Automated handling of containers

Abstract

The application discloses an automatic carrying hangar and an automatic carrying method. The automatic carrying hangar comprises a hangar body, at least one carrying member, a lifting device and a carrying device. The carrying member comprises a carrying frame connected with the hangar body and a carrying track located below the carrying frame. The lifting device comprises a support connected with the hangar body, a sliding member in sliding connection with the support and a lifting track connected with the sliding member. The carrying device comprises a moving assembly and a lifting assembly connected with the moving assembly. The sliding member moves to a preset docking position, so that the lifting track is docked with one carrying track, and the moving assembly can move between the carrying member and the lifting device. When the moving assembly moves to a preset take-off and landing position or a preset parking position, the lifting assembly lifts a UAV, and then the moving assembly moves again, so that the UAV can be carried back and forth between the preset take-off and landing position and the preset parking position, and manual carrying of the UAV is not needed, so that the take-off and recovery efficiency 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 automatic handling hangar and an automatic handling method. BACKGROUND

[0002] With the progress of society, unmanned aerial vehicles have gradually spread from military fields to civilian fields, including logistics, surveying and mapping, plant protection, photography, power, communication or rescue, etc. branch fields, realizing good technical spillover and social and economic benefits. However, in the prior art, the take-off and recovery of unmanned aerial vehicles are carried out in the airport, which needs to manually transport the unmanned aerial vehicles from the airport to the warehouse, or from the warehouse to the airport, resulting in low efficiency of take-off and recovery of unmanned aerial vehicles. SUMMARY

[0003] The present application provides an automatic handling hangar and an automatic handling method to solve the problem of low efficiency of take-off and recovery of unmanned aerial vehicles caused by manual handling of unmanned aerial vehicles between the airport and the warehouse in the prior art.

[0004] In one aspect, the present application provides an automatic handling hangar for accommodating unmanned aerial vehicles, the automatic handling hangar comprising: a hangar body, at least one bearing member, a lifting device and a handling device located in the hangar body;

[0005] The bearing member comprises a bearing frame connected with the hangar body and a bearing track located below the bearing frame;

[0006] The lifting device comprises a support connected with the hangar body, a sliding member slidingly connected with the support, and a lifting track connected with the sliding member;

[0007] The sliding member is used to move to a preset docking position to dock the lifting track with one of the bearing tracks;

[0008] The handling device comprises a moving assembly for moving on the bearing track and the lifting track, and a lifting assembly connected with the moving assembly;

[0009] The lifting assembly is used to move in the direction close to the unmanned aerial vehicle located at the preset take-off and landing position or the preset parking position to lift the unmanned aerial vehicle when the moving assembly moves to the preset take-off and landing position or the preset parking position.

[0010] In some possible implementation manners, the lifting assembly comprises two driving members connected with and oppositely arranged with the moving assembly, and two lifting plates connected with the two driving members respectively.

[0011] In some possible implementation manners, the driving member comprises a cylinder connected with the moving assembly, and a piston rod movably connected with the cylinder, and the piston rod is connected with the lifting plate.

[0012] In some possible implementation manners, the moving assembly comprises a bottom plate, two side plates connected to the bottom plate and arranged oppositely, and a plurality of rolling members connected to the bottom plate away from the side plates, and the two driving members are respectively connected to the two side plates.

[0013] In some possible implementation manners, the number of the bearing tracks in one of the bearing members is two, and the two bearing tracks are respectively located on two sides of the bearing frame and used for bearing the plurality of rolling members.

[0014] In some possible implementation manners, the lifting device further comprises a conveying member connected to the sliding member, and the warehouse body is provided with a cargo access opening.

[0015] The conveying member is used for docking with the cargo access opening when the sliding member is located at the preset docking position.

[0016] In some possible implementation manners, the number of the bearing frames in one of the bearing members is two, and the two bearing frames are arranged at intervals.

[0017] The conveying member is used for extending between the two bearing frames when the sliding member is located at the preset docking position.

[0018] In some possible implementation manners, the bearing member can further comprise two mounting frames respectively connected to two ends of the bearing frame, and the two mounting frames are both connected to the warehouse body.

