Unmanned aerial vehicle full-automatic airport system

Abstract

The invention provides an unmanned aerial vehicle full-automatic airport system, and relates to the technical field of aviation, and the system comprises a control station which is used for generating and transmitting a first control instruction and a second control instruction; the at least one unmanned aerial vehicle is used for receiving the first control instruction and executing flight operation and feeding back remote sensing data according to the first control instruction; the hangar is used for parking the unmanned aerial vehicle; the take-off and landing platform is located outside the hangar, and the take-off and landing platform is used for the unmanned aerial vehicle to take off and land; and the at least one transfer robot is used for receiving the second control instruction and transporting the unmanned aerial vehicle between the hangar and the take-off and landing platform according to the second control instruction. The unmanned aerial vehicle is allowed to take off and land in a wide landing field, the unmanned aerial vehicle is taken off and recycled through the carrying robot, the requirement for the take-off and landing precision of the unmanned aerial vehicle is lowered, and full-automatic unattended operation of the unmanned aerial vehicle airport can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of aviation technology, and particularly to an unmanned aerial vehicle (UAV) full-automatic airport system. Background Art

[0002] Today, with the booming development of the UAV industry, multi-rotor UAVs have occupied most of the market due to their high flight flexibility and low cost. The intelligent UAV nests launched by domestic enterprises have promoted the UAV operation into the full-automatic era. However, in special fields such as long-distance inspection, due to the limited flight range of multi-rotor UAVs, vertical takeoff and fixed-wing UAVs have become the first choice in these industries with their longer endurance, and a few manufacturers have developed full-automatic nests for such models. However, the current UAV hangar designs on the market are still relatively traditional, relying on fixed takeoff and landing platforms, requiring UAVs to land precisely to be normally recovered, otherwise they will be forced to choose an alternate landing, and these solutions mainly target small-sized electric UAVs, and there is still a lack of feasible automatic hangar solutions for large UAVs with hybrid or fuel power. Therefore, there is room for improvement. Summary of the Invention

[0003] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a UAV full-automatic airport system, which is used to solve the technical problem that UAVs in the prior art rely on fixed takeoff and landing platforms and must land precisely to be normally recovered.

[0004] To achieve the above purpose and other related purposes, the present invention provides a UAV full-automatic airport system, including:

[0005] A control station, configured to generate and send a first control instruction and a second control instruction;

[0006] At least one UAV, configured to receive and perform flight operations and feedback remote sensing data according to the first control instruction;

[0007] A hangar, configured to park the UAV;

[0008] A takeoff and landing platform, located outside the hangar, and the takeoff and landing platform is used for the UAV to perform takeoff and landing operations; and

[0009] At least one handling robot, configured to receive and transport the UAV between the hangar and the takeoff and landing platform according to the second control instruction.

[0010] In an embodiment of the present invention, the hangar includes:

[0011] A parking bay, configured to park the UAV and / or the handling robot;

[0012] A battery compartment for storing the spare battery of the drone and / or the spare battery of the handling robot, and charging the spare battery; and

[0013] A battery swapping manipulator for performing battery swapping operations on the batteries of the drone and / or the handling robot.

[0014] In an embodiment of the present invention, the control station is further configured to monitor the battery power of the drone. When the battery power of the drone is lower than a preset first power threshold, a drone energy replenishment instruction is generated and sent;

[0015] The battery swapping manipulator is used to charge or replace the battery of the drone according to the drone energy replenishment instruction.

[0016] In an embodiment of the present invention, the control station is further configured to monitor the battery power of the handling robot. When the battery power of the handling robot is lower than a preset second power threshold, a robot energy replenishment instruction is generated and sent;

[0017] The battery swapping manipulator is used to charge or replace the battery of the handling robot according to the robot energy replenishment instruction.

[0018] In an embodiment of the present invention, the battery compartment includes a charging cable. The battery swapping manipulator electrically connects the charging cable to the charging interface of the drone according to the drone energy replenishment instruction;

[0019] The battery swapping manipulator electrically connects the charging cable to the charging interface of the handling robot according to the robot energy replenishment instruction.

