Unmanned aerial vehicle automatic take-off and landing battery replacement base station device and battery replacement method

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle automatic take-off and landing battery replacement base station device and a battery replacement method. The device is characterized in that an identification heating plate is arranged at the top of a base station frame, and a lifting mechanism used for controlling an unmanned aerial vehicle battery to ascend or descend is arranged in the base station frame; a positioning base matched with an optical flow positioning camera of the unmanned aerial vehicle is mounted on the identification heating plate, and a thermal imaging camera matched with the identification heating plate is mounted on the unmanned aerial vehicle; the lifting mechanism is connected with a dismounting assembly used for dismounting or mounting an unmanned aerial vehicle battery. A translation mechanism for connecting the unmanned aerial vehicle battery on the lifting mechanism with the charging module is arranged in the base station frame; and a fastening mechanism for moving the unmanned aerial vehicle to a preset position on the identification heating plate is arranged in the base station frame and on the identification heating plate. The problems that the cruising ability of the unmanned aerial vehicle is limited and the labor cost is increased due to the fact that an existing unmanned aerial vehicle cannot accurately achieve automatic rising, falling, battery replacement and charging operation are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a base station device for automatic take-off and landing of unmanned aerial vehicles and a battery replacement method. Background Art

[0002] Drones are often used outdoors for filming, measuring or reconnaissance. Field drones often require remote control. Sign recognition base stations are rarely used due to their high cost. Existing sign recognition base stations are mostly used for navigation planning or data transmission, which are not very helpful for drone battery life. The battery life of drones is also one of their important performance indicators. The limitation of battery size makes it impossible for drone battery life to break through the bottleneck. Therefore, considering automatic battery replacement is the best way to increase battery life. Summary of the invention

[0003] The present invention proposes a battery replacement base station device and a battery replacement method for automatic take-off and landing of unmanned aerial vehicles, so as to solve the problem that the existing unmanned aerial vehicles are unable to accurately realize automatic take-off, landing, battery replacement and charging operations, resulting in limited endurance of the unmanned aerial vehicles and increased labor costs.

[0004] According to one aspect of the present invention, there is provided a base station device for automatic take-off and landing of a drone and battery replacement, comprising: a base station frame;

[0005] A marking heating plate is provided on the top of the base station frame, and a lifting mechanism for controlling the rise or fall of the drone battery is provided inside the base station frame, and the position of the lifting mechanism corresponds to the position of the battery replacement port on the marking heating plate;

[0006] The marking heating plate is provided with a positioning base matched with an optical flow positioning camera of a drone, and the drone is provided with a thermal imaging camera matched with the marking heating plate;

[0007] The lifting mechanism is connected to a disassembly and assembly component for disassembling or installing a battery of the drone;

[0008] A translation mechanism for connecting the drone battery on the lifting mechanism to the charging module is provided in the base station frame;

[0009] A locking mechanism for moving the drone to a predetermined position on the identification heating plate is provided in the base station frame and on the identification heating plate;

[0010] The lifting mechanism, disassembly and assembly components, translation mechanism and imprisonment mechanism are connected to a control center for controlling the start or shut down of the same.

[0011] Preferably, the lifting mechanism comprises: a first driving assembly, a first screw rod and a battery tray;

[0012] The top end of the first screw rod is connected to the battery tray, and the bottom end is connected to the first drive assembly, and the first drive assembly is connected to the control center;

[0013] The control center drives the first screw rod to move up and down through the first driving assembly, thereby driving the battery tray upward through the battery exchange port to move under the drone battery, and / or driving the battery tray downward to the translation mechanism.

[0014] Preferably, the disassembly and assembly components include: a combined installation box;

[0015] The combined installation box is connected to the lifting mechanism, a worm is arranged inside the combined installation box, and one end of the worm is connected to the servo reduction motor;

[0016] The worm is respectively meshed with two worm wheels, the tops of the two worm wheels are respectively connected with gear columns, the sides of the two gear columns are meshed with corresponding flat gears, the flat gears are connected to the bottom ends of the corresponding screw shafts, and the top ends of the screw shafts pass through the threaded sleeves at the tops of the combined mounting box;

[0017] The top end of the screw shaft is provided with a cross tooth matching the cross groove on the drone mounting screw, and the positions of the two screw shafts correspond to the positions of the screws for mounting the battery on the drone.

[0018] Preferably, it also includes: an elastic magnetic head assembly;

[0019] An elastic magnetic head assembly is provided between the top end of the screw shaft and the cross tooth, and the elastic magnetic head assembly is used to allow a certain elastic space between the cross tooth and the screw shaft when the cross tooth is connected to the screw shaft;

[0020] And / or, the elastic magnetic head assembly includes: a magnetic suction cap and a compression spring;

[0021] A resistance column is arranged on the side wall of the screw shaft near the top end, and a through-slide groove corresponding to the position of the resistance column is arranged on the side wall of the magnetic cap, and the two ends of the through-slide groove are respectively close to the top and the bottom of the magnetic cap, the magnetic cap is sleeved on the top end of the screw shaft, and the resistance column is located inside the through-slide groove;

[0022] The compression spring is arranged between the magnetic cap and the top end of the screw shaft.

[0023] Preferably, the translation mechanism comprises: the translation mechanism comprises: a first battery bracket, a first charging plate and a second driving assembly;

[0024] A side of the first battery bracket close to the first charging plate is connected to one end of a positioning rod, the other end of the positioning rod passes through the first charging plate, the other side of the first battery bracket is connected to one end of a second screw rod, and the other end of the second screw rod is connected to the second driving assembly;

[0025] The top of the first battery bracket is provided with a lap ear groove matching with the ear on the side wall of the drone battery, the first battery bracket corresponds to the position of the lifting mechanism, and the position of the first battery bracket is below the battery replacement port;

[0026] The first charging plate is provided with a plug corresponding to the charging hole on the drone battery;

[0027] and / or, further comprising: a second battery tray and a second charging plate;

[0028] The second screw rod passes through the second charging plate, and one end of the second screw rod away from the second driving motor is connected to the second battery bracket, and the second battery bracket is connected to the first battery bracket.

[0029] Preferably, the locking mechanism comprises: an end contact plate, a side lock push plate and a push rod mechanism;

[0030] A transverse restraining slide and a longitudinal restraining slide are provided on the identification heating plate, wherein the transverse restraining slide is located below the power exchange port, and the longitudinal restraining slides are respectively located on both sides of the power exchange port, and one end of the transverse restraining slide and the longitudinal restraining slide is facing the power exchange port, and the other end is facing away from the power exchange port;

[0031] The end contact plate is located above the transverse locking slideway, and the side locking push plate is located above the longitudinal locking slideway;

[0032] The push rod mechanism is installed below the marking heating plate, the end contact plate is connected to the push rod mechanism through a fixed rod passing through the transverse imprisonment slideway, and the side lock push plate is connected to the push rod mechanism through a fixed rod passing through the longitudinal imprisonment slideway;

[0033] The push rod mechanism is used to drive the end contact plate to move along the transverse imprisonment slideway and drive the side lock push plate to move along the longitudinal imprisonment slideway.