[0019] The lifting assembly is used for moving in a direction away from the unmanned aerial vehicle when the moving assembly moves to the preset temporary storage position, so that the unmanned aerial vehicle abuts against the conveying member.

[0020] In some possible implementation manners, the conveying member comprises a conveying line connected to the sliding member, and a blocking member connected to the conveying line and located at an end of the conveying line close to the bearing member.

[0021] In some possible implementation manners, the automated storage and retrieval warehouse further comprises a battery cabin connected to the warehouse body and a mechanical hand, and the mechanical hand is located above the bearing member and used for replacing a battery in the battery cabin with a battery in the unmanned aerial vehicle.

[0022] In another aspect, the present application further provides an automatic handling method applied to the above-mentioned automated storage and retrieval warehouse, and the method comprises the following steps.

[0023] The moving assembly moves to the lifting track, the sliding member moves to a preset docking position, and the lifting track is docked with one of the bearing tracks.

[0024] The moving assembly moves to a preset take-off position, and the lifting assembly moves in a direction close to the UAV at the preset take-off position to lift the UAV.

[0025] The moving assembly moves to a preset parking position, and the lifting assembly moves in a direction away from the UAV to make the UAV abut against the carrier.

[0026] The automatic handling hangar provided in the application comprises a hangar body, at least one carrier, a lifting device and a handling device in the hangar body. The carrier comprises a carrier frame connected with the hangar body and a carrier track below the carrier frame. The lifting device comprises a support connected with the hangar body, a sliding member in sliding connection with the support, and a lifting track connected with the sliding member. The handling device comprises a moving assembly for moving on the carrier track and the lifting track, and a lifting assembly connected with the moving assembly. The sliding member is used to move to a preset docking position to make the lifting track abut against one carrier track, so that the moving assembly can move between the carrier and the lifting device. The lifting assembly is used to move in a direction close to the UAV at the preset take-off position or the preset parking position when the moving assembly moves to the preset take-off position or the preset parking position, to lift the UAV, so that the UAV does not abut against the carrier, and the moving assembly moves again, so that the UAV can be handled between the preset take-off position and the preset parking position, and the UAV can be taken off and recovered in the hangar body, without manual handling of the UAV, to improve the efficiency of taking off and recovering the UAV. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. 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.

[0028] Figure 1 is a first perspective view of the automatic handling hangar provided in an embodiment of the application;

[0029] Figure 2 is a second perspective view of the automatic handling hangar provided in an embodiment of the application;

[0030] Figure 3 is a schematic view of the cooperation of the lifting device, the carrier and the handling device of the automatic handling hangar provided in an embodiment of the application;

[0031] Figure 4 is a front view of Figure 3 ;

[0032] Figure 5is a schematic view of a lifting device of an automatic handling machine garage provided by an embodiment of the present application;

[0033] Figure 6 is a schematic view of a handling device of an automatic handling machine garage provided by an embodiment of the present application;

[0034] Figure 7 is a flow chart of an automatic handling method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. 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.

[0036] In the description of the present application, it should 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, and 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 of 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 the 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 and limited.

[0037] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] The automatic carrying hangar of the present application can be used to accommodate a UAV, the hangar can store the UAV and also enable the UAV to take off in the hangar. The slider in the automatic carrying hangar can move to a preset docking position to enable the lifting track to be docked with a bearing track, so that the moving assembly can move between the bearing member and the lifting device, and the lifting assembly moves in a direction close to the UAV located at the preset take-off position or the preset parking position when the moving assembly moves to the preset take-off position or the preset parking position, to lift the UAV so that the UAV does not abut against the bearing frame, and the moving assembly moves again, so that the UAV can be carried back and forth between the preset take-off position and the preset parking position, and the UAV can be taken off and recovered in the library body, without manual carrying of the UAV, to improve the take-off and recovery efficiency of the UAV.

[0039] Referring to Figures 1 to 6 The present application provides an automatic carrying hangar for accommodating a UAV 100, which comprises a library body 1, at least one bearing member 2, a lifting device 3 and a carrying device 4 located in the library body 1.

[0040] The bearing member 2 comprises a bearing frame 21 connected with the library body 1 and a bearing track 22 located below the bearing frame 21.

[0041] The lifting device 3 comprises a support 31 connected with the library body 1, a slider 32 in sliding connection with the support 31, and a lifting track 33 connected with the slider 32.

