Follow-up autonomous charging and battery replacement unmanned aerial vehicle landing platform

Abstract

This technology discloses a follow-type autonomous dosing and battery swapping UAV take-off and landing platform, including a self-propelled walking mechanism and a degree-of-freedom UAV take-off and landing platform. This technology solves the problems of existing fixed take-off and landing platforms, which require the UAV to fly back to a designated location for maintenance, thus increasing travel distance and time, and the cumbersome and inefficient manual operation of dosing and battery swapping processes. The platform moves via a self-propelled walking mechanism and avoids obstacles through a front-end detection camera. The innovative design of the dosing and battery swapping devices, both employing a translational lifting mechanism structure, enables precise docking with the UAV and automatically completes dosing and battery replacement. The innovative degree-of-freedom platform design ensures stable take-off and landing of the UAV. Combined with a control system and a Hooke's hinge structure, the platform tilt angle can be adjusted in real time, and the operation is fully automated, reducing manual intervention and improving operational efficiency and safety. It can significantly improve the continuity, economic benefits, and environmental adaptability of UAV dosing operations, demonstrating significant application benefits.

Description

Technical Field

[0001] This technology relates to the field of ground support equipment for pesticide application drones, specifically a follow-type autonomous pesticide application and battery swapping drone take-off and landing platform. Background Technology

[0002] With the widespread use of agricultural drones in forestry and field operations, the level of automation and intelligence in these operations is constantly improving. However, most existing take-off and landing platforms are fixed, requiring drones to fly back to designated locations for maintenance during operations. This not only increases flight distance and time but also reduces operational efficiency. Furthermore, pesticide application and battery swapping processes largely rely on manual operation, resulting in high labor costs, poor continuity, and insufficient environmental adaptability. While some semi-automatic platforms integrate simple pesticide application or charging functions, they struggle to adapt to complex terrain and diverse operating environments. Unfavorable ground conditions can easily lead to drone instability, affecting landing and pesticide / battery swapping operations, and even increasing the risk of damage. To address these issues, a follow-type autonomous pesticide application and battery swapping drone take-off and landing platform is proposed. Summary of the Invention

[0003] The purpose of this technology is to provide a follow-type autonomous drug delivery and battery swapping drone take-off and landing platform to solve the problems of existing fixed take-off and landing platforms that require drones to fly back to a designated location to complete maintenance, thereby increasing the flight distance and time, and the cumbersome and inefficient manual operation of drug delivery and battery swapping processes.

[0004] To achieve the above technical objectives, the technical solution adopted in this invention is as follows: A follow-type autonomous drug dispensing and battery swapping UAV take-off and landing platform includes a self-propelled walking mechanism and a degree-of-freedom UAV take-off and landing platform mounted on the self-propelled walking mechanism. The degree-of-freedom UAV take-off and landing platform includes an outer shell, a protective cover, a drug dispensing device, a battery swapping device, and a degree-of-freedom platform. The outer shell is mounted on a self-propelled walking mechanism, and the protective cover is rotatably connected to the outer shell; The dosing device, the power swapping device, and the degree-of-freedom platform are all located inside the outer casing, with the degree-of-freedom platform situated between the dosing device and the power swapping device. The dosing device includes a translation and lifting mechanism, an upper dosing platform, a lower dosing platform, a hose, a dosing tube, and a dosing tank. Both the upper and lower dosing platforms are fixedly connected to the inner wall of the outer shell. The upper dosing platform is located above the lower dosing platform, and the dosing tank is provided on the lower dosing platform. The translation and lifting mechanism is located on the upper surface of the upper dosing platform. The translation and lifting mechanism is connected to the dosing tube and is used to drive the dosing tube to move back and forth and up and down. The dosing tube is connected to the hose, and the hose is connected to the dosing tank through a water pump. One end of the dosing tube faces the degree of freedom platform. The dosing tube is used to dock with the dosing port of the drone dosing tank on the drone that lands on the top of the degree of freedom platform under the drive of the translation and lifting mechanism. The battery swapping device includes a translation and lifting mechanism, an upper battery swapping platform, a middle battery swapping platform, a lower battery swapping platform, a slide bar drive mechanism, a support plate lifting drive mechanism, a battery, a left-right linear drive mechanism, and a right-left-right and left-right moving mechanism. The upper, middle, and lower battery swapping platforms are sequentially fixed to the inner wall of the outer casing from top to bottom. The translation and lifting mechanism is located on the upper surface of the upper battery swapping platform and is connected to the robotic arm, driving the robotic arm to move forward and backward and up and down. The end effector of the robotic arm faces the platform of freedom. The upper battery swapping platform has an upper through-hole, and the middle battery swapping platform has a middle through-hole located directly below the upper through-hole. The lower battery swapping platform has a support plate lifting drive mechanism connected to the support plate, driving the support plate to move up and down through the middle and upper through-holes. A sliding rod drive mechanism is installed between the upper platform and the battery swapping platform. The sliding rod drive mechanism is connected to the sliding rod and is used to drive the sliding rod to move, thereby pushing the low-powered drone battery on the support plate to the upper surface of the battery swapping platform. Multiple batteries are placed on the upper surface of the lower battery swapping platform. A left-right linear drive mechanism is installed between the upper and lower battery swapping platforms. The left-right linear drive mechanism is connected to the up-down-forward and backward movement mechanism, and is used to drive the up-down-forward and backward movement mechanism to move in the left-right direction. The up-down-forward and backward movement mechanism is connected to an electromagnet and is used to drive the electromagnet to move forward and backward and up and down, so that the electromagnet attracts the battery and sends the attracted battery to the support plate. The robotic arm is used to perform battery swapping operations on the low-powered drone battery that has landed on the top of the degree-of-freedom platform, driven by the translation and lifting mechanism. The degree-of-freedom platform includes a degree-of-freedom platform base and a degree-of-freedom disk. The degree-of-freedom platform base is connected to the degree-of-freedom disk and is used to adjust the tilt angle of the degree-of-freedom disk. The top of the degree-of-freedom disk is used to support the landing drone and clamp and fix the feet at the bottom of the drone.

[0005] As a further improvement to this technology, the self-propelled walking mechanism adopts a tracked walking mechanism, and the outer shell is provided with a protective cover drive mechanism for driving the protective cover to rotate.

[0006] As a further improvement to this technology, in the dosing device, the translation and lifting mechanism includes a translation mechanism and a lifting mechanism. The translation mechanism is set on the dosing platform and is connected to the lifting mechanism. The translation mechanism is used to drive the lifting mechanism to move back and forth. The lifting slider of the lifting mechanism is connected to the medicine tube through a connector, and the lifting mechanism is used to drive the medicine tube to move up and down. In the battery swapping device, the translation mechanism of the translation and lifting mechanism is set on the battery swapping platform, and the lifting slider of the lifting mechanism is connected to the robotic arm. The lifting mechanism is used to drive the robotic arm to move up and down.

[0007] As a further improvement to this technology, the lifting mechanism adopts a linear module, and the translation mechanism includes a guide rail, an electric push rod, and a movable base plate. The lifting mechanism is set on the movable base plate, the guide rail is fixedly connected to the dosing platform and the battery swapping platform, and the movable base plate is slidably connected to the guide rail through a translation slider. The electric push rod is set on the dosing platform and the battery swapping platform, and the push rod in the electric push rod is connected to the movable base plate. The electric push rod drives the movable base plate to slide back and forth on the guide rail.

[0008] As a further improvement to this technology, the upper platform for adding medicine is provided with a through hole, and the medicine tank's dosing port extends upward from the through hole; The inner wall of one end of the medicine tube is connected to an elastic structure 1 by a support rod. The elastic structure 1 is connected to a contact head 1. The inclined outer wall of the contact head 1 is sealed and engaged with the inclined inner wall of one end of the medicine tube under the action of the elastic structure 1. One end of the contact head 1 is provided with a protrusion 1, which extends outward from one end of the medicine tube. The drone's medicine tank is connected to a medicine inlet. The inner wall of the medicine inlet is connected to an elastic structure two via a support rod. The elastic structure two is connected to a contact head two. The inclined outer wall of the contact head two is sealed and engaged with the inclined inner wall of the medicine inlet under the action of the elastic structure two. The inclined inner wall end face of the medicine inlet is located inside the medicine inlet. One end of the contact head two is provided with a protrusion two, which extends outward from the inclined inner wall end face of the medicine inlet. The medicine tube is used to connect with the injection port under the drive of the translation mechanism. After connection, the end face of the medicine tube extends into the injection port and is in close contact with the inclined inner wall end face inside the injection port. At the same time, after the first protrusion and the second protrusion connect, they respectively squeeze the first elastic structure and the second elastic structure, causing the first protrusion to leave the inclined inner wall of the medicine tube and the second protrusion to leave the inclined inner wall inside the injection port, so that the medicine tube and the injection port are connected.

[0009] As a further improvement to this technology, the slide bar drive mechanism includes a slide bar and a linear module. The linear module is provided on the vertical side wall between the upper battery swapping platform and the middle battery swapping platform, and a sliding groove is provided on the other side wall. The slider on the linear module is connected to one end of the slide bar, and the other end of the slide bar is slidably connected to the sliding groove. The linear module is used to drive the slide bar to move back and forth linearly along the sliding groove, thereby pushing the drone battery with insufficient power on the support plate to the inclined upper surface of the middle battery swapping platform. The upper surface of the battery swapping platform is also equipped with a contact partition to block the battery.

