An off-grid unmanned aerial vehicle automatic battery replacement system and method

Abstract

The application provides an off-grid unmanned aerial vehicle automatic battery replacement system and method. The off-grid unmanned aerial vehicle automatic battery replacement system comprises a main frame with a receiving space and an open top end, a solar power supply mechanism installed at the top end of the main frame, a wind power generation mechanism installed on the outer side of the main frame, an unmanned aerial vehicle shifting mechanism for carrying and moving the unmanned aerial vehicle, a take-off and landing mechanism for changing the height of the unmanned aerial vehicle shifting mechanism, a battery positioning mechanism for obtaining the position information of the battery to be replaced in the battery cabin of the unmanned aerial vehicle, a battery supply mechanism for charging the battery of the unmanned aerial vehicle, 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 application can be compatible with replacing different models of unmanned aerial vehicle batteries, and can adapt to the environment of urban areas and remote areas where power supply is not convenient under the condition of large-scale battery replacement of unmanned aerial vehicles in the high-speed development of low-altitude economy.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of unmanned aerial vehicle application, and particularly relates to an off-grid unmanned aerial vehicle automatic battery replacement system and method. BACKGROUND

[0002] In recent years, the low-altitude economy industry in China has developed rapidly. As a core component of the low-altitude economy, unmanned aerial vehicles have been widely used in emergency rescue services, agricultural and forestry plant protection, surveying and mapping and geographic information, energy inspection, express delivery and logistics, and other fields. Due to the design of the rotor unmanned aerial vehicle itself, the wind resistance is large, and the energy consumption is high. At the same time, the weight of the unmanned aerial vehicle body and its weight limit, resulting in the rotor unmanned aerial vehicle carrying battery capacity is limited. Under the current battery technology conditions, the endurance time of the unmanned aerial vehicle is generally thirty minutes to one hour, so it is necessary to frequently replace the battery to ensure stable operation.

[0003] The current battery replacement includes manual battery replacement and automatic battery replacement system. The existing automatic battery replacement system mainly consists of an unmanned aerial vehicle landing platform, a battery replacement platform, a battery loading and unloading mechanism, and a battery charging seat group. The power supply of the battery charging seat is mainly based on the mains, or a small amount of external energy is provided by using solar energy. For example, the patent application number CN201910968766.1 and the patent name based on solar power supply unmanned aerial vehicle autonomous landing battery replacement energy autonomous base station patent application. This patent application designs a foldable solar panel on the top of the base station, which can make the base station not need external power supply, and adapt to remote environments to complete related work tasks. However, the single solar panel power supply cannot meet the power supply of the battery replacement load in the case of high-frequency unmanned aerial vehicle operation in the city and night operation, and has obvious geographical limitations. At the same time, it is also unable to replace the battery with adaptive capacity according to the unmanned aerial vehicle operation time, and the intelligent degree is lacking. SUMMARY

[0004] The purpose of the present application is to provide an off-grid unmanned aerial vehicle automatic battery replacement system that can replace different types of unmanned aerial vehicle batteries, and the unmanned aerial vehicle automatic battery replacement system can adapt to the environment of urban areas and remote areas that are inconvenient to power supply under the condition of the rapid development of low-altitude economy, and has the functions of energy saving, emission reduction, cost reduction and efficiency increase.

[0005] In order to solve the above technical problems, the technical scheme of the present application is as follows:

[0006] The first aspect discloses an off-grid unmanned aerial vehicle automatic battery replacement system, comprising: 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, comprising two photovoltaic support assemblies arranged side by side along a first direction, an X-direction support drive module for driving the two photovoltaic support assemblies to move towards or away from each other along the first direction, and a plurality of solar power collecting panels installed on the two photovoltaic support assemblies; a wind power generation mechanism installed on the outer side of the main frame; an unmanned aerial vehicle displacement mechanism located in the main frame for carrying and moving an unmanned aerial vehicle; a take-off and landing mechanism located below the unmanned aerial vehicle displacement mechanism for changing the height between the unmanned aerial vehicle displacement mechanism and the top end of the main frame; a battery positioning mechanism comprising a camera for collecting images of a battery to be replaced in a battery compartment of the unmanned aerial vehicle, and a trained convolutional neural network model applied to the camera, wherein the trained convolutional neural network model determines the position information of the battery to be replaced in the battery compartment of the unmanned aerial vehicle based on the images collected by the camera; a battery supply mechanism comprising an energy storage battery electrically connected to the solar power supply mechanism and the wind power generation mechanism, a battery module electrically connected to the solar power supply mechanism, the wind power generation mechanism and the energy storage battery, a monitoring module for monitoring the state of charge of the energy storage battery and the battery module and the health status of the battery module, and a battery storage bin comprising a first bin body and a second bin body arranged in layers, wherein the first bin body is located in the lower layer for storing the energy storage battery, and the second bin body is divided into a plurality of sub-bin bodies; a grabbing mechanism for taking out the battery to be replaced from the battery compartment of the unmanned aerial vehicle and placing it in the empty sub-bin body for charging, and also for installing the target battery to be replaced in the sub-bin body into the battery compartment of the unmanned aerial vehicle; and a control mechanism in communication connection with the solar power supply mechanism, the wind power generation mechanism, the unmanned aerial vehicle displacement mechanism, the take-off and landing mechanism, the battery positioning mechanism, the battery supply mechanism and the grabbing mechanism.

[0007] In a specific embodiment, the battery module comprises at least two types of drone batteries, and the number of each type of drone battery is at least two. The monitoring module comprises a plurality of temperature sensors for detecting temperature data of the drone batteries in the battery module, a plurality of voltage sensors for detecting voltage data of the drone batteries in the battery module, and a microcontroller in communication with the plurality of temperature sensors, the plurality of voltage sensors, and the control mechanism. The microcontroller is configured 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 to cut off or close the charging circuit based on the temperature data and the 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 the voltage data of each drone battery, and to send the number of the target sub-warehouse body containing the target battery to be replaced to the control mechanism. The control mechanism is configured to obtain position information of the target battery to be replaced based on the number of the target sub-warehouse body, and to control the grabbing mechanism to work.

[0009] In a specific embodiment, the energy storage battery comprises a first charging interface and a second charging interface, the battery receiving compartment further comprises 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 for electrical connection with the solar power supply mechanism, the second charging interface is used for electrical connection with the wind power generation mechanism, the third charging interface is used for electrical connection with the solar power supply mechanism, the fourth charging interface is used for electrical connection with the wind power generation mechanism, and the fifth charging interface is used for electrical connection with the energy storage battery, the battery supply mechanism further comprises a relay array, the relay array comprises a first relay electrically connected with the first charging interface, a second relay electrically connected with the second charging interface, a third relay electrically connected with the third charging interface, a fourth relay electrically connected with the fourth charging interface, and a fifth relay electrically connected with the fifth charging interface, the first relay, the second relay, the third relay, the fourth relay and the fifth relay are in communication connection with 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 with the first charging interface, and controls the third relay to electrically connect the solar power supply mechanism with 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 with the first charging interface, and controls the fourth relay to electrically connect the wind power generation mechanism with the fourth charging interface; when the illuminance is less than or equal to a preset illuminance value and the wind speed is less than a preset wind speed, the control mechanism controls the fifth relay to electrically connect the energy storage battery with the fifth charging interface.

[0010] In a specific embodiment, the grabbing mechanism comprises a mechanical arm assembly, a first bearing assembly for bearing the mechanical arm assembly and extending in a second direction, and two second bearing assemblies arranged at intervals and extending in a first direction, the first bearing assembly is arranged on and fixedly connected with the two second bearing assemblies, the first bearing assembly can drive the mechanical arm assembly to move back and forth in the second direction, and the two second bearing assemblies can drive the first bearing assembly to move back and forth in the first direction, the first direction is perpendicular to the second direction.

