UAV positioning mechanism, UAV charging and replacement equipment and method

Abstract

The present invention provides a UAV positioning mechanism, UAV charging and swapping equipment and method, and relates to the technical field of UAV charging and swapping. The UAV positioning mechanism includes: a centering component and a positioning component; the centering component includes: a landing platform and a centering actuator; the centering actuator includes a first adjustment component and a second adjustment component, and the first adjustment component and the second adjustment component are used to adjust the UAV to a target position; the positioning component includes a positioning device, and the positioning device and the centering component are relatively arranged, and the positioning device includes a sliding component and a positioning hole, and the edge of the positioning hole is provided with a sliding component; when the landing platform reaches the target position, the first adjustment component adjusts the UAV to move to the positioning hole, and the sliding component is used to correct the position of the UAV head in the positioning hole. The UAV can be first centered and then limited and fixed, which improves the accuracy of the UAV positioning position, and is particularly suitable for automatic charging and swapping of UAVs, and can ensure the smooth implementation of the charging and swapping process.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) charging and battery replacement technology, and in particular to a UAV positioning mechanism, a UAV charging and battery replacement device and a method. Background Art

[0002] Fixed-wing UAVs have advantages over multi-rotor UAVs, such as high flight efficiency, long range and load capacity, and are therefore widely used in power inspection, mapping, emergency rescue and logistics distribution industries. However, fixed-wing UAVs usually have low processing accuracy, and when performing automated charging or battery replacement operations, there is a technical problem that the UAV is not accurately positioned, resulting in difficulty in accurately positioning the charging or battery replacement.

[0003] In addition, when positioning the drone, due to a certain deviation in the landing position of the drone, the positioning mechanism usually finds it difficult to accurately dock the drone, which will also make it impossible for the drone to automatically charge or replace the battery. Summary of the invention

[0004] The purpose of the present invention is to provide a UAV positioning mechanism, a UAV charging and swapping device and a method to alleviate the technical problem of inaccurate UAV positioning in the prior art.

[0005] In a first aspect, the present invention provides a UAV positioning mechanism, comprising: a centering component and a positioning component;

[0006] The centering component includes: a landing platform and a centering execution device;

[0007] The centering actuator includes a first adjustment component and a second adjustment component, the first adjustment component moves along the x-axis direction, and the second adjustment component moves along the y-axis direction, and the first adjustment component and the second adjustment component are used to adjust the drone to the target position;

[0008] The positioning assembly includes a positioning device, the positioning device and the centering assembly are arranged relative to each other, the positioning device includes a sliding assembly and a positioning hole, and the sliding assembly is arranged at the edge of the positioning hole;

[0009] When the landing platform reaches the target position, the first adjustment component adjusts the drone to move toward the positioning hole, and the sliding component is used to correct the position of the nose of the drone in the positioning hole.

[0010] In combination with the first aspect, the present invention provides a first possible implementation manner of the first aspect, wherein the first adjustment assembly includes: a first scraper, a second scraper and a first power source;

[0011] The first scraper and the second scraper are respectively connected to the first power source in transmission mode, and the first power source is used to drive the first scraper and the second scraper to move closer to or farther from each other along the x direction.

[0012] In combination with the first possible implementation of the first aspect, the present invention provides a second possible implementation of the first aspect, wherein the second adjustment assembly includes: a third scraper, a fourth scraper, and a second power source;

[0013] The third scraper and the fourth scraper are respectively connected to the second power source, and the second power source is used to drive the third scraper and the fourth scraper to move closer to or away from each other along the y direction, wherein the x direction is perpendicular to the y direction.

[0014] In combination with the first aspect, the present invention provides a third possible implementation manner of the first aspect, wherein a turntable is installed on the landing platform.

[0015] In combination with the first aspect, the present invention provides a fourth possible implementation manner of the first aspect, wherein the drone positioning mechanism further comprises a guide rail, and the guide rail extends from an end away from the positioning component to a direction close to the positioning component;

[0016] The centering component has a pulley block matched with the guide rail, and a driving wheel driving the centering component to move along the guide rail.