[0010] As a further improvement to this technology, the lifting drive mechanism for the support plate adopts a lifting hydraulic cylinder; The up-down and back-forward moving mechanism includes up-down hydraulic cylinders and front-back hydraulic cylinders. The telescopic rods of the front-back hydraulic cylinders are connected to the cylinder bodies of the up-down hydraulic cylinders, and the front-back hydraulic cylinders are used to drive the up-down hydraulic cylinders to move back and forth. The telescopic rods of the up-down hydraulic cylinders face downwards and are connected to electromagnets. The up-down hydraulic cylinders are used to drive the electromagnets to move up and down. The left-right linear drive mechanism adopts a linear module. The linear module is connected to the vertical side wall between the middle platform and the lower platform of the battery swapping. The slider on the linear module is connected to one end of the cylinder body of the front-back hydraulic cylinders, and the linear module is used to drive the front-back hydraulic cylinders to move in the left-right direction.

[0011] As a further improvement to this technology, the free-degree platform base includes a platform base, a first degree-of-freedom device, a second degree-of-freedom device, and a third degree-of-freedom device. The degree-of-freedom device includes a motor, a base gear, a transmission gear, a transmission long arm, and a bow-shaped short arm. The motor is mounted on the platform base. The output end of the motor is connected to the base gear. The base gear meshes with the transmission gear. The transmission gear is fixedly connected to the bottom of the inner sleeve. The top of the inner sleeve is fixedly connected to one end of the transmission long arm. The other end of the transmission long arm is rotatably connected to one end of the bow-shaped short arm via a Hooke's joint. The other end of the bow-shaped short arm is rotatably connected to the degree-of-freedom disk via a Hooke's joint. The second degree-of-freedom device includes a second motor, a second base gear, a second transmission gear, a second long transmission arm, and a second bow-shaped short arm. The second motor is mounted on the platform base. The output end of the second motor is connected to the second base gear. The second base gear meshes with the second transmission gear. The second transmission gear is fixedly connected to the bottom of the middle sleeve. The top of the middle sleeve is fixedly connected to one end of the second long transmission arm. The other end of the second long transmission arm is rotatably connected to one end of the second bow-shaped short arm via a Hooke's joint. The other end of the second bow-shaped short arm is rotatably connected to the degree-of-freedom disk via a Hooke's joint. The second degree-of-freedom device includes a third motor, a third base gear, a third transmission gear, a third long transmission arm, and a third bow-shaped short arm. The third motor is mounted on the platform base. The output end of the third motor is connected to the third base gear. The third base gear meshes with the third transmission gear. The third transmission gear is fixedly connected to the bottom of the outer sleeve. The top of the outer sleeve is fixedly connected to one end of the third long transmission arm. The other end of the third long transmission arm is rotatably connected to one end of the third bow-shaped short arm via a Hooke joint. The other end of the third bow-shaped short arm is rotatably connected to the degree-of-freedom disk via a Hooke joint. A central column is fixedly connected to the middle of the upper surface of the platform base. The inner sleeve is rotatably connected to the outside of the central column, the middle sleeve is rotatably connected to the outside of the inner sleeve, and the outer sleeve is rotatably connected to the outside of the middle sleeve. The lengths of the inner sleeve, middle sleeve, and outer sleeve decrease sequentially. Transmission gear one, transmission gear two, transmission gear three, transmission long arm three, transmission long arm two, and transmission long arm one are arranged sequentially from bottom to top.

[0012] As a further improvement to this technology, the degree-of-freedom disk includes a disk base plate, a disk top plate, a support column, a fixing clamp, a slide rail, a slide plate, a transmission plate, a rotating frame, and a disk motor. A horizontal sensor is also provided on the disk top plate. The circular base plate is rotatably connected to the first, second, and third bow-shaped short arms via Hooke's joints on all four sides. The circular base plate is connected to the circular top plate via support columns. The upper surface of the circular base plate is provided with multiple slide rails, and a slide plate is slidably connected in each slide rail. A circular motor is provided in the middle of the circular base plate, and the output end of the circular motor is connected to the rotating frame. The rotating frame is provided with multiple arc-shaped connecting rods, and each arc-shaped connecting rod is rotatably connected to the slide plate via a transmission plate. A fixing clamp is also fixedly connected to the surface of each slide plate. The surface of the circular top plate is provided with multiple strip-shaped grooves. The fixing clamps extend upward from the strip-shaped grooves and can slide along the strip-shaped grooves. The circular motor is used to drive the slide plate to slide in the slide rails through the rotating frame and the transmission plate, thereby driving the fixing clamps on the slide plate to slide along the strip-shaped grooves, so that the multiple fixing clamps together clamp the multiple feet at the bottom of the drone.

[0013] As a further improvement to this technology, a detection camera is also provided on the front side of the outer shell. The outer shell is also provided with a GPS positioning system, a vehicle control unit, a wireless communication module and a power supply. The detection camera and the GPS positioning system are both connected to the vehicle control unit. The vehicle control unit is connected to the self-propelled walking mechanism, the protective cover drive mechanism, the translation and lifting mechanism and water pump in the dosing device, the translation and lifting mechanism, electromagnet, linear module and robotic arm in the battery swapping device, and motors one, two, three, disc motor and horizontal sensor in the degree-of-freedom platform. The outer casing is also equipped with an oil tank, which is used to connect to the lifting hydraulic cylinder, the upper and lower hydraulic cylinder and the front and rear hydraulic cylinder in the battery swapping device through multiple pipes and solenoid valves. The vehicle control unit is connected to the solenoid valve to control the movement of the lifting hydraulic cylinder, the upper and lower hydraulic cylinder and / or the front and rear hydraulic cylinder. The solenoid valve, detection camera, GPS positioning system, vehicle control unit, wireless communication module, self-propelled walking mechanism, protective cover drive mechanism, translation and lifting mechanism and water pump in the dosing device, translation and lifting mechanism in the battery swapping device, electromagnet, linear module and robotic arm, as well as motor one, motor two, motor three, disc motor and horizontal sensor in the degree of freedom platform are all connected to the power supply. The vehicle-mounted control unit is wirelessly connected to the drone via a wireless communication module.

[0014] The beneficial effects of this technology are: This technology includes a self-propelled walking mechanism and a degree-of-freedom UAV take-off and landing platform mounted on the self-propelled walking mechanism. The degree-of-freedom UAV take-off and landing platform includes a shell, a protective cover, a dosing device, a battery swapping device, and the degree-of-freedom platform itself. This technology solves the problems of existing fixed take-off and landing platforms, which require the UAV to fly back to a designated location for maintenance, thus increasing travel distance and time, and the cumbersome and inefficient manual operation of dosing and battery swapping. The platform moves through a self-propelled walking mechanism and avoids obstacles by monitoring with a front-end detection camera. The innovative design of the dosing and battery swapping devices, both employing a translational lifting mechanism structure, enables precise docking with the UAV and automatically completes the dosing and battery replacement. The innovative design of the degree-of-freedom platform protects the UAV for stable take-off and landing. Combined with a control system and a Hooke's hinge structure, the platform tilt angle can be adjusted in real time, with automatic operation, reducing manual intervention and improving operational efficiency and safety. The protective cover is dustproof and waterproof, adapting to harsh environments. The overall technical solution significantly improves the continuity, economic efficiency, and environmental adaptability of UAV pesticide application operations, demonstrating significant application benefits.

[0015] This technology integrates a tracked autonomous driving mechanism with a degree-of-freedom UAV take-off and landing platform to achieve real-time path following and mobile maintenance of the UAV, significantly improving the efficiency of pesticide application and battery swapping. The pesticide application device and battery swapping device can automatically dock for rapid pesticide application and battery installation / removal, reducing manual operation and increasing operational efficiency. The innovatively designed degree-of-freedom platform, combined with an onboard control unit and a Hooke's hinge structure, maintains structural stability and, driven by a motor, achieves precise and stable tilt angle control, ensuring reliable take-off and landing of the UAV in complex terrain. The overall technical solution combines mobility, high efficiency, and environmental adaptability, significantly improving the continuity and economic benefits of plant protection operations. Attached Figure Description

[0016] Figure 1 A schematic diagram of the structure of the take-off and landing platform of a follow-type autonomous drug delivery and battery swapping UAV with the protective cover closed (i.e., in the traveling mode).

[0017] Figure 2 A schematic diagram of the structure for opening the protective cover (i.e., the stationary mode) of the take-off and landing platform of the follow-type autonomous drug dispensing and battery swapping UAV.

[0018] Figure 3 A schematic diagram of the structure of the take-off and landing platform of the follow-type autonomous drug dispensing and battery swapping drone, including the hidden protective cover and part of the shell.

[0019] Figure 4 A plan view of the dosing device for the take-off and landing platform of a follow-type autonomous dosing and battery-swapping UAV.

[0020] Figure 5 This is a schematic diagram showing the structure where the medicine tube and the medicine inlet of the drone's medicine box are not connected.

[0021] Figure 6 This is a schematic diagram of the structure after the medicine tube is connected to the medicine injection port of the drone's medicine tank.

[0022] Figure 7 A schematic diagram of the structure of the take-off and landing platform of the follow-type autonomous drug dispensing and battery swapping drone, including the hidden protective cover and part of the shell.

[0023] Figure 8 A partial structural diagram of the battery swapping device (after the support plate is raised) for the take-off and landing platform of a follow-type autonomous drug dispensing and battery swapping UAV.

