Multifunctional modular robot capable of carrying multi-rotor unmanned aerial vehicle

Abstract

The invention relates to a method for carrying, taking off and landing a multi-rotor unmanned aerial vehicle by using a robot, which comprises a base, a robot body, a neck multidirectional adjusting mechanism, a modular robot head, modular mechanical arms, the multi-rotor unmanned aerial vehicle, an unmanned aerial vehicle charging module, a control module and a wireless communication module, the modular robot head can be quickly detached and replaced, a guide sliding groove is formed in the robot head and can guide the unmanned aerial vehicle to land at the correct position in the robot head and be charged, and the robot head is kept in a horizontal state all the time through a neck multi-direction adjusting mechanism, so that the unmanned aerial vehicle in the head can take off smoothly; two panels capable of being opened and closed are arranged on the upper surface of the robot head, the unmanned aerial vehicle can be effectively protected, application of the unmanned aerial vehicle in a more complex environment is improved, the robot system and the unmanned aerial vehicle technology are integrated, and then the multifunctionality and adaptability of the system are improved.

Description

Technical Field

[0001] The invention relates to a multifunctional robot, and in particular discloses a method for carrying, taking off and landing a multi-rotor unmanned aerial vehicle using the robot. Background Art

[0002] In modern society, both robotics and drone technologies have been widely used. Robots can perform a variety of tasks, including but not limited to logistics, medical care, security, and entertainment, while drones are widely used in aerial photography, agriculture, rescue, and other fields. However, traditional robots and drones are usually separate entities and cannot achieve effective collaborative work and resource sharing.

[0003] In recent years, researchers have tried to integrate robotic systems with drone technology to improve the application of drones in complex environments, thereby improving the versatility and adaptability of the system. Drones are vulnerable to bad weather or human interference during mission execution, and better protection measures are needed to ensure their safety and reliability. It is extremely necessary to study a robotic system that allows drones to be stored in the body of the robot to save space and improve protection. At the same time, in order to simplify the operation process and improve the user-friendliness of the system, it is also necessary to develop automated operation technologies, including automatic opening and closing of the robot head, and auxiliary control of the drone's takeoff and landing. The take-off and landing process of the drone is completed within the movable robot head platform, which can expand the application range of drones in complex environments. In addition, the robot's head can provide protection and concealment, which helps to protect the safety of the drone when performing tasks. It brings new possibilities for the development of robotics and drone technology, such as providing new ways to conduct battlefield reconnaissance and intelligence collection, and quickly deploy drones at disaster sites to perform search and rescue missions, or for building and infrastructure monitoring, security patrols, etc. Summary of the invention

[0004] In view of the deficiencies in the perception capabilities of existing robots, the present invention provides a multifunctional modular robot capable of carrying a multi-rotor drone.

[0005] The present invention discloses a multifunctional modular robot capable of carrying a multi-rotor drone, comprising a base, a robot body, a neck multi-directional adjustment mechanism, a modular robot head, a modular mechanical arm, a multi-rotor drone, a drone charging module, a control module, and a wireless communication module. Track travel mechanisms are arranged on both sides of the base. Through the coordinated movement of the track travel mechanisms on both sides, the base has the functions of moving forward, backward, turning left, turning right, and rotating in situ. The robot body is installed on the base, the control module and the wireless communication module are installed inside the robot body, the two modular mechanical arms are installed on both sides of the robot body respectively, one end of the neck multi-directional adjustment mechanism is installed on the upper part of the robot body, and the other end is fixedly connected to the modular robot head, that is, the robot head is connected to the robot body through the neck multi-directional adjustment mechanism, the multi-rotor drone is stored inside the modular robot head, the drone charging module is fixed inside the modular robot head, and the multi-rotor drone can be charged through the drone charging module inside the robot head.

[0006] Interfaces for quickly plugging and unplugging modular robotic arms are provided on both sides of the robot body. The modular robotic arms are fixed to the interfaces on both sides of the robot body by means of snaps, magnetism, etc. The modular robotic arms can be quickly disassembled and replaced, so that the modular robotic arms can be selected into different configurations according to specific task requirements.

