Drone Centering Platform and Centering Method

Abstract

The present invention relates to a centering platform for an unmanned aerial vehicle, which comprises a platform body. Two X-direction guide rails and two Y-direction guide rails are arranged on the platform body. A centering actuator for pushing the landing gear of the unmanned aerial vehicle is slidably arranged on each guide rail. At least one of the guide rails is an inward-pushing guide rail, and the inward-pushing guide rail is located within the target centering area of the landing gear of the unmanned aerial vehicle, and its centering actuator is an inward-pushing actuator capable of performing centering operation from the inner side of the landing gear of the unmanned aerial vehicle. Correspondingly, a method for centering an unmanned aerial vehicle is also provided. In the present invention, at least part of the centering actuators push the landing gear of the unmanned aerial vehicle from the inner side of the landing gear, so that the displacement stroke of the centering actuator can be reduced, thereby effectively reducing the area of the centering platform, facilitating the miniaturized design of the unmanned aerial vehicle hangar, reducing the weight of the hangar and the production cost of the hangar. Since the centering operation can be performed from the inner side of the landing gear of the unmanned aerial vehicle, the centering platform can be designed to be foldable, and a larger landing space for the unmanned aerial vehicle can be obtained.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle centering platform and an unmanned aerial vehicle centering method. Background Art

[0002] The application of unmanned aerial vehicles, especially rotor unmanned aerial vehicles, is becoming more and more extensive, such as for plant protection, fire fighting, military reconnaissance, and inspection of power grids and river channels. Some require unmanned aerial vehicles to perform long-duration operations or long-distance tasks, which require a large amount of power for the unmanned aerial vehicles. Often, the power carried by themselves cannot meet the operation requirements. After performing tasks for a period of time, they need to land and replenish electric energy, and correspondingly, an unmanned aerial vehicle parking platform or an unmanned aerial vehicle hangar is required.

[0003] Different from traditional large fixed-wing airports or helicopter landing pads, the area of the unmanned aerial vehicle parking platform is small. Due to the limitation of the landing accuracy of the unmanned aerial vehicle, automatic centering operation of the unmanned aerial vehicle is often required.

[0004] The existing centering mechanisms of unmanned aerial vehicle hangars generally use mechanisms such as synchronous belts or lead screw modules to drive four push rods to push the footrests of the unmanned aerial vehicle from the outside of the footrests of the unmanned aerial vehicle for centering. This method has the following problems:

[0005] (1) The space required for centering by the centering mechanism from the outside of the footrests of the unmanned aerial vehicle is large, and the area of the unmanned aerial vehicle parking platform or the unmanned aerial vehicle hangar is also large. Moreover, the number of centering devices is large and the structure is complex, resulting in a large overall volume and heavy weight of the hangar, and high manufacturing costs;

[0006] (2) The existing centering platform is an integral body and cannot be folded. Summary of the Invention

[0007] The present invention relates to an unmanned aerial vehicle centering platform and an unmanned aerial vehicle centering method, which can at least solve some defects of the prior art.

[0008] The present invention relates to an unmanned aerial vehicle centering platform, including a platform body. Two X-direction guide rails and two Y-direction guide rails are arranged on the platform body. A centering actuator for pushing the footrests of the unmanned aerial vehicle is slidably arranged on each guide rail. At least one of the guide rails is an inner push guide rail, and the inner push guide rail is located within the target centering area of the footrests of the unmanned aerial vehicle and its centering actuator is an inner push actuator capable of performing centering operation from the inside of the footrests of the unmanned aerial vehicle.

[0009] As one of the embodiments, the inner push actuator is configured with an obstacle avoidance mechanism so that the inner push actuator can enter the inside of the footrests of the unmanned aerial vehicle from the outside of the footrests of the unmanned aerial vehicle.

