Automatically adaptable drone nest for multiple models and control method

Abstract

The present invention discloses a drone nest that automatically adapts to multiple models and a control method. The drone nest that automatically adapts to multiple models includes a frame and a parking apron. The parking apron is arranged in the frame and includes a control system, a parking board, multiple distance measuring sensors, a centering mechanism, and a locking mechanism. A parking position is provided on the parking board; multiple distance measuring sensors are arranged on the parking board, and the distance measuring sensors transmit height information between the drone and the bottom wall of the drone's fuselage to the control system in real time. The control system determines the model of the drone based on the height information; the centering mechanism is arranged on the parking board, and the control system controls the centering mechanism to move the center of the drone to the central axis of the parking board according to the model of the drone; the locking mechanism is arranged on the parking board, and the locking mechanism can move the drone located on the central axis to the parking position and lock it in place. The drone nest that automatically adapts to multiple models has high universality and improves the collaborative operation capability of multiple models under the differentiated inspection task requirements of the power grid.

Description

Technical Field

[0001] The present invention relates to the technical field of drone nests, and in particular to a drone nest capable of automatically adapting to multiple models and a control method thereof. Background Art

[0002] As the length of overhead transmission lines in power grids increases, the contradiction between the increase in operation and maintenance workload and the shortage of personnel becomes increasingly prominent. The traditional manual operation and maintenance mode has shortcomings such as low efficiency, unstable quality, high risk, and high labor intensity, and can no longer meet the needs of power grid construction and development.

[0003] In recent years, autonomous power grid inspections using drone nests have become a primary method of inspection, significantly improving efficiency and safety compared to traditional manual maintenance. However, existing drone nests are custom-built for each drone model and can only accommodate a single model. This leads to poor compatibility and low efficiency in the multi-machine, multi-task inspection requirements of power grids. Furthermore, these custom-built drone nests limit their scope of use and potential for widespread adoption.

[0004] Therefore, it is urgent to propose a drone nest and control method that can automatically adapt to multiple models to solve the above problems. Summary of the Invention

[0005] According to one aspect of the present invention, the present invention provides an automatically adaptable drone nest for multiple models, which is suitable for large, medium and small models of drones. It has high universality and significantly improves the collaborative operation capability of multiple-model clusters under the differentiated inspection task requirements of power grids.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] The drone nest automatically adapts to multiple models, including a rack and a landing pad. The landing pad is set in the rack and is used for launching, recovering and storing drones. The landing pad includes:

[0008] control systems;

[0009] A parking board, wherein a parking position is provided on the parking board;

[0010] A plurality of ranging sensors are arranged on the parking board, wherein the ranging sensors transmit height information between the ranging sensors and the bottom wall of the UAV to the control system in real time, and the control system determines the model of the UAV according to the height information;

[0011] A centering mechanism is provided on the parking plate, and the control system controls the centering mechanism to move the center of the drone to the central axis of the parking plate according to the model of the drone;

[0012] A locking mechanism is provided on the parking plate, and the locking mechanism can move the drone located on the central axis to the parking position and lock it.

[0013] Optionally, four distance measuring sensors are provided, and the four distance measuring sensors are symmetrically arranged in two rows and two columns on both sides of the central axis of the shutdown plate.

[0014] Optionally, the centering mechanism includes a first push plate, a second push plate and a first drive assembly,

[0015] Both ends of the first driving assembly are drivingly connected to the first push plate and the second push plate respectively. The first driving assembly can drive the first push plate and the second push plate to move closer to or away from each other along a first direction.

[0016] Optionally, the first drive assembly includes a double-headed motor, a first lead screw, a second lead screw, a first nut and a second nut.

[0017] The two output ends of the double-headed motor are respectively connected to the first screw and the second screw, the first nut is threadedly connected to the first screw, the second nut is threadedly connected to the second screw, one end of the first push plate is fixedly connected to the first nut, and one end of the second push plate is fixedly connected to the second nut.

[0018] Optionally, the locking mechanism includes a first locking member, a second locking member, a second drive assembly and a third drive assembly.

[0019] The first locking member is fixedly connected to the parking plate, and the first locking member can abut against one leg of the drone. The second driving assembly can drive the second locking member to approach the first locking member in a second direction. The second locking member includes a locking claw, and the third driving assembly can drive the locking claw to rotate.

[0020] When the second locking member pushes the drone to move so that one leg of the drone abuts against the first locking member, the third driving assembly drives the locking claw to rotate so that the locking claw presses and fixes the other leg of the drone.

