Unmanned aerial vehicle storage, unmanned aerial vehicle dispatching method, and warehousing method

Abstract

The application provides a UAV storage warehouse, a UAV warehouse-out method and a warehouse-in method, comprising a rotating column; a plurality of UAV fixing seats, which are fixedly connected with the rotating column, and are arranged in a ring shape around the axis of the rotating column; and a jacking device arranged on the UAV fixing seat and capable of extending or retracting in the direction of approaching or moving away from the rotating column. The application arranges a plurality of UAV fixing seats in a ring shape around the rotating column, rotates the rotating column to make one of the UAV fixing seats in a horizontal state, controls the jacking device to lift, and controls the fixing device to lock or unlock the UAV, so that the warehouse-out and warehouse-in of the UAV are realized in a rotating manner, the structure of the current UAV storage warehouse is simplified, and the efficiency of the warehouse-out and warehouse-in of the UAV is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle storage library, an unmanned aerial vehicle departure method and an unmanned aerial vehicle storage method. BACKGROUND

[0002] At present, using unmanned aerial vehicles for low-altitude cargo transportation can increase the timeliness of express delivery and solve the space limitations of transportation tools in some cases. However, high-frequency transportation of unmanned aerial vehicles in the above scenarios requires a large number of manpower for takeoff and recovery operations of unmanned aerial vehicles, and pure manual operation will seriously affect the transportation efficiency of unmanned aerial vehicles.

[0003] A Chinese patent (publication number: CN213297347U) discloses an unmanned aerial vehicle storage structure and an unmanned aerial vehicle hangar device, comprising: a support frame, an unmanned aerial vehicle hangar and a lifting mechanism; the unmanned aerial vehicle hangar is arranged on the side of the support frame; the lifting mechanism comprises a lifting platform and an access mechanism, the lifting platform is arranged on the support frame, and the lifting platform can move vertically along the support frame; the access mechanism is arranged on the lifting platform and is used for storing and taking out unmanned aerial vehicles from the unmanned aerial vehicle hangar.

[0004] That is, the patent stores and takes out unmanned aerial vehicles from each position of the unmanned aerial vehicle hangar through the vertical movement and horizontal telescopic movement of the lifting mechanism. However, although this scheme realizes the departure and storage of unmanned aerial vehicles, a large number of long-distance moving mechanisms need to be arranged to store unmanned aerial vehicles, and long-distance movement of unmanned aerial vehicles will result in a large amount of time spent on departure and storage of unmanned aerial vehicles, ultimately leading to the phenomenon of complex unmanned aerial vehicle hangar structure and low departure and storage efficiency. SUMMARY

[0005] The present application provides an unmanned aerial vehicle storage library, an unmanned aerial vehicle departure method and an unmanned aerial vehicle storage method, aiming to solve the technical problem of complex unmanned aerial vehicle hangar structure and low departure and storage efficiency.

[0006] In a first aspect, the present application provides an unmanned aerial vehicle storage library, comprising:

[0007] A rotating column;

[0008] A plurality of unmanned aerial vehicle fixing seats, the unmanned aerial vehicle fixing seat is fixedly connected with the rotating column, and the plurality of unmanned aerial vehicle fixing seats are arranged in a ring shape around the axis of the rotating column;

[0009] The unmanned aerial vehicle fixing seat is provided with a fixing device for fixing the unmanned aerial vehicle and a jacking device telescoping in the direction close to or away from the rotating column;

[0010] The jacking device has a first working position close to the unmanned aerial vehicle fixing seat and a second working position away from the unmanned aerial vehicle fixing seat. When the jacking device is in the first working position, the fixing device is in a locked state with the unmanned aerial vehicle. When the jacking device is in the second working position, the fixing device is in an unlocked state with the unmanned aerial vehicle.

[0011] In some embodiments, the jacking device comprises a jacking telescopic rod extending and retracting in a direction perpendicular to the axis of the rotating column, and a jacking seat arranged at one end of the jacking telescopic rod.

[0012] In some embodiments, the fixing device comprises fixing telescopic rods arranged on opposite sides of the jacking device respectively, and a conveying mechanism arranged on the jacking seat.

[0013] The conveying mechanism conveys in a first direction, the fixing telescopic rods extend and retract in a second direction, the first direction is perpendicular to the second direction, and the extension and retraction direction of the jacking telescopic rod is perpendicular to both the first direction and the second direction.

[0014] In some embodiments, the first direction is perpendicular to the axis of the rotating column.

[0015] In some embodiments, one end of the fixing telescopic rod jacking device is provided with a positioning member.

[0016] The positioning member has a first positioning part corresponding to the first working position; and / or

[0017] The positioning member has a second positioning part corresponding to the second working position.