[0010] As one of the embodiments, the inward push actuator includes a lever and a mounting base slidably arranged on the corresponding guide rail; the obstacle avoidance mechanism includes a lifting guide rod and an obstacle avoidance spring, the mounting base is provided with a vertical guide groove, the obstacle avoidance spring is accommodated in the vertical guide groove, the bottom of the lifting guide rod is supported on the obstacle avoidance spring, and the top extends to above the mounting base, the lever is fixed to the top end of the lifting guide rod, and when the lifting guide rod is supported in a high position by the obstacle avoidance spring, the lever is suitable for wedge-surface extrusion cooperation with the drone tripod on the platform body.

[0011] As one of the implementation modes, at least one group of two adjacently arranged guide rails are both inner push guide rails, and the running direction of the inner push actuators of the two is to simultaneously approach or simultaneously move away from the intersection of the straight lines where the two inner push guide rails are located.

[0012] As one of the embodiments, when two adjacent guide rails are both inward-pushing guide rails, their inward-pushing actuators are driven by the same set of centering drive mechanisms; the centering drive mechanism includes a centering power unit and a transmission gear group, the transmission gear group includes a first driving gear, a second driving gear, a first passive gear, a second passive gear and an idler gear, the first passive gear is meshed with the first driving gear, the idler gear is respectively meshed with the second driving gear and the second passive gear, the two driving gears are connected in series through the same gear shaft, and the centering power unit is used to drive one of the driving gears to rotate; the corresponding two inward-pushing actuators are respectively connected to the two passive gears in transmission, so that they can slide in the corresponding guide rails.

[0013] As one of the implementation modes, at least one group of two parallel guide rails are both inner push guide rails, and the inner push actuators of the two are connected by a synchronization mechanism so that the two inner push actuators run synchronously and in opposite directions.

[0014] As one of the implementation modes, the synchronization mechanism includes a synchronization link and two synchronization sliders, wherein the synchronization link is hingedly mounted on the platform body, and the two synchronization sliders are respectively hingedly mounted on two inward push actuators and are respectively slidably mounted on the synchronization link.

[0015] As one of the implementation modes, the inner push actuator is driven by a slider rocker mechanism to slide on the corresponding guide rail, wherein the rocker in the slider rocker mechanism is a telescopic rod.

[0016] As one of the embodiments, at least part of the edge of the platform body is connected to an unfolding platform, and the unfolding platform has an unfolding position and a folded position. In the unfolding position, the unfolding platform moves outside the platform body; the projection of the unfolding platform on the horizontal plane is located within the projection range of the platform body on the horizontal plane.

[0017] The present invention also relates to a method for centering a drone, comprising:

[0018] After the drone lands on the drone centering platform as described above, by causing the drone to generate an X-direction displacement and / or a Y-direction displacement, the drone is driven to center;

[0019] Among them, at least part of the displacement stroke of the drone is realized by the centering actuator pushing the drone's landing gear from the inside of the drone's landing gear.

[0020] The present invention has at least the following beneficial effects:

[0021] Different from the traditional way of pushing the drone's landing gear to move from the outside of the drone's landing gear, in the present invention, at least part of the centering actuator pushes the drone's landing gear from the inside of the drone's landing gear, so that the displacement stroke of the centering actuator can be reduced, thereby effectively reducing the area of the centering platform, facilitating the miniaturized design of the drone hangar, reducing the weight of the hangar, and lowering the production cost of the hangar.

[0022] Since the centering operation can be performed from the inside of the drone's landing gear, the centering platform can be designed to be foldable. While carrying out the miniaturized design of the centering platform and the drone hangar, a larger drone landing space can be obtained, thereby improving the use reliability and safety of the drone. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 Schematic diagram of the drone centering method provided by the embodiment of the present invention;

[0025] Figure 2 Schematic diagram after the drone is centered;

[0026] Figure 3 and Figure 4 Schematic diagram of the drone centering method of the foldable centering platform provided by the embodiment of the present invention, where Figure 3 is for the centering actuator to be ready to enter the inside of the drone's landing gear, Figure 4 is for the centering actuator to have entered the inside of the drone's landing gear;