[0021] Optionally, the second driving assembly includes a motor, a third lead screw and a third nut.

[0022] The output end of the motor is drivingly connected to the third lead screw, the third nut is threadedly connected to the third lead screw, and the second locking member further includes a connecting member, which is fixedly connected to the third nut.

[0023] Optionally, the apron further includes:

[0024] A fixed plate, the shutdown plate being slidably connected to the fixed plate;

[0025] The fourth driving component is connected to the stop plate and is used to drive the stop plate to slide.

[0026] Optionally, a recovery cabin is further included, the recovery cabin comprising:

[0027] A lifting mechanism is arranged in the frame;

[0028] The placing rack is arranged on the lifting mechanism, and the lifting mechanism can drive the placing rack to rise and fall. The placing rack includes a first layer and a second layer, the first layer and the second layer are arranged at intervals, and the helipad is provided on the first layer and the second layer.

[0029] Optionally, there are multiple recovery cabins, and the multiple recovery cabins are arranged side by side along the length direction of the frame.

[0030] According to another aspect of the present invention, a method for recovering and releasing a drone is provided. The method is implemented based on the aforementioned drone nest that automatically adapts to multiple drone models, and includes the following steps:

[0031] S100: The control system controls the first-layer stop panel to move horizontally out of the rack;

[0032] S200: After the parking plate is translated into position, the control system controls the locking mechanism on the parking plate to release the drone;

[0033] S300, the control system controls the UAV to start up and sends a first operation instruction to the UAV, and the UAV automatically completes takeoff and inspection work after receiving the first operation instruction;

[0034] S400, the control system controls the shutdown board of the first layer to move horizontally into the rack;

[0035] S500, the control system controls the lifting mechanism to rise, and then controls the second-layer stop plate to move horizontally out of the rack;

[0036] S600: After the parking plate is translated into position, the control system controls the locking mechanism on the parking plate to release the drone;

[0037] S700: The control system controls the UAV to start up and sends a second operation instruction to the UAV, and the UAV automatically completes takeoff and inspection work after receiving the second operation instruction;

[0038] S800: The drone automatically returns home after completing the inspection, and the control system controls the second-layer parking panel to move horizontally out of the rack;

[0039] S900, the control system controls the drone to land on the parking board;

[0040] S1000: The control system controls the centering mechanism on the stop plate to start, and the ranging sensor transmits height information between the ranging sensor and the bottom wall of the drone to the control system in real time. The control system determines the model of the drone based on the height information and controls the stopping position of the centering mechanism based on the model of the drone to move the center of the drone to the central axis of the stop plate.

[0041] S1100: The control system controls the locking mechanism on the parking plate to move the drone to the parking position. The control system compares the height information with a preset distance. If the height information falls within the preset distance range, the control system controls the locking mechanism to lock and secure the drone. If the height information does not fall within the preset distance range, steps S1000-S1100 are repeated. The preset distance is the height between the bottom wall of the drone body and the parking plate when each model of the drone is parked at the parking position, which is pre-stored in the control system.

[0042] S1200, the control system controls the lifting mechanism to descend;

[0043] S1300: The control system controls the shutdown board on the first layer to move horizontally out of the rack;

[0044] S1400, repeating steps S900-S1100 to complete the recovery of the drone on the first layer;

[0045] S1500: After the UAV is recovered, the UAV is charged using a wireless charging device provided on the helipad to prepare for subsequent operations.

[0046] The beneficial effects of the present invention are:

[0047] The present invention provides a drone nest that automatically adapts to multiple drone models, comprising a rack and a landing pad. The landing pad is disposed within the rack and includes a control system, a landing plate, multiple ranging sensors, a centering mechanism, and a locking mechanism. The ranging sensors transmit real-time height information relative to the drone's fuselage bottom wall to the control system. The control system determines the drone model based on the height information and controls the centering mechanism to move the drone's center to the central axis of the landing plate. The locking mechanism moves the drone located on the central axis to a parking position and locks it securely, thereby securing the drone. The drone nest automatically adapts to multiple drone models and can simultaneously retrieve and store large, medium, and small drones. This allows a single drone nest to meet the requirements of multi-machine, multi-task inspections for power grids. Compared to existing methods that require a dedicated drone nest for each drone, this approach reduces the number of drone nests used in the power grid inspection system, thereby reducing the system's footprint and improving space utilization. Furthermore, it improves the compatibility of the drone nests, thereby enhancing the ability of multiple drone clusters to collaborate under the differentiated power grid inspection tasks.

