular to the axis of rotation of the rotor UAV VT.

The lower support is Y-shaped. The lower support is made of durable and lightweight material. The lower support consists of a main part and two side parts. Each part of the lower support is a straight rod. In this case, the two side parts of the lower support are made identical and are located symmetrically with respect to the longitudinal axis of the main part of the lower support so that the longitudinal axis of the side parts of the lower support and the longitudinal axis of the main part of the lower support are in the same plane. The lateral parts of the lower support are straight rods, the ends of which are rigidly attached to the end of the main part of the lower support, while the smallest angle between the longitudinal axes of the two side parts of the lower support is in the range from 30 degrees to 60 degrees. One vacuum suction cup is attached to the ends of the two side parts of the lower support, which are located symmetrically relative to the longitudinal axis of the main part of the lower support, so that the symmetry axis of the vacuum suction cups are located at an angle of 45 degrees to the longitudinal axis of the main part of the lower support, and are located in a plane passing at an angle of 45 degrees to a plane containing the longitudinal axis of the two lateral parts of the lower support.

The lower support is designed to ensure the stability of the VT UAV during landing on a flat vertical surface, through the operation of the servo to extend this lower support.

The lower support is rigidly attached to the servo shaft so that the longitudinal axis of the two side parts of the lower support and the axis of rotation of the servo shaft are placed in the same plane, and the longitudinal axis of the main part of the lower support is perpendicular to the axis of rotation of the servo drive. The end of the main part of the lower support is rigidly attached to the servo shaft so that when the servo shaft rotates, the lower support can rotate around the axis of rotation of the servo drive, and without rotating the lower support around the longitudinal axis of the main part of the lower support.

The lower support is made so that the sum of the lengths of the main part of the lower support and the orthogonal projection of the side of the lower support onto a straight line containing the longitudinal axis of the lower support is equal to the product of the square root of two by the length of the straight segment located on the straight line containing the longitudinal axis of the vacuum pipeline, and one end of which is the orthogonal projection of the end of the vacuum pipe, to which the bellows vacuum suction cup is attached, on the longitudinal axis of the vacuum pipe, and the second end of which is the orthogonal The projection of the end of the main part of the lower support, which is attached to the servo drive shaft, on a straight line containing the longitudinal axis of the vacuum pipeline.

In the initial position, that is, before the landing of the UAV VT on a flat vertical surface, the lower support is placed so that the longitudinal axis of the main part of the lower support is parallel to the longitudinal axis of the vacuum pipe, while the cavity of the vacuum suction cups are facing down, and the bellows vacuum suction cup and the vacuum suction cup of the lower support are located on different sides relative to the plane passing through the axis of rotation of the servo shaft and perpendicular to the longitudinal axis of the vacuum pipe. The servo drive is configured to rotate the angle of 135 degrees of the servo shaft together with the lower support from the initial position to the position where the symmetry axes of the vacuum suction cups are parallel to the longitudinal axis of the vacuum pipe, and the cavity of the vacuum suction cups and the cavity of the bellows vacuum suction cup are turned in one direction.

The accelerometer is placed on the VT UAV. The accelerometer is configured to measure the apparent acceleration due to the movement of the VT UAV and transmit the measurement results to the landing control unit.

The power supply is configured to supply electric energy to the landing control unit, vacuum pump, pressure sensor, accelerometer, servo, ensuring their normal operation.

