Vehicle-mounted double-layer unmanned aerial vehicle parking apron and lifting method

Abstract

The application relates to the technical field of unmanned planes, and discloses a vehicle-mounted double-layer unmanned plane parking apron and a lifting method, which comprises an intelligent docking system, a parking platform and a rotation system. A rotating track and a rotating control module are arranged on the rotation system. The parking platform is provided with a plurality of parking platforms which are arranged in the upper track part and the lower track part of the rotating track in an initial state. The parking platform is used for bearing unmanned planes. A centering mechanism for centering the unmanned planes is arranged on the parking platform. The intelligent docking system is arranged on one side of the rotation system. The intelligent docking system is used for docking with the charging port of the unmanned plane and charging the unmanned plane. The application can simultaneously bear a plurality of unmanned planes and efficiently, accurately and intelligently charge the unmanned planes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a vehicle-mounted double-layer unmanned aerial vehicle parking apron and lifting method. BACKGROUND

[0002] An unmanned aircraft, also known as a UAV, is an aircraft without a human pilot aboard, controlled either remotely by a human operator or autonomously by onboard computers. Compared with manned aircraft, unmanned aircraft has the advantages of small size, low cost and convenient use. During the operation of the unmanned aircraft, especially when the unmanned aircraft has a wide range of cruising tasks, the unmanned aircraft needs to be periodically returned to the unmanned aircraft warehouse for charging or battery replacement. However, how to quickly, efficiently and intelligently charge the unmanned aircraft is still a difficult problem.

[0003] The current commonly used unmanned aircraft charging scheme mainly includes the following three types: (1) guided landing + manual operation charging scheme; that is, the unmanned aircraft is accurately landed on the charging device through guidance technology (such as using the autonomous landing system provided by the unmanned aircraft, using the guided sensing equipment provided on the charging device / unmanned aircraft warehouse, etc.), and then the charging device is manually operated to charge the unmanned aircraft. This scheme not only has high requirements for the landing accuracy of the unmanned aircraft, but also has high requirements for the accuracy of the environment and the unmanned aircraft positioning equipment, has high implementation cost, high failure rate and is difficult to maintain. (2) Mechanical battery replacement scheme; that is, the mechanical structure is used to replace the battery of the parked unmanned aircraft, and the unmanned aircraft can be immediately put into work after replacing the battery. However, this scheme is also affected by the landing accuracy, and the removal and insertion of the battery can easily cause wear of the battery electrode and the connection, and multiple spare batteries also increase the equipment cost. In addition, the implementation is difficult and the structure of the unmanned aircraft itself is easily damaged. (3) Centering charging scheme; that is, the push rod with a charging terminal is used to center the unmanned aircraft landed on the landing platform, and then the push rod with the charging terminal is contacted with the charging electrode on the unmanned aircraft to charge the unmanned aircraft. Although this charging scheme reduces the requirement for the landing position accuracy of the unmanned aircraft, in actual application, this scheme has high requirements for the centering position accuracy. Due to the problems of asynchronization and step loss of the centering device, the unmanned aircraft cannot be accurately centered, which causes the charging terminal and the charging electrode to be misaligned, resulting in poor contact, slow charging speed and other problems.

[0004] In summary, the existing unmanned aircraft charging scheme and related devices still have a large optimization space. SUMMARY

[0005] The present application aims to provide a vehicle-mounted double-layer unmanned aerial vehicle parking apron and lifting method, which can simultaneously carry multiple unmanned aircrafts and efficiently, accurately and intelligently charge the unmanned aircrafts.

[0006] To achieve the above object, the present application provides the following basic scheme:

[0007] Scheme one

[0008] The vehicle-mounted double-layer unmanned aerial vehicle parking apron comprises an intelligent docking system, a parking platform and a rotation system, the rotation system is provided with a rotating track and a rotating control module, the parking platform is provided with a plurality of parking platforms, and in the initial state, the parking platforms are arranged on the upper track part and the lower track part of the rotating track, the parking platform is used for carrying the unmanned aerial vehicle, and the parking platform is provided with a centering mechanism for centering the unmanned aerial vehicle.

