An unmanned aerial vehicle battery replacement and warehousing system based on a lift platform vehicle

Abstract

The present invention discloses a drone battery replacement and warehousing system based on a lifting platform vehicle. The drone, the power battery box, and the lifting platform vehicle are all located in the drone warehouse; the power battery box is installed at the bottom of the drone and electrically connected to each other, and the power battery box is placed on the top of the lifting platform vehicle; the drone and the lifting platform vehicle are wirelessly connected to an external mission planning control station. The present invention can realize the automatic replacement of the drone battery and transport the drone back to the drone warehouse. In addition, multiple lifting platform vehicles can replace the batteries of multiple drones and transport the drones simultaneously, improving work efficiency, being easy to carry, and convenient for recycling. It can be used in a drone swarm airport to realize the automated operation of drones.

Description

Technical Field

[0001] The present invention relates to a system for replacing the battery of an unmanned aerial vehicle (UAV) and storing it in a warehouse, and more particularly to a system for replacing the battery of an unmanned aerial vehicle and storing it in a warehouse based on a lifting platform vehicle. Background Art

[0002] Multi-rotor UAVs are often used for tasks such as monitoring and searching, but their continuous working time is very short, and the battery needs to be replaced in time to continue to complete aerial reconnaissance.

[0003] Currently, there are also many patents relying on ground vehicles or UAV boxes to replace the battery, but in all cases, the UAV needs to land at a designated location first, which requires a certain accuracy of the UAV landing and increases the control difficulty of the UAV. In addition, the existing solutions cannot achieve the simultaneous replacement of the batteries of multiple UAVs. Summary of the Invention

[0004] In order to solve the problems existing in the background art, the present invention provides a system for replacing the battery of an unmanned aerial vehicle and storing it in a warehouse based on a lifting platform vehicle, which can realize the automatic replacement of the UAV battery, and the replacement structure is simple, and it can be used in scenarios where the UAV needs to work for a long time.

[0005] The technical solution adopted by the present invention is as follows:

[0006] I. A system for replacing the battery of an unmanned aerial vehicle and storing it in a warehouse based on a lifting platform vehicle:

[0007] The system for replacing the battery of an unmanned aerial vehicle and storing it in a warehouse includes an unmanned aerial vehicle, two power battery boxes, two lifting platform vehicles and a UAV warehouse. The unmanned aerial vehicle, two power battery boxes and two lifting platform vehicles are all located in the UAV warehouse; a power battery box is installed at the center of the bottom of the unmanned aerial vehicle and is electrically connected to each other. Another power battery box is placed at the center of the top of one of the lifting platform vehicles; the unmanned aerial vehicle and two lifting platform vehicles are wirelessly connected to an external mission planning and control station; when replacing the battery, the lifting platform vehicle is located below the unmanned aerial vehicle and replaces the power battery box of the unmanned aerial vehicle.

[0008] A battery docking platform is installed at the center of the bottom of the unmanned aerial vehicle. Four laser emitters, two electromagnets and a power battery female head are installed at the bottom of the battery docking platform. The four laser emitters are symmetrically installed at the four top corners of the bottom of the battery docking platform. The power battery female head is installed at the center of the bottom of the battery docking platform. The two electromagnets are installed at the bottom of the battery docking platform and are located on the symmetric sides of the power battery female head. One of the power battery boxes is installed at the bottom of the battery docking platform through two electromagnets and a power battery female head and is electrically connected to each other; the four laser emitters, two electromagnets and a power battery female head are all electrically connected to a UAV control module inside the unmanned aerial vehicle, and the UAV control module is wirelessly connected to an external mission planning and control station. The laser emitters and electromagnets on the battery docking platform are powered by the power battery of the unmanned aerial vehicle itself.