[0034] Preferably, the push rod mechanism comprises: an L-shaped push rod, a U-shaped push rod and an electric push rod;

[0035] The side wall of the L-shaped push rod is connected to the bottom axis of the marking heating plate, and a relatively long support arm of the L-shaped push rod is provided with a resistance slide groove, and a sliding sleeve connected to the fixed rod of the side lock push plate is slidably provided in the resistance slide groove;

[0036] The bottom end of the U-shaped push rod is connected to the electric push rod, the top end of the U-shaped push rod is in contact with the relatively short arm of the L-shaped push rod, and the electric push rod is fixed inside the base station frame;

[0037] The opening of the L-shaped push rod faces the U-shaped push rod, and a side of a relatively long arm of the L-shaped push rod away from the U-shaped push rod is connected to the inner side wall of the base station frame through a tension spring;

[0038] The side of the U-shaped push rod close to the marking heating plate is connected to the fixing rod of the end contact plate.

[0039] Preferably, it also includes: a shielding frame;

[0040] The shielding frames are hinged on both sides of the top of the base station frame respectively, and the shielding frames are connected to the shielding driving mechanism, and the shielding driving mechanism is used to drive the shielding frame to move to be above the marking heating plate.

[0041] Preferably, the charging module comprises: a plurality of photovoltaic panels;

[0042] The photovoltaic panel is installed on the side wall of the base station frame and / or the shielding frame, and the photovoltaic panel is connected to the translation mechanism.

[0043] According to one aspect of the present invention, a method for automatically taking off and landing a drone and replacing a battery is provided, comprising:

[0044] The marking heating plate is heated by the charging module. When the drone recognizes the marking heating plate through the thermal imaging camera installed on it, the optical flow positioning camera installed at the bottom of the drone is controlled to start, and the positioning base is optically positioned. The drone automatically lands on the marking heating plate on the top of the base station frame according to the position control of the optical flow positioning;

[0045] The control center starts the locking mechanism, moves the drone to the predetermined position on the marked heating plate, starts the lifting mechanism, moves upward through the battery exchange port to below the drone battery, starts the disassembly assembly, removes the drone battery, and drives the drone battery to the translation mechanism through the lifting mechanism, starts the translation mechanism, and connects the drone battery to the charging module for charging;

[0046] After charging is completed, the control center controls the lifting mechanism to start moving the drone battery to the bottom of the drone, controls the disassembly and assembly components to start, fixes the drone battery on the drone, and completes the battery replacement;

[0047] After the battery replacement is completed, the drone is controlled to fly upward and leave the battery replacement base station device for automatic take-off and landing.

[0048] The present invention has at least the following beneficial effects:

[0049] The present invention proposes an automatic take-off and landing battery-exchanging base station device and a battery-exchanging method for unmanned aerial vehicles. By setting an identification heating plate and a positioning base, the unmanned aerial vehicle can quickly and accurately identify the battery-exchanging base station and realize automatic take-off and landing operations. By setting a lifting mechanism, disassembly and assembly components, a translation mechanism and a restraining mechanism, automatic battery replacement and charging operations of the unmanned aerial vehicle are realized, replacing manual control and manual battery replacement and charging, thereby greatly saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present invention and, together with the specification, are used to explain the technical solutions of the present invention.

[0051] Figure 1 A schematic diagram showing the structure of a base station device for automatic take-off and landing of a drone battery replacement according to an embodiment of the present invention is shown;

[0052] Figure 2 A schematic structural diagram of a marking heating plate according to an embodiment of the present invention is shown;

[0053] Figure 3 A schematic diagram showing the structure inside a base station framework according to an embodiment of the present invention;

[0054] Figure 4 A schematic diagram showing a structure of a battery replacement state of a drone according to an embodiment of the present invention;

[0055] Figure 5 A schematic diagram showing the combined structure of a lifting mechanism, a locking mechanism and a translation mechanism according to an embodiment of the present invention is shown;

[0056] Figure 6 A schematic structural diagram of a lifting mechanism and a translation mechanism according to an embodiment of the present invention is shown;

[0057] Figure 7 A schematic diagram showing the structure of a disassembly assembly according to an embodiment of the present invention is shown;

[0058] Figure 8 A schematic structural diagram of a restraining mechanism according to an embodiment of the present invention is shown.

[0059] In the figure, 1-base station frame, 11-photovoltaic panel, 12-shielding frame, 2-control center, 3-marking heating plate, 31-positioning base, 32-battery exchange port, 33-lateral restraining slide, 34-longitudinal restraining slide, 4-ear, 41-charging hole, 5-combined installation box, 52-first screw rod, 53-first drive motor, 541-first groove gear, 542-first driven gear, 60-positioning rod, 61-first charging plate, 62-battery bracket, 621-lap ear groove, 63-second screw rod, 641-second drive motor, 643-second groove gear , 644-second driven gear, 65-plug, 711-end contact plate, 712-U-shaped push rod, 713-electric push rod, 721-side lock push plate, 722-sliding sleeve, 731-L-shaped push rod, 7311-contact slide groove, 74-tension spring, 75-fixing rod, 811-battery tray, 812-threaded sleeve, 82-servo reduction motor, 83-worm, 84-worm wheel, 85-gear column, 86-screw shaft, 871-magnetic cap, 8711-through slide groove, 8712-cross tooth, 872-compression spring, 873-contact column, 874-flat gear. DETAILED DESCRIPTION

[0060] Various exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0061] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0062] The term "and / or" herein is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set consisting of A, B, and C.

[0063] In addition, in order to better illustrate the present invention, numerous specific details are provided in the following specific embodiments. It should be understood by those skilled in the art that the present invention can be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present invention.

[0064] Figure 1A schematic diagram showing the structure of a base station device for automatic take-off and landing of a drone battery replacement according to an embodiment of the present invention is shown; Figure 2 A schematic structural diagram of a marking heating plate according to an embodiment of the present invention is shown; Figure 3 A schematic diagram showing the structure inside a base station framework according to an embodiment of the present invention; Figure 4 A schematic diagram showing a structure of a battery replacement state of a drone according to an embodiment of the present invention; Figure 5 A schematic diagram showing the combined structure of a lifting mechanism, a locking mechanism and a translation mechanism according to an embodiment of the present invention is shown; Figure 6 A schematic structural diagram of a lifting mechanism and a translation mechanism according to an embodiment of the present invention is shown; Figure 7 A schematic diagram showing the structure of a disassembly assembly according to an embodiment of the present invention is shown; Figure 8 FIG. 2 shows a schematic diagram of the structure of a restraining mechanism according to an embodiment of the present invention. Figure 1-8 As shown, a base station device for automatic take-off and landing of a drone battery replacement comprises: a base station frame 1; an identification heating plate 3 is arranged on the top of the base station frame 1, and a lifting mechanism for controlling the rise or fall of the drone battery is arranged inside the base station frame 1, and the position of the lifting mechanism corresponds to the position of the battery replacement port 32 on the identification heating plate 3; a positioning base 31 is installed on the identification heating plate 3 to cooperate with the optical flow positioning camera of the drone, and a thermal imaging camera is installed on the drone to cooperate with the identification heating plate 3; the lifting mechanism is connected to a disassembly and assembly component for disassembling or installing the drone battery; a translation mechanism for connecting the drone battery on the lifting mechanism to a charging module is arranged in the base station frame 1; a restraining mechanism for moving the drone to a predetermined position on the identification heating plate 3 is arranged in the base station frame 1 and on the identification heating plate 3; the lifting mechanism, the disassembly and assembly component, the translation mechanism and the restraining mechanism are connected to a control center 2 for controlling its start or shut down.

