A method for replacing drone batteries based on a vehicle-mounted mobile nest system

Abstract

The present invention provides a method for replacing the battery of a drone based on a vehicle-mounted mobile nest system, comprising: S1, opening the cabin door, and the drone landing on the parking platform; S2, the positioning mechanism drives the drone landing on the parking platform to move to a predetermined position; S3, the mechanical arm arranges the two blades on the near side of the drone to a position parallel to the bracket of the drone; S4, the mechanical arm takes out the battery of the drone and puts it into the battery compartment, and installs the spare battery in the battery compartment on the drone. The mechanical arm can arrange the two blades on the near side of the drone to a position parallel to the bracket of the drone, thereby preventing the blades in a disordered position from hindering the next action of the mechanical arm to replace the drone battery, and preventing the blades from being damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and more specifically, to a vehicle-mounted mobile nest system for replacing batteries of unmanned aerial vehicles. Background Art

[0002] With the continuous development of economy and science and technology, various power systems have also been improved. In recent years, the application scope of drones in power systems has become more and more extensive, and the effective application of drones has promoted the sustainable development of the power industry. The application scope of the power system is relatively wide, so the traditional power management system is gradually unable to meet the current development needs of the power industry. The application of drones solves related problems, reduces the difficulty of power construction and operation and maintenance, and solves the problem of regional inspection.

[0003] At present, during field inspections, the inspection is usually carried out manually by carrying drones. The drone chassis is opened manually, the battery is replaced manually, the drone power is turned on, and the removed drone battery is taken back for charging. After the drone lands, it is manually collected and packed. This traditional inspection method has the following main problems: 1. Each inspection requires carrying multiple batteries, which is heavy and inconvenient; 2. The timeliness of battery replacement is not high and the operation is more troublesome; 3. Due to the limited battery life, if real-time charging is not possible, then with a limited number of batteries, the number and range of lines and towers for each field inspection will be limited. Summary of the invention

[0004] The present invention aims to solve the technical problem of the inconvenience caused by the manual inspection of unmanned aerial vehicles in the prior art, and provides a method for replacing the battery of an unmanned aerial vehicle based on a vehicle-mounted mobile nest system, wherein the vehicle-mounted mobile nest system comprises:

[0005] A cabin, wherein a cabin door is provided at the top of the cabin;

[0006] A parking platform, the parking platform is arranged inside the cabin;

[0007] A positioning mechanism, the positioning mechanism is located above the parking platform, and the positioning mechanism is used to drive the UAV landed on the parking platform to move to a predetermined position;

[0008] A battery compartment, the battery compartment is located on one side of the parking platform, and the battery compartment is used to store spare and replacement batteries;

[0009] A mechanical arm, the mechanical arm is used to adjust the blades of the drone, remove the battery of the drone, and install the spare battery in the battery compartment on the drone;

[0010] The drone battery replacement method comprises:

[0011] S1, opening the cabin door and landing the UAV on the parking platform;

[0012] S2, the positioning mechanism drives the UAV landed on the parking platform to move to a predetermined position;

[0013] S3, the mechanical arm adjusts the two blades on the proximal side of the drone to a position parallel to the support of the drone;

[0014] S4, the robotic arm removes the battery of the drone and puts it into the battery compartment, and installs the spare battery in the battery compartment onto the drone.

[0015] Preferably, the positioning mechanism comprises:

[0016] A first positioning portion, wherein the first positioning portion is parallel to one side of the parking platform, and the first positioning portion comprises two first positioning rods and a first driving unit that drives the two first positioning rods to move relative to each other;

[0017] The second positioning portion is vertically arranged with respect to the first positioning portion, and the second positioning portion comprises two second positioning rods and a second driving unit driving the two second positioning rods to move relative to each other.