[0027] Figure 5 Schematic diagram of the structure of the drone centering platform provided by the embodiment of the present invention;

[0028] Figure 6Schematic diagram of the synchronization mechanism connecting two inner pushing actuators provided by an embodiment of the present invention;

[0029] Figure 7 Schematic diagram of the centering drive device provided by an embodiment of the present invention;

[0030] Figure 8 Schematic diagram of the centering actuator provided by an embodiment of the present invention;

[0031] Figure 9 Schematic diagram of the cooperation between the centering actuator and the drone landing gear provided by an embodiment of the present invention;

[0032] Figure 10 Schematic diagram of the connection structure between the inner pushing actuator and the slider-rocker mechanism provided by an embodiment of the present invention. Detailed implementation manners

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] Embodiment 1

[0035] As Figures 1 - 5 , an embodiment of the present invention provides a drone centering platform, including a platform body 1. On the platform body 1, two X-direction guide rails and two Y-direction guide rails are arranged. On each guide rail, a centering actuator for pushing the drone landing gear 2 is slidably arranged. At least one of the guide rails is an inner pushing guide rail 3. The inner pushing guide rail 3 is located within the target centering area of the drone landing gear 2, and its centering actuator is an inner pushing actuator 4 that can perform centering operations from the inside of the drone landing gear 2.

[0036] In one embodiment, the above platform body 1 is a square platform, and more preferably a square.

[0037] It can be understood that the X direction and the Y direction are perpendicular to each other; for a square platform, two of the side portions of the square platform are preferably parallel to the X direction, and the other two side portions are parallel to the Y direction.

[0038] The two X-direction guide rails are preferably arranged opposite to each other at intervals, and the two Y-direction guide rails are preferably arranged opposite to each other at intervals; among them, preferably, each guide rail is distributed near the four side portions of the platform body 1, so that the area of the platform body 1 can be minimized as much as possible.

[0039] By causing the drone tripod 2 to generate displacement in the X direction and the Y direction, the centering of the drone is achieved. Different from the traditional method of pushing the drone tripod 2 from the outside of the drone tripod 2, in this embodiment, at least part of the centering actuator pushes the drone tripod 2 from the inside of the drone tripod 2. In this way, the displacement stroke of the centering actuator can be reduced, thereby effectively reducing the area of the centering platform, facilitating the miniaturized design of the drone hangar, reducing the weight of the hangar, and lowering the production cost of the hangar.

[0040] In this embodiment, it is mainly applicable to the drone tripod 2 with four legs. Preferably, all four guide rails are inner-pushing guide rails 3, which can greatly reduce the area of the centering platform. Specifically, the area of the centering platform only needs to be slightly larger than the size of the drone tripod 2. For the drone tripod 2 with two legs, a method can be adopted in which part of the centering stroke is executed by the inner-pushing actuator 4 and the remaining centering stroke is executed by the outer-pushing actuator.

[0041] It can be understood that the inner side of the drone tripod 2 refers to the space area between the legs of the drone tripod 2.

[0042] Preferably, as Figure 2 , the inner-pushing guide rail 3 is adjacent to, especially in contact with, the inner edge of the target centering area of the drone tripod 2. In this way, after the drone is centered, the actuators on each inner-pushing guide rail 3 can play a constraining role on the drone tripod 2 to ensure the position stability of the drone tripod 2 and the drone.

[0043] Preferably, the inner-pushing actuator 4 is configured with an obstacle avoidance mechanism so that the inner-pushing actuator 4 can enter the inside of the drone tripod 2 from the outside of the drone tripod 2. In this way, the centering operation requirements of drones in various landing positions can be met, and moreover, it is ensured that at the end of the centering operation, all actuators are located inside the drone tripod 2.