[0020] In an embodiment of the present invention, the fully automatic drone airport system further includes a lift located at the hatch of the parking compartment,

[0021] The control station is further configured to generate a lift instruction;

[0022] The lift is used to lift the handling robot and the drone from the ground to the height of the battery swapping platform in the parking compartment, or lower the handling robot and the drone from the height of the battery swapping platform in the parking compartment to the ground according to the lift instruction.

[0023] In an embodiment of the present invention, the fully automatic drone airport system further includes an inspection device,

[0024] The control station is further configured to generate an inspection instruction;

[0025] The inspection device is used to check the pre-flight test status of the drone according to the inspection instruction, and inspect the takeoff and landing platform to remove foreign objects affecting flight safety.

[0026] In one embodiment of the present invention, the fully automatic UAV airport system further includes a meteorological device,

[0027] The control station is further configured to generate a meteorological monitoring instruction;

[0028] The meteorological device obtains the meteorological information of the location according to the meteorological monitoring instruction.

[0029] In one embodiment of the present invention, the fully automatic UAV airport system further includes a communication device, and the communication device includes:

[0030] A base station, which is arranged in the hangar and is communicatively connected to the control station; and

[0031] A data link antenna, which is communicatively connected to the base station, and the data link antenna is used for sending and receiving wireless signals and establishing a communication connection with the UAV.

[0032] In one embodiment of the present invention, the fully automatic UAV airport system further includes an environmental conditioning device,

[0033] The control station is further configured to generate an environmental conditioning instruction;

[0034] The environmental conditioning device is used for monitoring and adjusting the temperature and humidity in the hangar according to the environmental conditioning instruction.

[0035] As described above, a fully automatic UAV airport system of the present invention has the following beneficial effects: The present invention solves the technical problems that UAVs rely on fixed takeoff and landing platforms and must land precisely to be recovered normally. The present invention uses a handling robot to cooperate with the UAV hangar, allowing UAVs to take off and land on a wide landing field, and realizing the launch and recovery of UAVs through the handling robot, reducing the requirements for the takeoff and landing accuracy of UAVs, and being applicable to UAVs of various sizes. In addition, the present invention also uses a multi-functional robotic dog to perform tasks such as site inspection, obstacle clearance, UAV charging, and fuel filling, enabling the UAV airport to achieve full-automatic unattended operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of a fully automatic UAV airport system provided by an embodiment of the present invention;

[0037] Figure 2 It shows a top view schematic diagram of the hangar in an embodiment of the present invention;

[0038] Figure 3 It shows a side view schematic diagram of the hangar in an embodiment of the present invention;

[0039] Figure 4Shown is another side view schematic diagram of the hangar in an embodiment of the present invention;

[0040] Figure 5 Shown is a top view schematic diagram of the UAV parking bay in an embodiment of the present invention;

[0041] Figure 6 Shown is a position schematic diagram of the handling robot and the UAV in an embodiment of the present invention;

[0042] Figure 7 Shown is a structural schematic diagram of the meteorological device in an embodiment of the present invention;

[0043] Figure 8 Shown is a schematic diagram of the communication device in an embodiment of the present invention;

[0044] Figure 9 Shown is a position schematic diagram of the fuel device in an embodiment of the present invention;

[0045] Figure 10 Shown is a structural schematic diagram of the inspection device in an embodiment of the present invention.

[0046] Element reference numerals:

[0047] 100, hangar; 110, folding door; 120, UAV parking bay; 121, battery swapping platform; 130, personnel operation cabin; 140, UAV battery cabin; 150, robot parking bay; 160, battery swapping manipulator;

[0048] 200, takeoff and landing platform; 300, handling robot; 400, UAV; 500, lift;

[0049] 600, meteorological device; 610, anemometer; 620, multi-functional sensor; 630, rain gauge; 640, wind vane;

[0050] 700, communication device; 800, fuel device; 900, inspection device. Detailed implementation manners

[0051] The following illustrates the implementation manners of the present invention through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0052] It should be noted that the illustrations provided in the following embodiments only schematically illustrate the basic concept of the present invention. Therefore, only the components related to the present invention are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation can be arbitrarily changed, and the layout type of the components may also be more complex.