[0018] Preferably, the first driving unit comprises a first screw and a first motor driving the first screw to rotate, the first screw has a first threaded portion and a second threaded portion with opposite rotation directions, and the two first positioning rods are respectively connected to the first threaded portion and the second threaded portion;

[0019] The second driving unit includes a second lead screw and a second motor driving the second lead screw to rotate, the second lead screw has a third threaded portion and a fourth threaded portion with opposite rotation directions, and the two second positioning rods are respectively connected to the third threaded portion and the fourth threaded portion;

[0020] The positioning mechanism drives the UAV landed on the parking platform to move to a predetermined position, including:

[0021] The UAV stops at a position between the two first positioning rods and the two second positioning rods, and the first motor and the second motor respectively drive the first lead screw and the second lead screw to rotate, so that the two first positioning rods and the two second positioning rods respectively move relative to each other, thereby driving the UAV to move to a predetermined position.

[0022] Preferably, the first motor and the second motor are servo stepper motors, and the first motor and the second motor have built-in encoders to feedback rotation speed and feed stroke.

[0023] Preferably, the mechanical arm regularizes the two blades facing the proximal side of the drone to a position parallel to the support of the drone, including:

[0024] The mechanical arm moves to a first starting position close to the upper blade, the mechanical arm is pushed forward to a first limit position, then retreats to the first starting position, and then is pushed upward to a second limit position;

[0025] The mechanical arm moves to a second starting position close to the lower blade, pushes forward to a third limit position, then retreats to the second starting position, and then pushes downward to a fourth limit position.

[0026] Preferably, the robotic arm includes a robotic arm body, a front end of the robotic arm body is provided with an electric clamp, the electric clamp is used to grab the battery, the electric clamp includes an upper clamp and a lower clamp, one of the upper clamp and the lower clamp is provided with a paddle, and the paddle is used to push the blades of the drone.

[0027] Preferably, a battery and a plurality of charging heads connected to the battery are arranged in the battery compartment for charging the replaced batteries.

[0028] Preferably, a charging management system is provided in the battery compartment, and the charging management system is used to control the on and off of charging according to the size of the charging current.

[0029] Preferably, the vehicle-mounted mobile machine nest system further includes a connecting device, which includes a plurality of mounting blocks arranged at the bottom of the cabin, and the mounting blocks are used to connect to a luggage rack on the top of the vehicle.

[0030] Preferably, a plurality of cameras are arranged inside the cabin, and the plurality of cameras are used to monitor the internal condition of the cabin.

[0031] The vehicle-mounted mobile nest system used in the method for replacing the battery of a drone based on the vehicle-mounted mobile nest system provided by the present invention is provided with a cabin with an openable top, and a parking platform for the drone to take off and land is provided in the cabin. After the drone lands on the parking platform, the drone is driven to a predetermined position by a positioning mechanism, so that the drone can be accurately positioned. The mechanical arm automatically replaces the battery of the drone according to a preset control program, and puts the replaced battery into the battery compartment for charging, thereby solving the inconvenience of manually carrying the drone and replacing the battery, while improving the endurance of the drone, and greatly improving the inspection range and work efficiency of field power inspections; and the mechanical arm can regularize the two blades on the near side of the drone to a position parallel to the bracket of the drone, thereby preventing the blades in a disordered position from hindering the next step of the mechanical arm to replace the drone battery, and preventing the blades from being damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a stereogram of the vehicle-mounted mobile nest system for replacing batteries of unmanned aerial vehicles provided by the present invention (door closed state);

[0033] Figure 2 The second stereoscopic diagram of the vehicle-mounted mobile nest system for replacing batteries of unmanned aerial vehicles provided by the present invention (with the hatch open);

[0034] Figure 3 A top view of the vehicle-mounted mobile nest system for replacing batteries of unmanned aerial vehicles provided by the present invention;

[0035] Figure 4 A schematic diagram of the structure of the positioning mechanism of the vehicle-mounted mobile nest system for replacing the battery of an unmanned aerial vehicle provided by the present invention;

[0036] Figure 5 A schematic diagram of the structure of the mechanical arm of the vehicle-mounted mobile nest system for replacing the battery of a drone provided by the present invention;

[0037] Figure 6 for Figure 1 The enlarged view of point A in the middle;

[0038] Figure 7 A flow chart of a method for replacing a UAV battery based on a vehicle-mounted mobile nest system provided by the present invention;

[0039] FIG. 8A to FIG. 8H A schematic diagram of the regularity of the propeller blades in the method for replacing the battery of a drone based on the vehicle-mounted mobile nest system provided by the present invention;

[0040] 9A to 9C A schematic diagram of replacing batteries in the UAV battery replacement method based on the vehicle-mounted mobile nest system provided by the present invention.