A vacuum pump, pressure sensor, accelerometer, servo drive, power supply are connected to the landing control unit. The landing control unit is configured, using special programs, to control the operation of the vacuum pump, pressure sensor, accelerometer, servo drive, power supply, by transmitting signals, and to receive and register data transmitted by the pressure sensor and accelerometer, and to receive and register data representing the value of the current angle of rotation of the servo shaft. In this case, the value of the apparent acceleration change is set by programming the landing control unit. In this case, the vacuum value in the cavity of the bellows vacuum suction cup created by the vacuum pump is set by programming the landing control unit. The landing control unit using special programs is configured to perform mathematical processing of the received data. The landing control unit is configured to transmit a signal to start the vacuum pump in operation when receiving data transmitted by the accelerometer, which show the excess of the set value of the apparent acceleration change. The landing control unit is configured to transmit a signal to stop the vacuum pump and to transmit a signal to the servo drive to rotate the servo shaft at an angle of 135 degrees when receiving data transmitted by a pressure sensor that indicates the achievement of a predetermined vacuum in the cavity of the bellows vacuum suction cup created by the vacuum pump . In this case, the landing control unit is connected to the VT UAV control unit and configured to transmit a signal to the UAV control unit VT to turn off all rotor UAV VT rotors, when the landing control unit receives data representing the value of the current angle of rotation of the servo shaft equal to 135 degrees, i.e. receipt of the landing control unit data showing the completion of the rotation of the servo shaft.

For landing UAV VT choose, for example, a flat vertical surface of a building or structure. Preferably, a smooth surface is selected.

Landing UAV VT on a flat vertical surface through the use of the claimed device is as follows. First, the VT UAV is rotated in a horizontal plane so that the longitudinal axis of the vacuum pipe attached to the VT UAV is located in a vertical plane perpendicular to the flat vertical surface intended for landing, and so that the vacuum tube suction cup is placed closest the remaining structural elements of the VT UAV and all elements of the rest of the equipment installed on this VT UAV to this flat vertical surface. Then carry out the horizontal flight of the UAV VT, by implementing the operating mode of the rotor UAV VT rotors corresponding to the horizontal flight of the UAV VT, while maintaining its orientation relative to a flat vertical surface, to a flat vertical surface, until shock interaction of the sealing element of the bellows vacuum suction cup and a flat vertical surface occurs, intended for landing. In this case, the sealing element of the bellows vacuum suction cup comes in contact with a flat vertical surface and the VT UAV stops moving in the horizontal direction, while maintaining the operating mode of the VT UAV rotors that corresponds to horizontal flight. When a shock interaction occurs between the sealing element of the bellows vacuum suction cup and a flat vertical surface, the sealing element of the bellows vacuum suction cup is deformed, the bellows vacuum suction cup is superimposed on the flat vertical surface, and an enclosed space is formed between the surface of the bellows vacuum suction cup and the flat vertical surface, and thus the change in apparent acceleration due to the cessation of the movement of the UAV VT horizontally m direction. The accelerometer measures this changed value of the apparent acceleration and transmits the results of these measurements to the landing control unit. Using special programs, the landing control unit receives the results of measurements made by the accelerometer, performs mathematical processing of the obtained data, and records the change in apparent acceleration due to the cessation of the movement of the VT UAV in the horizontal direction. Then, the landing control unit transmits a signal to start the vacuum pump in operation upon receipt of data transmitted by the accelerometer, which show the excess of the set value of the apparent acceleration change. Then the vacuum pump carries out its work and pumps out air from the cavity of the bellows vacuum suction cup through the vacuum pipe. In this case, the pressure sensor performs continuous measurements of air pressure in the cavity of the bellows vacuum suction cup, and transmits the measurement results to the landing control unit. As a result, the vacuum pump creates a vacuum in the vacuum pipe and in the cavity of the bellows vacuum suction cup through the operation of the vacuum pump. Thus, a holding force is created, pressing the vacuum bellows suction cup together with the VT UAV to a flat vertical surface.

The landing control unit transmits a signal to stop the vacuum pump and transmits a signal to the servo-driver to rotate the servo-shaft by an angle of 135 degrees by the servo when receiving data transmitted by a pressure sensor that indicates the achievement of a predetermined vacuum in the cavity of the bellows vacuum suction cup created by the vacuum pump.

Then, the servo drive advances the lower support by turning 135 degrees of the servo shaft together with the lower support from the initial position to the position where the symmetry axes of the vacuum suction cups are parallel to the longitudinal axis of the vacuum pipe and the cavity of the vacuum suction cups and the cavity of the vacuum bellows suction .