[0007] The neck multi-directional adjustment mechanism at the upper end of the robot body is provided with an interface for quickly plugging and unplugging a modular robot head. The modular robot head is fixedly connected to the interface of the neck multi-directional adjustment mechanism by means of snaps, magnetism, etc. The modular robot head can be quickly disassembled and replaced, so that the modular robot head can be replaced with heads of different sizes and shapes according to specific task requirements to carry, store and take off and land different multi-rotor drones. A guide groove is provided in the modular robot head, which can guide the multi-rotor drone to land in the correct position inside the robot head and limit its movement.

[0008] The robot head is connected to the robot body through a neck multi-directional adjustment mechanism. The neck multi-directional adjustment mechanism has three degrees of freedom, and the rotation axes of every two degrees of freedom are perpendicular to each other. In three-dimensional space, when the robot's body tilts due to factors such as terrain, the robot head can be adjusted in real time through the neck multi-directional adjustment mechanism to keep the robot head in a horizontal state at all times so that the drone in the robot head can take off smoothly.

[0009] Two openable panels are arranged on the upper surface of the modular robot head, which are opened and closed in a split manner, serving as a gateway connecting the head space with the outside space. When the multi-rotor drone lands in the robot head, the two panels on the upper surface of the robot head are flipped inward and closed, that is, the top cover of the robot head is closed, and a closed space is formed in the head, which can effectively protect the multi-rotor drone and isolate it from the external environment. Under the action of gravity, the charging contacts at the bottom of the multi-rotor drone are connected and conducted with the charging contacts of the drone charging module in the robot head, so that the robot can charge the multi-rotor drone with the power it carries and display the charging progress. When the modular robot head needs to release the multi-rotor drone, the two panels on the upper surface of its head are flipped outward and unfolded, that is, the top cover of the robot head is opened, the head space is connected with the outside space, and the multi-rotor drone can directly take off to perform tasks.

[0010] The beneficial effects of the present invention are as follows: the multi-rotor drone is stored and charged through the robot head space, which better ensures the safety of the multi-rotor drone in the robot head, and the drone charging module in the robot head can continuously charge the multi-rotor drone, greatly extending the use time of the multi-rotor drone. The robot body is provided with interfaces for quick plug-in and pull-out of the robot arm on both sides, and the modular robot arm can be quickly disassembled and replaced, so that the robot arm can select different configurations according to specific task requirements. The neck multi-directional adjustment mechanism at the upper end of the robot body is provided with an interface for quick plug-in and pull-out of the robot head, and the modular robot head can be quickly disassembled and replaced, so that the robot head can choose to replace heads of different sizes and shapes according to specific task requirements to carry, store and take off and land different multi-rotor drones. The robot head is connected to the robot body through the neck multi-directional adjustment mechanism, so that the robot head can always keep horizontal, so that the drone in the robot head can take off smoothly. A guide chute is provided in the modular robot head, which can guide the multi-rotor drone to land in the correct position in the robot head and limit its movement. The present invention integrates the robot system with the UAV technology to improve the application of UAVs in more complex environments, thereby enhancing the versatility and adaptability of the system, and bringing new possibilities to the development of robot technology and UAV technology. For example, it provides a new way of battlefield reconnaissance and intelligence collection, and can also quickly deploy UAVs at disaster sites to perform search and rescue missions, or use them for building and infrastructure monitoring, security patrols, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0012] Figure 2 It is a schematic diagram of the robot base of the present invention.

[0013] Figure 3It is a schematic diagram of the multi-directional adjustment mechanism of the robot body and neck of the present invention.

[0014] Figure 4 It is a schematic diagram of the robot arm of the present invention.

[0015] Figure 5 It is a schematic diagram of the robot head structure of the present invention (multi-rotor drone take-off).

[0016] Figure 6 It is a schematic diagram of the robot head structure (multi-rotor drone landing) of the present invention.

[0017] Figure 7 It is a schematic diagram of charging the multi-rotor UAV of the present invention inside the robot head.