[0041] Reference numerals:

[0042] 1. Cabin; 2. Cabin door; 3. Parking platform; 4. Positioning mechanism; 41. First positioning rod; 42. Second positioning rod; 43. First lead screw; 44. Second lead screw; 5. Battery compartment; 6. Robotic arm; 61. Robotic arm body; 62. Electric gripper; 63. Paddle; 7. Mounting block; 8. Camera. DETAILED DESCRIPTION

[0043] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0044] Figure 1 This is a stereoscopic diagram of the vehicle-mounted mobile nest system for replacing the battery of a drone provided by the present invention (with the hatch closed). Figure 2The second stereoscopic diagram of the vehicle-mounted mobile nest system for replacing the battery of the drone provided by the present invention (with the hatch open). Figure 3 A top view of the vehicle-mounted mobile nest system for replacing drone batteries provided by the present invention, as shown in FIG. Figures 1 to 3 As shown, a vehicle-mounted mobile nest system for replacing batteries of unmanned aerial vehicles, the vehicle-mounted mobile nest system may include:

[0045] A cabin body 1, which may be a plastic shell, may be provided with a cabin door 2 at the top of the cabin body 1, and the cabin door 2 may include two rotatably arranged split-type cabin doors 2;

[0046] A parking platform 3, which can be arranged inside the cabin 1;

[0047] Positioning mechanism 4, the positioning mechanism 4 can be located above the parking platform 3, and the positioning mechanism 4 can be used to drive the UAV landed on the parking platform 3 to move to a predetermined position;

[0048] A battery compartment 5, which can be located on one side of the parking platform 3, and can be used to store spare and replacement batteries;

[0049] The mechanical arm 6 can be used to adjust the blades of the drone, remove the battery of the drone, and install the spare battery in the battery compartment 5 on the drone;

[0050] A connecting device is located at the bottom of the cabin 1 and is used to install the cabin 1 on the top of the vehicle.

[0051] The present invention provides a vehicle-mounted mobile nest system for replacing the battery of a drone, which is provided with a cabin 1, and a double-opening cabin door 2 is rotatably provided on the top of the cabin 1. A parking platform 3 for the drone to take off and land is provided in the cabin 1. After the drone lands on the parking platform 3, the positioning mechanism 4 drives the drone to move to a predetermined position, so that the drone can be accurately positioned. The mechanical arm 6 automatically replaces the battery of the drone according to the preset control program, and puts the replaced battery into the battery compartment 5 for charging, thereby solving the inconvenience of manually carrying the drone and replacing the battery, and at the same time improves the endurance of the drone, greatly improving the inspection range and work efficiency of field power inspection. At the same time, the vehicle-mounted mobile nest system for replacing the battery of the drone is directly installed on the top of the SUV vehicle through the connection device at the bottom of the cabin, and is convenient to transport using the vehicle-mounted platform.

[0052] Figure 4 This is a schematic diagram of the structure of the positioning mechanism of the vehicle-mounted mobile nest system for replacing the battery of the unmanned aerial vehicle provided by the present invention. Figure 4 As shown, in one embodiment of the present invention, the positioning mechanism 4 of the vehicle-mounted mobile nest system for replacing the battery of the drone may include:

[0053] A first positioning portion, the first positioning portion is parallel to one side of the parking platform 3, and the first positioning portion may include two first positioning rods 41 and a first driving unit that drives the two first positioning rods 41 to move relative to each other;

[0054] The second positioning portion is vertically arranged with respect to the first positioning portion. The second positioning portion may include two second positioning rods 42 and a second driving unit that drives the two second positioning rods 42 to move relative to each other.

