An unmanned aerial vehicle landing and taking-off locking and positioning system based on an unmanned vehicle platform

Abstract

The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle take-off and landing locking positioning system based on an unmanned vehicle platform. The technical scheme is as follows: an unmanned aerial vehicle take-off and landing locking positioning system based on an unmanned vehicle platform, comprising a parking apron, the parking apron being provided with charging contacts matched with charging heads of unmanned aerial vehicles, the parking apron being provided with two horizontal movement rods and two longitudinal movement rods, the two horizontal movement rods and the two longitudinal movement rods being synchronously folded to the center or synchronously dispersed outward, the two horizontal movement rods and the two longitudinal movement rods being connected with locking driving mechanisms; the parking apron being provided with a plurality of transversely arranged limiting grooves and a plurality of longitudinally arranged limiting grooves, one end of a horizontal transmission nut connected with the horizontal movement rod penetrating the transversely arranged limiting grooves, and a longitudinal transmission rod penetrating the longitudinally arranged limiting grooves. The application provides an unmanned aerial vehicle take-off and landing locking positioning system based on an unmanned vehicle platform.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle taking-off and landing locking positioning system based on an unmanned vehicle platform. BACKGROUND

[0002] Air-ground cooperative patrol is a focus of current research, and unmanned aerial vehicles play an increasingly important role as the main equipment for air patrol. Because of the short endurance time, the unmanned aerial vehicle is generally placed on the unmanned vehicle platform to stop the landing platform to charge and park the unmanned aerial vehicle.

[0003] The current unmanned aerial vehicle landing platform locking mechanism, the utility model patent with publication number CN216231917U discloses an unmanned aerial vehicle landing locking system based on an unmanned vehicle platform, which slightly modifies the unmanned aerial vehicle, only uses the straight-line push rod with rubber comb plate on both sides to move towards each other to clamp the unmanned aerial vehicle and reserves enough landing space to allow the unmanned aerial vehicle to land with a certain angular deviation, solves the problems of small unmanned aerial vehicle landing platform and low unmanned aerial vehicle landing precision; the electric motor drives the linear module, and the straight-line push rod is installed on the slider on the module to lock the unmanned aerial vehicle, solving the problem of complex structure of the conventional landing locking device; the rubber comb plate is installed on the straight-line push rod, and the nylon roller and screw roller are installed on the support of the unmanned aerial vehicle, effectively reducing the damage of the clamping device to the unmanned aerial vehicle and the problems of low endurance and large power consumption of the unmanned aerial vehicle caused by the magnetic attraction type device.

[0004] The above-mentioned unmanned aerial vehicle landing locking system can only achieve locking and has no positioning function. The position of the unmanned aerial vehicle after landing cannot be accurately centered, so that the charging head of the unmanned aerial vehicle cannot be guaranteed to be in good contact with the charging contact on the landing platform, which is not conducive to the safety of charging and driving.

[0005] The invention patent with publication number CN110745239A discloses an automatic navigation multi-rotor unmanned aerial vehicle mobile power supply device, a camera is installed directly below the unmanned aerial vehicle; a landing gear is installed at the bottom of the unmanned aerial vehicle, and a guide block is installed at the end of the landing gear; the guide block is made of conductive magnetic material; a guide seat is installed on the upper side of the surface of the unmanned vehicle; the position of the guide seat corresponds to the position of the landing gear, the guide seat has an inner cavity with an open top, and an electromagnet is installed at the bottom of the inner cavity of the guide seat; when the unmanned aerial vehicle is parked on the unmanned vehicle, the storage battery charges the electric plate on the unmanned aerial vehicle; the unmanned aerial vehicle is provided with a first central controller and a first wireless communication module, and the driving motor of the unmanned aerial vehicle is connected to the first central controller; the unmanned vehicle is provided with a second central controller and a second wireless communication module, and the driving device of the unmanned vehicle is connected to the second central controller; the unmanned aerial vehicle and the unmanned vehicle keep real-time communication, and the unmanned aerial vehicle flies to the unmanned vehicle through GPS navigation. The invention can solve the problem of mobile charging of the multi-rotor unmanned aerial vehicle.