[0048] The present invention also provides a control method for a drone nest, which can control a cluster of multiple drone types to collaboratively complete power grid inspection tasks, has a high degree of automation, and reduces the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 An assembly diagram of a parking panel and a drone from a first perspective provided by an embodiment of the present invention;

[0050] Figure 2 An assembly diagram of a parking panel and a drone from a second viewing angle provided by an embodiment of the present invention;

[0051] Figure 3 A schematic diagram of the structure of the helipad provided in an embodiment of the present invention (the drone and the fourth drive assembly are not shown);

[0052] Figure 4 Schematic diagram of the structure of the drone nest that automatically adapts to multiple models provided by the embodiment of the present invention Figure 1 ;

[0053] Figure 5 Schematic diagram of the structure of the drone nest that automatically adapts to multiple models provided by the embodiment of the present invention Figure 2 ;

[0054] Figure 6 Schematic diagram of the structure of the drone nest that automatically adapts to multiple models provided by the embodiment of the present invention Figure 3 .

[0055] In the picture:

[0056] 100. Frame; 200. Helipad; 210. Helicopter landing plate; 211. Slide; 220. Distance measuring sensor; 230. Centering mechanism; 231. First push plate; 232. Second push plate; 233. First drive assembly; 2331. Double-headed motor; 2332. First lead screw; 2333. Second lead screw; 2334. First guide rail; 240. Locking mechanism; 241. First locking member; 2421. Locking claw; 2422. Connecting member; 243. Second drive assembly; 2431. Motor; 2432. Third lead screw; 244. Third drive assembly; 250. Fixing plate; 251. Second guide rail; 261. Lifting mechanism; 262. Display rack; 300. UAV. DETAILED DESCRIPTION

[0057] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0058] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0059] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0060] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0061] The present invention provides a drone nest that automatically adapts to multiple models, which is suitable for large, medium and small models of drones 300. It has high universality and can realize the recovery and storage of multiple drones 300, thereby improving space utilization.

[0062] Specifically, if Figure 1-6 As shown, the automatically adaptable drone nest for multiple models includes a frame 100 and a landing pad 200. The landing pad 200 is located within the frame 100 and is used for launching, recovering, and storing drones 300. The landing pad 200 includes a control system, a landing plate 210, multiple ranging sensors 220, a centering mechanism 230, and a locking mechanism 240. The multiple ranging sensors 220 are located on the landing plate 210 and transmit real-time height information relative to the bottom wall of the drone 300 to the control system. The control system uses this height information to determine the model of the drone 300. The centering mechanism 230 is located on the landing plate 210 and, based on the model of the drone 300, controls the centering mechanism 230 to move the center of the drone 300 to the central axis of the landing plate 210. The locking mechanism 240 is also located on the landing plate 210 and can move the drone 300, if located on the central axis, to a parking position and lock it in place. Preferably, since the drone 300 lands at a random position on the parking plate 210 during recovery, different distance sensors 220 are initially triggered when the centering mechanism 230 centers the drone 300. To ensure that the distance sensors 220 are triggered as quickly as possible when the drone 300 is centered from all directions, in this embodiment, four distance sensors 220 are provided, symmetrically arranged in two rows and two columns on either side of the central axis of the parking plate 210. Of course, in other embodiments, the number and arrangement of the distance sensors 220 may be different, depending on actual needs. The above-mentioned drone nest that automatically adapts to multiple models can simultaneously recover and store three types of drones 300: large, medium and small. That is, using one of the above-mentioned drone nests can meet the requirements of multi-machine and multi-task inspections of the power grid. Compared with the existing technology that requires a special drone nest for each drone 300, on the one hand, it reduces the number of drone nests used in the power grid inspection system, thereby reducing the floor space occupied by the power grid inspection system and improving space utilization; on the other hand, it improves the compatibility of the drone nest, thereby improving the ability of the multi-model drone 300 cluster to work collaboratively under the differentiated inspection task requirements of the power grid.

[0063] Furthermore, taking the example of setting four ranging sensors 220 and recovering three types of drones 300, large, medium, and small, the specific process of the control system determining the model of the drone 300 is as follows:

[0064] The control system pre-stores the vertical distances between the bottom wall of the fuselage and the parking board 210 of three types of drones 300: large, medium, and small. Due to the load and classification characteristics of drones, the three types of drones have obvious differences in their external dimensions. For example, the vertical distance between the bottom wall of the fuselage of a large drone 300 and the parking board 210 is 20cm-25cm, the vertical distance between the bottom wall of the fuselage of a medium drone 300 and the parking board 210 is 15cm-20cm, and the vertical distance between the bottom wall of the fuselage of a small drone 300 and the parking board 210 is 10cm-15cm.