[0055] Further, the first driving unit may include a first screw 43 and a first motor driving the first screw 43 to rotate, the first screw 43 has a first threaded portion and a second threaded portion with opposite rotation directions, and two first positioning rods 41 are respectively connected to the first threaded portion and the second threaded portion;

[0056] The second driving unit may include a second lead screw 44 and a second motor driving the second lead screw 44 to rotate. The second lead screw 44 has a third threaded portion and a fourth threaded portion with opposite rotation directions. The two second positioning rods 42 are respectively connected to the third threaded portion and the fourth threaded portion.

[0057] Since the position of the drone on the parking platform 3 is not fixed when the drone lands, it is inconvenient for the robot arm 6 to replace the battery, and the robot arm 6 cannot accurately grab the battery of the drone. In view of the above technical problems, the vehicle-mounted mobile nest system for drone battery replacement provided by the present invention is provided with a positioning mechanism 4. It can be understood by those skilled in the art that the two first positioning rods 41 and the two second positioning rods 42 are located above the edge of the parking platform 3 in the initial state. The staff can control the drone to land between the two first positioning rods 41 and the two second positioning rods 42, and the first motor and the second motor drive the first lead screw 43 and the second lead screw 44 to rotate respectively, so that the two first positioning rods 41 and the two second positioning rods 42 respectively move relative to each other, thereby driving the drone to move to a fixed predetermined position, thereby realizing the precise positioning of the drone, and then the robot arm 6 can automatically complete the action of replacing the battery of the drone according to the preset control program. The first motor and the second motor can adopt servo stepper motors, and the built-in encoder feedbacks the speed and feed stroke, so that the two first positioning rods 41 and the two second positioning rods 42 can be accurately stopped at any position with high repeatability.

[0058] Figure 5 This is a schematic diagram of the structure of the mechanical arm of the vehicle-mounted mobile nest system for replacing the battery of the unmanned aerial vehicle provided by the present invention. Figure 5As shown, in one embodiment of the present invention, the mechanical arm 6 includes a mechanical arm body 61, and the front end of the mechanical arm body 61 may be provided with an electric clamp 62, and the electric clamp 62 is used to grab the battery, and the electric clamp 62 includes an upper clamp and a lower clamp, and one of the upper clamp and the lower clamp is provided with a paddle 63, and the paddle 63 is used to push the blades of the UAV. The control program is pre-written in the electric control system of the mechanical arm 6. After the positioning mechanism 4 completes the precise positioning of the UAV, the mechanical arm 6 automatically completes the action of regularizing the UAV blades at the predetermined position and replacing the battery according to the control program, and puts the replaced battery into the battery compartment 5 for charging, thereby solving the inconvenience of manually replacing the battery and improving the endurance of the UAV.

[0059] In an embodiment of the present invention, the battery of the drone is installed in a plug-in manner. After the drone is accurately positioned and the blades are aligned, the robotic arm 6 can accurately grab the battery of the drone through the electric clamp 62 and replace it. In addition, the structure of the drone is updated and iterated quickly. When replacing different drone models, it is only necessary to replace the electric clamp 62 and the battery compartment 5 of the corresponding model and size, thereby improving the scope of application of the vehicle-mounted mobile nest system for drone battery replacement.

[0060] When the vehicle-mounted mobile nest system for replacing batteries of unmanned aerial vehicles is not working, the mechanical arm 6 is in a lying position in the cabin 1, which can reduce the height of the entire device so that the overall height does not exceed 500 mm, thereby improving portability.

[0061] In one embodiment of the present invention, the battery compartment 5 of the vehicle-mounted mobile nest system for replacing the battery of the drone is provided with a battery and a plurality of charging heads connected to the battery, and the battery and the plurality of charging heads can be used to charge the replaced battery, thereby improving the endurance of the drone. A charging management system is provided in the battery compartment 5, and the charging management system can control the on and off of charging according to the size of the charging current. In some specific embodiments, six storage locations for storing batteries can be provided in the battery compartment 5.

