Battery replacing mechanism and method for unmanned aerial vehicle

Abstract

The invention discloses a battery replacing mechanism and method for an unmanned aerial vehicle. The problems that in the prior art, manual battery replacing efficiency is low, operation is complex, and the requirements for the environment and technical conditions are high are effectively solved. The battery replacing mechanism is based on a PLC control system and multi-axis linkage design, unmanned operation can be achieved, manual participation is reduced, and the battery replacing efficiency and the operation continuity of the unmanned aerial vehicle are remarkably improved. The accurate positioning function and the flexible adaptability design of the battery replacing mechanism ensure that the battery replacing mechanism can adapt to unmanned aerial vehicles and battery compartments with different layouts, and particularly, the battery replacing mechanism still has high reliability in remote areas or severe environments. Through the innovative structural design and the intelligent control system, the problem of poor battery contact or equipment damage caused by manual operation errors in the traditional battery replacement process is solved, meanwhile, the movement path during unmanned aerial vehicle crossing is optimized through the platform lifting function, the collision risk between equipment is avoided, and the safety of the unmanned aerial vehicle is improved. And an efficient and stable solution is provided for intelligent application of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a battery replacement mechanism and method for unmanned aerial vehicles. Background Art

[0002] With the rapid development of drone technology, drones are increasingly used in agriculture, logistics, monitoring and other fields. In order to meet the needs of long-term and continuous operation, the energy supply efficiency of drones has become one of the key issues in the development of the industry. Traditional charging methods take a long time, and battery replacement methods are gradually gaining attention due to their flexibility and efficiency. However, efficient and stable automatic battery replacement systems for drones have not yet been widely popularized on the market, and the technology in this field needs to be improved urgently.

[0003] Traditional UAV intelligent air stations (hereinafter referred to as "air stations") generally do not have the function of automatic battery replacement. After the drone completes the operation, human intervention is required to manually replace the battery. This method has many limitations: first, manual battery replacement takes a long time, which affects the continuous operation efficiency of the drone; second, manual operation has high requirements on environmental and technical conditions, especially in remote areas or harsh environments, it is not convenient to carry out battery replacement operations. In addition, manual battery replacement is also prone to poor battery contact or equipment damage due to improper operation, further affecting the normal operation of the drone. Therefore, the existing technology still has obvious deficiencies in the automation, stability and efficiency of drone battery replacement operations. Summary of the invention

[0004] The present application provides a battery replacement mechanism and method for a UAV, aiming to solve the problem that the existing technology still has obvious deficiencies in the automation, stability and efficiency of UAV battery replacement operations.

[0005] In a first aspect, a battery replacement mechanism for a drone includes:

[0006] X-axis motion unit, used to drive the battery exchange mechanism to move to the target position in the horizontal direction;

[0007] The Y1-axis motion unit is used to drive the battery replacement mechanism to initially extend in the vertical direction to a position close to the target battery;

[0008] The Y2-axis motion unit is used to drive the hook mechanism to further extend to the replacement position of the target battery;

[0009] A hook mechanism for grabbing or releasing a target battery;

[0010] A servo drive system, used to provide power for the X-axis motion unit, the Y1-axis motion unit, the Y2-axis motion unit and the hook mechanism;

[0011] A programmable logic controller communicates with the servo drive system via an ECAT bus protocol and is used to control the coordinated motion of the X-axis motion unit, the Y1-axis motion unit, the Y2-axis motion unit and the hook mechanism.

[0012] In the above scheme, optionally, the X-axis motion unit is mounted on a linear guide rail and has five preset positions corresponding to the positions of the drone and the positions of four battery compartments.

[0013] In the above solution, optionally, the Y1-axis motion unit has two position states, including fully extended and fully retracted.

[0014] In the above scheme, optionally, the Y2-axis motion unit has three position states, including an initial position, a battery compartment power-removing position, and a drone battery-removing position.

[0015] In the above solution, optionally, the hook mechanism directly drives the synchronous connecting rod to rotate through a servo motor, and a hook mechanism is provided at the end of the synchronous connecting rod for grabbing or releasing the target battery.

[0016] In a second aspect, a method for replacing a battery of a drone is provided, the method comprising:

[0017] Control the X-axis motion unit to move to the target position;

[0018] Control the Y1-axis motion unit to extend close to the target battery position;

[0019] Control the Y2-axis motion unit to further extend to the target battery replacement position;

[0020] Control the hook mechanism to perform grabbing or releasing actions;

[0021] Control the Y2-axis motion unit to retract to the initial position;

[0022] Control the Y1-axis motion unit to retract to its initial position.