[0018] Figure 8 It is a schematic diagram of the left and right covers of the robot head of the present invention being closed. DETAILED DESCRIPTION

[0019] The main parts of the present invention are as follows: 1-1, right crawler; 1-2, left crawler; 1-3, base; 2, robot body; 2-1, robot right arm base; 2-2, robot left arm base; 2-3, robot head base; 7, neck multi-directional adjustment mechanism; 7-4, neck z-axis; 7-5, neck x-axis; 7-6, neck y-axis; 3, robot head; 3-1, robot head right cover; 3-2. Left cover of the robot head; 3-3. Driving mechanism of the right cover of the head; 3-4. Driving mechanism of the left cover of the head; 3-5. A side of the inner slide groove of the head; 3-6. B side of the inner slide groove of the head; 3-7. C side of the inner slide groove of the head; 3-8. D side of the inner slide groove of the head; 3-9. Positive charging electrode in the head; 3-10. Negative charging electrode in the head; 4. Right arm of the robot; 4-1. Right upper arm of the robot; 4-2. Right forearm of the robot; 4-3. Grip A of the right arm of the robot; 4-4. Grip B of the right arm of the robot; 5. Left arm of the robot; 5-1. Left upper arm of the robot; 5-2. Left forearm of the robot; 5-3. Grip of the left arm of the robot; 5-4. Container; 6. Multi-rotor UAV; 6-1. Camera of multi-rotor UAV; 6-2. Positive electrode of the battery of multi-rotor UAV; 6-3. Negative electrode of the battery of multi-rotor UAV.

[0020] 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.

[0021] 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, 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 an indirect connection through an intermediate medium, or it can be a connection between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] The present invention will be further described below by means of specific embodiments. Figure 1 to Figure 8 The present invention comprises a right crawler 1-1, a left crawler 1-2, a base 1-3, a robot body 2, a robot right arm base 2-1, a robot left arm base 2-2, a robot head base 2-3, a neck multi-directional adjustment mechanism 7, a neck z-axis 7-4, a neck x-axis 7-5, a neck y-axis 7-6, a robot head 3, a robot head right cover 3-1, a robot head left cover 3-2, a head right cover driving mechanism 3-3, a head left cover driving mechanism 3-4, a head inner slide groove A surface 3-5, a head inner slide groove B surface 3-6, a head Inner slide groove C surface 3-7, inner slide groove D surface 3-8 of the head, positive charging pole 3-9 in the head, negative charging pole 3-10 in the head, robot right arm 4, robot right upper arm 4-1, robot right forearm 4-2, robot right arm hand grip A 4-3, robot right arm hand grip B 4-4, robot left arm 5, robot left upper arm 5-1, robot left forearm 5-2, robot left arm hand grip 5-3, container 5-4, multi-rotor drone 6, multi-rotor drone camera 6-1, multi-rotor drone battery positive pole 6-2, multi-rotor drone battery negative pole 6-3.

[0023] according to Figure 1 , Figure 2 The right crawler 1-1 and the left crawler 1-2 are respectively installed on both sides of the base 1-3. The right crawler 1-1 and the left crawler 1-2 are both provided with a driving mechanism, which can drive the crawlers to rotate independently clockwise or counterclockwise. The right crawler 1-1 and the left crawler 1-2 move in coordination, so that the robot has the functions of moving forward, backward, turning left, turning right and rotating on the spot.