[0009] The described power battery box includes a battery box body, two DET armco irons, and a power battery male connector. The power battery male connector is installed at the center of the top of the battery box body, and the two DET armco irons are installed at the top of the battery box body and on the symmetric two sides of the power battery male connector; the power battery male connector is electrically connected to the battery box body; the two DET armco irons of one of the power battery boxes installed at the bottom of the battery docking platform and the two electromagnets of the unmanned aerial vehicle are respectively arranged opposite to each other and magnetically attracted to each other. The power battery male connector of the power battery box and the power battery female connector of the unmanned aerial vehicle are inserted opposite to each other. The unmanned aerial vehicle is electrically connected to the battery box body of the power battery box through the power battery female connector and the power battery male connector. The unmanned aerial vehicle can control the on / off of the electromagnet to realize the separation and combination of the electromagnet and the DET armco iron.

[0010] The size of the side surface where the power battery male connector of the described power battery box is located is smaller than the size of the bottom surface of the battery docking platform of the unmanned aerial vehicle.

[0011] Each of the described lifting platform vehicles includes two driving wheel rear wheels, two driving wheel front wheels, two axles, a bracket structure, and a lifting platform. The two driving wheel rear wheels are respectively sleeved at both ends of one of the axles, and the two driving wheel front wheels are respectively sleeved at both ends of the other axle. The two axles are installed at the bottom of the lifting platform through the bracket structure; a groove is formed in the middle of the top surface of the lifting platform, and laser receivers are symmetrically installed at the four top corners of the top surface of the lifting platform respectively. The four laser receivers are symmetrically arranged outside the groove, and the four laser receivers are respectively opposite to the four laser emitters of the unmanned aerial vehicle; one side of another power battery box placed at the center of the top of one of the lifting platform vehicles, which is far from the power battery male connector, is placed in the groove; the two driving wheel rear wheels, the two driving wheel front wheels, and the four laser receivers are all electrically connected to the platform vehicle control module inside the lifting platform vehicle, and the platform vehicle control module is wirelessly connected to an external mission planning control station.

[0012] The laser emitted by the four laser emitters can be correspondingly received by the four laser receivers for positioning the position of the lifting platform vehicle, and the four laser receivers can ensure the correct position of the power battery male connector. The positions of the four laser emitters and the positions of the four laser receivers correspond one by one, and the laser emitted by the laser emitter can be received by the laser receiver for positioning the position of the lifting platform vehicle.

[0013] The cooperation between the power battery male connector and the power battery female connector can ensure that the power battery box can fall after the electromagnet is disconnected. The cooperation between the power battery box and the groove of the platform can ensure that the power battery box does not fall during the movement of the lifting platform vehicle, and the total friction force between the two is less than the attraction force between the electromagnet and the DET armco iron.

[0014] The size of one side of the power battery box away from the male power battery connector is the same as the size of the groove of the lifting platform.

[0015] The bracket structure includes a first bracket and a second bracket. A horizontal chute along the advancing direction of the lifting platform vehicle is also provided on one side of the bottom of the lifting platform. A slider that slides along the chute is provided in the chute. The middle of one axle is hinged to one end of the first bracket, and the other end of the first bracket is hinged to one side of the bottom of the lifting platform near the other axle; the chute is located on the side of the bottom of the lifting platform away from the other axle, and the middle of the other axle is hinged to one end of the second bracket, and the other end of the second bracket is connected to the slider; the first bracket and the second bracket are arranged in an X shape, and the middles of the first bracket and the second bracket are hinged.

[0016] The length of the chute is less than half of the length of the lifting platform vehicle.

[0017] II. A control method for an unmanned aerial vehicle battery replacement and warehousing system:

[0018] The method includes the following steps:

[0019] When the unmanned aerial vehicle replaces the battery, first, the external mission planning control station controls the platform vehicle control module to drive a lifting platform vehicle without a power battery box to directly below the unmanned aerial vehicle. Then, the unmanned aerial vehicle control module disconnects two electromagnets, and the two electromagnets are separated from the two DET electro-pure irons, and the male power battery connector and the female power battery connector are disconnected. The power battery box to be charged falls into the groove of the lifting platform vehicle, and the power battery box is removed; then, the external mission planning control station controls the platform vehicle control module to drive another lifting platform vehicle with a power battery box to directly below the unmanned aerial vehicle. The unmanned aerial vehicle control module turns on the two electromagnets, so that the two electromagnets are magnetically attracted to the two electromagnets of the power battery box, and then the fully charged power battery box is installed at the bottom of the unmanned aerial vehicle, so that the male power battery connector and the female power battery connector are plugged in, and the battery replacement of the unmanned aerial vehicle is completed.