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

[0012] In one embodiment, the unmanned aerial vehicle shifting mechanism comprises 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 grabbing mechanism, and a lead screw driving unit for driving the lead screw assembly to move the plurality of moving rods. The bearing platform is used for bearing the unmanned aerial vehicle, and the unmanned aerial vehicle is clamped in the space surrounded by the plurality of moving rods and the positioning rod after landing.

[0013] In one embodiment, the photovoltaic support assembly comprises 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 having two ends respectively connected to the first ends of the two extension plates, a second baffle plate having two 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 expand or contract in the second direction.

[0014] In a second aspect, the present application also provides a method for replacing a battery of the off-grid unmanned aerial vehicle automatic battery replacement system described above, which comprises the following steps: step S10, driving the X-direction support drive module to drive the two photovoltaic support assemblies to move away from each other along the first direction to form an opening in the main body frame through which the unmanned aerial vehicle can enter; step S20, driving the take-off and landing mechanism to drive the unmanned aerial vehicle displacement mechanism to move from the first limit position to the second limit position; step S30, receiving a signal that the unmanned aerial vehicle lands on the unmanned aerial vehicle displacement mechanism; step S40, driving the take-off and landing mechanism to drive the unmanned aerial vehicle displacement mechanism to descend and return to the first limit position; step S50, driving the unmanned aerial vehicle displacement mechanism to drive the unmanned aerial vehicle to move to the first target position; step S60, obtaining the position information of the battery to be replaced in the unmanned aerial vehicle battery compartment 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-warehouse body, driving the grabbing 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-warehouse body for charging; and step S80, receiving the number of the target sub-warehouse body containing the target battery to be replaced sent by the battery supply mechanism, obtaining the position information of the target battery to be replaced based on the number of the target sub-warehouse body, and driving the grabbing mechanism to grab the target battery to be replaced and place it in the unmanned aerial vehicle battery compartment.

[0015] In a specific embodiment, before the step of obtaining the number of the target sub-warehouse body containing the target battery to be replaced sent by the battery supply mechanism, the method further comprises the step of the battery supply mechanism obtaining the number of the target sub-warehouse body, which comprises: step (1), the microcontroller obtains a plurality of candidate batteries of the same model as the unmanned aerial vehicle battery to be replaced; step (2), the microcontroller obtains the current temperature data and the current voltage data of each candidate battery; step (3), the microcontroller processes the current temperature data of each candidate battery by a multi-stage filtering algorithm, obtains the processed current temperature data of each candidate battery, and compares the processed current temperature data of each candidate battery with the preset temperature, when the duration of the processed current temperature data of the candidate battery being 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 regards the plurality of unmanned aerial vehicle batteries after deleting the abnormal battery as candidate batteries; step (5), the microcontroller obtains the power data of each candidate battery based on the processed current temperature data and the current voltage data of each candidate battery by using a polynomial fitting curve; 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, the power data of the target battery to be replaced being the largest; and step (7), the microcontroller obtains the number of the target sub-warehouse body, the target sub-warehouse body being the sub-warehouse body containing the target battery to be replaced.

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

[0017] I. The off-grid unmanned aerial vehicle automatic battery replacement system provided by the present application comprises a main frame with a receiving space and an open top end, a solar power supply mechanism installed at the top end of the main frame, a wind power generation mechanism installed on the outer side of the main frame, an unmanned aerial vehicle shifting mechanism for carrying and moving the unmanned aerial vehicle, a take-off and landing mechanism for changing the height of the unmanned aerial vehicle shifting mechanism, a battery positioning mechanism for obtaining the position information of the battery to be replaced of the unmanned aerial vehicle, a battery supply mechanism for charging the battery of the unmanned aerial vehicle, a grabbing mechanism for automatically replacing the battery, and a control mechanism, wherein the battery positioning mechanism comprises a camera for collecting images of the battery to be replaced in the battery compartment of the unmanned aerial vehicle, and a trained convolutional neural network model applied to the camera, which determines the position information of the battery to be replaced in the battery compartment of the unmanned aerial vehicle based on the images collected by the camera; in this way, since the battery positioning mechanism for obtaining the position information of the battery to be replaced is provided, the off-grid unmanned aerial vehicle automatic battery replacement system can be compatible with different models of unmanned aerial vehicles, which can be the same battery model but different battery compartment positions, the same battery compartment position but different battery models, or both different battery compartment positions and different battery models, thereby improving the compatibility of the off-grid unmanned aerial vehicle automatic battery replacement system.

[0018] II. The solar power supply mechanism, wind power generation mechanism and energy storage battery of the off-grid unmanned aerial vehicle automatic battery replacement system provided by the present application can all charge the battery module, and different power sources are used to charge the battery module under different illuminance and different wind speed, on the one hand, the energy utilization efficiency is high, on the other hand, it can adapt to the environment of urban areas and remote areas where it is inconvenient to supply power under the condition of large-scale battery replacement of unmanned aerial vehicles in the high-speed development of low-altitude economy.

[0019] III. The solar power supply mechanism provided by the present application comprises six solar collector plates, and in operation, the three layers of supports of each photovoltaic support assembly are in an unfolded state, forming a three-column two-row solar light receiving surface, which has the advantage of high solar energy utilization efficiency.

[0020] Fourthly, the grabbing mechanism comprises a mechanical arm assembly, a first bearing assembly for bearing the mechanical arm assembly and extending along a second direction, and two second bearing assemblies arranged at intervals and extending along the first direction. The first bearing assembly is arranged on and fixedly connected with the two second bearing assemblies. The first bearing assembly can drive the mechanical arm assembly to move back and forth along the second direction, and the two second bearing assemblies can drive the first bearing assembly to move back and forth along the first direction. The first direction is perpendicular to the second direction. In this way, the first bearing assembly and the second bearing assembly can drive the mechanical arm assembly to the second target position corresponding to the first target position, so as to realize accurate grabbing of the battery to be taken.

[0021] Fifthly, the mechanical arm assembly comprises a support frame detachably connected with the first bearing assembly, a rotating disc embedded in one end of the support frame away from the first bearing assembly, a first driving unit for driving the rotating disc to rotate about the central axis of the rotating disc, a rotating support located on the side of the rotating disc away from the first bearing assembly, a second driving unit for driving the rotating support to rotate in the clockwise direction or the counterclockwise direction, a mechanical arm fixedly connected with the rotating support, and a third driving unit for driving the mechanical arm to open or close. In this way, the first driving unit can change the orientation of the mechanical arm, and the second driving unit can make the mechanical arm vertically arranged or horizontally arranged. The mechanical arm is flexible in grabbing and can adapt to the unmanned aerial vehicle and the battery storage bin located at different positions.

[0022] In addition to the objects, features and advantages described above, the present application has other objects, features and advantages. The present application will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A perspective structural schematic view of an off-grid unmanned aerial vehicle automatic battery changing system in one state according to an embodiment of the present application is shown in the figure.

[0024] Figure 2 A perspective structural schematic view of an off-grid unmanned aerial vehicle automatic battery changing system in another state according to an embodiment of the present application is shown in the figure.

[0025] Figure 3 A perspective structural schematic view of an off-grid unmanned aerial vehicle automatic battery changing system in another state according to an embodiment of the present application is shown in the figure. Figure 2 A perspective structural schematic view of an off-grid unmanned aerial vehicle automatic battery changing system in another state according to an embodiment of the present application is shown in the figure.

[0026] Figure 4 A perspective structural schematic view of an off-grid unmanned aerial vehicle automatic battery changing system in another state according to an embodiment of the present application is shown in the figure.