[0062] Figure 6 for Figure 1 The enlarged view of A in the figure. Figure 6As shown, in one embodiment of the present invention, the connecting device of the vehicle-mounted mobile nest system for replacing the battery of the UAV includes a plurality of mounting blocks 7 arranged at the bottom of the cabin 1, and the mounting blocks 7 are used to connect to the luggage rack on the top of the vehicle. The vehicle-mounted mobile nest system for replacing the battery of the UAV can be directly installed on the luggage rack on the top of the SUV vehicle through the mounting blocks 7. Such a design does not require modification of the vehicle, avoids the inconvenience of vehicle modification and the review issues of the vehicle management department, and utilizes the vehicle-mounted platform for convenient transportation, solves the difficulties of manual carrying, and further improves the inspection range and work efficiency of field power inspections. Adaptive adjustment parts can be set on the mounting blocks 7 to adapt to the sizes of different luggage racks to facilitate installation, such as locking bolts.

[0063] like Figure 1 , Fig. 8A To Figure H and 9A to 9C As shown, the cabin 1 of the vehicle-mounted mobile nest system for replacing the battery of the UAV is provided with a plurality of cameras 8, and the plurality of cameras 8 are used to monitor the internal conditions of the cabin 1. The staff can monitor the positioning of the UAV, the regularity of the blades, the replacement of the battery and other operations in the cabin 1 in real time through the plurality of cameras 8, and can timely discover, intervene and adjust when problems occur.

[0064] The vehicle-mounted mobile nest system for replacing the battery of the unmanned aerial vehicle provided by the embodiment of the present invention can adapt to most geographical and climatic environments, and can be applied to various operation scenarios such as emergency rescue, geological survey, agricultural monitoring, transportation, security, etc. The staff can directly control the vehicle-mounted mobile nest system for replacing the battery of the unmanned aerial vehicle through the rapid response platform provided with the vehicle. The staff only needs to press a button in the vehicle to open the cabin door 2 and turn on the mechanical arm 6. The vehicle-mounted mobile nest system for replacing the battery of the unmanned aerial vehicle can automatically control the positioning mechanism 4 to accurately position the unmanned aerial vehicle and the mechanical arm 6 to replace the battery and other operations through the automatic control program, and monitor the situation in the cabin 1 through the camera 8, so as to realize the continuous inspection function of the unmanned aerial vehicle after replacing the battery. The whole process is simple and efficient, and only one staff member is needed to complete the whole process, without the need for multi-person collaboration and manual operation.

[0065] Figure 7 A flowchart of a method for replacing a UAV battery based on a vehicle-mounted mobile nest system provided by the present invention. An embodiment of the present invention also provides a method for replacing a UAV battery based on a vehicle-mounted mobile nest system, the method comprising:

[0066] S1, open the door 2 on the cabin 1 of the vehicle-mounted mobile nest system, and the UAV lands on the parking platform 3;

[0067] S2, the positioning mechanism 4 drives the UAV landed on the parking platform 3 to move to a predetermined position;

[0068] S3, the mechanical arm 6 adjusts the two blades on the near side of the drone to a position parallel to the support of the drone;

[0069] S4, the robot arm 6 removes the battery of the drone and puts it into the battery compartment 5, and installs the spare battery in the battery compartment 5 on the drone.

[0070] Specifically, in one embodiment of the present invention, the positioning mechanism 4 drives the UAV landed on the parking platform 3 to move to a predetermined position, including:

[0071] The UAV stops at a position between the two first positioning rods 41 and the two second positioning rods 42, and the first motor and the second motor drive the first lead screw 43 and the second lead screw 44 to rotate respectively, so that the two first positioning rods 41 and the two second positioning rods 42 respectively move relative to each other, thereby driving the UAV to move to a predetermined position.

[0072] FIG. 8A to FIG. 8H A schematic diagram of the blade alignment in the method for replacing the drone battery based on the vehicle-mounted mobile nest system provided by the present invention. In one embodiment of the present invention, the mechanical arm 6 aligns the two proximal blades of the drone to a position parallel to the support of the drone, including:

[0073] like FIG. 8A to FIG. 8D As shown, the mechanical arm 6 moves to the first starting position close to the upper blade, the mechanical arm 6 is pushed forward to the first limit position, then retreats to the first starting position, and then is pushed upward to the second limit position, and the upper blade is pushed by the paddle 63 to move to a position parallel to the upper right bracket of the drone;

[0074] like FIG. 8E to FIG. 8H As shown, the robotic arm 6 moves to the second starting position close to the lower blade, pushes forward to the third extreme position, then retreats to the second starting position, and then pushes downward to the fourth extreme position, and pushes the lower blade through the paddle 63 to move to a position parallel to the lower right bracket of the drone.