[0006] The automatic navigation multi-rotor unmanned aerial vehicle mobile power supply device applies a conical guide mechanism, but the unmanned aerial vehicle needs to be accurately landed to ensure that the guide block of the unmanned aerial vehicle is inserted into the guide seat of the unmanned vehicle, thereby causing the problem of long landing time, and it is difficult to achieve rapid landing. SUMMARY

[0007] In order to solve the above problems existing in the prior art, the purpose of the present application is to provide an unmanned aerial vehicle take-off and landing locking positioning system based on an unmanned vehicle platform.

[0008] The technical scheme adopted by the present application is:

[0009] An unmanned aerial vehicle take-off and landing locking positioning system based on an unmanned vehicle platform, comprising a landing apron, the landing apron is provided with charging contacts matched with the charging heads of the unmanned aerial vehicle, the landing apron is provided with two horizontal movement rods and two longitudinal movement rods, the two horizontal movement rods and the two longitudinal movement rods are synchronously folded towards the center or synchronously dispersed outward, and the two horizontal movement rods and the two longitudinal movement rods are connected with a locking driving mechanism; the landing apron is provided with a plurality of transversely arranged limiting grooves and a plurality of longitudinally arranged limiting grooves, one end of the horizontal transmission nut connected with the horizontal movement rod passes through the transversely arranged limiting grooves, and the longitudinal transmission rod passes through the longitudinally arranged limiting grooves.

[0010] The locking driving mechanism of the present application drives the synchronous movement of the two horizontal movement rods and the two longitudinal movement rods. When the two horizontal movement rods and the two longitudinal movement rods are synchronously folded towards the center, the bottom of the unmanned aerial vehicle is locked from four directions. The transversely arranged limiting grooves limit the horizontal movement rods, the longitudinally arranged limiting grooves limit the longitudinal movement rods, and when the two horizontal movement rods and the two longitudinal movement rods are driven by one locking driving mechanism, the two horizontal movement rods and the two longitudinal movement rods can be set to reach the locking limit position at the same time. Therefore, the two horizontal movement rods and the two longitudinal movement rods accurately limit the bottom of the unmanned aerial vehicle from four directions. In the space defined by the locking limit positions of the two horizontal movement rods and the two longitudinal movement rods, charging contacts are arranged corresponding to each charging head of the unmanned aerial vehicle, so that when the unmanned aerial vehicle is accurately locked and positioned, each charging head can be reliably charged.

[0011] The present application pushes the four charging devices of the unmanned aerial vehicle to the charging contact position through the two horizontal movement rods and the two longitudinal movement rods, so that the initial parking position accuracy requirement of the unmanned aerial vehicle is not high, and rapid landing of the unmanned aerial vehicle can be realized.

[0012] As a preferred scheme of the present application, when the lateral movement rods move to the inner ends of the lateral limiting grooves and the longitudinal movement rods move to the inner ends of the longitudinal limiting grooves, the two lateral limiting rods and the two longitudinal limiting rods lock the bottom of the unmanned aerial vehicle from four directions and the charging heads press the charging contacts. The end positions of the limiting grooves are set to meet the requirement that when the lateral movement rods move to the inner ends of the lateral limiting grooves and the longitudinal movement rods move to the inner ends of the longitudinal limiting grooves, the two lateral limiting rods and the two longitudinal limiting rods lock the bottom of the unmanned aerial vehicle from four directions. The positions of the charging contacts are set to meet the requirement that when the two lateral movement rods and the two longitudinal movement rods lock and position the bottom of the unmanned aerial vehicle, each charging head presses one charging contact.

[0013] As a preferred scheme of the present application, the locking driving mechanism comprises a locking motor mounted on one side of the landing apron, screw rods rotatably mounted on the front and back sides of the landing apron, one end of one of the screw rods connected with the output end of the locking motor, the screw threads of the two sections of the screw rods opposite to each other, transverse transmission nuts drivingly connected on the screw threads of the two sections of the screw rods, and the lateral movement rods connected between the transverse transmission nuts on the transverse transmission nuts on the front and back sides of the screw rods. Since the screw threads of the two sections of the screw rods are opposite to each other, the locking motor drives the screw rods to rotate, the two transverse transmission nuts on the same screw rod move in opposite directions, and the two lateral movement rods move in opposite directions to lock and position or release the bottom of the unmanned aerial vehicle in the lateral direction.

