Strong-wind-resistant four-bar-linkage cabin door bidirectional opening and closing system of unmanned aerial vehicle garage and self-adaptive control method thereof

Abstract

The invention discloses a two-way opening and closing system for a four-connecting-rod cabin door of a strong-wind-resistant unmanned aerial vehicle garage and a self-adaptive control method thereof.The system comprises an outer cabin, a movable inner cabin and a driving module, and the movable inner cabin is arranged in the outer cabin and can move up and down along the interior of the outer cabin; the movable inner cabin can move to the position above the upper end face and the position below the lower end face of the outer cabin along the interior of the outer cabin, and the movable inner cabin comprises a cabin door of a four-connecting-rod structure; the driving module is arranged in the outer cabin and used for driving the movable inner cabin to move up and down in the outer cabin and driving the four-connecting-rod structure cabin door to be opened and closed at the same time. The cabin door of the four-connecting-rod structure comprises an upper cabin door body and a lower cabin door body, the upper cabin door body is located above the lower cabin door body, the upper cabin door body is selectively opened when the movable inner cabin moves to the position above the upper end face of the outer cabin, and the lower cabin door body is selectively opened when the movable inner cabin moves to the position below the lower end face of the outer cabin.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a two-way opening and closing system for a four-link hatch of a UAV hangar resistant to strong winds and an adaptive control method thereof. Background Art

[0002] In high wind environments or sudden strong wind environments, traditional drones have difficulty hovering and their fuselage shakes when they land in the hangar during the return process. As a result, they are easily damaged due to uneven contact force at the moment of landing and contacting the hangar platform. Therefore, it is of great significance to study and design a strong wind-resistant hangar system for high wind environments or sudden strong wind environments to reduce the risk of drone storage.

[0003] In view of this, the present invention provides a two-way opening and closing system for a four-link hatch of a strong-wind-resistant drone hangar and an adaptive control method thereof, which is suitable for high-wind areas such as drone hangars on offshore wind power platforms, drone nests for border patrols on plateaus, and drone base stations for high-rise fire fighting in cities. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide a four-link door two-way opening and closing system for an unmanned aerial vehicle hangar. Through the four-link structure door, a two-way door opening and closing system is realized. In a strong wind environment, a downward active capture door is used to capture the drone returning to the hangar. The present invention provides a new solution for the return and storage of drones.

[0005] In order to achieve the above-mentioned objectives, on the one hand, the present invention provides a two-way opening and closing system for a four-linkage cabin door of an unmanned aerial vehicle hangar. In the technical solution of the present invention, the system includes an outer cabin, a movable inner cabin and a driving module. The movable inner cabin is arranged inside the outer cabin and can move up and down along the inside of the outer cabin. The movable inner cabin can move along the inside of the outer cabin to above the upper end surface and below the lower end surface of the outer cabin. The movable inner cabin includes a four-linkage structure cabin door; the driving module is arranged inside the outer cabin, for driving the movable inner cabin to move up and down inside the outer cabin, and at the same time driving the opening and closing of the four-linkage structure cabin door.

[0006] Furthermore, in the technical solution of the present invention, the four-link structure door includes an upper door and a lower door, the upper door is located above the lower door, and the upper door is opened when the movable inner cabin moves to above the upper end surface of the outer cabin, and the lower door is opened when the movable inner cabin moves to below the lower end surface of the outer cabin.

[0007] Furthermore, in the technical solution of the present invention, the movable inner cabin also includes at least two groups of windshield side panels and a plurality of elastic wind guide strips.

[0008] Furthermore, in the technical solution of the present invention, the upper door includes an upper left door and an upper right door, and the lower door includes a lower left door and a lower right door.

[0009] Furthermore, in the technical solution of the present invention, the four-link structure door includes:

[0010] At least four sets of driving rotation rods, respectively arranged on the left side of the upper left door, the right side of the upper right door, the left side of the lower left door, and the right side of the lower right door, and driven to rotate by the driving module;

[0011] At least four sets of driving swing rods are fixedly connected to:

[0012] The two ends of the driving rotating rod on the left side of the upper left door are fixedly connected to the two ends of the driving rotating rod on the left side of the lower left door.