[0027] Figure 5 A perspective structural schematic view of an off-grid unmanned aerial vehicle automatic battery changing system in another state according to an embodiment of the present application is shown in the figure.Figure 4 Enlarged view of part A;

[0028] Figure 6 A perspective structural schematic view of a UAV shifting mechanism of an off-grid UAV automatic battery replacement system according to an embodiment of the present application;

[0029] Figure 7 A perspective structural schematic view of a UAV automatic battery replacement system according to an embodiment of the present application; Figure 6 Enlarged view of part B;

[0030] Figure 8 A perspective structural schematic view of a take-off and landing mechanism of an off-grid UAV automatic battery replacement system according to an embodiment of the present application;

[0031] Figure 9 A perspective structural schematic view of a battery storage bin and a battery module of an off-grid UAV automatic battery replacement system according to an embodiment of the present application;

[0032] Figure 10 A connection schematic view of a battery supply mechanism and a solar power mechanism, a wind power mechanism and a control mechanism;

[0033] Figure 11 A perspective structural schematic view of a grabbing mechanism of an off-grid UAV automatic battery replacement system according to an embodiment of the present application;

[0034] Figure 12 A perspective exploded schematic view of the grabbing mechanism shown in Figure 10

[0035] A front view of a part of a mechanical arm assembly of the grabbing mechanism shown in Figure 13 Figure 10 A perspective structural schematic view of a mechanical arm and a third driving unit of the grabbing mechanism shown in

[0036] Figure 14 A perspective structural schematic view of a mechanical arm and a third driving unit of the grabbing mechanism shown in Figure 10

[0037] A step flow chart of a method for replacing a battery of a UAV automatic battery replacement system according to an embodiment of the present application. Figure 15 DETAILED DESCRIPTION

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

[0039] Please refer to Figures 1 to 14 ​​The application provides an off-grid unmanned aerial vehicle automatic battery replacement system 100, which comprises a main frame 10 with a receiving space and an open top end, a solar power supply mechanism 20 installed at the top end of the main frame 10, a wind power generation mechanism 30 installed on the outer side of the main frame 10, an unmanned aerial vehicle shifting mechanism 40 for carrying and moving the unmanned aerial vehicle, a take-off and landing mechanism 50 for changing the height of the unmanned aerial vehicle shifting mechanism 40, a battery positioning mechanism for obtaining the position information of the battery to be replaced in the unmanned aerial vehicle battery cabin, a battery supply mechanism 70 for charging the unmanned aerial vehicle battery, a grabbing mechanism 80 for automatically replacing the battery, and a control mechanism 90 in communication connection with the solar power supply mechanism 20, the wind power generation mechanism 30, the unmanned aerial vehicle shifting mechanism 40, the take-off and landing mechanism 50, the battery positioning mechanism, the battery supply mechanism 70 and the grabbing mechanism 80 respectively, wherein the unmanned aerial vehicle shifting mechanism, the take-off and landing mechanism, the unmanned aerial vehicle battery positioning mechanism, the grabbing mechanism and the battery supply mechanism are located in the receiving space of the main frame 10, wherein the grabbing mechanism 80 and the take-off and landing mechanism 50 are arranged side by side in a first direction, and the grabbing mechanism 80 and the battery supply mechanism 70 are arranged side by side in a second direction.

[0040] The main frame 10 comprises a bottom shell 11 with a plurality of first corners, a frame body 12 arranged 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, and the two ends of the support column 13 are connected with the corresponding first corner and second corner respectively, and a plurality of support columns 13 are arranged in parallel and spaced apart.

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

[0042] In the application, the frame body 12 comprises four connecting horizontal columns 121, and the two ends of each connecting horizontal column 121 are connected with two adjacent support columns 13 respectively.

[0043] Please refer to Figures 2 to 5 The solar power supply mechanism 20 is installed on the frame body 12 and is used for converting solar energy into electric energy, in this embodiment, the solar power supply mechanism 20 provides power for the battery supply mechanism 70, and in other embodiments, the solar power supply mechanism 20 can provide power for other components of the unmanned aerial vehicle automatic battery replacement system which need power in addition to providing power for the battery supply mechanism 70.

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

[0045] In the present application, when the UAV is about to land, the two photovoltaic support assemblies 21 move away from each other along the first direction to form an opening through which the UAV can enter the main frame 10, and when the UAV leaves the UAV automatic battery replacement system, the two photovoltaic support assemblies 21 move towards each other along the first direction to close the opening end of the main frame 10.

[0046] In the present application, the photovoltaic support assembly 21 comprises 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 connected to the first ends of the two extension plates 212, a second baffle 215 connected to the second ends of the two extension plates 212, and two sets of Y-direction support driving units 216 for driving the three-layer support combination 213 to expand or contract along a second direction perpendicular to the first direction.

[0047] Preferably, the sliding frame 211 comprises a sliding top plate 2111 covering the opening end of the main frame 10, and two sliding side plates 2112 extending from both sides of the sliding top plate 2111.

[0048] In the present 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 comprises two sliding limit plates connected to the two sliding side plates 2112, respectively, when the sliding limit plates of the sliding frame 211 abut against the frame body 12 of the main frame, the two sliding frames cannot continue to slide towards each other and reach the limit position of the movement towards each other.

[0050] The extension plate 212 comprises an extension plate body, two recessed spaces formed inwardly from both ends of the extension plate body 2121, and two mounting grooves of different heights formed inwardly from the middle of the extension plate body.

[0051] The three-layer support assembly 213 comprises a middle layer support 2131 located in the middle, a lower layer support 2132 located on one side of the middle layer support 2131 close to the main frame 10, and an upper layer support 2133 located on the other side of the middle layer support 2131 away from the main frame 10. Both ends of the middle layer support 2131 are fixedly connected to two extension plates 212 respectively. Both ends of the lower layer support 2132 and the upper layer support 2133 are clamped in the mounting grooves of the two extension plates 212 and can slide along the mounting grooves to unfold or fold the three-layer support assembly 213.

[0052] In the present application, the three-layer support assembly 213 is unfolded along a second direction, which is perpendicular to the first direction.

[0053] Please refer to the perspective view shown in the drawings. Figure 4 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 mounting grooves are located at different heights, and the upper layer support and the lower layer support are also located at different heights. The mounting groove close to the sliding frame is used for mounting the lower layer support 2132, and the mounting groove away from the sliding frame is used for mounting the upper layer support 2133.

[0055] In the present embodiment, from the bottom shell to the frame body, the lower layer support 2132, the middle layer support 2131, and the upper layer support 2133 are arranged in sequence.

[0056] The first baffle 214 is used for limiting the limit position of the sliding of the lower layer support 2132, and the second baffle 215 is used for limiting the limit position of the sliding of the upper layer support 2133. Figure 4 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 application, one of the two groups of Y-direction support drive units 216 is used to drive the lower layer support to slide along the mounting groove so that the lower layer support is located directly below the middle layer support or on one side of the middle layer support, and the other Y-direction support drive unit is used to drive the upper layer support to slide along the mounting groove so that the upper layer support is located directly above the middle layer support or on the other side of the middle layer support.

[0058] In this way, when the three-layer support assemblies of the two groups of photovoltaic support assemblies are unfolded, 2 rows and 3 columns are arranged, which is equivalent to a total of 6 solar energy collecting plates absorbing solar energy, so that the utilization rate of solar energy is high.

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

[0060] In the present application, when the three-layer support combination 213 is in a folded state, it can be understood that the upper support, the middle support and the lower support are arranged in sequence, at this time, the orthographic projection of the upper support and the lower support to the middle support coincides with the middle support.

[0061] In the present application, when the unmanned aerial vehicle automatic battery replacement system is in a working state and / or the illumination is less than or equal to the preset illumination value, the three-layer support combination 213 is in a folded state; when the unmanned aerial vehicle automatic battery replacement system is in a non-working state and the illumination is greater than the preset illumination value, the three-layer support combination 213 is in an unfolded state.

[0062] It should be noted that, in the present application, the unmanned aerial vehicle automatic battery replacement system in a working state refers to the period when the unmanned aerial vehicle automatic battery replacement system automatically replaces the battery, the initial time is before the unmanned aerial vehicle prepares to land, and the end time is after the unmanned aerial vehicle replaces the battery and leaves.