[0044] In one of the embodiments, as Figure 8 , the inner-pushing actuator 4 includes a lever 41 and a mounting base 42 slidably arranged on the corresponding guide rail; the obstacle avoidance mechanism includes a lifting guide rod 431 and an obstacle avoidance spring 432. The mounting base 42 is provided with a vertical guide groove. The obstacle avoidance spring 432 is received in the vertical guide groove. The bottom of the lifting guide rod 431 is supported on the obstacle avoidance spring 432, and the top extends above the mounting base 42. The lever 41 is fixed to the top end of the lifting guide rod 431. When the lifting guide rod 431 is supported at a high position by the obstacle avoidance spring 432, the lever 41 is adapted to perform wedge surface 21 extrusion fit with the drone tripod 2 on the platform body 1.

[0045] Preferably, the diameter of the obstacle avoidance spring 432 is the same as or close to that of the vertical guiding groove, so that a clearance fit is formed between the obstacle avoidance spring 432 and the groove wall of the vertical guiding groove. The vertical guiding groove can restrict the obstacle avoidance spring 432 to ensure that the obstacle avoidance spring 432 only undergoes telescopic movement. The bottom end of the lifting guide rod 431 can directly rest on the top end of the obstacle avoidance spring 432, or the bottom of the lifting guide rod 431 can be processed into a stepped shaft with a wider upper part and a narrower lower part, and its lower small-diameter section is coaxially inserted into the obstacle avoidance spring 432. The upper part of the lifting guide rod 431 is preferably of a stepped shaft structure with a narrower upper part and a wider lower part. Correspondingly, a limiting ring is formed at the notch of the vertical guiding groove. The upper small-diameter section of the lifting guide rod 431 extends out from the inner ring of the limiting ring to be connected to the shift lever 41. The limiting ring cooperates with the upper step of the lifting guide rod 431 to restrict the lifting guide rod 431 and prevent the lifting guide rod 431 from detaching from the mounting base 42.

[0046] Further, a spring cover is provided at the bottom of the mounting base 42. The spring cover is detachably mounted on the mounting base 42 and seals the bottom of the vertical guiding groove. By disassembling and assembling the spring cover, the installation and maintenance of the obstacle avoidance spring 432 and the lifting guide rod 431 can be facilitated. Among them, a ventilation hole is provided on the spring cover to ensure the smoothness of the lifting movement of the lifting guide rod 431. Figure 8 Preferably, the shift lever 41 is detachably connected to the top end of the lifting guide rod 431, which is convenient for the installation and maintenance of related components.

[0047] In one embodiment, Figure 8 preferably, two shift levers 41 are provided on the mounting base 42. The two shift levers 41 extend outwards from the mounting base 42 along the sliding direction of the mounting base 42, which is convenient for contacting the guiding inclined surface of the drone leg 2. This structure can also ensure that a large downward torque is applied to the lifting guide rod 431, so as to ensure that the shift lever 41 can quickly bypass the drone leg 2.

[0048] Obviously, it is also a feasible solution that the two shift levers 41 are extended and connected together to form a continuous long rod.

[0049] The above-mentioned shift lever 41 is adapted to perform wedge surface 21 extrusion fit with the drone leg 2 on the platform body 1. Figure 9 Optionally, a wedge surface 21 is formed on the support leg of the drone leg 2. When the mounting base 42 drives the shift lever 41 to move, the shift lever 41 first contacts the wedge surface 21 on the drone leg 2. And when performing the wedge surface 21 extrusion fit, the extrusion force received by the shift lever 41 is transmitted to the lifting guide rod 431, and the shift lever 41 then descends accordingly to bypass the drone leg 2. For this case, the wedge surface 21 faces the outside of the leg. Obviously, it is also feasible to form a wedge surface 21 on the shift lever 41, and the specific structure will not be elaborated here.

[0050] In addition, the above-mentioned inner push actuator 4 also preferably satisfies: the inner push actuator 4 will not move from the inside of the drone tripod 2 to the outside of the drone tripod 2; to achieve this requirement, it includes but is not limited to designing the inner side of the above-mentioned support leg as a vertical plane.