[0042] The slider 32 is used to move to a preset docking position to enable the lifting track 33 to be docked with a bearing track 22.

[0043] The carrying device 4 comprises a moving assembly 41 for moving on the bearing track 22 and the lifting track 33, and a lifting assembly 42 connected with the moving assembly 41.

[0044] The lifting assembly 42 is used to move in a direction close to the UAV 100 located at the preset take-off position or the preset parking position when the moving assembly 41 moves to the preset take-off position or the preset parking position, to lift the UAV 100.

[0045] It should be noted that the bearing frame 21 is used to bear the unmanned aerial vehicle 100. The sliding piece 32 can move to the preset docking position, the lifting rail 33 is docked with one bearing rail 22, the moving assembly 41 can move to the lifting rail 33 and follow the lifting rail 33 to lift, so that the moving assembly 41 can move between the bearing frame 2 and the lifting device 3, the lifting assembly 42 moves along the direction close to the unmanned aerial vehicle 100 located at the preset take-off and landing position or the preset parking position when the moving assembly 41 moves to the preset take-off and landing position or the preset parking position, the preset take-off and landing position is the position for taking off and landing of the unmanned aerial vehicle 100, and the preset parking position is the position for storing the unmanned aerial vehicle 100, to lift the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 is not in abutment with the bearing frame 21, and then the moving assembly 41 moves again and moves to the preset take-off and landing position or the preset parking position, and then the lifting assembly 42 moves along the direction away from the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 is in abutment with the bearing frame 21, thereby the unmanned aerial vehicle 100 can be carried back and forth between the preset take-off and landing position and the preset parking position, and then the taking off and recovery operation of the unmanned aerial vehicle 100 in the warehouse body 1 can be realized, and manual carrying of the unmanned aerial vehicle 100 is not needed, so as to improve the taking off and recovery efficiency of the unmanned aerial vehicle 100.

[0046] In this embodiment, the bearing frame 2 can be one, that is, the hangar has one layer of containing layer, the preset parking position is arranged in the layer of containing layer, and the preset take-off and landing position can also be arranged in the layer of containing layer, or the warehouse body 1 further has a take-off and landing platform located above the bearing frame 2, and the preset take-off and landing position can be arranged on the take-off and landing platform, and at this time, when the sliding piece 32 moves to the preset docking position, the lifting rail 33 can also be docked with the take-off and landing platform.

[0047] In this embodiment, the bearing frame 2 can be multiple, the lifting device 3 is located on one side of the multiple bearing frames 2, and the multiple bearing frames 2 are arranged in sequence in the vertical direction, which is equivalent to that the hangar has multiple layers of containing layers for storing the unmanned aerial vehicle 100, wherein the bearing frame 2 located at the uppermost layer has the preset take-off and landing position, that is, the bearing frame 2 located at the uppermost layer can be the take-off and landing platform, and the bearing frames 2 located at other layers have multiple preset parking positions.

[0048] The working process of the automatic carrying hangar for recovering the unmanned aerial vehicle 100 is exemplified by the multiple bearing frames 2 as follows:

[0049] The moving assembly 41 moves to the lifting rail 33, and the sliding piece 32 moves to the preset docking position, so that the lifting rail 33 is docked with one bearing rail 22 corresponding to the preset take-off and landing position;

[0050] The moving assembly 41 moves to the preset take-off and landing position, and the lifting assembly 42 moves along the direction close to the unmanned aerial vehicle 100 located at the preset take-off and landing position, to lift the unmanned aerial vehicle 100;

[0051] The moving assembly 41 moves to the lifting rail 33, and the sliding piece 32 moves to the preset docking position, so that the lifting rail 33 is docked with a bearing rail 22 corresponding to the preset parking position;

[0052] The moving assembly 41 moves to the preset parking position, and the lifting assembly 42 moves away from the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 is abutted with the bearing frame 21, thereby achieving the carrying of the unmanned aerial vehicle 100 from the preset take-off and landing position to the preset parking position, so as to recycle the unmanned aerial vehicle 100.