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

[0064] In the present application, the Y-direction support driving motor of the two Y-direction support driving units is mounted in the sliding top plate 2111.

[0065] In the present application, the driving shaft group 2162 includes a plurality of driving shafts, one roller group is mounted on each driving shaft, each roller group 2162 includes a first roller and a second roller arranged at intervals, the first roller abuts against the lower support, and the second roller abuts against the upper support, wherein the Y-direction support driving motor of one Y-direction support driving unit is used to drive the first roller to roll and thus drive the lower support abutting against the first roller to move, and the Y-direction support driving motor of the other Y-direction support driving unit is used to drive the second roller to roll and thus drive the upper support abutting against the second roller to move.

[0066] In the present application, the lower layer bracket is located at the left side of the middle layer bracket when it is unfolded, and the Y direction bracket driving unit driving the lower layer bracket is located at the left end. Figure 4 The upper layer bracket is located at the right end of the middle layer bracket when it is unfolded, and the Y direction bracket driving unit driving the upper layer bracket is located at the right end.

[0067] In the present application, the first roller is arranged close to the sliding frame 211, and the second roller is located on the side of the first roller away from the bottom shell.

[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 is the first roller, which drives the lower layer bracket, Figure 5 The small roller is the second roller, which drives the upper layer bracket.

[0070] In the present application, the roller group 2163 is used to reduce the sliding resistance of the upper layer bracket and the lower layer bracket.

[0071] The X direction bracket driving module includes four X direction bracket driving units 221 arranged symmetrically, two X direction bracket driving units arranged 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 screw rod arranged in parallel with the guide rail, a sliding block 2213 slidingly installed on the first screw rod, a stop block 2214 fixedly installed on the first guide rail 2211, and an X direction bracket driving motor 2215 used to drive the first screw rod, the sliding block 2213 is threadedly connected with the first screw rod, and the sliding block 2213 is fixedly connected with 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 screw rod to rotate, thereby driving the sliding block 2213 to move linearly along the guide rail 2211, and further driving the sliding frame 211 fixedly connected with the sliding block 2213 to slide back and forth along the first direction, i.e. driving the photovoltaic bracket assembly 21 to slide, so as to open or close the top end of the main body frame 10 through the sliding of the two photovoltaic bracket assemblies 21.

[0074] In the application, the number of the solar energy collecting plates 23 is the same as the total number of the supports, in the application, each of the photovoltaic support assemblies 21 comprises an upper support, a middle support and a lower support, i.e. the total number of the supports is 6, the number of the solar energy collecting plates 23 is 6, one solar energy collecting plate 23 is installed on each support, and the solar energy collecting plate is detachably connected with the support.

[0075] In the application, the solar energy collecting plate 23 is connected with the battery supply mechanism 70.

[0076] When the solar power supply mechanism 20 works, the three-layer supports of each of the photovoltaic support assemblies 21 are in an unfolded state, forming a three-column two-row solar light-receiving surface. Before the UAV lands, first, two groups of the support driving units drive the lower supports and the upper supports of the two photovoltaic support assemblies 21 to slide towards the middle support to return to a folded state, then the support driving module drives the two photovoltaic support assemblies 21 to move away to form an opening in the main frame 10 into which the UAV can enter; after the UAV leaves, first, the support driving module 22 drives the two photovoltaic support assemblies 21 to move towards each other until the limit position, then the two groups of Y-direction support driving units of the photovoltaic support assemblies 21 drive the lower supports and the upper supports of the three-layer support combination to slide away to be in the unfolded state.

[0077] The wind power generation mechanism comprises a wind power generation support 31 fixedly connected with 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 support 31, the wind resistance type wind power generator is used to convert the mechanical energy generated by the wind power generation support 31 into electrical energy.

[0078] In the application, the wind resistance type wind power generator is connected with the battery supply mechanism 70.

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

[0080] The bearing platform 41 is used for bearing the unmanned aerial vehicle, and can move along the height direction of the main frame 10 under the driving of the landing mechanism 50. Specifically, when the unmanned aerial vehicle is to be landed, the bearing platform 41 is lifted from a first limit position to a second limit position; after the unmanned aerial vehicle is landed, the bearing platform 41 carries the unmanned aerial vehicle from the second limit position back to the first limit position, the height of the second position is greater than the height of the first position; after the battery replacement of the unmanned aerial vehicle is completed, the bearing platform 41 carries the unmanned aerial vehicle from the first limit position to the second limit position.

[0081] The lead screw assembly 42 comprises four lead screw seat groups 421 respectively arranged at the four side edges of the bearing platform 41, a first lead screw group 422 and a second lead screw group 423 installed on the four lead screw seat groups 421 and arranged along the height direction of the main 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] With the perspective as the reference, the second lead screw group 423 is located above the first lead screw group 422. Figure 7

[0083] Each of the lead screw seat groups 421 comprises two lead screw seats 4211 respectively arranged at the two ends of the side edges of the bearing platform 41, each of the lead screw seats 4211 comprises a seat body fixedly connected with the bearing platform 41, and a first mounting hole and a second mounting hole penetrating through the seat body and arranged at intervals, and the second mounting hole is located above the first mounting hole.

[0084] The first lead screw group 422 comprises four lower layer lead screws 4221 respectively arranged along the four side edges of the bearing platform 41, and a plurality of lower layer lead screw gears 4222 for realizing the transmission between adjacent two lower layer lead screws, and the two ends of each lower layer lead screw 4221 are respectively penetrated out of the first mounting holes of the two lead screw seats 4221 on the same side, and the lower layer lead screw gear is sleeved on the penetrated end of the lower layer lead screw 4221.

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

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

[0087] ​The first lower lead screw is connected with the lead screw driving unit 45, and a lower lead screw gear is mounted on the end of the first lower lead screw away from the lead screw driving unit. The second lower lead screw is provided with a lower lead screw gear at each end thereof. The third lower lead screw is provided with a lower lead screw gear at one end thereof close to the second lower lead screw. The two adjacent lower lead screw gears are in meshing connection. The first lower lead screw, the second lower lead screw and the third lower lead screw are in driving connection through the two adjacent lower lead screw gears.

[0088] The second lead screw group 423 comprises four upper lead screws 4231 arranged along the four side edges of the bearing platform 41 and a plurality of upper lead screw gears 4232 for realizing the transmission between the two adjacent upper lead screws. The two ends of each upper lead screw 4231 are respectively penetrated from the second mounting holes of the two lead screw seats 4221 on the same side. The upper lead screw gears are sleeved on the penetrated ends of the upper lead screws 4231.

[0089] One of the four upper lead screws 4231 is connected with the lead screw driving unit 45.

[0090] For the convenience of understanding, the four upper lead screws are divided into a first upper lead screw, a second upper lead screw, a third upper lead screw and a fourth upper lead screw. The first upper lead screw is above the first lower lead screw. The second upper lead screw is above the second lower lead screw. The third upper lead screw is above the third lower lead screw. The fourth upper lead screw is above the fourth lower lead screw. In the present application, the fourth upper lead screw is connected with the lead screw driving unit 45.

[0091] The fourth upper lead screw is provided with an upper lead screw gear at the end thereof away from the lead screw driving unit 45. The first upper lead screw is provided with an upper lead screw gear at each end thereof. The second upper lead screw is provided with an upper lead screw gear at one end thereof close to the first upper lead screw. The two adjacent upper lead screw gears are in meshing connection. The fourth upper lead screw, the first upper lead screw and the second upper lead screw are in driving connection through the two adjacent upper lead screw gears.

[0092] The moving rod 43 comprises a first moving rod 431 arranged in parallel with the positioning rod 44, a second moving rod 432 and a third moving rod 433 arranged perpendicularly to the first moving rod 431. The second moving rod 432 and the third moving rod 433 are arranged in parallel and spaced apart, and the second moving rod 432 is arranged close to the lead screw driving unit 45.