[0020] During the movement and battery replacement process of the lifting platform vehicle, the external mission planning control station controls the platform vehicle control module to lock two driving rear wheels or two driving front wheels, and controls the two driving rear wheels to approach the two driving front wheels, so as to vertically lift the lifting platform upward through the bracket structure, and controls the two driving rear wheels to move away from the two driving front wheels, so as to vertically lower the lifting platform through the bracket structure.

[0021] After the drone finishes its work, the platform vehicle control module is controlled by the external mission planning control station to drive a platform vehicle without a power battery box to directly below the drone. The drone descends and lands on the top surface of the platform vehicle, so that the power battery box below the drone is embedded in the groove of the platform vehicle. The external mission planning control station controls the platform vehicle control module to make the platform vehicle transport the drone to the drone warehouse.

[0022] The driving rear wheels and the driving front wheels of the platform vehicle can be independently driven or locked by motors. When the driving front wheels are fixed and the driving rear wheels move towards the driving front wheels, rotations occur between the first bracket and the second bracket, between the first bracket and the axle, between the second bracket and the lifting platform, and between the second bracket and the axle. A sliding occurs between the second bracket and the lifting platform, and the lifting platform moves horizontally upward.

[0023] The beneficial effects of the present invention are as follows:

[0024] 1. The platform vehicle can increase the longitudinal passing angle through the lifting platform, improving the off-road performance of the vehicle.

[0025] 2. There is no need for the drone to return to a designated location. Instead, the platform vehicle can be driven to the vicinity of the power-deficient drone in advance, improving work efficiency.

[0026] 3. The platform vehicle is not large in size, easy to carry, and can be easily transplanted into any scenario where drones need to work continuously.

[0027] 4. By arranging multiple platform vehicles, battery replacement can be carried out for multiple drones, realizing a collaborative working system for drones and platform vehicles.

[0028] 5. The platform vehicle can lift the drone for movement, transport the drone back to the warehouse or other designated locations, and is convenient for recovery.

[0029] In summary, the present invention can achieve automatic replacement of the drone battery and transport the drone back to the drone warehouse. In addition, multiple platform vehicles can simultaneously replace the batteries of multiple drones and transport the drones. This system can be used in a drone swarm airport to realize the automated work of drones. Description of the Drawings

[0030] Figure 1 is a three-dimensional structure diagram of the drone battery replacement and warehousing system of the present invention;

[0031] Figure 2 is a structure diagram of the battery docking platform at the bottom of the drone of the present invention;

[0032] Figure 3 is a top structure diagram of the platform vehicle of the present invention;

[0033] Figure 4 This is the longitudinal sectional view of the lifting platform vehicle of the present invention;

[0034] Figure 5 This is the three-dimensional structure diagram of the power battery box of the present invention;

[0035] In the figure: 10, unmanned aerial vehicle; 11, battery docking platform; 12, laser emitter; 13, electromagnet; 14, female power battery head; 20, power battery box; 21, DET4 pure iron for electrical engineering; 22, male power battery head; 30, lifting platform vehicle; 31, rear driving wheel; 32, front driving wheel; 33, axle; 34, first bracket; 35, first bracket; 36, lifting platform; 361, chute; 362, groove; 363, laser receiver; 37, slider; 40, unmanned aerial vehicle warehouse. Specific embodiments

[0036] To make the purpose, technical solutions and advantages of the implementation of the present application clearer, the technical solutions of the present application will be described in more detail below with reference to the drawings of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The technical solutions described below by referring to the drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application. All other embodiments obtained by those of ordinary skill in the art based on the technical solutions in the present application without creative efforts shall fall within the scope of protection of the present application.