[0024] according to Figure 1~Figure 4The robot body 2 is fixed on the base 1-3, and the robot right arm base 2-1 and the robot left arm base 2-2 are respectively arranged on the opposite sides of the robot body 2. The robot right arm base 2-1 is fixedly connected to the driving mechanism inside the robot body 2. The right arm base 2-1 can rotate along the axis thereof under the drive of the driving mechanism. The right arm base 2-1 is provided with an interface for quickly plugging and unplugging the modular robot right arm 4 by means of snaps, magnetism, etc. The robot right arm 4 includes a robot right upper arm 4-1, a robot right forearm 4-2, and a robot right arm hand claw 4-3 , the robot right arm hand grasper B 4-4, one end of the robot right upper arm 4-1 is fixedly connected to the robot right arm base 2-1, the other end of the robot right upper arm 4-1 is hinged to one end of the robot right forearm 4-2, a driving mechanism is provided at the hinge, which can drive the robot right forearm 4-2 to abduct or adduct, the other end of the robot right forearm 4-2 is hinged to the robot right arm hand grasper A 4-3 and the robot right arm hand grasper B 4-4, a driving mechanism is provided at the hinge, which can drive the other end of the robot right arm hand grasper A 4-3 and the robot right arm hand grasper B 4-4 to open or close, so as to realize the grasping action of the manipulator hand. The robot left arm base 2-2 is fixedly connected to the driving mechanism inside the robot body 2. The robot left arm base 2-2 can rotate along the axis under the drive of the driving mechanism. The left arm base 2-2 is provided with an interface for quickly plugging and unplugging the modular robot left arm 5 by means of snaps, magnetism, etc. The robot left arm 5 includes a robot left upper arm 5-1, a robot left forearm 5-2, a robot left arm gripper 5-3, and a container 5-4. One end of the robot left upper arm 5-1 is fixedly connected to the robot left arm The base 2-2, the other end of the robot's left upper arm 5-1 is hinged to one end of the robot's left forearm 5-2, and a driving mechanism is provided at the hinge to drive the robot's left forearm 5-2 to abduct or adduct. The other end of the robot's left forearm 5-2 is hinged to the robot's left arm gripper 5-3, and a driving mechanism is provided at the hinge to drive the robot's left arm gripper 5-3 to rotate along the axis of the robot's left forearm 5-2. The robot's left arm gripper 5-3 is connected to a container 5-4, which can realize the container 5-4 to load and pour items.

[0025] according to Figure 1 , Figure 3The robot body 2 is connected to the robot head 3 through a neck multi-directional adjustment mechanism 7, and the neck multi-directional adjustment mechanism 7 includes a neck z-direction axis 7-4, a neck x-direction axis 7-5, and a neck y-direction axis 7-6. A robot head base 2-3 is arranged on the upper part of the robot body 2, and the neck z-direction axis 7-4 passes through the robot head base 2-3 and is fixed to the driving mechanism inside the robot body 2. The neck z-direction axis 7-4 can rotate along its axis under the drive of the driving mechanism. The neck z-direction axis 7-4 is hinged with the neck x-direction axis 7-5, and a driving mechanism is arranged at the hinge to drive the neck x-direction axis 7-5 to rotate perpendicular to the rotation axis of the neck z-direction axis 7-4, and the neck y-direction axis 7-6 is connected to the neck x-direction axis 7-5 is hinged, and a driving mechanism is provided at the hinge, which can drive the neck y-axis 7-6 to rotate perpendicular to the rotation axis of the neck x-axis 7-5 and the rotation axis of the neck z-axis 7-4. The rotation axes of the neck z-axis 7-4, the neck x-axis 7-5 and the neck y-axis 7-6 are perpendicular to each other. The neck y-axis 7-6 is provided with an interface for quickly plugging and unplugging the modular robot head 3 by means of snaps, magnetism, etc. The neck y-axis 7-6 is connected to the robot head 3 through a quick plug-in interface. No matter what inclined plane the robot is placed on, through the coordinated adjustment of the neck z-axis 7-4, the neck x-axis 7-5 and the neck y-axis 7-6, the robot head 3 can always be in a horizontal position without tilting.