[0075] The angle at which the drone's blades are stationary after landing stops is arbitrary and disordered, and the blades at any angle cannot be adjusted by a single push. The present invention uses the above technical solution, and the mechanical arm 6 pushes the upper and lower blades twice respectively. No matter at which angle the drone's blades are stationary after landing stops, the blades can be adjusted to a position parallel to the bracket, thereby preventing the blades from obstructing the next step of the mechanical arm to replace the drone battery and preventing the blades from being damaged.

[0076] 9A to 9CSchematic diagram of replacing batteries in the method for replacing batteries of a drone based on a vehicle-mounted mobile nest system provided by the present invention. In one embodiment of the present invention, 9A to 9C As shown, after the drone blades are tidied, the robot arm 6 can accurately grab the drone battery through the electric gripper 62 and replace it, and put the replaced battery into the battery compartment 5 for charging, thereby solving the inconvenience of manual battery replacement and improving the endurance of the drone. 9A to 9C As shown, the propeller blades at the lower near side of the drone are not in a position parallel to the bracket, so the propeller blades are easily collided with by the robot arm 6 during battery replacement, causing the propeller blades to be damaged. Therefore, the propeller blades need to be tidied before the robot arm 6 replaces the battery. 9A to 9C It is only used to illustrate the action of replacing the battery. In actual operation, the action of replacing the battery must be performed after the blades are straightened.

[0077] Working principle:

[0078] When in use, the vehicle-mounted mobile nest system for replacing the battery of the drone provided by the present invention can be directly installed on the luggage rack on the top of the SUV vehicle through the mounting block 7; when the inspection drone needs to land, the hatch 2 on the top of the cabin 1 is opened, and the staff controls the drone to land at a position between the two first positioning rods 41 and the two second positioning rods 42, and drives the first screw 43 and the second screw 44 to rotate respectively through the first motor and the second motor, so that the two first positioning rods 41 and the two second positioning rods 42 respectively move relative to each other, thereby driving the drone to move to a fixed predetermined position, thereby realizing the precise positioning of the drone, and the mechanical arm 6 automatically completes the landing of the drone at the predetermined position according to the control program. The action of replacing the battery and placing the replaced battery into the battery compartment 5 for charging solves the inconvenience of manually replacing the battery and improves the endurance of the UAV at the same time; the vehicle-mounted mobile nest system for replacing the battery of the UAV is directly installed on the luggage rack on the top of the SUV vehicle through the mounting block 7 at the bottom of the cabin 1, without the need to modify the vehicle, and conveniently transported using the vehicle-mounted platform. The vehicle-mounted mobile nest is more flexible and convenient for storing and maintaining the UAV, and no additional apron is required; and the mechanical arm 6 can use the paddle 63 to regularize the two blades on the near side of the UAV to a position parallel to the bracket of the UAV, thereby preventing the blades in a disordered position from hindering the next step of the mechanical arm to replace the battery of the UAV and preventing the blades from being damaged.