[0065] In the embodiments of the present invention and Figure 1-5 In the figure, the base station frame 1 is a base station frame 1 with adjustable foot height, the control center 2 is installed in the base station frame 1, and the control center 2 is connected to the charging module.

[0066] The identification heating plate 3 is connected to a charging module, which is used to provide electrical energy to the identification heating plate 3. The temperature of the identification heating plate 3 increases after power is supplied. A thermal imaging camera is installed on the drone. After the identification heating plate 3 is electrically heated, the drone can quickly identify the identification heating plate 3 with a higher temperature through its thermal imaging camera, thereby being able to quickly locate the base station position.

[0067] After the drone recognizes the base station, the optical flow positioning camera installed at the bottom of the drone is started to accurately position the positioning base 31 on the identification heating plate 3 with millimeter level precision, so that the drone can accurately land on the identification heating plate 3 to replace power or transmit data.

[0068] After the drone lands on the identification heating plate 3, the control center 2 controls the locking device on the identification heating plate 3 to start and move the drone to a predetermined position. When the drone is at the predetermined position, the battery at the bottom of the drone is aligned with the battery replacement port 32 on the identification heating plate 3 below.

[0069] The control center 2 controls the lifting device to start, driving the disassembly and assembly components upward through the battery exchange port 32 and moving to the bottom of the drone battery. The control center 2 controls the disassembly and assembly components to start and disassemble the drone battery. After the disassembly is completed, the drone battery falls down onto the lifting mechanism. The control center 2 controls the lifting mechanism to drive the drone battery to move downward to the translation mechanism in the base station frame 1.

[0070] The control center 2 controls the translation mechanism to start, transports the drone battery on the lifting device to the charging module, and connects the charging module to charge; after charging is completed, the control center 2 controls the translation mechanism to drive the drone battery to move above the lifting device; the control center 2 controls the lifting device to drive the drone battery after charging to move upward through the battery replacement port 32 to the bottom of the drone; the control center 2 controls the disassembly and assembly components to start, reinstall the drone battery on the drone, and complete the automatic battery replacement operation of the drone.

[0071] In the present invention, the lifting mechanism includes: a first drive assembly, a first screw rod 52 and a battery tray 811; the top end of the first screw rod 52 is connected to the battery tray 811, and the bottom end is connected to the first drive assembly, and the first drive assembly is connected to the control center 2; the control center 2 drives the first screw rod 52 to move up and down through the first drive assembly, driving the battery tray 811 upward through the battery exchange port 32 to the bottom of the drone battery, and / or driving the battery tray 811 downward to the translation mechanism.

[0072] In the embodiments of the present invention and Figure 6 In the figure, the first driving component includes: a first driving motor 53 and a first gear set fixed on the driving shaft of the first driving motor 53; the first gear set includes a first grooved gear 541 installed on the driving output shaft of the first driving motor 53 and a first driven gear 542 respectively meshing on both sides of the first grooved gear 541; there are two first screw rods 52, and the two first screw rods 52 are respectively threadedly installed in the threaded holes of the two first driven gears 542; a battery tray 811 is installed on the top of the two first screw rods 52, and the battery tray 811 is connected to the disassembly component.

[0073] When the drone is accurately imprisoned by the imprisonment device with the battery just above the battery exchange port 32, the control center 2 controls the first drive motor 53 to start forward rotation, driving the first groove gear 541 to rotate, thereby driving the two first driven gears 542 to rotate, and then controlling the two first screw rods 52 to rise synchronously; the first screw rod 52 drives the battery tray 811 and the disassembly assembly upward through the battery exchange port 32 to reach the bottom of the drone battery. At this time, the disassembly assembly is aligned with the installation screws of the drone battery;

[0074] The control center 2 controls the disassembly and assembly components to start removing the drone mounting screws, and the drone battery falls off from the bottom of the drone and falls onto the battery tray 811 below; the control center 2 controls the first drive motor 53 to reverse, thereby driving the two first screw rods 52 to descend synchronously through the first grooved gear 541 and the first driven gear 542; the translation mechanism is below the battery exchange port 32, and when the battery tray 811 descends to the translation mechanism, the control center 2 controls the translation mechanism to start, and the drone battery is moved to the charging module by the translation mechanism.

[0075] In the present invention, the disassembly and assembly components include: a combined mounting box 5; the combined mounting box 5 is connected to the lifting mechanism, and a worm 83 is arranged inside the combined mounting box, and one end of the worm 83 is connected to a servo reduction motor 82; the worm 83 is respectively meshed with two worm wheels 84, and the tops of the two worm wheels 84 are respectively connected with gear columns 85, and the sides of the two gear columns 85 are meshed with corresponding flat gears 874, and the flat gears 874 are connected to the bottom ends of the corresponding screw shafts 86, and the top ends of the screw shafts 86 pass through the threaded sleeve 812 at the top of the combined mounting box 5; the top ends of the screw shafts 86 are provided with cross teeth 8712 matching the cross grooves on the drone mounting screws, and the positions of the two screw shafts 86 correspond to the positions of the screws for mounting the battery on the drone.

[0076] In the embodiments of the present invention and Figure 7 In the embodiment, the combined installation box 5 is fixed below the battery tray 811 , and the two worm gears 84 are respectively located in the combined installation box 5 near the two ends.

[0077] A servo reduction motor 82 is fixed on one side of the combined mounting box 5, and a worm 83 is located inside the combined mounting box 5. Two ends of the worm 83 are rotatably connected to the side walls of the combined mounting box 5 near the two ends; one end of the worm 83 near the servo reduction motor 82 is connected to the end of the output shaft of the servo reduction motor 82; two worm wheels 84 are rotatably mounted on the bottom of the combined mounting box 5, and the two worm wheels 84 are respectively meshed with the worm 83.

[0078] The two worm gears 84 are connected to the corresponding gear columns 85 through pins, and the two gear columns 85 are meshed with the corresponding flat gears 874. The centers of the two flat gears 874 are connected to the bottom ends of the corresponding screw shafts 86. The two screw shafts 86 pass through the threaded sleeves 812 set on the top of the corresponding combined installation box 5. The tops of the two screw shafts 86 are respectively provided with cross teeth 8712, and the threaded sleeves 812 are connected to the screw shafts 86 through a threaded structure.

[0079] In the initial state, the flat gear 874 is located near the bottom of the gear column 85. When docking with the drone battery mounting screws, the control center 2 controls the first drive motor 53 to start, and drives the battery tray 811 and the combined mounting box 5 to move upward to the bottom of the drone through the first screw 52. At this time, the cross teeth 8712 of the two screw shafts 86 are under the two mounting screws of the drone battery; the control center 2 controls the servo reduction motor 82 to start, drive the worm 83 to rotate forward along the axis, and then drive the two worm wheels 84 to rotate. Since the worm wheel 84 and the gear column 85 are fixedly connected, the gear column 85 rotates accordingly, thereby driving the flat gear 874 to rotate; when the flat gear 874 rotates, the screw shaft 86 is restricted in the threaded sleeve 812, so that the flat gear 874 moves upward along the gear column 85, and then drives the screw shaft 86 to rotate forward and move upward along the threaded sleeve 812; when the screw shaft 86 moves upward to the top, the cross tooth 8712 is inserted into the cross groove of the drone battery mounting screw, it is stuck by the screw and stops rotating, completing the docking.