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

[0094] The two moving rod connecting parts of the first moving rod 431 are respectively threadedly connected with the second upper layer lead screw and the fourth upper layer lead screw, so that when the second layer upper layer lead screw and the fourth upper layer lead screw are driven to rotate by the lead screw driving unit 45, the first moving rod 431 can also be driven to move towards the direction close to the positioning rod 44 or away from the positioning rod 44.

[0095] The two moving rod connecting parts of the second moving rod 432 are respectively threadedly connected with the first lower layer lead screw and the third lower layer lead screw, and the two moving rod connecting parts of the third moving rod 433 are respectively threadedly connected with the first upper layer lead screw and the third upper layer lead screw, so that under the driving 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 each other or move away from each other.

[0096] In the present application, the positioning rod 44 is a U-shaped rod, both ends of which are fixedly connected with the bearing platform 41, and is not connected with the second lower layer lead screw and the fourth lower layer lead screw, nor is it connected with the second upper layer lead screw and the fourth upper layer lead screw. It can be understood that as long as the aperture of the through hole opened on the positioning rod 44 is larger than the diameter 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, it can be realized.

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

[0098] In the present application, the unmanned aerial vehicle shifting 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, and the control mechanism drives the grabbing mechanism to take out the battery to be replaced of the unmanned aerial vehicle.

[0099] Please refer to Figure 6In the present application, when the unmanned aerial vehicle is located at the first target position, the unmanned aerial vehicle is clamped between the first moving rod, the second moving rod, the third moving rod and the positioning rod, and abuts against the first moving rod, the second moving rod, the third moving rod and the positioning rod.

[0100] Preferably, the distance between the second moving rod and the third moving rod and the center point of the bearing platform is the same when the unmanned aerial vehicle is at the first target position.

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

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

[0103] In the present application, the unmanned aerial vehicle displacement mechanism 40 is located on the support plate 543, so that when the support plate 543 is raised or lowered, the unmanned aerial vehicle displacement mechanism 40 can be raised or lowered, thereby changing the distance between the unmanned aerial vehicle displacement mechanism and the top end of the main frame.

[0104] In the present application, when the first connecting rod 541 is driven by the lifting platform driving assembly 55 to slide back and forth along the first limiting long hole, the third connecting rod slides back and forth along the second limiting long hole at the same time, and the first connecting rod and the third connecting rod slide in the same direction.

[0105] Preferably, the two ends of one of the first articulated arm groups 548 are respectively hinged to the first end of the first connecting rod and the first end of the third connecting rod, and the two ends of the other of the first articulated arm groups 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 application, the first articulated arm group 548 includes two first articulated arms that are hingedly connected.

[0107] Preferably, the two ends of one of the second articulated arm groups 549 are respectively hinged to the first end of the second connecting rod and the first end of the fourth connecting rod, and the two ends of the other of the second articulated arm groups 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 application, the second articulated arm group 549 includes two second articulated arms that are hingedly connected, and the first articulated arms and the second articulated arms that are correspondingly arranged are cross-arranged and connected by a rotating shaft.

[0109] The lifting platform driving assembly 55 includes a lifting platform driving motor 551, a transmission screw rod 552 connected to the lifting platform driving motor 551, and a screw rod holder 553 including a first connecting plate fixedly connected to the base 51, a second connecting plate perpendicularly bent and extended from the first connecting plate, and a screw rod mounting hole formed through the second connecting plate, one end of the transmission screw rod 552 being connected to the lifting platform driving motor 551 and the other end penetrating through the first connecting rod and then penetrating out of the screw rod mounting hole, and the transmission screw rod 552 being threadedly connected to the first connecting rod 541.

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

[0111] It can be understood that the images for determining the position information of the battery to be replaced in the unmanned aerial vehicle battery compartment refer to the images of the battery to be replaced in the unmanned aerial vehicle battery compartment collected by the camera when the unmanned aerial vehicle is moved to the first target position by the unmanned aerial vehicle displacement mechanism.

[0112] Since the positions of the battery compartments of different models of unmanned aerial vehicles may be different, and the battery models may also be different, driving the grabbing mechanism to move to the preset position to take the battery of the unmanned aerial vehicle may have errors, causing the grabbing mechanism 70 to be unable to accurately grab and replace the battery, the application adopts a trained convolutional neural network model to determine the position information of the battery to be replaced in the battery compartment of the unmanned aerial vehicle, in order to be compatible with different models of unmanned aerial vehicles for battery replacement.

[0113] In the application, different models of unmanned aerial vehicles can be the same battery model but different battery storage compartment positions, the same battery storage compartment position but different battery models, or both different battery storage compartment positions and different battery models.

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

[0115] The application provides a training step of the trained convolutional neural network model, which comprises:

[0116] Step (1), obtaining an image set of diversified battery samples, and performing standardization processing on each image data in the image set, to construct a training set, wherein the standardization processing of the image data comprises size normalization, color space conversion, noise elimination and data enhancement.

[0117] The diversified battery samples comprise different models of batteries, different sizes of batteries and different use states of battery samples.

[0118] The size normalization specifically unifies the image to 256x256 pixels; the color space conversion refers to RGB to HSV; the noise elimination is processed by a Gaussian filtering method; and the data enhancement comprises rotating, scaling, cropping and other data enhancement operations on the image, 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 on ImageNet, wherein the battery target detection network model selects EfficientNet-B7 as a backbone network, designs a double-branch output structure at the top of the backbone network, the double-branch comprises a classification branch for realizing battery model identification and a regression branch for predicting battery center point coordinates, wherein the classification branch is composed of two fully connected layers and a linear classifier, and the regression branch is composed of two fully connected layers and an output layer.

[0120] 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 application, the classification branch adopts a cross-entropy loss function, the learning rate is 1e -3 , and the batch size is set to 32; the regression branch adopts a Smooth L1 loss function, the learning rate is 1e -4 , and the batch size is set to 32.

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

[0123] Step (3), based on the training set, the pre-trained EfficientNet-B7 model is trained according to the preset training parameters, and the Early stopping technology is used to prevent model overfitting, 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 32, the learning rate is set to 1e -3 , and the regularization coefficient is set to 1e -4 .

[0125] In the present application, the standardized image in the training set is input, and the battery center point coordinates in the training set are output.

[0126] In the present application, the pre-training and training of the battery target detection network model both 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. The average precision (mAP) and the intersection over union (IoU) and other indicators are used for comprehensive analysis to ensure the recognition accuracy and positioning accuracy of the model. According to the evaluation results, the performance of the model is continuously monitored, and the model is updated and retrained 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 10The battery supply mechanism 70 comprises an energy storage battery 71 electrically connected with the solar power supply mechanism 20 and the wind power generation mechanism 30 respectively, a battery module 72 electrically connected with the solar power supply mechanism 20, the wind power generation mechanism 30 and the energy storage battery 71 respectively, a battery storage compartment 73 for storing the energy storage battery 71 and the battery module 72, a relay array in communication connection with the control mechanism 90, and a monitoring module 75 for monitoring the state of charge of the energy storage battery 71 and the battery module 72 and the health state of the battery module 72.

[0129] The first charging interface of the energy storage battery 71 is electrically connected with the solar collector panel of the solar power supply mechanism 20, the second charging interface of the energy storage battery 71 is electrically connected with the wind power generator of the wind power generation mechanism 30, the discharging interface of the energy storage battery 71 is electrically connected with the battery module 72, and the control interface of the energy storage battery 71 is in communication connection with the control mechanism 90.

[0130] The battery module 72 comprises 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 compartment 73 comprises a first compartment body 731 and a second compartment body 732 arranged in layers, and a third charging interface, a fourth charging interface and a fifth charging interface installed on the second compartment body, the first compartment body 731 is used for storing the energy storage battery and is located in the lower layer, and the second compartment body 732 is divided into a plurality of sub-compartment bodies 7321 by a plurality of partition plates, and the bottom or sidewall of each sub-compartment body is provided with a battery charging port.