[0017] In combination with the fourth possible implementation of the first aspect, the present invention provides a fifth possible implementation of the first aspect, wherein the sliding assembly includes a plurality of guide wheels, and the guide wheels are arranged at intervals along the edges of the positioning holes.

[0018] In combination with the first aspect, the present invention provides a sixth possible implementation of the first aspect, wherein the positioning assembly includes: a limiting device;

[0019] The limiting device includes: a clamping driving member, and a fuselage contour member and / or a wing limiting member;

[0020] The clamping drive member is transmission-connected to the fuselage contour member and / or the wing stop member.

[0021] In combination with the sixth possible implementation manner of the first aspect, the present invention provides a seventh possible implementation manner of the first aspect, wherein the clamping driving member is transmission-connected to the two fuselage contour members and drives the two fuselage contour members to move closer to or farther away from each other;

[0022] In the positioning condition, the fuselage of the UAV is constrained between the two fuselage contour parts.

[0023] In combination with the sixth possible implementation of the first aspect, the present invention provides an eighth possible implementation of the first aspect, wherein the wing limiter has a limit socket, and under the positioning condition, the wing of the UAV is inserted into the limit socket.

[0024] In a second aspect, the drone charging and swapping equipment provided by the present invention includes: a charging and swapping device and the drone positioning mechanism recorded in the first aspect.

[0025] In a third aspect, the drone charging and battery replacement method provided by the present invention adopts the drone charging and battery replacement device recorded in the second aspect, and comprises the following steps:

[0026] Control the central execution device to move the UAV that has landed on the landing platform to the target area;

[0027] Controlling the positioning component to limit and fix the drone;

[0028] Control the charging and replacing device to replace the battery of the UAV or connect the charging line.

[0029] The embodiments of the present invention bring the following beneficial effects: a centering component includes a landing platform and a centering actuator; the centering actuator includes a first adjustment component and a second adjustment component, the first adjustment component and the second adjustment component are used to adjust the UAV to the target position; the positioning component includes a positioning device, the positioning device and the centering component are relatively arranged, the positioning device includes a sliding component and a positioning hole, and the sliding component is arranged at the edge of the positioning hole; when the landing platform reaches the target position, the first adjustment component adjusts the UAV to move toward the positioning hole, and the sliding component is used to correct the position of the UAV's nose in the positioning hole, thereby constraining and fixing the UAV, realizing centering first and then correcting the position of the UAV in the positioning hole, and subsequently achieving the effect of limiting and fixing, thereby improving the accuracy of the UAV positioning position.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A schematic diagram of a UAV positioning mechanism provided by an embodiment of the present invention;

[0033] Figure 2 A schematic diagram of a centering component and a guide rail of a UAV positioning mechanism provided in an embodiment of the present invention;

[0034] Figure 3 A schematic diagram of a centering component of a UAV positioning mechanism provided by an embodiment of the present invention;

[0035] Figure 4 A schematic diagram of a positioning component of a UAV positioning mechanism provided by an embodiment of the present invention;

[0036] Figure 5 A schematic diagram of a positioning device of a UAV positioning mechanism provided by an embodiment of the present invention;

[0037] Figure 6 A schematic diagram of a limiting device of a UAV positioning mechanism provided in an embodiment of the present invention.