[0053] In the following description, numerous details are explored to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0054] The present invention provides an unmanned aerial vehicle (UAV) full-automatic airport system, which relates to the field of aviation technology and can be used to solve the technical problems in the prior art that UAVs rely on fixed takeoff and landing platforms and must land precisely to be recovered normally. The present invention uses a handling robot to cooperate with the UAV hangar, allowing the UAV to take off and land on a wide landing field, and realizing the dispatch and recovery of the UAV through the handling robot, reducing the requirements for the takeoff and landing accuracy of the UAV. In addition, the present invention also uses a multi-functional robotic dog to perform tasks such as site inspection, obstacle clearance, UAV charging, and fuel filling, enabling the UAV airport to achieve full-automatic unattended operation. The following is a detailed description through specific embodiments.

[0055] Please refer to Figure 1, in an embodiment of the present invention, the fully automatic airport system for drones of the present invention may include a control station (not shown in the figure), a hangar 100, a takeoff and landing platform 200, a handling robot 300, and a drone 400. Among them, the control station can be used to generate and send a first control instruction and a second control instruction. The drone 400 can receive and execute flight operations and feedback remote sensing data according to the first control instruction. The hangar 100 can be used to park the drone 400. In this embodiment, the control station can be arranged inside the hangar 100. The takeoff and landing platform 200 can be located outside the hangar 100, and it can be used for the drone 400 to take off and land. In this embodiment, the takeoff and landing platform 200 is connected to the hangar 100 by a road. The handling robot 300 can receive and transport the drone 400 between the hangar 100 and the takeoff and landing platform 200 according to the second control instruction. In this embodiment, when the drone 400 is on standby, it can be parked inside the hangar 100. When the drone 400 needs to perform a flight mission, first, the handling robot 300 transports the drone 400 from the hangar 100 to the takeoff and landing position of the takeoff and landing platform 200; then, the drone 400 autonomously executes the flight mission according to the flight instruction of the control station; finally, when the flight mission is completed, the drone 400 lands at the takeoff and landing position of the takeoff and landing platform 200, and the handling robot 300 transports the drone 400 back into the hangar 100 from the takeoff and landing platform 200.

[0056] Please refer to Figures 2 - 4 , in an embodiment of the present invention, the hangar 100 can adopt a structure similar to a container, and the external material of the hangar 100 is made of rainproof and sunscreen materials. The size of the hangar 100 can be customized according to the wingspan length of the drone 400 as needed. A folding door 110 is provided on one side of the hangar 100 facing the takeoff and landing platform 200, and it can be electrically opened and closed. Multiple areas are provided inside the hangar 100. The hangar 100 may include a parking bay, a battery bay, and a battery swapping manipulator 160. Among them, the parking bay can be used to park the drone 400 and / or the handling robot 300. The battery bay can be used to store the spare batteries of the drone 400 and / or the handling robot 300, and can charge the spare batteries. The battery swapping manipulator 160 can be used to perform battery swapping operations on the batteries of the drone 400 and / or the handling robot 300.

[0057] Please refer to Figures 2 - 4 , in an embodiment of the present invention, the parking bay may include a drone parking bay 120 and a robot parking bay 150. Among them, the drone parking bay 120 is used to park the drone 400. The robot parking bay 150 is used to park the handling robot 300. A battery swapping platform 121 is provided inside the drone parking bay 120, and the battery swapping platform 121 can be used to park the drone 400. At the same time, the space of the drone parking bay 120 can also meet the maintenance work of the drone 400.