[0026] like Figure 1 , Figure 5~Figure 8The internal space of the robot head 3 is used for storing and taking off and landing the multi-rotor drone 6. The robot head 3 includes a right cover plate 3-1 of the robot head, a left cover plate 3-2 of the robot head, a right cover plate driving mechanism 3-3 of the head, a left cover plate driving mechanism 3-4 of the head, a head inner slide groove A surface 3-5, a head inner slide groove B surface 3-6, a head inner slide groove C surface 3-7, a head inner slide groove D surface 3-8, a head inner charging positive electrode 3-9, and a head inner charging negative electrode 3-10. The right cover plate 3-1 of the robot head is hinged to the right position of the upper surface of the robot head 3, and a driving mechanism is arranged at the hinge. The left cover plate 3-2 of the robot head -2 is hinged to the left side of the upper surface of the robot head 3, and a driving mechanism is provided at the hinge. The right cover plate 3-1 and the left cover plate 3-2 of the robot head are opened and closed in a split manner. The right cover plate 3-1 and the left cover plate 3-2 of the robot head are opened outward at the same time by the driving mechanism. At this time, the robot head space is connected with the external space, and the multi-rotor UAV 6 can take off or land. The right cover plate 3-1 and the left cover plate 3-2 of the robot head are closed inward at the same time by the driving mechanism. At this time, the robot head space is isolated from the external space, and the multi-rotor UAV 6 is effectively protected inside the robot head. The robot head 3 is provided with four inclined surfaces, and the four inclined surfaces of the head inner slide groove A surface 3-5, the head inner slide groove B surface 3-6, the head inner slide groove C surface 3-7 and the head inner slide groove D surface 3-8 together form a funnel-shaped space structure that is wide at the top and narrow at the bottom. When the multi-rotor UAV 6 lands in the robot head 3, the funnel structure composed of the head inner slide groove A surface 3-5, the head inner slide groove B surface 3-6, the head inner slide groove C surface 3-7 and the head inner slide groove D surface 3-8 can hold the multi-rotor UAV 6 is guided to the bottom of the robot head 3, and the multi-rotor drone 6 is constrained to be fixed at a specified position in the robot head 3 to prevent the robot from shifting due to vibration or shaking during movement. Under the action of gravity, the multi-rotor drone 6 has the positive electrode 6-2 of the multi-rotor drone battery contact and conduct with the positive charging electrode 3-9 in the head, and the negative electrode 6-3 of the multi-rotor drone battery contact and conduct with the negative charging electrode 3-10 in the head, so that the robot can use its own power supply to charge the multi-rotor drone 6.

[0027] The above are preferred embodiments of the present invention. Ordinary technicians in this field can also make various changes or improvements on this basis, such as changing the robot head to a circular or cylindrical shape, designing a polygonal funnel or a conical funnel inside the robot head, etc. Without departing from the overall concept of the present invention, these changes or improvements should fall within the scope of protection required by the present invention.

Claims

1. A multifunctional modular robot capable of carrying a multi-rotor drone, characterized in that: It includes a right track, a left track, a base, a robot body, a robot right arm base, a robot left arm base, a robot head base, a neck z-axis, a neck x-axis, a neck y-axis, a robot head, a robot head right cover, a robot head left cover, a head right cover driving mechanism, a head left cover driving mechanism, a head inner slide groove A surface, a head inner slide groove B surface, a head inner slide groove C surface, a head inner slide groove D surface, a head inner charging positive electrode, a head inner charging negative electrode, a robot right arm, a robot right upper arm, a robot right forearm, a robot right arm hand grip A, a robot right arm hand grip B, a robot left arm, a robot left upper arm, a robot left forearm, a robot left arm hand grip, a container, a multi-rotor UAV, a multi-rotor UAV camera, a multi-rotor UAV battery positive electrode, and a multi-rotor UAV battery negative electrode. The right track and the left track are respectively installed on both sides of the base, and the right track and the left track are both provided with a driving mechanism, which can drive the track to rotate independently clockwise or counterclockwise.