[0080] After the docking is completed, the control center 2 controls the servo reduction motor 82 to drive the worm 83 to reverse, and the worm 83 drives the flat gear 874 to rotate through the worm wheel 84 and the gear column 85. When the flat gear 874 rotates, it moves downward along the gear column 85, thereby driving the two screw shafts 86 to reverse and move downward along the threaded sleeve 812; when the screw shaft 86 reverses, the top cross tooth 8712 is rotated to unscrew the installation screw of the drone battery. After the installation screw falls off, the drone battery falls downward onto the battery tray 811.

[0081] When installing the battery, the control center 2 controls the servo reduction motor 82 to drive the screw shaft 86 to move upward, thereby driving the drone battery mounting screws that fall on the top of it to pass through the corresponding mounting ears at both ends of the battery, and insert into the drone battery mounting screw holes, and fix the screws by rotating them, thereby completing the drone battery installation.

[0082] Considering that the installation screws of the drone battery need to have a certain stroke in addition to rotation when installing or disassembling, the threaded sleeve 812 and the gear column 85 are designed so that the screw shaft 86 can move up and down relative to the threaded sleeve 812 while rotating, thereby driving the flat gear 874 to move up and down relative to the gear column 85. The design of the gear column 85 allows the flat gear 874 to always mesh with it when moving up and down.

[0083] The present invention also includes: an elastic magnetic head assembly; an elastic magnetic head assembly is arranged between the top end of the screw shaft 86 and the cross tooth 8712, and the elastic magnetic head assembly is used to connect the cross tooth 8712 and the screw shaft 86 so that there is a certain elastic space between the two; and / or, the elastic magnetic head assembly includes: a magnetic cap 871 and a compression spring 872; a resistance column 873 is arranged on the side wall of the screw shaft 86 close to the top end, and a through-slide groove 8711 corresponding to the position of the resistance column 873 is arranged on the side wall of the magnetic cap 871, and the two ends of the through-slide groove 8711 are respectively close to the top and the bottom of the magnetic cap 871, and the magnetic cap 871 is sleeved on the top end of the screw shaft 86, and the resistance column 873 is located inside the through-slide groove 8711; the compression spring 872 is arranged between the magnetic cap 871 and the top end of the screw shaft 86.

[0084] In the embodiments of the present invention and Figure 7 There are two abutment columns 873, which are symmetrically arranged on the screw shaft 86. The abutment columns 873 are respectively inserted into two corresponding through-slide grooves 8711 installed on the magnetic cap 871. The cross tooth 8712 is arranged at the top of the magnetic cap 871. The body of the magnetic cap 871 is hemispherical and matches the hemispherical groove at the end of the drone battery mounting screw; the cross groove at the bottom of the hemispherical groove matches the cross tooth 8712.

[0085] When the servo reduction motor 82 drives the magnetic cap 871 to rotate and move upward through the worm 83, worm wheel 84, gear column 85, and screw shaft 86 until it rotates and contacts with the mounting screw of the drone battery, the magnetic cap 871 and the screw will produce mechanical friction, causing the servo reduction motor 82 to stop. At this time, the cross tooth 8712 on the magnetic cap 871 may not have been inserted into the cross slot of the screw, making it impossible to remove the screw.

[0086] Therefore, an elastic magnetic head assembly is designed, namely a compression spring 872 and a magnetic cap 871. The compression spring 872 can make the contact column 873 be at the bottom of the through-slide groove 8711 in the initial state; when the servo reduction motor 82 drives the screw shaft 86 to rise, the cross tooth 8712 will rotate to contact the bottom of the hemispherical groove of the drone battery mounting screw. When the contact occurs, the magnetic cap 871 will be driven by the screw shaft 86 to continue to rotate due to the through-slide groove 8711 and the contact column 873, but it cannot move upward; the screw shaft 86 continues to move upward to compress the compression spring 872, and the contact column 873 moves upward along the through-slide groove 8711 ; The process of the resistance column 873 moving to the top of the sliding groove 8711 allows the screw shaft 86 to continue to move upward for a certain distance. Therefore, the resistance force at this time will not be transmitted to the servo reduction motor 82, and will not cause it to stop rotating; the servo reduction motor 82 drives the magnetic cap 871 to continue to rotate, and the compression spring 872 can keep the cross tooth 8712 in contact with the inner wall of the hemispherical groove at the end of the screw. When the magnetic cap 871 rotates to the point where the cross tooth 8712 corresponds to the cross groove, the compression spring 872 releases the elastic force to push the magnetic cap 871 upward so that the cross tooth 8712 is stuck in the cross groove, and then the screw shaft 86 stops rotating.

[0087] During disassembly, the control center 2 will control the servo reduction motor 82 to reverse, thereby driving the drone battery mounting screws to rotate and fall off and drop with the magnetic cap 871. Since the magnetic cap 871 is magnetic, it can firmly adsorb the drone battery mounting screws and prevent them from shaking or falling off.

[0088] When installing screws on the drone battery, the servo reduction motor 82 will continue to drive the screw shaft 86 to rise until the screws are tightened and stop, and the control center 2 will not control the servo reduction motor 82 to reverse. The magnetic cap 871 and the installation screws of the drone battery can be disengaged by relying on the drone to take off. After disengagement, the control center 2 will restore the screw shaft 86 and the flat gear 874 to their initial positions.

[0089] In the present invention, the translation mechanism includes: a first battery bracket 62, a first charging plate 61 and a second drive assembly; the first battery bracket 62 is connected to one end of a positioning rod 60 on one side close to the first charging plate 61, the other end of the positioning rod 60 passes through the first charging plate 61, the other side of the first battery bracket 62 is connected to one end of a second screw rod 63, and the other end of the second screw rod 63 is connected to the second drive assembly; the top of the first battery bracket 62 is provided with a lap ear groove 621 that matches the ear 4 on the side wall of the drone battery, the first battery bracket 62 corresponds to the position of the lifting mechanism, and the position of the first battery bracket 62 is below the battery exchange port 32; the first charging plate 61 is provided with a plug 65 corresponding to the charging hole 41 on the drone battery; and / or, also includes: a second battery bracket 62 and a second charging plate; the second screw rod 63 passes through the second charging plate, and the end of the second screw rod 63 away from the second drive motor 641 is connected to the second battery bracket 62, and the second battery bracket 62 is connected to the first battery bracket 62.

[0090] In the embodiments of the present invention and Figure 6 In the embodiment, the first charging plate 61 is fixed in the base station frame 1. The main body of the first battery bracket 62 is a rectangular frame, and the side of the first battery bracket 62 away from the first charging plate 61 is connected to two second screw rods 63, and the two second screw rods 63 are connected to the second driving assembly. In the initial state, the first battery bracket 62 is above the battery tray 811 of the lifting mechanism.

[0091] Among them, the second driving component includes a second driving motor 641 and a second gear set fixed on the driving shaft of the second driving motor 641; the second gear set includes a second grooved gear 643 installed on the driving shaft of the second driving motor 641 and a second driven gear 644 respectively meshing on both sides of the second grooved gear 643, and the two second screw rods 63 are respectively threadedly installed in the threaded holes of the two second driven gears 644.