[0051] More preferably, if Figure 8 and Figure 10 A guide boss 44 is provided on the mounting base 42. The guide boss 44 is preferably provided in multiple numbers and arranged in a straight line along the sliding direction of the mounting base 42, which can reliably guide the sliding movement of the mounting base 42 and make the mounting base 42 move linearly on the corresponding guide rail; the above-mentioned guide boss 44 is preferably cylindrical, which can reduce the friction between the guide rail.

[0052] Further optimize the above-mentioned centralization platform, such as Figures 1 - 4 , at least one set of two adjacent guide rails are both inner push guide rails 3, and the running direction of the inner push actuators 4 of the two is to simultaneously approach or simultaneously move away from the intersection of the straight lines where the two inner push guide rails 3 are located. Based on this design, when performing the centering operation, the two inner push actuators 4 can simultaneously perform the X-direction centering operation and the Y-direction centering operation, which can improve the centering operation efficiency and the operation stability of the drone tripod 2 is also higher.

[0053] In one embodiment, if Figure 7 When two adjacent guide rails are both inner push guide rails 3, their inner push actuators 4 are driven by the same set of centering drive mechanism; the centering drive mechanism includes a centering power unit and a transmission gear set, the transmission gear set includes a first driving gear 561, a second driving gear 562, a first passive gear 563, a second passive gear 564 and an idler gear 565, the first passive gear 563 is meshed with the first driving gear 561, the idler gear 565 is respectively meshed with the second driving gear 562 and the second passive gear 564, the two driving gears are connected in series through the same gear shaft, and the centering power unit is used to drive one of the driving gears to rotate; the corresponding two inner push actuators 4 are respectively connected to the two passive gears in a transmission manner, so that they can slide in the corresponding guide rails.

[0054] Alternatively, if Figure 7 The centering power unit includes a worm gear mechanism 55 and a centering motor 54, wherein the worm is connected to the output shaft of the centering motor 54, and the worm gear is connected in series with two driving gears through the same gear shaft.

[0055] Alternatively, if Figure 7 The first driven gear 563 and the second driven gear 564 are also connected in series through the same gear shaft.

[0056] The intersection point of the straight lines where the two inner pushing guide rails 3 are located, that is, the intersection point of the two inner pushing guide rails 3, or the intersection point of the extension lines of the two inner pushing guide rails 3.

[0057] Due to the setting of the idler wheel 565, the rotation directions of the two driven gears can be opposite (one rotates clockwise and the other rotates counterclockwise), and thus the motion requirements of the two inner pushing actuators 4 can be met. In one embodiment, the inner pushing actuator 4 is connected to the driven gear through a slider-rocker mechanism, and the rotation directions of the rockers in the two groups of slider-rocker mechanisms are opposite.

[0058] Further optimize the above-mentioned centering platform, such as Figure 6 , at least two of the parallel guide rails are inner pushing guide rails 3, and the inner pushing actuators 4 of the two are connected through a synchronization mechanism so that the two inner pushing actuators 4 run synchronously and in opposite directions. Based on this design, a set of driving devices can be used to realize the actions of the two inner pushing actuators 4, which can save the number and occupied space of the driving devices, thereby further reducing the volume and weight of the centering platform; since the two opposite inner pushing actuators 4 act synchronously, that is, the two inner pushing actuators 4 are both centering actuators on the X-direction guide rail or both centering actuators on the Y-direction guide rail, so it will not interfere with the other centering stroke and can meet the centering requirements of the UAVs at different landing positions.

[0059] In one embodiment, such as Figure 6 , the synchronization mechanism includes a synchronization link 51 and two synchronization sliders 52. The synchronization link 51 is hinged and installed on the platform body 1, and the two synchronization sliders 52 are respectively hinged on the two inner pushing actuators 4 and respectively slide on the synchronization link 51. Among them, the hinge point of the synchronization link 51 on the platform body 1 is preferably located between the two inner pushing guide rails 3, and the two inner pushing guide rails 3 are further preferably symmetric with respect to the hinge point.