[0058] Please refer to Figure 2 In an embodiment of the present invention, the hangar 100 further includes a personnel operation cabin 130. The personnel operation cabin 130 can be located on the side of the UAV parking cabin 120. The control station can be arranged in the personnel operation cabin 130. In addition, an observation window is provided on the side wall of the personnel operation cabin 130, and the operator can directly observe the state of the UAV 400 through the observation window. In this embodiment, the UAV parking cabin 120 and the personnel operation cabin 130 are isolated by a push-pull glass door, and the operator in the personnel operation cabin 130 can enter the UAV parking cabin 120 through the glass door to perform equipment inspection and maintenance on the UAV 400.

[0059] Refer to Figure 4 In an embodiment of the present invention, the battery cabin may include a UAV battery cabin 140 and a robot battery cabin (not shown in the figure). Among them, the UAV battery cabin 140 can be used to store the spare battery of the UAV 400 and charge the spare battery. The robot battery cabin can be used to store the spare battery of the handling robot 300 and charge the spare battery. In this embodiment, the control station can be used to monitor the battery power of the UAV 400. When the battery power of the UAV 400 is lower than a preset first power threshold, a UAV energy replenishment instruction is generated and sent. The battery swapping manipulator 160 can charge or replace the battery of the UAV 400 according to the UAV energy replenishment instruction. The control station can be used to monitor the battery power of the handling robot 300. When the battery power of the handling robot 300 is lower than a preset second power threshold, a robot energy replenishment instruction is generated and sent. The battery swapping manipulator 160 can charge or replace the battery of the handling robot 300 according to the robot energy replenishment instruction.

[0060] Please refer to Figure 3 、 Figure 4 In an embodiment of the present invention, the UAV battery cabin 140 can be located at the top or bottom of the UAV parking cabin 120. It can be understood that when the UAV battery cabin 140 is located at the top of the UAV parking cabin 120, the UAV parking cabin 120 is located at a height close to the ground. At this time, a ramp can be provided outside the bottom of the UAV parking cabin 120 to facilitate the entry and exit of the handling robot 300.

[0061] Please refer to Figure 4, in an embodiment of the present invention, when the UAV battery compartment 140 is located at the bottom of the UAV parking compartment 120, the UAV parking compartment 120 is located at a height significantly higher than the ground. At this time, the handling robot 300 cannot directly drive into the UAV parking compartment 120 through the ramp. In this embodiment, the above problem is solved by setting a lifting machine 500 outside the hangar 100. The control station is also used to generate a lifting instruction. The lifting machine 500 can be used to lift the handling robot 300 and the UAV 400 from the ground to the height of the power exchange platform of the UAV parking compartment 120 according to the lifting instruction, or lower the handling robot 300 and the UAV 400 from the height of the power exchange platform of the UAV parking compartment 120 to the ground. Specifically, when the handling robot 300 returns to the hangar 100 with the UAV 400 in tow, first the handling robot 300 drives onto the lifting machine 500, and then the lifting machine 500 lifts the handling robot 300 together with the UAV 400 from the ground to the height of the power exchange platform of the UAV parking compartment 120. Then the handling robot 300 continues to drive into the UAV parking compartment 120 and places the UAV 400 on the power exchange platform 121 in the UAV parking compartment 120. Finally, the handling robot 300 returns to the robot parking compartment 150 by itself and waits for orders. In this embodiment, the robot parking compartment 150 can be set at the bottom of the UAV parking compartment 120 and adjacent to the UAV battery compartment 140.

[0062] In an embodiment of the present invention, the battery compartment may further include a charging cable. The handling robot 300 uses the same charging interface as the UAV 400. Thus, it can be seen that the power exchange manipulator 160 can electrically connect the charging cable to the charging interface of the UAV 400 according to the UAV charging instruction, or electrically connect the charging cable to the charging interface of the handling robot 300 according to the robot charging instruction. In this embodiment, the charging cable can be set on the power exchange platform 121. Compared with the above power exchange method, charging with a charging cable has the advantages of simple structure, effectively saving the hangar space, and low modification requirements for the UAV. When the customer's demand for continuous operation of the UAV 400 is low and the interval between two operations can meet the charging of the UAV 400, the charging cable can be used for charging. In this embodiment, after the handling robot 300 places the UAV 400 on the power exchange platform 121, the charging cable can be docked with the power receiving port of the UAV 400 for charging. Further, magnetic attraction devices can be provided at the connector of the charging cable and the power receiving port of the UAV 400 to make the plugging of the charging cable fast and convenient. The handling robot 300 uses the same charging interface as the UAV 400.