[0037] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0038] The unmanned aerial vehicle battery replacement and warehousing system of the present invention includes an unmanned aerial vehicle 10, two power battery boxes 20, two lifting platform vehicles 30 and an unmanned aerial vehicle warehouse 40. The unmanned aerial vehicle 10, two power battery boxes 20 and two lifting platform vehicles 30 are all located in the unmanned aerial vehicle warehouse 40; a power battery box 20 is installed at the center of the bottom of the unmanned aerial vehicle 10 and is electrically connected to each other, and another power battery box 20 is placed at the center of the top of one of the lifting platform vehicles 30; the unmanned aerial vehicle 10 and two lifting platform vehicles 30 are wirelessly connected to an external mission planning control station; when replacing the battery, the lifting platform vehicle 30 is located below the unmanned aerial vehicle 10 and replaces the power battery box 20 for the unmanned aerial vehicle 10.

[0039] A battery docking platform 11 is installed at the center of the bottom of the drone 10. Four laser emitters 12, two electromagnets 13 and a power battery female head 14 are installed at the bottom of the battery docking platform 11. The four laser emitters 12 are symmetrically installed at the four top corners of the bottom of the battery docking platform 11. The power battery female head 14 is installed at the center of the bottom of the battery docking platform 11. The two electromagnets 13 are installed at the bottom of the battery docking platform 11 and on the symmetrical sides of the power battery female head 14. One of the power battery boxes 20 is installed at the bottom of the battery docking platform 11 through the two electromagnets 13 and a power battery female head 14 and is electrically connected to each other. The four laser emitters 12, the two electromagnets 13 and a power battery female head 14 are all electrically connected to the drone control module inside the drone 10, and the drone control module is wirelessly connected to an external mission planning control station. The laser emitters 12 and the electromagnets 13 on the battery docking platform 11 are powered by the power battery of the drone itself.

[0040] The power battery box 20 includes a battery box body, two DET4 armco irons 21 and a power battery male head 22. The power battery male head 22 is installed at the center of the top of the battery box body. The two DET4 armco irons 21 are installed at the top of the battery box body and on the symmetrical sides of the power battery male head 22. The power battery male head 22 is electrically connected to the battery box body. The two DET4 armco irons 21 of one of the power battery boxes 20 installed at the bottom of the battery docking platform 11 and the two electromagnets 13 of the drone 10 are arranged opposite to each other and magnetically attract each other. The power battery male head 22 of the power battery box 20 and the power battery female head 14 of the drone 10 are inserted opposite to each other, and the drone 10 is electrically connected to the battery box body of the power battery box 20 through the power battery female head 14 and the power battery male head 22. The drone 10 can control the on and off of the electromagnet 13 to realize the separation and combination of the electromagnet 13 and the DET4 armco iron 21.

[0041] The size of the side surface where the power battery male head 22 of the power battery box 20 is located is smaller than the size of the bottom surface of the battery docking platform 11 of the drone 10.

[0042] Each lifting platform vehicle 30 includes two driving rear wheels 31, two driving front wheels 32, two axles 33, a bracket structure and a lifting platform 36. The two driving rear wheels 31 are respectively sleeved at both ends of one of the axles 33, and the two driving front wheels 32 are respectively sleeved at both ends of the other axle 33. The two axles 33 are installed at the bottom of the lifting platform 36 through the bracket structure. A groove 362 is formed in the middle of the top surface of the lifting platform 36, and laser receivers 363 are symmetrically installed at the four top corners of the top surface of the lifting platform 36. The four laser receivers 363 are symmetrically arranged outside the groove 362, and the four laser receivers 363 are respectively facing the four laser transmitters 12 of the unmanned aerial vehicle 10. One side of another power battery box 20 placed at the center of the top of one of the lifting platform vehicles 30, which is far from the power battery male head 22, is placed in the groove 362. The two driving rear wheels 31, the two driving front wheels 32 and the four laser receivers 363 are all electrically connected to the platform vehicle control module inside the lifting platform vehicle 30, and the platform vehicle control module is wirelessly connected to an external mission planning control station.