[0014] As a preferred scheme of the present application, the left and right ends of the screw rods are provided with synchronous pulleys, the synchronous pulleys on the front and back sides of the screw rods are drivingly connected with a synchronous belt, the upper and lower sides of the synchronous belt are connected with longitudinal transmission rods, and the longitudinal movement rods are connected between the longitudinal transmission rods on the left and right sides of the synchronous belt. When the two screw rods rotate, the synchronous belt moves under the driving of the synchronous pulleys, so that the synchronous belt drives the two longitudinal transmission rods to move. Since the two longitudinal transmission rods are connected to the upper and lower sides of the synchronous belt, the two longitudinal transmission rods on the same synchronous belt move in opposite directions, and the two longitudinal movement rods move in opposite directions to lock and position or release the bottom of the unmanned aerial vehicle in the lateral direction.

[0015] As a preferred scheme of the present application, the landing apron is fixed with a bearing seat, and the screw rods are rotatably connected with the bearing seat.

[0016] As a preferred scheme of the present application, the transverse movement rod and the longitudinal movement rod are arranged close to the upper surface of the parking apron, the longitudinal movement rod is provided with an avoiding slot, and the transverse movement rod passes through the avoiding slot. The transverse movement rod and the longitudinal movement rod are arranged close to the upper surface of the parking apron, the contact distance of the charging head of the unmanned aerial vehicle with the transverse movement rod and the longitudinal movement rod is improved, so that the charging head can be stably locked and positioned. When the transverse movement rod and the longitudinal movement rod are arranged close to the upper surface of the parking apron, the problem of movement interference between the transverse movement rod and the longitudinal movement rod needs to be considered. However, the transverse movement rod passes through the avoiding slot of the longitudinal movement rod in the present application, so that the movement interference is avoided. In addition, the avoiding slot can also limit the transverse movement rod.

[0017] As a preferred scheme of the present application, when the transverse movement rod moves close to the inner end of the avoiding slot, the two transverse limiting rods and the two longitudinal limiting rods lock the bottom of the unmanned aerial vehicle from four directions, so that the avoiding slot also plays a role in accurately positioning the transverse movement rod.

[0018] As a preferred scheme of the present application, the top of the longitudinal movement rod is provided with a top plate for pressing the charging head. When the longitudinal movement rod locks the charging head of the unmanned aerial vehicle, the top plate on the longitudinal movement rod moves above the charging head, so that the charging head is limited between the top plate and the parking apron, and reliable locking of the unmanned aerial vehicle is realized.

[0019] As a preferred scheme of the present application, the bottom surface of the top plate is an inclined surface, and one side of the charging head of the unmanned aerial vehicle is an inclined surface; when the unmanned aerial vehicle is locked, the inclined surface of the top plate is pressed against the inclined surface of the charging head. When the bottom surface of the top plate and one side of the charging head are both inclined surfaces, the inclined surface of the top plate gradually presses the inclined surface of the charging head during the movement of the longitudinal movement rod, which further improves the locking effect of the unmanned aerial vehicle and ensures good contact between the charging head and the charging contact.

[0020] As a preferred scheme of the present application, the locking driving mechanism is installed on the bottom surface of the parking apron, so as to avoid interference of the locking driving mechanism with the transverse movement rod, the longitudinal movement rod and the unmanned aerial vehicle.

[0021] The present application has the following beneficial effects:

[0022] 1. The locking driving mechanism of the present application drives two transverse movement rods and two longitudinal movement rods to move synchronously. When the two transverse movement rods and the two longitudinal movement rods are folded to the center synchronously, the bottom of the unmanned aerial vehicle is locked from four directions. The transversely arranged limiting grooves limit the transverse movement rods, the longitudinally arranged limiting grooves limit the longitudinal movement rods, and when the two transverse movement rods and the two longitudinal movement rods are driven by one locking driving mechanism, the two transverse movement rods and the two longitudinal movement rods can be set to reach the locking limit position at the same time. Thus, the two transverse movement rods and the two longitudinal movement rods accurately limit the bottom of the unmanned aerial vehicle from four directions. Within the space defined by the locking limit positions of the two transverse movement rods and the two longitudinal movement rods, charging contacts corresponding to each charging head of the unmanned aerial vehicle are arranged to enable reliable charging of each charging head when the unmanned aerial vehicle is accurately locked and positioned.

[0023] 2. The present application pushes the four charging devices of the unmanned aerial vehicle to the charging contact positions by the two transverse movement rods and the two longitudinal movement rods, thereby reducing the accuracy requirement for the initial parking position of the unmanned aerial vehicle and enabling rapid landing of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a structural schematic view of the present application and an unmanned aerial vehicle;

[0025] Figure 2 is a structural schematic view of a landing apron;

[0026] Figure 3 is a top view of the landing apron;

[0027] Figure 4 is a structural schematic view of a locking driving mechanism;

[0028] Figure 5 is a sectional view of the present application and an unmanned aerial vehicle;

[0029] Figure 6 is Figure 5 is an enlarged view of part A in FIG.