[0009] The intelligent docking system is arranged on one side of the rotation system, the intelligent docking system is used for docking with the charging port of the unmanned aerial vehicle and charging the unmanned aerial vehicle, the intelligent docking system comprises a support, a charging connector and a displacement control module, the displacement control module is used for controlling the movement of the support and the charging connector, the support is provided with a circular track, the charging connector is arranged on the circular track and is in sliding connection with the circular track, and when the displacement control module controls the position of the charging connector, the movement data of the centering mechanism and the real-time position data of the charging connector are collected first, and then the charging connector and the support are controlled to move, so that the charging connector is aligned with the actual centering position of the centering mechanism.

[0010] The working principle and advantages of the scheme are that the parking platforms arranged on the upper track part and the lower track part of the rotating track can each carry one unmanned aerial vehicle, when the unmanned aerial vehicle needs to be launched or received, the unmanned aerial vehicle is launched or received by the parking platform on the upper track part first, then the rotating track is rotated to drive the parking platform to move, so that the positions of the parking platforms on the original upper track part and the lower track part are exchanged, and thus the parking platform originally on the lower layer can launch or receive the unmanned aerial vehicle. The parking apron has strong carrying capacity and can carry multiple unmanned aerial vehicles at the same time, and the actions of the multiple unmanned aerial vehicles can be kept from interfering with each other.

[0011] The intelligent docking system arranged on one side of the rotating system can charge the unmanned aerial vehicle on the parking platform. In particular, the displacement control module is arranged in the scheme to intelligently adjust the position of the charging connector. The displacement control module analyzes the movement data of the centering mechanism, can capture the centering error of the centering mechanism in actual operation, and controls the charging connector to compensate for the centering error, so as to ensure the accurate alignment of the charging connector and the charging port. Compared with the conventional charging scheme, the charging connector is fixedly arranged on the parking platform or in the charging cabin. If such connector wants to realize accurate charging, it needs to rely on the high-precision alignment of the unmanned aerial vehicle itself or the accurate centering of the centering device. However, in actual application, the above two points are difficult to achieve (as described in the background art). The scheme can realize the accurate docking of the charging connector and the charging port without relying on the above content, and is not easy to cause wear to the unmanned aerial vehicle or the parking apron.

[0012] Scheme two

[0013] The vehicle-mounted double-layer unmanned aerial vehicle parking apron lifting method adopts the vehicle-mounted double-layer unmanned aerial vehicle parking apron as described in scheme one, and comprises the following steps.

[0014] Step 1: charge the unmanned aerial vehicle on the parking platform through the intelligent docking system;

[0015] Step 2: collect the power information of the unmanned aerial vehicle on the parking platform; when the power information of the unmanned aerial vehicle is full, stop charging, and control the rotation mechanism to move up by the lifting system, and control the unmanned aerial vehicle to take off;

[0016] Step 3: rotate the unmanned aerial vehicle at the lower parking apron position to the upper parking apron position, and then charge the unmanned aerial vehicle through the intelligent docking system; when the power information of the unmanned aerial vehicle is full, stop charging, and control the unmanned aerial vehicle to take off; and then control the rotation mechanism to move down by the lifting system.