[0132] Preferably, the third charging interface is used for electrical connection with the solar power supply mechanism 20, the fourth charging interface is used for electrical connection with the wind power generation mechanism 30, and the fifth charging interface is used for electrical connection with the energy storage battery 71.

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

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

[0135] In the present application, the preset light intensity 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 temperature data of the drone batteries of the battery module 72, a plurality of voltage sensors 752 for detecting voltage data of the drone batteries of the battery module 72, and a microcontroller 753 in communication connection with the plurality of temperature sensors, the plurality of voltage sensors, and the control mechanism, respectively, the microcontroller 753 being 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 to cut off or close the charging circuit based on the temperature data and the voltage data of each drone battery.

[0137] Preferably, the microcontroller 753 is further configured to determine the target battery to be replaced based on the temperature data and the voltage data of each drone battery, and to send the number of the target sub-warehouse body containing the target battery to be replaced to the control mechanism, the control mechanism being configured to obtain the position information of the target battery to be replaced based on the number of the target sub-warehouse body and to control the grabbing mechanism to work.

[0138] Preferably, the step of determining the target battery to be replaced by the microcontroller 753 includes:

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

[0140] In the present application, the plurality of batteries installed in the second warehouse body can be of multiple models, such as model A batteries and model B batteries, and the number is 4, and when the battery to be replaced of the drone is model A, the number of candidate batteries is 4.

[0141] Step (2), obtaining current temperature data and current voltage data of each candidate battery.

[0142] In the present application, 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 application, the voltage sensor collects voltage data periodically at 10Hz.

[0144] Step (3), performing a multi-stage filtering algorithm on the current temperature data of each candidate battery to obtain processed current temperature data of each candidate battery, and comparing the processed current temperature data of each candidate battery with a preset temperature, when the time when the processed current temperature data of the candidate battery is greater than the preset temperature exceeds a preset time length, the candidate battery is regarded as an abnormal battery with poor health status.

[0145] In the present application, the preset time length is 30 seconds, and the preset temperature is 50℃.

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

[0147] Step (4), taking the multiple drone batteries after deleting the abnormal battery as candidate batteries.

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

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

[0150] Selecting the battery with the largest power to replace it, so that when the replacement of the battery of the drone is fully automated, the flight time of the drone after replacing the battery can be longer and the frequency of replacing the battery of the drone can be reduced.

[0151] Step (6), sorting the power data of each candidate battery, and determining a target battery to be replaced based on the sorting result, wherein the power data of the target battery to be replaced is the largest.

[0152] Step (7), obtaining the number of a target sub-warehouse body, wherein the target sub-warehouse body is a sub-warehouse body for accommodating the target battery to be replaced.

[0153] Since the number of batteries corresponding to each model is multiple, the above-mentioned step is adopted to select the battery with the largest power among the healthy batteries for replacement, so that on the one hand, the full automation of the replacement of the batteries of the unmanned aerial vehicle can be completely realized without the participation of manual work, and on the other hand, the power data of the target battery to be replaced can greatly reduce the frequency of the replacement of the batteries of the unmanned aerial vehicle.

[0154] Please refer to Figures 11 to 14 In the present application, the grabbing mechanism 80 is used to take out the battery to be replaced of the unmanned aerial vehicle and place it in the empty sub-warehouse body for charging, and is also used to install the target battery to be replaced in the sub-warehouse body into the battery cabin of the unmanned aerial vehicle.

[0155] The grabbing mechanism 80 comprises a mechanical arm assembly 81, a first bearing assembly 82 for bearing the mechanical arm assembly 81 and extending along the second direction, and two second bearing assemblies 83 arranged at intervals and extending along the first direction, the first bearing assembly 82 is arranged on and fixedly connected with the two second bearing assemblies 83, the first bearing assembly 82 can drive the mechanical arm assembly 81 to move back and forth along the second direction, and the two second bearing assemblies 83 can drive the first bearing assembly 82 to move back and forth along the first direction, so that the first bearing assembly 82 and the second bearing assembly 83 can change the position of the mechanical arm assembly 81 in the X direction and the Y direction.

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

[0157] In the present application, the first driving unit 814 can drive the turntable 813 to rotate, so as to change the orientation of the mechanical arm.

[0158] In the present application, the bearing platform and the battery storage warehouse are vertically arranged, after the mechanical arm takes out the battery from the battery cabin of the unmanned aerial vehicle on the bearing platform, the first driving unit needs to drive the turntable to rotate by 90 degrees, and then the mechanical arm can place the taken-out battery in the empty sub-battery storage warehouse.

[0159] In the present application, the second driving unit 816 can drive the rotating frame 815 to rotate in clockwise direction or counterclockwise direction, so as to change the angle between the mechanical arm and the rotating disc, from 90 degrees to 0 degree or from 0 degree to 90 degree. Please refer to the angle between the mechanical arm and the rotating disc in the drawings of 90 degrees, at this time, the mechanical arm is vertically arranged / longitudinally arranged. When the angle between the mechanical arm and the rotating disc is 0 degree, i.e. the mechanical arm is parallel to the rotating disc, at this time, the mechanical arm is horizontally arranged / laterally arranged. In the present application, when the mechanical arm 817 is opened to take the battery, the mechanical arm is parallel to the rotating disc 813, i.e. the mechanical arm is horizontally arranged when taking the battery. Figure 11 , Figure 11 The angle between the mechanical arm and the rotating disc in the drawings is 90 degrees, at this time, the mechanical arm is vertically arranged / longitudinally arranged. When the angle between the mechanical arm and the rotating disc is 0 degree, i.e. the mechanical arm is parallel to the rotating disc, at this time, the mechanical arm is horizontally arranged / laterally arranged. In the present application, when the mechanical arm 817 is opened to take the battery, the mechanical arm is parallel to the rotating disc 813, i.e. the mechanical arm is horizontally arranged when taking the battery.

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

[0161] The support frame 811 comprises a plurality of support rods 8111 detachably connected with the first bearing assembly 82, a first support disc 8112 mounted at the top end of the plurality of support rods 8111, and a second support disc 8113 arranged at the end of the first support disc 8112 away from the first bearing assembly 82, wherein the first support disc 8112 and the second support disc 8113 are detachably connected.

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

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

[0164] In the present application, the second support disc 8113 is a circular ring, and the rotating disc 813 is embedded in the middle position of the second support disc 8113.

[0165] In the present application, the second support disc 8113 and the first support disc 8112 are connected by threads.

[0166] Preferably, the support frame 811 further comprises a reinforcing support disc 8114 mounted at the middle position of the plurality of support rods 8111, and the first driving unit 814 is fixedly connected with the reinforcing support disc 8114.

[0167] Preferably, the first driving unit 814 comprises a first steering wheel 8141, a connecting shaft 8142 connected with the output shaft of the first steering wheel 8141, and a bearing 8143 sleeved on the connecting shaft 8142 and connected with the connecting shaft 8142, wherein the connecting shaft 8142 is fixedly connected with the rotating disc 813, and the bearing 8143 is clamped between the one support disc 8122 and the second support disc 8123.

[0168] In the present application, the rotating support 815 is in U-shaped structure.

[0169] In the present application, the rotating support 815 comprises a support horizontal plate 8151 arranged in parallel with the rotating disc 813, and a first support vertical plate 8152 and a second support vertical plate 8153 respectively extending from both ends of the support horizontal plate 8151 towards the rotating disc 813.

[0170] Preferably, the second driving unit 816 comprises a steering gear mounting seat 8161, a second steering gear 8162 fixedly arranged on the steering gear mounting seat 8161, and a rotating disc 8163 mounted on the output end of the second steering gear 8161, the first support vertical plate 8152 is fixedly connected with the rotating disc 8163, and the second support vertical plate 8153 is connected with the steering gear mounting seat 8161 through a pin shaft.