[0092] The first battery bracket 62 serves to hold the UAV battery replaced by the lifting mechanism; when removing the UAV battery, the control center 2 will control the first drive motor 53 and the first screw rod 52 to drive the combined installation box 5 and the battery tray 811 to move upward, and the combined installation box 5 and the battery tray 811 will pass through the hollow part of the first battery bracket 62 when moving upward, and reach the bottom of the UAV. After the disassembly assembly removes the battery of the UAV, the control center 2 controls the first drive motor 53 to reverse so that the battery tray 811 of the lifting mechanism moves downward with the UAV battery; because the outer edge distance between the ears 4 set near the upper end on both sides of the UAV battery is greater than the width of the hollow interior of the first battery bracket 62, when the battery tray 811 moves to the inside of the first battery bracket 62, the ears 4 set on both sides of the UAV battery will hang on the lap ear groove 621 of the first battery bracket 62, and the battery tray 811 of the lifting mechanism continues to move downward until it stops when it does not block the movement of the first battery bracket 62. At this time, the UAV battery is inside the first battery bracket 62.

[0093] The control center 2 controls the second drive motor 641 to start forward rotation, driving the second groove gear 643 to rotate, and the second groove gear 643 drives the two second driven gears 644 to rotate. The rotation of the two second driven gears 644 causes the two second screw rods 63 to move toward the first charging plate 61, thereby driving the first battery bracket 62 and the drone battery thereon to move toward the first charging plate 61; a plug 65 is provided on the first charging plate 61 at a position corresponding to the drone battery, and when the charging hole 41 on the side of the drone battery moves to the plug 65 inserted into the first charging plate 61, it stops, thereby charging the drone battery through the first charging plate 61; after charging is completed, the control center 2 controls the second drive motor 641 to reverse and translate the drone battery to the initial position, that is, below the battery exchange port 32, and the control center 2 controls the second drive motor 641 to stop.

[0094] When installing the battery, the control center 2 controls the first drive motor 53 to rotate forward so that the battery tray 811 rises again. The battery tray 811 will lift the drone battery that has been charged upward, pass through the first battery bracket 62 and continue to rise, and then pass through the battery replacement port 32 until the power port on the upper part of the battery is inserted into the power plug 65 of the drone. The first drive motor 53 stops, and the control center 2 disassembles the components to tighten the mounting screws of the drone. The drone takes off with full charge and leaves the device, completing an automatic battery replacement.

[0095] In an embodiment of the present invention, in order to achieve continuous and rapid battery replacement, that is, to replace the drone battery with a fully charged spare battery immediately after it is removed, it is necessary to add a second charging plate and a second battery bracket 62; the first battery bracket 62 and the second battery bracket 62 are arranged side by side, the second charging plate is fixed in the base station frame 1, the first charging plate 61 and the second charging plate are respectively located on both sides below the battery replacement port 32, and the first battery bracket 62 and the second battery bracket 62 are located between the first charging plate 61 and the second charging plate. The second drive motor 641 can also be used for driving, and it is only necessary to consider that the connection between the battery brackets 62 does not block the up and down movement of the lifting mechanism.

[0096] When in use, the control center 2 first controls the first battery bracket 62 to move to the bottom of the power exchange port 32. At this time, the backup battery on the second battery bracket 62 is connected to the second charging plate. When the drone battery is removed, the drone battery is captured by the first battery bracket 62 during the descent of the battery tray 811; the control center 2 controls the second drive motor 641 to start, and moves the captured drone battery to the first charging plate 61 for charging. During the charging movement, the backup battery on the second battery bracket 62 follows and separates from the second charging plate, and when the disassembled drone battery contacts the first charging plate 61, the second battery bracket 62 with the backup battery is just located below the power exchange port 32; the control center 2 controls the battery tray 811 to rise, driving the backup battery to rise to replace the drone battery. At this time, the automatic cycle replacement is completed, and the drone does not need to wait for charging time. When the next drone needs to be replaced, it is repeated.

[0097] In the present invention, the locking mechanism includes: an end contact plate 711, a side lock push plate 721 and a push rod mechanism; a transverse locking slide 33 and a longitudinal locking slide 34 are provided on the identification heating plate 3, the transverse locking slide 33 is located below the power exchange port 32, and the longitudinal locking slide 34 is respectively located on both sides of the power exchange port 32, one end of the transverse locking slide 33 and the longitudinal locking slide 34 is facing the direction of the power exchange port 32, and the other end is facing away from the power exchange port 32; the end contact plate 711 is in the transverse locking slide Above the slide 33, the side lock push plate 721 is above the longitudinal confinement slide 34; the push rod mechanism is installed below the identification heating plate 3, the end contact plate 711 passes through the transverse confinement slide 33 through a fixing rod 75 and is connected to the push rod mechanism, and the side lock push plate 721 passes through the longitudinal confinement slide 34 through a fixing rod 75 and is connected to the push rod mechanism; the push rod mechanism is used to drive the end contact plate 711 to move along the transverse confinement slide 33 and drive the side lock push plate 721 to move along the longitudinal confinement slide 34.

[0098] In the embodiments of the present invention and Figure 8In the figure, the area formed between the transverse restraining slide 33 and the longitudinal restraining slide 34 near the end of the power exchange port 32 is the parking position of the drone when changing power, that is, the predetermined position. The end contact plate 711 and the side lock push plate 721 are long strips, the end contact plate 711 and the transverse restraining slide 33 are perpendicular to each other, and the side lock push plate 721 and the longitudinal restraining slide 34 are perpendicular to each other. In the initial state, the end contact plate 711 is at the end of the transverse restraining slide 33 away from the power exchange port 32, and the side lock push plate 721 is at the end of the longitudinal restraining slide 34 away from the power exchange port 32.

[0099] When the drone that needs to change batteries lands, the control center 2 controls the push rod mechanism to start, and the push rod mechanism drives the end contact plate 711 to move along the transverse confinement slide 33 toward one end of the drone, and drives the two side lock push plates 721 to move along the longitudinal confinement slide 34 toward one end of the drone; the end contact plate 711 contacts and limits the front end of the drone's leg, and the side lock push plates 721 contact and limit the two sides of the drone's leg. When the end contact plate 711 moves to one end of the transverse confinement slide 33 close to the battery exchange port 32, and the side lock push plates 721 move to one end of the longitudinal confinement slide 34 close to the battery exchange port 32, the drone is pushed to the predetermined position.

[0100] The two side locking push plates 721 are both provided with pressing blocks, and the ends are provided with abutment blocks.

[0101] In the present invention, the push rod mechanism includes: an L-shaped push rod 731, a U-shaped push rod 712 and an electric push rod 713; the side wall of the L-shaped push rod 731 is connected to the bottom axis of the identification heating plate 3, and a relatively long support arm of the L-shaped push rod 731 is provided with a resistance slide groove 7311, and a sliding sleeve 722 connected to the fixed rod 75 of the side lock push plate 721 is slidably provided in the resistance slide groove 7311; the bottom end of the U-shaped push rod 712 is connected to the electric push rod 713, and the The top end of the U-shaped push rod 712 abuts against the relatively short arm of the L-shaped push rod 731, and the electric push rod 713 is fixed inside the base station frame 1; the opening of the L-shaped push rod 731 faces the U-shaped push rod 712, and the side of the relatively long arm of the L-shaped push rod 731 away from the U-shaped push rod 712 is connected to the inner wall of the base station frame 1 through a tension spring 74; the side of the U-shaped push rod 712 close to the identification heating plate 3 is connected to the fixing rod 75 of the end abutting the plate 711.