[0030] In the figure: 1 - landing apron; 2 - unmanned aerial vehicle; 3 - transverse movement rod; 4 - longitudinal movement rod; 5 - locking driving mechanism; 11 - charging contact; 12 - limiting groove; 21 - charging head; 22 - movement assembly; 23 - landing gear; 41 - avoiding groove; 42 - top plate; 51 - locking motor; 52 - lead screw; 53 - transverse transmission nut; 54 - synchronous pulley; 55 - synchronous belt; 56 - longitudinal transmission rod; 57 - bearing seat. DETAILED DESCRIPTION

[0031] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0033] As shown in Figure 1 The unmanned aerial vehicle 2 includes a motion assembly 22, a main body of the unmanned aerial vehicle 2 and a landing gear 23. The landing gear 23 includes two bottom rods, and one charging head 21 is installed at each end of the two bottom rods.

[0034] As shown in Figures 1 to 3 The unmanned aerial vehicle landing and locking positioning system based on the unmanned vehicle platform of the present embodiment includes a parking apron 1, the parking apron 1 is provided with a charging contact 11 matched with the charging head 21 of the unmanned aerial vehicle 2, the parking apron 1 is provided with two transverse motion rods 3 and two longitudinal motion rods 4, the two transverse motion rods 3 and the two longitudinal motion rods 4 are synchronously folded to the center or synchronously dispersed outward, and the two transverse motion rods 3 and the two longitudinal motion rods 4 are connected with a locking driving mechanism 5; the locking driving mechanism 5 is installed on the bottom surface of the parking apron 1, so as to avoid interference of the locking driving mechanism 5 on the transverse motion rod 3, the longitudinal motion rod 4 and the unmanned aerial vehicle 2.

[0035] The parking apron 1 is provided with a plurality of transversely arranged limiting grooves 12 and a plurality of longitudinally arranged limiting grooves 12, one end of the transverse transmission nut 53 connected with the transverse motion rod 3 passes through the transversely arranged limiting groove 12, and the longitudinal transmission rod 56 passes through the longitudinally arranged limiting groove 12.

[0036] The locking driving mechanism 5 of the present application drives two lateral movement rods 3 and two longitudinal movement rods 4 to move synchronously. When the two lateral movement rods 3 and the two longitudinal movement rods 4 are retracted to the center synchronously, the bottom of the unmanned aerial vehicle 2 is locked from four directions. The lateral arrangement of the limiting grooves 12 limits the lateral movement rods 3, the longitudinal arrangement of the limiting grooves 12 limits the longitudinal movement rods 4, and when the two lateral movement rods 3 and the two longitudinal movement rods 4 are driven by one locking driving mechanism 5, the two lateral movement rods 3 and the two longitudinal movement rods 4 can be set to reach the locking limit position at the same time. Thus, the two lateral movement rods 3 and the two longitudinal movement rods 4 accurately limit the bottom of the unmanned aerial vehicle 2 from four directions. In the space defined by the locking limit position of the two lateral movement rods 3 and the two longitudinal movement rods 4, the charging contacts 11 corresponding to each charging head 21 of the unmanned aerial vehicle 2 are arranged, so that when the unmanned aerial vehicle 2 is accurately locked and positioned, each charging head 21 can be reliably charged.

[0037] The present application pushes the four charging devices of the unmanned aerial vehicle 2 to the charging contact 11 position through the two lateral movement rods 3 and the two longitudinal movement rods 4, so that the initial parking position of the unmanned aerial vehicle 2 has low accuracy requirement, and the unmanned aerial vehicle 2 can be quickly landed.

[0038] It should be noted that the end position of the limiting groove 12 needs to be set to meet the following requirements: when the lateral movement rod 3 moves to the inner end of the lateral arrangement of the limiting groove 12 and the longitudinal movement rod 4 moves to the inner end of the longitudinal arrangement of the limiting groove 12, the two lateral limiting rods and the two longitudinal limiting rods respectively lock the bottom of the unmanned aerial vehicle 2 from four directions. The position of the charging contact 11 needs to be set to meet the following requirements: when the two lateral movement rods 3 and the two longitudinal movement rods 4 lock and position the bottom of the unmanned aerial vehicle 2, each charging head 21 presses one charging contact 11.

