Off-grid unmanned aerial vehicle automatic battery changing system and method

Abstract

The invention provides an off-grid unmanned aerial vehicle automatic battery replacing system and method. The off-grid unmanned aerial vehicle automatic battery changing system comprises a main body frame with an accommodating space and an open top end, a solar power supply mechanism mounted at the top end of the main body frame, a wind power generation mechanism mounted on the outer side of the main body frame, and an unmanned aerial vehicle shifting mechanism used for bearing and moving an unmanned aerial vehicle, the unmanned aerial vehicle comprises an unmanned aerial vehicle shifting mechanism, a taking-off and landing mechanism for changing the height of the unmanned aerial vehicle shifting mechanism, a battery positioning mechanism for obtaining position information of a to-be-replaced battery in an unmanned aerial vehicle battery cabin, a battery supply mechanism for charging the unmanned aerial vehicle battery, a grabbing mechanism for automatically replacing the battery and a control mechanism. The off-grid unmanned aerial vehicle automatic battery replacement system provided by the invention can be compatible with and replace different types of unmanned aerial vehicle batteries, and can adapt to urban areas and remote areas where large-scale battery replacement of unmanned aerial vehicles is carried out under the condition of low-altitude economy and high-speed development and other environments where power supply is inconvenient.

Description

Technical Field

[0001] The present invention belongs to the technical field of drone applications, and particularly relates to an off-grid automatic battery replacement system and method for drones. Background Art

[0002] In recent years, the low-altitude economy industry in China has developed rapidly. As a core component of the low-altitude economy, drones have been widely used in many fields such as emergency rescue services, agricultural and forestry plant protection, surveying and mapping, energy inspection, and express delivery logistics. Due to the large air resistance and high energy consumption of rotor drones due to their own design, and the limitation of the drone's body and its weight, the battery capacity that can be carried by rotor drones is limited. Under the current battery technology conditions, the flight duration of drones is generally 30 minutes to 1 hour. Therefore, the battery needs to be replaced frequently to ensure continuous and stable operation.

[0003] Currently, battery replacement includes manual battery replacement and automatic battery replacement systems. Existing automatic battery replacement systems mainly consist of a drone landing platform, a battery replacement platform, a battery loading and unloading mechanism, and a battery charging base group, etc. The power supply of the battery charging base is mainly the commercial power, or a small amount of external energy is provided by using solar energy. For example, in the patent application with the patent number CN201910968766.1 and the patent name of an energy autonomous base station for autonomous takeoff and landing and battery replacement of drones based on solar power supply, a foldable solar panel is designed on the top of the base station, which can enable the base station to operate without external power supply and adapt to remote environments to complete relevant tasks. However, the energy supply of a single solar panel cannot meet the energy supply for the battery replacement load in the case of high-frequency drone operations in cities and night operations, and there are obvious geographical limitations; at the same time, it is also unable to replace batteries with appropriate capacities according to the required flight duration of drones, and the degree of intelligence is lacking. Summary of the Invention

[0004] The purpose of the present invention is to provide an off-grid automatic battery replacement system for drones that can be compatible with replacing batteries of different models of drones, and this automatic battery replacement system for drones can adapt to urban areas and remote areas where it is inconvenient to supply power, such as those with large-scale battery replacement of drones under the rapid development of the low-altitude economy, and has good effects of energy conservation, emission reduction, cost reduction, and efficiency improvement.

[0005] To solve the above technical problems, the present invention provides the following technical solutions:

[0006] In a first aspect, an off-grid automatic battery replacement system for an unmanned aerial vehicle (UAV) includes: a main frame having a receiving space and an open top end; a solar power supply mechanism installed at the top end of the main frame, including two photovoltaic support assemblies arranged side by side in a first direction, an X-direction support driving module for driving the two photovoltaic support assemblies to move towards or away from each other in the first direction, and multiple solar panels installed on the two photovoltaic support assemblies; a wind power generation mechanism installed outside the main frame; a UAV displacement mechanism located inside the main frame for carrying the UAV and moving the UAV; a takeoff and landing mechanism located below the UAV displacement mechanism for changing the height between the UAV displacement mechanism and the top end of the main frame; a battery positioning mechanism including a camera for collecting images of the battery to be replaced in the UAV battery compartment and a trained convolutional neural network model applied to the camera, the trained convolutional neural network model determining the position information of the battery to be replaced in the UAV battery compartment based on the images collected by the camera; a battery supply mechanism including a storage battery electrically connected to the solar power supply mechanism and the wind power generation mechanism respectively, a battery module electrically connected to the solar power supply mechanism, the wind power generation mechanism, and the storage battery respectively, a monitoring module for monitoring the power state of the storage battery and the battery module and the health state of the battery module, and a battery storage bin, the battery storage bin including a first bin body and a second bin body arranged in layers, the first bin body located at the lower layer for accommodating the storage battery, and the second bin body being divided into multiple sub-bins; a grasping mechanism for taking out the battery to be replaced of the UAV from the UAV battery compartment and placing it in an empty sub-bin for charging, and also for installing the target battery to be replaced in the sub-bin into the UAV battery compartment; and a control mechanism communicatively connected to the solar power supply mechanism, the wind power generation mechanism, the UAV displacement mechanism, the takeoff and landing mechanism, the battery positioning mechanism, the battery supply mechanism, and the grasping mechanism respectively.

[0007] In a specific embodiment, the battery module includes at least two types of drone batteries, and the number of each type of drone battery is at least two. The monitoring module includes a plurality of temperature sensors for detecting the temperature data of the drone batteries in the battery module, a plurality of voltage sensors for detecting the voltage data of the drone batteries in the battery module, and a microcontroller communicatively connected to the plurality of temperature sensors, the plurality of voltage sensors, and the control mechanism respectively. The microcontroller is configured to receive and store the current temperature data of each drone battery sent by each temperature sensor and the current voltage data of each drone battery sent by each voltage sensor, and cut off or close the charging circuit based on the temperature data and voltage data of each drone battery.

[0008] In a specific embodiment, the microcontroller is further configured to determine the target battery to be replaced based on the temperature data and voltage data of each drone battery, and send the number of the target sub-compartment housing the target battery to be replaced to the control mechanism. The control mechanism is configured to obtain the position information of the target battery to be replaced based on the number of the target sub-compartment and control the grasping mechanism to operate.

[0009] In a specific embodiment, the energy storage battery includes a first charging interface and a second charging interface. The battery storage bin further includes a third charging interface, a fourth charging interface, and a fifth charging interface installed on the second bin body. The first charging interface is used for electrically connecting with the solar power supply mechanism, the second charging interface is used for electrically connecting with the wind power generation mechanism, the third charging interface is used for electrically connecting with the solar power supply mechanism, the fourth charging interface is used for electrically connecting with the wind power generation mechanism, and the fifth charging interface is used for electrically connecting with the energy storage battery. The battery supply mechanism further includes a relay array. The relay array includes a first relay electrically connected to the first charging interface, a second relay electrically connected to the second charging interface, a third relay electrically connected to the third charging interface, a fourth relay electrically connected to the fourth charging interface, and a fifth relay electrically connected to the fifth charging interface. The first relay, the second relay, the third relay, the fourth relay, and the fifth relay are all communicatively connected to the control mechanism. When the illuminance is greater than a preset illuminance value, the control mechanism controls the first relay to electrically connect the solar power supply mechanism to the first charging interface, and controls the third relay to electrically connect the solar power supply mechanism to the third charging interface. When the wind speed is greater than or equal to a preset wind speed, the control mechanism controls the second relay to electrically connect the wind power generation mechanism to the first charging interface, and controls the fourth relay to electrically connect the wind power generation mechanism to the fourth charging interface. When the illuminance is less than or equal to the preset illuminance value and the wind speed is less than the preset wind speed, the control mechanism controls the fifth relay to electrically connect the energy storage battery to the fifth charging interface.

[0010] In a specific embodiment, the grasping mechanism includes a robotic arm assembly, a first carrier assembly for carrying the robotic arm assembly and extending in the second direction, and two second carrier assemblies spaced apart and extending in the first direction. The first carrier assembly is mounted on the two second carrier assemblies and fixedly connected to the two second carrier assemblies. The first carrier assembly can drive the robotic arm assembly to move back and forth in the second direction, and the two second carrier assemblies can drive the first carrier assembly to move back and forth in the first direction. The first direction is perpendicular to the second direction.

[0011] In a specific embodiment, the robotic arm assembly includes a support frame detachably connected to the first bearing assembly, a turntable embedded at one end of the support frame away from the first bearing assembly, a first driving unit for driving the turntable to rotate about the central axis of the turntable, a rotating bracket located on the side of the turntable away from the first bearing assembly, a second driving unit for driving the rotating bracket to rotate in the clockwise or counterclockwise direction, a robotic arm fixedly connected to the rotating bracket, and a third driving unit for driving the robotic arm to open or close.

[0012] In a specific embodiment, the UAV displacement mechanism includes a rectangular bearing platform, a lead screw assembly arranged around the bearing platform, a plurality of moving rods threadedly connected to the lead screw assembly, a positioning rod fixedly connected to the bearing platform and located at one end of the bearing platform close to the grasping mechanism, and a lead screw driving unit for driving the lead screw assembly to drive the plurality of moving rods to move. The bearing platform is used for bearing the UAV, and the UAV is clamped in the space surrounded by the plurality of moving rods and the positioning rod after landing.

[0013] In a specific embodiment, the photovoltaic support assembly includes a sliding frame covering the main frame, two extension plates extending from both ends of the sliding frame away from the main frame, a three-layer support combination clamped between the two extension plates, a first baffle plate with both ends respectively connected to the first ends of the two extension plates, a second baffle plate with both ends respectively connected to the second ends of the two extension plates, and a Y-direction support driving unit for driving the three-layer support combination to unfold or fold in the second direction.