[0013] The two ends of the driving rotating rod on the right side of the upper right door are fixedly connected to the two ends of the driving rotating rod on the right side of the lower right door;

[0014] At least eight sets of movable rods, fixedly configured at:

[0015] The front and rear sides of the upper left door are rotatably connected to the driving rotation rod on the left side of the upper left door.

[0016] The front and rear sides of the upper right door are rotatably connected to the driving rotation rod on the right side of the upper right door.

[0017] The front and rear sides of the lower left door are rotatably connected to the driving rotation rod on the left side of the lower left door.

[0018] The front and rear sides of the lower right door are rotatably connected to the driving rotation rod on the right side of the lower right door;

[0019] At least four sets of driven swing rods are rotatably connected to:

[0020] The right ends of the movable rods on the front and rear sides of the upper left door are respectively connected to the right ends of the movable rods on the front and rear sides of the lower left door, and are rotatably connected to the right ends of the movable rods on the front and rear sides of the lower left door.

[0021] The left ends of the movable rods on the front and rear sides of the upper right cabin door are respectively connected to the left ends of the movable rods on the front and rear sides of the lower right cabin door, and are rotatably connected to the left ends of the movable rods on the front and rear sides of the lower right cabin door.

[0022] Furthermore, in the technical solution of the present invention, the windshield side panels are respectively fixedly mounted on:

[0023] Between the driving swing rods at both ends of the left side of the upper left door and the lower left door,

[0024] Between the driving swing rods at both ends of the right side of the upper right door and the lower right door;

[0025] The elastic air guide strips are respectively fixedly mounted on:

[0026] Between the driving swing rod and the driven swing rod at both ends of the front side of the upper left door and the lower left door,

[0027] Between the driving swing rod and the driven swing rod at both ends of the rear side of the upper left door and the lower left door,

[0028] Between the driving swing rod and the driven swing rod at both ends of the front side of the upper right door and the lower right door,

[0029] Between the driving swing rod and the driven swing rod at the rear ends of the upper right door and the lower right door.

[0030] Furthermore, in the technical solution of the present invention, a plurality of driving gear blocks are also configured on both sides of the movable inner cabin.

[0031] Furthermore, in the technical solution of the present invention, a driving connection slot is provided at one end of the driving rotating rod.

[0032] Furthermore, in the technical solution of the present invention, the driving module includes:

[0033] A plurality of drive toothed belts are arranged on both sides of the movable inner cabin and respectively mesh with the drive tooth blocks to drive the movable inner cabin to move up and down;

[0034] At least four groups of drive connection blocks are respectively arranged at the upper end and the lower end of the inner part of the outer cabin, and the drive connection block and the drive connection slot are located on the same side. When the movable inner cabin moves to above the upper end surface of the outer cabin, the drive connection slots on the drive rotating rods on both sides of the lower cabin door are docked with the drive connection block at the upper end of the inner part of the outer cabin. When the movable inner cabin moves to below the lower end surface of the outer cabin, the drive connection slots on the drive rotating rods on both sides of the upper cabin door are docked with the drive connection block at the lower end of the inner part of the outer cabin.

[0035] Another aspect of the present invention provides an adaptive control method for a four-link door of an unmanned aerial vehicle hangar, which adopts the above-mentioned four-link door bidirectional opening and closing system of the unmanned aerial vehicle hangar, and specifically includes the following contents:

[0036] To open the upper hatch door in a non-strong wind environment, the drive module drives the movable inner cabin to move above the upper end surface of the outer cabin through the drive toothed belt. The drive connection slots on the drive rotating rods on both sides of the lower hatch door are connected to the drive connection blocks at the upper end of the inner side of the outer cabin. The drive module drives the drive rotating rods on both sides of the lower hatch door to rotate through the drive connection blocks, thereby driving the drive swing rods at both ends of the drive rotating rods to swing, further driving the drive rotating rod connected to the other end of the drive swing rod and the upper hatch door to swing, thereby opening the upper hatch door by swinging;