[0023] In the above solution, optionally, when controlling the movement of the X-axis motion unit, if it is necessary to cross the position of the drone, the drone platform is controlled to rise to avoid collision with the power exchange mechanism.

[0024] In the above scheme, optionally, the battery replacement method is applicable to four groups of batteries in the terminal, and the battery compartment is level with the position of the drone.

[0025] In the above scheme, optionally, the servo drive system receives motion control instructions from the PLC through the ECAT bus protocol to complete the absolute positioning control of each component of the power exchange mechanism.

[0026] In the above solution, optionally, the battery replacement operation includes the following actions:

[0027] Take the battery: control the X-axis motion unit to move to the target battery position, control the Y1-axis motion unit to extend to the initial position, control the Y2-axis motion unit to extend to the battery taking position, control the hook mechanism to grab the battery, and control the Y2-axis and Y1-axis motion units to retract in sequence;

[0028] Return the battery: control the X-axis motion unit to move to the target battery return position, control the Y1-axis motion unit to extend to the initial position, control the Y2-axis motion unit to extend to the battery return position, control the hook mechanism to release the battery, and control the Y2-axis and Y1-axis motion units to retract in sequence.

[0029] Compared with the prior art, this application has at least the following beneficial effects:

[0030] Based on further analysis and research of the existing technical problems, this application recognizes that the existing technology still has obvious deficiencies in the automation, stability and efficiency of the UAV battery replacement operation. By providing a fully automatic UAV battery replacement mechanism, the problems of low efficiency, complex operation and high requirements for environmental and technical conditions of manual battery replacement in the background technology are effectively solved. The battery replacement mechanism is based on the PLC control system and multi-axis linkage design, which can realize unmanned operation, reduce manual participation, and significantly improve the battery replacement efficiency and the continuity of UAV operations. The precise positioning function and flexible adaptability design of the battery replacement mechanism ensure that it can adapt to UAVs and battery compartments with different layouts, especially in remote areas or harsh environments. It still has high reliability. Through innovative structural design and intelligent control system, the present invention overcomes the problems of poor battery contact or equipment damage caused by human operation errors in the traditional battery replacement process. At the same time, the platform lifting function optimizes the movement path when crossing the UAV, avoids the risk of collision between equipment, and provides an efficient and stable solution for the intelligent application of UAVs. This technical solution can be widely used in the fields of agriculture, logistics and monitoring of UAVs, and promotes the development of intelligent applications of UAVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A circuit principle block diagram of a power replacement mechanism for a drone provided in one embodiment of the present application;

[0032] Figure 2 A schematic diagram of a battery replacement mechanism for a drone provided in one embodiment of the present application;

[0033] Figure 3 A circuit principle block diagram of another power exchange mechanism for a drone provided in one embodiment of the present application;

[0034] Figure 4 A schematic diagram of a flow chart of a battery replacement method for a drone provided in one embodiment of the present application; DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. 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.

[0037] In one embodiment, Figures 1 to 3 As shown, a battery replacement mechanism for a drone is provided, comprising:

[0038] X-axis motion unit, used to drive the battery exchange mechanism to move to the target position in the horizontal direction;

[0039] The Y1-axis motion unit is used to drive the battery replacement mechanism to initially extend in the vertical direction to a position close to the target battery;

[0040] The Y2-axis motion unit is used to drive the hook mechanism to further extend to the replacement position of the target battery;

[0041] A hook mechanism for grabbing or releasing a target battery;

[0042] A servo drive system, used to provide power for the X-axis motion unit, the Y1-axis motion unit, the Y2-axis motion unit and the hook mechanism;

[0043] A programmable logic controller communicates with the servo drive system via an ECAT bus protocol and is used to control the coordinated motion of the X-axis motion unit, the Y1-axis motion unit, the Y2-axis motion unit and the hook mechanism.

[0044] This embodiment provides a battery replacement mechanism for a drone, comprising an X-axis motion unit, a Y1-axis motion unit, a Y2-axis motion unit, a hook mechanism, a servo drive system, and a programmable logic controller (PLC). The design of the battery replacement mechanism can effectively solve the problem in the background technology that the traditional drone intelligent air station (terminal) does not have an automatic battery replacement function, and the drone needs manual intervention for battery replacement, resulting in low efficiency and insufficient stability.