[0024] Figure 9 A partial structural diagram of the battery swapping device (before the support plate is raised) for the take-off and landing platform of a follow-type autonomous drug delivery and battery swapping UAV.

[0025] Figure 10 A partial structural cross-sectional diagram of the battery swapping device for a follow-type autonomous drug delivery and battery swapping UAV take-off and landing platform.

[0026] Figure 11 A schematic diagram of the degree-of-freedom platform for the take-off and landing platform of a follow-type autonomous drug dispensing and battery swapping UAV.

[0027] Figure 12 A partial structural cross-section of the free-degree-of-freedom platform for the take-off and landing platform of a follow-type autonomous drug dispensing and battery swapping UAV.

[0028] Figure 13 This is a top view of the disk base plate in a platform with degrees of freedom.

[0029] Figure 14 This is a schematic diagram of the tilt angle adjustment of the disk in a platform with a degree of freedom.

[0030] Figure 15 This is a schematic diagram of the structure of an unmanned aerial vehicle (UAV) after it takes off from a platform with degrees of freedom.

[0031] Figure 16 This is a schematic diagram of how an external control program adjusts the tilt angle of a disk with degrees of freedom. Detailed Implementation

[0032] The specific implementation methods of this technology will be further described below with reference to the accompanying drawings: like Figure 1 and Figure 2As shown, a follow-type autonomous dosing and battery swapping UAV take-off and landing platform includes a self-propelled walking mechanism 7 and a degree-of-freedom UAV take-off and landing platform mounted on the self-propelled walking mechanism 7. The degree-of-freedom UAV take-off and landing platform includes a shell 1, a protective cover 2, a dosing device 3, a battery swapping device 4, and a degree-of-freedom platform 5. The shell 1 is mounted on the self-propelled walking mechanism 7, and the protective cover 2 is rotatably connected to the shell 1 via a hinge shaft 103. The shell 1 is provided with a protective cover drive mechanism for driving the protective cover 2 to rotate (achieving opening and closing). (The protective cover drive mechanism can be a motor or an electric push rod; the specific connection method for driving the protective cover 2 to rotate adopts existing technology.) The protective cover 2 can automatically open during UAV take-off and landing and close in non-operational states to prevent dust and rainwater from entering the internal devices. The self-propelled walking mechanism 7 is a tracked walking mechanism.

[0033] The dosing device 3, the power swapping device 4, and the degree-of-freedom platform 5 are all located inside the outer casing 1, with the degree-of-freedom platform 5 situated between the dosing device 3 and the power swapping device 4.

[0034] like Figures 3-4 As shown, the dosing device 3 includes a translational lifting mechanism A, an upper dosing platform 301, a lower dosing platform 302, a hose 303, a medicine tube 304, and a medicine tank 305. The upper dosing platform 301 and the lower dosing platform 302 are parallel to each other and are both fixedly connected to the inner wall of the outer casing 1. The medicine tank 305 is provided on the lower dosing platform 302. The translational lifting mechanism A is provided on the upper surface of the upper dosing platform 301. The translational lifting mechanism A is connected to the medicine tube 304 and is used to drive the medicine tube 304 to move back and forth. The tube 304 is connected to the hose 303, which is connected to the medicine tank 305 via the water pump 306. One end of the tube 304 faces the platform 5. The tube 304 is used to dock with the injection port 602 of the drone medicine tank that lands on the top of the drone 6, driven by the translation and lifting mechanism A. The water pump 306 is controlled by the vehicle control unit when the dosing starts and is delayed after dosing stops to ensure that there is no residual liquid in the medicine pipeline.

[0035] In the dosing device 3, the translation and lifting mechanism A includes a translation mechanism A1 and a lifting mechanism A2. The translation mechanism A1 is set on the dosing platform 301. The translation mechanism A1 is connected to the lifting mechanism A2. The translation mechanism A1 is used to drive the lifting mechanism A2 to move back and forth. The lifting slider of the lifting mechanism A2 is connected to the medicine tube 304 through the connector 307. The lifting mechanism A2 is used to drive the medicine tube 304 to move up and down.

[0036] The upper platform 301 for adding medicine is provided with a through hole, and the medicine inlet 3051 of the medicine tank 305 extends upward from the through hole. The medicine inlet 3051 is provided with a medicine cap, which remains closed when the medicine is not added manually.

[0037] like Figures 5-6 As shown, an elastic structure 3041 is connected to the inner wall of one end of the medicine tube 304 via a support rod. The elastic structure 3041 is connected to a contact head 3042. The inclined outer wall of the contact head 3042 is sealed and engaged with the inclined inner wall of one end of the medicine tube 304 under the action of the elastic structure 3041. One end of the contact head 3042 is provided with a protrusion 30421, which extends outward from one end of the medicine tube 304.

[0038] The drone medicine box of the drone 6 is connected to a medicine inlet 602. The inner wall of the medicine inlet 602 is connected to an elastic structure 6021 via a support rod. The elastic structure 6021 is connected to a contact head 6022. The inclined outer wall of the contact head 6022 is sealed and engaged with the inclined inner wall of the medicine inlet 602 under the action of the elastic structure 6021. The inclined inner wall end face 6023 of the medicine inlet 602 is located inside the medicine inlet 602. One end of the contact head 6022 is provided with a protrusion 60221, which extends outward from the inclined inner wall end face 6023 of the medicine inlet 602.

[0039] The medicine tube 304 is used to connect with the injection port 602 under the drive of the translation mechanism A1. After connection, the end face 3043 of the medicine tube 304 extends into the injection port 602 and comes into close contact with the inclined inner wall end face 6023 inside the injection port 602. At the same time, after the first protrusion 30421 and the second protrusion 60221 connect, they respectively compress the first elastic structure 3041 and the second elastic structure 6021, causing the first protrusion 30421 to leave the inclined inner wall of one end of the medicine tube 304 and the second protrusion 60221 to leave the inclined inner wall of the injection port 602, ultimately making the medicine tube 304 and the injection port 602 connected. The first elastic structure 3041 and the second elastic structure 6021 can be elastic fences or other elastic structures, such as springs.

[0040] like Figures 7-10As shown, the battery swapping device 4 includes a translational lifting mechanism A, an upper battery swapping platform 401, a middle battery swapping platform 402, a lower battery swapping platform 403, a slide bar drive mechanism 404, a support plate lifting drive mechanism 406, a battery 407, a left-right linear drive mechanism 408, and a vertical and horizontal movement mechanism 409. The upper battery swapping platform 401, the middle battery swapping platform 402, and the lower battery swapping platform 403 are fixedly connected to the inner wall of the outer casing 1 from top to bottom. The translational lifting mechanism A is disposed on the upper surface of the upper battery swapping platform 401 and is connected to the robotic arm 405 and is used to drive the robotic arm. The robotic arm 405 moves forward and backward as well as up and down. Its end effector (i.e., gripper or mechanical claw, etc.) faces the platform 5. The upper battery swapping platform 401 has an upper through-hole 4011, and the middle battery swapping platform 402 has a middle through-hole 4022, located directly below the upper through-hole 4011. The lower battery swapping platform 403 is equipped with a support plate lifting drive mechanism 406, which is connected to the support plate 411 and drives the support plate 411 to move up and down, thus passing through the middle through-hole 4022 and the upper through-hole 4011. 011, a slide bar drive mechanism 404 is provided between the upper battery swapping platform 401 and the middle battery swapping platform 402. The slide bar drive mechanism 404 is connected to the slide bar 4041 and is used to drive the slide bar 4041 to move, thereby pushing the drone battery 601 with insufficient power on the support plate 411 to the inclined upper surface of the middle battery swapping platform 402. Multiple batteries 407 are placed in the battery compartment on the upper surface of the lower battery swapping platform 403. A left and right linear drive mechanism 408 is provided between the middle battery swapping platform 402 and the lower battery swapping platform 403. The left and right linear drive mechanism 408 and... The up-down and forward-backward moving mechanism 409 is connected, and the left-right linear drive mechanism 408 is used to drive the up-down and forward-backward moving mechanism 409 to move in the left-right direction. The up-down and forward-backward moving mechanism 409 is connected to an electromagnet 412 and is used to drive the electromagnet 412 to move forward and backward and up and down, so that the electromagnet 412 attracts the battery 407 and sends the attracted battery 407 to the support plate 411. The robotic arm 405 is used to perform a battery swapping operation on the drone battery 601 with insufficient power that lands on the top of the drone 6 on the degree of freedom platform 5 under the drive of the translation and lifting mechanism A.

[0041] In the battery swapping device 4, the translation mechanism A1 of the translation and lifting mechanism A is set on the battery swapping platform 401, and the lifting slider of the lifting mechanism A2 is connected to the robotic arm 405. The lifting mechanism A2 is used to drive the robotic arm 405 to move up and down.

[0042] The lifting mechanism A2 adopts an existing ball screw linear module. The translation mechanism A1 includes a guide rail A11, an electric push rod, and a movable base plate A12. The lifting mechanism A2 is mounted on the movable base plate A12. The guide rail A11 is fixedly connected to the dosing platform 301 and the battery swapping platform 401. The movable base plate A12 is slidably connected to the guide rail A11 via a translation slider. The electric push rod is mounted on the dosing platform 301 and the battery swapping platform 401. The push rod in the electric push rod is connected to the movable base plate A12, and the electric push rod drives the movable base plate A12 to slide back and forth on the guide rail A11. The electric push rod can have a built-in pressure sensor to prevent overpressure damage to the equipment.