[0014] Second aspect, the present invention further provides a method for replacing a battery of the off-grid UAV automatic battery replacement system described above. The method includes the following steps: Step S10: Drive the X-direction support driving module to drive the two photovoltaic support assemblies to move away from each other along the first direction to form an opening through which the UAV can enter the main frame; Step S20: Drive the take-off and landing mechanism to drive the UAV displacement mechanism to rise from the first extreme position to the second extreme position; Step S30: Receive the signal that the UAV lands on the UAV displacement mechanism; Step S40: Drive the take-off and landing mechanism to drive the UAV displacement mechanism to descend and return to the first extreme position; Step S50: Drive the UAV displacement mechanism to drive the UAV to move to the first target position; Step S60: Obtain the position information of the battery to be replaced in the UAV battery compartment sent by the battery positioning mechanism; Step S70: Based on the position information of the UAV battery to be replaced and the position information of the empty sub-compartment, drive the grasping mechanism to take out the UAV battery to be replaced from the UAV battery compartment and place it in the empty sub-compartment for charging; Step S80: Receive the number of the target sub-compartment that houses the target battery to be replaced sent by the battery supply mechanism, and based on the number of the target sub-compartment, obtain the position information of the target battery to be replaced, and drive the grasping mechanism to grasp the target battery to be replaced and place it in the UAV battery compartment.

[0015] In a specific embodiment, before the step of obtaining the number of the target sub-compartment that houses the target battery to be replaced sent by the battery supply mechanism, it further includes the step of the battery supply mechanism obtaining the number of the target sub-compartment, which includes: Step (1): The microcontroller obtains a plurality of candidate batteries having the same model as the UAV battery to be replaced; Step (2): The microcontroller obtains the current temperature data and current voltage data of each candidate battery; Step (3): The microcontroller performs a multi-level filtering algorithm process on the current temperature data of each candidate battery to obtain the processed current temperature data of each candidate battery, and compares the processed current temperature data of each candidate battery with a preset temperature. When it is detected that the duration for which the processed current temperature data of the candidate battery is greater than the preset temperature exceeds the preset duration, the candidate battery is regarded as an abnormal battery with poor health status; Step (4): The microcontroller takes the plurality of UAV batteries after deleting the abnormal batteries as candidate batteries; Step (5): The microcontroller uses polynomial fitting curves to obtain the power data of each candidate battery based on the processed current temperature data and current voltage data of each candidate battery; Step (6): The microcontroller sorts the power data of each candidate battery and determines the target battery to be replaced based on the sorting result, and the power data of the target battery to be replaced is the largest; Step (7): The microcontroller obtains the number of the target sub-compartment, and the target sub-compartment is the sub-compartment that houses the target battery to be replaced.

[0016] The beneficial effects of the present invention at least include:

[0017] 1. The off-grid automatic UAV battery swapping system provided by the present invention includes a main frame with a receiving space and an open top end, a solar power supply mechanism installed at the top of the main frame, a wind power generation mechanism installed outside the main frame, a UAV displacement mechanism for carrying and moving the UAV, a takeoff and landing mechanism for changing the height of the UAV displacement mechanism, a battery positioning mechanism for obtaining the position information of the battery to be replaced of the UAV, a battery supply mechanism for charging the UAV battery, a grasping mechanism for automatically replacing the battery, and a control mechanism. Among them, the battery positioning mechanism includes a camera for collecting images of the battery to be replaced in the UAV battery compartment, and a trained convolutional neural network model applied to the camera. The trained convolutional neural network model determines the position information of the battery to be replaced in the UAV battery compartment based on the images collected by the camera. In this way, since the present invention provides a special battery positioning mechanism for obtaining the position information of the battery to be replaced, this off-grid automatic UAV battery swapping system can be compatible with different models of UAVs. Different models of UAVs can have the same battery model but different battery compartment positions, or the same battery compartment position but different battery models, or both different battery compartment positions and different battery models, improving the compatibility of this off-grid automatic UAV battery swapping system.

[0018] 2. The solar power supply mechanism, wind power generation mechanism, and energy storage battery of the off-grid automatic UAV battery swapping system provided by the present invention can all charge the battery module, and different power supply sources are used to charge the battery module under different illuminance and different wind speeds. On the one hand, the energy utilization efficiency is high. On the other hand, it can adapt to the environments where power supply is inconvenient, such as urban areas and remote areas with large-scale UAV battery swapping under the rapid development of the low-altitude economy.

[0019] 3. The solar power supply mechanism provided by the present invention includes a total of 6 solar panels. During operation, the three layers of brackets of each photovoltaic support assembly are in an unfolded state, forming a three-column and two-row solar light-facing surface, which has the advantage of high solar energy utilization efficiency.

[0020] IV. The grasping mechanism provided by the present invention includes a robotic arm assembly, a first carrying assembly for carrying the robotic arm assembly and extending in the second direction, and two second carrying assemblies spaced apart and extending in the first direction. The first carrying assembly is placed on the two second carrying assemblies and fixedly connected to the two second carrying assemblies. The first carrying assembly can drive the robotic arm assembly to move back and forth in the second direction, and the two second carrying assemblies can drive the first carrying assembly to move back and forth in the first direction. The first direction is perpendicular to the second direction. In this way, through the first carrying assembly and the second carrying assembly, the robotic arm assembly can be brought to the second target position corresponding to the first target position, realizing precise grasping of the battery to be taken.

[0021] V. The robotic arm assembly provided by the present invention includes a support frame detachably connected to the first carrying assembly, a turntable embedded at one end of the support frame away from the first carrying assembly, a first driving unit for driving the turntable to rotate around the central axis of the turntable, a rotating bracket located on the side of the turntable away from the first carrying assembly, a second driving unit for driving the rotating bracket to rotate in the clockwise or counterclockwise direction, a robotic arm fixedly connected to the rotating bracket, and a third driving unit for driving the robotic arm to open or close. In this way, the first driving unit can change the orientation of the robotic arm, and the second driving unit can make the robotic arm vertically or horizontally arranged. The robotic arm has flexible grasping and can adapt to drones and battery storage bins located at different positions.

[0022] In addition to the purposes, features, and advantages described above, the present invention has other purposes, features, and advantages. The following will refer to the drawings to further elaborate on the present invention in detail. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional structural schematic diagram of an off-grid UAV automatic battery swapping system provided by an embodiment of the present invention in a state.

[0024] Figure 2 It is a three-dimensional structural schematic diagram of an off-grid UAV automatic battery swapping system provided by an embodiment of the present invention in another state.

[0025] Figure 3 It is Figure 2 a partial three-dimensional structural schematic diagram of the off-grid UAV automatic battery swapping system shown.

[0026] Figure 4 It is a three-dimensional structural schematic diagram of the three-layer bracket combination of the off-grid UAV automatic battery swapping system provided by an embodiment of the present invention in an unfolded state.

[0027] Figure 5 It isFigure 4 Enlarged view of part A;

[0028] Figure 6 Schematic perspective view of the drone displacement mechanism of the off-grid drone automatic battery replacement system provided by an embodiment of the present invention;

[0029] Figure 7 is Figure 6 Enlarged view of part B;

[0030] Figure 8 Schematic perspective view of the take-off and landing mechanism of the off-grid drone automatic battery replacement system provided by an embodiment of the present invention;

[0031] Figure 9 Schematic perspective view of the battery storage bin and battery module of the off-grid drone automatic battery replacement system provided by an embodiment of the present invention;

[0032] Figure 10 Schematic connection diagram of the battery supply mechanism with the solar power supply mechanism, wind power generation mechanism and control mechanism;

[0033] Figure 11 Schematic perspective view of the grasping mechanism of the off-grid drone automatic battery replacement system provided by an embodiment of the present invention;

[0034] Figure 12 is Figure 10 Schematic exploded perspective view of the grasping mechanism shown;

[0035] Figure 13 is Figure 10 Front view of a partial robotic arm assembly of the grasping mechanism shown;

[0036] Figure 14 is Figure 10 Schematic structural view of the robotic arm and the third drive unit of the grasping mechanism shown

[0037] Figure 15 Flowchart of the steps of the method for replacing the battery of the drone automatic battery replacement system provided by an embodiment of the present invention. Detailed implementation manners

[0038] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be defined and covered by the claims in various different embodiments.

[0039] Please refer to Figures 1 to 14, the present invention provides an off-grid unmanned aerial vehicle (UAV) automatic battery replacement system 100, which includes a main frame 10 having a receiving space with an open top end, a solar power supply mechanism 20 installed at the top of the main frame 10, a wind power generation mechanism 30 installed outside the main frame 10, a UAV displacement mechanism 40 for carrying and moving the UAV, a take-off and landing mechanism 50 for changing the height of the UAV displacement mechanism 40, a battery positioning mechanism for obtaining the position information of the battery to be replaced in the UAV battery compartment, a battery supply mechanism 70 for charging the UAV battery, a grasping mechanism 80 for automatically replacing the battery, and a control mechanism 90 communicatively connected to the solar power supply mechanism 20, the wind power generation mechanism 30, the UAV displacement mechanism 40, the take-off and landing mechanism 50, the battery positioning mechanism, the battery supply mechanism 70, and the grasping mechanism 80 respectively. The UAV displacement mechanism, the take-off and landing mechanism, the UAV battery positioning mechanism, the grasping mechanism, and the battery supply mechanism are all located in the receiving space of the main frame 10. Among them, the grasping mechanism 80 and the take-off and landing mechanism 50 are arranged side by side in a first direction, and the grasping mechanism 80 and the battery supply mechanism 70 are arranged side by side in a second direction.

[0040] The main frame 10 includes a bottom shell 11 having a plurality of first corners, a frame body 12 provided on the upper side of the bottom shell 11 and spaced apart from the bottom shell 11, and a plurality of support columns 13 for connecting the bottom shell 11 and the frame body 12. The frame body 12 has a plurality of second corners corresponding to the first corners. Two ends of the support column 13 are respectively connected to the corresponding first corner and second corner, and the plurality of support columns 13 are arranged parallel to each other and spaced apart.

[0041] In the present invention, the number of the first corners and the second corners is four each, and the frame body 12 is a rectangular frame body.

[0042] In the present invention, the frame body 12 includes four connecting cross columns 121, and two ends of each connecting cross column 121 are respectively connected to two adjacent support columns 13.