[0045] The X-axis motion unit is installed along the linear guide rail and powered by the servo drive system, which can achieve precise horizontal movement of the battery swap mechanism. The unit has five preset positions, including the drone position and four battery compartment positions, and is absolutely positioned and controlled by PLC. The horizontal movement of the X-axis can quickly position the battery swap mechanism to the target battery compartment or drone battery replacement position, providing a basis for subsequent operations.

[0046] The Y1-axis motion unit achieves initial extension in the vertical direction through the servo drive system, and is mainly used to move the battery swap mechanism closer to the target battery replacement position. The unit is designed with two position states, fully extended and fully retracted. After the X-axis is positioned at the target position, the movement of the Y1 axis can significantly reduce the distance between the battery swap mechanism and the target battery, ensuring the accuracy and reliability of subsequent operations.

[0047] The Y2-axis motion unit is used to achieve precise extension, further driving the hook mechanism to reach the target battery replacement position. The Y2 axis has three position states: initial position, battery compartment position, and drone position. The unit can adjust the extension distance according to the target position requirements, where the extension distance for the drone battery is slightly longer than the extension distance for the battery compartment position. Through this flexible design, the Y2 axis can adapt to the needs of different target positions and ensure the accuracy of the operation.

[0048] The hook mechanism directly drives the synchronous connecting rod to rotate through the servo motor. The hook mechanism is set at the end of the connecting rod to grab or release the battery. During the battery replacement process, the hook mechanism is in reliable contact with the battery and the battery is fixed or released through the rotation action. The structural design is simple and efficient, which can significantly improve the reliability and stability of the battery replacement operation and avoid the problem of poor battery contact or damage that is easy to occur in manual battery replacement.

[0049] The servo drive system provides power for the above-mentioned motion units and the hook mechanism. The PLC communicates with the servo drive system through the ECAT bus protocol to coordinate and control the overall movement of the battery swap mechanism. The PLC is pre-programmed to achieve coordinated movement of the X-axis, Y1-axis, Y2-axis and the hook mechanism, and dynamically adjusts its movement sequence and operating parameters according to actual needs. Through this centralized control method, the battery swap mechanism can achieve efficient and accurate battery swap operations.

[0050] Traditional drones require manual intervention to complete the battery replacement operation, which usually takes a long time and is difficult to meet the needs of continuous operation. The present invention uses an automated battery replacement mechanism to achieve rapid replacement of drone batteries. The precise positioning function of the X-axis, Y1-axis and Y2-axis can greatly shorten the battery replacement time and significantly improve the operating efficiency of the drone.

[0051] The battery replacement mechanism of this embodiment is completely based on PLC control, and all battery replacement operations are automatically completed through pre-programmed instructions without human intervention. This unmanned design not only reduces labor costs, but also effectively avoids problems such as poor battery contact or equipment damage caused by human operational errors. The battery replacement mechanism adopts a multi-axis linkage design, combined with the flexible movement of the hook mechanism, which can adapt to the different layout requirements of drones and battery compartments. Especially in remote areas or harsh environments, the automatic battery replacement function of the present invention shows extremely high stability and reliability. The problems of low efficiency, complex operation, and high requirements for environmental and technical conditions of manual battery replacement mentioned in the background technology have been effectively solved by the present invention through precise structural design and reliable control system. At the same time, the platform lifting function when crossing the position of the drone further optimizes the movement path of the battery replacement mechanism, avoiding the problem of operation failure caused by the collision between the battery replacement mechanism and the drone blades.

[0052] The battery replacement mechanism of this embodiment can be applied to a variety of UAV intelligent air station (terminal) scenarios. Through automated design, it solves the key technical problems in the battery replacement process and provides strong support for the intelligent application of UAVs in agriculture, logistics, monitoring and other fields.

[0053] To sum up, the battery replacement mechanism of this embodiment can not only efficiently complete the battery replacement operation of the UAV through the multi-axis linkage design, automatic control system and efficient hook mechanism, but also significantly improve the continuity and stability of the UAV operation.

[0054] In this embodiment, the X-axis motion unit is mounted on a linear guide rail and has five preset positions corresponding to the positions of the drone and four battery compartments.

[0055] In this embodiment, the Y1-axis motion unit has two position states, including fully extended and fully retracted.