[0063] Please refer to Figure 4 , Figure 5, in an embodiment of the present invention, the UAV battery compartment 140 may include a plurality of battery partitions. A battery swapping manipulator 160 may be correspondingly arranged in each battery partition. The battery swapping manipulator 160 can move in the horizontal and vertical directions and grab spare batteries. When the UAV 400 is located on the battery swapping platform 121, the battery swapping platform 121 can lock the landing gear of the UAV 400 to prevent the UAV 400 from moving during battery swapping. The battery swapping manipulator 160 can take out the battery of the UAV 400 and place it in the UAV battery compartment 140, and then take a spare battery and insert it into the battery compartment of the UAV 400.

[0064] Please refer to Figure 1 , in an embodiment of the present invention, the takeoff and landing platform 200 may be arranged on one side of the hangar 100. The takeoff and landing platform 200 is connected to the hangar 100 by a road. The size of the takeoff and landing platform 200 can meet the takeoff and landing requirements of the UAV 400.

[0065] Please refer to Figure 1 , Figure 6 , in an embodiment of the present invention, the handling robot 300 is used to transport the UAV 400 from the hangar 100 to the takeoff and landing platform 200 for takeoff. After the UAV 400 lands on the takeoff and landing platform 200, the handling robot 300 brings the UAV 400 back to the hangar 100 for storage or battery swapping. A high-definition camera is arranged on the handling robot 300, which can realize automatic operation and remote control operation. In this embodiment, the handling robot 300 can transport the UAV 400 from the UAV parking compartment 120 to the takeoff and landing platform 200, and then place the UAV 400 at the center of the landing field and leave the takeoff and landing platform 200. After the UAV 400 flies away from the takeoff and landing platform 200, the handling robot 300 returns to the robot parking compartment 150 to wait for charging. When the UAV 400 enters the hovering and altitude reduction stage after completing the task, the handling robot 300 will depart from the robot parking compartment 150 in advance and wait outside the takeoff and landing platform 200. After the UAV 400 lands, the handling robot 300 scans the takeoff and landing platform 200 and senses the position and attitude of the UAV 400, and accurately moves to the front of the UAV 400, forks it up and places it on the top of the handling robot 300, and uses a fixing device to lock the UAV 400 to prevent the UAV 400 from being affected by external forces and moving and falling during transportation. After fixing the UAV 400, the handling robot 300 brings the UAV 400 back to the hangar 100 for storage or battery swapping operation.

[0066] Please refer to Figure 7, in an embodiment of the present invention, the unmanned aerial vehicle (UAV) full-automatic airport system further includes a meteorological device 600. The meteorological device 600 can be connected to the top or side of the hangar 100. In this embodiment, the control station is further configured to generate a meteorological monitoring instruction, and the meteorological device 600 can be used to obtain the meteorological information of the location where the hangar 100 is located according to the meteorological monitoring instruction. It may include an anemometer 610, a multi-functional sensor 620, a rain gauge 630, and a wind vane 640. Among them, the multi-functional sensor 620 can be used to obtain meteorological data such as real-time temperature, humidity, atmospheric pressure, and light intensity. The information monitored by the meteorological device 600 includes but is not limited to temperature and humidity, atmospheric pressure, wind speed and direction, rainfall, visibility, light, etc. This information will help the operator and the cloud platform to determine whether the current environment is suitable for operation.