Then, the landing control unit transmits a signal to the UAV control unit BT to turn off all rotor UAV VT rotors when the landing control unit receives data representing the current angle of rotation of the servo shaft equal to 135 degrees, that is, when the landing control unit receives data indicating the completion of the shaft rotation servo drive.

Then the control unit UAV VT disables all the rotors of the UAV VT. Thus, the weight of the VT UAV is transferred to the lower support with two vacuum suction cups and a vacuum pipe with a vacuum bellows suction cup. At the same time, the sealing elements of the lower suction cups are deformed under the influence of the weight of the VT UAV, the suction cups are superimposed on a flat vertical surface, and closed spaces are formed between the surfaces of the vacuum suction cups and a flat vertical surface, while air is superseded from the vacuum suction cup cavities, a vacuum is created, and holding forces are created, pressing the suction cups, together with the lower support to a flat vertical surface. This landing of the VT UAV on a flat vertical surface is completed.

Brief Description of the Drawings

The figures schematically depict:

Figure 1: longitudinal section of a vacuum suction cup for the lower support.

Figure 2: longitudinal section of a bellows vacuum suction cup for a vacuum pipe.

Figure 3: view of the lower support with attached vacuum suction cups.

Figure 4: side view of the lower support with attached suction cups.

Figure 5: view of the servo with attached lower support to the shaft of the servo.

Figure 6: longitudinal section of a vacuum pipe attached to a vacuum pump, with a bellows vacuum suction cup, with a check valve, a pressure sensor and a vacuum inlet.

Figure 7: side view of the UAV VT when landing on a flat vertical surface.

In the figures, the numbers denote: 1 - a vacuum suction cup, 2 - a vacuum suction cup cavity, 3 - a vacuum suction cup sealing element, 4 - a vacuum suction cup symmetry axis, 5 - a vacuum bellows suction cup, 6 - a vacuum bellows suction cup cavity, 7 - a vacuum bellows suction cup sealing element 8 - axial hole of the bellows vacuum suction cup, 9 - axis of symmetry of the bellows vacuum suction cup, 10 - lower support, 11 - the main part of the lower support, 12 - the longitudinal axis of the main part of the lower support, 13 - the lateral part of the lower support, 14 - the longitudinal axis of the bo part of the lower support, 15 - servo drive shaft, 16 - servo drive, 17 - axis of rotation of the servo shaft, 18 - check valve, 19 - pressure sensor, 20 - vacuum inlet, 21 - vacuum pipe, 22 - vacuum pump, 23 - vacuum cavity pipeline, 24 - longitudinal axis of the vacuum pipeline, 25 - power supply unit, 26 - fuselage of the BT UAV, 27 - landing control unit, 28 - rotor of the UAV VT, 29 - accelerometer, 30 - straight line containing the longitudinal axis of the vacuum pipeline, 31 - axis rotor rotor UAV VT, 32 - a flat vertical surface designed to BT UAV landing.

Utility Model Implementation

As a VT UAV, a VT UAV with remote control, weighing from 800 grams to 1000 grams, with a lifting capacity of 250 grams, the length of which with rotating screws is less than 1 meter, was used.

For use as a control unit for landing the UAV VT on a flat vertical surface, the control board of the UAV VT (otherwise called the flight controller) is used, containing a microcontroller weighing less than 15 grams, with an electric supply voltage of up to 5V, with the possibility of programming this VT UAV control board .

A servo drive is used, weighing less than 15 grams, with a torque of 1.8 kg / cm, with an electrical supply voltage of up to 6V.

An accelerometer of not more than 3 mm in width, not more than 3 mm in length, not more than 1 mm in height, with an electric supply voltage of not more than 3.6 V, weighing no more than 5 grams, was used.

A vacuum pump was used, weighing 70 grams, with a vacuum created by a vacuum pump of 25 kPa, with an electric supply voltage of 6V to 12V.

A round thin-walled pipe made of carbon fiber was used, with a length of not more than 70 cm, with a diameter of circular outer section of 4 mm, with a diameter of circular inner section of 3 mm, and a weight of less than 7 grams.

