Automatic leveling equipment and automatic leveling method for nest of unmanned aerial vehicle

Abstract

The invention provides an automatic leveling device and an automatic leveling method for an unmanned aerial vehicle nest, and is applied to the technical field of unmanned aerial vehicles. Running to a target stagnation waiting point to determine a terrain position and ground quality; adjusting the horizontal position and the vertical position of the whole nest according to the ground quality; a sinking threshold value of the overall stagnation mass of the nest and the unmanned aerial vehicle is preset; the final integral horizontal position and vertical position of the nest are obtained; through the automatic leveling device and method, the overall horizontal position and the vertical position of the nest can be automatically adjusted according to the terrain position and the ground quality, it is ensured that the nest stably stops on the ground, and the stopping stability of the unmanned aerial vehicle is improved; through cooperation of the supporting and guiding assembly and the geocentric leveling assembly, the nest can achieve accurate guiding and balance adjustment of the unmanned aerial vehicle, the situation that the unmanned aerial vehicle slides down and is damaged under the condition that the ground is not flat enough or the supporting stability is poor is avoided, and the safety of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to an automatic leveling device and an automatic leveling method for a drone nest. Background Art

[0002] Unmanned aerial vehicle (UAV) is an unmanned aircraft controlled by radio remote control equipment and self-contained program control devices, or operated completely or intermittently autonomously by an onboard computer.

[0003] Compared with manned aircraft, drones are often more suitable for tasks that are too "dull, dirty or dangerous". Drones can be divided into military and civilian applications according to their application areas. In the military, drones are divided into reconnaissance aircraft and target aircraft. In the civilian field, drones + industry applications are the real rigid demand for drones; their applications in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspections, disaster relief, film and television shooting, creating romance, etc. have greatly expanded the use of drones themselves. Developed countries are also actively expanding industry applications and developing drone technology;

[0004] The drone nest is a platform or "safety hut" that enables the automatic take-off and landing of drones. It can also automatically charge and replace batteries for drones. However, the drone nest needs to be on a flat ground to ensure the smooth landing, take-off and battery replacement of the drone. In order to adapt to different venues, a device that can adjust the horizontal position of the drone nest is needed;

[0005] However, when the drone nest is used with a drone in a wide area where the signal and power supply are poor and inconvenient, the drone nest acts as a buffer device for the drone to rest and charge. However, when the drone nest is used to pick up and stop a drone, it is difficult for the drone to follow the drone nest and stop inside the nest because the ground is not flat enough or the support stability is poor. Because the nest is not flat enough, the drone cannot be stuck in the nest, and when it is severely tilted, the drone may slip and be damaged. Summary of the invention

[0006] The present application aims to solve the technical problem that a drone nest cooperates with a drone in a wide area where the signal and power transmission are poor and inconvenient, and the drone nest acts as a buffer device for the drone to rest and stop for charging. However, when the drone nest picks up and stops the drone, it is difficult for the drone to follow the drone nest and stop in the nest because the ground is not flat enough or the support stability is poor. The drone cannot be stuck in the nest because the nest is not flat enough, and when it is severely tilted, it may cause the drone to slide and be damaged. Provided are an automatic leveling device and an automatic leveling method for a drone nest.

[0007] This application adopts the following technical means to solve the technical problem: an automatic leveling device and automatic leveling method for a drone nest,

[0008] An automatic leveling device and automatic leveling method for a drone nest, the device comprising:

[0009] A machine nest body, the machine nest body comprising a shell, a machine platform, a built-in processor, a first upper cover and a second upper cover, the machine platform is arranged inside the shell, the built-in processor is arranged in the machine platform, the first upper cover and the second upper cover are arranged above the shell, and the first upper cover and the second upper cover are closed or opened with the shell to form a cavity;

[0010] A support and guide assembly, the support and guide assembly comprising a plurality of support legs, a cylinder and a buffer rod; the plurality of support legs are arranged below the shell, the plurality of cylinders are adapted to the support legs, and the buffer rod is arranged between the support legs and the cylinders;

[0011] The geocentric leveling component includes a gyroscope, a pressure sensor and a density sensor; the gyroscope, the pressure sensor and the density sensor are all arranged on the supporting tripod and connected to the built-in processor.

[0012] Furthermore, the plurality of cylinders is the same in number as the supporting legs and are connected to each other.

[0013] Furthermore, it also includes a limiting component, which is arranged between the cylinder and the supporting leg.