[0056] In this embodiment, the Y2-axis motion unit has three position states, including an initial position, a battery compartment power-removing position, and a drone battery-removing position.

[0057] In this embodiment, the hook mechanism directly drives the synchronous connecting rod to rotate through a servo motor, and a hook mechanism is provided at the end of the synchronous connecting rod for grabbing or releasing the target battery.

[0058] In one embodiment, a battery replacement method for a drone is provided, characterized in that it includes the following steps:

[0059] Control the X-axis motion unit to move to the target position;

[0060] Control the Y1-axis motion unit to extend close to the target battery position;

[0061] Control the Y2-axis motion unit to further extend to the target battery replacement position;

[0062] Control the hook mechanism to perform grabbing or releasing actions;

[0063] Control the Y2-axis motion unit to retract to the initial position;

[0064] Control the Y1-axis motion unit to retract to its initial position.

[0065] This embodiment is a battery replacement method for drones, including coordinated control of multiple precise actions: X-axis movement, Y1-axis extension, Y2-axis extension, hook mechanism grabbing or releasing the battery, and return operation of each axis. The entire method relies on the unified scheduling of the PLC program and the precise execution of the servo drive system.

[0066] The X-axis motion unit first locates to the target position according to the task instruction. The PLC controls the servo motor to move along the linear guide through the absolute positioning module, and the target position corresponds to the battery compartment or drone. The dynamic response characteristics of the servo motor can quickly complete the position switching, and the encoder is used for real-time monitoring to avoid the failure of the action due to positioning error.

[0067] When the X-axis is positioned, the Y1-axis motion unit fully extends from the initial state according to the predetermined path. The servo motor drives the lead screw guide to convert the rotational motion into linear motion. The extension of the Y1 axis is an important transition step in the entire battery swap operation, ensuring that the main body of the battery swap mechanism is close to the target battery.

[0068] The Y2-axis motion unit extends further according to the location of the target battery (battery compartment or drone), and its extension distance is pre-set by the PLC program. The precise positioning of the Y2 axis is achieved through encoder feedback, which can avoid position errors affecting the success rate of battery replacement.

[0069] When the Y2 axis reaches the target position, the hook mechanism starts to move. The servo motor drives the connecting rod to rotate, and the hook closes to grab the battery; when returning the battery, the hook opens to release the battery. The entire action is controlled by the PLC to ensure seamless connection with the actions of the Y1 and Y2 axes.

[0070] After the grabbing or releasing action is completed, the Y2 axis retracts to its initial state first, followed by the Y1 axis retracting to its initial position. Finally, the X axis moves to the predetermined initial position to prepare for the next task.

[0071] This battery replacement method relies on PLC program control to achieve unmanned operation, avoiding the common inefficiency and misoperation problems in manual battery replacement. Through the precise scheduling of the movements of the X-axis, Y1-axis, Y2-axis and the hook mechanism, the entire battery replacement process is seamlessly connected, ensuring that the success rate of each step of the operation is greatly improved. The multi-axis linkage design of the battery replacement method can significantly reduce the time of a single battery replacement operation and improve the operation continuity of the drone, which is particularly suitable for high-intensity operation scenarios. This method can adapt to a variety of drones and battery layouts, and meet the needs of different terminal scenarios by dynamically adjusting the range of motion of each axis.

[0072] The real-time monitoring function of the servo drive system and PLC can promptly detect and correct errors in the action, improving the stability and safety of the entire battery replacement process.

[0073] This embodiment provides an efficient and accurate battery replacement method, which solves the problems of low efficiency and poor stability of traditional manual battery replacement, and provides reliable guarantee for the continuous operation of the UAV.

[0074] In this embodiment, when controlling the movement of the X-axis motion unit, if it is necessary to cross the position of the drone, the drone platform is controlled to rise to avoid collision with the power exchange mechanism.

[0075] In this embodiment, the battery replacement method is applicable to four groups of batteries in the terminal, and the battery compartment is level with the position of the drone.

[0076] In this embodiment, the servo drive system receives motion control instructions from the PLC through the ECAT bus protocol to complete the absolute positioning control of each component of the power exchange mechanism.