[0079] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for replacing the battery of an unmanned aerial vehicle based on a vehicle-mounted mobile nest system, characterized in that: The vehicle-mounted mobile machine nest system includes: A cabin (1), wherein a cabin door (2) is provided at the top of the cabin (1); A parking platform (3), wherein the parking platform (3) is arranged inside the cabin (1); A positioning mechanism (4), the positioning mechanism (4) being located above the parking platform (3), and the positioning mechanism (4) being used to drive the drone landed on the parking platform (3) to move to a predetermined position; A battery compartment (5), the battery compartment (5) being located on one side of the parking platform (3), and the battery compartment (5) being used to store spare and replacement batteries; A mechanical arm (6), the mechanical arm (6) being used to adjust the blades of the drone, remove the battery of the drone, and install the spare battery in the battery compartment (5) on the drone; The drone battery replacement method comprises: S1, opening the cabin door (2), and the UAV lands on the parking platform (3); S2, the positioning mechanism (4) drives the UAV landed on the parking platform (3) to move to a predetermined position; S3, the mechanical arm (6) adjusts the two blades on the proximal side of the drone to a position parallel to the support of the drone; S4, the mechanical arm (6) removes the battery of the drone and places it into the battery compartment (5), and installs the spare battery in the battery compartment (5) onto the drone; The positioning mechanism (4) comprises: A first positioning portion, the first positioning portion is parallel to one side of the parking platform (3), the first positioning portion comprising two first positioning rods (41) and a first driving unit for driving the two first positioning rods (41) to move relative to each other; a second positioning portion, the second positioning portion being arranged perpendicularly to the first positioning portion, the second positioning portion comprising two second positioning rods (42) and a second driving unit for driving the two second positioning rods (42) to move relative to each other; the mechanical arm (6) adjusting the two blades of the drone facing the near side to a position parallel to the support of the drone comprises: The mechanical arm (6) moves to a first starting position close to the upper blade, the mechanical arm (6) is pushed forward to a first limit position, then retreats to the first starting position, and then is pushed upward to a second limit position; The mechanical arm (6) moves to a second starting position close to the lower blade, the mechanical arm (6) is pushed forward to a third limit position, then retreats to the second starting position, and then is pushed downward to a fourth limit position.

2. The method for replacing a drone battery according to claim 1, characterized in that: The first driving unit comprises a first screw (43) and a first motor for driving the first screw (43) to rotate, the first screw (43) having a first threaded portion and a second threaded portion with opposite rotation directions, and the two first positioning rods (41) are respectively connected to the first threaded portion and the second threaded portion; The second driving unit comprises a second lead screw (44) and a second motor driving the second lead screw (44) to rotate, the second lead screw (44) having a third threaded portion and a fourth threaded portion with opposite rotation directions, and the two second positioning rods (42) are respectively connected to the third threaded portion and the fourth threaded portion; The positioning mechanism (4) drives the UAV landed on the parking platform (3) to move to a predetermined position, including: The drone stops at a position between the two first positioning rods (41) and the two second positioning rods (42), and the first motor and the second motor respectively drive the first lead screw (43) and the second lead screw (44) to rotate, so that the two first positioning rods (41) and the two second positioning rods (42) respectively move relative to each other, thereby driving the drone to move to a predetermined position.

3. The method for replacing a drone battery according to claim 2, characterized in that: The first motor and the second motor are servo stepper motors, and the first motor and the second motor have built-in encoders to feedback rotation speed and feed stroke.

4. The method for replacing a drone battery according to claim 1, characterized in that: The mechanical arm (6) comprises a mechanical arm body (61), the front end of the mechanical arm body (61) is provided with an electric clamp (62), the electric clamp (62) is used to grab a battery, the electric clamp (62) comprises an upper clamp and a lower clamp, one of the upper clamp and the lower clamp is provided with a paddle (63), and the paddle (63) is used to push the blade of the drone.

5. The method for replacing a drone battery according to claim 1, characterized in that: The battery compartment (5) is provided with a storage battery and a plurality of charging heads connected to the storage battery, and is used to charge the replaced batteries.

6. The method for replacing a drone battery according to claim 5, characterized in that: A charging management system is provided in the battery compartment (5), and the charging management system is used to control the on and off of charging according to the size of the charging current.

7. The method for replacing a drone battery according to any one of claims 1 to 6, characterized in that: The vehicle-mounted mobile nest system also includes a connecting device, which includes a plurality of mounting blocks (7) arranged at the bottom of the cabin (1), and the mounting blocks (7) are used to connect to a luggage rack on the top of the vehicle.

8. The method for replacing a drone battery according to claim 7, characterized in that: A plurality of cameras (8) are arranged inside the cabin (1), and the plurality of cameras (8) are used to monitor the internal conditions of the cabin (1).

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