[0060] As described above, it is preferably that all four guide rails are inner pushing guide rails 3. The inner pushing actuators 4 on the two X-direction guide rails are connected through a set of synchronization mechanisms, and the inner pushing actuators 4 on the two Y-direction guide rails are connected through a set of synchronization mechanisms; such as Figure 7 , one synchronization link 51 is installed on the first driven gear 563, and the other synchronization link 51 is installed on the second driven gear 564, then:

[0061] The inner pushing actuators 4 on the two X-direction guide rails run synchronously and in opposite directions;

[0062] The inner pushing actuators 4 on the two Y-direction guide rails run synchronously and in opposite directions;

[0063] The running directions of the inner pushing actuators 4 on the adjacent X-direction guide rails and Y-direction guide rails are to approach or move away from the intersection of the two inner pushing guide rails 3 simultaneously.

[0064] The above structure has extremely high compactness, the inner pushing actuators 4 run reliably, and can meet the centering requirements of the UAVs at each landing point; only one motor is required to complete the centering drive, the structure is simple, the cost is low, and the weight of the centering platform can be significantly reduced.

[0065] Such as Figure 5 , the centering drive device is arranged below the platform body 1.

[0066] Further optimize the above centering platform, the inner pushing actuator 4 is driven by a slider-rocker mechanism to slide on the corresponding guide rail. Among them, the rocker in the slider-rocker mechanism is a telescopic rod. Based on this structure, the space occupied by the centering drive device below the platform body 1 can be further reduced, and the running stability and smoothness of the inner pushing actuator 4 are higher. In one embodiment, such as Figure 10 , the inner pushing actuator 4 is connected to the rocker in the slider-rocker mechanism through an extension link 511. Among them, the extension link 511 is hinged to the inner pushing actuator 4. Preferably, the inner pushing actuator 4 is hinged to the extension link 511 through a rotating shaft and a miniature deep groove ball bearing; the extension link 511 is connected to the rocker through a slider, and the slider is slidably arranged on the rocker. Based on the sliding of the slider, the extension link 511 and the rocker can form a telescopic rod, which essentially constitutes the Figure 6 structure of the synchronous link 51 + synchronous slider 52 in

[0067] In this embodiment, since the centering operation can be performed from the inside of the UAV landing gear 2, the centering platform can be designed to be foldable. While miniaturizing the centering platform and the UAV hangar, a larger UAV landing space can be obtained, thereby improving the use reliability and safety of the UAV. Specifically, at least part of the edge of the platform body 1 is connected with an unfolding platform 11. The unfolding platform 11 has an unfolding position and a folding position. In the unfolding position, the unfolding platform 11 moves outside the platform body 1; the projection of the unfolding platform 11 on the horizontal plane is within the projection range of the platform body 1 on the horizontal plane. Among them, preferably, the unfolding platform 11 is hinged to the platform body 1.

[0068] Furthermore, elastic pieces 12 are arranged outside the landing area of the unfolding platform 11 (generally, at the edge of the end of the unfolding platform 11 far from the platform body 1 in the unfolded state), which can prevent the UAV from running out of this area. Of course, for the case where the unfolding platform 11 is not provided, elastic pieces 12 can also be arranged on the four edges of the platform body 1.

[0069] Embodiment 2

[0070] An embodiment of the present invention provides a method for a drone to return to the center, including:

[0071] After the drone lands on the drone return-to-center platform provided in the first embodiment above, specifically, after landing on the platform body 1 above, by causing the drone to generate an X-direction displacement and / or a Y-direction displacement, so as to drive the drone to return to the center;

[0072] Wherein, at least part of the displacement stroke of the drone is realized by the return-to-center actuator pushing the drone leg 2 from the inside of the drone leg 2.

[0073] For the specific structure of the return-to-center platform, the action mode of the return-to-center actuator, etc., reference can be made to the content in the first embodiment above.

[0074] Preferably, at least part of the return-to-center actuator can enter the inside of the drone leg 2 from the outside of the drone leg 2. This part of the return-to-center actuator is defined as the inner-pushing actuator 4. After the drone lands, if the inner-pushing actuator 4 is located outside the drone leg 2, first drive the inner-pushing actuator 4 to enter the inside of the drone leg 2, and then perform the return-to-center operation.