[0077] In this embodiment, the battery replacement operation includes the following actions:

[0078] Take the battery: control the X-axis motion unit to move to the target battery position, control the Y1-axis motion unit to extend to the initial position, control the Y2-axis motion unit to extend to the battery taking position, control the hook mechanism to grab the battery, and control the Y2-axis and Y1-axis motion units to retract in sequence;

[0079] Return the battery: control the X-axis motion unit to move to the target battery return position, control the Y1-axis motion unit to extend to the initial position, control the Y2-axis motion unit to extend to the battery return position, control the hook mechanism to release the battery, and control the Y2-axis and Y1-axis motion units to retract in sequence.

[0080] like Figure 4 As shown, in another embodiment of the present application, the present application provides a battery replacement mechanism and a battery replacement method for a drone, which are used to replace batteries of the drone in the terminal. The four sets of batteries can be recycled to ensure that the drone can continue to operate.

[0081] The power exchange mechanism includes an X-axis motion unit, a Y1-axis motion unit, a Y2-axis motion unit, a hook mechanism and other parts, all of which are powered by a servo drive system and uniformly motion-controlled by a PLC through an ECAT bus protocol.

[0082] X-axis motion unit: drives the entire battery replacement mechanism to move horizontally to the specified position to correspond to the battery compartment or the battery replacement position of the drone;

[0083] Y1-axis motion unit: drives the battery swap mechanism to initially extend to a position close to the target battery;

[0084] Y2-axis motion unit: further drives the hook mechanism to extend to the target battery replacement position;

[0085] Hook mechanism: Rotates to grab or release the target battery to complete the power extraction or power return operation.

[0086] The control system is mainly composed of a PLC and a servo drive system, and the PLC and the servo drive system communicate through the ECAT bus protocol. A program is written in the PLC to control the motion of each motion unit according to the predetermined position. The X-axis motion unit has 5 preset positions, corresponding to the 4 battery compartments and the drone position. The Y1-axis motion unit has two position states: fully extended and fully retracted. The Y2-axis motion unit has three position states, including the fully retracted initial position, the extended position 1 corresponding to the battery compartment, and the extended position 2 corresponding to the drone. The hook mechanism has two positions: the initial state and the action state.

[0087] In this embodiment, the hardware of the battery exchange mechanism mainly includes: PLC, servo drive system, servo motor, linear guide rail and various mechanical structural parts. PLC communicates with the servo drive system through the ECAT bus protocol, issues motion control instructions, and declares the variable name corresponding to each position of each motion unit in the program, and maps it to the intermediate register address. After the host computer writes data through the Modbus TCP protocol, the PLC receives the data and controls each motion unit to complete the corresponding action through the absolute positioning module, so that the battery exchange mechanism it drives reaches the specified position and completes the battery exchange operation.

[0088] The battery exchange mechanism is integrally mounted on a long linear guide rail. The X-axis motion unit is driven by a servo motor to perform absolute positioning motion along the linear guide rail, driving the upper battery exchange mechanism to reach the corresponding preset position. The Y1-axis and Y2-axis motion units use guide screws to convert the rotational motion of the servo motor into linear reciprocating motion. After the X-axis reaches the specified position, the Y1-axis motion unit is fully extended to bring the battery exchange mechanism close to the target battery position; the Y2-axis motion unit is further extended to the battery replacement position according to the instruction, driving the hook mechanism to complete the grabbing action. Since the drone is usually located in the center of the terminal and the battery compartment is biased to the side of the battery exchange mechanism, when taking the battery from the battery compartment, the extension distance of the Y2 axis is less than the extension distance for taking the drone battery.

[0089] The hook mechanism directly drives the synchronous connecting rod to rotate through the servo motor, and a hook is designed at the end of the connecting rod. The hook rotates with the connecting rod to grab or release the target battery. The rotation of the hook is controlled by the PLC and coordinated with the telescopic action of the Y2 axis.

[0090] Since the battery swap mechanism is designed based on the UAV intelligent terminal and the UAV platform has the lifting function, the control logic of the battery swap mechanism includes the following designs:

[0091] The horizontal position of the battery compartment is kept level with the battery replacement position of the drone. Therefore, when the battery swap mechanism is removing or returning the battery, no additional lifting action is required. It only needs to align the target position through the X-axis motion unit, and then control the Y1-axis and Y2-axis motion units in sequence to complete the extension action. However, when the battery swap mechanism needs to move from the battery compartment on one side across the drone to the battery compartment on the other side, a collision may occur due to interference between the highest point of the battery swap mechanism and the drone blades. To avoid this problem, the PLC will judge the displacement before controlling the battery swap mechanism to cross the drone position. When it is necessary to cross the drone, first control the drone platform to rise a certain distance to ensure that the drone blades will not collide with the battery swap mechanism before continuing with subsequent actions.