[0053] In addition, the difference between the work flow of the unmanned aerial vehicle 100 taking off in the automatic carrying hangar and the work flow of the automatic carrying hangar recycling the unmanned aerial vehicle 100 is that the moving assembly 41 moves to the preset parking position, and the lifting assembly 42 moves close to the unmanned aerial vehicle 100 at the preset parking position to lift the unmanned aerial vehicle 100, the moving assembly 41 moves to the preset take-off and landing position, and the lifting assembly 42 moves away from the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 is abutted with the bearing frame 21, thereby achieving the carrying of the unmanned aerial vehicle 100 from the preset parking position to the preset take-off and landing position, so that the unmanned aerial vehicle 100 can take off at the preset take-off and landing position.

[0054] In this embodiment, the sliding piece 32 can include at least one guide rail connected with the support 31, and a sliding block in sliding connection with the guide rail, the guide rail extends in the vertical direction, and the sliding block can move on the guide rail in the vertical direction. The guide rail can be an electric guide rail to drive the sliding block to slide.

[0055] In this embodiment, the number of preset docking positions is multiple, and is the same as the number of bearing pieces 2, that is, each preset docking position corresponds to one bearing piece 2, and the sliding piece 32 can move to the multiple preset docking positions in sequence, so that the lifting rail 33 is docked with the multiple bearing rails 22 in sequence, thereby achieving the docking of the lifting rail 33 with all the bearing rails 22.

[0056] In this embodiment, the top end of the library body 1 has an unmanned aerial vehicle 100 entrance and exit for the unmanned aerial vehicle 100 to take off or land. In addition, the top end of the library body 1 can also be provided with a switch door structure which can open or close the unmanned aerial vehicle 100 entrance and exit.

[0057] In some embodiments, please refer to Figure 3 , Figure 4 and Figure 6The lifting assembly 42 comprises two driving members 421 connected to the moving assembly 41 and arranged oppositely, and two lifting plates 422 connected to the two driving members 421 respectively. The driving member 421 can drive the lifting plate 422 to ascend or descend in the vertical direction, so as to lift the UAV 100 or make the UAV 100 descend, and the two driving members 421 can simultaneously drive the two lifting plates 422 to ascend or descend, and the two lifting plates 422 simultaneously abut against the UAV 100, which can improve the balance of carrying the UAV 100, prevent the UAV 100 from toppling, and further improve the take-off and recovery efficiency of the UAV 100.

[0058] In this embodiment, the number of driving members 421 can be greater than two, and a plurality of driving members 421 are connected to one lifting plate 422. For example, the number of driving members 421 can be four, and every two driving members 421 drive one lifting plate 422, so as to improve the motion balance of the lifting plate 422 and the carrying capacity of the lifting assembly 42.

[0059] In this embodiment, the driving member 421 comprises a cylinder connected to the moving assembly 41, and a piston rod movably connected to the cylinder and connected to the lifting plate 422. The cylinder can drive the piston rod to extend or retract in the vertical direction, so as to drive the lifting plate 422 to move in the vertical direction, and the cylinder and the piston rod can bear the weight of the UAV 100, so as to ensure that the carrying device 4 can carry the UAV 100.

[0060] In this embodiment, the cylinder can be a pneumatic cylinder or a hydraulic cylinder. The moving assembly 41 can be provided with a receiving groove, and the cylinder can be located in the receiving groove, and the piston rod extends to the outside of the moving assembly 41.

[0061] In this embodiment, please refer to Figure 3 , Figure 4 and Figure 6 The moving assembly 41 comprises a bottom plate 411, two side plates 412 connected to the bottom plate 411 and arranged oppositely, and a plurality of rolling members 413 connected to the side of the bottom plate 411 away from the side plates 412, and the two driving members 421 are connected to the two side plates 412 respectively. The rolling member 413 can move on the carrying rail 22 and the lifting rail 33, the shape of the bottom plate 411 and the two side plates 412 can be similar to a "U" shape, and the two side plates 412 are arranged oppositely, so as to facilitate the two driving members 421 to drive the two lifting plates 422 to lift the two ends of the UAV 100, and improve the carrying stability of the UAV 100.

[0062] In addition, the carrying rail 22 and the lifting rail 33 have grooves, the rolling member 413 can move in the grooves, and the grooves can also guide and limit the rolling member.