[0017] The effect and advantage of the scheme are that the parking apron can charge multiple unmanned aerial vehicles, and can automatically dispatch the unmanned aerial vehicles after charging is completed, without manually determining the charging state and manually controlling the unmanned aerial vehicle to take off. The parking apron and the lifting method can realize the full-automatic and full-process intelligent take-off and landing of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the parking apron overall structure schematic view of the vehicle-mounted double-layer unmanned aerial vehicle parking apron and lifting method embodiment one of the application;

[0019] Figure 2 It is the parking apron partial structure schematic view of the vehicle-mounted double-layer unmanned aerial vehicle parking apron and lifting method embodiment one of the application;

[0020] Figure 3 Figure 1 is a first structural schematic diagram of the parking platform of the vehicle-mounted double-layer unmanned aerial vehicle parking apron and lifting method according to Embodiment 1 of the present application;

[0021] Figure 4 Figure 2 is a second structural schematic diagram of the parking platform of the vehicle-mounted double-layer unmanned aerial vehicle parking apron and lifting method according to Embodiment 1 of the present application;

[0022] Figure 5 Figure 3 is an axial side view of the transmission base structure of the vehicle-mounted double-layer unmanned aerial vehicle parking apron and lifting method according to Embodiment 1 of the present application;

[0023] Figure 6 Figure 4 is a front view and a top view of the transmission base structure of the vehicle-mounted double-layer unmanned aerial vehicle parking apron and lifting method according to Embodiment 1 of the present application. DETAILED DESCRIPTION

[0024] The following will be further described in detail through specific embodiments:

[0025] The marks in the drawings of the specification include: left wheel switching mechanism 1, right wheel switching mechanism 2, rotation track 201, auxiliary track 202, left lifting mechanism 3, right lifting mechanism 4, lifting driving mechanism 401, switching part 402, driving part 403, undercarriage 404, parking platform 5, bearing 501, centering mechanism 6, X-direction centering rod 601, Y-direction centering rod 602, bending part 603, centering guide rail 604, support 7, position adjustment track 701, transmission base 702, circular track 703, charging connector 704, connecting piece 705.

[0026] Embodiment 1

[0027] The embodiment is basically as shown in the accompanying drawings (structures such as the transmission base 702 are not drawn in the drawings here): Figure 1 and Figure 2 : Figure 1

[0028] The vehicle-mounted double-layer unmanned aerial vehicle parking apron comprises an intelligent docking system, a parking platform 5, a wheel switching system and a lifting system.

[0029] The wheel switching system is provided with a rotation track 201 and a rotation control module. Specifically, in the embodiment, the wheel switching system comprises oppositely arranged left wheel switching mechanism 1 and right wheel switching mechanism 2; the opposite faces of the two wheel switching mechanisms are each provided with a rotation track 201 and a vertical connecting track.

[0030] ​The landing platforms 5 are provided in several units, and in the initial state, the landing platforms 5 are respectively located on the upper track section and the lower track section of the rotary track 201; the landing platforms 5 are used to carry UAVs. Specifically, in this embodiment, there are four landing platforms 5. Furthermore, in the initial state, the bearing assemblies of two landing platforms 5 are located on the upper track section of the rotary track 201 to form an upper landing pad; the bearing assemblies of the other two landing platforms 5 are located on the lower track section of the rotary track 201 to form a lower landing pad.

[0031] As attached Figure 3 and Figure 4 As shown, each parking platform 5 has bearing assemblies at both ends of its bottom; the parking platform 5 is connected to the rotary track 201 via the bearing assemblies; when the rotary track 201 rotates, it drives the bearing assemblies to move together. The bearing assembly includes a bearing bracket and a left bearing 501 and a right bearing 501 located on the left and right sides of the bearing bracket.

[0032] The rotary track 201 is a square track. Two connecting tracks are provided, with each connecting track's ends connected to the upper and lower track sections of the rotary track 201, respectively. The distance between the moving track near the left track section of the rotary track 201 and the left track section is equal to the distance between the moving track near the right track section of the rotary track 201 and the right track section, and is also equal to the distance between the two bearings 501 in the bearing assembly.