[0075] The relevant structural design of the drone leg 2 has been described in the first embodiment above, and will not be elaborated here.

[0076] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A drone centering platform, comprising a platform body, on which two X-direction guide rails and two Y-direction guide rails are arranged, and centering actuators for pushing the drone landing gear are slidably arranged on each guide rail, characterized in that: At least one of the guide rails is an inner push guide rail, the inner push guide rail is located in a target centering area of ​​the drone tripod and its centering actuator is an inner push actuator capable of performing a centering operation from the inner side of the drone tripod; The inner push actuator is provided with an obstacle avoidance mechanism so that the inner push actuator can enter the inner side of the drone tripod from the outer side of the drone tripod; The inward push actuator includes a lever and a mounting base slidably arranged on the corresponding guide rail; the obstacle avoidance mechanism includes a lifting guide rod and an obstacle avoidance spring, the mounting base is provided with a vertical guide groove, the obstacle avoidance spring is accommodated in the vertical guide groove, the bottom of the lifting guide rod is supported on the obstacle avoidance spring, and the top extends to above the mounting base, the lever is fixed to the top end of the lifting guide rod, and when the lifting guide rod is supported in a high position by the obstacle avoidance spring, the lever is suitable for wedge-surface extrusion cooperation with the drone tripod on the platform body.

2. The drone centering platform according to claim 1, wherein: At least one group of two adjacently arranged guide rails are both inner push guide rails, and the running directions of the inner push actuators of the two are simultaneously approaching or simultaneously moving away from the intersection of the straight lines where the two inner push guide rails are located.

3. The drone centering platform according to claim 2, characterized in that: When two adjacent guide rails are both inward-pushing guide rails, their inward-pushing actuators are driven by the same set of centering drive mechanisms; the centering drive mechanism includes a centering power unit and a transmission gear set, the transmission gear set includes a first driving gear, a second driving gear, a first passive gear, a second passive gear and an idler gear, the first passive gear is meshed with the first driving gear, the idler gear is respectively meshed with the second driving gear and the second passive gear, the two driving gears are connected in series through the same gear shaft, and the centering power unit is used to drive one of the driving gears to rotate; the corresponding two inward-pushing actuators are respectively connected to the two passive gears in transmission, so that they can slide in the corresponding guide rails.

4. The drone centering platform according to claim 1, characterized in that: At least one group of two guide rails arranged in parallel are both inner push guide rails, and the inner push actuators of the two are connected by a synchronization mechanism so that the two inner push actuators can run synchronously and in opposite directions.

5. The drone centering platform according to claim 4, characterized in that: The synchronization mechanism comprises a synchronization connecting rod and two synchronization sliding blocks. The synchronization connecting rod is hingedly mounted on the platform body. The two synchronization sliding blocks are respectively hingedly mounted on two inner push actuators and are respectively slidably mounted on the synchronization connecting rod.

6. The drone centering platform according to claim 1, characterized in that: The inner push actuator is driven by a slider rocker mechanism to slide on the corresponding guide rail, wherein the rocker in the slider rocker mechanism is a telescopic rod.

7. The drone centering platform according to any one of claims 1 to 6, characterized in that: At least part of the edge of the platform body is connected with an unfolding platform, and the unfolding platform has an unfolding position and a folded position. In the unfolding position, the unfolding platform moves outside the platform body; the projection of the unfolding platform on the horizontal plane is located within the projection range of the platform body on the horizontal plane.

8. A method for centering an unmanned aerial vehicle, characterized in that, include: After the drone lands on the drone centering platform according to any one of claims 1 to 7, the drone is driven to center by causing the drone to generate an X-direction displacement and / or a Y-direction displacement; Wherein, at least part of the displacement stroke of the UAV is achieved by the centering actuator pushing the UAV tripod from the inner side of the UAV tripod.

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