[0037] When the lower hatch is opened in a strong wind environment, the driving module drives the movable inner cabin to move to the bottom of the lower end surface of the outer cabin through the driving toothed belt. The driving connection slots on the driving rotating rods on both sides of the upper hatch are docked with the driving connection blocks at the lower end of the inner part of the outer cabin. The driving module drives the driving rotating rods on both sides of the upper hatch to rotate through the driving connection blocks, thereby driving the driving swing rods at both ends of the driving rotating rods to swing, and further driving the driving rotating rod connected to the other end of the driving swing rod and the lower hatch to swing, thereby opening the lower hatch by swinging.

[0038] Beneficial effect: In summary, the present invention provides a two-way opening and closing system for a four-link hatch door of a strong-wind-resistant UAV hangar and an adaptive control method thereof. In the technical solution of the present invention, a four-link structure hatch is used to realize an up and down two-way hatch opening and closing system. In a strong wind environment, a downward active capture type four-link structure hatch is used to capture the UAV returning to the hangar. When the UAV returns to the hangar in a strong wind environment, the lower hatch in the four-link structure hatch is opened, and the UAV only needs to fly within the capture range, that is, the opening and closing range of the lower hatch. At the same time, the shaking of the UAV within the capture range does not affect the capture process of the four-link structure hatch. After the UAV flies to the capture range, the lower hatch in the four-link structure hatch is closed. At this time, the windshield side panel and the elastic windshield strip weaken the impact of the strong wind. The UAV will fall after it is stable, which can reduce the risk of the UAV entering the hangar.

[0039] Other features and advantages of the present invention will be set forth in the description that follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 This is a schematic diagram of the partial structure of a four-link door bidirectional opening and closing system for an unmanned aerial vehicle hangar according to an embodiment of the present invention. Figure 1 ;

[0042] Figure 2This is a schematic diagram of the partial structure of a four-link door bidirectional opening and closing system for an unmanned aerial vehicle hangar according to an embodiment of the present invention. Figure 2 ;

[0043] Figure 3 This is a structural schematic diagram of a movable inner cabin according to an embodiment of the present invention;

[0044] Figure 4 A schematic diagram of a four-link structure hatch according to an embodiment of the present invention Figure 1 ;

[0045] Figure 5 A schematic diagram of a four-link structure hatch according to an embodiment of the present invention Figure 2 ;

[0046] Figure 6 This is a schematic diagram of a specific activity process of a movable inner cabin according to an embodiment of the present invention;

[0047] Figure 7 For Figure 6 A schematic diagram of the structure of the middle region X;

[0048] Figure 8 The specific working process of a four-link structure door according to an embodiment of the present invention is shown in FIG. Figure 1 ;

[0049] Figure 9 The specific working process of a four-link structure door according to an embodiment of the present invention is shown in FIG. Figure 2 ;

[0050] Figure 10 The specific working process of a four-link structure door according to an embodiment of the present invention is shown in FIG. Figure 3 ;

[0051] Figure 11 The specific working process of a four-link structure door according to an embodiment of the present invention is shown in FIG. Figure 4 ;

[0052] In the figure: A, outer cabin; B, movable inner cabin; B01, four-link structure cabin door; B01-1, upper cabin door; B01-11, upper left cabin door; B01-12, upper right cabin door; B01-2, lower cabin door; B01-21, lower left cabin door; B01-22, lower right cabin door; B01-3, driving rotating rod; B01-31, driving connecting slot; B01-4, driving swing rod; B01-5, movable rod; B01-6, driven swing rod; B02, windshield side panel; B03, elastic wind guide strip; B04, driving gear block; C, driving module; C01, driving toothed belt; C02, driving connecting block. DETAILED DESCRIPTION

[0053] In order to make the objects, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0054] The core of an embodiment of the present invention is to provide a two-way opening and closing system for a four-link door of an unmanned aerial vehicle hangar. Through the four-link structure door, a two-way door opening and closing system is realized. In a strong wind environment, a downward active capture door is used to capture the drone returning to the hangar. This embodiment provides a new solution for the return and storage of drones.