[0063] In this embodiment, the rolling members 413 can be rollers, and the moving assembly 41 further includes a driving motor connected with the plurality of rolling members 413 to drive the rolling members 413 to rotate.

[0064] In this embodiment, the number of the carrying tracks 22 in one carrying member 2 is two, and the two carrying tracks 22 are respectively located at two sides of the carrying frame 21 to carry the plurality of rolling members 413. That is, the number of the lifting tracks 33 is also two, and the two lifting tracks 33 can be docked with the two carrying tracks 22, and the plurality of rolling members 413 can be arranged in two straight lines and respectively located in the two carrying tracks 22 or the two lifting tracks 33, so as to improve the movement stability of the moving assembly 41. In addition, part of the arms of the unmanned aerial vehicle 100 can extend to the outside of the carrying frame 21 in the horizontal direction, and the two carrying tracks 22 are respectively located at two sides of the carrying frame 21, so that the two side plates 412 are also located at two sides of the carrying frame 21, and the two lifting plates 422 can simultaneously abut against the arms on two sides of the unmanned aerial vehicle 100 to improve the carrying stability of the unmanned aerial vehicle 100.

[0065] In addition, since the carrying tracks 22 are located below the carrying frame 21, when the moving assembly 41 moves on the carrying tracks 22, the bottom plate 411 is located between the carrying tracks 22 and the carrying frame 21.

[0066] In addition, the arms of the unmanned aerial vehicle 100 can also be provided with a clamping groove corresponding to the lifting plate 422, and when the lifting plate 422 abuts against the arms, the lifting plate 422 can be located in the clamping groove to limit the lifting plate 422 through the clamping groove, so as to further improve the carrying stability of the unmanned aerial vehicle 100.

[0067] In this embodiment, the two carrying tracks 22 are parallel to each other. The two lifting tracks 33 are also parallel to each other. When the carrying tracks 22 are docked with the lifting tracks 33, the carrying tracks 22 and the lifting tracks 33 are located on the same straight line.

[0068] In some embodiments, please refer to Figures 3 to 5The lifting device 3 further comprises a conveying member 34 connected with the sliding member 32, and the warehouse body 1 is provided with a cargo access opening, and the conveying member 34 is used for docking with the cargo access opening when the sliding member 32 is located at the preset docking position. When the carrying device 4 has lifted the unmanned aerial vehicle 100 and moves to the lifting track 33, the unmanned aerial vehicle 100 is located above the conveying member 34. The unmanned aerial vehicle 100 can place the cargo carried by itself on the conveying member 34. The conveying member 34 transports the cargo from the cargo access opening to the outside of the hangar, so as to realize the unloading of the unmanned aerial vehicle 100. Alternatively, the conveying member 34 can transport the cargo from the cargo access opening to the lower side of the unmanned aerial vehicle 100, so as to enable the cargo to be carried on the unmanned aerial vehicle 100, thereby realizing the loading of the unmanned aerial vehicle 100. Through the conveying member 34, the loading and unloading of the unmanned aerial vehicle 100 can be realized during the carrying process of the unmanned aerial vehicle 100, so as to improve the practicability of the automatic carrying hangar.

[0069] In this embodiment, the number of cargo access openings can be multiple. When the lifting track 33 docks with different bearing tracks 22, the conveying member 34 can dock with different cargo access openings, so that the carrying device 4 can carry the unmanned aerial vehicle 100 to different bearing members 2, and the loading and unloading of the unmanned aerial vehicle 100 can be realized.

[0070] In this embodiment, the conveying member 34 is located above the lifting track 33, and the two lifting tracks 33 are located on the two sides of the conveying member 34. The bottom plate 411 can move to the lifting track 33 from the gap between the conveying member 34 and the lifting track 33, and the two side plates 412 can be located on the two sides of the conveying member 34, respectively, so that the movement of the conveying member 34 can be avoided to interfere with the movement of the moving assembly 41.