[0018] In some embodiments, the jacking seat is further provided with a fixing mechanism, the fixing mechanism comprises positioning telescopic rods arranged at both ends of the conveying mechanism, and the positioning telescopic rods extend and retract in the extension and retraction direction of the jacking telescopic rod.

[0019] In some embodiments, the unmanned aerial vehicle fixing seat has a storage slot penetrating to one side of the rotating column, and the jacking device is arranged in the storage slot.

[0020] The unmanned aerial vehicle fixing seat is provided with an unmanned aerial vehicle fixing slot on the side away from the rotating column, and the unmanned aerial vehicle fixing slot is arranged annularly around the storage slot.

[0021] In some embodiments, the rotating column comprises a prismatic part having a plurality of prismatic faces, and the plurality of unmanned aerial vehicle fixing seats correspond one-to-one to the plurality of prismatic faces.

[0022] In a second aspect, the present application provides an unmanned aerial vehicle delivery method, which is applied to the unmanned aerial vehicle storage library as described in the first aspect, and comprises:

[0023] Controlling the rotating column to rotate until the unmanned aerial vehicle fixing seat with the unmanned aerial vehicle parked reaches a preset state.

[0024] Control the fixing device to unlock to release the locking state of the unmanned aerial vehicle;

[0025] Control the jacking device to extend and retract the unmanned aerial vehicle to a preset height in a direction away from the rotating column, so that the unmanned aerial vehicle meets the take-off height.

[0026] In a third aspect, the application provides a method for storing an unmanned aerial vehicle in a warehouse. The method is applied to the unmanned aerial vehicle storage warehouse of the first aspect and includes the following steps:

[0027] Control the rotating column to rotate until the unmanned aerial vehicle fixing seat with a storage space is in a preset state;

[0028] When the unmanned aerial vehicle is parked on the jacking device, control the jacking device to retract, so that the unmanned aerial vehicle is lowered into the storage slot;

[0029] Control the fixing device to lock the unmanned aerial vehicle to complete the storage process of the unmanned aerial vehicle.

[0030] The application arranges a plurality of unmanned aerial vehicle fixing seats around the rotating column. One of the unmanned aerial vehicle fixing seats is brought to a horizontal state by rotating the rotating column. Then, the jacking device is controlled to lift and lower, and the fixing device is controlled to lock or unlock the unmanned aerial vehicle. The out-of-warehouse and in-warehouse processes of the unmanned aerial vehicle are realized in a rotating manner, which simplifies the structure of the current unmanned aerial vehicle storage warehouse and improves the out-of-warehouse and in-warehouse efficiency of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort.

[0032] Figure 1 is a structural schematic diagram of the unmanned aerial vehicle storage warehouse provided in the embodiments of the application;

[0033] Figure 2 is a state schematic diagram of the unmanned aerial vehicle storage warehouse in a storage state provided in the embodiments of the application;

[0034] Figure 3 is a state schematic diagram of the unmanned aerial vehicle storage warehouse in an out-of-warehouse state provided in the embodiments of the application;

[0035] Figure 4 is a state schematic diagram of the unmanned aerial vehicle storage warehouse in a loading state provided in the embodiments of the application;

[0036] Figure 5 is a structural schematic diagram of the jacking device provided in the embodiments of the application;

[0037] Figure 6 is a structural schematic view of a positioning member provided in the embodiments of the present application;

[0038] Figure 7 is a flow schematic view of a method for unmanned aerial vehicle delivery provided in the embodiments of the present application;

[0039] Figure 8 is a flow schematic view of a method for unmanned aerial vehicle storage provided in the embodiments of the present application;

[0040] Figure 9 is a structural schematic view of an unmanned aerial vehicle storage control system provided in the embodiments of the present application.

[0041] wherein:

[0042] 10 rotating column, 11 prism portion, 110 prism surface, 12 support column;

[0043] 20 unmanned aerial vehicle fixing seat, 200 storage groove, 210 unmanned aerial vehicle fixing groove, 21 fixing device, 211 fixing telescopic rod, 212 positioning member, 2121 first positioning portion, 2122 second positioning portion, 22 jacking device, 221 jacking telescopic rod, 222 jacking seat, 223 conveying mechanism, 224 fixing mechanism, 2241 positioning telescopic rod;

[0044] 30 unmanned aerial vehicle, 40 loading box, 50 conveying line. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0046] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0047] In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration." Any implementation described as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, for purposes of explanation, specific details are set forth. It is apparent to those skilled in the art that the present application can be practiced without using these specific details. In other instances, well-known structures and processes are not described in detail in order to avoid obscuring the description of the application. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features presented herein.

[0048] The embodiments of the present application provide a UAV storage library, a UAV storage method and a storage method, which are described in detail as follows.