[0171] When the second steering gear 8162 rotates, the rotating disc 8163 can be driven to rotate, thereby driving the rotating support 815 to rotate in clockwise direction or counterclockwise direction to change the angle between the rotating support 815 and the rotating disc 813.

[0172] Preferably, the mechanical arm 817 comprises a U-shaped mounting seat 8171, a first mechanical gripper 8172 and a second mechanical gripper 8173 respectively arranged at both ends of the mounting seat 8171 and connected with the mounting seat 8171, and a plurality of mechanical sub-grippers 8174 arranged between the first mechanical gripper 8172 and the second mechanical gripper 8173 and connected with the first mechanical gripper 8172 and the second mechanical gripper 8173.

[0173] In the present application, the first mechanical gripper 8172 and the second mechanical gripper 8173 are connected with the mounting seat 8171 through a shaft, and the first mechanical gripper 8172 and the second mechanical gripper 8173 can rotate around the shaft.

[0174] The mounting seat 8171 comprises a mounting seat bottom plate fixedly connected with the support horizontal plate 8151, and a first mounting seat vertical plate and a second mounting seat vertical plate perpendicularly and foldedly extended from the mounting seat bottom plate away from the support horizontal plate 8151.

[0175] The first mechanical gripper 8172 comprises a right connecting part with a gear, a left connecting part with a gear, a right arc-shaped gripper fixedly connected with the right connecting part, and a left arc-shaped gripper connected with the left connecting part, the right connecting part is engagedly connected with the left connecting part, the right connecting part is connected with the third driving unit, and the right connecting part and the left connecting part are both mounted on the outside of the first mounting seat vertical plate and connected with the first mounting seat vertical plate through a shaft.

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

[0177] In the application, the first mechanical claw, the second mechanical claw and the mechanical auxiliary claw each include a left arc-shaped claw and a right arc-shaped claw, the left arc-shaped claws of the first mechanical claw, the second mechanical claw and the mechanical auxiliary claws are connected through a connecting piece, the right arc-shaped claws of the first mechanical claw, the second mechanical claw and the mechanical auxiliary claws are connected through a connecting piece, when the third driving unit drives the right connecting part of the first mechanical claw 8172 to rotate, the right connecting part drives the left connecting part to rotate through a gear, and since the right arc-shaped claw and the left arc-shaped claw of each mechanical claw are connected together, the third driving unit can drive the mechanical arm to open or fold.

[0178] Preferably, the third driving unit 818 includes a third steering wheel 8181 mounted on the mounting seat bottom plate and an angle limiting assembly 8182 for limiting the rotation angle of the right connecting part, and the output shaft of the third steering wheel is connected with the right connecting part.

[0179] The angle limiting assembly 8182 includes a limiting plate fixedly connected with the mounting seat bottom plate, at least two bolts respectively connected with the first mounting vertical plate at two ends, and a nut mounted on the bolt, when the right connecting part abuts against the nut, the right connecting part rotates to the limit position.

[0180] The first bearing assembly 82 includes a first bearing main part 821 having a receiving space, a second lead screw 822 mounted in the first bearing main part, a first motor 823 provided outside the bearing main part 821 and connected with the second lead screw 822, and a sliding seat 824 threadedly connected with the second lead screw 822, so that 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 mechanical arm in the Y direction.

[0181] Preferably, the sliding seat 824 includes a sliding seat main part 8241, a sliding groove 8242 formed by recessing inward from one end of the sliding seat main part 8241 away from the support frame 811, and a plurality of connecting columns 8243 mounted at each corner of the sliding seat main part 8241, the sliding groove 8242 is threadedly connected with the second lead screw 822, and the connecting columns 8243 are inserted into the support rods 8111 to form detachable connections.

[0182] In the application, the sliding seat main part 8241 is rectangular, and accordingly, 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 assembly 83 comprises a second bearing body part 831 with a containing space, a linear sliding guide rail 832 installed in the second bearing body part 831, and a sliding plate 833 fixedly connected with the linear sliding guide rail 832, the two sides of the sliding plate 833 are fixedly connected with the linear sliding guide rail 832 and the sliding seat 824 respectively, and 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 comprises a third screw rod 8321, a second motor 8322 connected with the third screw rod 8321, two guide rail seats 8323 arranged on the two sides of the third screw rod 8321, a circular guide rod 8324 fixedly arranged on the guide rail seat 8323, a sliding block 8325 sleeved on the guide rod 8324 and fixedly connected with the sliding plate 833, a screw rod support 8326 fixedly connected with the second bearing body part 831 and sleeved on the third screw rod 8321, and a screw rod nut 8328 threadedly connected with the third screw rod 8321, the screw rod nut 8328 is fixedly connected with the sliding plate 833.

[0185] Under the driving of the second motor, the screw rod nut 8328 can drive the sliding plate 833 to slide along the guide rod 8324.

[0186] The control mechanism 90 is in communication connection with the solar power supply mechanism 20, the wind power generation mechanism 30, the unmanned aerial vehicle displacement mechanism 40, the take-off and landing mechanism 50, the unmanned aerial vehicle battery positioning mechanism 60, the grabbing mechanism 70 and the battery supply mechanism 80, so as to control the motor / steering gear of each mechanism to work, so as to complete the automatic battery replacement of the unmanned aerial vehicle.

[0187] Please refer to Figure 15 , the method for replacing the battery of the unmanned aerial vehicle automatic battery replacement system, comprising the following steps:

[0188] Step S10, drive the two photovoltaic support assemblies to move away along the first direction to form an opening in the main body frame into which the unmanned aerial vehicle can enter.

[0189] Specifically, after the control mechanism receives the signal that the unmanned aerial vehicle is to land, the X-direction support driving module is controlled to work to drive the two photovoltaic support assemblies to move away along the first direction to form an opening in the main body frame into which the unmanned aerial vehicle can enter.

[0190] Step S20, drive the take-off and landing mechanism to drive the unmanned aerial vehicle displacement mechanism to rise from the first limit position to the second limit position.

[0191] Specifically, the control mechanism controls the lifting platform driving motor of the take-off and landing mechanism to work, 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 screw rod, and stops working after moving to the limit position, at which time the unmanned aerial vehicle shifting mechanism reaches the second limit position.

[0192] Step S30, receiving a signal that the unmanned aerial vehicle lands on the take-off and landing mechanism.

[0193] Step S40, driving the take-off and landing mechanism to drive the unmanned aerial vehicle shifting mechanism to descend and return to the first limit position.

[0194] Please refer to step S20, and the difference between step S20 and step S40 is that if the rotating direction of the lifting platform driving motor in step S20 is forward rotation, the rotating direction of the lifting platform driving motor in step S40 is reverse rotation; if the rotating direction of the lifting platform driving motor in step S20 is reverse rotation, the rotating direction of the lifting platform driving motor in step S40 is forward rotation.

[0195] Step S50, driving the unmanned aerial vehicle moving mechanism to drive the unmanned aerial vehicle to the first target position.

[0196] Specifically, the control mechanism controls the screw rod driving unit to work to drive the first moving rod, the second moving rod and the third moving rod to move, and when the first moving rod, the second moving rod and the third moving rod abut against the unmanned aerial vehicle, the first moving rod, the second moving rod and the third moving rod will drive the unmanned aerial vehicle to move together, and when the unmanned aerial vehicle abuts against the positioning rod, it represents that the unmanned aerial vehicle reaches the target position, and the control screw rod driving unit stops working.

[0197] Step S60, obtaining the position information of the to-be-replaced battery in the unmanned aerial vehicle battery cabin sent by the unmanned aerial vehicle battery positioning mechanism.