[0071] In this embodiment, the number of bearing frames 21 in one bearing member 2 is two, and the two bearing frames 21 are arranged at intervals. The conveying member 34 is used for extending to the space between the two bearing frames 21 when the sliding member 32 is located at the preset docking position. When the carrying device 4 has lifted the unmanned aerial vehicle 100 and moves to the position on the bearing track 22, the unmanned aerial vehicle 100 is located above the conveying member 34, so that the loading and unloading of the unmanned aerial vehicle 100 can be realized, and the carrying device 4 does not need to move to the lifting track 33, thereby further improving the practicability of the automatic carrying hangar.

[0072] In this embodiment, the bearing member 2 further comprises a mounting frame 23 connected with the end of the bearing frame 21 away from the lifting device 3. The mounting frame 23 is connected with the warehouse body 1, so as to realize the connection between the bearing frame 21 and the warehouse body 1, and the mounting frame 23 can avoid blocking the arm of the unmanned aerial vehicle 100 when the carrying device 4 has lifted the unmanned aerial vehicle 100 and moves to the lifting track 33.

[0073] Alternatively, in order to improve the carrying capacity of the carrying frame 21, the carrying member 2 can further include two mounting frames 23 connected with the two ends of the carrying frame 21 respectively, and the two mounting frames 23 are connected with the warehouse body 1. That is, the mounting frame 23 is arranged at the end of the carrying frame 21 close to the lifting device 3 and the end of the carrying frame 21 away from the lifting device 3. When the carrying device 4 has lifted the unmanned aerial vehicle 100 and moves towards the lifting track 33, the mounting frame 23 will block the arm of the unmanned aerial vehicle 100. Therefore, during the carrying process of the unmanned aerial vehicle 100, the lifting assembly 42 is used to move away from the unmanned aerial vehicle 100 when the moving assembly 41 moves to a preset temporary storage position, so that the unmanned aerial vehicle 100 abuts against the conveying member 34. The preset temporary storage position is a position where the moving assembly 41 is located on the carrying track 22 and directly below the conveying member 34. That is, the carrying device 4 can first place the unmanned aerial vehicle 100 on the conveying member 34 between the two carrying frames 21, so that the unmanned aerial vehicle 100 is temporarily stored on the conveying member 34, and then the carrying device 4 moves to the lifting track 33, so that the carrying device 4 and the unmanned aerial vehicle 100 can be lifted together with the sliding member 32. Subsequently, the carrying device 4 carries the unmanned aerial vehicle 100 to the preset landing position or the preset parking position.

[0074] The following illustrates the working process of the automatic carrying hangar for recycling the unmanned aerial vehicle 100:

[0075] The moving assembly 41 moves to the lifting track 33, and the sliding member 32 moves to a preset docking position, so that the lifting track 33 and one carrying track 22 corresponding to the preset landing position are docked;

[0076] The moving assembly 41 moves to the preset landing position, and the lifting assembly 42 moves towards the unmanned aerial vehicle 100 located at the preset landing position, so as to lift the unmanned aerial vehicle 100;

[0077] The moving assembly 41 moves to the preset temporary storage position, and the lifting assembly 42 moves away from the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 abuts against the conveying member 34;

[0078] The moving assembly 41 moves to the lifting track 33, and the sliding member 32 moves to a preset docking position, so that the lifting track 33 and one carrying track 22 corresponding to the preset parking position are docked;

[0079] The moving assembly 41 moves to the preset temporary storage position, and the lifting assembly 42 moves towards the unmanned aerial vehicle 100 located on the conveying member 34, so as to lift the unmanned aerial vehicle 100;

[0080] The moving assembly 41 moves to the preset parking position, and the lifting assembly 42 moves away from the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 abuts against the carrying frame 21, thereby realizing the carrying of the unmanned aerial vehicle 100 from the preset landing position to the preset parking position, and recycling the unmanned aerial vehicle 100.

[0081] In this embodiment, the mounting frame 23 comprises a first frame body 231 connected with the bearing frame 21 and extending in the vertical direction, and a second frame body 232 connected with the first frame body 231 and extending in the horizontal direction, the second frame body 232 being connected with the warehouse body 1. The first frame body 231 and the second frame body 232 are arranged in an “L” shape, so that when the carrying device 4 moves towards the lifting track 33, the side plate 412 can pass below the second frame body 232, and the movement of the carrying device 4 can be prevented from being blocked by the mounting frame 23.