[0055] In this embodiment, Figure 1 and Figure 2 FIG. 1 is a partial structural diagram of a two-way opening and closing system for a four-link door of an unmanned aerial vehicle hangar according to an embodiment of the present invention. Figure 1 and Figure 2 As shown, this embodiment is a two-way opening and closing system for a four-link door of an unmanned aerial vehicle hangar, including an outer cabin A and a movable inner cabin B. The movable inner cabin B is arranged inside the outer cabin A and can move up and down along the inside of the outer cabin A. The movable inner cabin B can move along the inside of the outer cabin A to above the upper end surface of the outer cabin A and below the lower end surface.

[0056] Specifically, in this embodiment, Figure 3 FIG. 1 is a structural diagram of a movable inner cabin B according to an embodiment of the present invention. Figure 3 As shown, the movable inner cabin B includes a four-link structure door B01, wherein the four-link structure door B01 is used for the entry and exit of the UAV for return and storage. The movable inner cabin B also includes at least two sets of windshield side panels B02 and multiple elastic wind guide strips B03. The windshield side panels B02 and the elastic wind guide strips B03 are both used to withstand strong winds to reduce the impact of strong winds. It should be noted that doors can be further opened on the sides of the outer cabin A and the sides of the movable inner cabin B, i.e., the windshield side panels B02, to facilitate the placement and removal of UAVs. Figure 6 FIG. 1 is a schematic diagram of a specific activity process of a movable inner cabin B according to an embodiment of the present invention. Figure 6 As shown, in this embodiment, a two-way opening and closing system of a four-link hatch of an unmanned aerial vehicle hangar further includes a drive module C, which is arranged inside the outer cabin A. The drive module C is used to drive the movable inner cabin B to move up and down inside the outer cabin A, and at the same time drive the opening and closing of the four-link structure hatch B01.

[0057] Specifically, Figure 4 and Figure 5 FIG. 1 is a structural diagram of a four-link structure hatch B01 according to an embodiment of the present invention. Figure 4 and Figure 5 As shown, in this embodiment, the four-link structure door B01 includes an upper door B01-1 and a lower door B01-2. The upper door B01-1 is located above the lower door B01-2. When the movable inner cabin B moves to above the upper end surface of the outer cabin A, the upper door B01-1 is selected to be opened. When the movable inner cabin B moves to below the lower end surface of the outer cabin A, the lower door B01-2 is selected to be opened. The upper door B01-1 includes an upper left door B01-11 and an upper right door B01-12, and the lower door B01-2 includes a lower left door B01-21 and a lower right door B01-22. When the upper door B01-1 is opened, the upper left door B01-11 swings to the left, and the upper right door B01-12 swings to the right. When the lower door B01-2 is opened, the lower left door B01-11 swings to the left, and the upper right door B01-12 swings to the right. 01-21 swings to the left, and the lower right door B01-22 swings to the right. When the UAV returns to the warehouse in a strong wind environment, the lower door B01-2 in the four-link structure door B01 opens. The UAV only needs to fly into the capture range, that is, the opening and closing range of the lower door B01-2. At this time, the shaking of the UAV in the capture range does not affect the "capture process" of the four-link structure door B01. After the UAV flies to the capture range, which is also the swing range of the lower left door B01-21 and the lower right door B01-22, the lower door B01-2 in the four-link structure door B01 is closed. At this time, the windshield side panel B02 and the elastic windshield strip B03 weaken the impact of the strong wind. Wait until the UAV is stable before falling, which can reduce the risk of the UAV entering the warehouse.