[0038] Icons: 100-centering assembly; 110-landing platform; 111-turntable; 120-centering actuator; 121-first scraper; 122-second scraper; 123-first power source; 124-third scraper; 125-fourth scraper; 126-second power source; 130-pulley block; 140-driving wheel; 200-positioning assembly; 210-positioning device; 211-positioning hole; 212-guide wheel; 220-limiting device; 221-clamping drive member; 222-fuselage contour member; 223-wing limit member; 300-guide rail. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are only used to describe the difference in names, and cannot be understood as indicating or implying relative importance. The physical quantities in the formula, if not separately marked, should be understood as basic quantities of the basic units of the International System of Units, or derived quantities derived from the basic quantities through mathematical operations such as multiplication, division, differentiation or integration.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] like Figure 1 As shown, the UAV positioning mechanism provided by the embodiment of the present invention includes: a centering component 100 and a positioning component 200; the centering component 100 includes: a landing platform 110 and a centering actuator 120; the centering actuator 120 includes a first adjustment component and a second adjustment component, the first adjustment component moves along the x-axis direction, and the second adjustment component moves along the y-axis direction, and the first adjustment component and the second adjustment component are used to adjust the UAV to the target position; the positioning component 200 includes a positioning device 210, the positioning device 210 and the centering component 100 are relatively arranged, the positioning device 210 includes a sliding component and a positioning hole 211, and the sliding component is arranged at the edge of the positioning hole 211; when the landing platform 110 reaches the target position, the first adjustment component adjusts the UAV to move toward the positioning hole 211, and the sliding component is used to correct the position of the UAV's nose in the positioning hole 211.

[0043] When the drone lands on the landing platform 110, the centering actuator 120 can move the drone to the target area on the landing platform 110, thereby eliminating the position deviation caused by landing and achieving preliminary position adjustment of the drone. Subsequently, the positioning component 200 uses clamping, card connection or plug-in to position at least one of the drone's head, fuselage and wing, thereby ensuring the accuracy of the drone's positioning, so that subsequent charging or battery replacement operations can proceed smoothly.

[0044] In an optional embodiment, the centering actuator 120 may use a plurality of petals spaced apart along the circumference, and the plurality of petals may be driven by a driving device to converge or disperse with each other. The drone may land in a space enclosed by the plurality of petals, and when the plurality of petals converge with each other, the drone may be pushed, so that the drone is centered in the target area.

[0045] The drone positioning mechanism may further include a protective device, the positioning assembly 200 may be disposed on the protective device, and the protective device may be a protective frame formed by splicing a plurality of fixing rods.

[0046] The central axis of the landing platform 110 along the x-axis direction is parallel to the central axis of the positioning hole 211 along the x-axis direction.

[0047] like Figure 1 and Figure 2 As shown, in an embodiment of the present invention, the first adjustment component includes: a first scraper 121, a second scraper 122 and a first power source 123; the first scraper 121 and the second scraper 122 are respectively connected to the first power source 123, and the first power source 123 is used to drive the first scraper 121 and the second scraper 122 to move closer to or away from each other along the x direction.

[0048] The first power source 123 can be configured as a linear drive rail, a double-ended lead screw drive device, etc. The first scraper 121 and the second scraper 122 can be driven to move by the same first power source 123, or two first power sources 123 can be set to drive the first scraper 121 and the second scraper 122. One of the two first power sources 123 is connected to the first scraper 121, and the other of the two first power sources 123 is connected to the second scraper 122. One first power source 123 drives the first scraper 121 to move along the x direction, and the other first power source 123 drives the second scraper 122 to move along the x direction. The driving force of the two first power sources 123 makes the first scraper 121 and the second scraper 122 move closer to or farther from each other along the x direction. When the UAV falls between the first scraper 121 and the second scraper 122, the first power source 123 drives the first scraper 121 and the second scraper 122 to approach each other, so that the UAV can move to the target area in the x direction, thereby realizing the centering action in the x direction.

[0049] Furthermore, the second adjustment component includes: a third scraper 124, a fourth scraper 125 and a second power source 126; the third scraper 124 and the fourth scraper 125 are respectively connected to the second power source 126, and the second power source 126 is used to drive the third scraper 124 and the fourth scraper 125 to move closer to or away from each other along the y direction, wherein the x direction is perpendicular to the y direction.

[0050] The second power source 126 is similar to the first power source 123 in driving mode. The second power source 126 can drive the third scraper 124 and the fourth scraper 125 to move closer to or farther from each other in the y direction. When the third scraper 124 and the fourth scraper 125 are close to each other, the UAV located between the third scraper 124 and the fourth scraper 125 can be centered in the y direction, and then the UAV will be initially centered in the target area on the xy plane. Alternatively, two second power sources 126 can be set to drive the third scraper 124 and the fourth scraper 125 to move closer to or farther from each other in the y direction, wherein one of the two second power sources 126 is connected to the third scraper 124, and one of the two second power sources 126 drives the third scraper 124 to move in the y direction, and the other of the two second power sources 126 is connected to the fourth scraper 125, and the other of the two second power sources 126 drives the fourth scraper 125 to move in the y direction.