[0033] The parking platform 5 is equipped with a centering mechanism 6 for centering the drone. The centering mechanism 6 includes an X-axis centering mechanism 6 and a Y-axis centering mechanism 6; the X-axis centering mechanism 6 is used to clamp the drone along the Y-axis centering direction; the Y-axis centering mechanism 6 is used to clamp the drone along the X-axis centering direction; both the X-axis centering mechanism 6 and the Y-axis centering mechanism 6 include two opposing centering rods, a centering guide rail 604 for moving the centering rods, and a drive mechanism for driving the two centering rods to move simultaneously relative to each other or in opposite directions; a position sensor for sensing the position of the centering rods is provided on the side of the parking platform 5.

[0034] Specifically, in this embodiment, the centering guide rail 604 is located on the four sides of the bottom surface of the parking platform 5. Both ends of the centering rod are provided with bent portions 603, and the rod body is located on the top surface of the parking platform 5. The two ends of the centering rod are slidably connected to the centering guide rail 604 on the bottom surface of the parking platform 5 through the bent portions 603. The driving mechanism can use a small drive motor, which drives the two centering rods to move simultaneously relative to each other or in opposite directions via a conventional synchronous belt drive. Furthermore, a control module is provided in the small drive motor; the control module is used to control the operation of the small drive motor and to collect the drive data of the small drive motor; the drive data includes the displacement and direction of movement of the centering rod.

[0035] The lifting system is connected to the rotation system; the lifting system is used to drive the rotation mechanism to move up and down; the lifting system includes a left lifting mechanism 3 and a right lifting mechanism 4 correspondingly located on one side of the left rotation mechanism 1 and the right rotation mechanism 2, and a base frame 404 for supporting the left lifting mechanism 3 and the right lifting mechanism 4. The electrical control circuit of the lifting system can be led out through the base frame 404. Preferably, the base frame 404 can be configured as a double-layer frame base frame. The left lifting mechanism 3 and the right lifting mechanism 4 are set in the upper frame to support the lifting mechanism. The power supply device, motor device and other related energy drive components can be set in the lower frame to provide energy and driving force for the lifting system, rotation system, intelligent docking system, etc. This configuration makes the arrangement of various structures more regular and the use more convenient.

[0036] Both the left lifting mechanism 3 and the right lifting mechanism 4 include a lifting drive mechanism 401; each of the two rotating mechanisms has a connecting part 402 on its opposite side, which is connected to the drive part 403 of the lifting drive mechanism 401; the drive part 403 is used to drive the rotating mechanism to move up and down through the connecting part 402. In this embodiment, the lifting drive mechanism 401 can use a ball screw to drive the rotating mechanism to move up and down, and the ball screw is also connected to a lifting mechanism motor, which is used to drive the ball screw to rotate.

[0037] As attached Figure 2 As shown, the intelligent docking system is located on one side of the rotation system; the intelligent docking system is used to dock with the charging port of the drone and charge the drone. Specifically, in this embodiment, there are two intelligent docking systems, which are respectively located on the left rotation mechanism 1 side and the right rotation mechanism 2 side; in the initial state, the charging connectors 704 of the intelligent docking system are aligned with the centering position of a parking platform 5 on the upper parking apron.

[0038] The intelligent docking system includes a support 7, a charging connector 704, and a displacement control module. The displacement control module controls the movement of the support 7 and the charging connector 704. A circular track 703 is provided on the support 7. The charging connector 704 is located on the circular track 703 and is slidably connected to the circular track 703. When controlling the position of the charging connector 704, the displacement control module first collects the motion data of the centering mechanism 6 and the real-time position data of the charging connector 704, and then controls the movement of the charging connector 704 and the support 7 to align the charging connector 704 with the actual centering position of the centering mechanism 6.

[0039] The motion data of the centering mechanism 6 includes the displacement amount and the moving direction of the driving mechanism driving the centering rod to move (collected from the control module), and the real-time position of the centering rod sensed by the position sensor (collected from the position sensor); the displacement control module analyzes the centering error based on the displacement amount, the moving direction and the real-time position, and controls the support 7 and the charging connector 704 to move to compensate for the centering error based on the centering error.