[0039] Specifically, as shown in Figure 4 The locking driving mechanism 5 includes a locking motor 51 mounted on one side of the landing platform 1, and a lead screw 52 is rotatably mounted on the front and rear sides of the landing platform 1. One end of one of the lead screws 52 is connected to the output end of the locking motor 51, a bearing seat 57 is fixed on the landing platform 1, and the lead screw 52 is rotatably connected to the bearing seat 57. The two sections of the lead screw 52 have opposite helixes, and the two sections of the lead screw 52 are both transmissionally connected with a lateral transmission nut 53, and the lateral movement rod 3 is connected between the lateral transmission nut 53 on the front side of the lead screw 52 and the lateral transmission nut 53 on the rear side of the lead screw 52. The left and right ends of the lead screw 52 are both mounted with a synchronous belt pulley 54, the synchronous belt pulley 54 on the front side of the lead screw 52 is transmissionally connected with the synchronous belt pulley 54 on the rear side of the lead screw 52 through a synchronous belt 55, the upper and lower sides of the synchronous belt 55 are both connected with a longitudinal transmission rod 56, and the longitudinal movement rod 4 is connected between the longitudinal transmission rod 56 on the left side of the synchronous belt 55 and the longitudinal transmission rod 56 on the right side of the synchronous belt 55.

[0040] When the two sections of the screw rod 52 are reversed, the locking motor 51 drives the screw rod 52 to rotate, and the two transverse transmission nuts 53 on the same screw rod 52 move in opposite directions, so that the two transverse movement rods 3 move in opposite directions, and the bottom of the unmanned aerial vehicle 2 can be locked and positioned or released in the transverse direction.

[0041] When the two screw rods 52 rotate, the synchronous belt 55 is driven by the synchronous pulley 54 to move, so that the two longitudinal transmission rods 56 on the same synchronous belt 55 move in opposite directions, and the two longitudinal movement rods 4 move in opposite directions, and the bottom of the unmanned aerial vehicle 2 can be locked and positioned or released in the transverse direction.

[0042] Further, as shown in Figure 2 The transverse movement rod 3 and the longitudinal movement rod 4 are arranged close to the upper surface of the parking apron 1, and the longitudinal movement rod 4 is provided with an avoidance slot 41, and the transverse movement rod 3 passes through the avoidance slot 41. The transverse movement rod 3 and the longitudinal movement rod 4 are arranged close to the upper surface of the parking apron 1, which improves the contact distance between the charging head 21 of the unmanned aerial vehicle 2 and the transverse movement rod 3 and the longitudinal movement rod 4, so that the charging head 21 can be stably locked and positioned. When the transverse movement rod 3 and the longitudinal movement rod 4 are arranged close to the upper surface of the parking apron 1, the problem of movement interference between the transverse movement rod 3 and the longitudinal movement rod 4 needs to be considered. However, the transverse movement rod 3 passes through the avoidance slot 41 of the longitudinal movement rod 4, which avoids the movement interference. Moreover, the avoidance slot 41 can also limit the transverse movement rod 3.

[0043] When the transverse movement rod 3 moves close to the inner end of the avoidance slot 41, the two transverse limiting rods and the two longitudinal limiting rods lock the bottom of the unmanned aerial vehicle 2 from four directions, so that the avoidance slot 41 also plays a role in accurately positioning the transverse movement rod 3.

[0044] As shown in Figure 5 and Figure 6 In order to reliably lock the charging head 21, the top of the longitudinal movement rod 4 is provided with a top plate 42 for pressing the charging head 21. When the longitudinal movement rod 4 locks the charging head 21 of the unmanned aerial vehicle 2, the top plate 42 on the longitudinal movement rod 4 moves above the charging head 21, so that the charging head 21 is limited between the top plate 42 and the parking apron 1, and the unmanned aerial vehicle 2 is reliably locked.

[0045] The bottom surface of the top plate 42 is inclined, and one side of the charging head 21 of the unmanned aerial vehicle 2 is inclined; when the unmanned aerial vehicle 2 is locked, the inclined surface of the top plate 42 is pressed against the inclined surface of the charging head 21. When the bottom surface of the top plate 42 and one side of the charging head 21 are both inclined, the inclined surface of the top plate 42 gradually presses the inclined surface of the charging head 21 during the movement of the longitudinal movement rod 4, further improving the locking effect on the unmanned aerial vehicle 2 and ensuring good contact between the charging head 21 and the charging contact 11.