[0043] The laser emitted by the four laser transmitters 12 can be correspondingly received by the four laser receivers 363 for positioning the position of the lifting platform vehicle 30, and the four laser receivers 363 can ensure the correct position of the power battery male head 22. The positions of the four laser transmitters 12 correspond one by one to the positions of the four laser receivers 363, and the laser emitted by the laser transmitter 12 can be received by the laser receiver for positioning the position of the lifting platform vehicle 30.

[0044] The cooperation between the power battery male head 22 and the power battery female head 14 can ensure that the power battery box 20 can fall off after the electromagnet 13 is disconnected. The cooperation between the power battery box 20 and the groove 362 of the platform 36 can ensure that the power battery box 20 does not fall off during the movement of the lifting platform vehicle 30, and the total friction force between the two is less than the attraction force between the electromagnet 13 and the DET4 armco iron 21.

[0045] The size of one side of the power battery box 20, which is far from the power battery male head 22, is the same as the size of the groove of the lifting platform 36.

[0046] The bracket structure includes a first bracket 34 and a second bracket 35. On one side of the bottom of the lifting platform 36, there is also a horizontal chute 361 along the advancing direction of the lifting platform vehicle 30. A slider 37 that slides along the chute 361 is arranged in the chute 361. The middle of one axle 33 is hinged to one end of the first bracket 34, and the other end of the first bracket 34 is hinged to the bottom of the lifting platform 36 on the side close to the other axle 33; the chute 361 is located on the side of the bottom of the lifting platform 36 far from the other axle 33. The middle of the other axle 33 is hinged to one end of the second bracket 35, and the other end of the second bracket 35 is connected to the slider 37; the first bracket 34 and the second bracket 35 are arranged in an X shape, and the middles of the first bracket 34 and the second bracket 35 are hinged.

[0047] The length of the chute 361 is less than half of the length of the lifting platform vehicle 30.

[0048] The control method of the UAV battery replacement and warehousing system is as follows:

[0049] When the UAV 10 replaces the battery, first, the external mission planning control station controls the platform vehicle control module to drive a lifting platform vehicle 30 without a power battery box 20 to move under the UAV 10. Then, the UAV control module of the UAV 10 disconnects the two electromagnets 13. The separation of the two electromagnets 13 and the two DET4 armco irons 21 causes the power battery male head 22 and the power battery female head 14 to be disconnected. The power battery box 20 that needs to be charged falls into the groove 362 of the lifting platform vehicle 30, and the power battery box 20 is removed; then, the external mission planning control station controls the platform vehicle control module to drive another lifting platform vehicle 30 with the power battery box 20 to move under the UAV 10. The UAV control module turns on the two electromagnets 13, so that the two electromagnets 13 and the two electromagnets 13 of the power battery box 20 are magnetically attracted, and then the fully charged power battery box 20 is installed at the bottom of the UAV 10, so that the power battery male head 22 and the power battery female head 14 are plugged in, and the battery replacement of the UAV 10 is completed.

[0050] During the movement and battery replacement process of the lifting platform vehicle 30, the external mission planning control station controls the platform vehicle control module to lock the two driving rear wheels 31 or lock the two driving front wheels 32, and controls the two driving rear wheels 31 to approach the two driving front wheels 32, so as to vertically lift the lifting platform 36 upward through the bracket structure, and controls the two driving rear wheels 31 to move away from the two driving front wheels 32, so as to vertically lower the lifting platform 36 downward through the bracket structure.