[0065] After drone 300 lands on stop plate 210, the control system first activates centering mechanism 230, causing it to begin moving drone 300 toward the central axis of stop plate 210. During this movement, the control system receives real-time altitude information from four ranging sensors 220. For example, if the instantaneous data values ​​transmitted by the four ranging sensors 220 are (10, 11, 13, 10), and the altitude information measured by each ranging sensor 220 falls within the range of 10-15 cm, the drone 300 is determined to be a small drone 300. The control system then controls centering mechanism 230 to stop at the corresponding position based on pre-set parameters, completing the centering. Because the vertical distances between the bottom wall of the fuselage and stop plate 210 vary significantly for large, medium, and small drones 300, the altitude information transmitted by ranging sensors 220 cannot be simultaneously matched to multiple models of drones 300.

[0066] Further, see Figure 1-3In this embodiment, the locking mechanism 240 includes a first locking member 241, a second locking member, a second drive assembly 243, and a third drive assembly 244. The first locking member 241 is fixedly connected to the parking plate 210 and can abut against one leg of the drone 300. The second drive assembly 243 can drive the second locking member toward the first locking member 241 in a second direction. The second locking member includes a locking claw 2421. The third drive assembly 244 can rotate the locking claw 2421. The third drive assembly 244 can optionally be, but is not limited to, a motor 2431. When the second locking member pushes the drone 300 to move, causing one leg of the drone 300 to abut against the first locking member 241, the third drive assembly 244 drives the locking claw 2421 to rotate, causing the locking claw 2421 to press against the other leg of the drone 300, thereby securing the drone 300. Preferably, the shape of the first locking piece 241 should be compatible with the leg structure of the drone 300. In this embodiment, the first locking piece 241 includes a first abutting portion and a second abutting portion, and the first abutting portion and the second abutting portion abut against the upper surface and side wall of the leg of the drone 300 respectively. This structure can fix the leg of the drone 300 between the first locking piece 241 and the shutdown plate 210, which has a better fixing effect on the drone 300.

[0067] Optionally, in this embodiment, the second drive assembly 243 includes a motor 2431, a third lead screw 2432, and a third nut. The output end of the motor 2431 is drivingly connected to the third lead screw 2432, and the third nut is threadedly connected to the third lead screw 2432. The second locking member also includes a connector 2422, which is fixedly connected to the third nut. The third drive assembly 244 is disposed on the connector 2422, and the locking claw 2421 is rotationally connected to the connector 2422. Of course, in other embodiments, the structure of the second drive assembly 243 can also be configured in other ways, as needed.

[0068] Preferably, a slide groove 211 is further provided on the stop plate 210, and the connecting member 2422 is slidably provided in the slide groove 211, and one end is fixedly connected to the third nut, and the other end is used to fix the third driving assembly 244 and the locking claw 2421. The slide groove 211 extends along the second direction ( Figure 3 By providing the sliding groove 211, the movement of the second locking member can be guided.

[0069] Furthermore, a pressure sensor is provided on the first locking member 241, which transmits a pressure value to the control system. The control system determines whether the leg of the drone 300 is in contact with the first locking member 241 based on the size of the pressure value, and then controls the third driving component 244 to start, so that the locking claw 2421 locks and fixes the other leg of the drone 300.

[0070] Further, see Figure 1 and Figure 3 The centering mechanism 230 includes a first push plate 231, a second push plate 232 and a first drive assembly 233. The two ends of the first drive assembly 233 are respectively connected to the first push plate 231 and the second push plate 232. The first drive assembly 233 can drive the first push plate 231 and the second push plate 232 to move closer to or away from each other along the first direction. The first direction is Figure 3 In the X-axis direction. As the first push plate 231 and the second push plate 232 approach each other, the drone 300 can be aligned. Optionally, in this embodiment, the first drive assembly 233 includes a double-headed motor 2331, a first lead screw 2332, a second lead screw 2333, a first nut, and a second nut. The two output ends of the double-headed motor 2331 are respectively driveably connected to the first lead screw 2332 and the second lead screw 2333. The first nut is threadedly connected to the first lead screw 2332, and the second nut is threadedly connected to the second lead screw 2333. One end of the first push plate 231 is fixedly connected to the first nut, and one end of the second push plate 232 is fixedly connected to the second nut. The control system controls the movement range of the first push plate 231 and the second push plate 232 by controlling the start and stop of the double-headed motor 2331. When the model of the drone 300 is different, the movement range of the first push plate 231 and the second push plate 232 is different. It is worth noting that in this embodiment, the first push plate 231 and the second push plate 232 move synchronously. Of course, in other embodiments, the structure of the second driving component 243 may also be other, and can be set according to actual needs.