[0082] In this embodiment, referring to Figures 3 to 5 , the conveying member 34 comprises a conveying line 341 connected with the sliding member 32, and a blocking member 342 connected with the conveying line 341, the blocking member 342 being located at one end of the conveying line 341 close to the bearing member 2. When the conveying line 341 transports the goods in the direction close to the bearing member 2, the blocking member 342 can block the goods to prevent the goods from falling off the conveying line 341, and the position of the blocking member 342 can also limit the position of the goods to ensure that the goods can be located at a position suitable for the UAV 100 to carry the goods, thereby further improving the practicability of the automatic warehouse.

[0083] In this embodiment, the blocking member 342 can be a blocking rod or a blocking block connected with the conveying line 341 and extending in the vertical direction. The conveying line 341 can be a belt conveyor, a roller conveyor, a roller conveyor, or a chain conveyor, as long as it is a mechanism capable of transporting goods, which is not limited in the present application.

[0084] In some embodiments, referring to Figure 1 and Figure 2 , the automatic warehouse further comprises a battery cabin 5 and a mechanical hand 6 connected with the warehouse body 1, the mechanical hand 6 being located above the bearing member 2 and used for replacing the battery in the battery cabin 5 with the battery in the UAV 100. That is, the battery cabin 5 stores a plurality of batteries, and the battery cabin 5 can also be connected with an external power supply device to charge the plurality of stored batteries. The battery in the UAV 100 can be installed on the top of the UAV 100 and buckled with the top of the UAV 100. The mechanical hand 6 can move in multiple degrees of freedom, can first grasp the battery in the UAV 100, place it in the battery cabin 5, then grasp the fully charged battery in the battery cabin 5, and place it on the top of the UAV 100 and buckle it, thereby realizing battery replacement, and further improving the practicability of the automatic warehouse.

[0085] In this embodiment, referring to Figure 1 and Figure 2 , in order to facilitate the mechanical hand 6 to replace the battery, the automatic warehouse further comprises a moving frame 7 movably connected with the warehouse body 1, the mechanical hand 6 being connected with the moving frame 7, the moving frame 7 also being located above the bearing member 2, and the moving frame 7 being movable on the warehouse body 1.

[0086] In addition, the library body 1 can be provided with a sliding rail, the moving frame 7 can be in sliding connection with the sliding rail, and the mechanical hand 6 can be in sliding connection with the moving frame 7.

[0087] In this embodiment, the mechanical hand 6 can include a mechanical arm and a gripper connected with the mechanical arm, the mechanical arm can move in multiple degrees of freedom, and the gripper can grasp the battery.

[0088] In this embodiment, a plurality of battery cabins 5, a plurality of mechanical hands 6 and a plurality of moving frames 7 can be provided according to actual conditions, one battery cabin 5, one mechanical hand 6 and one moving frame 7 are combined into one battery replacement assembly, and each battery replacement assembly is located above one bearing member 2.

[0089] Please refer to Figure 7 , based on the above automatic handling machine library, the application further provides an automatic handling method applied to the above automatic handling machine library, and the automatic handling method comprises the following steps:

[0090] Step S1, the moving assembly 41 moves to the lifting rail 33, the sliding piece 32 moves to a preset docking position, the lifting rail 33 is docked with one bearing rail 22;

[0091] Step S2, the moving assembly 41 moves to a preset take-off and landing position, the lifting assembly 42 moves in a direction close to the unmanned aerial vehicle 100 located at the preset take-off and landing position, so as to lift the unmanned aerial vehicle 100;

[0092] Step S3, the moving assembly 41 moves to a preset parking position, the lifting assembly 42 moves in a direction away from the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 abuts against the bearing frame 21.

[0093] It should be noted that the automatic handling method of the application can handle the unmanned aerial vehicle 100 back and forth between the preset take-off and landing position and the preset parking position, so as to realize the take-off and recovery operation of the unmanned aerial vehicle 100 in the library body 1, without manual handling of the unmanned aerial vehicle 100, so as to improve the take-off and recovery efficiency of the unmanned aerial vehicle 100.

[0094] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the detailed description of other embodiments above, which will not be repeated here.

[0095] In specific implementation, each component or structure above can be implemented as an independent entity, or can be combined as the same or several entities, and the specific implementation of each component or structure above can be referred to the previous embodiments, which will not be repeated here.