Three identical round straight rods made of carbon fiber 37.51 cm long with a circular diameter of 2 mm were used. In this case, the mass of each rod does not exceed 2 grams. One of these three straight rods is the main part of the lower support, and the other two straight rods are the side parts of the lower support.

A bellows vacuum suction cup was used for a vacuum pipeline, weighing less than 20 grams, with a lifting force of more than 50 N, diameter 53 mm, made of material, Shore A hardness, 55. The bellows vacuum suction cup for a vacuum pipeline has an axial hole, a cavity, an axis of symmetry. The bellows vacuum suction cup contains a sealing element. The bellows vacuum suction cup is made of an elastic, flexible material, while the sealing element of the bellows vacuum suction cup has the ability to deform.

We used two identical vacuum suction cups for the lower support, each of which has a mass of less than 8 grams, with a lifting force of more than 30 N, a diameter of 30 mm, made of material, Shore hardness A, 55. Each vacuum suction cup for the lower support has a cavity, the axis of symmetry . Each vacuum suction cup for the lower support contains a sealing element and has no holes. Vacuum suction cups are made of elastic, flexible material, while the sealing elements of the vacuum suction cups are able to deform.

A check valve was used, weighing less than 2 grams, with a diameter of less than 5 mm.

A continuous pressure sensor was used, weighing 4 grams, with a measured absolute pressure from 20 kPa to 200 kPa, with an electric supply voltage of about 5V.

A vacuum inlet was used for electrical voltage up to 500V and current strength up to 10A, with a diameter of not more than 4 mm and not more than 70 mm in length, weighing no more than 10 grams.

Used lithium-ion polymer batteries for use as an energy source. In this case, four lithium-ion polymer batteries with an electric voltage of not more than 6V and weighing less than 10 grams each were used. These four batteries are used to provide electric power to the VT UAV landing control unit, pressure sensor, accelerometer and servo drive. A single lithium-ion polymer battery with an electric voltage of 6V to 12V and weighing less than 30 grams was used. This battery is used to provide electrical energy to the vacuum pump. The power supply consists of a set of all the above batteries.

The vacuum pipe 21 is made of a round thin-walled pipe made of carbon fiber. The vacuum pipe 21 is hermetically connected to the vacuum pump 22, by creating a vacuum-tight connection. In this case, the vacuum pipe 21 is rigidly attached at one end to the vacuum pump 22. To the other end of the vacuum pipe 21, the bellows vacuum suction cup 5 is rigidly and hermetically attached by making a vacuum tight connection so that the axis of symmetry 9 of the bellows vacuum suction cup 5 contains the longitudinal axis 24 of the vacuum pipe 21. In this case, the cavity 6 of the bellows-type vacuum suction cup 5 is hermetically connected to the cavity 23 of the vacuum pipe 21. The vacuum pipe 21 is rigidly attached to the fuselage 26 of the VT UAV so that the longitudinal axis 24 of the vacuum pipe 21 is located in a plane perpendicular to the axis of rotation 31 of the VT UAV rotor 28, and the end of the vacuum pipe 21 with the bellows vacuum suction cup 5 attached to it protrudes beyond all other structural elements of the UAV VT and all other equipment installed on it The UAV VT, in the direction from the center of mass of the UAV VT to the end of the vacuum pipe 21 with the bellows vacuum suction cup attached to it 5. The length of the straight line located on line 30 is bearing the longitudinal axis 24 of the vacuum pipe 21, and one end of which is the orthogonal projection of the end of the vacuum pipe 21 to which the bellows vacuum suction cup 5 is attached, onto the longitudinal axis 24 of the vacuum pipe 21, and the second end of which is the orthogonal projection of the end of the lower main part 11 support 10, which is attached to the shaft 15 of the servo drive 16, on a straight line 30 containing the longitudinal axis 24 of the vacuum pipe 21, is 70 cm. The vacuum pump 22 is rigidly attached to the fuselage 26 of the VT UAV. In the vacuum pipe 21, by making a vacuum-tight connection, a vacuum inlet 20 is tightly installed, designed to transfer electric energy to the pressure sensor 19 in the vacuum pipe 21 from the power supply 25 without violating the vacuum, to transmit signals to the pressure sensor 19 in the vacuum pipe 21 from the landing control unit 27 without violating the vacuum, and for transmitting signals representing the results of measurements made by the pressure sensor 19 from the vacuum pipe oestrus 21 to fit the control unit 27 without breaking the vacuum. A pressure sensor 19 is installed in the vacuum pipe 21, which, without violating the tightness of the vacuum pipe 21, is connected through a vacuum inlet 20 to the landing control unit 27 and to the power supply 25. A non-return valve 18 is installed in the vacuum pipe 21, which is located between the pressure sensor 19 and vacuum pump 22 so that the check valve 18 can let air pumped out from the cavity 6 of the bellows vacuum suction cup 5 in only one direction to the vacuum pump 22 through the vacuum pipe 21.