[0071] Preferably, continue to see Figure 3 The second driving assembly 243 also includes a first guide rail 2334, and the first push plate 231 and the second push plate 232 are both slidingly connected to the first guide rail 2334. The first guide rail 2334 is set on the shutdown plate 210 and extends along the first direction (X-axis direction). By setting the first guide rail 2334 and making the first push plate 231 and the second push plate 232 slidingly connected to the first guide rail 2334, on the one hand, it can guide the movement of the first push plate 231 and the second push plate 232; on the other hand, it can improve the stability and smoothness of the movement of the first push plate 231 and the second push plate 232.

[0072] Further, see Figure 3The aforementioned automatically adaptable drone nest for multiple models also includes a fixed plate 250 and a fourth drive component. The stop plate 210 is slidably connected to the fixed plate 250, and the fourth drive assembly is drivingly connected to the stop plate 210 to drive the stop plate 210 to slide. In this embodiment, the stop plate 210 slides along the Y-axis. The stop plate 210 can slide along the Y-axis to extend out of the rack 100, facilitating the launch and recovery of the drone 300. Alternatively, the fourth drive component can be a screw-nut structure, a linear motor, or the like, as required.

[0073] Preferably, the fixed plate 250 is further provided with a second guide rail 251 extending along the Y-axis direction, and the shutdown plate 210 is provided with a slider that is slidably connected to the second guide rail 251. This simple structure facilitates smooth sliding of the shutdown plate 210. Of course, the sliding connection structure between the shutdown plate 210 and the fixed plate 250 can also be other, and can be configured according to actual needs.

[0074] Further, if Figure 4 As shown, the aforementioned automatically adaptable drone nest also includes a recovery compartment, which includes a lifting mechanism 261 and a storage rack 262. The lifting mechanism 261 is disposed within the rack 100 and may be, but is not limited to, a scissor mechanism. The storage rack 262 is mounted on the lifting mechanism 261 and is capable of driving the storage rack 262 upward and downward. The storage rack 262 includes a first and second layer, which are spaced apart. Both layers are provided with a helipad 200. When storing the drone 300, the lifting mechanism 261 is in a landing position. When launching a drone 300, the landing board 210 on the first-level helipad 200 is first slid out of the rack 100, and the drone 300 on the first level is launched. The landing board 210 then slides back into the rack 100. The lifting mechanism 261 then rises, and the landing board 210 on the second-level helipad 200 slides out of the rack 100, launching the drone 300 on the second level. Finally, the landing board 210 slides back into the rack 100. When recovering the drone 300, the drone 300 on the second-level helipad 200 is recovered first, followed by the drone 300 on the first-level helipad 200. By providing the lifting mechanism 261 and the display rack 262, two drones 300 can be recovered and stored simultaneously, and the structure is compact, taking up little space.

[0075] Preferably, continue to see Figure 4 Multiple recovery bays are provided, arranged side by side along the length of the rack 100. This arrangement improves space utilization in the aforementioned drone nest, which automatically adapts to multiple drone models. In this embodiment, two recovery bays are provided. In other embodiments, the number of recovery bays may vary, such as three or four, depending on actual needs.

[0076] The present invention also provides a method for controlling a drone nest. The method is based on the above-mentioned drone nest that automatically adapts to multiple models and specifically includes the following steps:

[0077] S100, the control system controls the first-layer stop panel 210 to move horizontally out of the rack 100;

[0078] Specifically, the control system controls the fourth driving assembly of the helipad 200 on the first layer of the display rack 262 to start, and moves the parking board 210 of the helipad 200 on the first layer of the display rack 262 horizontally out of the rack 100 .

[0079] S200: After the parking plate 210 is translated into position, the control system controls the locking mechanism 240 on the parking plate 210 to release the drone 300;

[0080] Specifically, a sensor may be provided to determine whether the parking plate 210 has been translated into position. The control system controls the corresponding third driving assembly 244 to start, causing the locking claw 2421 to rotate, thereby releasing the drone 300.