[0014] An automatic leveling device and an automatic leveling method for a drone nest, the method comprising:

[0015] The machine nest determines the waiting point according to the UAV's cruising route;

[0016] Run to the target holding point to determine the terrain location and ground quality;

[0017] Adjust the overall horizontal and vertical position of the machine nest according to the ground quality;

[0018] Preset the sinking threshold of the overall mass of the machine nest and the drone;

[0019] The final overall horizontal and vertical positions of the machine nest are obtained.

[0020] Furthermore, in the step of determining the waiting point according to the cruise route of the UAV,

[0021] According to the cruising route radius of the UAV, multiple dimensions are recorded and weighted to obtain the corresponding waiting point, and finally the final waiting point is determined through algorithm evaluation.

[0022] Furthermore, in the step of running to the target holding point to determine the terrain position and ground quality,

[0023] After running to the final waiting point, the drone will send instructions to determine the waiting point and the altitude and coordinates of the waiting point, and the drone will receive the position and calculate the best return route.

[0024] Further, after the step of running to the target holding point to determine the terrain position and ground quality,

[0025] The pressure sensor and the density sensor extend into the final stagnation point to determine the pressure ratio and the density ratio.

[0026] Further, in the step of presetting the sinking threshold of the overall mass of the nest and the drone,

[0027] When the budget drone is docked in the nest, will the combined weight of the two affect the sinking of the nest, and what is the approximate sinking threshold?

[0028] Further, after the step of obtaining the final overall horizontal position and vertical position of the nest,

[0029] The machine nest adjusts the support and guidance components so that the machine nest can accommodate the drone as the ground is uneven or difficult to support. Before the drone docks, the machine nest adjusts the horizontal surface of the platform through the support and guidance components to receive the drone. The drone will continue to apply pressure to the ground during the guidance process, and the algorithm is used to determine the lifting time and corresponding lifting acceleration of the support tripod to maintain the balance of the drone during the contact process.

[0030] The present application provides an automatic leveling device and an automatic leveling method for a drone nest, which have the following beneficial effects:

[0031] Through automatic leveling equipment and methods, the drone nest can automatically adjust the overall horizontal and vertical positions according to the terrain position and ground quality, ensuring that the drone nest stops smoothly on the ground and improving the docking stability of the drone;

[0032] Through the cooperation of the support and guidance components and the geocentric leveling components, the machine nest can accurately guide and balance the drone, preventing the drone from sliding and being damaged when the ground is not flat enough or the support stability is poor, thus improving the safety of the drone.

[0033] As a buffer device for drones, the drone nest can provide a place for drones to rest, stop and charge. Through automatic leveling equipment and methods, the nest can automatically adjust its position to ensure that the drone can dock smoothly in the nest, thereby improving the charging efficiency of the drone.

[0034] Adapt to complex environments: The automatic leveling equipment and method of the drone nest can adapt to relatively wide environments with inconvenient signal and power transmission. Through the built-in processor and sensor, the position of the nest can be automatically adjusted, which improves the adaptability of the nest in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a flow chart of an embodiment of the automatic leveling device and automatic leveling method of the drone nest of the present application.

[0036] The implementation, functional features and advantages of the present application will be further described in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0037] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] It should be noted that the terms "include", "comprises" and "have" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. In the claims, specification and drawings of the present application, relational terms such as "first" and "second" are merely used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects.

[0040] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0041] Reference Figure 1, is a flow chart of an automatic leveling device and an automatic leveling method for a drone nest in one embodiment of the present application;

[0042] Embodiment 1

[0043] An automatic leveling device and automatic leveling method for a drone nest, characterized in that the device comprises:

[0044] A machine nest body, the machine nest body comprising a shell, a machine platform, a built-in processor, a first upper cover and a second upper cover, the machine platform is arranged inside the shell, the built-in processor is arranged in the machine platform, the first upper cover and the second upper cover are arranged above the shell, and the first upper cover and the second upper cover are closed or opened with the shell to form a cavity;

[0045] A support and guide assembly, the support and guide assembly comprising a plurality of support legs, a cylinder and a buffer rod; the plurality of support legs are arranged below the shell, the plurality of cylinders are adapted to the support legs, and the buffer rod is arranged between the support legs and the cylinders;

[0046] The geocentric leveling component includes a gyroscope, a pressure sensor and a density sensor; the gyroscope, the pressure sensor and the density sensor are all arranged on the supporting tripod and connected to the built-in processor.

[0047] In this embodiment, the plurality of cylinders is the same in number as the supporting legs and are connected to each other.

[0048] In this embodiment, a limiting component is also included, and the limiting component is arranged between the cylinder and the supporting leg.