The vacuum pipe 21 is designed to pump air from the cavity 6 of the bellows vacuum suction cup 5. In this case, the vacuum pipe 21, together with the attached bellows vacuum suction cup 5, is also used as a support when landing the UAV VT on a flat vertical surface 32.

The pressure sensor 19 is configured to perform air pressure measurements in the cavity 6 of the bellows vacuum suction cup 5, and the transmission of the measurement results through the vacuum inlet 20 to the landing control unit 27.

The servo drive 16 is rigidly attached to the bottom of the BT UAV fuselage 26, while the servo drive 16 is mounted on the BT UAV so that the shaft 15 of the servo 16 is located closest to the center of mass of the UAV VT, and the axis of rotation 17 of the shaft 15 of the servo 16 is perpendicular to the longitudinal axis 24 of the vacuum pipe 21 and is located in a plane perpendicular to the axis of rotation 31 of the rotor 28 of the VT UAV.

The lower support 10 is Y-shaped. The lower support 10 consists of a main part 11 and two side parts 13. Each part of the lower support 10 is a straight rod made of carbon fiber. In this case, the two side parts 13 of the lower support 10 are made identical and are located symmetrically with respect to the longitudinal axis 12 of the main part 11 of the lower support 10 so that the longitudinal axis 14 of the side parts 13 of the lower support 10 and the longitudinal axis 12 of the main part 11 of the lower support 10 are located in the same plane . The side parts 13 of the lower support 10 are straight rods, the ends of which are rigidly attached to the end of the main part 11 of the lower support 10, while the smallest angle between the longitudinal axes 14 of the two side parts 13 of the lower support 10 is 60 degrees. One vacuum suction cup 1 is attached to the ends of the two side parts 13 of the lower support 10, which are located symmetrically relative to the longitudinal axis 12 of the main part 11 of the lower support 10, so that the axis of symmetry 4 of the vacuum suction cups 1 are located at an angle of 45 degrees to the longitudinal axis 12 of the main part 11 of the lower support 10, and are located in a plane extending at an angle of 45 degrees to the plane containing the longitudinal axis 14 of the two side parts 13 of the lower support 10.

The lower support 10 is designed to ensure the stability of the UAV VT when landing on a flat vertical surface 32, by performing the operation of the servo drive 16 to extend this lower support 10.

The lower support 10 is rigidly attached to the shaft 15 of the servo drive 16 so that the longitudinal axis 14 of the two side parts 13 of the lower support 10 and the axis of rotation 17 of the shaft 15 of the servo drive 16 are placed in the same plane, and the longitudinal axis 12 of the main part 11 of the lower support 10 is perpendicular to the axis of rotation 17 of the shaft 15 of the servo drive 16. The end of the main part 11 of the lower support 10 is rigidly attached to the shaft 15 of the servo drive 16 so that when the shaft 15 of the servo drive 16 is rotated, the lower support 10 rotates around the axis of rotation 17 of the shaft 15 of the servo drive 16, and without rotation bottom support 10 around the longitudinal axial axis 12 of the main part 11 of the lower support 10.

Accelerometer 29 is located on the UAV VT. The accelerometer 29 is configured to measure the apparent acceleration due to the movement of the VT UAV and the transmission of the measurement results to the landing control unit 27.