[0081] S300: The control system controls the UAV 300 to start up and sends a first operation instruction to the UAV 300. After receiving the first operation instruction, the UAV 300 automatically completes takeoff and inspection work.

[0082] Specifically, in this embodiment, RFID technology is used to automatically identify the drone 300 code on the parking panel 210 and transmit it to the control system. Based on the received drone 300 code, the control system transmits a power-on command to the drone 300 to power it on. Simultaneously, the control system interprets the drone 300 model information based on the drone 300 code and transmits a first operating command to the drone 300. Upon receiving the first operating command, the drone 300 automatically completes takeoff and autonomous inspection operations.

[0083] S400, the control system controls the first-layer stop panel 210 to move horizontally into the rack 100;

[0084] Specifically, after the drone 300 on the first layer of the display rack 262 is released, the control system controls the fourth drive component of the helipad 200 on the first layer of the display rack 262 to start, and moves the parking board 210 of the helipad 200 on the first layer of the display rack 262 into the rack 100.

[0085] S500: The control system controls the lifting mechanism 261 to rise, and then controls the second-layer stop plate 210 to move horizontally out of the rack 100;

[0086] Specifically, the control system controls the fourth driving assembly of the apron 200 on the second layer of the display rack 262 to start, and moves the parking board 210 of the apron 200 on the second layer of the display rack 262 horizontally out of the rack 100 .

[0087] S600: After the parking plate 210 is translated into position, the control system controls the locking mechanism 240 on the parking plate 210 to release the drone 300;

[0088] Specifically, a sensor may be provided to determine whether the parking plate 210 has been translated into position. The control system controls the corresponding third driving assembly 244 to start, causing the locking claw 2421 to rotate, thereby releasing the drone 300.

[0089] S700: The control system controls the UAV 300 to start up and sends a second operation instruction to the UAV 300. After receiving the second operation instruction, the UAV 300 automatically completes the takeoff and inspection work.

[0090] Specifically, in this embodiment, RFID technology is used to automatically identify the drone 300 code on the parking panel 210 and transmit it to the control system. Based on the received drone 300 code, the control system sends a power-on command to the drone 300 to power it on. Simultaneously, the control system interprets the drone 300 model information based on the drone 300 code and transmits a second operating command to the drone 300. Upon receiving the second operating command, the drone 300 automatically completes takeoff and autonomous inspection.

[0091] S800 and the drone 300 automatically return to the base after completing the inspection work, and the control system controls the second-layer parking board 210 to move horizontally out of the rack 100;

[0092] Specifically, the control system controls the fourth drive assembly of the apron 200 on the second layer of the display rack 262 to start, so that the parking board 210 of the apron 200 on the second layer of the display rack 262 is moved horizontally out of the rack 100. At this time, the lifting mechanism 261 is in a raised state.

[0093] S900: The control system controls the drone 300 to land on the parking board 210;

[0094] S1000: The control system activates the centering mechanism 230 on the stop plate 210. The ranging sensor 220 transmits real-time height information relative to the bottom wall of the drone 300 to the control system. The control system determines the model of the drone 300 based on the height information and controls the stopping position of the centering mechanism 230 based on the model of the drone 300 to move the center of the drone 300 to the central axis of the stop plate 210.

[0095] Specifically, the control system pre-stores the vertical distances between the bottom wall of the fuselage and the parking board 210 of three types of drones 300: large, medium and small. Due to the load and classification characteristics of drones, the three types of drones: large, medium and small have obvious differences in their external dimensions. For example, the vertical distance between the bottom wall of the fuselage of a large drone 300 and the parking board 210 is 20cm-25cm, the vertical distance between the bottom wall of the fuselage of a medium drone 300 and the parking board 210 is 15cm-20cm, and the vertical distance between the bottom wall of the fuselage of a small drone 300 and the parking board 210 is 10cm-15cm.

[0096] After drone 300 lands on stop plate 210, the control system first activates centering mechanism 230, causing it to begin moving drone 300 toward the central axis of stop plate 210. During this movement, the control system receives real-time altitude information from four ranging sensors 220. For example, if the instantaneous data values ​​transmitted by the four ranging sensors 220 are (10, 11, 13, 10), and the altitude information measured by each ranging sensor 220 falls within the range of 10-15 cm, the drone 300 is determined to be a small drone 300. The control system then controls centering mechanism 230 to stop at the corresponding position based on preset parameters, completing the centering. Because the vertical distances between the bottom wall of the fuselage and stop plate 210 vary significantly for large, medium, and small drones 300, the altitude information transmitted by ranging sensors 220 cannot be simultaneously matched to multiple models of drones 300.