[0040] Specifically, the chassis 404 is provided with a linear guide rail; the support 7 is arranged on the linear guide rail and is in sliding connection with the linear guide rail; the minimum displacement unit of the support 7 is 1 mm. The bottom surface of the support 7 is provided with a groove, and the two side walls of the groove are provided with pulleys; the chassis 404 is a rectangular frame type chassis 404, including four side frames of front, rear, left and right, and the lifting system is arranged at the end position of the upper surfaces of the left and right side frames; the linear guide rail is arranged on the two side walls of the left and right side frames, the width of the groove is adapted to the width of the left / right side frame, and the bottom surface of the support 7 is in sliding connection with the linear guide rail through the pulleys. A small motor is arranged inside the support 7 for driving the pulleys to rotate.

[0041] The upper half of the support 7 is provided with a position adjusting track 701; a transmission base 702 is connected to the position adjusting track 701; as shown in the accompanying drawings, Figure 5 and Figure 6 The circular track 703 is arranged on the transmission base 702; the minimum displacement unit of the transmission base 702 is 0.2 mm. In this embodiment, the position adjusting track 701 is a vertical transmission track. The bottom surface of the transmission base 702 is provided with a connecting piece 705, the transmission base 702 is in sliding connection with the transmission track through the connecting piece 705, one end of the connecting piece 705 is connected with an electric push rod, and the electric push rod drives the transmission base 702 to move up and down in the position adjusting track 701.

[0042] Furthermore, preferably, the bottom surface of the circular track 703 is further provided with an annular through groove; the charging connector 704 is further connected with a charging wire, the charging wire passes through the annular through groove and is connected to the transmission base 702, and is connected to the power supply through the transmission base 702. With this structure, the charging connector 704 can smoothly slide in the circular track 703 without affecting the lead wire.

[0043] In specific applications, in the initial state, one unmanned aerial vehicle can be placed on each parking platform 5. For ease of understanding, the four parking platforms 5 in the initial state are named as platform I, platform II, platform III and platform IV in the clockwise direction; the platform I and the platform II are initially in the upper layer; and the platform III and the platform IV are initially in the lower layer.

[0044] Firstly, the rotating track 201 starts to rotate, and the bearing set of the parking platform 5 is rotated, and the bearing set synchronously drives the parking platform 5 to rotate; in the embodiment, the rotating direction of the rotating track 201 is counterclockwise rotation. Then, when the two bearings 501 of the bearing set of the platform I are respectively located at the left track part and the connecting track part of the rotating track 201, the platform III is correspondingly rotated to the two bearings 501 of the bearing set thereof are respectively located at the right track part and the other connecting track part of the rotating track 201. Further, the parking platform 5 continues to rotate, the platform I is lowered, and the platform III is raised, at this time, one bearing 501 of the platform I and the platform III is located in a connecting track. The platform II and the platform IV rotate naturally with the rotating track 201 during the process.

[0045] Further, the platform I is lowered to the bottom and continues to rotate, the platform I and the platform IV are located at the same layer, and the platform III and the platform II are located at the same layer. Further, the platform II is lowered according to the same lowering route as the platform I, and the platform IV is raised according to the same raising route as the platform III; the platform I and the platform III rotate naturally with the rotating track 201 during the process. Until the platform III and the platform IV are located at the upper layer position, and the platform I and the platform II are located at the lower layer position, the rotating track 201 stops rotating, and the rotation of the upper and lower parking platforms 5 is completed. At this time, the unmanned aerial vehicle initially located at the lower layer is rotated to the upper layer with the platform III and the platform IV, and the centering mechanism 6 is controlled to cancel the clamping of the unmanned aerial vehicle; further, the unmanned aerial vehicles on the two parking platforms 5 initially located at the lower layer can take off smoothly.