[0043] Please refer specifically to Figures 2 to 5 , the solar power supply mechanism 20 is installed on the frame body 12 and is used to convert solar energy into electric energy. In this embodiment, the solar power supply mechanism 20 provides power for the battery supply mechanism 70. In other embodiments, in addition to providing power for the battery supply mechanism 70, the solar power supply mechanism 20 can also provide power for other components of the UAV automatic battery replacement system that require power.

[0044] Preferably, the solar power supply mechanism 20 includes two photovoltaic support assemblies 21 arranged side by side in the first direction, an X-direction support driving module for driving the two photovoltaic support assemblies 21 to move towards or away from each other in the first direction, and a plurality of solar collector panels 23 mounted on the two photovoltaic support assemblies 21.

[0045] In the present invention, when the drone is about to land, the two photovoltaic support assemblies 21 move away from each other in the first direction to form an opening that allows the drone to enter the main frame 10. When the drone leaves the automatic battery replacement system for drones, the two photovoltaic support assemblies 21 move towards each other in the first direction to close the open end of the main frame 10.

[0046] In the present invention, the photovoltaic support assembly 21 includes a sliding frame 211 covering the frame body 12, two extension plates 212 extending from both ends of the sliding frame 211 away from the main frame 10, a three-layer support combination 213 clamped between the two extension plates 212, a first baffle 214 with both ends respectively connected to the first ends of the two extension plates 212, a second baffle 215 with both ends respectively connected to the second ends of the two extension plates 212, and two groups of Y-direction support driving units 216 for driving the three-layer support combination 213 to expand or retract in the second direction, where the second direction is perpendicular to the first direction.

[0047] Preferably, the sliding frame 211 includes a sliding top plate 2111 and two sliding side plates 2112 respectively extending from both sides of the sliding top plate 2111. The sliding top plate 2111 covers the open end of the main frame 10, and the sliding side plates 2112 are located outside the connecting cross column 121.

[0048] In this embodiment, the sliding frame 211 is fixedly connected to the X-direction support driving module, so that the X-direction support driving module can drive the sliding frame 211 to slide.

[0049] Preferably, the sliding frame 211 further includes a sliding limit plate with both ends respectively connected to the two sliding side plates 2112. When the sliding limit plate of the sliding frame 211 abuts against the frame body 12 of the main frame, neither of the two sliding frames can continue to slide towards each other and is in the limit position of moving towards each other.

[0050] The extension plate 212 includes an extension plate main body, two relief spaces recessed inward from both ends of the extension plate main body 2121, and two mounting grooves located at different heights recessed inward from the middle of the extension plate main body.

[0051] The three - layer bracket assembly 213 includes an intermediate - layer bracket 2131 in the middle, a lower - layer bracket 2132 on the side of the intermediate - layer bracket 2131 close to the main body frame 10, and an upper - layer bracket 2133 on the side of the intermediate - layer bracket 2131 away from the main body frame 10. Both ends of the intermediate - layer bracket 2131 are fixedly connected to the two extension plates 212 respectively. Both ends of the lower - layer bracket 2132 and the upper - layer bracket 2133 are respectively clamped in the installation grooves of the two extension plates 212 and can slide along the installation grooves to expand or retract the three - layer bracket assembly 213.

[0052] In the present invention, the three - layer bracket assembly 213 expands along the second direction, and the second direction is perpendicular to the first direction.

[0053] Please refer to Figure 4 the perspective shown. The first direction is the X - axis direction, and the second direction is the Y - axis direction.

[0054] It can be understood that the two installation grooves are at different heights, and the upper - layer bracket and the lower - layer bracket are also at different heights. The installation groove close to the sliding frame is used to install the lower - layer bracket 2132, and the installation groove away from the sliding frame is used to install the upper - layer bracket 2133.

[0055] In this embodiment, from the bottom case to the frame body direction, the lower - layer bracket 2132, the intermediate - layer bracket 2131, and the upper - layer bracket 2133 are arranged in sequence.

[0056] The first baffle 214 is used to limit the extreme position of the sliding of the lower - layer bracket 2132; the second baffle 215 is used to limit the extreme position of the sliding of the upper - layer bracket 2133. Taking Figure 4 the perspective shown as a reference, the first end of the extension plate refers to the right end of the extension plate, and the second end of the extension plate refers to the left end of the extension plate.

[0057] In the present invention, one of the two Y - direction bracket driving units 216 is used to drive the lower - layer bracket to slide along the installation groove so that the lower - layer bracket is directly below the intermediate - layer bracket or the lower - layer bracket is on one side of the intermediate - layer bracket; the other Y - direction bracket driving unit is used to drive the upper - layer bracket to slide along the installation groove so that the upper - layer bracket is directly above the intermediate - layer bracket or the upper - layer bracket is on the other side of the intermediate - layer bracket.

[0058] In this way, when the three - layer bracket assemblies of the two photovoltaic bracket assemblies are both expanded, they are arranged in 2 rows × 3 columns, which is equivalent to a total of 6 solar panels absorbing solar energy, resulting in high solar energy utilization rate.

[0059] In the present invention, when the lower layer support and the upper layer support are arranged on both sides of the middle layer support, the three-layer support combination 213 is in an expanded state along the second direction; when the lower layer support is located directly below the middle layer support and the upper layer support is located directly above the middle layer support, the three-layer support combination is in a folded state.

[0060] In the present invention, when the three-layer bracket combination 213 is in a folded state, it can be understood that the upper bracket, the middle bracket and the lower bracket are stacked in sequence. At this time, the orthographic projections of the upper bracket and the lower bracket to the middle bracket coincide with the middle bracket.

[0061] In the present invention, when the automatic battery replacement system of the drone is in a working state and / or the illuminance is less than or equal to the preset illuminance value, the three-layer bracket assembly 213 is in a folded state; when the automatic battery replacement system of the drone is in a non-working state and the illuminance is greater than the preset illuminance value, the three-layer bracket assembly 213 is in an unfolded state.

[0062] It should be noted that, in the present invention, the automatic battery replacement system of the drone is in working state refers to the period during which the automatic battery replacement system of the drone automatically replaces the battery. The initial time is before the drone is ready to land, and the end time is when the drone leaves after replacing the battery.

[0063] Preferably, each group of the Y-direction bracket driving unit 216 includes a Y-direction bracket driving motor, a driving shaft group 2161 connected to the output end of the Y-direction bracket driving motor, a plurality of roller groups 2162 installed on the driving shaft group, and a roller group 2163 arranged opposite to the driving shaft group, the driving group shaft 2161 is located in the makeshift space at one end of one of the extension plates, and the roller group 2163 is located in the makeshift space at one end of the other extension plate.

[0064] In the present invention, the Y-direction support driving motors of the two Y-direction support driving units are installed in the sliding top plate 2111 .

[0065] In the present invention, the driving shaft group 2162 includes a plurality of driving shafts, and a roller group is correspondingly installed on each of the driving shafts. Each of the roller groups 2162 includes a first roller and a second roller arranged at intervals, the first roller abuts against the lower bracket, and the second roller abuts against the upper bracket, wherein the Y-direction bracket driving motor of one of the Y-direction bracket driving units is used to drive the first roller to roll, thereby driving the lower bracket abutting against the first roller to move, and the Y-direction bracket driving motor of another of the Y-direction bracket driving units is used to drive the second roller to roll, thereby driving the upper bracket abutting against the second roller to move.

[0066] In the present invention, with Figure 4 the perspective shown as a reference, when the lower bracket is unfolded, it is located on the left side of the middle bracket. Correspondingly, the Y-direction bracket driving unit for driving the lower bracket is located at the left end; when the upper bracket is unfolded, it is located on the right side of the middle bracket. Correspondingly, the Y-direction bracket driving unit for driving the upper bracket is located at the right end.

[0067] In the present invention, the first roller is disposed adjacent to the sliding frame 211, and the second roller is located on a side of the first roller away from the bottom case.

[0068] Preferably, the diameter of the first roller is larger than that of the second roller.

[0069] Please refer to Figure 5 , Figure 5 The large roller shown is the first roller for driving the lower bracket, Figure 5 and the small roller shown is the second roller for driving the upper bracket.

[0070] In the present invention, the roller set 2163 is used to reduce the sliding resistance between the upper bracket and the lower bracket.

[0071] The X-direction bracket driving module includes four symmetrically arranged X-direction bracket driving units 221. Two X-direction bracket driving units located on the same side and symmetric about the first direction are used to drive the same photovoltaic bracket assembly 21.

[0072] Each X-direction bracket driving unit includes a guide rail 2211 fixedly installed on the frame body 12 and extending along the first direction, a first lead screw arranged parallel to the guide rail, a slider 2213 slidably installed on the first lead screw, a stop block 2214 fixed on the first guide rail 2211, and an X-direction bracket driving motor 2215 for driving the first lead screw. The slider 2213 is threadedly connected to the first lead screw, and the slider 2213 is fixedly connected to the sliding frame 211 to drive the sliding frame 211 to slide back and forth along the guide rail 2211.

[0073] The X-direction bracket driving motor drives the first lead screw to rotate, thereby driving the slider 2213 to move linearly along the guide rail 2211, and further driving the sliding frame 211 fixedly connected to the slider 2213 to slide back and forth along the first direction, that is, driving the photovoltaic bracket assembly 21 to slide, so as to open or close the top end of the main frame 10 through the sliding of the two photovoltaic bracket assemblies 21.

[0074] In the present invention, the number of the solar power collecting panels 23 is the same as the total number of the brackets. In the present invention, each of the photovoltaic bracket assemblies 21 includes an upper bracket, a middle bracket, and a lower bracket. That is, the total number of the brackets is 6, the number of the solar power collecting panels 23 is 6, and one solar power collecting panel 23 is installed on each bracket. Moreover, the solar power collecting panel is detachably connected to the bracket.

[0075] In the present invention, the solar power collecting panel 23 is connected to the battery supply mechanism 70.