[0058] Specifically, in this embodiment, please continue to refer to Figure 4 and Figure 5 As shown in the figure, the four-link structure door B01 also includes:

[0059] At least four sets of driving rotating rods B01-3 are respectively arranged on the left side of the upper left door B01-11, the right side of the upper right door B01-12, the left side of the lower left door B01-21, and the right side of the lower right door B01-22, and are driven to rotate by the driving module C;

[0060] At least four sets of driving swing rods B01-4 are fixedly connected to:

[0061] The two ends of the driving rotating rod B01-3 on the left side of the upper left door B01-11 are fixedly connected to the two ends of the driving rotating rod B01-3 on the left side of the lower left door B01-21.

[0062] The two ends of the driving rotating rod B01-3 on the right side of the upper right door B01-12 are fixedly connected to the two ends of the driving rotating rod B01-3 on the right side of the lower right door B01-22;

[0063] At least eight sets of movable rods B01-5 are fixedly arranged at:

[0064] The front and rear sides of the upper left door B01-11 are rotatably connected to the driving rotating rod B01-3 on the left side of the upper left door B01-11.

[0065] The front and rear sides of the upper right door B01-12 are rotatably connected to the driving rotating rod B01-3 on the right side of the upper right door B01-12.

[0066] The front and rear sides of the lower left door B01-21 are rotatably connected to the driving rotating rod B01-3 on the left side of the lower left door B01-21.

[0067] The front and rear sides of the lower right door B01-22 are rotatably connected to the driving rotation rod B01-3 on the right side of the lower right door B01-22;

[0068] At least four sets of driven swing rods B01-6 are rotatably connected to:

[0069] The right ends of the movable rods B01-5 on the front and rear sides of the upper left hatch B01-11 are connected to the right ends of the movable rods B01-5 on the front and rear sides of the lower left hatch B01-21 respectively, and are rotatably connected to the right ends of the movable rods B01-5 on the front and rear sides of the lower left hatch B01-21.

[0070] The left ends of the movable rods B01-5 on the front and rear sides of the upper right cabin door B01-12 are respectively connected to the left ends of the movable rods B01-5 on the front and rear sides of the lower right cabin door B01-22, and are rotatably connected to the left ends of the movable rods B01-5 on the front and rear sides of the lower right cabin door B01-22.

[0071] Specifically, in this embodiment, the windshield side panels B02 are fixedly mounted on:

[0072] Between the driving swing rods B01-4 at both ends of the left side of the upper left door B01-11 and the lower left door B01-21,

[0073] Between the driving swing rods B01-4 at both ends of the right side of the upper right door B01-12 and the lower right door B01-22;

[0074] Specifically, in this embodiment, the elastic air guide strips B03 are fixedly installed on:

[0075] Between the driving swing rod B01-4 and the driven swing rod B01-6 at both ends of the front side of the upper left door B01-11 and the lower left door B01-21,

[0076] Between the driving swing rod B01-4 and the driven swing rod B01-6 at the rear ends of the upper left door B01-11 and the lower left door B01-21,

[0077] Between the driving swing rod B01-4 and the driven swing rod B01-6 at both ends of the front side of the upper right door B01-12 and the lower right door B01-22,

[0078] Between the driving swing rod B01-4 and the driven swing rod B01-6 at the rear ends of the upper right door B01-12 and the lower right door B01-22.