[0046] In the above process, after the unmanned aerial vehicle lands on the parking platform 5 and is centered by the centering mechanism 6, the displacement control module first acquires the displacement and moving direction of the driving mechanism driving the centering rod to move through the control module, and then acquires the real-time position information of each centering rod through the position sensor. Combined with the real-time position data of the charging connector 704, in the initial state, the centering position of the charging connector 704 of the intelligent docking system is aligned with the centering position of one parking platform 5 of the upper parking apron and is higher than the upper surface of the parking platform 5 by a preset distance. Here, the preset distance is set to be the distance that the charging port of the unmanned aerial vehicle is higher than the upper surface of the parking platform 5 when the unmanned aerial vehicle is placed on the parking platform 5. The centering position is the theoretical centering position of the parking platform 5, that is, the position aligned with the center line of the parking platform 5. Taking the real-time position of the charging connector 704 in the initial state as the reference, the centering error is calculated.

[0047] Specifically, the centering error includes X-direction error, Y-direction error and Z-direction error, and the X-direction, Y-direction and Z-direction in the embodiment are as shown in the drawings. For example, when the upper centering rod in the group of centering rods in the X-direction in the centering mechanism 6 loses steps during movement, the position of the centered drone will be higher than the theoretical centering position, which corresponds to Y-direction error. When the left centering rod in the group of centering rods in the Y-direction in the centering mechanism 6 loses steps during movement, the position of the centered drone will be left of the theoretical centering position, which corresponds to X-direction error. If the distance between the charging port of the drone parked on the parking platform 5 and the upper surface of the parking platform 5 is different from the preset distance, Z-direction error will be generated.

[0048] When the support 7 and the charging connector 704 are controlled to move to compensate for the centering error based on the centering error, the Y-direction error is first compensated by controlling the support 7 to move on the linear guide rail and then controlling the charging connector 704 to move on the circular track 703, and then the Z-direction error is compensated by controlling the transmission base 702 to move on the position adjustment track 701. Thus, the charging connector 704 is completely aligned with the charging port, and the docking and charging with the drone are completed.

[0049] The embodiment also provides a vehicle-mounted double-layer drone parking apron lifting method, which adopts the vehicle-mounted double-layer drone parking apron described above, and includes the following steps.

[0050] Step 1: The drone on the parking platform 5 is charged by the intelligent docking system.

[0051] Step 2: The power information of the drone on the parking platform 5 is collected; when the power information of the drone is full, the charging is stopped, the rotation mechanism is controlled to move up by the lifting system, and the drone is released.

[0052] Step 3: The drone at the lower parking apron position is rotated to the upper parking apron position, and then the drone is charged by the intelligent docking system; when the power information of the drone is full, the charging is stopped, and the drone is released; then the rotation mechanism is controlled to move down by the lifting system.

[0053] In steps 2 and 3, the flight task information of the drone on the parking platform 5 is also collected, and the required power of the drone to complete the flight task is obtained based on the flight task information analysis; when the power information of the drone reaches the required power to complete the flight task, the charging is stopped.

[0054] The vehicle-mounted double-layer drone parking apron and the lifting method provided by the embodiment can simultaneously carry multiple drones and efficiently, accurately and intelligently charge the drones.

[0055] Embodiment Two

[0056] The vehicle-mounted double-layer unmanned aerial vehicle parking apron adjusts the intelligent docking system based on Embodiment One.

[0057] The transmission base 702 is further provided with a transmission push plate, and an extension push rod is connected between the transmission push plate and the transmission base 702. The circular track 703 is arranged on the transmission push plate. In a specific application, after the charging connector 704 is completely aligned with the charging port, the extension push rod can be driven to extend a certain distance to push the transmission push plate, so that the charging connector 704 can be stably inserted into the charging port to ensure the stability of the charging process. Here, the "certain distance" is set as the X-direction interval between the charging port and the charging connector 704 in the initial state when a unmanned aerial vehicle is placed on the parking platform 5, plus the feeding distance required for the complete insertion of the charging connector 704 into the charging port.