All structural elements of the claimed device are placed on the UAV VT so that the center of mass of the UAV VT, taking into account the installed equipment, has not changed its position or is shifted as close as possible to the UAV VT.

The power supply 25 is configured to supply electrical energy to the landing control unit 27, the vacuum pump 22, the pressure sensor 19, the accelerometer 29, the servo drive 16, ensuring their normal operation.

A vacuum pump 22, a pressure sensor 19, an accelerometer 29, a servo drive 16, a power supply 25 is connected to the landing control unit 27. The landing control unit 27 is configured, using special programs, to control the operation of the vacuum pump 22, pressure sensor 19, servo drive 16, the power supply 25, by transmitting signals, and to receive and register the data transmitted by the pressure sensor 19 and the accelerometer 29, and to receive and register data representing the value of the current angle of rotation of the shaft 15 of the servo drive 16. the apparent change in apparent acceleration is set to 1.5 g by programming the landing control unit 27. In this case, the vacuum in the cavity of the bellows vacuum suction cup created by the vacuum pump is set to 25 kPa by programming the landing control unit 27. The landing control unit 27 performs the mathematical processing data transmitted by the pressure sensor 19 and the accelerometer 29. The landing control unit 27 is configured to transmit a signal to start the vacuum pump 22 in operation upon receipt Data transmitted by the accelerometer 29, which show the apparent excess of a predetermined value of acceleration change. The landing control unit 27 is configured to transmit a signal to stop the vacuum pump 22 and to transmit a signal to the servo drive 16 for the servo drive 16 to rotate the shaft 15 of the servo 16 at an angle of 135 degrees when receiving data transmitted by the pressure sensor 19, which show the achievement of a predetermined pressure in the cavity 6 of the bellows vacuum suction cup 5 created by the vacuum pump 22. In this case, the landing control unit 27 is connected to the VT UAV control unit and is configured to transmit a signal to the VT UAV control unit for shutdown of all rotors of the UAV BT, upon receipt by the landing control unit 27 of data representing the value of the current angle of rotation of the shaft 15 of the servo 16 equal to 135 degrees, that is, upon receipt by the landing control unit 27 of data indicating completion of the rotation of the shaft 15 of the servo 16.

In the initial position, that is, before the landing of the UAV BT on the flat vertical surface 32, the lower support 10 is placed so that the longitudinal axis 12 of the main part 11 of the lower support 10 is parallel to the longitudinal axis 24 of the vacuum pipe 21, while the cavity 2 of the suction cups 1 facing downward, while the bellows vacuum suction cup 5 and the vacuum suction cup 1 of the lower support 10 are located on different sides relative to the plane passing through the axis of rotation 17 of the shaft 15 of the servo drive 16 and perpendicular to the longitudinal axis 24 of the vacuum pipeline 21. The servo drive 16 is configured to rotate 135 degrees of the shaft 15 of the servo drive 16 together with the lower support 10 from the initial position to the position where the symmetry axes 4 of the suction cups 1 are parallel to the longitudinal axis 24 of the vacuum pipe 21, and thus the cavity 2 suction cups 1 and the cavity 6 of the bellows vacuum suction cups 5 are turned in one direction.

For landing UAV VT choose a flat vertical surface 32 of a building or structure. Preferably, a smooth surface is selected.