[0049] First, refer to Figure 1 , Figure 2 and Figure 3 , Figure 1 shows a structure schematic diagram of a UAV storage library in the embodiments of the present application, Figure 2 shows a state schematic diagram of a UAV storage library in a storage state in the embodiments of the present application, Figure 3 shows a state schematic diagram of a UAV storage library in a storage state in the embodiments of the present application, wherein the UAV storage library comprises:

[0050] a rotating column 10;

[0051] A plurality of unmanned aerial vehicle fixing seats 20 are fixedly connected with the rotating column 10, and the plurality of unmanned aerial vehicle fixing seats 20 are arranged annularly around the axis of the rotating column 10.

[0052] The unmanned aerial vehicle fixing seat 20 is provided with a fixing device 21 for fixing the unmanned aerial vehicle 30 and a jacking device 22 that extends in the direction of approaching or moving away from the rotating column 10.

[0053] The jacking device 22 has a first working position close to the unmanned aerial vehicle fixing seat 20 and a second working position away from the unmanned aerial vehicle fixing seat 20, when the jacking device 22 is in the first working position, the fixing device 21 is in the locked state with the unmanned aerial vehicle 30, and when the jacking device 22 is in the second working position, the fixing device 21 is in the unlocked state with the unmanned aerial vehicle 30.

[0054] Specifically, the rotating column 10 provides rotating support for the plurality of unmanned aerial vehicle fixing seats 20, and an example is shown in Figure 1 The rotating column 10 includes a prismatic portion 11, the prismatic portion 11 has a plurality of prismatic faces 110, and the plurality of unmanned aerial vehicle fixing seats 20 correspond one-to-one to the plurality of prismatic faces 110. Through the one-to-one correspondence between the prismatic face 110 and the unmanned aerial vehicle fixing seat 20, the unmanned aerial vehicle fixing seat 20 has a reliable installation reference surface, thereby improving the stability of the unmanned aerial vehicle fixing seat 20 during rotation. It can be understood that the rotating column 10 can also be a cylindrical body or other shaped column, as long as it can stably install the plurality of unmanned aerial vehicle fixing seats 20.

[0055] In some embodiments of the present application, in order to facilitate the fixed connection between the unmanned aerial vehicle fixing seat 20 and the rotating column 10, a plurality of support columns 12 are arranged between the unmanned aerial vehicle fixing seat 20 and the prismatic face 110 for fixed connection, and the plurality of support columns 12 can effectively fix the unmanned aerial vehicle fixing seat 20 to ensure the stability of the unmanned aerial vehicle fixing seat 20 during rotation of the rotating column 10.

[0056] The unmanned aerial vehicle fixing seat 20 is used for parking the unmanned aerial vehicle 30, and the unmanned aerial vehicle 30 is locked on the unmanned aerial vehicle fixing seat 20 through the fixing device 21 to ensure the stability of the unmanned aerial vehicle 30 during rotation of the rotating column 10. In some embodiments of the present application, in order to facilitate parking of the unmanned aerial vehicle 30, refer to Figure 1The unmanned aerial vehicle fixing seat 20 has a storage groove 200 penetrating to one side of the rotating column, and the jacking device 22 is arranged in the storage groove 200. The unmanned aerial vehicle fixing seat 20 is provided with an unmanned aerial vehicle fixing groove 210 on the side away from the rotating column 10, and the unmanned aerial vehicle fixing groove 210 is annularly arranged around the storage groove 200. Part (for example, the wing of the unmanned aerial vehicle 30) of the unmanned aerial vehicle 30 is in the unmanned aerial vehicle fixing groove 210, and the other part (for example, the main body part) of the unmanned aerial vehicle 30 is in the storage groove 200, so that most of the unmanned aerial vehicle 30 can be embedded on the unmanned aerial vehicle fixing seat 20, avoiding collision with other mechanisms and damage.

[0057] The unmanned aerial vehicle fixing seat 20 is provided with a fixing device 21 for fixing the unmanned aerial vehicle 30 and a jacking device 22 which can extend or retract in the direction close to or away from the rotating column 10. Specifically, the fixing device 21 has a locking function to lock the unmanned aerial vehicle 30 when the unmanned aerial vehicle 30 is in the storage state in the storage groove 200; and the jacking device 22 has a lifting function to lift the unmanned aerial vehicle 30 to meet the take-off height or to enter the storage state.

[0058] For example, the shape of the storage groove 200 can correspond to the main body part of the unmanned aerial vehicle 30, such as a square or circular storage groove 200; the locking function of the fixing device 21 can be realized by the extension and retraction of the telescopic rod, for example, the telescopic rod extends to block the top of the unmanned aerial vehicle 30 to ensure that it is always in the storage groove 200; and the lifting function of the jacking device 22 can be realized by a linear motion structure, such as a hydraulic telescopic rod, a pneumatic telescopic rod, a ball screw, etc.