[0051] After the UAV 10 finishes its work, the platform vehicle control module is controlled by the external mission planning control station to drive a lifting platform vehicle 30 without a power battery box 20 to move directly below the UAV 10. The UAV descends and lands on the top surface of the lifting platform vehicle 30, so that the power battery box 20 below the UAV is embedded in the groove 362 of the lifting platform vehicle 30. The external mission planning control station controls the platform vehicle control module to enable the lifting platform vehicle 30 to transport the UAV 10 to the UAV warehouse 40.

[0052] The driving rear wheels 31 and the driving front wheels 32 of the lifting platform vehicle 30 can be independently driven or locked by motors. When the driving front wheels 32 are fixed and the driving rear wheels 31 move in the direction of the driving front wheels 32, rotations occur between the first bracket 34 and the second bracket 35, between the first bracket 34 and the axle 33, between the second bracket 34 and the lifting platform 36, and between the second bracket 35 and the axle 33. A sliding occurs between the second bracket 35 and the lifting platform 36, and the lifting platform 36 moves upward horizontally.

[0053] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. An unmanned aerial vehicle battery replacement and warehousing system based on a lifting platform vehicle, characterized in that: It includes a drone (10), two power battery boxes (20), two lifting platform vehicles (30) and a drone warehouse (40). The drone (10), the two power battery boxes (20) and the two lifting platform vehicles (30) are all located in the drone warehouse (40); a power battery box (20) is installed at the center of the bottom of the drone (10) and is electrically connected to each other. Another power battery box (20) is placed at the center of the top of one of the lifting platform vehicles (30); the drone (10) and the two lifting platform vehicles (30) are wirelessly connected to an external mission planning and control station; A battery docking platform (11) is installed at the center of the bottom of the drone (10). Four laser emitters (12), two electromagnets (13) and a power battery female head (14) are installed at the bottom of the battery docking platform (11). The four laser emitters (12) are symmetrically installed at the four top corners of the bottom of the battery docking platform (11). The power battery female head (14) is installed at the center of the bottom of the battery docking platform (11). The two electromagnets (13) are installed at the bottom of the battery docking platform (11) and are located on the symmetric two sides of the power battery female head (14). One of the power battery boxes (20) is installed at the bottom of the battery docking platform (11) through the two electromagnets (13) and a power battery female head (14) and is electrically connected to each other; the four laser emitters (12), the two electromagnets (13) and a power battery female head (14) are all electrically connected to the drone control module inside the drone (10), and the drone control module is wirelessly connected to an external mission planning and control station; The power battery box (20) includes a battery box body, two DET4 armco irons (21) and a power battery male head (22). The power battery male head (22) is installed at the center of the top of the battery box body. The two DET4 armco irons (21) are installed at the top of the battery box body and are located on the symmetric two sides of the power battery male head (22); the power battery male head (22) is electrically connected to the battery box body; the two DET4 armco irons (21) of one of the power battery boxes (20) installed at the bottom of the battery docking platform (11) and the two electromagnets (13) of the drone (10) are respectively arranged oppositely and magnetically attracted to each other. The power battery male head (22) of the power battery box (20) and the power battery female head (14) of the drone (10) are inserted into each other oppositely. The drone (10) is electrically connected to the battery box body of the power battery box (20) through the power battery female head (14) and the power battery male head (22).

2. The unmanned aerial vehicle battery replacement and warehousing system based on a lifting platform vehicle according to claim 1, characterized in that: The size of the side surface where the power battery male head (22) of the power battery box (20) is located is smaller than the size of the bottom surface of the battery docking platform (11) of the drone (10).