[0102] In the embodiments of the present invention and Figure 8There are two L-shaped push rods 731, corresponding to the two side lock push plates 721 respectively. The side wall of the L-shaped push rod at a right angle is hinged to the lower end of the marking heating plate 3. The two L-shaped push rods are located opposite to each other. The U-shaped push rod 712 is located between the two L-shaped push rods 731. The top of the U-shaped push rod 712 is respectively in contact with the inner side of the shorter arms of the two L-shaped push rods 731. In the initial state, the tension spring 74 is in a natural state, and the longer arms of the two L-shaped push rods 731 are in an eight-shaped shape. At this time, the sliding sleeve 722 is in contact with the end of the shorter arm of the L-shaped push rod 731 in the slide groove 7311, and the side lock push plate 721 is in the end of the longitudinal confinement slideway 34 away from the power exchange port 32.

[0103] When the drone lands on the identification heating plate 3, the control center 2 controls the electric push rod 713 to start, driving the U-shaped push rod to push the shorter arm of the L-shaped push rod to move. The L-shaped push rod 731 rotates around the hinged part, and the longer arms of the two L-shaped push rods 731 approach each other, thereby driving the sliding sleeve 722 to move along the interference slide groove 7311, and then being able to drive the two side lock push plates 721 to move along the longitudinal confinement slide 34 toward the clamping direction of the two sides of the drone's legs. At the same time, the U-shaped push rod 712 drives the end contact plate 711 to move along the transverse confinement slide 33 toward the direction of the drone through the fixed rod 75. When the end contact plate 711 moves to the end of the transverse confinement slide 33 close to the battery exchange port 32, and the side lock push plate 721 moves to the end of the longitudinal confinement slide 34 close to the battery exchange port 32, the electric push rod 713 stops.

[0104] When the battery replacement is completed, the control center 2 controls the electric push rod 713 to start driving the end contact plate 711 to move in the opposite direction through the U-shaped push rod 712. During the movement of the U-shaped push rod 712, the rebound of the tension spring 74 will pull the L-shaped rod back to its initial position. During the process, the two side lock push plates 721 will move away from the drone legs to unlock and fix the drone.

[0105] The present invention also includes: a shielding frame 12; the shielding frames 12 are hinged on both sides of the top of the base station frame 1, and the shielding frame 12 is connected to a shielding driving mechanism, and the shielding driving mechanism is used to drive the shielding frame 12 to move above the identification heating plate 3.

[0106] In the embodiments of the present invention and Figure 1 In the figure, shielding frames 12 are respectively hinged on both sides of the base station frame 1, and the shielding frames 12 are connected to a shielding driving mechanism that controls the rotation and closure thereof, and the shielding driving mechanism is connected to the control center 2. The shielding frame 12 can be used in conjunction with a rain sensor. When rain is detected, the control center 2 controls the shielding driving mechanism to start, driving the shielding frames 12 on both sides to automatically close for rain protection, so as to protect the automatic battery swapping base station.

[0107] In the present invention, the charging module includes: a plurality of photovoltaic panels 11; the photovoltaic panels 11 are installed on the side walls of the base station frame 1 and / or the shielding frame 12, and the photovoltaic panels 11 are connected to the translation mechanism.

[0108] In the embodiments of the present invention and Figure 1 In the figure, photovoltaic panels 11 are fixedly installed on the sides of the base station frame 1 and the outer side of the shielding frame 12. The photovoltaic panels 11 cooperate with the charging module to provide power reserve for the automatic battery exchange base station, and part of the electric energy is used to heat the identification heating plate 3 so that the thermal imaging camera of the drone can identify the battery exchange base station.

[0109] The present invention also provides a method for automatic take-off and landing of a drone and battery replacement, comprising: step S01: heating the identification heating plate 3 through a charging module, and when the drone recognizes the identification heating plate 3 through a thermal imaging camera installed thereon, controlling the optical flow positioning camera installed at the bottom of the drone to start, and performing optical flow positioning on the positioning base 31, the drone automatically lands on the identification heating plate 3 on the top of the base station frame 1 according to the position control of the optical flow positioning.

[0110] In the embodiment of the present invention, a thermal imaging camera is installed on the drone, and the identification heating plate 3 can be electrically heated under the action of the photovoltaic panel 11 so that the thermal imaging camera can identify it. A camera for optical flow positioning is installed at the bottom of the drone, and millimeter-level precise positioning is performed according to the identification and positioning base 31, so that the drone can accurately land on the identification heating plate 3 to replace power or transmit data. The specific principle of optical flow positioning is as follows:

[0111] Optical flow positioning on a drone usually uses the optical flow positioning camera at the bottom of the drone to collect image data, and then uses the optical flow algorithm to calculate the displacement of two frames of images to achieve the positioning of the drone. This positioning method can be used with GPS to achieve precise control of the drone outdoors, with an accuracy error of less than 2mm, so that the control center 2 of the automatic battery swap base station can more smoothly control the drone to land at the battery swap port 32 of the marking heating plate 3. In the optical flow theory, the premise is that the following two assumptions a and b are established:

[0112] a. The pixel grayscale between two frames of images captured by the optical flow positioning camera installed at the bottom of the drone remains unchanged; b. The pixels of two adjacent frames have relative motion;

[0113] According to the first assumption, if the grayscale values ​​of the two frames remain unchanged, the following relationship holds:

[0114] I(x,y,t)=I(x+dx,y+dy,t+dt) (1);

[0115] In the formula, I(x, y, t) represents the position moved to the second frame image (x+dx, y+dy) after time dt, where t is time, x and y are coordinates, and dx and dy are coordinates after dt time; Taylor series is used to expand both sides and eliminate the same terms to obtain the following equation:

[0116]

[0117]

[0118] Where: ∫ x u+∫ y v+∫ t =0

[0119] The above formula (2) is the optical flow equation, where ∫ x and ∫ y represents the gradient of the image, ∫ t Represents the time gradient, but the above method cannot obtain (u, v) (velocity component) because one equation cannot solve two unknowns. In order to solve this problem, we can use the classic Lucas-Kanade method to solve it.

[0120] In the Lucas-Kanade method, we need to use the second assumption, that is, all points in the neighborhood of the target point have similar motion. This is the core of the Lucas-Kanade method. Based on this assumption, it uses the 9 points in a 3*3 neighborhood to have the same motion to obtain 9 optical flow equations, and then uses the least squares method to fit and solve, and finally obtains (u, v) as follows:

[0121]

[0122] In the formula, i is the integral, and several points near the target point are taken.

[0123] The above is the method of using the optical flow method to calculate the moving speed of pixels. When using it, you only need to track some points in the image. Using the above method, you can calculate the optical flow vector. Based on the obtained optical flow vector, you can further optimize the attitude control of the drone and achieve more accurate control.

[0124] Step S02: The control center 2 controls the locking mechanism to start, moves the UAV to the predetermined position on the identification heating plate 3, controls the lifting mechanism to start and moves upward through the battery exchange port 32 to under the UAV battery, controls the disassembly and assembly components to start, disassembles the UAV battery, and drives the UAV battery to move to the translation mechanism through the lifting mechanism, controls the translation mechanism to start, and connects the UAV battery to the charging module for charging.