[0097] At step S1100, the control system controls the locking mechanism 240 on the parking plate 210 to move the drone 300 to the parking position. The control system compares the altitude information with a preset distance. If the altitude information falls within the preset distance range, the control system controls the locking mechanism 240 to lock and secure the drone 300. If the altitude information does not fall within the preset distance range, steps S1000 to S1100 are repeated. The preset distance is the height between the bottom wall of the drone 300 and the parking plate 210 when each model of drone 300 is parked at the parking position, which is pre-stored in the control system.

[0098] Specifically, when it is found that the height information does not fall within the preset distance range, the control system controls the first push plate 231 and the second push plate 232 of the centering mechanism 230 to first release the drone 300, and then controls the movement of the second locking piece. When one leg of the drone 300 abuts against the first locking piece 241, the control system controls the centering mechanism 230 to center again, and again compares the height information transmitted by the ranging sensor 220 with the preset information, and repeats this process until the centering is completed.

[0099] Furthermore, the number of repetitions can be set. If the number of repetitions exceeds the preset number, an alarm is sounded and manual intervention is given in time. The preset number can be set according to actual needs, such as three or four times.

[0100] S1200, the control system controls the lifting mechanism 261 to descend;

[0101] S1300: The control system controls the first-layer shutdown panel 210 to move horizontally out of the rack 100;

[0102] S1400, repeating steps S900-S1100 to complete the recovery of the drone 300 on the first layer;

[0103] S1500: After the UAV 300 is recovered, the UAV 300 is charged using a wireless charging device provided on the helipad 200 to prepare for subsequent operations.

[0104] The drone nest control method provided by the present invention realizes the fully automatic inspection process of the drone nest, such as automatic take-off and landing, autonomous inspection and automatic charging of the drone 300, without any human intervention. It is suitable for cluster operations of multiple types of drones 300, and improves the ability of multiple types of drones 300 to work together under the differentiated inspection task requirements of the power grid.

[0105] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. Automatically adapt to multiple types of drone nests, characterized by: The invention comprises a frame (100) and a parking apron (200), wherein the parking apron (200) is arranged in the frame (100) and is used for launching, recovering and storing a drone (300), and the parking apron (200) comprises: control systems; A parking plate (210), wherein a parking position is provided on the parking plate (210); A plurality of distance measuring sensors (220) are arranged on the parking plate (210), wherein the distance measuring sensors (220) transmit height information between the distance measuring sensors and the bottom wall of the fuselage of the UAV (300) to the control system in real time, and the control system determines the model of the UAV (300) based on the height information; A centering mechanism (230) is provided on the stop plate (210), and the control system controls the centering mechanism (230) to move the center of the drone (300) to the central axis of the stop plate (210) according to the model of the drone (300); the centering mechanism (230) includes a first push plate (231), a second push plate (232) and a first drive assembly (233), the two ends of the first drive assembly (233) are respectively connected to the first push plate (231) and the second push plate (232), and the first drive assembly (233) can drive the first push plate (231) and the second push plate (232) to move the center of the drone (300) to the central axis of the stop plate (210). ) move closer to or farther away from each other along a first direction; the first driving assembly (233) comprises a double-headed motor (2331), a first lead screw (2332), a second lead screw (2333), a first nut and a second nut; the two output ends of the double-headed motor (2331) are respectively connected to the first lead screw (2332) and the second lead screw (2333); the first nut is threadedly connected to the first lead screw (2332); the second nut is threadedly connected to the second lead screw (2333); one end of the first push plate (231) is fixedly connected to the first nut; and one end of the second push plate (232) is fixedly connected to the second nut; A locking mechanism (240) is provided on the parking plate (210), and the locking mechanism (240) is capable of moving the UAV (300) located on the central axis to the parking position and locking it; the locking mechanism (240) comprises a first locking member (241), a second locking member, a second driving assembly (243) and a third driving assembly (244); the first locking member (241) is fixedly connected to the parking plate (210), the first locking member (241) is capable of abutting against a leg of the UAV (300), the second driving assembly (243) is capable of driving the second locking member to approach the first locking member (241) along a second direction, the second locking member comprises a locking claw (2421), and the third driving assembly (244) is capable of driving the locking claw (2421) to rotate; When the second locking member pushes the drone (300) to move so that one leg of the drone (300) abuts against the first locking member (241), the third driving assembly (244) drives the locking claw (2421) to rotate so that the locking claw (2421) presses and fixes the other leg of the drone (300).