[0043] The slide bar drive mechanism 404 includes a slide bar 4041 and a linear module. The linear module is located on a vertical side wall between the upper battery swapping platform 401 and the middle battery swapping platform 402, and a sliding groove 4042 is located on the other side wall. A slider on the linear module is connected to one end of the slide bar 4041, and the other end of the slide bar 4041 is slidably connected to the sliding groove 4042. The linear module drives the slide bar 4041 to move linearly back and forth along the sliding groove 4042, thereby pushing the drone battery 601 with insufficient power on the support plate 411 to the inclined upper surface of the middle battery swapping platform 402. Drone battery 601 and battery 407 are the same battery. When battery 407 is replaced on drone 6, the battery 407 on drone 6 is designated as drone battery 601. After drone battery 601 is removed from drone 6 and fully charged, it is recharged and placed on the lower battery swapping platform 403, and then designated as battery 407.

[0044] The upper surface of the battery swapping platform 402 is also provided with a contact partition 4021 for blocking the battery 407. The contact partition 4021 is wrapped with sponge material to reduce the damage to the battery from impact.

[0045] The support plate lifting drive mechanism 406 adopts a lifting hydraulic cylinder.

[0046] The up-down and back-forward moving mechanism 409 includes an up-down hydraulic cylinder 4092 and a back-forward hydraulic cylinder 4091. The telescopic rod of the back-forward hydraulic cylinder 4091 is connected to the cylinder body of the up-down hydraulic cylinder 4092, and the back-forward hydraulic cylinder 4091 drives the up-down hydraulic cylinder 4092 to move back and forth. The telescopic rod of the up-down hydraulic cylinder 4092 faces downward and is connected to an electromagnet 412 at its end. The up-down hydraulic cylinder 4092 drives the electromagnet 412 to move up and down. The left-right linear drive mechanism 408 adopts a linear module. The linear module is connected to the vertical side wall between the battery swapping platform 402 and the lower battery swapping platform 403 and extends along the left-right direction. The slider on the linear module is connected to one end of the cylinder body of the back-forward hydraulic cylinder 4091, and the linear module drives the back-forward hydraulic cylinder 4091 to move along the left-right direction. The support plate lifting drive mechanism 406, the up-down hydraulic cylinder 4092, and the back-forward hydraulic cylinder 4091 automatically return to their original positions after the battery replacement is completed, ensuring that the UAV take-off and landing channel is unobstructed. The lower end of the telescopic rod of the upper and lower hydraulic cylinders 4092 is connected to an electromagnet 412. When the electromagnet 412 is energized, it can generate a magnetic force to attract the battery 407. When the power is off, it can be placed stably on the support plate 411 connected to the lifting hydraulic cylinder (i.e., the support plate lifting drive mechanism 406).

[0047] like Figure 1 As shown, the degree-of-freedom platform 5 includes a degree-of-freedom platform base 501 and a degree-of-freedom disk 502. The degree-of-freedom platform base 501 is connected to the degree-of-freedom disk 502, and the degree-of-freedom platform base 501 is used to adjust the tilt angle of the degree-of-freedom disk 502. The top of the degree-of-freedom disk 502 is used to support the landing drone 6 and clamp and fix the drone 6.

[0048] like Figures 11-12 As shown, the degree-of-freedom platform base 501 includes a platform base 5011, a degree-of-freedom device one, a degree-of-freedom device two, and a degree-of-freedom device three.

[0049] like Figures 11-12 As shown, the degree-of-freedom device includes a motor 5012f, a base gear 5012a, a transmission gear 5012b, a long transmission arm 5012c, and a bow-shaped short arm 5012d. The motor 5012f is mounted on the platform base 5011. The output end of the motor 5012f is connected to the base gear 5012a. The base gear 5012a meshes with the transmission gear 5012b, and the transmission gear 5012b meshes with the inner sleeve 5012e (e.g., ...). Figure 12The green line indicates that the bottom outer circumference of the inner sleeve 5012e is fixedly connected. The top outer circumference of the inner sleeve 5012e is fixedly connected to one end of the long transmission arm 5012c. The other end of the long transmission arm 5012c is rotatably connected to one end of the bow-shaped short arm 5012d through a Hooke joint 5016. The other end of the bow-shaped short arm 5012d is rotatably connected to the degree-of-freedom disk 502 through a Hooke joint 5016, thereby realizing the support and angle adjustment of the degree-of-freedom disk 502.

[0050] The second degree-of-freedom device includes a second motor 5013f, a second base gear 5013a, a second transmission gear 5013b, a second long transmission arm 5013c, and a second bow-shaped short arm 5013d. The second motor is mounted on the platform base 5011, and its output end is connected to the second base gear 5013a. The second base gear 5013a meshes with the second transmission gear 5013b, and the second transmission gear 5013b meshes with the middle sleeve 5013e (e.g., ...). Figure 12 The blue line indicates that the bottom outer circumference of the middle sleeve 5013e is fixedly connected. The top outer circumference of the middle sleeve 5013e is fixedly connected to one end of the transmission long arm 5013c. The other end of the transmission long arm 5013c is hinged to one end of the bow-shaped short arm 5013d through a Hooke hinge 5016. The other end of the bow-shaped short arm 5013d is hinged to the degree-of-freedom disk 502 through a Hooke hinge 5016, thereby realizing the support and angle adjustment of the degree-of-freedom disk 502.

[0051] The second degree-of-freedom device includes a motor 5014f, a base gear 5014a, a transmission gear 5014b, a long transmission arm 5014c, and a bow-shaped short arm 5014d. The motor is mounted on the platform base 5011, and its output end is connected to the base gear 5014a. The base gear 5014a meshes with the transmission gear 5014b, and the transmission gear 5014b meshes with the outer sleeve 5014e (e.g., ...). Figure 12 The red line indicates that the outer circumference of the bottom of the outer sleeve 5014e is fixedly connected. The outer circumference of the top of the outer sleeve 5014e is fixedly connected to one end of the transmission long arm 5014c. The other end of the transmission long arm 5014c is hinged to one end of the bow-shaped short arm 5014d through a Hooke hinge 5016. The other end of the bow-shaped short arm 5014d is hinged to the degree-of-freedom disk 502 through a Hooke hinge 5016, thereby realizing the support and angle adjustment of the degree-of-freedom disk 502.

[0052] A central column 5015 is fixedly connected to the middle of the upper surface of the platform base 5011. The inner sleeve 5012e is rotatably sleeved on the outside of the central column 5015, the middle sleeve 5013e is rotatably sleeved on the outside of the inner sleeve 5012e, and the outer sleeve 5014e is rotatably sleeved on the outside of the middle sleeve 5013e. The lengths of the inner sleeve 5012e, the middle sleeve 5013e, and the outer sleeve 5014e decrease sequentially. The transmission gear 1 5012b, the transmission gear 2 5013b, the transmission gear 3 5014b, the transmission long arm 3 5014c, the transmission long arm 2 5013c, and the transmission long arm 1 5012c are arranged sequentially from bottom to top. The upper surfaces of transmission gear 5012b and transmission gear 5013b can be equipped with circular smooth pads to reduce friction between gears. The circular smooth pads are made of hard materials and can also support the corresponding transmission gears and prevent them from falling off due to gravity or vibration, thereby improving the reliability and service life of the entire degree-of-freedom platform.

[0053] Friction bearings are installed at the hinge points within Degree-of-Freedom (DOF) devices one, two, and three. These bearings generate resistance torque during the mechanism's movement, thus affecting its dynamic characteristics. Taking Degree-of-Freedom device one as an example, when the bow-shaped short arm 5012d attempts to move under external force, the generated force is transmitted through the hinge point to the transmission long arm 5012c and the friction bearings. The locking force generated by the friction bearings forms an equivalent reaction force, thereby inhibiting the free movement of the bow-shaped short arm 5012d. The bow-shaped short arm 5012d can only rotate when the external force exceeds the locking force of the friction bearings or the static friction limit of the structure; when the external force is insufficient to overcome the locking force, the bow-shaped short arm 5012d remains stationary and will not move arbitrarily.

[0054] like Figure 11 and Figure 13 As shown, the degree-of-freedom disk 502 includes a disk base plate 5021, a disk top plate 5022, a support column 5023, a fixing clamp 5024, a slide rail 5025, a slide plate 5026, a transmission plate 5027, a rotating frame 5028, and a disk motor 5029.