[0059] It can be understood that the storage groove 200, the fixing device 21 and the jacking device 22 can also adopt other implementation manners, for example, the fixing device 21 can realize the locking function by adopting a rotating lock ring; for another example, the jacking device 22 can also realize the lifting function by adopting an electric telescopic rod, a gear and rack linear motion mechanism.

[0060] Referring to Figure 2 When the jacking device 22 retracts to the first working position in the storage groove 200, the main body part of the unmanned aerial vehicle 30 is embedded in the storage groove 200, the wing of the unmanned aerial vehicle 30 is in the unmanned aerial vehicle fixing groove 210, and the fixing device 21 locks the left and right sides of the unmanned aerial vehicle 30 respectively to ensure the stability of the unmanned aerial vehicle 30, so that the unmanned aerial vehicle 30 remains in a stable state during the rotation of the rotating column 10.

[0061] Continuing to refer to Figure 3 The fixing device 21 retracts to release the locking state of the unmanned aerial vehicle 30, and the jacking device 22 lifts the unmanned aerial vehicle 30 to the second working position, so that the unmanned aerial vehicle 30 is separated from the storage groove 200 and is at a preset height, thereby making the unmanned aerial vehicle 30 leave the storage and meet the take-off conditions.

[0062] The application arranges multiple unmanned aerial vehicle fixing seats 20 around the rotating column 10, rotates the rotating column 10 to make one of the unmanned aerial vehicle fixing seats 20 in a horizontal state, then controls the jacking device 22 to lift and controls the fixing device 21 to lock or unlock the unmanned aerial vehicle 30, so as to realize the storage and withdrawal of the unmanned aerial vehicle 30 in a rotating manner, which simplifies the current unmanned aerial vehicle storage structure and improves the storage and withdrawal efficiency of the unmanned aerial vehicle 30.

[0063] Further, as an exemplary structure of the jacking device 22, refer to Figure 5 The jacking device 22 includes a jacking telescopic rod 221 radially telescoping along the axis of the rotating column 10 and a jacking seat 222 arranged at one end of the jacking telescopic rod 221, and the jacking telescopic rod 221 controls the jacking seat 222 to be in a first working position or a second working position through telescoping, and the jacking seat 222 is used for parking the unmanned aerial vehicle 30, and the lifting of the unmanned aerial vehicle 30 is realized through the cooperation of the jacking telescopic rod 221 and the jacking seat 222, so as to realize the storage and withdrawal of the unmanned aerial vehicle 30.

[0064] Further, in order to facilitate the loading operation when the unmanned aerial vehicle 30 is withdrawn, refer to Figure 4 and Figure 5 wherein, Figure 4 shows a state diagram of the unmanned aerial vehicle storage in a loading state in the embodiment of the application, wherein the jacking seat 222 is provided with a conveying mechanism 223.

[0065] In the above embodiment, since the jacking seat 222 is provided with the conveying mechanism 223, when loading is performed, the rotating column 10 is rotated to make the unmanned aerial vehicle fixing seat 20 carrying the unmanned aerial vehicle 30 in a horizontal state, the jacking device 22 lifts the unmanned aerial vehicle 30 to a preset height, then the conveying line 50 connected with the conveying mechanism 223 moves the loading box 40 to the conveying mechanism 223 of the jacking seat 222, and then the unmanned aerial vehicle 30 completes the loading process of the loading box 40; when unloading is performed, the rotating column 10 is rotated to make the unmanned aerial vehicle fixing seat 20 in a horizontal state, the jacking device 22 is lifted to make the conveying mechanism 223 connected with the conveying line 50, then the unmanned aerial vehicle 30 is landed on the jacking seat 222 and is unlocked from the loading box 40, the conveying mechanism 223 cooperates with the conveying line 50 to move the loading box 40 for the next operation (such as sorting), and finally the conveying mechanism 223 on the jacking seat 222 realizes the purpose of automatic loading and unloading of the unmanned aerial vehicle 30.

[0066] Further, in order to avoid the phenomenon that the fixing device 21 blocks the conveying mechanism 223, as an exemplary structure, refer to Figure 2 and Figure 3The fixing device 21 comprises fixing telescopic rods 211 arranged on opposite sides of the storage groove 200, the conveying mechanism 223 is arranged to convey in a first direction, the fixing telescopic rods 211 are arranged to extend and retract in a second direction, the first direction is perpendicular to the second direction, and the telescopic rods 221 are arranged to extend and retract in a direction perpendicular to the first direction and the second direction.