[0092] The battery replacement operation is divided into two parts: battery removal and battery return. The logical process is as follows:

[0093] Battery removal operation: The hook mechanism is in the initial state, and the Y1-axis and Y2-axis motion units are both in the retracted state. The X-axis motion unit moves to the target battery compartment position, and after the Y1 axis is extended to the position, the Y2 axis is controlled to extend to the target battery position, and the hook mechanism closes to grab the battery; after the Y2 axis and Y1 axis are retracted in turn, the battery removal operation is completed.

[0094] Battery return operation: The hook mechanism is in the battery grabbing state, and the Y1-axis and Y2-axis motion units are both in the retracted state. The X-axis motion unit moves to the target drone position, and after the Y1 axis is extended to the right position, the Y2 axis is controlled to extend to the drone battery replacement position, and the hook mechanism rotates to open and release the battery; after the Y2 axis and Y1 axis are retracted in turn, the battery return operation is completed.

[0095] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A battery replacement mechanism for a drone, characterized in that: include: X-axis motion unit, used to drive the battery exchange mechanism to move to the target position in the horizontal direction; The Y1-axis motion unit is used to drive the battery replacement mechanism to initially extend in the vertical direction to a position close to the target battery; The Y2-axis motion unit is used to drive the hook mechanism to further extend to the replacement position of the target battery; A hook mechanism for grabbing or releasing a target battery; A servo drive system, used to provide power for the X-axis motion unit, the Y1-axis motion unit, the Y2-axis motion unit and the hook mechanism; A programmable logic controller communicates with the servo drive system via an ECAT bus protocol and is used to control the coordinated motion of the X-axis motion unit, the Y1-axis motion unit, the Y2-axis motion unit and the hook mechanism.

2. A battery replacement mechanism for a drone according to claim 1, characterized in that: The X-axis motion unit is mounted on a linear guide rail and has five preset positions corresponding to the positions of the drone and four battery compartments.

3. A battery replacement mechanism for a drone according to claim 1, characterized in that: The Y1-axis motion unit has two position states, including fully extended and fully retracted.

4. A battery replacement mechanism for a drone according to claim 1, characterized in that: The Y2-axis motion unit has three position states, including an initial position, a battery compartment power-removing position, and a drone battery-removing position.

5. The battery replacement mechanism for a drone according to claim 1, characterized in that: The hook mechanism directly drives the synchronous connecting rod to rotate through a servo motor, and the end of the synchronous connecting rod is provided with a hook mechanism for grabbing or releasing the target battery.

6. A battery replacement method for a drone, characterized in that: The following steps are involved: Control the X-axis motion unit to move to the target position; Control the Y1-axis motion unit to extend close to the target battery position; Control the Y2-axis motion unit to further extend to the target battery replacement position; Control the hook mechanism to perform grabbing or releasing actions; Control the Y2-axis motion unit to retract to the initial position; Control the Y1-axis motion unit to retract to its initial position.

7. A battery replacement method for a drone according to claim 6, characterized in that: When controlling the movement of the X-axis motion unit, if it is necessary to cross the position of the drone, the drone platform is controlled to rise to avoid collision with the power exchange mechanism.

8. A battery replacement method for a drone according to claim 6, characterized in that: The battery replacement method is applicable to four groups of batteries in the terminal, and the battery compartment is level with the position of the drone.

9. A battery replacement method for a drone according to claim 6, characterized in that: The servo drive system receives motion control instructions from the PLC via the ECAT bus protocol to complete absolute positioning control of each component of the power exchange mechanism.

10. A battery replacement method for a drone according to claim 6, characterized in that: The battery swapping operation includes the following actions: Take the battery: control the X-axis motion unit to move to the target battery position, control the Y1-axis motion unit to extend to the initial position, control the Y2-axis motion unit to extend to the battery taking position, control the hook mechanism to grab the battery, and control the Y2-axis and Y1-axis motion units to retract in sequence; Return the battery: control the X-axis motion unit to move to the target battery return position, control the Y1-axis motion unit to extend to the initial position, control the Y2-axis motion unit to extend to the battery return position, control the hook mechanism to release the battery, and control the Y2-axis and Y1-axis motion units to retract in sequence.

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