[0055] The circular base plate 5021 is rotatably connected to the three arched short arms 5012d, 5013d, and 5014d respectively. The circular base plate 5021 is connected to the circular top plate 5022 via support columns 5023. Figure 13The upper surface of the disc base plate 5021 is provided with four slide rails 5025, and a slide plate 5026 is slidably connected in each slide rail 5025. A disc motor 5029 is connected to the inner hole in the middle of the disc base plate 5021. The output end of the disc motor 5029 is connected to the rotating frame 5028. The rotating frame 5028 is provided with four arc-shaped connecting rods. Each arc-shaped connecting rod is rotatably connected to the slide plate 5026 through a transmission plate 5027. A fixing clamp 5024 is also fixedly connected to the surface of each slide plate 5026. The surface of the disc top plate 5022 is provided with multiple strip-shaped grooves 5030. The upper, wider plate of the fixed clamping plate 5024 is located above the strip-shaped slide groove 5030, and the lower, narrower plate of the fixed clamping plate 5024 extends downward through the strip-shaped slide groove 5030 and connects to the slide plate 5026. The fixed clamping plate 5024 can slide along the strip-shaped slide groove 5030. The disc motor 5029 is used to drive the slide plate 5026 to slide within the slide rail 5025 through the rotating frame 5028 and the transmission plate 5027, thereby driving the fixed clamping plates 5024 on the slide plate 5026 to slide along the strip-shaped slide groove 5030, ultimately causing the four fixed clamping plates 5024 to clamp the four support legs at the bottom of the UAV 6. The rotating frame 5028 is driven to rotate by the disc motor 5029; the rotation of the rotating frame 5028 can synchronously drive the transmission plate 5027 to rotate, further driving the slide plate 5026 to move along the slide rail 5025, realizing the precise movement and positioning of the fixed clamping plates 5024. Drone 6 adopts a commonly used existing pesticide application drone. Drone 6 shares its own position information with the vehicle-mounted control unit. Based on its own position information fed back by the vehicle-mounted control unit on the autonomous pesticide application and battery swapping drone take-off and landing platform (hereinafter referred to as the take-off and landing platform), Drone 6 flies to the top of the degree-of-freedom disk 502 of the take-off and landing platform. The drone control system on Drone 6 controls Drone 6 to land at a preset position on the top plate 5022 of the degree-of-freedom disk 502 based on the surrounding information collected in real time by the drone camera. (A marker can be set on the top plate 5022 of the disk, and the drone camera can capture the image.) The head 603 collects the position of the marker in real time, so that the drone 6 lands in a preset position on the top plate 5022 of the disc. In this position, each leg of the drone 6 is located on the strip groove 5030. At the same time, each fixed clamp 5024 moves the same distance. After the fixed clamp 5024 clamps each leg of the drone 6, it can ensure that the drone 6 is located in the middle of the top plate 5022 of the disc. At this time, when the angle of the free disk 502 is reset, the central axis of the injection port 602 of the drone's medicine box and the central axis of the medicine tube 304 can be located on the same straight line.

[0056] A level sensor is also installed on the degree-of-freedom disk 502. During the drone's descent, the degree-of-freedom platform 5 can adjust the tilt angle of the degree-of-freedom disk 502 in real time based on the feedback information from the level sensor, keeping the degree-of-freedom disk 502 level and ensuring that the drone 6 makes a smooth contact with the top plate 5022 of the disk. At the same time, due to the stability of the Hooke joint 5016, minor vibrations will hardly cause displacement or deviation of the disk. After the drone lands on the level degree-of-freedom disk 502, the four fixed clamping plates 5024 clamp the four feet at the bottom of the drone 6. Then, the degree-of-freedom disk 502 resets. After resetting, the central axis of the injection port 602 of the drone's medicine tank and the central axis of the medicine tube 304 can be located on the same straight line, and the docking of the injection port 602 and the medicine tube 304 can be performed later.

[0057] The front side of the outer shell 1 is also provided with a detection camera 101. The outer shell 1 is also provided with a GPS positioning system, a vehicle control unit, a wireless communication module and a power supply. The detection camera 101 and the GPS positioning system are both connected to the vehicle control unit. The vehicle control unit is connected to the self-propelled walking mechanism 7, the protective cover drive mechanism, the translation and lifting mechanism A and the water pump 306 in the dosing device 3, the translation and lifting mechanism A, the electromagnet (412), the linear module and the robotic arm 405, and the motors 5012f, 5013f, 5014f and the disc motor 5029 in the degree-of-freedom platform 5. The outer casing 1 is also equipped with an oil tank, which is used to connect to the lifting hydraulic cylinder, the upper and lower hydraulic cylinder 4092 and the front and rear hydraulic cylinder 4091 in the battery swapping device 4 through multiple pipes and solenoid valves. The vehicle control unit is connected to the solenoid valve to control the movement of the lifting hydraulic cylinder, the upper and lower hydraulic cylinder 4092 and / or the front and rear hydraulic cylinder 4091.

[0058] The solenoid valves, detection cameras (101), GPS positioning system, vehicle control unit, wireless communication module, self-propelled walking mechanism (7), protective cover drive mechanism, translation and lifting mechanism (A) and water pump (306) in the dosing device (3), translation and lifting mechanism (A), electromagnet (412), linear module and robotic arm (405) in the battery swapping device (4), and motor one (5012f), motor two (5013f), motor three (5014f), disc motor (5029) and horizontal sensor in the degree-of-freedom platform (5) are all connected to the power supply.

[0059] The vehicle-mounted control unit is wirelessly connected to the UAV 6 via a wireless communication module.

[0060] The self-propelled walking mechanism 7 adopts a tracked walking mechanism. The tracked walking mechanism has a built-in motor that adjusts the speed and direction through the on-board control unit to achieve movement in various terrain environments. The front end of the housing 1 is equipped with a detection camera 101, which is connected to the on-board control unit and can collect terrain information in real time and identify steep slopes, potholes, and obstacles. When unsuitable terrain is detected, the on-board control unit automatically calculates the detour path and adjusts the track direction to ensure that the platform always maintains safe movement during UAV operations (the control method, obstacle avoidance, and detour path methods in this process are existing technologies); if the terrain is too undulating and exceeds the climbing range of the tracked vehicle, the platform waits in place.

[0061] Drone 6 is a commonly used pesticide application drone with state awareness, capable of sensing its relative position to the degree-of-freedom platform 5. It then sends this information to the onboard control unit, which controls the rotation of the platform 5. The drone battery 601 is magnetically connected to the drone for power supply. Drone 6 is also equipped with a drone camera 603 for aerial photography, environmental monitoring, and target tracking. This camera connects to the drone's built-in control system, allowing it to automatically lock onto and continuously track targets, assisting in obstacle avoidance and detection tasks. The drone also features a GPS positioning system to ensure it flies along a preset route, improving operational accuracy.

[0062] In this embodiment, the robotic arm 405 adopts an existing robotic arm with autonomous recognition and grasping functions. When the end effector (mechanical gripper) of the robotic arm 405 reaches the target position, it performs a grasping operation. The various motors, sensors, vision systems, etc. within the robotic arm 405 are connected to the vehicle control unit, and combined with the existing intelligent algorithms built into the vehicle control unit, the precise positioning and dynamic adjustment of the end effector of the robotic arm 405 are achieved.

[0063] During the operation, such as Figure 15 As shown, UAV 6 takes off from platform 5. During the operation of UAV 6, the platform's vehicle-mounted control unit maintains a data connection with UAV 6 through a wireless communication module, and autonomously follows UAV 6 based on its GPS position and flight status. When UAV 6's battery or liquid is low, the platform's vehicle-mounted control unit receives a landing signal from UAV 6, immediately stops moving, and enters a stationary mode.

[0064] In stationary mode, the protective cover 2 opens to both sides under the drive of the vehicle control system, revealing the internal degree-of-freedom platform 5. The degree-of-freedom platform 5 includes a degree-of-freedom platform base 501 and a degree-of-freedom disk 502, with a level sensor installed inside the degree-of-freedom disk 502. The UAV 6 flies to the landing platform based on the position information fed back to it by the vehicle control unit. During the landing, the UAV 6 adjusts its tilt angle in real time based on the feedback information from the horizontal sensor to keep the degree-of-freedom disk 502 horizontal, ensuring that the UAV 6 makes a smooth contact with the degree-of-freedom disk 502. At the same time, due to the stability of the Hooke joint 5016, minor vibrations will hardly cause displacement of the disk. The UAV lands on the degree-of-freedom disk 502, and its four legs align with the four strip grooves 5030 on the top plate 5022 of the disk (specifically, the UAV 6 uses its own UAV camera 603, status perception function, GPS positioning system, and markers on the degree-of-freedom disk 502 to ensure that the four legs of the UAV 6 align with the four strip grooves 5030 during landing, which adopts existing technology). The fixing plate 5024 is driven by a series of parts such as the disk motor 5029 to clamp the legs of the UAV 6 from the outside to the inside, preventing them from being affected by external interference. After that, the UAV 6 and the degree-of-freedom disk 502 adjust their tilt angle together. By adjusting the tilt angle of the degree-of-freedom platform 5 (i.e., resetting the degree-of-freedom platform 5), the central axis of the injection port 602 of the drone 6 is ensured to be on the same straight line as the central axis of the drug tube 304 of the drug delivery device 3. The angle at which the drone battery 601 of the drone 6 is placed is consistent with the angle at which the battery 407 on the upper surface of the battery swapping platform 403 is placed. The drug delivery device 3 and the battery swapping device 4 automatically enter the working state.