[0067] In the above embodiment, the first direction is perpendicular to the second direction, that is, the fixing telescopic rods 211 are arranged to fix the unmanned aerial vehicle 30 on both sides of the conveying direction of the conveying mechanism 223, so as to avoid the situation that the fixing telescopic rods 211 block the goods when the conveying mechanism 223 conveys; at the same time, the telescopic direction of the telescopic rods 221 is also perpendicular to the first direction and the second direction, that is, when the telescopic rods 221 extend and retract along the Z axis, the telescopic direction of the fixing telescopic rods 211 and the conveying direction of the conveying mechanism 223 are along the X axis and the Y axis respectively, thereby avoiding the interference between the telescopic rods 221 and the fixing telescopic rods 211.

[0068] In some embodiments of the present application, for example, for the embodiment that the conveying mechanism 223 conveys in the first direction and the fixing telescopic rods 211 extend and retract in the second direction, refer to Figure 5 The fixing telescopic rods 211 are arranged to be provided with positioning members 212 at one end close to the storage groove 200, the positioning members 212 lock the unmanned aerial vehicle 30 from the side, so as to ensure the stability of the unmanned aerial vehicle 30 on the unmanned aerial vehicle fixing seat 20. For example, the locking member can be a component in the shape of an inverted “L”, wherein the horizontal part covers the top of the unmanned aerial vehicle 30, and the vertical part contacts the side of the unmanned aerial vehicle 30, thereby avoiding the situation that the unmanned aerial vehicle 30 moves in the vertical direction and the horizontal direction.

[0069] Generally, since the moving direction of the unmanned aerial vehicle 30 during the rotation of the rotating column 10 is mainly the shaking along the rotating direction, refer to Figure 3 The first direction is perpendicular to the axis of the rotating column 10, that is, the locking member in the shape of an inverted “L” locks the two sides along the rotating direction of the rotating column 10, thereby limiting the shaking of the unmanned aerial vehicle 30 during the rotation of the rotating column 10 to the maximum extent. It can be understood that the fixing device 21 can also be arranged on both sides of the storage groove 200 along the axis direction of the rotating column 10.

[0070] Further, in order to avoid the situation that the goods are not in the correct position during the loading and unloading, and cannot be fixed by the unmanned aerial vehicle 30, in some embodiments of the present application, for example, for the embodiment that the fixing telescopic rods 211 are arranged to be provided with positioning members 212 at one end close to the storage groove 200, refer to Figure 6 , Figure 6A structure diagram of the positioning member 212 in the embodiment of the present application is shown. The positioning member 212 has a first positioning part 2121 corresponding to the first working position; and / or the positioning member 212 has a second positioning part 2122 corresponding to the second working position. When the jacking seat 222 is in the first working position, the first positioning part 2121 of the positioning member 212 abuts against the UAV 30 to ensure the stability of the UAV 30 in the storage state; when the jacking seat 222 is in the second working position, the second positioning part 2122 of the positioning member 212 locks the UAV 30 to ensure the stability of the UAV 30 in the loading and unloading of goods.

[0071] It can be understood that the second positioning part 2122 of the positioning member 212 can also fix the goods while locking the UAV 30 to ensure the stability of the goods in the loading and unloading, or the positioning member 212 can also be provided with a positioning part for fixing the goods.

[0072] Further, since the goods are prone to misalignment when moving on the conveying mechanism 223, causing the UAV 30 to be unable to be fixed for loading, referring to Figure 6 , the jacking seat 222 is further provided with a fixing mechanism 224, and the fixing mechanism 224 includes positioning telescopic rods 2241 located at both ends of the conveying mechanism 223, which are telescopic along the telescopic direction of the jacking telescopic rod 221. When the goods are arranged, the positioning telescopic rods 2241 on the jacking seat 222 are raised to intercept the goods in the conveying direction of the conveying mechanism 223, so as to avoid the misalignment of the goods when moving on the conveying mechanism 223, causing the UAV 30 to be unable to be fixed.

[0073] It is worth noting that the above description of the UAV storage library is intended to clearly illustrate the verification process of the present application, and those skilled in the art can make equivalent modifications and designs under the guidance of the present application, for example, rotating the UAV fixed seat 20 to the right side by rotating the rotating column 10, and then performing the operations of unloading the UAV 30 from the storage library and loading the UAV 30 into the storage library.

[0074] Further, in order to better implement the UAV storage library in the embodiment of the present application, on the basis of the UAV storage library of the present application, referring to Figure 7 , Figure 7 A flow diagram of a UAV unloading method in the embodiment of the present application is shown. The UAV unloading method is applied to the UAV storage library of any of the above embodiments, wherein the UAV unloading method comprises:

[0075] Step S701, controlling the rotating column 10 to rotate until the UAV fixed seat 20 with the UAV 30 parked thereon is in a preset state;

[0076] The preset state means that the UAV fixed seat 20 is in the correct unloading position, for example, referring to Figure 3 and Figure 4The preset state can be that the UAV fixing seat 20 is directly above the fixed shaft. It can be understood that the preset state can also be that the UAV fixing seat 20 is on the left side or the right side of the fixed shaft, and the UAV 30 is implemented to be stored and taken out by entering or exiting the UAV 30 to the left or to the right.