[0198] In the present application, the position information of the to-be-replaced battery in the unmanned aerial vehicle battery cabin is the coordinates of the center point of the outer surface of the to-be-replaced battery, which is determined based on the vertex of the outer surface of the to-be-replaced battery as the origin.

[0199] Step S70, based on the position information of the to-be-replaced battery of the unmanned aerial vehicle and the position information of the sub-cabin body on which the to-be-replaced battery can be placed, driving the grabbing mechanism to grab the to-be-replaced battery from the unmanned aerial vehicle battery cabin and place it in the empty sub-cabin body for charging.

[0200] Based on the position information of the battery to be replaced in the drone, the control mechanism controls the first motor and the second motor 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 set the robotic arm horizontally, and then controls the third servo to drive the robotic arm to open. In this way, the robotic arm can grab the battery to be replaced in the drone. After successful grabbing, the control mechanism controls the third servo to clamp the battery to be replaced. At this time, the step of grabbing the battery to be replaced is completed.

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

[0202] Step S80: Receive the number of the target sub-compartment containing the target battery to be replaced sent by the battery supply mechanism and obtain the location information of the target battery to be replaced based on the number of the target sub-compartment, drive the grasping mechanism to grasp the target battery to be replaced and place it in the battery compartment of the drone.

[0203] This step is specifically as follows: based on the position information of the target battery to be replaced, the control mechanism controls the first motor and the second motor to make the robotic arm face the new battery to be replaced, controls the third servo to open the robotic arm and take out the target battery to be replaced, and then controls the third servo to clamp the target battery to be replaced, controls the second servo to set the robotic arm longitudinally and controls the first servo to drive the turntable to rotate 90 degrees counterclockwise so that the robotic arm faces the drone; then controls the first motor and the second motor to bring the robotic arm to the second target position, controls the second servo to set the robotic arm horizontally, and finally controls the third servo to unfold the robotic arm and place the target battery to be replaced in the battery box of the drone.

[0204] Preferably, before the step of acquiring the number of the target sub-warehouse body containing the target battery to be replaced sent by the battery supply mechanism, the battery supply mechanism further acquires the target sub-warehouse body number, which comprises the following steps: (1) the microcontroller acquires a plurality of candidate batteries of the same model as the battery to be replaced of the unmanned aerial vehicle; (2) the microcontroller acquires the current temperature data and the current voltage data of each candidate battery; (3) the microcontroller processes the current temperature data of each candidate battery by a multi-stage filtering algorithm, acquires the processed current temperature data of each candidate battery, and compares the processed current temperature data of each candidate battery with the preset temperature; when the time length during which the processed current temperature data of a candidate battery is greater than the preset temperature exceeds the preset time length, the candidate battery is regarded as an abnormal battery with poor health status; (4) the microcontroller regards the plurality of unmanned aerial vehicle batteries after deleting the abnormal battery as candidate batteries; (5) the microcontroller acquires the power data of each candidate battery by using a polynomial fitting curve based on the processed current temperature data and the current voltage data of each candidate battery; (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; (7) the microcontroller acquires the number of the target battery to be replaced based on the number of the sub-warehouse body, wherein the number of the target battery to be replaced is the same as the number of the sub-warehouse body containing 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-warehouse body, and acquiring the number of the target battery to be replaced is equivalent to acquiring the position information of the target battery to be replaced.

[0206] Preferably, the method for replacing batteries of the unmanned aerial vehicle automatic battery replacement system further comprises a plurality of steps after step S80, specifically comprising:

[0207] The unmanned aerial vehicle moving mechanism is arranged apart from the unmanned aerial vehicle, the landing and taking-off mechanism drives the unmanned aerial vehicle moving mechanism to move from the first limit position to the second limit position, the signal that the unmanned aerial vehicle leaves the unmanned aerial vehicle moving mechanism is acquired, the X-direction support driving module drives the two photovoltaic support assemblies to move towards each other along the first direction to close the open end of the main body frame, and the Y-direction support driving unit unfolds the three-layer support assembly to form three columns and two rows of solar light-receiving surfaces.

[0208] The above is a further detailed description of the present application in combination with specific preferred embodiments, and the specific implementation of the present application cannot be limited to these descriptions. For ordinary skilled persons in the technical field to which the present application belongs, a number of simple deductions and replacements can be made without departing from the concept of the present application, and all of them should be regarded as falling within the protection scope of the present application.

Claims

1. An off-grid UAV automatic battery replacement system, characterized in that: include: A main frame having a receiving space and an open top end; A solar power supply mechanism, which is installed at the top of the main frame and includes two photovoltaic support assemblies arranged side by side along a first direction, an X-direction support drive module for driving the two photovoltaic support 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 support assemblies; A wind power generation mechanism, the wind power generation mechanism being installed on the outside of the main frame; A UAV shifting mechanism, located within the main frame and configured to carry and move the UAV; A take-off and landing mechanism, located below the UAV shifting mechanism and configured 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 capturing an image of a battery to be replaced in a drone 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 drone battery compartment based on the image captured by the camera; a battery supply mechanism, the battery supply mechanism comprising an energy 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 energy storage battery, respectively; a monitoring module for monitoring the charge 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 being used to remove the battery to be replaced from the drone battery compartment and place it in the empty sub-compartment for charging, and also being used to install the target battery to be replaced in the sub-compartment into the drone battery compartment; A control mechanism, wherein the control mechanism is communicatively connected to the solar power supply mechanism, the wind power generation mechanism, the UAV displacement mechanism, the take-off and landing mechanism, the battery positioning mechanism, the battery supply mechanism, and the grasping mechanism; 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 communicatively connected to the multiple temperature sensors, the multiple voltage sensors, and the control mechanism. 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. 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 that accommodates 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 gripping mechanism.

2. The off-grid UAV automatic battery replacement system according to claim 1, characterized in that: The energy storage battery includes a first charging interface and a second charging interface, and 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, which 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. A fifth relay electrically connected to the electrical 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 the preset wind speed, the control mechanism controls the second relay to electrically connect the wind power generation mechanism to the second 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.

3. The off-grid UAV automatic battery replacement system according to claim 1 or 2, 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 is 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. The first direction is perpendicular to the second direction.

4. The off-grid UAV automatic battery replacement system according to claim 3, 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 center 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 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.

5. The off-grid UAV automatic battery replacement system according to claim 1 or 2, characterized in that: The UAV shifting 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 drive 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.

6. The off-grid UAV automatic battery replacement system according to claim 1 or 2, characterized in that: The photovoltaic bracket 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 bracket combination clamped between the two extension plates, a first baffle with both ends respectively connected to the first ends of the two extension plates, a second baffle with both ends respectively connected to the second ends of the two extension plates, and a Y-direction bracket drive unit for driving the three-layer bracket combination to expand or retract along the second direction.

7. A method for replacing batteries in an off-grid UAV automatic battery replacement system according to any one of claims 1 to 6, characterized in that: The method comprises the following steps: Step S10: driving the X-direction support driving module to drive the two photovoltaic support assemblies to move in opposite directions 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 move the UAV to a first target position; Step S60: Acquire 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 location information of the unmanned aerial vehicle battery to be replaced and the location 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: Receive the number of the target sub-compartment containing the target battery to be replaced sent by the battery supply mechanism and obtain the location information of the target battery to be replaced based on the number of the target sub-compartment, drive the grasping mechanism to grasp the target battery to be replaced and place it in the battery compartment of the drone.

8. The method according to claim 7, characterized in that Before the step of obtaining the number of the target sub-compartment containing the target battery to be replaced sent by the battery supply mechanism, the step of obtaining the number of the target sub-compartment 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 the preset time, the battery to be selected is identified as an abnormal battery with a poor health status. Step (4), the microcontroller takes the multiple drone batteries after deleting the abnormal battery as candidate batteries; Step (5), the microcontroller obtains the power data of each candidate battery 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-compartment body, where the target sub-compartment body is the sub-compartment body that accommodates the target battery to be replaced.

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