[0125] In the embodiment of the present invention, after the UAV lands on the identification heating plate 3, the electric push rod 713 drives the U-shaped push rod 712 to move, and in the process it will collide with the L-shaped push rod 731, thereby driving the L-shaped rod to rotate. The rotation of the L-shaped rod can drive the sliding sleeve 722 to move along the locking slide, and then can drive the two side lock push plates 721 to move in the clamping direction of the two sides of the UAV legs. The side lock push plates 721 press and fix the two sides of the UAV legs. At the same time, the U-shaped push rod pushes the end contact plate 711 to contact and limit the front end of the UAV leg, thereby accurately positioning the UAV and locking it in the power exchange position, even if it is in the predetermined position.

[0126] When the drone is accurately locked at the battery exchange port 32, the control center 2 starts the first drive motor 53, and the first groove gear 541 rotates to drive the two first driven gears 542 to rotate, thereby controlling the two first screws 52 to rise synchronously until the cross teeth 8712 of the magnetic cap 871 are stuck in the cross groove; considering the mechanical friction of the rotating contact, the compression spring 872, the friction column 873 and the through slide groove 8711 are designed. When the servo reduction motor 82 drives the screw shaft 86 to rotate and rise, the cross teeth 8712 will rotate to contact the cross groove at the bottom of the hemispherical groove of the drone battery installation screw. When the friction occurs, the compression spring 872 is compressed, and the magnetic cap 871 will not stop. The control center 2 controls the servo reduction motor 82 to reverse, thereby driving the drone battery installation screw to rotate and fall off and fall with the magnetic cap 871. Because the magnetic cap 871 is magnetic, it can firmly adsorb the column drone battery installation screw so that it does not shake or fall off. At this time, the battery tray 811 just supports the bottom of the drone battery, and the first drive motor 53 stops running. Then the control center 2 starts the servo reduction motor 82, and the worm 83 rotates, thereby driving the two worm wheels 84 to rotate. Since the worm wheel 84 and the gear column 85 are fixedly connected, the gear column 85 rotates accordingly, driving the screw shaft 86 to rotate, and then dismantling the installation screws of the drone battery. The disassembled battery falls on the first battery tray 811, and the control center 2 controls the first drive motor 53 to reverse, driving the battery to move downward into a battery bracket 62; the upper ends of the drone battery are provided with ears 4. When the ears 4 fall into the overlapping ear grooves 621, the battery tray 811 continues to move downward until it does not block the movement of the first battery bracket 62. Then the control center 2 controls the second drive motor 641 to start, thereby driving the drone battery to move toward the first charging plate 61 until the charging hole 41 on the side of the drone is inserted into the charging plug 65 on the first charging plate 61 and stops.

[0127] Step S03: After charging is completed, the control center 2 controls the lifting mechanism to start moving the drone battery to the bottom of the drone, controls the disassembly and assembly components to start, fixes the drone battery on the drone, and completes the battery replacement; after the battery replacement is completed, controls the drone to fly upward and leave the drone automatic take-off and landing battery replacement base station device.

[0128] In an embodiment of the present invention, after charging is completed, the control center 2 controls the second drive motor 641 to reverse and translate the UAV battery to the bottom of the battery exchange port 32, that is, the initial position of the first battery bracket 62, and the second drive motor 641 stops. Then the control center 2 controls the first drive motor 53 to rotate forward so that the battery tray 811 rises again. The first battery bracket 62 will lift the UAV battery after charging and continue to rise, passing through the battery exchange port 32 until the power port on the upper part of the battery is inserted into the power receiving plug 65 of the UAV. The first drive motor 53 stops, and then the control center 2 controls the servo reduction motor 82 to rotate, driving the screw shaft 86 to rotate, and tightening the mounting screws of the UAV.

[0129] When the battery replacement is completed, the control center 2 controls the electric push rod 713 to drive the U-shaped push rod 712 to pull the end contact plate 711 to move in the opposite direction. The tension spring 74 will pull the L-shaped push rod to restore the initial position. During this process, the two side lock push plates 721 will move away from the drone legs to unlock and fix the drone.

[0130] When the drone is fully charged and takes off, it is separated from the device, which means that an automatic charge replacement is completed. When the drone battery is installed with screws, the servo reduction motor 82 will continue to drive the screw shaft 86 to rise until the screws are tightened and stop, and the control center 2 will not command the servo reduction motor 82 to reverse. The magnetic suction cap 871 and the installation screws of the drone battery can be separated by the drone taking off. After separation, the control center 2 will restore the screw shaft 86 to the initial position.

[0131] It can be understood that the above-mentioned various embodiments mentioned in the present invention can be combined with each other to form a combined embodiment without violating the principle logic. Due to space limitations, the present invention will not go into details.

[0132] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0133] The present invention provides power reserve for the automatic battery swap base station by designing a photovoltaic panel 11 in combination with a charging module capable of storing energy, thus getting rid of the difficulty of obtaining electricity outdoors, and a part of the electric energy is used to heat the identification heating plate 3, so that the thermal imaging camera of the drone can identify the battery swap base station; by designing a restraining mechanism, a lifting mechanism and a translation mechanism controlled by the control center 2, it is possible to complete automatic battery swap for the drone, thereby improving the drone's cruising range, and the use of multiple automatic battery swap base stations can form a complete drone base station system, replacing manual control and manual battery swapping and charging; at the same time, the present invention can also automatically and continuously swap batteries, shortening the waiting time for the drone to be charged, and the cyclic automatic battery swap is completed by only adding a charging plate and a battery bracket 62, and the drone does not need to wait for charging time.

[0134] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A base station device for automatic take-off and landing of unmanned aerial vehicles, characterized in that: include: Base station framework (1); The base station frame (1) is provided with a marking heating plate (3) on the top, and a lifting mechanism for controlling the ascending or descending of the drone battery is provided inside the base station frame (1), and the position of the lifting mechanism corresponds to the position of the battery replacement port (32) on the marking heating plate (3); The marking heating plate (3) is provided with a positioning base (31) that cooperates with an optical flow positioning camera of a drone, and the drone is provided with a thermal imaging camera that cooperates with the marking heating plate (3); The lifting mechanism is connected to a disassembly and assembly component for disassembling or installing a battery of the drone; The base station frame (1) is provided with a translation mechanism for connecting the drone battery on the lifting mechanism to the charging module; A locking mechanism for moving the drone to a predetermined position on the marking heating plate (3) is provided inside the base station frame (1) and on the marking heating plate (3); The lifting mechanism, the disassembly and assembly components, the translation mechanism and the locking mechanism are connected to a control center (2) for controlling the activation or deactivation of the same.

2. The automatic take-off and landing battery-changing base station device for unmanned aerial vehicles according to claim 1 is characterized in that: The lifting mechanism comprises: a first driving assembly, a first screw rod (52) and a battery tray (811); The top end of the first screw rod (52) is connected to the battery tray (811), and the bottom end is connected to the first drive assembly, and the first drive assembly is connected to the control center (2); The control center (2) drives the first screw rod (52) to move up and down through the first driving assembly, thereby driving the battery tray (811) upward through the battery exchange port (32) to move below the drone battery, and / or driving the battery tray (811) downward to the translation mechanism.