[0077] In step S702, the fixing device 21 is controlled to be unlocked to release the locking state of the UAV 30.

[0078] When the UAV fixing seat 20 is in the preset state, the fixing device 21 can be controlled to be unlocked to release the locking state of the UAV 30. In some embodiments of the present application, for example, for the embodiment in which the fixing device 21 includes the fixed telescopic rods 211 respectively located on the opposite sides of the storage groove 200, the fixed telescopic rods 211 are controlled to be retracted, so that the positioning members 212 are separated from the UAV 30, and then the locking state of the UAV 30 can be released.

[0079] It can be understood that for another embodiment of the present application, for example, for the embodiment in which the locking ring is used to lock the UAV 30, the locking state of the UAV 30 can be released by controlling the locking ring to rotate.

[0080] In step S703, the jacking device 22 is controlled to be telescoped to jack up the UAV 30 to a preset height away from the rotating column 10, so that the UAV 30 meets the take-off height.

[0081] When the fixing device 21 releases the locking state of the UAV 30, the jacking device 22 can be controlled to be telescoped to jack up the UAV 30 to a preset height away from the rotating column 10, so that the UAV 30 meets the take-off height, and then the process of taking out the UAV 30 is completed.

[0082] In the present application, a plurality of UAV fixing seats 20 are arranged around the rotating column 10, one of the UAV fixing seats 20 is brought to a horizontal state by rotating the rotating column 10, then the jacking device 22 is controlled to be lifted and lowered, and the fixing device 21 is controlled to lock or unlock the UAV 30, so that the UAV 30 is taken out in a rotating manner, the structure of the current UAV storage is simplified, and the efficiency of taking out the UAV 30 is improved.

[0083] Corresponding to the method for taking out the UAV, in order to better implement the UAV storage in the embodiments of the present application, on the basis of the UAV storage of the present application, the method for taking in the UAV is shown in Figure 8 , Figure 8 A flowchart of a method for taking in the UAV in the embodiments of the present application is shown, the method for taking in the UAV is applied to the UAV storage of any of the above embodiments, and the method for taking in the UAV includes the following steps.

[0084] In step S801, the rotating column 10 is controlled to be rotated until the UAV fixing seat 20 with a storage space is in a preset state.

[0085] The preset state refers to the unmanned aerial vehicle fixing seat 20 being in a correct out-of-warehouse position. For example, refer to Figure 3 and Figure 4 The preset state can be that the unmanned aerial vehicle fixing seat 20 is directly above the fixing shaft. It can be understood that the preset state can also be that the unmanned aerial vehicle fixing seat 20 is on the left or right side of the fixing shaft, and the unmanned aerial vehicle 30 is implemented to be in and out of the warehouse by moving left or right.

[0086] In step S802, when the unmanned aerial vehicle 30 is parked on the jacking device 22, the jacking device 22 is controlled to retract back, so that the unmanned aerial vehicle 30 is lowered into the storage slot 200;

[0087] When the unmanned aerial vehicle fixing seat 20 is rotated to the preset state (for example, the horizontal state), the unmanned aerial vehicle 30 can land on the jacking device 22 at this time, and then the jacking device 22 is retracted back, thereby making the unmanned aerial vehicle 30 land in the storage slot 200.

[0088] In step S803, the fixing device 21 is controlled to lock the unmanned aerial vehicle 30, so as to complete the process of the unmanned aerial vehicle 30 into the warehouse.

[0089] When the unmanned aerial vehicle 30 is lowered into the storage slot 200, the fixing device 21 can be controlled to lock the unmanned aerial vehicle 30. In some embodiments of the present application, for example, for the embodiment in which the fixing device 21 includes the fixing telescopic rods 211 respectively located on the opposite sides of the storage slot 200, the fixing telescopic rods 211 are controlled to extend, so that the positioning members 212 are in contact with the unmanned aerial vehicle 30, thereby locking the unmanned aerial vehicle 30.

[0090] It can be understood that for another embodiment of the present application, for example, for the embodiment in which the unmanned aerial vehicle 30 is locked by rotating the locking ring, the unmanned aerial vehicle 30 can be locked by controlling the locking ring to rotate.