[0076] When the solar power supply mechanism 20 is operating, the three-layer brackets of each of the photovoltaic bracket assemblies 21 are in an unfolded state, forming a solar light-facing surface with three columns and two rows. Before the UAV lands, first, the two sets of bracket driving units respectively drive the lower brackets and the upper brackets of the two photovoltaic bracket assemblies 21 to slide towards the middle bracket to return to the retracted state. Then, the bracket driving module drives the two photovoltaic bracket assemblies 21 to move away from each other to form an opening through which the UAV can enter the main frame 10. After the UAV leaves, first, the bracket driving module 22 drives the two photovoltaic bracket assemblies 21 to move towards each other until the limit position. Then, the two sets of Y-direction bracket driving units of the photovoltaic bracket assembly 21 respectively drive the lower bracket and the upper bracket of the three-layer bracket combination to slide away from each other to be in the unfolded state.

[0077] The wind power generation mechanism includes a wind power generation bracket 31 fixedly connected to the main frame 10 and located outside the main frame 10, and a wind resistance type wind power generator installed in the wind power generation bracket 31. The wind resistance type wind power generator is used to convert the mechanical energy generated by the wind power generation bracket 31 into electrical energy.

[0078] In the present invention, the wind resistance type wind power generator is connected to the battery supply mechanism 70.

[0079] Please refer to Figure 6 and Figure 7 for details. The UAV displacement mechanism 40 includes a rectangular bearing platform 41, a lead screw assembly 42 arranged around the bearing platform 41, a plurality of moving rods 43 threadedly connected to the lead screw assembly 42, a positioning rod 44 fixedly connected to the bearing platform 41 and located at one end of the bearing platform 41 close to the grasping mechanism 80, and a lead screw driving unit 45 for driving the lead screw assembly 42 to drive the moving rods 43 to move.

[0080] The bearing platform 41 is used to bear the drone. Driven by the take-off and landing mechanism 50, the bearing platform 41 can move along the height direction of the main body frame 10. Specifically: when the drone is about to land, the bearing platform 41 rises from the first extreme position to the second extreme position; after the drone lands, the bearing platform 41 bears the drone and returns from the second extreme position to the first extreme position, and the height of the second position is greater than that of the first position; after the battery of the drone is replaced, the bearing platform 41 bears the drone and rises from the first extreme position to the second extreme position.

[0081] The lead screw assembly 42 includes four lead screw seat groups 421 respectively arranged on four sides of the bearing platform 41, a first lead screw group 422 and a second lead screw group 423 which are installed on the four lead screw seat groups 421 and are arranged at intervals along the height direction of the main body frame 10, and the second lead screw group 423 is located on the side of the first lead screw group 422 close to the frame body.

[0082] Taking Figure 7 the perspective as a reference, the second lead screw group 423 is located above the first lead screw group 422.

[0083] Each lead screw seat group 421 includes two lead screw seats 4211 respectively arranged at both ends of the side of the bearing platform 41. Each lead screw seat 4211 includes a seat body fixedly connected to the bearing platform 41, and a first mounting hole and a second mounting hole which penetrate through the seat body and are arranged at intervals, and the second mounting hole is located above the first mounting hole.

[0084] The first lead screw group 422 includes four lower lead screws 4221 respectively arranged along four sides of the bearing platform 41, and a plurality of lower lead screw gears 4222 used for realizing the transmission between adjacent two lower lead screws. Both ends of each lower lead screw 4221 respectively penetrate out of the first mounting holes of two lead screw seats 4221 on the same side, and the lower lead screw gear is sleeved on the end of the lower lead screw 4221 that penetrates out.

[0085] One of the four lower lead screws 4221 is connected to the lead screw driving unit 45.

[0086] For the convenience of understanding, the four lower lead screws are divided into a first lower lead screw, a second lower lead screw, a third lower lead screw and a fourth lower lead screw. The first lower lead screw, the second lower lead screw, the third lower lead screw and the fourth lower lead screw are arranged around the bearing platform 41 in sequence. Among them, the first lower lead screw and the third lower lead screw are arranged in parallel, and the second lower lead screw and the fourth lower lead screw are arranged in parallel.

[0087] The screw rod driving unit 45 is connected to the first lower-layer screw rod. A lower-layer screw rod gear is installed at the end of the first lower-layer screw rod away from the screw rod driving unit. A lower-layer screw rod gear is installed at each of the two ends of the second lower-layer screw rod, and a lower-layer screw rod gear is installed at the end of the third lower-layer screw rod close to the second lower-layer screw rod. The adjacent two lower-layer screw rod gears are meshed and connected, and the first lower-layer screw rod, the second lower-layer screw rod, and the third lower-layer screw rod are driven through the meshing connection of the adjacent two lower-layer screw rod gears.

[0088] The second screw rod group 423 includes four upper-layer screw rods 4231 respectively arranged along the four sides of the bearing platform 41, and a plurality of upper-layer screw rod gears 4232 for realizing the transmission between adjacent two upper-layer screw rods. The two ends of each upper-layer screw rod 4231 respectively pass through the second mounting holes of the two screw rod seats 4221 on the same side, and the upper-layer screw rod gear is sleeved on the end of the upper-layer screw rod 4231 that passes through.

[0089] One of the four upper-layer screw rods 4231 is connected to the screw rod driving unit 45.

[0090] For the convenience of understanding, the four upper-layer screw rods are divided into a first upper-layer screw rod, a second upper-layer screw rod, a third upper-layer screw rod, and a fourth upper-layer screw rod. The first upper-layer screw rod is located above the first lower-layer screw rod, the second upper-layer screw rod is located above the second lower-layer screw rod, the third upper-layer screw rod is located above the third lower-layer screw rod, and the fourth upper-layer screw rod is located above the fourth lower-layer screw rod. In the present invention, the fourth upper-layer screw rod is connected to the screw rod driving unit 45.

[0091] An upper-layer screw rod gear is installed at the end of the fourth upper-layer screw rod away from the screw rod driving unit 45. An upper-layer screw rod gear is installed at each of the two ends of the first upper-layer screw rod, and an upper-layer screw rod gear is installed at the end of the second upper-layer screw rod close to the first upper-layer screw rod. The adjacent two upper-layer screw rod gears are meshed and connected, and the fourth upper-layer screw rod, the first upper-layer screw rod, and the second upper-layer screw rod are driven through the meshing connection of the adjacent two upper-layer screw rod gears.

[0092] The moving rod 43 includes a first moving rod 431 arranged parallel to the positioning rod 44, a second moving rod 432 and a third moving rod 433 arranged perpendicular to the first moving rod 431. The second moving rod 432 and the third moving rod 433 are arranged in parallel at intervals, and the second moving rod 432 is arranged close to the screw rod driving unit 45.

[0093] In the present invention, the first moving rod 431, the second moving rod 432, and the third moving rod 433 are all U-shaped rods, each including a moving rod body arranged in parallel and spaced apart from the bearing platform 41, and two moving rod connecting portions perpendicularly bent and extending from both ends of the moving rod body.

[0094] The two moving rod connecting portions of the first moving rod 431 are respectively threadedly connected to the second upper layer lead screw and the fourth upper layer lead screw. In this way, when the lead screw driving unit 45 drives the second upper layer lead screw and the fourth upper layer lead screw to rotate, the first moving rod 431 can also be driven to move in a direction close to or away from the positioning rod 44.

[0095] The two moving rod connecting portions of the second moving rod 432 are respectively threadedly connected to the first lower layer lead screw and the third lower layer lead screw, and the two moving rod connecting portions of the third moving rod 433 are respectively threadedly connected to the first upper layer lead screw and the third upper layer lead screw. In this way, under the drive of the lead screw driving unit 45, the first lower layer lead screw and the third lower layer lead screw can drive the second moving rod 432 to move, the first upper layer lead screw and the third layer lead screw can drive the third moving rod 433 to move, and the second moving rod 432 and the third moving rod 433 move towards or away from each other.

[0096] In the present invention, the positioning rod 44 is a U-shaped rod, the two ends of which are fixedly connected to the bearing platform 41 and are not connected to the second lower layer lead screw, the fourth lower layer lead screw, the second upper layer lead screw, and the fourth upper layer lead screw. It can be understood that this can be achieved as long as the diameter of the through hole formed in the positioning rod 44 is larger than the diameters of the second lower layer lead screw, the fourth lower layer lead screw, the second upper layer lead screw, and the fourth upper layer lead screw.

[0097] Preferably, the lead screw driving unit 45 includes a first lead screw driving motor 451 connected to the first lower layer lead screw and a second lead screw driving motor 452 connected to the fourth upper layer lead screw.

[0098] In the present invention, the unmanned aerial vehicle displacement mechanism 40 is used to move the unmanned aerial vehicle to a first target position. The battery positioning mechanism acquires the position information of the hatch of the unmanned aerial vehicle battery compartment when the unmanned aerial vehicle is at the first target position and sends it to the control mechanism. The control mechanism drives the grasping mechanism to take out the battery to be replaced of the unmanned aerial vehicle.

[0099] Please refer to Figure 6, in the present invention, when the drone is at the first target position, the drone is clamped between the first moving rod, the second moving rod, the third moving rod and the positioning rod, and is in contact with the first moving rod, the second moving rod, the third moving rod and the positioning rod.

[0100] Preferably, when the drone is at the first target position, the distances from the second moving rod and the third moving rod to the center point of the carrying platform are the same.

[0101] Please refer to Figure 8 , the take-off and landing mechanism 50 includes a base 51, two substrate plates 52 fixedly connected to the base 51 and arranged opposite to each other, first limiting long holes 53 opened on each of the substrate plates 51, a lifting platform 54 installed on the two substrate plates 51, and a lifting platform driving component 55 for driving the lifting platform 54 to slide back and forth along the first limiting long holes 53 so as to change the height of the lifting platform.

[0102] The lifting platform 54 includes a first connecting rod 541 with both ends respectively clamped in the two second limiting long holes 52, a second connecting rod 542 arranged in parallel and spaced apart from the first connecting rod 541 with both ends respectively fixedly connected to the two substrate plates 52, a support plate 543 arranged in parallel and spaced apart from the base 51, two mounting plates 544 perpendicularly bent and extended from both ends of the support plate 543 towards the direction close to the base, two second limiting long holes 545 opened on the two mounting plates 544, a third connecting rod 546 with both ends respectively clamped in the two second limiting long holes 545 and spaced apart from the first connecting rod 541, a fourth connecting rod 547 arranged in parallel and spaced apart from the second connecting rod 542 with both ends respectively fixedly connected to the two mounting plates 534, two sets of symmetrically arranged first hinge arm groups 548 for connecting the first connecting rod and the third connecting rod, and two sets of symmetrically arranged second hinge arm groups 549 for connecting the second connecting rod and the fourth connecting rod. The lifting platform driving component 54 is threadedly connected to the first connecting rod 531 and can drive the first connecting rod 531 to slide back and forth along the first limiting long holes 53.