[0046] The present application is not limited to the above-mentioned optional embodiments, and anyone can derive other various forms of products under the inspiration of the present application, but regardless of any changes in shape or structure, any technical solutions falling within the scope defined by the claims of the present application fall within the protection scope of the present application.

Claims

1. A UAV take-off and landing locking and positioning system based on an unmanned vehicle platform, characterized by: The invention comprises a landing pad (1), a charging contact (11) matched with a charging head (21) of a drone (2) is provided on the landing pad (1), two transverse motion rods (3) and two longitudinal motion rods (4) are provided on the landing pad (1), the two transverse motion rods (3) and the two longitudinal motion rods (4) are synchronously gathered toward the center or synchronously dispersed outward, and the two transverse motion rods (3) and the two longitudinal motion rods (4) are connected to a locking drive mechanism (5); the landing pad (1) is provided with a plurality of transversely arranged and longitudinally arranged limiting grooves (12), one end of the transverse motion rod (3) connected to the transverse transmission nut (53) passes through the transversely arranged limiting groove (12), and the longitudinal transmission rod (56) passes through the longitudinally arranged limiting groove (12); When the transverse motion rod (3) moves to an inner end close to the transversely arranged limiting groove (12) and the longitudinal motion rod (4) moves to an inner end close to the longitudinally arranged limiting groove (12), the two transverse limiting rods and the two longitudinal limiting rods lock the bottom of the drone (2) from four directions respectively and the charging head (21) presses the charging contact (11); The locking drive mechanism (5) includes a locking motor (51) installed on one side of the apron (1), and screws (52) are rotatably installed on both the front and rear sides of the apron (1), one end of one of the screws (52) is connected to the output end of the locking motor (51), the two sections of the screw (52) are spirally rotated in opposite directions, and the two sections of the screw (52) are both connected to the transverse transmission nut (53), and the transverse motion rod (3) is connected between the transverse transmission nut (53) on the front side screw (52) and the transverse transmission nut (53) on the rear side screw (52); The left and right ends of the lead screw (52) are both provided with synchronous pulleys (54), a synchronous belt (55) is connected between the synchronous pulley (54) on the front lead screw (52) and the synchronous pulley (54) on the rear lead screw (52), and the upper and lower sides of the synchronous belt (55) are both connected with longitudinal transmission rods (56), and the longitudinal motion rod (4) is connected between the longitudinal transmission rod (56) on the left synchronous belt (55) and the longitudinal transmission rod (56) on the right synchronous belt (55).

2. The UAV take-off and landing locking and positioning system based on an unmanned vehicle platform according to claim 1 is characterized in that: A bearing seat (57) is fixed on the apron (1), and the lead screw (52) is rotatably connected to the bearing seat (57).

3. The UAV take-off and landing locking and positioning system based on an unmanned vehicle platform according to claim 1 is characterized in that: The transverse movement rod (3) and the longitudinal movement rod (4) are both arranged close to the upper surface of the apron (1); the longitudinal movement rod (4) is provided with an avoidance groove (41), and the transverse movement rod (3) passes through the avoidance groove (41).

4. The UAV take-off and landing locking and positioning system based on an unmanned vehicle platform according to claim 3 is characterized by: When the lateral motion rod (3) moves close to the inner end of the avoidance groove (41), the two lateral limiting rods and the two longitudinal limiting rods lock the bottom of the drone (2) from four directions respectively.

5. The UAV take-off and landing locking and positioning system based on an unmanned vehicle platform according to claim 1 is characterized in that: A top plate (42) for pressing the charging head (21) is provided on the top of the longitudinal motion rod (4).

6. The UAV take-off and landing locking and positioning system based on an unmanned vehicle platform according to claim 5 is characterized in that: The bottom surface of the top plate (42) is an inclined surface, and one side of the charging head (21) of the drone (2) is an inclined surface; when the drone (2) is locked, the inclined surface of the top plate (42) is pressed tightly against the inclined surface of the charging head (21).

7. The UAV take-off and landing locking and positioning system based on an unmanned vehicle platform according to any one of claims 1 to 6, characterized in that: The locking drive mechanism (5) is installed on the bottom surface of the apron (1).

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