[0067] Please refer to Figure 8 , in an embodiment of the present invention, the UAV full-automatic airport system further includes a communication device 700. The communication device 700 can include a base station and a data link antenna. Among them, the base station can be arranged inside the hangar 100, and the data link antenna can be arranged on the top of the hangar 100. Data transmission is carried out through a cable connection between the base station and the data link antenna. The communication device 700 can be used to send and receive wireless signals to establish communication between the UAV 400 and the hangar 100. The communication device 700 can send control instructions to the UAV 400 and transmit the sensing data of the UAV 400 back to the control station. It can be understood that the installation height of the data link antenna will affect the communication distance. Therefore, a building with a suitable height can be selected around the hangar 100 so that the data link antenna can be erected on the building and the base station and the data link antenna can be connected by a cable to achieve data transmission.

[0068] In an embodiment of the present invention, the UAV full-automatic airport system further includes an energy device. The energy device can provide power for all the devices in the hangar 100. Under normal circumstances, mains power is used for power supply. When there is a power outage, the control station is further configured to generate a start-up standby energy instruction, and the energy device can use the built-in UPS standby power supply for power supply according to the standby energy instruction to prevent the system from malfunctioning after the mains power outage. In this embodiment, when the standby power supply is used, the system automatically enters the power-saving mode, and non-essential electrical equipment will stop power supply to ensure that the necessary systems can have sufficient power.

[0069] Furthermore, in order to enable the system to operate normally when there is a lack of mains power supply, the present invention adopts a multiple power supply method. For example, solar panels are installed in the hangar 100 to provide power to charge the UPS standby power supply, which can meet the continuous operation during the day. In addition, a fuel generator can be selected to provide power for the system to supply power when the power of the solar panels is insufficient or when tasks need to be performed at night.

[0070] In an embodiment of the present invention, the unmanned aerial vehicle (UAV) full-automatic airport system further includes an environmental conditioning device. The control station is further configured to generate an environmental conditioning instruction. The environmental conditioning device can be disposed inside the hangar 100 and is used to adjust the temperature and humidity of the internal environment of the hangar 100 according to the environmental conditioning instruction. The environmental conditioning device can enable the systems inside the hangar 100 to operate normally under various environments, and store the UAV 400 at appropriate temperature and humidity. The environmental conditioning device can be installed additionally according to the external environment where the hangar 100 is located.

[0071] In this embodiment, the environmental conditioning device may include a plurality of monitoring cameras. The monitoring cameras can be arranged in the UAV parking bay 120 and the UAV battery bay 140. For example, after a spare battery is sent into the UAV battery bay 140, the system can charge or maintain it according to the current battery temperature and flight plan. If the temperature of the spare battery is too high, the environmental conditioning device can activate the heat dissipation device inside the UAV battery bay 140 to quickly dissipate heat from the battery. The monitoring cameras can monitor the UAV parking bay 120 and the UAV battery bay 140, and the operator can remotely monitor the battery swapping operation of the battery swapping manipulator 160 and the status of the spare battery inside the UAV battery bay 140 through the platform. Further, for safety reasons, a fire extinguishing device can also be equipped. When the smoke and high-temperature detector detects the spontaneous combustion of the spare battery, the fire extinguishing device will deliver a fire extinguishing agent to stop the combustion. In this embodiment, high-temperature resistant and fireproof materials can be laid around the spare battery to prevent the flame from invading other areas and damaging the UAV. At the first moment of triggering a fire alarm, the handling robot 300 is dispatched to move the UAV 400 out of the UAV parking bay 120 and drive out of the hangar 100. At the same time, the system alarms the operator, opens the relevant monitoring screen, notifies and requires the operator to handle it as soon as possible. The operator can judge whether to put the UAV 400 back into the hangar according to the fire extinguishing situation.

[0072] Please refer to Figure 1 、 Figure 9 In an embodiment of the present invention, the UAV full-automatic airport system further includes a fuel device 800. The fuel device 800 is used to refuel the UAV 400. In this embodiment, to avoid fire caused by electrical electric sparks in the hangar 100 during fuel refueling, the fuel device 800 can be disposed outside the hangar 100. During fuel refueling, the handling robot 300 takes the UAV 400 to the fuel filling point outside the hangar 100, and the fuel filling robotic arm of the fuel device 800 automatically extends and identifies the fuel filling port, and then refuels according to the refueling requirement. The fuel filling robotic arm is configured with an anti-overflow device, which can automatically stop fueling when the fuel tank is full. After the UAV 400 is refueled, it continues to go to the takeoff and landing platform 200 to take off and perform tasks. Further, a weighing device can be configured on the handling robot 300 to control the weight of the fuel refueling.