3. The unmanned aerial vehicle battery replacement and warehousing system based on a lifting platform vehicle according to claim 1, characterized in that: Each of the lifting platform vehicles (30) includes two driving rear wheels (31), two driving front wheels (32), two axles (33), a support structure, and a lifting platform (36). The two driving rear wheels (31) are respectively sleeved at both ends of one of the axles (33), and the two driving front wheels (32) are respectively sleeved at both ends of the other axle (33). The two axles (33) are installed at the bottom of the lifting platform (36) through the support structure. A groove (362) is formed in the middle of the top surface of the lifting platform (36), and laser receivers (363) are symmetrically installed at the four top corners of the top surface of the lifting platform (36). The four laser receivers (363) are symmetrically arranged outside the groove (362) and are respectively facing the four laser transmitters (12) of the unmanned aerial vehicle (10). One side of another power battery box (20) placed at the center of the top of one of the lifting platform vehicles (30) and away from the power battery male head (22) is placed in the groove (362). The two driving rear wheels (31), the two driving front wheels (32), and the four laser receivers (363) are all electrically connected to the platform vehicle control module inside the lifting platform vehicle (30), and the platform vehicle control module is wirelessly connected to an external mission planning control station.

4. The unmanned aerial vehicle battery replacement and warehousing system based on a lifting platform vehicle according to claim 3, characterized in that: The size of one side of the power battery box (20) away from the power battery male head (22) is the same as the size of the groove of the lifting platform (36).

5. The unmanned aerial vehicle battery replacement and warehousing system based on a lifting platform vehicle according to claim 3, characterized in that: The support structure includes a first support (34) and a second support (35). A horizontal chute (361) along the advancing direction of the lifting platform vehicle (30) is further provided on one side of the bottom of the lifting platform (36). A slider (37) sliding along the chute (361) is provided in the chute (361). One end of the first support (34) is hinged to the middle of one of the axles (33), and the other end of the first support (34) is hinged to the bottom of the lifting platform (36) near the other axle (33). The chute (361) is located on one side of the bottom of the lifting platform (36) away from the other axle (33). One end of the second support (35) is hinged to the middle of the other axle (33), and the other end of the second support (35) is connected to the slider (37). The first support (34) and the second support (35) are arranged in an X shape, and the middle parts of the first support (34) and the second support (35) are hinged.

6. The unmanned aerial vehicle battery replacement and warehousing system based on a lifting platform vehicle according to claim 5, characterized in that: The length of the chute (361) is less than half of the length of the lifting platform vehicle (30).

7. The control method of the unmanned aerial vehicle battery replacement and warehousing system according to any one of claims 1-6, characterized in that: When replacing the battery of the drone (10), first, the external mission planning control station controls the platform vehicle control module to drive a lifting platform vehicle (30) without a power battery box (20) to directly below the drone (10). Then, the drone control module of the drone (10) disconnects two electromagnets (13), separating the two electromagnets (13) from the two DET4 armco irons (21), disconnecting the power battery male connector (22) from the power battery female connector (14), and the power battery box (20) falls into the groove (362) of the lifting platform vehicle (30), and the power battery box (20) is removed. Then, the external mission planning control station controls the platform vehicle control module to drive another lifting platform vehicle (30) with the power battery box (20) to directly below the drone (10). The drone control module turns on the two electromagnets (13), causing the two electromagnets (13) to magnetically attract the two electromagnets (13) of the power battery box (20), and then installs the power battery box (20) at the bottom of the drone (10), enabling the power battery male connector (22) and the power battery female connector (14) to be plugged in, completing the battery replacement of the drone (10). During the movement and battery replacement of the lifting platform vehicle (30), the external mission planning control station controls the platform vehicle control module to lock the two driving rear wheels (31) or lock the two driving front wheels (32), and control the two driving rear wheels (31) to approach the two driving front wheels (32), so as to vertically lift the lifting platform (36) upward through the bracket structure, and control the two driving rear wheels (31) to move away from the two driving front wheels (32), so as to vertically lower the lifting platform (36) downward through the bracket structure. When the drone (10) finishes working, the external mission planning control station controls the platform vehicle control module to drive a lifting platform vehicle (30) without a power battery box (20) to directly below the drone (10). The drone descends onto the top surface of the lifting platform vehicle (30), causing the power battery box (20) below the drone to be embedded in the groove (362) of the lifting platform vehicle (30). The external mission planning control station controls the platform vehicle control module to enable the lifting platform vehicle (30) to transport the drone (10) to the drone warehouse (40).

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