[0079] Specifically, in this embodiment, please continue to refer to Figure 3 , both sides of the movable inner cabin B are also equipped with multiple driving gear blocks B04; among them, Figure 6 This is a schematic diagram of a specific activity process of a movable inner cabin according to an embodiment of the present invention. Figure 7 For Figure 6 The enlarged schematic diagram of the structure of the middle region X is as follows: Figure 6 and Figure 7 As shown, one end of the driving rotating rod B01-3 is provided with a driving connection slot B01-31, and the driving module C includes multiple sets of driving toothed belts C01 and at least four sets of driving connection blocks C02. The multiple sets of driving toothed belts C01 are respectively arranged on both sides of the movable inner cabin B, and are respectively engaged with the driving tooth blocks B04 to drive the movable inner cabin B to move up and down; at least four sets of driving connection blocks C02 are respectively arranged at the upper end and lower end of the inner part of the outer cabin A, and the driving connection blocks C02 and the driving connection slots B01-31 are located on the same side. When the movable inner cabin B moves to above the upper end surface of the outer cabin A, the driving rotating rods B01-3 on both sides of the lower cabin door B01-2 are engaged with the driving toothed belts C01 and at least four sets of driving connection blocks C02. The driving connection slot B01-31 is docked with the driving connection block C02 at the upper end of the inner part of the outer cabin A. When the movable inner cabin B moves to the bottom of the lower end surface of the outer cabin A, the driving connection slots B01-31 on the driving rotating rod B01-3 on both sides of the upper cabin door B01-1 are docked with the driving connection block C02 at the lower end of the inner part of the outer cabin A. It should be noted that after the driving connection slots B01-31 on the driving rotating rod B01-3 are docked with the driving connection block C02, the driving module C can be used to control the rotation of the driving rotating rod B01-3, that is, the docking of the driving connection slots B01-31 and the driving connection block C02 is a transmission connection.

[0080] On the other hand, this embodiment further provides an adaptive control method for a four-link door of an unmanned aerial vehicle hangar, which uses the above-mentioned four-link door bidirectional opening and closing system of the unmanned aerial vehicle hangar, and specifically includes the following contents:

[0081] In a non-strong wind environment, the upper cabin door B01-1 is opened. The driving module C drives the movable inner cabin B to move to the upper end surface of the outer cabin A through the driving toothed belt C01. The driving connection slots B01-31 on the driving rotating rods B01-3 on both sides of the lower cabin door B01-2 are connected to the driving connection block C02 at the upper end of the inner side of the outer cabin A. The driving module C drives the driving rotating rods B01-3 on both sides of the lower cabin door B01-2 to rotate through the driving connection block C02, thereby driving the driving swing rods B01-4 at both ends of the driving rotating rod B01-3 to swing, and further driving the driving rotating rod B01-3 connected to the other end of the driving swing rod B01-4 and the upper cabin door B01-1 to swing, thereby opening the upper cabin door B01-1 by swinging. Figure 8 As shown;

[0082] In a strong wind environment, the lower hatch door B01-2 is opened. The driving module C drives the movable inner cabin B to move to the lower end surface of the outer cabin A through the driving toothed belt C01. The driving connection slots B01-31 on the driving rotating rods B01-3 on both sides of the upper hatch door B01-1 are connected to the driving connection block C02 at the lower end of the inner side of the outer cabin A. The driving module C drives the driving rotating rods B01-3 on both sides of the upper hatch door B01-1 to rotate through the driving connection block C02, thereby driving the driving swing rods B01-4 at both ends of the driving rotating rod B01-3 to swing, and further driving the driving rotating rod B01-3 connected to the other end of the driving swing rod B01-4 and the lower hatch door B01-2 to swing, thereby opening the lower hatch door B01-2 by swinging. Figure 9 、 Figure 10 and Figure 11 shown.

[0083] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A two-way opening and closing system for a four-link door of an unmanned aerial vehicle hangar, characterized in that: Includes: Outer cabin (A); a movable inner cabin (B) disposed inside the outer cabin (A) and movable up and down along the interior of the outer cabin (A); the movable inner cabin (B) can be movable along the interior of the outer cabin (A) to above the upper end surface and below the lower end surface of the outer cabin (A); the movable inner cabin (B) includes a four-link structure door (B01); a driving module (C) disposed inside the outer cabin (A) and configured to drive the movable inner cabin (B) to move up and down inside the outer cabin (A) and simultaneously drive the opening and closing of the four-link structure cabin door (B01); The four-link structure cabin door (B01) includes an upper cabin door (B01-1) and a lower cabin door (B01-2), wherein the upper cabin door (B01-1) is located above the lower cabin door (B01-2), and the movable inner cabin (B) selects to open the upper cabin door (B01-1) when it moves to above the upper end surface of the outer cabin (A), and the movable inner cabin (B) selects to open the lower cabin door (B01-2) when it moves to below the lower end surface of the outer cabin (A).