[0049] Specifically,

[0050] After the drone successfully completes the mission, it sends a mission completion signal to the machine nest through the built-in processor;

[0051] After receiving the mission completion signal, the drone needs to automatically land back to the nest;

[0052] The built-in processor detects the tilt angle and direction of the ground through the tilt sensor;

[0053] According to the data from the tilt sensor, the built-in processor activates the geocentric leveling component to adjust the tilt angle and horizontal position of the machine nest so that the machine nest can be balanced on the inclined ground;

[0054] At the same time, the built-in processor activates the support and guidance components, and multiple support legs begin to extend and retract. Through the coordinated work of the cylinders, the support legs adjust the height and horizontal position of the machine nest to ensure that the machine nest is stably docked on the inclined ground;

[0055] During the leveling process, the limit assembly limits the movement range of the cylinder and the support bracket to ensure that the leveling process of the machine nest is safe and reliable;

[0056] When the machine nest is adjusted to a suitable position and angle, the support and guiding assembly and the geocentric leveling assembly stop moving, and the machine nest is stably docked on the inclined ground.

[0057] An automatic leveling device and an automatic leveling method for a drone nest, the method comprising:

[0058] The machine nest determines the waiting point according to the UAV's cruising route;

[0059] Run to the target holding point to determine the terrain location and ground quality;

[0060] Adjust the overall horizontal and vertical position of the machine nest according to the ground quality;

[0061] Preset the sinking threshold of the overall mass of the machine nest and the drone;

[0062] The final overall horizontal and vertical positions of the machine nest are obtained.

[0063] In this embodiment, in the step of determining the waiting point according to the cruise route of the UAV,

[0064] According to the cruising route radius of the UAV, multiple dimensions are recorded and weighted to obtain the corresponding waiting point, and finally the final waiting point is determined through algorithm evaluation.

[0065] Specifically, in the step of determining the waiting point according to the UAV cruise route, the following dimensions and weight ratios can be considered to determine the final waiting point:

[0066] Terrain height: According to the altitude data, the terrain height is divided into several levels, such as high, medium and low. According to the terrain height within the cruising route radius of the drone, different levels are given weight ratios to ensure that the waiting point suitable for the drone is selected;

[0067] Ground temperature and humidity: The ground temperature and humidity data are collected through sensors and divided into several levels, such as dry, moderate, and humid. According to the ground temperature and humidity within the cruising route radius of the drone, different levels of weight ratios are given to ensure that the waiting point suitable for the drone is selected;

[0068] Drone return power saving: According to the drone's battery capacity and estimated mission time, calculate the remaining power of the drone during the cruise process, quantify the remaining power, such as high, medium and low levels, and give weight ratios according to different power levels to ensure that the standby point that can meet the drone's return power saving needs is selected;

[0069] Obstacle avoidance capability: Based on the obstacle avoidance sensor data of the drone, the density and position of obstacles within the radius of the cruising route are evaluated, and the obstacle avoidance capability is quantified into three levels, such as high, medium, and low. Weight ratios are given according to different obstacle avoidance capability levels to ensure that a waiting point that can safely avoid obstacles is selected;

[0070] For example:

[0071] Used to determine the waiting point according to the UAV cruise route:

[0072] Weight ratio of terrain height:

[0073] High terrain: weight ratio is 0.8

[0074] Medium terrain: weight ratio is 0.5

[0075] Low terrain: weight ratio is 0.3

[0076] Ground temperature and humidity weight ratio:

[0077] Dry: Weight ratio is 0.3

[0078] Moderate: weight ratio is 0.5

[0079] Wet: Weight ratio is 0.8

[0080] Drone return power saving weight ratio:

[0081] High power: weight ratio is 0.8

[0082] China Electricity: Weight ratio is 0.5

[0083] Low battery: weight ratio is 0.3

[0084] Obstacle avoidance ability weight ratio:

[0085] High obstacle avoidance capability: weight ratio is 0.8

[0086] Medium obstacle avoidance capability: weight ratio is 0.5

[0087] Low obstacle avoidance capability: weight ratio is 0.3

[0088] According to the above weight ratio, each dimension can be evaluated and quantified according to the data within the radius of the cruise route to obtain the corresponding value. Then, a weighted calculation is performed according to the algorithm to obtain the comprehensive score of each waiting point. Finally, the waiting point with the highest score is selected as the final choice.