[0103] In the present invention, the drone displacement mechanism 40 is located on the support plate 543. In this way, when the support plate 543 rises or falls, it can drive the drone displacement mechanism 40 to rise or fall, thereby changing the distance between the drone displacement mechanism and the top of the main frame.

[0104] In the present invention, when the lifting platform driving assembly 55 drives the first connecting rod 541 to slide back and forth along the first limiting long hole, the third connecting rod simultaneously slides back and forth along the second limiting long hole, and the sliding of the first connecting rod and the third connecting rod is in the same direction.

[0105] Preferably, two ends of one first hinge arm group 548 are respectively hinged to the first end of the first connecting rod and the first end of the third connecting rod, and two ends of the other first hinge arm group 548 are respectively hinged to the second end of the first connecting rod and the second end of the third connecting rod.

[0106] In the present invention, the first hinge arm group 548 includes two first hinge arms connected by hinges.

[0107] Preferably, two ends of one second hinge arm group 549 are respectively hinged to the first end of the second connecting rod and the first end of the fourth connecting rod, and two ends of the other second hinge arm group 549 are respectively hinged to the second end of the second connecting rod and the second end of the fourth connecting rod.

[0108] In the present invention, the second hinge arm group 549 includes two second hinge arms connected by hinges, and the correspondingly arranged first hinge arm and the second hinge arm are arranged in a cross manner and connected by a rotating shaft.

[0109] The lifting platform driving assembly 55 includes a lifting platform driving motor 551, a transmission lead screw 552 connected to the lifting platform driving motor 551, and a lead screw bracket 553. The lead screw bracket 553 includes a first connecting plate fixedly connected to the base 51, a second connecting plate vertically bent and extended from the first connecting plate, and a lead screw mounting hole formed through the second connecting plate. One end of the transmission lead screw 552 is connected to the lifting platform driving motor 551 and the other end passes through the first connecting rod and then passes out from the lead screw mounting hole. The transmission lead screw 552 is threadedly connected to the first connecting rod 541.

[0110] The UAV battery positioning mechanism includes a camera 61 for collecting images of the battery to be replaced in the UAV battery compartment, and a trained convolutional neural network model applied to the camera. The camera 61 is fixed to the inner wall of the main body frame, and the trained convolutional neural network model determines the position information of the battery to be replaced in the UAV battery compartment based on the images collected by the camera.

[0111] It can be understood that the image for determining the position information of the battery to be replaced in the UAV battery compartment refers to the image of the battery to be replaced in the UAV battery compartment collected by the camera when the UAV is moved to the first target position by the UAV displacement mechanism.

[0112] Since the positions of the battery compartments of drones of different models may vary, and the battery models may also be different, there may be errors in driving the grasping mechanism to move to a preset position to pick up the drone's battery, resulting in the grasping mechanism 70 being unable to accurately grasp and replace the battery. The present invention uses a trained convolutional neural network model to determine the position information of the battery to be replaced in the drone's battery compartment in order to be compatible with the replacement of batteries for different models of drones.

[0113] In the present invention, drones of different models may have the same battery model but different battery storage compartment positions, or the same battery storage compartment positions but different battery models, or both different battery storage compartment positions and different battery models.

[0114] In the present invention, the training method of the convolutional neural network model can be the training method of the convolutional neural network model for accurately obtaining the position of a certain target object in an image based on the image disclosed in the prior art, or the training method of the convolutional neural network model provided by the present invention.

[0115] The training steps of the trained convolutional neural network model provided by the present invention include:

[0116] Step (1), obtaining an image set of diverse battery samples, and performing normalization processing on each image data in the image set to construct a training set. Among them, the normalization processing of the image data includes size normalization, color space conversion, noise elimination, and data augmentation.

[0117] The diverse battery samples include batteries of different models, batteries of different sizes, and battery samples in different usage states.

[0118] The size normalization specifically unifies the images to 256×256 pixels; the color space conversion refers to converting RGB to HSV; the noise elimination is processed by the Gaussian filtering method; the data augmentation includes data augmentation operations such as rotating, scaling, and cropping the images to improve the generalization ability of the model.

[0119] Step (2), building an improved convolutional neural network (CNN) battery target detection network model and pre-training it on ImageNet. The battery target detection network model selects EfficientNet-B7 as the backbone network, and designs a dual-branch output structure at the top of the backbone network. The dual-branch includes a classification branch for realizing battery model identification and a regression branch for predicting the coordinates of the battery center point. Among them, the classification branch consists of two fully connected layers and a linear classifier, and the regression branch consists of two fully connected layers and an output layer.

[0120] Among them, the two fully connected layers of the classification branch and the two fully connected layers of the regression branch each contain 1024 and 512 neurons.

[0121] In the present invention, the classification branch adopts the cross-entropy loss function, and the learning rate is 1e -3 , and the Batch size is set to 32; the regression branch adopts the Smooth L1 loss function, and the learning rate is 1e -4 , and the Batch size is set to 32.

[0122] It should be noted that in the present invention, the coordinates of the center point of the battery are the coordinates of the center point outside the plane where the battery and the battery interface are located, and are the data corresponding to the origin of the coordinate axis based on the vertices of the outer surface of the battery.

[0123] Step (3): Based on the training set, train the pre-trained EfficientNet-B7 model according to the preset training parameters, and adopt the Early stopping technology to prevent the model from overfitting, so as to obtain the trained convolutional neural network model.

[0124] The preset training parameters include: the number of iterations is set to 500, the Batch size is taken as 32, the learning rate is set to 1e -3 , and the regularization coefficient is set to 1e -4 .

[0125] In the present invention, the standardized images in the training set are used as the input, and the battery center point coordinates in the training set are used as the output.

[0126] In the present invention, both the pre-training and training of the battery target detection network model adopt the PyTorch framework.

[0127] Preferably, after the training is completed, the trained battery target detection network model is strictly evaluated, and an independent test set is used for performance testing. Comprehensive analysis is carried out using indicators such as the mean average precision (mAP) and the intersection over union (IoU) to ensure the recognition accuracy and positioning accuracy of the model. According to the evaluation results, continuously monitor the performance of the model, and update and retrain according to the newly collected data to ensure the long-term applicability and accuracy of the model.

[0128] Please refer to Figure 9 and Figure 10, the battery supply mechanism 70 includes a storage battery 71 respectively electrically connected to the solar power supply mechanism 20 and the wind power generation mechanism 30, a battery module 72 respectively electrically connected to the solar power supply mechanism 20, the wind power generation mechanism 30 and the storage battery 71, a battery storage bin 73 for housing the storage battery 71 and the battery module 72, a relay array communicatively connected to the control mechanism 90, and a monitoring module 75 for monitoring the power status of the storage battery 71 and the battery module 72 and the health status of the battery module 72.

[0129] The first charging interface of the storage battery 71 is electrically connected to the solar panel of the solar power supply mechanism 20, the second charging interface of the storage battery 71 is electrically connected to the wind turbine of the wind power generation mechanism 30, the discharge interface of the storage battery 71 is electrically connected to the battery module 72, and the control interface of the storage battery 71 is communicatively connected to the control mechanism 90.

[0130] The battery module 72 includes at least two types of drone batteries 721, and the number of each type of drone battery is two or more.

[0131] The battery storage bin 73 includes a first bin body 731 and a second bin body 732 arranged in layers, and a third charging interface, a fourth charging interface and a fifth charging interface installed on the second bin body. The first bin body 731 is used for housing the storage battery and the first bin body 731 is located at the lower layer. The second bin body 732 is divided into a plurality of sub-bin bodies 7321 by a plurality of partition plates, and a battery charging port is installed at the bottom or side wall of each sub-bin body.

[0132] Preferably, the third charging interface is used to be electrically connected to the solar power supply mechanism 20, the fourth charging interface is used to be electrically connected to the wind power generation mechanism 30, and the fifth charging interface is used to be electrically connected to the storage battery 71.

[0133] The relay array includes a first relay 741 electrically connected to the first charging interface, a second relay 742 electrically connected to the second charging interface, a third relay 743 electrically connected to the third charging interface, a fourth relay 744 electrically connected to the fourth charging interface, and a fifth relay 745 electrically connected to the fifth charging interface. The first relay 741, the second relay 742, the third relay 743, the fourth relay 744 and the fifth relay 745 are all electrically connected to the control mechanism 90.

[0134] When the illuminance is greater than the preset illuminance, the control mechanism 90 controls the first relay 741 to electrically connect the solar power supply mechanism 20 to the first charging interface of the energy storage battery, and controls the third relay 743 to electrically connect the solar power supply mechanism 20 to the third charging interface; when the wind speed is greater than or equal to the preset wind speed, the control mechanism 90 controls the second relay 742 to electrically connect the wind power generation mechanism 30 to the first charging interface of the energy storage battery, and controls the fourth relay to electrically connect the wind power generation mechanism 30 to the fourth charging interface; when the illuminance is less than or equal to the preset illuminance value and the wind speed is less than the preset wind speed, the control mechanism controls the fifth relay to electrically connect the energy storage battery to the fifth charging interface.

[0135] In the present invention, the preset illuminance is 800 - 1000 W / m 2 , and the preset starting wind speed is 3 m / s.

[0136] The monitoring module 75 includes a plurality of temperature sensors 751 for detecting the temperature data of the UAV battery of the battery module 72, a plurality of voltage sensors 752 for detecting the voltage data of the UAV battery of the battery module 72, and a microcontroller 753 respectively communicatively connected to the plurality of temperature sensors, the plurality of voltage sensors and the control mechanism. The microcontroller 753 is configured to receive and store the current temperature data of each UAV battery sent by each temperature sensor and the current voltage data of each UAV battery sent by each voltage sensor, and cut off or close the charging circuit based on the temperature data and voltage data of each UAV battery.