2. The four-link door bidirectional opening and closing system for an unmanned aerial vehicle hangar according to claim 1 is characterized in that: The movable inner cabin (B) further comprises at least two sets of windshield side panels (B02) and a plurality of elastic wind guide strips (B03).

3. The four-link door bidirectional opening and closing system for an unmanned aerial vehicle hangar according to claim 2 is characterized in that: The upper cabin door (B01-1) includes an upper left cabin door (B01-11) and an upper right cabin door (B01-12), and the lower cabin door (B01-2) includes a lower left cabin door (B01-21) and a lower right cabin door (B01-22).

4. The four-link door bidirectional opening and closing system for an unmanned aerial vehicle hangar according to claim 3 is characterized in that: The four-link structure door (B01) further includes: At least four sets of driving rotating rods (B01-3), respectively arranged on the left side of the upper left cabin door (B01-11), the right side of the upper right cabin door (B01-12), the left side of the lower left cabin door (B01-21), and the right side of the lower right cabin door (B01-22), and driven to rotate by the driving module (C); At least four sets of driving swing rods (B01-4) are fixedly connected to: The two ends of the driving rotating rod (B01-3) on the left side of the upper left cabin door (B01-11) are fixedly connected to the two ends of the driving rotating rod (B01-3) on the left side of the lower left cabin door (B01-21). The two ends of the driving rotating rod (B01-3) on the right side of the upper right cabin door (B01-12) are fixedly connected to the two ends of the driving rotating rod (B01-3) on the right side of the lower right cabin door (B01-22); At least eight sets of movable rods (B01-5), fixedly configured at: The front and rear sides of the upper left door (B01-11) are rotatably connected to the driving rotation rod (B01-3) on the left side of the upper left door (B01-11). The front and rear sides of the upper right door (B01-12) are rotatably connected to the driving rotation rod (B01-3) on the right side of the upper right door (B01-12). The front and rear sides of the lower left door (B01-21) are rotatably connected to the driving rotation rod (B01-3) on the left side of the lower left door (B01-21). The front and rear sides of the lower right door (B01-22) are rotatably connected to the driving rotation rod (B01-3) on the right side of the lower right door (B01-22); At least four sets of driven swing rods (B01-6), which are respectively connected to: The right ends of the movable rods (B01-5) on the front and rear sides of the upper left cabin door (B01-11) are respectively connected to the right ends of the movable rods (B01-5) on the front and rear sides of the lower left cabin door (B01-21), and are rotatably connected to the right ends of the movable rods (B01-5) on the front and rear sides of the lower left cabin door (B01-21). The left ends of the movable rods (B01-5) on the front and rear sides of the upper right cabin door (B01-12) are respectively connected to the left ends of the movable rods (B01-5) on the front and rear sides of the lower right cabin door (B01-22), and are rotatably connected to the left ends of the movable rods (B01-5) on the front and rear sides of the lower right cabin door (B01-22).

5. The four-link door bidirectional opening and closing system for an unmanned aerial vehicle hangar according to claim 4 is characterized in that: The windshield side panels (B02) are respectively fixedly mounted on: Between the driving swing rods (B01-4) at both ends of the left side of the upper left door (B01-11) and the lower left door (B01-21), Between the driving swing rods (B01-4) at both ends of the right side of the upper right door (B01-12) and the lower right door (B01-22); The elastic air guide strips (B03) are respectively fixedly installed on: Between the driving swing rod (B01-4) and the driven swing rod (B01-6) at the front ends of the upper left cabin door (B01-11) and the lower left cabin door (B01-21), Between the driving swing rod (B01-4) and the driven swing rod (B01-6) at the rear ends of the upper left door (B01-11) and the lower left door (B01-21), Between the driving swing rod (B01-4) and the driven swing rod (B01-6) at the front ends of the upper right door (B01-12) and the lower right door (B01-22), Between the driving swing rod (B01-4) and the driven swing rod (B01-6) at the rear ends of the upper right cabin door (B01-12) and the lower right cabin door (B01-22).