Landing UAV VT on a flat vertical surface 32 through the use of the claimed device is as follows. First, rotate the BT UAV in a horizontal plane so that the longitudinal axis 24 of the vacuum pipe 21 attached to the VT UAV is located in a vertical plane perpendicular to the planar vertical surface 32 for landing, and so that the vacuum bellows suction cup 5 of the vacuum pipe 21 was placed closest to all other structural components of the VT UAV and all elements of the rest of the equipment installed on this VT UAV to this flat vertical surface ty 32. Then carry out a horizontal flight of the UAV VT, by implementing the operating mode of the rotors 28 of the UAV VT, corresponding to the horizontal flight of the UAV VT, while maintaining its orientation relative to the plane vertical surface 32, to the plane vertical surface 32, until shock interaction of the sealing element 7 of the bellows vacuum suction cup 5 and a flat vertical surface 32, designed for landing. In this case, the sealing element 7 of the bellows vacuum suction cup 5 comes in contact with a flat vertical surface 32 and the movement of the UAV VT in the horizontal direction ceases, while the operating mode of the rotor UAV VT rotors corresponding to horizontal flight is maintained. When shock interaction occurs between the sealing element 7 of the bellows vacuum suction cup 5 and a flat vertical surface 32, the sealing element 7 of the bellows vacuum suction cup 5 is deformed, the bellows vacuum suction cup 5 is superimposed on the flat vertical surface 32, and an enclosed space is formed between the surface of the bellows vacuum suction cup 5 and a flat vertical surface 32, and at the same time there is a change in apparent acceleration due to the cessation of motion of the UAV VT in th izontalnom direction. The accelerometer 29 measures this changed value of the apparent acceleration and transmits the results of these measurements to the landing control unit 27. The landing control unit 27 uses special programs to receive the measurement results from the accelerometer 29, performs mathematical processing of the obtained data, and records the change in the apparent acceleration due to the cessation of movement UAV VT in the horizontal direction. Then, the landing control unit 27 transmits a signal to start the vacuum pump 22 in operation, upon receipt of the data transmitted by the accelerometer 29, which show the excess of the set value of the change in apparent acceleration. Then the vacuum pump 22 performs its work and pumps air from the cavity 6 of the bellows vacuum suction cup 5 through the vacuum pipe 21. In this case, the pressure sensor 19 continuously measures the air pressure in the cavity 6 of the bellows vacuum suction cup 5, and transmits the measurement results to the control unit landing 27. As a result, the vacuum pump 22 creates a vacuum in the vacuum pipe 21 and in the cavity 6 of the bellows vacuum suction cup 5 through the operation of the vacuum pump 22. This creates a holding force a, pressing the vacuum bellows suction cup 5 together with the UAV VT to a flat vertical surface 32.

The landing control unit 27 transmits a signal to stop the vacuum pump 22 and transmits a signal to the servo drive 16 for the servo drive 16 to rotate the shaft 15 of the servo 16 at an angle of 135 degrees, upon receipt of data transmitted by the pressure sensor 19, which show the achievement of a predetermined vacuum in the cavity 6 of the vacuum bellows suction cups 5 created by the vacuum pump 22.

Then, the servo drive 16 extends the lower support 10 by turning 135 degrees of the shaft 15 of the servo drive 16 together with the lower support 10 from the initial position to the position where the symmetry axes 4 of the suction cups 1 are parallel to the longitudinal axis 24 of the vacuum pipe 21, and thus the cavity 2 suction cups 1 and the cavity 6 of the bellows vacuum suction cups 5 are turned in one direction.

Then, the landing control unit 27 transmits a signal to the BT UAV control unit BT to turn off all rotors of the BT UAV BT when the landing control unit 27 receives data representing the value of the current angle of rotation of the shaft 15 of the servo drive 16 equal to 135 degrees, that is, when the landing control unit 27 data showing the completion of the rotation of the shaft 15 of the servo 16.

Then the control unit UAV VT disables all the rotors 28 UAV VT. Thus, the weight of the BT UAV is transferred to the lower support 10 with two vacuum suction cups 1 and the vacuum pipe 21 with the bellows vacuum suction cup 5. In this case, the sealing elements 3 of the vacuum suction cups 1 of the lower support 10 are deformed under the weight of the VT UAV, the suction cups 1 are superimposed on a flat vertical surface 32, in this case closed spaces are formed between the surfaces of the vacuum suction cups 1 and a flat vertical surface 32, while air is forced out of the cavities 2 of the vacuum suction cups 1, a vacuum is created mind and retaining forces are created, crimping vacuum cups 1, together with the lower bearing 10 to a flat vertical surface 32. At the landing of UAV BT on a flat vertical surface 32 terminates.