[0058] Moreover, when the support 7 and the charging connector 704 are controlled to move to compensate for the centering error based on the centering error, the extension push rod is also controlled to move to compensate for and eliminate the X-direction error based on the X-direction error.

[0059] Preferably, the charging connector 704 can be further connected with a charging adapter, and through the charging adapter, the intelligent docking system can be docked with unmanned aerial vehicles of different models, and has stronger universality. At the same time, the moving distance of the extension push rod is correspondingly reduced by the distance occupied by the charging adapter, so as to ensure the effective docking of the charging adapter and the charging port.

[0060] Compared with Embodiment One, the position adjustment of the charging connector 704 is more detailed, and the contact between the charging connector 704 and the charging port is more stable and less likely to be disconnected. Moreover, through the connection of the charging adapter, the system can be adapted to various unmanned aerial vehicles, and has stronger universality.

[0061] Embodiment Three

[0062] The vehicle-mounted double-layer unmanned aerial vehicle parking apron adjusts the intelligent docking system based on Embodiment Two.

[0063] The interface database in the displacement control module further stores the height parameters of the charging ports of unmanned aerial vehicles of different models compared with the bottom surface of the unmanned aerial vehicle, and the X-direction intervals between the charging ports of unmanned aerial vehicles of different models and the charging connector 704 in the initial state when the charging ports are placed on the parking platform 5, plus the feeding distance required for the complete insertion of the charging connector 704 into the charging port.

[0064] When the centering error is calculated, the displacement control module first communicates with the unmanned aerial vehicle on the parking platform 5 wirelessly, collects the model information of the unmanned aerial vehicle, and based on the model information, calls information from the interface database, and adjusts the centering error based on the called information.

[0065] Compared with the second embodiment, the displacement control module can automatically adjust the centering error value according to the actual unmanned aerial vehicle model carried on the parking platform 5, so as to ensure that the charging connector 704 can be dynamically matched with different unmanned aerial vehicles, and the intelligence is higher.

[0066] The above is only an embodiment of the present application, and the common knowledge of the specific structure and characteristics in the scheme is not described in detail here. The ordinary skilled person in the art knows all the ordinary technical knowledge in the field of the application before the application date or the priority date, can know all the prior art in the field, and has the ability to apply conventional experimental means before that date. The ordinary skilled person in the art can improve and implement the present application based on the disclosure given in this application, and some typical known structures or known methods should not be an obstacle for the ordinary skilled person in the art to implement the present application. It should be pointed out that for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should be considered as the protection scope of the present application. These will not affect the effect and practicality of the patent.

Claims

1. A dual-layer drone tarmac for vehicles, characterized in that, The intelligent docking system is arranged on one side of the rotation system; the intelligent docking system is used for docking with the charging port of the unmanned aerial vehicle and charging the unmanned aerial vehicle; the intelligent docking system comprises a support, a charging connector and a displacement control module; the displacement control module is used for controlling the moving action of the support and the charging connector; the support is provided with a circular track; the charging connector is arranged on the circular track and is in sliding connection with the circular track; when the displacement control module controls the position of the charging connector, the movement data of the centering mechanism and the real-time position data of the charging connector are collected first, and then the charging connector and the support are controlled to move, so that the charging connector is aligned with the actual centering position of the centering mechanism. The rotation system comprises oppositely arranged left rotation mechanism and right rotation mechanism; the opposite surfaces of the two rotation mechanisms are provided with rotation tracks; the two ends of the bottom of the parking platform are provided with bearing sets; the parking platform is connected with the rotation tracks through the bearing sets; when the rotation tracks rotate, the bearing sets are driven to move.