6. The four-link door bidirectional opening and closing system for an unmanned aerial vehicle hangar according to claim 5 is characterized in that: A plurality of driving gear blocks (B04) are also provided on both sides of the movable inner cabin (B).

7. The four-link door bidirectional opening and closing system for an unmanned aerial vehicle hangar according to claim 6 is characterized in that: One end of the driving rotating rod (B01-3) is provided with a driving connection slot (B01-31).

8. The four-link door bidirectional opening and closing system for an unmanned aerial vehicle hangar according to claim 7 is characterized in that: The driving module (C) includes: A plurality of drive toothed belts (C01) are arranged on both sides of the movable inner cabin (B) and respectively mesh with the drive tooth blocks (B04) to drive the movable inner cabin (B) to move up and down; At least four groups of drive connection blocks (C02) are respectively arranged at the upper end and the lower end of the inner part of the outer cabin (A), and the drive connection blocks (C02) and the drive connection slots (B01-31) are located on the same side. When the movable inner cabin (B) moves to above the upper end surface of the outer cabin (A), the drive connection slots (B01-31) on the drive rotating rods (B01-3) on both sides of the lower cabin door (B01-2) are docked with the drive connection blocks (C02) at the upper end of the inner part of the outer cabin (A). When the movable inner cabin (B) moves to below the lower end surface of the outer cabin (A), the drive connection slots (B01-31) on the drive rotating rods (B01-3) on both sides of the upper cabin door (B01-1) are docked with the drive connection blocks (C02) at the lower end of the inner part of the outer cabin (A).

9. An adaptive control method for a four-link door of an unmanned aerial vehicle hangar, using a two-way opening and closing system for a four-link door of an unmanned aerial vehicle hangar according to any one of claims 1 to 8, characterized in that: Specifically include: When the upper cabin door (B01-1) is opened in a non-strong wind environment, the drive module (C) drives the movable inner cabin (B) to move above the upper end surface of the outer cabin (A) through the drive toothed belt (C01). The drive connection slots (B01-31) on the drive rotating rods (B01-3) on both sides of the lower cabin door (B01-2) are connected to the drive connection block (C02) at the upper end of the inner portion of the outer cabin (A). The drive module (C) drives the drive rotating rods (B01-3) on both sides of the lower cabin door (B01-2) to rotate through the drive connection block (C02), thereby driving the drive swing rods (B01-4) at both ends of the drive rotating rod (B01-3) to swing, further driving the drive rotating rod (B01-3) connected to the other end of the drive swing rod (B01-4) and the upper cabin door (B01-1) to swing, thereby opening the upper cabin door (B01-1) through the swinging. In a strong wind environment, the lower cabin door (B01-2) is opened, and the drive module (C) drives the movable inner cabin (B) to move to the lower end surface of the outer cabin (A) through the drive toothed belt (C01). The drive connection slots (B01-31) on the drive rotating rods (B01-3) on both sides of the upper cabin door (B01-1) are connected to the drive connection block (C02) at the lower end of the inner side of the outer cabin (A). The drive module (C) drives the drive rotating rods (B01-3) on both sides of the upper cabin door (B01-1) to rotate through the drive connection block (C02), thereby driving the drive swing rods (B01-4) at both ends of the drive rotating rod (B01-3) to swing, further driving the drive rotating rod (B01-3) connected to the other end of the drive swing rod (B01-4) and the lower cabin door (B01-2) to swing, thereby opening the lower cabin door (B01-2) through the swinging.

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