Claims (1)

  1. A device for landing a helicopter-type unmanned aerial vehicle on a flat vertical surface mounted on this helicopter-type unmanned aerial vehicle, comprising a landing control unit, a vacuum pump, a vacuum pipe, a pressure sensor, an accelerometer, a vacuum inlet, a vacuum bellows suction cup for a vacuum pipeline , check valve, lower support, two vacuum suction cups for the lower support, servo drive, power supply, while the power supply is installed with the ability to supply electric energy to the landing control unit, a vacuum pump, a pressure sensor, an accelerometer, a servo drive, ensuring their normal operation, and the accelerometer is installed with the ability to measure the apparent acceleration due to the movement of a helicopter-type unmanned aerial vehicle, and with the possibility of transmitting the results of these measurements to the landing control unit, and the vacuum pipe is attached to the vacuum pump, and the vacuum bellows suction is attached to the vacuum pipe the suction pipe and the pressure sensor is installed with the possibility of measuring the air pressure in the cavity of the bellows vacuum suction cup, and with the possibility of transmitting the results of these measurements through the vacuum inlet to the landing control unit, and the vacuum pump is installed with the possibility of pumping air from the cavity of the bellows vacuum suction cup through the vacuum pipe, and a non-return valve is installed in the vacuum pipe and is placed between the pressure sensor and the vacuum pump with the possibility of passing air pumped from the cavity of the bellows vacuum suction cup only in one direction to the vacuum pump through the vacuum pipe, and the vacuum input is installed with the possibility of transmitting electrical energy to the pressure sensor in the vacuum pipe from the power supply without violating the vacuum, with the ability to transmit signals to the pressure sensor in the vacuum pipe from the landing control unit without violation of the vacuum and with the possibility of transmitting signals representing the results of measurements made by the pressure sensor from the vacuum pipe to the unit the landing board without breaking the vacuum, and the suction cups for the lower support are attached to the lower support, and the lower support is attached to the servo shaft, and the servo is mounted to rotate the servo shaft together with the lower support, and the landing control unit is mounted to control the operation of the vacuum pump , a pressure sensor, an accelerometer, a servo drive, a power supply, by transmitting signals, and with the possibility of receiving and recording data transmitted by a pressure sensor and an accelerometer, and with the possibility of obtaining and recording data representing the value of the current angle of rotation of the servo shaft, and with the possibility of transmitting a signal to start the vacuum pump in operation when receiving data transmitted by the accelerometer, showing the excess of the set value of the apparent acceleration, and with the possibility of transmitting a signal to stop the vacuum pump and signal transmission to perform the rotation of the servo shaft, upon receipt of data transmitted by the pressure sensor, showing the achievement of a given value the rarefaction in the cavity of the bellows vacuum suction cup created by the vacuum pump, while the landing control unit is connected to the control unit of a helicopter-type unmanned aerial vehicle with the ability to transmit a signal to the control unit of a helicopter-type unmanned aerial vehicle to disconnect all rotors of a helicopter-type unmanned aerial vehicle, upon receipt the landing control unit data showing the completion of the rotation of the servo shaft.
    Figure 00000001
RU2015147330/11U 2015-11-03 2015-11-03 Device intended for implementation of landing of an unmanned aircraft telephone type on a flat vertical surface RU160508U1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108583863A (en) * 2018-06-05 2018-09-28 西安理工大学 A kind of quadrotor to land with function of taking off with wall surface
RU2678523C1 (en) * 2018-03-06 2019-01-29 Алексей Александрович Сизиков System for receiving goods delivered by unmanned aerial vehicles (options)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2678523C1 (en) * 2018-03-06 2019-01-29 Алексей Александрович Сизиков System for receiving goods delivered by unmanned aerial vehicles (options)
WO2019172805A1 (en) * 2018-03-06 2019-09-12 Алексей Александрович СИЗИКОВ System for receiving items of merchandise deliverable by drones (variants)
CN108583863A (en) * 2018-06-05 2018-09-28 西安理工大学 A kind of quadrotor to land with function of taking off with wall surface

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