2. The vehicle-mounted double-layer drone parking apron according to claim 1, characterized in that, Further comprising a lifting system; the lifting system is connected with the rotation system; the lifting system is used for driving the rotation mechanism to move up and down; the lifting system comprises left lifting mechanism and right lifting mechanism which are correspondingly arranged on one side of the left rotation mechanism and one side of the right rotation mechanism, and a chassis for supporting the left lifting mechanism and the right lifting mechanism; the left lifting mechanism and the right lifting mechanism both comprise lifting driving mechanisms; the opposite surfaces of the two rotation mechanisms are provided with adapter parts connected with the driving parts of the lifting driving mechanisms; the driving parts are used for driving the rotation mechanism to move up and down through the adapter parts.

3. The dual-layer drone tarmac of claim 2, wherein, The centering mechanism comprises X-direction centering mechanism and Y-direction centering mechanism; the X-direction centering mechanism is used for clamping the unmanned aerial vehicle along the Y-direction; the Y-direction centering mechanism is used for clamping the unmanned aerial vehicle along the X-direction; the X-direction centering mechanism and the Y-direction centering mechanism both comprise two oppositely arranged centering rods and a driving mechanism for driving the two centering rods to move simultaneously and oppositely or oppositely; the side edges of the parking platform are provided with position sensors for sensing the positions of the centering rods.

4. The vehicle-mounted double-layer drone parking apron according to claim 1, characterized in that, The parking platform is provided with four; and in the initial state, the bearing sets of two parking platforms are correspondingly located in the upper track part of the rotation track and form an upper parking apron; the bearing sets of the other two parking platforms are correspondingly located in the lower track part of the rotation track and form a lower parking apron; the intelligent docking system is provided with two, and is correspondingly arranged on one side of the left rotation mechanism and one side of the right rotation mechanism; in the initial state, the charging connectors of the intelligent docking systems are respectively aligned with the centering positions of one parking platform of the upper parking apron.

5. The vehicle-mounted double-layer drone parking apron according to claim 2, characterized in that, The chassis is provided with a linear guide rail; the support is arranged on the linear guide rail and is in sliding connection with the linear guide rail; the minimum displacement unit of the support is 1mm.

6. The dual-layer drone tarmac of claim 3, wherein, ​ 7. The dual-layer drone tarmac of claim 1, wherein, The support is provided with a position adjusting track; a transmission base is connected to the position adjusting track; the circular track is arranged on the transmission base; and the minimum displacement unit of the transmission base is 0.2 mm.

8. The dual-layer drone tarmac of claim 4, wherein, The movement data of the centering mechanism includes a displacement amount and a moving direction of the driving mechanism driving the centering rod to move, and a real-time position of the centering rod sensed by the position sensor; the displacement control module analyzes a centering error based on the displacement amount, the moving direction and the real-time position, and controls the support and the charging connector to move to compensate for the centering error based on the centering error.

9. A method for landing and taking off a double-deck unmanned aerial vehicle on a parking apron on a vehicle, characterized in that The vehicle-mounted double-layer unmanned aerial vehicle parking apron according to any one of claims 1-8 comprises the following steps: Step 1: charging the unmanned aerial vehicle on the parking platform through the intelligent docking system; Step 2: collecting the power information of the unmanned aerial vehicle on the parking platform; when the power information of the unmanned aerial vehicle is full, stopping charging, and moving up the rotation mechanism by the lifting system and controlling the unmanned aerial vehicle to be released; Step 3: rotating the unmanned aerial vehicle at the lower parking apron position to the upper parking apron position, and charging the unmanned aerial vehicle through the intelligent docking system; when the power information of the unmanned aerial vehicle is full, stopping charging and controlling the unmanned aerial vehicle to be released; and then moving down the rotation mechanism by the lifting system.

10. The method of claim 9, wherein, In steps 2 and 3, the flight task information of the unmanned aerial vehicle on the parking platform is also collected, and the required power of the unmanned aerial vehicle to complete the flight task is analyzed based on the flight task information; when the power information of the unmanned aerial vehicle reaches the required power to complete the flight task, the charging is stopped.

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