2. The multifunctional modular robot capable of carrying a multi-rotor drone according to claim 1, characterized in that: The robot body is fixed on the base, and a robot right arm base and a robot left arm base are respectively arranged on opposite sides of the robot body, the robot right arm base is fixedly connected to the driving mechanism inside the robot body, and the right arm base can rotate along the axis thereof under the drive of the driving mechanism, and the right arm base is provided with an interface for quickly plugging and unplugging the modular robot right arm by means of snaps, magnetism, etc., the robot right arm comprises a robot right upper arm, a robot right forearm, a robot right arm hand gripper A, and a robot right arm hand gripper B, one end of the robot right upper arm is fixedly connected to the robot right arm base, the other end of the robot right upper arm is hinged to one end of the robot right forearm, a driving mechanism is arranged at the hinge, which can drive the robot right forearm to abduct or adduct, the other end of the robot right forearm is hinged to the robot right arm hand gripper A and the robot right arm hand gripper B, and a driving mechanism is arranged at the hinge, which can drive the machine The other ends of the robot's right arm hand grip A and the robot's right arm hand grip B are open or closed, the robot's left arm base is fixedly connected to the driving mechanism inside the robot body, and the robot's left arm base can rotate along the axis under the drive of the driving mechanism, and the left arm base is provided with an interface that can quickly plug and unplug the modular robot's left arm by snaps, magnetism, etc. The robot's left arm includes a robot's left upper arm, a robot's left forearm, a robot's left arm hand grip, and a container, one end of the robot's left upper arm is fixedly connected to the robot's left arm base, the other end of the robot's left upper arm is hinged to one end of the robot's left forearm, a driving mechanism is provided at the hinge, which can drive the robot's left forearm to abduct or adduct, the other end of the robot's left forearm is hinged to the robot's left arm hand grip, and a driving mechanism is provided at the hinge, which can drive the robot's left arm hand grip to rotate along the robot's left forearm axis, and the robot's left arm hand grip is connected to a container.

3. The multifunctional modular robot capable of carrying a multi-rotor drone according to claim 1, characterized in that: The robot body is connected to the robot head through a neck multi-directional adjustment mechanism, the neck multi-directional adjustment mechanism includes a neck z-axis, a neck x-axis, and a neck y-axis, a robot head base is arranged on the upper part of the robot body, the neck z-axis passes through the robot head base and is fixed to a driving mechanism inside the robot body, the neck z-axis can rotate along its axis under the drive of the driving mechanism, the neck z-axis is hinged with the neck x-axis, a driving mechanism is arranged at the hinge, which can drive the neck x-axis to rotate perpendicular to the rotation axis of the neck z-axis, the neck y-axis is hinged with the neck x-axis, A driving mechanism is provided at the hinge, which can drive the neck y-axis to rotate perpendicular to the rotation axis of the neck x-axis and the rotation axis of the neck z-axis at the same time. The rotation axes of the neck z-axis, neck x-axis and neck y-axis are perpendicular to each other. The neck y-axis is provided with an interface for quickly plugging and unplugging the modular robot head by means of snaps, magnetism, etc. The neck y-axis is connected to the robot head through a quick plug-in interface. No matter what inclined plane the robot is placed on, the robot head can always be in a horizontal position without tilting through the coordinated adjustment of the neck z-axis, neck x-axis and neck y-axis.

4. The multifunctional modular robot capable of carrying a multi-rotor drone according to claim 1, characterized in that: The internal space of the robot head is used for storing and taking off and landing multi-rotor drones. The robot head includes a right cover plate of the robot head, a left cover plate of the robot head, a right cover plate driving mechanism of the head, a left cover plate driving mechanism of the head, an inner inclined surface of the head, a positive charging electrode inside the head, and a negative charging electrode inside the head. The right cover plate of the robot head is hinged to the right position of the upper surface of the robot head, and a driving mechanism is arranged at the hinge. The left cover plate of the robot head is hinged to the left position of the upper surface of the robot head, and a driving mechanism is arranged at the hinge. The right cover plate of the robot head and the left cover plate of the robot head are opened and closed in a split manner. The right cover plate of the robot head and the left cover plate of the robot head are opened outward at the same time by the driving mechanism. At this time, the space of the robot head is connected with the external space. The right cover plate of the head and the left cover plate of the robot head are closed inward at the same time by the driving mechanism. At this time, the space of the robot head is isolated from the outside space. An inclined surface is arranged inside the robot head. The inclined surfaces inside the head together form a funnel-shaped space structure which is wide at the top and narrow at the bottom. When the multi-rotor drone lands in the robot head, the funnel structure can guide the multi-rotor drone to the bottom of the robot head and constrain the multi-rotor drone to be fixed at a designated position in the robot head. Under the action of gravity, the positive electrode of the multi-rotor drone battery is in contact with the positive charging electrode in the head, and the negative electrode of the multi-rotor drone battery is in contact with the negative charging electrode in the head, so that the robot can use its own power supply to charge the multi-rotor drone.

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