2. The automatic adaptable multi-model drone nest according to claim 1 is characterized in that: Four distance measuring sensors (220) are provided, and the four distance measuring sensors (220) are symmetrically arranged in two rows and two columns on both sides of the central axis of the shutdown plate (210).

3. The automatic adaptable multi-model drone nest according to claim 1 is characterized in that: The second driving assembly (243) includes a motor (2431), a third lead screw (2432) and a third nut. The output end of the motor (2431) is drivingly connected to the third lead screw (2432), the third nut is threadedly connected to the third lead screw (2432), and the second locking member further includes a connecting member (2422), and the connecting member (2422) is fixedly connected to the third nut.

4. The automatic adaptable multi-model drone nest according to any one of claims 1 to 3, characterized in that: The apron (200) further comprises: A fixed plate (250), the shutdown plate (210) being slidably connected to the fixed plate (250); A fourth driving assembly is drivingly connected to the stop plate (210) and is used to drive the stop plate (210) to slide.

5. The automatic adaptable multi-model drone nest according to claim 4 is characterized in that: Also included is a recovery cabin, the recovery cabin comprising: A lifting mechanism (261) is arranged in the frame (100); A placing rack (262) is arranged on the lifting mechanism (261), and the lifting mechanism (261) can drive the placing rack (262) to rise and fall. The placing rack (262) includes a first layer and a second layer, the first layer and the second layer are arranged at intervals, and the apron (200) is provided on both the first layer and the second layer.

6. The automatic adaptable multi-model drone nest according to claim 5 is characterized in that: There are a plurality of recovery chambers, and the plurality of recovery chambers are arranged side by side along the length direction of the frame (100).

7. A method for controlling a drone nest, characterized in that: The control method of the drone nest is implemented based on the drone nest that automatically adapts to multiple models according to claim 5 or 6, and includes the following steps: S100, the control system controls the first-layer stop panel (210) to move horizontally out of the rack (100); S200: After the stop plate (210) is translated into position, the control system controls the locking mechanism (240) on the stop plate (210) to release the drone (300); S300, the control system controls the UAV (300) to start up, and sends a first operation instruction to the UAV (300), and the UAV (300) automatically completes takeoff and inspection work after receiving the first operation instruction; S400, the control system controls the shutdown plate (210) on the first layer to move horizontally into the rack (100); S500, the control system controls the lifting mechanism (261) to rise, and then controls the second-layer stop plate (210) to move horizontally out of the frame (100); S600: After the stop plate (210) is translated into position, the control system controls the locking mechanism (240) on the stop plate (210) to release the drone (300); S700, the control system controls the UAV (300) to start up, and sends a second operation instruction to the UAV (300), and the UAV (300) automatically completes takeoff and inspection work after receiving the second operation instruction; S800: The drone (300) automatically returns home after completing the inspection work, and the control system controls the stop panel (210) on the second layer to move horizontally out of the rack (100); S900, the control system controls the drone (300) to land on the parking board (210); S1000, the control system controls the centering mechanism (230) on the stop plate (210) to start, and the distance measuring sensor (220) transmits height information between the distance measuring sensor and the bottom wall of the fuselage of the unmanned aerial vehicle (300) to the control system in real time, and the control system determines the model of the unmanned aerial vehicle (300) based on the height information, and controls the stopping position of the centering mechanism (230) based on the model of the unmanned aerial vehicle (300) to move the center of the unmanned aerial vehicle (300) to the central axis of the stop plate (210); S1100, the control system controls the locking mechanism (240) on the parking plate (210) to move the drone (300) to the parking position, the control system compares the height information with a preset distance, and if the height information falls within the range of the preset distance, controls the locking mechanism (240) to lock and fix the drone (300); if the height information does not fall within the range of the preset distance, repeats steps S1000-S1100, the preset distance being the height between the bottom wall of the drone (300) and the parking plate (210) when each model of the drone (300) is parked at the parking position, which is pre-stored in the control system; S1200, the control system controls the lifting mechanism (261) to descend; S1300, the control system controls the shutdown plate (210) on the first layer to move horizontally out of the rack (100); S1400, repeating steps S900-S1100 to complete the recovery of the drone (300) on the first layer; S1500: After the UAV (300) is recovered, the UAV (300) is charged using a wireless charging device provided on the helipad (200) to prepare for subsequent operations.

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