[0051] In an optional embodiment, a turntable 111 may be installed on the landing platform 110. The turntable 111 may rotate around an axis perpendicular to the xy plane, so that the turntable 111 may have an independent rotation drive device, thereby driving the turntable 111 to rotate, thereby driving the drone to rotate.

[0052] like Figure 1 , Figure 2 and Figure 3 As shown, the UAV positioning mechanism also includes a guide rail 300, which extends from one end away from the positioning component 200 to a direction close to the positioning component 200; the centering component 100 has a pulley set 130 that cooperates with the guide rail 300, and a driving wheel 140 that drives the centering component 100 to move along the guide rail 300.

[0053] The pulley block 130 can roll along the guide rail 300, thereby reducing the resistance of the centering assembly 100 moving along the guide rail 300. In addition, the driving wheel 140 is driven by the motor through the reducer, and the driving wheel 140 can contact the ground or the base, and the centering assembly 100 is driven to move along the guide rail 300 by the rotation of the driving wheel 140.

[0054] It should be noted that the driving wheel 140 can be installed on a floating frame, one end of the floating frame is hinged to the landing platform 110, and the other end is connected to the landing platform 110 through a compression spring. The compression spring has a tendency to drive the driving wheel 140 downward, and the gravity of the centering component 100 and the drone thereon is pressed down, and the floating frame is pressed down by the compression spring, so that the driving wheel 140 remains in contact with the ground or the base.

[0055] like Figure 1 , Figure 4 and Figure 5As shown, the sliding assembly includes a plurality of guide wheels 212, which are arranged at intervals along the edge of the positioning hole 211. The centering assembly 100 moves along the guide rail 300 toward the direction approaching the positioning assembly 200, so that the nose of the drone is inserted into the positioning hole 211.

[0056] When the drone lands on the landing platform 110, the drone is initially centered and adjusted to the target area by the first adjustment component and the second adjustment component. When the drone is in the target area, the centering component 100 moves along the guide rail 300 close to the positioning component 200, and moves the nose of the drone close to the positioning hole 211, so that the nose of the drone is gradually inserted into the positioning hole 211. When the guide wheel 212 contacts the nose, the guide wheel 212 generates an interaction force with the nose and causes the guide wheel 212 to roll. When the nose is clamped and positioned by multiple guide wheels 212, the centering component 100 is stopped from moving along the guide rail. Preferably, the number of guide wheels 212 is 4, and the guide wheels are distributed at 90 degrees. Due to the action of the four guide wheels 212 distributed at 90 degrees, the nose of the drone can be corrected and positioned, thereby ensuring that the axis of the aircraft fuselage is perpendicular to the y-direction straight line of the positioning device 210, and limiting the vertical movement of the drone relative to the ground or the guide rail.

[0057] When the drone lands on the landing platform 110, the first adjustment component and the second adjustment component are used to preliminarily adjust the drone to the target area. When the drone is in the target area, the first power source 123 drives the first scraper 121 and the second scraper 122 to move away in the x direction, and the second power source 126 drives the third scraper 124 and the fourth scraper 125 to move away in the y direction. After the centering component 100 enters the target position of the positioning component 200 along the direction of the guide rail 300, the second scraper 122 is driven by the driving force of the first power source 123 to push the hind legs of the drone, so that the head of the drone moves close to the positioning hole 211, so that the head of the drone gradually inserts into the positioning hole 211. When the guide wheel 212 contacts the head, the guide wheel 212 generates an interaction force with the head and causes the guide wheel 212 to roll. When the head is clamped and positioned by multiple guide wheels 212, the first power source 123 stops driving the first adjustment component to push the hind legs of the drone. Preferably, there are four guide wheels 212, and the guide wheels are distributed at 90 degrees. Due to the action of the four guide wheels 212 distributed at 90 degrees, the nose of the UAV can be corrected and positioned, thereby ensuring that the axis of the aircraft fuselage is perpendicular to the y-direction straight line of the positioning device 210, and limiting the vertical movement of the UAV relative to the ground or the guide rail 300.