[0065] During the implementation of this technology, the 5-degree-of-freedom platform can adjust its tilt and rotation angles according to requirements in different application scenarios to ensure the safe landing of the drone and the smooth operation of refueling and battery swapping. Specifically, this includes: Case 1: When the take-off and landing platform enters the stationary mode, the degree-of-freedom platform 5 automatically adjusts to a horizontal state under the control of the vehicle control unit, thereby ensuring that the UAV 6 can take off and land safely on a stable and tilt-free surface, avoiding deviation or tipping. Case 2: After the drone 6 lands, if the injection port 602 of the drone's medicine tank and the medicine tube 304 are not on the same straight line, that is, the degree-of-freedom disk 502 was adjusted to a horizontal state before the drone 6 lands, then after the drone 6 lands, the vehicle control unit drives the degree-of-freedom platform base 501 to rotate (i.e., reset) the degree-of-freedom disk 502, so that the injection port 602 of the drone's medicine tank is precisely aligned with the medicine dispensing device 3. At this time, the angle of the drone battery 601 of the drone 6 is consistent with the angle of the battery 407 on the upper surface of the battery swapping platform 403. Case 3: When the take-off and landing platform is in complex terrain such as hills, the vehicle body tilts. The on-board control unit will control the movement of the degree-of-freedom platform base 501 through the information fed back by the horizontal sensor, thereby independently adjusting the tilt angle of the degree-of-freedom disk 502 to compensate for the vehicle body attitude deviation. This allows the UAV 6 to be stationary on the degree-of-freedom disk 502. After the UAV 6 is fixed by the fixing clamp 5024, the degree-of-freedom disk 502 is rotated to reset it, which causes the UAV 6 to tilt. This ensures that the central axis of the UAV 6's injection port 602 and the central axis of the dosing tube 304 of the dosing device 3 are on the same horizontal straight line, ensuring the accuracy and stability of the docking operation. Note that the height and structure of the UAV 6 remain unchanged in this technology. Before the platform operates, the self-propelled walking mechanism 7 is positioned on a horizontal surface. Based on the height of the injection port 602 after the UAV 6 lands on the degree-of-freedom disk 502, the height of the lifting slider on the lifting mechanism A1 is manually adjusted to adjust the height of the drug tube 304. This ensures that the central axis of the injection port 602 and the central axis of the drug tube 304 are at the same horizontal level, facilitating subsequent docking of the injection port 602 and the drug tube 304. After the height of the drug tube 304 of the dosing device 3 is adjusted, the height of the drug tube 304 does not need to be adjusted again when the lifting platform is used for the same UAV 6. This technology can also include a remote control device. The remote control device wirelessly connects to the vehicle control unit. By sending a signal to the vehicle control unit via the remote control device, the height of the lifting slider on the lifting mechanism A1 can be manually adjusted, ultimately ensuring that the central axis of the injection port 602 and the central axis of the drug tube 304 are at the same straight line height.

[0066] The specific steps for adjusting the tilt angle of a degree-of-freedom platform are as follows: Taking the first degree of freedom device as an example, when the motor 5012f (which is a servo motor) receives the drive signal from the vehicle control unit, it drives the base gear 5012a to rotate, thereby driving the transmission gear 5012b to rotate synchronously. At the same time, it drives the transmission long arm 5012c to make a circular motion. The end position of the long arm changes continuously with the circular motion trajectory, which further drives the bow-shaped short arm 5012d that is hinged to it to adjust its position.

[0067] Specifically, when the transmission long arm 5012c deflects, its end generates a thrust on the long arm hinge point of the bow-shaped short arm 5012d. This thrust forms a torque on the bow-shaped short arm 5012d, causing it to generate a rotational torque around its other end disk hinge point, resulting in the bow-shaped short arm 5012d deflecting downwards as a whole. Since the other end of the bow-shaped short arm 5012d is connected to the degree-of-freedom disk 502 via a Hooke hinge 5016, this deflection motion is further transmitted to the degree-of-freedom disk 502, causing it to tilt downwards at a certain angle, thus adjusting the tilt angle. Figure 14 As shown.

[0068] Similarly, the second and third degree-of-freedom devices, driven by their respective servo motors, can also drive the degree-of-freedom disk 502 to adjust its tilt angle in different directions through the same transmission structure. For example... Figure 16 As shown, blue dots represent base gears (e.g., base gear one 5012a, base gear two 5013a, base gear three 5014a), green dots represent transmission gears and long arms (e.g., transmission gear one 5012b and transmission long arm one 5012c, transmission gear two 5013b and transmission long arm two 5013c, transmission gear three 5014b and transmission long arm three 5014c), and red dots represent bow-shaped short arms (e.g., bow-shaped short arm one 5012d, bow-shaped short arm two 5013d). The bow-shaped short arm (5014d) represents the degree-of-freedom disk 502, and the vehicle control unit can calculate the tilt angle to be adjusted (the calculation process is existing) and the rotation angle of the corresponding base gear based on the data from the horizontal sensor and the adjustment scheme. It can then coordinate the control of motors 5012f, 5013f, and 5014f to achieve the composite tilt angle adjustment and rotation of the degree-of-freedom disk 502 in the disk plane, thus meeting the attitude adjustment requirements under complex working conditions.

[0069] Specifically, the dosing tube 304 of the dosing device 3 extends along the trajectory under the drive of the translation and lifting mechanism A, and achieves precise docking with the dosing port 602 (liquid interface) of the drone 6. The pressure value collected by the pressure sensor built into the electric push rod of the translation mechanism A1 or the external pressure sensor can be used to determine whether the dosing tube 304 and the dosing port 602 (liquid interface) are docked.

[0070] During the preparation stage of drug addition, the drug tube 304 gradually approaches the injection port 602 of the drone's drug tank via the translation mechanism A1. During the docking process, one end of the drug tube 304 extends into the injection port 602, and the end face 3043 of the drug tube 304 is in close contact with the inclined inner wall end face 6023 of the injection port 602 (a sealing ring can be set on the end face 3043 of the drug tube). At the same time, after the first protrusion 30421 and the second protrusion 60221 dock, they respectively squeeze the first elastic structure 3041 and the second elastic structure 6021, causing the first protrusion 30421 to leave the inclined inner wall of one end of the drug tube 304 and the second protrusion 60221 to leave the inclined inner wall of the injection port 602. Finally, the drug tube 304 and the injection port 602 are connected, forming a sealed passage between them, thereby realizing the smooth transmission of the drug liquid. Then, the vehicle control unit controls the water pump 306 to operate, and the water pump 306 delivers the liquid medicine in the medicine tank 305 through the hose 303 and the medicine tube 304 to the medicine injection port 602 of the drone medicine tank to add medicine to the drone medicine tank.

[0071] After the infusion is completed (the timing of the infusion completion is determined using existing technology, such as installing a liquid level sensor inside the drone's medicine tank or using a timer), the vehicle control unit controls the water pump 306 to stop working. Then, the vehicle control unit controls the translation mechanism A1 to return to its reset position. The translation mechanism A1 drives the medicine tube 304 to detach from the infusion port 602 of the drone's medicine tank. The first protrusion 30421 and the second protrusion 60221 reset under the restoring force of the elastic structure 3041 and the elastic structure 6021. The first protrusion 30421 automatically seals the inclined inner wall of one end of the medicine tube (304) (i.e., one end is open), and the second protrusion 60221 automatically seals the inclined inner wall of the infusion port 602 (the end of the infusion port 602 is open), thereby preventing leakage of the medicine.

[0072] Specifically, when the battery swapping device performs the battery swapping operation, the robotic arm 405 first acquires the location of the low-powered drone battery 601 (existing technology) through its built-in vision system, and then sends the information to the vehicle control unit. The vehicle control unit controls the movement of the translation and lifting mechanism A in the battery swapping device 4. Specifically, the translation mechanism A1 moves back and forth, and the lifting mechanism A2 moves up and down, driving the robotic arm 405 to move and, in conjunction with the gripping function of the robotic arm 405, removes the low-powered drone battery 601. After removal, the translation mechanism A1 moves back a preset distance, the lifting mechanism A2 descends to the lowest position, and at the same time, the lifting hydraulic cylinder rises (the rising position is a fixed position and does not need to be changed for different drone heights, i.e., it smoothly contacts the lowest position of the robotic arm 405) and passes through the middle through-hole 4022 and the upper through-hole 4011 to the top of the battery swapping platform 401, receiving the low-powered drone battery 601 removed by the robotic arm 405. Then, it descends to the middle battery swapping platform 402. At this time, the vehicle control unit controls the stepper motor of the linear module in the slide bar drive mechanism 404 to drive the battery swapping device. The slide bar 1401 slides along the slide groove 4042 on the side wall, pushing the removed drone battery 601 with insufficient power to the upper surface ramp of the battery swapping platform 402 until it contacts the contact partition 4021 and stops. The lifting hydraulic cylinder further lowers it above the lower battery swapping platform 403. At this time, the front and rear hydraulic cylinders 4091 move left and right under the drive of the left and right linear drive mechanism 408, and then extend after aligning with the compartment where the battery 407 is located. The upper and lower hydraulic cylinders 4092 align with the battery 407 and extend the hydraulic rod (telescopic rod) downward. When the electromagnet 412 is energized, it magnetically attracts and removes the battery 407. The battery 407 is delivered to the support plate 411 of the lifting hydraulic cylinder by the up-down and forward-backward adjustment mechanism 409 and the left-right adjustment mechanism 408. The lifting hydraulic cylinder transports the battery to the upper battery swapping platform 401 (i.e., through the middle through-hole 4022 and the upper through-hole 4011 to the top of the upper battery swapping platform 401). Then, the robotic arm 405 removes the battery 407 and installs it onto the drone 6. After installation, all hydraulic cylinders automatically return to their original positions.

[0073] After completing the chemical dosing and battery swapping operations, the level sensor detects whether the degree-of-freedom disk 502 is horizontal. If not, the vehicle-mounted control unit controls the degree-of-freedom platform base 501 to rotate the degree-of-freedom disk 502, adjusting its angle until it is horizontal. Then, the fixing clamp 5024, driven by the disk motor 5029 and other components, releases the drone 6's legs from the inside out, allowing the drone 6 to take off again. After takeoff, the protective cover 2 closes under the drive of the vehicle-mounted control system, and the takeoff and landing platform re-enters the follow mode (the specific follow method uses existing technology). The entire process is automatically completed under the control of the vehicle-mounted control unit, reducing manual intervention and improving operational efficiency and safety.