[0091] The present application arranges a plurality of unmanned aerial vehicle fixing seats 20 around the rotating column 10, and rotates the rotating column 10 to make one of the unmanned aerial vehicle fixing seats 20 be in the horizontal state, then controls the jacking device 22 to lift and lower, and controls the fixing device 21 to lock the unmanned aerial vehicle 30, so as to realize the process of the unmanned aerial vehicle 30 into the warehouse in a rotating manner, which simplifies the structure of the current unmanned aerial vehicle warehouse and improves the efficiency of the unmanned aerial vehicle 30 into the warehouse.

[0092] In order to better implement the method of the unmanned aerial vehicle into the warehouse and the method of the unmanned aerial vehicle out of the warehouse in the embodiments of the present application, on the basis of the method of the unmanned aerial vehicle into the warehouse and the method of the unmanned aerial vehicle out of the warehouse, the present application further provides an unmanned aerial vehicle warehouse control system, which comprises:

[0093] One or more processors;

[0094] A memory; and

[0095] One or more applications, wherein the applications are stored in memory and configured to be executed by a processor, including the steps in any of the embodiments of the above-described drone storage method and drone exit method.

[0096] like Figure 9 As shown, it illustrates a structural schematic diagram of the unmanned aerial vehicle (UAV) hangar control system involved in the embodiments of this application. Specifically:

[0097] The unmanned aerial vehicle hangar control system may include one or more processors 901 with processing cores and one or more memory 902 with computer-readable storage media. Those skilled in the art will understand that... Figure 9 The structure shown does not constitute a limitation on the unmanned aerial vehicle hangar control system and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0098] The processor 901 is the control center of the system, connecting various parts of the system through various interfaces and lines. It performs various system functions and processes data by running or executing software programs and / or modules stored in the memory 902, and by calling data stored in the memory 902, thereby providing overall system monitoring. Optionally, the processor 901 may include one or more processing cores; the processor 901 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. Preferably, the processor 901 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and application programs, and the modem processor mainly handles wireless communication. It is understood that the aforementioned modem processor may not be integrated into the processor 901.

[0099] The memory 902 can be used to store software programs and modules, and the processor 901 executes various functional applications and data processing by running the software programs and modules stored in the memory 902. The memory 902 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; and the data storage area can store data created according to the use of the unmanned aerial vehicle warehouse control system, etc. In addition, the memory 902 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device. Accordingly, the memory 902 can also include a memory controller to provide access of the processor 901 to the memory 902.

[0100] Although not shown, the unmanned aerial vehicle warehouse control system can also include a display unit, etc., which will not be described here. In particular, in the embodiment, the processor 901 in the unmanned aerial vehicle warehouse control system will load the executable file corresponding to the process of one or more application programs into the memory 902 according to the following instructions, and run the application programs stored in the memory 902 by the processor 901, thereby realizing various functions, as follows:

[0101] Controlling the rotating column to rotate until the unmanned aerial vehicle fixing seat with the unmanned aerial vehicle parked thereon reaches a preset state;

[0102] Controlling the fixing device to be unlocked to release the locking state of the unmanned aerial vehicle;

[0103] Controlling the jacking device to extend and jack up the unmanned aerial vehicle to a preset height in a direction away from the rotating column, so that the unmanned aerial vehicle meets the take-off height.

[0104] Controlling the rotating column to rotate until the unmanned aerial vehicle fixing seat with the storage space reaches a preset state;

[0105] When the unmanned aerial vehicle is parked on the jacking device, controlling the jacking device to retract and retreat, so that the unmanned aerial vehicle is lowered into the storage slot;

[0106] Controlling the fixing device to lock the unmanned aerial vehicle to complete the unmanned aerial vehicle warehousing process.

[0107] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or controlled by related hardware by instructions, which can be stored in a computer readable storage medium and loaded and executed by a processor.

[0108] Having described the basic concepts, it is obvious to those skilled in the art that the above detailed disclosure is merely illustrative and not restrictive of the present application. Although not explicitly described, various modifications, improvements, and changes can be made to the present application by those skilled in the art. Such modifications, improvements, and changes are suggested in the present application, and thus still fall within the spirit and scope of the exemplary embodiments of the present application.

[0109] Also, the present application uses certain terms to describe the embodiments of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. Expressions such as "at least one of," when preceding a list of two or more items, denote that at least one of the listed items is present at some level of quantity but not necessarily one of each and every one of the items.

[0110] Accordingly, various aspects of the present application can be embodied solely in hardware, solely in software (including firmware, resident software, micro-code, etc.), or combinations thereof. The foregoing hardware or software can be referred to collectively as a "data block", "module", "engine", "unit", "component", or "system". Furthermore, aspects of the present application can be embodied as a computer program product that includes computer program code configured to carry out the methods described herein.