[0058] In addition, when the second scraper 122 pushes the hind legs of the UAV to move closer to the positioning assembly 200, the first scraper 121 can be fixed, or move closer to the second scraper 122 and clamp the hind legs of the UAV, or the first scraper 121 and the second scraper 122 have the same moving direction. The state of the first scraper 121 is not limited, as long as the second scraper 122 can push the hind legs of the UAV or the fuselage of the UAV to move closer to the positioning assembly 200 and insert the head of the UAV into the positioning hole 211.

[0059] like Figure 1 , Figure 4 and Figure 6 As shown, the positioning assembly 200 includes: a limiting device 220; the limiting device 220 includes: a clamping drive member 221, and a fuselage contour member 222 and / or a wing limiting member 223; the clamping drive member 221 is transmission-connected to the fuselage contour member 222 and / or the wing limiting member 223.

[0060] In one embodiment, the limiting device 220 includes a clamping drive member 221 and a fuselage contour member 222. The clamping drive member 221 can drive the fuselage contour member 222 to abut against the outer wall of the fuselage, thereby positioning the fuselage and preventing the drone from making horizontal movements relative to the guide rail 300 or the ground.

[0061] In another embodiment, the limiting device 220 includes a clamping driving member 221 and a wing limiting member 223. The clamping driving member 221 can drive the wing limiting member 223 to cooperate with the wing, thereby achieving the positioning of the wing.

[0062] In addition, in combination with the above-mentioned embodiment, a limiting device 220 may be used, including: a clamping drive member 221, a fuselage contour member 222 and a wing limiting member 223. The fuselage contour member 222 and the wing limiting member 223 are both driven by the clamping drive member 221. When the fuselage contour member 222 abuts against the outer wall of the fuselage, the wing limiting member 223 cooperates with the wing to achieve synchronous positioning of the fuselage and the wing.

[0063] Furthermore, the clamping driving member 221 is connected to the two fuselage profiling members 222 and drives the two fuselage profiling members 222 to move closer or farther away; in the positioning condition, the fuselage of the UAV is constrained between the two fuselage profiling members 222, thereby preventing the UAV fuselage from being skewed.

[0064] In addition, the wing stopper 223 has a stopper socket, and in the positioning condition, the wing of the UAV is inserted into the stopper socket. Two wing stoppers 223 can be provided, and the fuselage is located between the two wing stoppers 223. The wings on both sides of the fixed-wing UAV are inserted into the stopper sockets of the two wing stoppers 223 one by one, thereby ensuring that the height positions of the wings on both sides are limited and avoiding the deflection of the wings on both sides.

[0065] The drone charging and swapping equipment provided in an embodiment of the present invention includes: a charging and swapping device and the drone positioning mechanism recorded in the above-mentioned implementation mode. The drone charging and swapping equipment has the technical effect of the above-mentioned drone positioning mechanism. Under the condition that the drone is accurately positioned, the automatic docking of the charging and swapping device can be smoothly realized.

[0066] like Figure 1 As shown, the UAV charging and replacing method provided by the embodiment of the present invention adopts the UAV charging and replacing device recorded in the above embodiment, and includes the following steps:

[0067] Control the central execution device 120 to operate so that the UAV landed on the landing platform 110 moves to the target area;

[0068] Control the positioning component 200 to limit and fix the drone;

[0069] Control the charging and swapping devices to replace the batteries of the drone or connect the charging lines.