[0074] Once the application of the pesticide is complete, the take-off and landing platform automatically returns to the operator. The operator adds new pesticide solution to the pesticide tank 305 through the filling port 3051, ensuring the tank is full. Then, by opening the latch, the door 102 (located on the rear side of the housing 1, connected to the housing 1 via a latch) is opened. The operator then removes the low-powered drone battery 601 from the inside and recharges the fully charged battery 407.

[0075] This technology integrates a tracked autonomous propulsion mechanism with a degree-of-freedom UAV take-off and landing platform to achieve real-time path following and mobile maintenance of operational UAVs, significantly improving the efficiency of pesticide application and battery swapping. The innovatively designed degree-of-freedom platform, combined with a control system and a Hooke's hinge structure, maintains structural stability and enables precise and stable tilt angle control under motor drive, ensuring reliable take-off and landing of UAVs in complex terrain. The pesticide application device and battery swapping device can automatically dock for rapid pesticide application and battery installation / removal, ensuring unobstructed take-off and landing channels. The overall technical solution combines mobility, high efficiency, and environmental adaptability, significantly improving the continuity and economic benefits of plant protection operations.

[0076] The scope of protection of this technology includes, but is not limited to, the above embodiments. The scope of protection of this technology is defined by the claims. Any substitutions, modifications, or improvements to this technology that are easily conceived by those skilled in the art shall fall within the scope of protection of this technology.

Claims

1. A following type autonomous charging and battery swapping unmanned aerial vehicle take-off and landing platform, characterized in that: It includes a self-propelled walking mechanism (7) and a degree-of-freedom UAV take-off and landing platform mounted on the self-propelled walking mechanism (7). The degree-of-freedom UAV take-off and landing platform includes a shell (1), a protective cover (2), a dosing device (3), a battery swapping device (4), and a degree-of-freedom platform (5). The outer shell (1) is mounted on the self-propelled walking mechanism (7), and the protective cover (2) is rotatably connected to the outer shell (1); The dosing device (3), the power swapping device (4) and the degree-of-freedom platform (5) are all located inside the outer shell (1), with the degree-of-freedom platform (5) located between the dosing device (3) and the power swapping device (4); The dosing device (3) includes a translation and lifting mechanism (A), an upper dosing platform (301), a lower dosing platform (302), a hose (303), a medicine tube (304), and a medicine tank (305). The upper dosing platform (301) and the lower dosing platform (302) are both fixedly connected to the inner wall of the outer shell (1). The upper dosing platform (301) is located above the lower dosing platform (302). The medicine tank (305) is provided on the lower dosing platform (302). The translation and lifting mechanism (A) is set on the upper surface of the upper dosing platform (301). The translation and lifting mechanism (A) is connected to the medicine tube (304) and is used to drive the medicine tube (304) to move back and forth and up and down. The medicine tube (304) is connected to the hose (303). The hose (303) is connected to the medicine tank (305) through the water pump (306). One end of the medicine tube (304) faces the degree of freedom platform (5). The medicine tube (304) is used to dock with the medicine injection port (602) of the drone medicine tank on the drone (6) that lands on the top of the degree of freedom platform (5) under the drive of the translation and lifting mechanism (A). The battery swapping device (4) includes a translation and lifting mechanism (A), an upper battery swapping platform (401), a middle battery swapping platform (402), a lower battery swapping platform (403), a slide bar drive mechanism (404), a support plate lifting drive mechanism (406), a battery (407), a left-right linear drive mechanism (408), and a vertical and horizontal moving mechanism (409). The upper battery swapping platform (401), the middle battery swapping platform (402), and the lower battery swapping platform (403) are fixedly connected to the inner wall of the outer shell (1) from top to bottom. The translation and lifting mechanism (A) is set on the upper surface of the upper battery swapping platform (401). The translation and lifting mechanism (A) is connected to the robotic arm (405) and uses... The robotic arm (405) is driven to move back and forth and up and down. The end effector of the robotic arm (405) faces the platform (5). The upper platform (401) of the battery swapping machine has an upper through-hole (4011), and the middle platform (402) of the battery swapping machine has a middle through-hole (4022). The middle through-hole (4022) is located directly below the upper through-hole (4011). The lower platform (403) of the battery swapping machine is provided with a support plate lifting drive mechanism (406). The support plate lifting drive mechanism (406) is connected to the support plate (411) and is used to drive the support plate (411) to move up and down so as to pass through the middle through-hole (4022) and the upper through-hole (4011). 11) A slide bar drive mechanism (404) is provided between the upper battery swapping platform (401) and the middle battery swapping platform (402). The slide bar drive mechanism (404) is connected to the slide bar (4041) and is used to drive the slide bar (4041) to move so that the slide bar (4041) pushes the drone battery (601) with insufficient power on the support plate (411) to the upper surface of the middle battery swapping platform (402). Multiple batteries (407) are placed on the upper surface of the lower battery swapping platform (403). A left and right linear drive mechanism (408) is provided between the middle battery swapping platform (402) and the lower battery swapping platform (403). The left and right linear drive mechanism (408) is connected to the upper and lower front battery swapping platform (402) and is connected to the slide bar (4041) to move so that the slide bar (4041) pushes the drone battery (601) with insufficient power on the support plate (411) to the upper surface of the middle battery swapping platform (402). The rear moving mechanism (409) is connected, and the left and right linear drive mechanism (408) is used to drive the up and down forward and backward moving mechanism (409) to move in the left and right directions. The up and down forward and backward moving mechanism (409) is connected to an electromagnet (412) and is used to drive the electromagnet (412) to move forward and backward and up and down, so that the electromagnet (412) attracts the battery (407) and sends the attracted battery (407) to the support plate (411). The robotic arm (405) is used to perform a battery swapping operation on the drone battery (601) with insufficient power that lands on the top of the drone (6) on the degree of freedom platform (5) under the drive of the translation and lifting mechanism (A). The degree-of-freedom platform (5) includes a degree-of-freedom platform base (501) and a degree-of-freedom disk (502). The degree-of-freedom platform base (501) is connected to the degree-of-freedom disk (502), and the degree-of-freedom platform base (501) is used to adjust the tilt angle of the degree-of-freedom disk (502). The top of the degree-of-freedom disk (502) is used to support the landing drone (6) and clamp and fix the feet at the bottom of the drone (6).

2. The follow-up autonomous charging and battery swapping drone landing platform according to claim 1, characterized in that: The self-propelled walking mechanism (7) adopts a tracked walking mechanism, and the outer shell (1) is provided with a protective cover drive mechanism for driving the protective cover (2) to rotate.

3. The follow-type autonomous dosing and battery swapping UAV take-off and landing platform according to claim 1, characterized in that: In the dosing device (3), the translation and lifting mechanism (A) includes a translation mechanism (A1) and a lifting mechanism (A2). The translation mechanism (A1) is set on the dosing platform (301). The translation mechanism (A1) is connected to the lifting mechanism (A2). The translation mechanism (A1) is used to drive the lifting mechanism (A2) to move back and forth. The lifting slider of the lifting mechanism (A2) is connected to the medicine tube (304) through the connector (307). The lifting mechanism (A2) is used to drive the medicine tube (304) to move up and down. In the battery swapping device (4), the translation mechanism (A1) of the translation and lifting mechanism (A) is set on the battery swapping platform (401), and the lifting slider of the lifting mechanism (A2) is connected to the robotic arm (405). The lifting mechanism (A2) is used to drive the robotic arm (405) to move up and down.

4. The follow-type autonomous dosing and battery swapping UAV take-off and landing platform according to claim 3, characterized in that: The lifting mechanism (A2) adopts a linear module. The translation mechanism (A1) includes a guide rail (A11), an electric push rod, and a movable base plate (A12). The lifting mechanism (A2) is set on the movable base plate (A12). The guide rail (A11) is fixedly connected to the dosing platform (301) and the battery swapping platform (401). The movable base plate (A12) is slidably connected to the guide rail (A11) through a translation slider. The electric push rod is set on the dosing platform (301) and the battery swapping platform (401). The push rod in the electric push rod is connected to the movable base plate (A12). The electric push rod drives the movable base plate (A12) to slide back and forth on the guide rail (A11).

5. The follow-up autonomous charging and battery swapping drone landing platform according to claim 1, characterized in that: The upper platform (301) for adding medicine is provided with a through hole, and the medicine inlet (3051) of the medicine box (305) extends upward from the through hole; The inner wall of one end of the medicine tube (304) is connected to an elastic structure (3041) by a support rod. The elastic structure (3041) is connected to a contact head (3042). The inclined outer wall of the contact head (3042) is sealed and engaged with the inclined inner wall of one end of the medicine tube (304) under the action of the elastic structure (3041). One end of the contact head (3042) is provided with a protrusion (30421), which extends outward from one end of the medicine tube (304). The drone (6) has a drone medicine box connected to a medicine inlet (602). The inner wall of the medicine inlet (602) is connected to an elastic structure two (6021) via a support rod. The elastic structure two (6021) is connected to a contact head two (6022). The inclined outer wall of the contact head two (6022) is sealed and engaged with the inclined inner wall of the medicine inlet (602) under the action of the elastic structure two (6021). The inclined inner wall end face (6023) of the medicine inlet (602) is located inside the medicine inlet (602). One end of the contact head two (6022) is provided with a protrusion two (60221), which extends outward from the inclined inner wall end face (6023) of the medicine inlet (602). The medicine tube (304) is used to connect with the injection port (602) under the drive of the translation mechanism (A1). After connection, the end face (3043) of the medicine tube (304) extends into the injection port (602) and is in close contact with the inclined inner wall end face (6023) inside the injection port (602). At the same time, after the first protrusion (30421) and the second protrusion (60221) are connected, they respectively squeeze the first elastic structure (3041) and the second elastic structure (6021) so that the first protrusion (30421) leaves the inclined inner wall of one end of the medicine tube (304) and the second protrusion (60221) leaves the inclined inner wall inside the injection port (602), so that the medicine tube (304) and the injection port (602) are connected.