[0111] A computer storage medium can include a propagated data signal with computer program code embodied therein, e.g., in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including but not limited to electro-magnetic, optical, or any suitable combination thereof. A computer storage medium can be any medium that can be used to store computer program code temporarily or permanently, including a readable storage medium, or transmission medium. A transmission medium can include any medium that can be used to carry a program code over a connection between a first and second computer readable medium, including a propagated signal. A program code embodied on a computer storage medium can direct a computer system to carry out any of the methods described herein.

[0112] The computer program code for carrying out operations of the various aspects described herein can be written in any one or more programming languages, including object-oriented programming languages such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, and conventional procedural programming languages such as C, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, ABAP, dynamic programming languages such as Python, Ruby and Groovy, or other programming languages. The program code can execute entirely on the user's computer, or it can be executed as a stand-alone software package, or it can execute partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any form of network, such as a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet) or within a cloud computing environment or as a service, such as Software as a Service (SaaS).

[0113] Furthermore, the order of presentation of the processing elements and sequences described herein are not intended to be limiting, unless otherwise indicated in the claims. Although the above disclosure discusses some presently preferred embodiments of the application, the present application should not be limited to these embodiments alone. If desired, the exclusive use of the features mentioned above can be dispensed with, and additional or alternative features can be used. For example, although the system components described above can be implemented by hardware devices, they can also be implemented by software solutions alone, such as installing the described system on an existing server or mobile device.

[0114] Similarly, it is to be noted that, in order to simplify the presentation of the disclosure herein and to aid in the understanding of one or more inventive embodiments, the foregoing description of the embodiments of the application can sometimes refer to features in combination, without necessarily referring to each and every subcombination of those features. However, it is to be noted that such a disclosure approach should not be interpreted as meaning that the application requires more features than are mentioned in the claims. In fact, the features of the embodiments are fewer than the total features of the single embodiments disclosed above.

[0115] The above describes in detail the unmanned aerial vehicle storage library, the unmanned aerial vehicle storage-out method and the storage-in method provided by the embodiments of the present application. The principles and implementation manners of the present application are described by using specific examples. The above embodiment description is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed. In conclusion, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A drone storage library, characterized in that, include: Rotating column; Multiple drone mounting bases are fixedly connected to the rotating column, and the multiple drone mounting bases are arranged in a ring around the axis of the rotating column; The drone mounting base is equipped with a fixing device for fixing the drone and a lifting device that extends and retracts in the direction of approaching or moving away from the rotating column. The lifting device has a first working position close to the drone mounting base and a second working position away from the drone mounting base. When the lifting device is in the first working position, the mounting device and the drone are locked together; when the lifting device is in the second working position, the mounting device and the drone are unlocked. The lifting device includes a lifting telescopic rod that extends and retracts along a direction perpendicular to the axis of the rotating column, and a lifting seat disposed at one end of the lifting telescopic rod; The fixing device includes fixed telescopic rods located on opposite sides of the lifting device. A conveying mechanism is provided on the lifting seat. The conveying mechanism conveys along a first direction, and the fixed telescopic rods extend and retract along a second direction. The first direction is perpendicular to the second direction and perpendicular to the axis of the rotating column. The first direction is the direction in which the conveying mechanism transports goods. A positioning element is provided at one end of the fixed telescopic rod near the lifting device; the positioning element has a first positioning part corresponding to the first working position; and / or, the positioning element has a second positioning part corresponding to the second working position; a fixing mechanism is also provided on the lifting seat, the fixing mechanism includes positioning telescopic rods located at both ends of the conveying mechanism, the positioning telescopic rods extend and retract along the extension and retraction direction of the lifting telescopic rods; the UAV mounting base has a storage slot extending through one side of the rotating column, the lifting device is disposed in the storage slot; a UAV mounting slot is provided on the side of the UAV mounting base away from the rotating column, the UAV mounting slot is arranged in a ring around the storage slot.

2. The drone storage vault of claim 1, wherein, The rotating column includes a prism portion, which has multiple prism faces, and the multiple UAV mounting bases correspond one-to-one with the multiple prism faces.

3. A method for UAV delivery, characterized by, The drone outbound method is applied to the drone storage warehouse as described in claim 1 or 2, and includes: Control the rotating column to rotate until the drone mounting base holding the drone is in the preset state; Control the locking device to unlock the drone; The control lifting device extends and retracts away from the rotating column to lift the drone to a preset height so that the drone meets the takeoff altitude.

4. A method for storing a UAV, characterized by, The drone entry and exit method is applied to the drone storage warehouse as described in claim 1 or 2, including: Control the rotating column to rotate until the drone mounting base with storage space reaches the preset state; When the drone docks on the lifting device, control the lifting device to retract and lower the drone into the storage tank; The control and fixing device locks the drone to complete the drone storage process.

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