[0137] Preferably, the microcontroller 753 is further configured to determine the target battery to be replaced based on the temperature data and voltage data of each UAV battery, and send the number of the target sub - compartment housing the target battery to be replaced to the control mechanism. The control mechanism is configured to obtain the position information of the target battery to be replaced based on the number of the target sub - compartment and control the grasping mechanism to work.

[0138] Preferably, the steps for the microcontroller 753 to determine the target battery to be replaced include:

[0139] Step (1), obtain a plurality of candidate batteries with the same model as the battery to be replaced of the UAV.

[0140] In the present invention, the multiple batteries installed in the second compartment can be of multiple models, such as model A batteries and model B batteries, with a quantity of 4 each. When the battery to be replaced of the UAV is model A, then the number of candidate batteries is 4.

[0141] Step (2): Obtain the current temperature data and current voltage data of each candidate battery.

[0142] In the present invention, the current temperature data of the candidate battery is detected by a temperature sensor, and the current voltage data of the candidate battery is detected by a voltage sensor.

[0143] In the present invention, the voltage sensor collects voltage data periodically at 10 Hz.

[0144] Step (3): Process the current temperature data of each candidate battery with a multi-stage filtering algorithm to obtain the processed current temperature data of each candidate battery, and compare the processed current temperature data of each candidate battery with a preset temperature. When the time that the detected processed current temperature data of the candidate battery is greater than the preset temperature exceeds a preset duration, regard the candidate battery as an abnormal battery with poor health status.

[0145] In the present invention, the preset duration is 30 seconds, and the preset temperature is 50 °C.

[0146] This step is used to delete the battery with poor health status. In the present invention, if the temperature of the battery exceeds 50 °C for 30 seconds continuously, it indicates that the health status of the battery is poor and it cannot be used as a candidate battery. At the same time, an alarm needs to be given through the control mechanism.

[0147] Step (4): Take the multiple drone batteries after deleting the abnormal batteries as candidate batteries.

[0148] Step (5): Based on the processed current temperature data and current voltage data of each candidate battery, use polynomial fitting curve to obtain the power data of each candidate battery.

[0149] In the present invention, a binomial fitting curve is used to calculate the power data of each candidate battery.

[0150] Select the battery with the largest power for replacement. In this way, when the battery replacement of the drone is in full-automatic control, the flight time of the drone after battery replacement can be longer and the frequency of battery replacement of the drone can be reduced at the same time.

[0151] Step (6): Sort the power data of each candidate battery, and determine the target battery to be replaced based on the sorting result. The power data of the target battery to be replaced is the largest.

[0152] Step (7): Obtain the number of the target sub-compartment, where the target sub-compartment is the sub-compartment that houses the target battery to be replaced.

[0153] Since the number of batteries corresponding to each model is multiple, the battery with the largest power is selected from healthy batteries for replacement by using the steps described above. In this way, on the one hand, the full automation of the UAV battery replacement can be completely achieved without manual participation. On the other hand, the large power data of the target battery to be replaced can reduce the frequency of UAV battery replacement.

[0154] Please refer to Figures 11 to 14 , in the present invention, the grasping mechanism 80 is used to take out the battery to be replaced of the UAV and place it in the empty sub-compartment body for charging, and is also used to install the target battery to be replaced in the sub-compartment body into the UAV battery compartment.

[0155] The grasping mechanism 80 includes a robotic arm assembly 81, a first carrying assembly 82 for carrying the robotic arm assembly 81 and extending along the second direction, and two second carrying assemblies 83 spaced apart and extending along the first direction. The first carrying assembly 82 is placed on the two second carrying assemblies 83 and fixedly connected to the two second carrying assemblies 83. The first carrying assembly 82 can drive the robotic arm assembly 81 to move back and forth along the second direction, and the two second carrying assemblies 83 can drive the first carrying assembly 82 to move back and forth along the first direction. In this way, the first carrying assembly 82 and the second carrying assemblies 83 can change the position of the robotic arm assembly 81 in the X direction and the Y direction.

[0156] The robotic arm assembly 81 includes a support frame 811 detachably connected to the first carrying assembly 82, a turntable 813 embedded in one end of the support frame 811 away from the first carrying assembly 82, a first driving unit 814 for driving the turntable 813 to rotate about the central axis of the turntable 813, a rotating bracket 815 located on the side of the turntable 813 away from the first carrying assembly 82, a second driving unit 816 for driving the rotating bracket 815 to rotate in the clockwise or counterclockwise direction, a robotic arm 817 fixedly connected to the rotating bracket, and a third driving unit 818 for driving the robotic arm to open or close.

[0157] In the present invention, the first driving unit 814 can drive the turntable 813 to rotate, thereby changing the orientation of the robotic arm.

[0158] In the present invention, the carrying platform is perpendicularly arranged to the battery storage bin. After the robotic arm takes out the battery from the UAV battery compartment on the carrying platform, the first driving unit needs to drive the turntable to rotate 90 degrees so that the robotic arm can place the taken-out battery in the empty sub-battery storage bin.

[0159] In the present invention, the second driving unit 816 can drive the rotating frame 815 to rotate in the clockwise or counterclockwise direction, thereby changing the angle between the robotic arm and the turntable, from 90 degrees to 0 degrees or from 0 degrees to 90 degrees. Please refer to Figure 11 , Figure 11 The angle between the robotic arm and the turntable shown is 90 degrees. At this time, the robotic arm is vertically arranged / longitudinally arranged. When the angle between them becomes 0 degrees, that is, the robotic arm is parallel to the turntable. At this time, the robotic arm is horizontally arranged / transversely arranged. In the present invention, when the robotic arm 817 opens to pick up the battery, the robotic arm is parallel to the turntable 813, that is, the robotic arm is horizontally arranged when picking up the battery.

[0160] In the present invention, the third driving unit 818 can drive the robotic arm to open or close, so as to clamp the battery.

[0161] The support frame 811 includes a plurality of support rods 8111 detachably connected to the first bearing assembly 82, a first support disk 8112 installed at the tops of the plurality of support rods 8111, and a second support disk 8113 spaced apart from one end of the first support disk 8112 away from the first bearing assembly 82. The first support disk 8112 and the second support disk 8113 are detachably connected.

[0162] In the present invention, the number of the support rods 8111 is four.

[0163] In the present invention, the support rod 8111 is a square rod body, and the support rod 8111 is a hollow rod body.

[0164] In the present invention, the second support disk 8113 is circular, and the turntable 813 is embedded in the middle position of the second support disk 8113.

[0165] In the present invention, the second support disk 8113 is threadedly connected to the first support disk 8112.

[0166] Preferably, the support frame 811 further includes a reinforcing support disk 8114. The reinforcing support disk is installed at the middle position of the plurality of support rods 8111, and the first driving unit 814 is fixedly connected to the reinforcing support disk 8114.

[0167] Preferably, the first driving unit 814 includes a first servo 8141, a connecting shaft 8142 connected to the output shaft of the first servo 8141, and a bearing 8143 sleeved on the connecting shaft 8142 and connected to the connecting shaft 8142. The connecting shaft 8142 is fixedly connected to the turntable 813, and the bearing 8143 is clamped between the first support disk 8122 and the second support disk 8123.

[0168] In the present invention, the rotating bracket 815 has a U-shaped structure.

[0169] In the present invention, the rotating bracket 815 includes a bracket cross plate 8151 arranged parallel to the turntable 813, and a first bracket longitudinal plate 8152 and a second bracket longitudinal plate 8153 respectively extending from both ends of the bracket cross plate 8151 towards the turntable 813.

[0170] Preferably, the second driving unit 816 includes a servo mounting seat 8161, a second servo 8162 fixedly arranged on the servo mounting seat 8161, and a rotating disk 8163 mounted on the output end of the second servo 8161. The first bracket longitudinal plate 8152 is fixedly connected to the rotating disk 8163, and the second bracket longitudinal plate 8153 is connected to the servo mounting seat 8161 through a pin shaft.

[0171] When the second servo 8162 rotates, it can drive the rotating disk 8163 to rotate, thereby driving the rotating bracket 815 to rotate clockwise or counterclockwise to change the angle between the rotating bracket 815 and the turntable 813.

[0172] Preferably, the robotic arm 817 includes a U-shaped mounting seat 8171, a first robotic claw 8172 and a second robotic claw 8173 respectively arranged at both ends of the mounting seat 8181 and connected to the mounting seat 8171, and a plurality of mechanical sub-claws 8174 located between the first robotic claw 8172 and the second robotic claw 8173 and connected to the first robotic claw 8172 and the second robotic claw 8173.

[0173] In the present invention, the first robotic claw 8172 and the second robotic claw 8173 are connected to the mounting seat 8171 by a shaft, and the first robotic claw 8172 and the second robotic claw 8173 can rotate around the shaft.

[0174] The mounting seat 8171 includes a mounting seat bottom plate fixedly connected to the bracket cross plate 8151, and a first mounting seat vertical plate and a second mounting seat vertical plate vertically bent and extended from the mounting seat bottom plate away from the bracket cross plate 8151.

[0175] The first robotic claw 8172 includes a right connecting portion with a gear, a left connecting portion with a gear, a right arc-shaped claw fixedly connected to the right connecting portion, and a left arc-shaped claw connected to the left connecting portion. The right connecting portion is meshed and connected to the left connecting portion and the right connecting portion is connected to the third driving unit. The right connecting portion and the left connecting portion are both mounted on the outer side of the first mounting seat vertical plate and are connected to the first mounting seat vertical plate by a shaft.

[0176] The second mechanical claw 8173 is installed on the outer side of the second mounting seat vertical plate and is axially connected to the second mounting seat vertical plate.

[0177] In the present invention, the first mechanical claw, the second mechanical claw, and the mechanical sub-claw all include a left arc claw and a right arc. The left arc claws of the first mechanical claw, the second mechanical claw, and multiple mechanical sub-claws are connected by a connecting member, and the right arc claws of the first mechanical claw, the second mechanical claw, and multiple mechanical sub-claws are connected by a connecting member. When the third driving unit drives the right connecting portion of the first mechanical claw 8172 to rotate, the right connecting portion drives the left connecting portion to rotate through a gear. At the same time, since the right arc claw and the left arc claw of each mechanical claw are connected together, the robotic arm can be driven to open or close by the third driving unit.