6. The follow-type autonomous dosing and battery swapping UAV take-off and landing platform according to claim 1, characterized in that: The slide bar drive mechanism (404) includes a slide bar (4041) and a linear module. A linear module is provided on the vertical side wall between the upper battery swapping platform (401) and the middle battery swapping platform (402), and a slide groove (4042) is provided on the other side wall. The slider on the linear module is connected to one end of the slide bar (4041), and the other end of the slide bar (4041) is slidably connected to the slide groove (4042). The linear module is used to drive the slide bar (4041) to move back and forth in a straight line along the slide groove (4042) to push the drone battery (601) with insufficient power on the support plate (411) to the inclined upper surface of the middle battery swapping platform (402). The upper surface of the battery swapping platform (402) is also provided with a contact partition (4021) for blocking the battery (407).

7. The follow-type autonomous dosing and battery swapping UAV take-off and landing platform according to claim 1, characterized in that: The support plate lifting drive mechanism (406) adopts a lifting hydraulic cylinder; The up-down and back-forward moving mechanism (409) includes an up-down hydraulic cylinder (4092) and a back-forward hydraulic cylinder (4091). The telescopic rod of the back-forward hydraulic cylinder (4091) is connected to the cylinder body of the up-down hydraulic cylinder (4092), and the back-forward hydraulic cylinder (4091) is used to drive the up-down hydraulic cylinder (4092) to move back and forth. The telescopic rod of the up-down hydraulic cylinder (4092) faces downward and is connected to an electromagnet (412). The up-down hydraulic cylinder (4092) is used to drive the electromagnet (412) to move up and down. The left-right linear drive mechanism (408) adopts a linear module. The linear module is connected to the vertical side wall between the middle platform (402) and the lower platform (403) of the battery swapping. The slider on the linear module is connected to one end of the cylinder body of the back-forward hydraulic cylinder (4091), and the linear module is used to drive the back-forward hydraulic cylinder (4091) to move in the left-right direction.

8. The follow-type autonomous dosing and battery swapping UAV take-off and landing platform according to claim 1, characterized in that: The platform base (501) includes a platform base (5011), a first degree of freedom device, a second degree of freedom device, and a third degree of freedom device; The degree-of-freedom device includes a motor (5012f), a base gear (5012a), a transmission gear (5012b), a long transmission arm (5012c), and a short bow-shaped arm (5012d). The motor (5012f) is mounted on the platform base (5011), and its output end is connected to the base gear (5012a). The base gear (5012a) meshes with the transmission gear (5012b). The transmission gear 1 (5012b) is fixedly connected to the bottom of the inner sleeve (5012e), the top of the inner sleeve (5012e) is fixedly connected to one end of the transmission long arm 1 (5012c), the other end of the transmission long arm 1 (5012c) is rotatably connected to one end of the bow-shaped short arm 1 (5012d) through a Hooke joint (5016), and the other end of the bow-shaped short arm 1 (5012d) is rotatably connected to the degree-of-freedom disk (502) through a Hooke joint (5016). The second degree-of-freedom device includes a second motor (5013f), a second base gear (5013a), a second transmission gear (5013b), a second long transmission arm (5013c), and a second bow-shaped short arm (5013d). The second motor is mounted on the platform base (5011). The output end of the second motor is connected to the second base gear (5013a). The second base gear (5013a) meshes with the second transmission gear (5013b). The second transmission gear (5013b) is fixedly connected to the bottom of the middle sleeve (5013e). The top of the middle sleeve (5013e) is fixedly connected to one end of the second long transmission arm (5013c). The other end of the second long transmission arm (5013c) is rotatably connected to one end of the second bow-shaped short arm (5013d) via a Hooke joint (5016). The other end of the second bow-shaped short arm (5013d) is rotatably connected to the degree-of-freedom disk (502) via a Hooke joint (5016). The second degree-of-freedom device includes a third motor (5014f), a third base gear (5014a), a third transmission gear (5014b), a third long transmission arm (5014c), and a third bow-shaped short arm (5014d). The third motor is mounted on the platform base (5011). The output end of the third motor is connected to the third base gear (5014a). The third base gear (5014a) meshes with the third transmission gear (5014b). The third transmission gear (5014b) is fixedly connected to the bottom of the outer sleeve (5014e). The top of the outer sleeve (5014e) is fixedly connected to one end of the third long transmission arm (5014c). The other end of the third long transmission arm (5014c) is rotatably connected to one end of the third bow-shaped short arm (5014d) via a Hooke joint (5016). The other end of the third bow-shaped short arm (5014d) is rotatably connected to the degree-of-freedom disk (502) via a Hooke joint (5016). A central column (5015) is fixedly connected to the middle of the upper surface of the platform base (5011). The inner sleeve (5012e) is rotatably connected to the outside of the central column (5015). The middle sleeve (5013e) is rotatably connected to the outside of the inner sleeve (5012e). The outer sleeve (5014e) is rotatably connected to the outside of the middle sleeve (5013e). The lengths of the inner sleeve (5012e), middle sleeve (5013e), and outer sleeve (5014e) decrease sequentially. The transmission gear one (5012b), transmission gear two (5013b), transmission gear three (5014b), transmission long arm three (5014c), transmission long arm two (5013c), and transmission long arm one (5012c) are arranged sequentially from bottom to top.

9. The follow-type autonomous dosing and battery swapping UAV take-off and landing platform according to claim 6, characterized in that: The free-degree disk (502) includes a disk base plate (5021), a disk top plate (5022), a support column (5023), a fixing clamp (5024), a slide rail (5025), a sliding plate (5026), a transmission plate (5027), a rotating frame (5028), and a disk motor (5029). A horizontal sensor is also provided on the disk top plate (5022). The four sides of the disc base plate (5021) are rotatably connected to the first (5012d), the second (5013d), and the third (5014d) bow-shaped short arms via Hooke hinges (5016). The disc base plate (5021) is connected to the disc top plate (5022) via a support column (5023). The upper surface of the disc base plate (5021) is provided with multiple slide rails (5025), and a sliding plate (5026) is slidably connected in each slide rail (5025). A disc motor (5029) is provided in the middle of the disc base plate (5021). The output end of the disc motor (5029) is connected to the rotating frame (5028). The rotating frame (5028) is provided with multiple arc-shaped connecting rods, and each arc-shaped connecting rod is connected to the transmission plate (5027) via a transmission plate. The slide plate (5026) is rotatably connected, and a fixed clamping plate (5024) is fixedly connected to the surface of each slide plate (5026). Multiple strip grooves (5030) are opened on the surface of the disc top plate (5022). The fixed clamping plate (5024) extends upward from the strip groove (5030) and can slide along the strip groove (5030). The disc motor (5029) is used to drive the slide plate (5026) to slide in the slide rail (5025) through the rotating frame (5028) and the transmission plate (5027), thereby driving the fixed clamping plate (5024) on the slide plate (5026) to slide along the strip groove (5030), so that multiple fixed clamping plates (5024) together clamp multiple feet at the bottom of the drone (6).

10. The follow-type autonomous drug delivery and battery swapping UAV take-off and landing platform according to claim 6, characterized in that: The front side of the outer shell (1) is also provided with a detection camera (101). The outer shell (1) is also provided with a GPS positioning system, a vehicle control unit, a wireless communication module and a power supply. The detection camera (101) and the GPS positioning system are both connected to the vehicle control unit. The vehicle control unit is connected to the self-propelled walking mechanism (7), the protective cover drive mechanism, the translation and lifting mechanism (A) and the water pump (306) in the dosing device (3), the translation and lifting mechanism (A), the electromagnet (412), the linear module and the robotic arm (405) in the battery swapping device (4), and the motor one (5012f), motor two (5013f), motor three (5014f), the disc motor (5029) and the horizontal sensor in the degree of freedom platform (5). An oil tank is also provided inside the outer shell (1). The oil tank is used to connect to the lifting hydraulic cylinder, the upper and lower hydraulic cylinder (4092) and the front and rear hydraulic cylinder (4091) in the battery swapping device (4) through multiple pipes and solenoid valves. The vehicle control unit is connected to the solenoid valve to control the movement of the lifting hydraulic cylinder, the upper and lower hydraulic cylinder (4092) and / or the front and rear hydraulic cylinder (4091). The solenoid valve, detection camera (101), GPS positioning system, vehicle control unit, wireless communication module, self-propelled walking mechanism (7), protective cover drive mechanism, translation and lifting mechanism (A) and water pump (306) in the dosing device (3), translation and lifting mechanism (A) in the battery swapping device (4), electromagnet (412), linear module and robotic arm (405), and motor one (5012f), motor two (5013f), motor three (5014f), disc motor (5029) and horizontal sensor in the degree-of-freedom platform (5) are all connected to the power supply; The vehicle-mounted control unit is wirelessly connected to the UAV (6) via a wireless communication module.

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