[0089] For example, assuming that at a certain waiting point, the terrain height is medium terrain (0.5 weight ratio), the ground temperature and humidity are dry (0.3 weight ratio), the drone return power saving is medium power (0.5 weight ratio), and the obstacle avoidance capability is high obstacle avoidance capability (0.8 weight ratio), after weighted calculation, the comprehensive score of the waiting point is:

[0090] (0.5*0.5)+(0.3*0.3)+(0.5*0.5)+(0.8*0.8)=0.25+0.09+0.25+0.64=1.23

[0091] According to the algorithm evaluation, the comprehensive score of this waiting point is the highest, so it is selected as the final waiting point;

[0092] Through the comprehensive evaluation of algorithms and specific values, the most suitable waiting point for the UAV cruising route can be intuitively determined. In this way, the UAV can select the optimal waiting point based on different dimensions to improve the efficiency and safety of mission execution.

[0093] By comprehensively considering the above dimensions and weight ratios, an algorithm can be used to evaluate and sort the waiting points and select the waiting point that is most suitable for the drone. The algorithm can perform weighted calculations on the waiting points according to different weight ratios and evaluation criteria to obtain the final waiting point. In this way, the drone can select the most appropriate waiting point based on the cruising route and multiple dimensions of data-based evaluation, thereby improving the efficiency and safety of mission execution.

[0094] In this embodiment, in the step of running to the target waiting point to determine the terrain position and ground quality,

[0095] After running to the final waiting point, the drone will send instructions to determine the waiting point and the altitude and coordinates of the waiting point, and the drone will receive the position and calculate the best return route.

[0096] After the step of running to the target holding point to determine the terrain position and ground quality,

[0097] The pressure sensor and the density sensor extend into the final stagnation point to determine the pressure ratio and the density ratio.

[0098] An example of a specific scenario:

[0099] The drone cruised to the target holding point, which was located in a mountainous area;

[0100] After reaching the final waiting point, the UAV delivery command determines the waiting point and the altitude and coordinates of the waiting point:

[0101] The drone receives the command and determines the location and coordinates of the final waiting point;

[0102] The drone determines the current altitude through the GPS positioning system;

[0103] The pressure sensor and density sensor extend into the final stagnation point to determine the pressure ratio and density ratio:

[0104] The drone is equipped with pressure and density sensors;

[0105] The drone extends the sensor into the final holding point to obtain the underground pressure ratio and density ratio data;

[0106] Specific data scenario example: Assume that the mountainous area is a mining area, and the waiting point is located in an area where mineral deposits may exist; after the drone arrives at the waiting point, it determines the coordinates of the point as longitude: 30.1234, latitude: 40.5678 according to the command, and determines the altitude of the point as 1000 meters through the GPS positioning system;

[0107] To further assess the underground conditions at the stagnation point, the drone was equipped with a pressure sensor and a density sensor. The drone extended the sensors underground and obtained the following data:

[0108] Pressure ratio: According to the data measured by the pressure sensor, the pressure ratio of this point is 0.85, which means that there may be a certain underground pressure under the waiting point;

[0109] Density ratio: According to the data measured by the density sensor, the density ratio of this point is 1.2, which means that the density of the underground material is slightly higher than that of the surrounding environment;

[0110] Based on the above data-based scenario description, the pressure and density ratio data of the underground stagnation point can be obtained through the pressure sensors and density sensors equipped by the drone; these data can be further used to evaluate the underground geological conditions of the stagnation point, thereby providing more reference for decision-making; for example, if the pressure ratio and density are relatively high, it may mean that there are underground resources or the rock formation is poorly stable at this point, and further exploration and risk assessment are needed;

[0111] In this embodiment, in the step of presetting the sinking threshold of the overall mass of the nest and the drone,

[0112] When the budget drone is docked in the nest, will the combined weight of the two affect the sinking of the nest, and what is the approximate sinking threshold?

[0113] After the step of obtaining the final overall horizontal and vertical positions of the nest,

[0114] The machine nest adjusts the support and guidance components so that the machine nest can adjust the horizontal surface of the platform to receive the drone as the ground is uneven or difficult to support. Before the drone docks, the machine nest uses the support and guidance components to level the horizontal surface of the platform to receive the drone. The drone will continue to apply pressure to the ground during the guidance process. The algorithm determines the lifting time and corresponding lifting acceleration of the support tripod to keep the drone balanced during the contact process.