[0070] Among them, the battery replacement or charging line docking of the charging and swapping device drone is carried out by the mechanical arm according to the preset coordinate position and under the automatic control of the controller. After the drone lands, it is centered and positioned to ensure the accuracy of the drone's positioning position. Then, when the subsequent mechanical arm performs battery replacement or charging line docking, the preset coordinate position is close to the actual coordinate position of the drone, avoiding the problem of charging and battery swapping docking failure caused by the positioning deviation of the drone, and improving the reliability of the drone's automatic charging and battery swapping functions.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A UAV positioning mechanism, characterized in that: The unmanned aerial vehicle positioning mechanism is suitable for a fixed-wing unmanned aerial vehicle, and comprises: a centering component (100) and a positioning component (200); The centering component (100) comprises: a landing platform (110) and a centering execution device (120); The centering execution device (120) comprises a first adjustment component and a second adjustment component, the first adjustment component moves along the x-axis direction, the second adjustment component moves along the y-axis direction, and the first adjustment component and the second adjustment component are used to adjust the drone to a target position; The positioning component (200) comprises a positioning device (210), the positioning device (210) and the centering component (100) are arranged relative to each other, the positioning device (210) comprises a sliding component and a positioning hole (211), and the sliding component is arranged at the edge of the positioning hole (211); When the landing platform (110) reaches the target position, the first adjustment component adjusts the drone to move toward the positioning hole (211), and the sliding component is used to correct the position of the drone's nose in the positioning hole (211); The positioning assembly (200) comprises: a limiting device (220); The limiting device (220) comprises: a clamping driving component (221), a fuselage contour component (222) and a wing limiting component (223); The clamping driving component (221) is transmission-connected to the fuselage contour component (222) and the wing limiting component (223).

2. The drone positioning mechanism according to claim 1, characterized in that: The first adjustment component comprises: a first scraper (121), a second scraper (122) and a first power source (123); The first scraper (121) and the second scraper (122) are respectively connected in transmission with the first power source (123), and the first power source (123) is used to drive the first scraper (121) and the second scraper (122) to move closer to or farther from each other along the x direction.

3. The drone positioning mechanism according to claim 2, characterized in that: The second adjustment component comprises: a third scraper (124), a fourth scraper (125) and a second power source (126); The third scraper (124) and the fourth scraper (125) are respectively connected to the second power source (126) in a transmission manner, and the second power source (126) is used to drive the third scraper (124) and the fourth scraper (125) to move closer to or farther from each other along the y direction, wherein the x direction is perpendicular to the y direction.

4. The UAV positioning mechanism according to any one of claims 1 to 3, characterized in that: A turntable (111) is installed on the landing platform (110).

5. The drone positioning mechanism according to claim 1, characterized in that: The unmanned aerial vehicle positioning mechanism further comprises a guide rail (300), wherein the guide rail (300) extends from an end away from the positioning component (200) in a direction close to the positioning component (200); The centering component (100) comprises a pulley block (130) matched with the guide rail (300), and a driving wheel (140) driving the centering component (100) to move along the guide rail (300).

6. The drone positioning mechanism according to claim 5, characterized in that: The sliding assembly comprises a plurality of guide wheels (212), and the guide wheels (212) are arranged at intervals along the edge of the positioning hole (211).

7. The drone positioning mechanism according to claim 1, characterized in that: The clamping driving member (221) is drivingly connected to the two fuselage profiling members (222) and drives the two fuselage profiling members (222) to move closer or farther away; In the positioning condition, the fuselage of the UAV is constrained between the two fuselage contour parts (222).

8. The drone positioning mechanism according to claim 1, characterized in that: The wing limiting member (223) has a limiting socket, and in a positioning condition, the wing of the UAV is inserted into the limiting socket.

9. A drone charging and battery replacement device, characterized in that: The UAV charging and swapping equipment comprises: a charging and swapping device and a UAV positioning mechanism as described in any one of claims 1-8.

10. A method for charging and replacing batteries for a drone, characterized in that: The UAV charging and swapping method adopts the UAV charging and swapping device according to claim 9, and comprises the following steps: Controlling the central execution device (120) to operate so that the drone landed on the landing platform (110) moves to a target area; Controlling the positioning component (200) to limit and fix the drone; Control the charging and replacing device to replace the battery of the UAV or connect the charging line.

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