[0096] The automatic handling garage and the automatic handling method provided by the embodiment of the present application are described in detail above, and the principle and the implementation manner of the present application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the present application and the core idea thereof. Meanwhile, for those skilled in the art, the specific implementation manner and the application range will be changed according to the idea of the present application. In summary, the content of the present description should not be understood as a limitation of the present application.

Claims

1. An automated drone hangar for housing drones, the hangar comprising: The application relates to a warehouse for unmanned aerial vehicles, which comprises a warehouse body, at least one bearing part, lifting device and carrying device in the warehouse body. The bearing part comprises a bearing frame connected with the warehouse body and a bearing track below the bearing frame. The lifting device comprises a support connected with the warehouse body, a sliding part slidingly connected with the support and a lifting track connected with the sliding part. The sliding part is used to move to a preset docking position to dock the lifting track with one bearing track. The carrying device comprises a moving assembly used to move on the bearing track and the lifting track and a lifting assembly connected with the moving assembly. The lifting assembly is used to move along a direction close to the unmanned aerial vehicle at a preset take-off or landing position or a preset parking position to lift the unmanned aerial vehicle. The lifting device further comprises a conveying part connected with the sliding part, and the warehouse body is provided with a cargo outlet. The conveying part is used to dock with the cargo outlet when the sliding part is at the preset docking position. The conveying part can place the cargo carried by the unmanned aerial vehicle and transport the cargo from the cargo outlet to outside the warehouse. The moving assembly comprises a bottom plate, two side plates oppositely connected with the bottom plate and a plurality of rolling parts connected with the bottom plate and used to move on the bearing track and the lifting track. The conveying part is above the lifting track, and the two lifting tracks are located at two sides of the conveying part, so that the bottom plate is used to move from the gap between the conveying part and the lifting track to the lifting track, and the two side plates are located at two sides of the conveying part respectively. The lifting assembly comprises two driving parts oppositely connected with the moving assembly and two lifting plates respectively connected with the two driving parts.

2. The automated porter garage of claim 1, wherein, The driving part comprises a cylinder connected with the moving assembly and a piston rod movably connected with the cylinder, and the piston rod is connected with the lifting plate.

3. The automated handling hangar of claim 2, wherein, The two driving parts are respectively connected with the two side plates.

4. The automated handling garage according to claim 2, characterized in that The number of the bearing tracks in one bearing part is two, and the two bearing tracks are respectively located at two sides of the bearing frame and used to bear the plurality of rolling parts.

5. The automated handling hangar of claim 4, wherein, The number of the bearing frames in one bearing part is two, and the two bearing frames are spaced apart.

6. The automated handling hangar of claim 1, wherein, The conveying part is used to extend between the two bearing frames when the sliding part is at the preset docking position. The bearing part can further comprise two mounting frames respectively connected with two ends of the bearing frame, and the two mounting frames are connected with the warehouse body.

7. The automated handling hangar of claim 6, wherein, The lifting assembly is used to move away from the unmanned aerial vehicle to abut the unmanned aerial vehicle with the conveying part when the moving assembly moves to a preset temporary storage position. The conveying part comprises a conveying line connected with the sliding part and a blocking part connected with the conveying line and located at one end of the conveying line close to the bearing part.

8. The automated handling hangar of claim 1, wherein, ​ 9. The automated handling hangar of any one of claims 1 to 5, wherein, Further comprising a battery cabin connected with the library body and a mechanical hand, the mechanical hand is located above the bearing member and used for replacing the battery in the battery cabin with the battery in the unmanned aerial vehicle.

10. An automated handling method, characterized by, The method is applied to the automatic carrier library as claimed in any one of claims 1 to 9, and the method comprises: The moving assembly moves to the lifting track, and the sliding member moves to a preset docking position to dock the lifting track with one of the bearing tracks; The moving assembly moves to a preset take-off and landing position, and the lifting assembly moves in a direction close to the unmanned aerial vehicle at the preset take-off and landing position to lift the unmanned aerial vehicle; The moving assembly moves to a preset parking position, and the lifting assembly moves in a direction away from the unmanned aerial vehicle to abut the unmanned aerial vehicle against the bearing frame.

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