[0115] Specifically, after obtaining the final overall horizontal and vertical positions of the machine nest, the machine nest needs to adjust the support and guidance components to adapt to the uneven ground or the situation where it is difficult to support the weight of the machine nest; before the drone docks, the machine nest uses the support and guidance components to level the horizontal surface of the platform to receive the drone;

[0116] During the contact process, the drone will continue to apply pressure to the ground; an algorithm is used to determine the lifting time and corresponding lifting acceleration of the supporting tripod to keep the drone balanced during contact;

[0117] Example:

[0118] Scenario description:

[0119] The drone is a large cargo transport drone weighing about 500kg;

[0120] The machine nest is made of steel material, and after reasonable design and engineering calculation, it can withstand a maximum load of 1000kg;

[0121] Digital information:

[0122] When the drone is docked in the nest, the combined weight of the two is 500kg+500kg=1000kg;

[0123] The design load range of the machine nest is 1000kg, so the combined weight of the two will not exceed the load-bearing capacity of the machine nest;

[0124] Sinking threshold:

[0125] According to the design and engineering requirements of the machine nest, the threshold of the machine nest sinking can be set at 10mm;

[0126] If the nest sinks more than 10mm, it may affect the structural integrity and stability of the nest;

[0127] It should be noted that the above data and sinking thresholds are only examples and the actual situation may be different. In actual applications, the threshold for sinking of the engine nest should be determined based on the specific engine nest design and engineering requirements, as well as safety standards.

[0128] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0130] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0132] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An automatic leveling device and automatic leveling method for a drone nest, characterized in that: The device comprises: A machine nest body, the machine nest body comprising a shell, a machine platform, a built-in processor, a first upper cover and a second upper cover, the machine platform is arranged inside the shell, the built-in processor is arranged in the machine platform, the first upper cover and the second upper cover are arranged above the shell, and the first upper cover and the second upper cover are closed or opened with the shell to form a cavity; A support and guide assembly, the support and guide assembly comprising a plurality of support legs, a cylinder and a buffer rod; the plurality of support legs are arranged below the shell, the plurality of cylinders are adapted to the support legs, and the buffer rod is arranged between the support legs and the cylinders; The geocentric leveling component includes a gyroscope, a pressure sensor and a density sensor; the gyroscope, the pressure sensor and the density sensor are all arranged on the supporting tripod and connected to the built-in processor.

2. The automatic leveling device and automatic leveling method of the drone nest according to claim 1, characterized in that: The plurality of cylinders is the same in number as the supporting legs and are connected to each other.

3. The automatic leveling device and automatic leveling method of the drone nest according to claim 1, characterized in that: It also includes a limiting component, which is arranged between the cylinder and the supporting leg.

4. An automatic leveling device and automatic leveling method for a drone nest, characterized in that: The method comprises: The machine nest determines the waiting point according to the UAV's cruising route; Run to the target holding point to determine the terrain location and ground quality; Adjust the overall horizontal and vertical position of the machine nest according to the ground quality; Preset the sinking threshold of the overall mass of the machine nest and the drone; The final overall horizontal and vertical positions of the machine nest are obtained.

5. The automatic leveling device and automatic leveling method of the drone nest according to claim 4, characterized in that: In the step of determining the waiting point according to the cruise route of the UAV, According to the cruising route radius of the UAV, multiple dimensions are recorded and weighted to obtain the corresponding waiting point, and finally the final waiting point is determined through algorithm evaluation.

6. The automatic leveling device and automatic leveling method of the drone nest according to claim 1, characterized in that: In the step of running to the target holding point to determine the terrain position and ground quality, After running to the final waiting point, the drone will send instructions to determine the waiting point and the altitude and coordinates of the waiting point, and the drone will receive the position and calculate the best return route.

7. The automatic leveling device and automatic leveling method of the drone nest according to claim 4, characterized in that: After the step of running to the target holding point to determine the terrain position and ground quality, The pressure sensor and the density sensor extend into the final stagnation point to determine the pressure ratio and the density ratio.

8. The automatic leveling device and automatic leveling method of the drone nest according to claim 4, characterized in that: In the step of presetting the sinking threshold of the overall mass of the nest and the drone, When the budget drone is docked in the nest, will the combined weight of the two affect the sinking of the nest, and what is the approximate sinking threshold? 9. The automatic leveling device and automatic leveling method of the drone nest according to claim 4, characterized in that: After the step of obtaining the final overall horizontal and vertical positions of the nest, The machine nest adjusts the support and guidance components so that the machine nest can accommodate the drone as the ground is uneven or difficult to support. Before the drone docks, the machine nest adjusts the horizontal surface of the platform through the support and guidance components to receive the drone. The drone will continue to apply pressure to the ground during the guidance process, and the algorithm is used to determine the lifting time and corresponding lifting acceleration of the support tripod to maintain the balance of the drone during the contact process.

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