[0178] Preferably, the third driving unit 818 includes a third servo motor 8181 installed on the mounting seat bottom plate and an angle limiting component 8182 for limiting the rotation angle of the right connecting portion. The output shaft of the third servo motor is connected to the right connecting portion.

[0179] The angle limiting component 8182 includes a limiting plate fixedly connected to the mounting seat bottom plate, at least two bolts with both ends respectively connected to the first mounting vertical plate, and nuts installed on the bolts. When the right connecting portion abuts against the nut, the right connecting portion rotates to the limit position.

[0180] The first bearing assembly 82 includes a first bearing main body portion 821 having a receiving space, a second lead screw 822 installed inside the first bearing main body portion, a first motor 823 provided outside the bearing main body portion 821 and connected to the second lead screw 822, and a sliding seat 824 threadedly connected to the second lead screw 822. In this way, the first motor can drive the sliding seat 824 to slide along the second direction through the second lead screw 822 to change the position of the robotic arm in the Y direction.

[0181] Preferably, the sliding seat 824 includes a sliding seat main body portion 8241, a chute 8242 formed by inwardly recessing one end of the sliding seat main body portion 8241 away from the support frame 811, and a plurality of connecting columns 8243 installed at each corner of the sliding seat main body portion 8241. The chute 8242 is threadedly connected to the second lead screw 822, and the connecting columns 8243 are inserted into the support rods 8111 to form a detachable connection.

[0182] In the present invention, the sliding seat main body portion 8241 is rectangular. Correspondingly, the number of the connecting columns 8243 is four, and the four connecting columns are respectively inserted into the four support rods 8111.

[0183] The second bearing component 83 includes a second bearing main body portion 831 having an accommodation space, a linear sliding guide rail 832 installed inside the second bearing main body portion 831, and a sliding plate 833 fixedly connected to the linear sliding guide rail 832. Both sides of the sliding plate 833 are fixedly connected to the linear sliding guide rail 832 and the sliding seat 824 respectively. The linear sliding guide rail 832 can drive the sliding plate 833 to slide back and forth along the first direction.

[0184] The linear sliding guide rail 832 includes a third lead screw 8321, a second motor 8322 connected to the third lead screw 8321, two guide rail seats 8323 respectively disposed on both sides of the third lead screw 8321, a circular guide rod 8324 fixedly disposed on the guide rail seat 8323, a sliding block 8325 sleeved on the guide rod 8324 and fixedly connected to the sliding plate 833, a lead screw support 8326 fixedly connected to the second bearing main body portion 831 and sleeved on the third lead screw 8321, and a lead screw nut 8328 threadedly connected to the third lead screw 8321. The lead screw nut 8328 is fixedly connected to the sliding plate 833.

[0185] Driven by the second motor, the lead screw nut 8328 can drive the sliding plate 833 to slide along the guide rod 8324.

[0186] The control mechanism 90 is respectively communicatively connected to the solar power supply mechanism 20, the wind power generation mechanism 30, the UAV displacement mechanism 40, the takeoff and landing mechanism 50, the UAV battery positioning mechanism 60, the grasping mechanism 70, and the battery supply mechanism 80, so as to control the motors / servos of each mechanism to work, in order to complete the automatic battery replacement of the UAV.

[0187] Please refer to Figure 15 , the method for replacing the battery of the UAV automatic battery replacement system includes the following steps:

[0188] Step S10: Drive the two photovoltaic support assemblies to move away from each other along the first direction to form an opening through which the UAV can enter the main frame.

[0189] Specifically, after the control mechanism receives the signal that the UAV is about to land, it controls the X-direction support drive module to work to drive the two photovoltaic support assemblies to move away from each other along the first direction to form an opening through which the UAV can enter the main frame.

[0190] Step S20: Drive the takeoff and landing mechanism to drive the UAV displacement mechanism to rise from the first extreme position to the second extreme position.

[0191] Specifically, the control mechanism controls the lifting platform drive motor of the landing and takeoff mechanism to operate, drives the first connecting rod to move along the first limiting long hole and the second connecting rod to move along the second limiting long hole through the transmission lead screw, and after moving to the limit position, the lifting platform drive motor stops working. At this time, the UAV displacement mechanism reaches the second limit position.

[0192] Step S30: Receive the signal that the UAV has landed on the landing and takeoff mechanism.

[0193] Step S40: Drive the landing and takeoff mechanism to drive the UAV displacement mechanism to descend and return to the first limit position.

[0194] Please refer to step S20. The difference from step S20 is that if the rotation direction of the lifting platform drive motor in step S20 is forward rotation, then the rotation direction of the lifting platform drive motor in step S40 is reverse rotation; if the rotation direction of the lifting platform drive motor in step S20 is reverse rotation, then the rotation direction of the lifting platform drive motor in step S40 is forward rotation.

[0195] Step S50: Drive the UAV moving mechanism to drive the UAV to the first target position.

[0196] Specifically, the control mechanism controls the lead screw drive unit to operate to drive the first moving rod, the second moving rod and the third moving rod to move. When the first moving rod, the second moving rod and the third moving rod are in contact with the UAV, the first moving rod, the second moving rod and the third moving rod will drive the UAV to move together. When the UAV is in contact with the positioning rod, it means that the UAV reaches the target position, and the lead screw drive unit is controlled to stop working.

[0197] Step S60: Obtain the position information of the battery to be replaced in the UAV battery compartment sent by the UAV battery positioning mechanism.

[0198] In the present invention, the position information of the battery to be replaced in the UAV battery compartment is the coordinates of the center point on the outer surface of the battery to be replaced, and this coordinate is determined based on the vertex of the outer surface of the battery to be replaced as the origin.

[0199] Step S70: Based on the position information of the UAV battery to be replaced and the position information of the sub-compartment where the battery to be replaced can be placed, drive the grasping mechanism to grasp the battery to be replaced from the UAV battery compartment and place it in the empty sub-compartment for charging.

[0200] Based on the position information of the battery to be replaced on the drone, the control mechanism controls the first motor and the second motor to operate to bring the robotic arm assembly to a second target position corresponding to the first target position. Then, the control mechanism controls the second servo to operate to set the robotic arm horizontally, and then controls the third servo to operate to drive the robotic arm to open. In this way, the robotic arm can grasp the battery to be replaced on the drone. After successful grasping, the control mechanism controls the third servo to operate to clamp the battery to be replaced. At this time, the step of grasping the battery to be replaced is completed.

[0201] The control mechanism controls the second servo to operate to set the robotic arm vertically, and then controls the first servo to drive the turntable to rotate 90 degrees so that the robotic arm faces the battery storage bin. Based on the position information of the empty sub-bin body, the control mechanism controls the first motor and the second motor to operate to make the robotic arm face the empty sub-bin body. Then, the control mechanism controls the second servo to operate to set the robotic arm horizontally, and then controls the third servo to operate to open the robotic arm to place the battery to be replaced into the empty sub-bin body for charging. At this time, the step of grasping the battery to be replaced and placing it into the sub-bin body for charging is completed.

[0202] Step S80: Receive the number of the target sub-bin body that houses the target battery to be replaced sent by the battery supply mechanism, and obtain the position information of the target battery to be replaced based on the number of the target sub-bin body, and drive the grasping mechanism to grasp the target battery to be replaced and place it into the battery compartment of the drone.

[0203] Specifically, based on the position information of the target battery to be replaced, the control mechanism controls the first motor and the second motor to operate to make the robotic arm face the new battery to be replaced, controls the third servo to operate to open the robotic arm to take out the target battery to be replaced, then controls the third servo to operate to clamp the target battery to be replaced, and controls the second servo to operate to set the robotic arm vertically and controls the first servo to drive the turntable to rotate counterclockwise by 90 degrees so that the robotic arm faces the drone; then controls the first motor and the second motor to operate to bring the robotic arm to the second target position, and controls the second servo to operate to set the robotic arm horizontally, and finally controls the third servo to operate to expand the robotic arm to place the target battery to be replaced into the battery box of the drone.

[0204] Preferably, before the step of obtaining the number of the target sub-compartment that houses the target battery sent by the battery supply mechanism, the battery supply mechanism further includes a step of obtaining the number of the target sub-compartment, which includes: Step (1), the microcontroller obtains a plurality of candidate batteries with the same model as the battery to be replaced of the drone; Step (2), the microcontroller obtains the current temperature data and current voltage data of each candidate battery; Step (3), the microcontroller processes the current temperature data of each candidate battery through a multi-level filtering algorithm to obtain the processed current temperature data of each candidate battery, and compares the processed current temperature data of each candidate battery with a preset temperature. When the duration that the processed current temperature data of the candidate battery is detected to be greater than the preset temperature exceeds the preset duration, the candidate battery is regarded as an abnormal battery with poor health status; Step (4), the microcontroller takes the plurality of drone batteries after deleting the abnormal batteries as candidate batteries; Step (5), the microcontroller uses polynomial fitting curves based on the processed current temperature data and current voltage data of each candidate battery to obtain the power data of each candidate battery; Step (6), the microcontroller sorts the power data of each candidate battery and determines the target battery to be replaced based on the sorting result, and the power data of the target battery to be replaced is the largest; Step (7), the microcontroller obtains the number of the target battery to be replaced based on the number of the sub-compartment, and the number of the target battery to be replaced is the same as the number of the sub-compartment that houses the target battery to be replaced.

[0205] It should be noted that the control mechanism stores position information corresponding to the number of the sub-compartment. Obtaining the number of the target battery to be replaced is equivalent to obtaining the position information of the target battery to be replaced.

[0206] Preferably, the method for the drone automatic battery replacement system to replace the battery further includes a plurality of steps after step S80, specifically including:

[0207] Drive the drone moving mechanism to be spaced apart from the drone; drive the takeoff and landing mechanism to drive the drone displacement mechanism to rise from the first extreme position to the second extreme position; obtain the signal that the drone leaves the drone displacement mechanism; drive the X-direction bracket drive module to drive the two photovoltaic bracket assemblies to move towards each other along the first direction to close the open end of the main frame; drive the Y-direction bracket drive unit to unfold the three-layer bracket combination to form a three-column and two-row solar light-facing surface.