3. The automatic take-off and landing battery replacement base station device for unmanned aerial vehicles according to claim 1 is characterized in that: The disassembly and assembly components include: a combined installation box (5); The combined installation box (5) is connected to the lifting mechanism, and a worm (83) is arranged inside the combined installation box, and one end of the worm (83) is connected to a servo reduction motor (82); The worm (83) is meshed with two worm wheels (84) respectively, the tops of the two worm wheels (84) are respectively connected to gear columns (85), the sides of the two gear columns (85) are meshed with corresponding flat gears (874), the flat gears (874) are connected to the bottom ends of corresponding screw shafts (86), and the top ends of the screw shafts (86) pass through the threaded sleeves (812) at the top of the combined installation box (5); The top end of the screw shaft (86) is provided with a cross tooth (8712) matching the cross groove on the screw for mounting the drone, and the positions of the two screw shafts (86) respectively correspond to the positions of the screws for mounting the battery on the drone.

4. The automatic take-off and landing battery-changing base station device for unmanned aerial vehicles according to claim 3 is characterized in that: Also includes: Flexible magnetic head assembly; An elastic magnetic head assembly is provided between the top end of the screw shaft (86) and the cross tooth (8712), and the elastic magnetic head assembly is used to allow a certain elastic space to exist between the cross tooth (8712) and the screw shaft (86) when the two are connected. And / or, the elastic magnetic head assembly includes: a magnetic suction cap (871) and a compression spring (872); A resistance column (873) is arranged on the side wall of the screw shaft (86) near the top end, and a through-slide groove (8711) corresponding to the position of the resistance column (873) is arranged on the side wall of the magnetic cap (871), and the two ends of the through-slide groove (8711) are respectively close to the top and the bottom of the magnetic cap (871), and the magnetic cap (871) is sleeved on the top end of the screw shaft (86), and the resistance column (873) is inside the through-slide groove (8711); The compression spring (872) is arranged between the magnetic cap (871) and the top end of the screw shaft (86).

5. The automatic take-off and landing battery-changing base station device for unmanned aerial vehicles according to claim 1 is characterized in that: The translation mechanism comprises: the translation mechanism comprises: a first battery bracket (62), a first charging plate (61) and a second driving assembly; One side of the first battery bracket (62) close to the first charging plate (61) is connected to one end of a positioning rod (60), the other end of the positioning rod (60) passes through the first charging plate (61), the other side of the first battery bracket (62) is connected to one end of a second screw rod (63), and the other end of the second screw rod (63) is connected to the second driving assembly; The top of the first battery bracket (62) is provided with a lap ear groove (621) that matches with the ear (4) on the side wall of the drone battery, the first battery bracket (62) corresponds to the position of the lifting mechanism, and the position of the first battery bracket (62) is below the battery replacement port (32); The first charging plate (61) is provided with a plug (65) corresponding to the charging hole (41) on the drone battery; and / or, further comprising: a second battery bracket (62) and a second charging plate; The second screw rod (63) passes through the second charging plate, and one end of the second screw rod (63) away from the second drive motor (641) is connected to the second battery bracket (62), and the second battery bracket (62) is connected to the first battery bracket (62).

6. The automatic take-off and landing battery-changing base station device for unmanned aerial vehicles according to claim 1 is characterized in that: The locking mechanism comprises: an end contact plate (711), a side locking push plate (721) and a push rod mechanism; The identification heating plate (3) is provided with a transverse restraining slideway (33) and a longitudinal restraining slideway (34), wherein the transverse restraining slideway (33) is located below the power exchange port (32), and the longitudinal restraining slideways (34) are respectively located on both sides of the power exchange port (32), and one end of the transverse restraining slideway (33) and the longitudinal restraining slideway (34) is oriented toward the power exchange port (32), and the other end is oriented away from the power exchange port (32); The end contact plate (711) is located above the transverse confinement slideway (33), and the side locking push plate (721) is located above the longitudinal confinement slideway (34); The push rod mechanism is installed below the marking heating plate (3); the end contact plate (711) is connected to the push rod mechanism by passing through the transverse imprisonment slideway (33) via a fixing rod (75); and the side lock push plate (721) is connected to the push rod mechanism by passing through the longitudinal imprisonment slideway (34) via a fixing rod (75); The push rod mechanism is used to drive the end contact plate (711) to move along the transverse imprisonment slideway (33) and to drive the side lock push plate (721) to move along the longitudinal imprisonment slideway (34).

7. The automatic take-off and landing battery-changing base station device for unmanned aerial vehicles according to claim 6 is characterized in that: The push rod mechanism comprises: an L-shaped push rod (731), a U-shaped push rod (712) and an electric push rod (713); The side wall of the L-shaped push rod (731) is connected to the bottom axis of the marking heating plate (3), and a relatively long support arm of the L-shaped push rod (731) is provided with a resistance slide groove (7311), and a sliding sleeve (722) connected to the fixing rod (75) of the side locking push plate (721) is slidably provided in the resistance slide groove (7311); The bottom end of the U-shaped push rod (712) is connected to the electric push rod (713), the top end of the U-shaped push rod (712) abuts against the relatively short arm of the L-shaped push rod (731), and the electric push rod (713) is fixed inside the base station frame (1); The opening of the L-shaped push rod (731) faces the U-shaped push rod (712), and the side of the relatively long arm of the L-shaped push rod (731) away from the U-shaped push rod (712) is connected to the inner wall of the base station frame (1) via a tension spring (74); The side of the U-shaped push rod (712) close to the marking heating plate (3) is connected to the fixing rod (75) of the end contact plate (711).

8. The automatic take-off and landing battery-changing base station device for unmanned aerial vehicles according to claim 1 is characterized in that: Also included: a shielding frame (12); The shielding frames (12) are respectively hinged on both sides of the top of the base station frame (1), and the shielding frame (12) is connected to a shielding driving mechanism, and the shielding driving mechanism is used to drive the shielding frame (12) to move to be above the marking heating plate (3).

9. The automatic take-off and landing battery-changing base station device for unmanned aerial vehicles according to claim 1 is characterized in that: The charging module comprises: a plurality of photovoltaic panels (11); The photovoltaic panel (11) is installed on the side wall of the base station frame (1) and / or the shielding frame (12), and the photovoltaic panel (11) is connected to the translation mechanism.

10. A method for automatically taking off and landing a drone and replacing its battery, characterized in that: include: The marking heating plate (3) is heated by the charging module, and when the drone recognizes the marking heating plate (3) through the thermal imaging camera installed thereon, the optical flow positioning camera installed at the bottom of the drone is controlled to start, and the positioning base (31) is optically positioned, and the drone automatically lands on the marking heating plate (3) on the top of the base station frame (1) according to the position control of the optical flow positioning; The control center (2) controls the locking mechanism to start, moves the drone to a predetermined position on the identification heating plate (3), controls the lifting mechanism to start, moves upward through the battery replacement port (32) to below the drone battery, controls the disassembly assembly to start, removes the drone battery, drives the drone battery to move to the translation mechanism through the lifting mechanism, controls the translation mechanism to start, and connects the drone battery to the charging module for charging; After charging is completed, the control center (2) controls the lifting mechanism to start moving the drone battery to the bottom of the drone, controls the disassembly and assembly components to start, fixes the drone battery on the drone, and completes the battery replacement; After the battery replacement is completed, the drone is controlled to fly upward and leave the battery replacement base station device for automatic take-off and landing.

Images