[0208] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention belongs, without departing from the concept of the present invention, several simple deductions and substitutions can still be made, and all should be regarded as belonging to the protection scope of the present invention.

Claims

1. An off-grid UAV automatic battery replacement system, characterized in that: include: A main frame, wherein the main frame has a receiving space and the top end of the main frame is an open end; A solar power supply mechanism, which is installed at the top of the main frame, and includes two photovoltaic bracket assemblies arranged side by side along a first direction, an X-direction bracket driving module for driving the two photovoltaic bracket assemblies to move toward or away from each other along the first direction, and a plurality of solar collector panels installed on the two photovoltaic bracket assemblies; A wind power generation mechanism, wherein the wind power generation mechanism is installed on the outside of the main frame; A UAV displacement mechanism, the UAV displacement mechanism is located in the main frame and is used to carry and move the UAV; A take-off and landing mechanism, which is located at the lower side of the UAV shifting mechanism and is used to change the height between the UAV shifting mechanism and the top of the main frame; A battery positioning mechanism, the battery positioning mechanism comprising a camera for collecting images of batteries to be replaced in a battery compartment of a drone, and a trained convolutional neural network model applied to the camera, the trained convolutional neural network model determining position information of batteries to be replaced in the battery compartment of a drone based on the images collected by the camera; A battery supply mechanism, the battery supply mechanism comprising energy storage batteries electrically connected to the solar power supply mechanism and the wind power generation mechanism respectively, a battery module electrically connected to the solar power supply mechanism, the wind power generation mechanism and the energy storage battery respectively, a monitoring module for monitoring the power state of the energy storage battery and the battery module and the health state of the battery module, and a battery storage compartment, the battery storage compartment comprising a first compartment body and a second compartment body arranged in layers, the first compartment body being located at the lower layer for accommodating the energy storage battery, and the second compartment body being divided into a plurality of sub-compartments; A gripping mechanism, the gripping mechanism is used to take out the battery to be replaced of the drone from the drone battery compartment and place it in the empty sub-compartment body for charging, and is also used to install the target battery to be replaced in the sub-compartment body into the drone battery compartment; A control mechanism is respectively communicatively connected with the solar power supply mechanism, the wind power generation mechanism, the UAV shifting mechanism, the take-off and landing mechanism, the battery positioning mechanism, the battery supply mechanism and the grasping mechanism.

2. The off-grid UAV automatic battery replacement system according to claim 1, characterized in that: The battery module includes at least two types of drone batteries, and the number of drone batteries of each type is at least two. The monitoring module includes multiple temperature sensors for detecting temperature data of the drone batteries of the battery module, multiple voltage sensors for detecting voltage data of the drone batteries of the battery module, and a microcontroller respectively connected to the multiple temperature sensors, the multiple voltage sensors and the control mechanism for communication. The microcontroller is used to receive and store current temperature data of each drone battery sent by each temperature sensor and current voltage data of each drone battery sent by each voltage sensor, and cut off or close the charging circuit based on the temperature data and voltage data of each drone battery.

3. The off-grid UAV automatic battery replacement system according to claim 2, characterized in that: The microcontroller is also used to determine the target battery to be replaced based on the temperature data and voltage data of each drone battery, and send the number of the target sub-compartment body accommodating the target battery to be replaced to the control mechanism. The control mechanism is used to obtain the position information of the target battery to be replaced based on the number of the target sub-compartment body and control the operation of the grasping mechanism.

4. The off-grid UAV automatic battery replacement system according to claim 2, characterized in that: The energy storage battery includes a first charging interface and a second charging interface, the battery storage compartment also includes a third charging interface, a fourth charging interface and a fifth charging interface installed on the second compartment body, the first charging interface is used to be electrically connected to the solar power supply mechanism, the second charging interface is used to be electrically connected to the wind power generation mechanism, the third charging interface is used to be electrically connected to the solar power supply mechanism, the fourth charging interface is used to be electrically connected to the wind power generation mechanism, and the fifth charging interface is used to be electrically connected to the energy storage battery, and the battery supply mechanism also includes a relay array, the relay array includes a first relay electrically connected to the first charging interface, a second relay electrically connected to the second charging interface, a third relay electrically connected to the third charging interface, a fourth relay electrically connected to the fourth charging interface, and a A fifth relay electrically connected to the five charging interfaces, the first relay, the second relay, the third relay, the fourth relay and the fifth relay are all communicatively connected to the control mechanism, when the light illumination is greater than a preset light illumination value, the control mechanism controls the first relay to electrically connect the solar power supply mechanism to the first charging interface, and controls the third relay to electrically connect the solar power supply mechanism to the third charging interface; when the wind speed is greater than or equal to the preset wind speed, the control mechanism controls the second relay to electrically connect the wind power generation mechanism to the first charging interface, and controls the fourth relay to electrically connect the wind power generation mechanism to the fourth charging interface; when the light illumination is less than or equal to the preset light illumination value and the wind speed is less than the preset wind speed, the control mechanism controls the fifth relay to electrically connect the energy storage battery to the fifth charging interface.

5. The off-grid UAV automatic battery replacement system according to any one of claims 1 to 4, characterized in that: The grasping mechanism includes a robotic arm assembly, a first supporting assembly for supporting the robotic arm assembly and extending along a second direction, and two second supporting assemblies arranged at intervals and extending along the first direction, the first supporting assembly is mounted on the two second supporting assemblies and fixedly connected to the two second supporting assemblies, the first supporting assembly can drive the robotic arm assembly to move back and forth along the second direction, the two second supporting assemblies can drive the first supporting assembly to move back and forth along the first direction, and the first direction is perpendicular to the second direction.

6. The off-grid UAV automatic battery replacement system according to claim 5, characterized in that: The robotic arm assembly includes a support frame detachably connected to the first bearing assembly, a turntable embedded in the support frame at one end away from the first bearing assembly, a first driving unit for driving the turntable to rotate about the central axis of the turntable, a rotating bracket located on the side of the turntable away from the first bearing assembly, a second driving unit for driving the rotating frame to rotate in a clockwise or counterclockwise direction, a robotic arm fixedly connected to the rotating bracket, and a third driving unit for driving the robotic arm to open or close.

7. The off-grid UAV automatic battery replacement system according to any one of claims 1 to 4, characterized in that: The UAV displacement mechanism includes a rectangular carrying platform, a screw assembly arranged around the carrying platform, a plurality of moving rods threadedly connected to the screw assembly, a positioning rod fixedly connected to the carrying platform and located at one end of the carrying platform close to the grasping mechanism, and a screw driving unit for driving the screw assembly to drive the plurality of moving rods to move. The carrying platform is used to carry the UAV, and after landing, the UAV is clamped in the space surrounded by the plurality of moving rods and the positioning rod.

8. The off-grid UAV automatic battery replacement system according to any one of claims 1 to 4, characterized in that: The photovoltaic support assembly includes a sliding frame covering the main frame, two extension plates extending from both ends of the sliding frame in a direction away from the main frame, a three-layer support combination sandwiched between the two extension plates, a first baffle plate whose two ends are respectively connected to the first ends of the two extension plates, a second baffle plate whose two ends are respectively connected to the second ends of the two extension plates, and a Y-direction support drive unit for driving the three-layer support combination to expand or collapse along the second direction.

9. A method for replacing batteries in an off-grid UAV automatic battery replacement system according to any one of claims 1 to 8, characterized in that: The method comprises the following steps: Step S10, driving the X-direction bracket driving module to drive the two photovoltaic bracket assemblies to move backwards along the first direction to form an opening in the main frame for the drone to enter; Step S20, driving the take-off and landing mechanism to drive the UAV shifting mechanism to rise from the first extreme position to the second extreme position; Step S30, receiving a signal that the drone has landed on the drone shifting mechanism; Step S40, driving the take-off and landing mechanism to drive the UAV shifting mechanism to descend and return to the first extreme position; Step S50, driving the UAV shifting mechanism to drive the UAV to move to a first target position; Step S60, obtaining the location information of the battery to be replaced in the battery compartment of the drone sent by the battery positioning mechanism; Step S70: based on the position information of the unmanned aerial vehicle battery to be replaced and the position information of the empty sub-compartment, drive the grasping mechanism to take out the unmanned aerial vehicle battery to be replaced from the unmanned aerial vehicle battery compartment and place it in the empty sub-compartment for charging; Step S80, receiving the number of the target sub-compartment body accommodating the target battery to be replaced sent by the battery supply mechanism and obtaining the position information of the target battery to be replaced based on the number of the target sub-compartment body, driving the grasping mechanism to grasp the target battery to be replaced and place it in the battery compartment of the drone.

10. The method according to claim 9, applied to the off-grid UAV automatic battery replacement system according to claim 3, is characterized in that: Before the step of obtaining the number of the target sub-compartment body accommodating the target battery to be replaced sent by the battery supply mechanism, the step of obtaining the number of the target sub-compartment body by the battery supply mechanism includes: Step (1), the microcontroller obtains a plurality of batteries to be selected that are the same model as the batteries to be replaced in the drone; Step (2), the microcontroller obtains the current temperature data and current voltage data of each battery to be selected; Step (3), the microcontroller processes the current temperature data of each battery to be selected using a multi-stage filtering algorithm, obtains the processed current temperature data of each battery to be selected, and compares the processed current temperature data of each battery to be selected with a preset temperature. When it is detected that the processed current temperature data of the battery to be selected is greater than the preset temperature for a period exceeding a preset period, the battery to be selected is regarded as an abnormal battery with a poor health status; Step (4), the microcontroller uses the multiple drone batteries after deleting the abnormal battery as candidate batteries; Step (5), the microcontroller obtains the power data of each candidate battery by using a polynomial fitting curve based on the processed current temperature data and current voltage data of each candidate battery; Step (6), the microcontroller sorts the power data of each candidate battery, and determines the target battery to be replaced based on the sorting result, wherein the power data of the target battery to be replaced is the largest; Step (7), the microcontroller obtains the serial number of the target sub-bin, where the target sub-bin is the sub-bin that accommodates the target battery to be replaced.

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