[0073] Please refer toFigure 10 In an embodiment of the present invention, the unmanned aerial vehicle full-automatic airport system further includes a patrol device 900. The control station is further configured to generate a patrol instruction, and the patrol device 900 can be used to perform tasks such as pre-flight inspections and daily inspections according to the patrol instruction. In this embodiment, the patrol device 900 can be a robot dog equipped with a robotic arm. The robot dog can use its own camera or a camera mounted on it to identify the movements of the control surfaces and rotors of the unmanned aerial vehicle 400, and judge the pre-flight test state of the unmanned aerial vehicle 400 by transmitting the images to the control station for image recognition. For models that require pitot tube calibration, the robot dog can install a high-speed fan on the robotic arm to complete the pitot tube calibration action.

[0074] Further, after the unmanned aerial vehicle 400 is parked in the hangar 100, the robot dog can use the robotic arm to pick up the charging cable and connect it to the unmanned aerial vehicle 400. The robot dog can also grab the battery of the unmanned aerial vehicle 400 and put it into the unmanned aerial vehicle battery compartment 140 for charging, and load the fully charged spare battery into the unmanned aerial vehicle 400, replacing the original fixed power supply method, and can be compatible with multiple unmanned aerial vehicle models.

[0075] In addition, the robot dog can accurately identify the fuel filling port of the fuel model, use the robotic arm to open the filler cap, and grab the fuel gun to refuel the unmanned aerial vehicle 400. During refueling, the handling robot 300 weighs the unmanned aerial vehicle 400 in real time and interconnects the weight data with the robot dog. The robot dog can stop refueling according to the weight data.

[0076] When the unmanned aerial vehicle 400 is performing tasks, the robot dog can check the transportation route and takeoff and landing platform 200 of the unmanned aerial vehicle in advance to prevent foreign objects from blocking the handling robot 300 or affecting flight safety. When a foreign object is found, the robotic arm can be used to remove the foreign object.

[0077] The robot dog can also check the unmanned aerial vehicle full-automatic airport system according to the set time, take pictures and videos of the system lights and each device, and upload them to the cloud platform for the operator to remotely evaluate the status of each device. During the takeoff and landing stage of the unmanned aerial vehicle, the robot dog can guard the site and identify personnel who break into the key area of the airport.

[0078] In summary, the present invention provides an unmanned aerial vehicle (UAV) fully automatic airport system, which solves the technical problems that UAVs rely on fixed takeoff and landing platforms and must land precisely to be recovered normally. The present invention uses a handling robot to cooperate with the UAV hangar, allowing UAVs to take off and land on a wide landing field, and realizing the deployment and recovery of UAVs through the handling robot, reducing the requirements for the takeoff and landing accuracy of UAVs. In addition, the present invention also uses a multi-functional robot dog to perform tasks such as site inspection, obstacle clearance, UAV charging, and fuel filling, enabling the UAV airport to achieve full-automatic unattended operation. Therefore, the present invention effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0079] The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A fully automatic airport system for unmanned aerial vehicles, characterized in that: include: A control station, used for generating and sending a first control instruction and a second control instruction; At least one unmanned aerial vehicle, configured to receive and execute flight operations and feed back remote sensing data according to the first control instruction; A hangar for parking the drone; A take-off and landing platform, located outside the hangar, and used for the UAV to perform take-off and landing operations; as well as At least one transport robot is used to receive and transport the UAV between the hangar and the take-off and landing platform according to the second control instruction.

2. The fully automatic airport system for unmanned aerial vehicles according to claim 1 is characterized in that: The hangar includes: A parking cabin, used for parking the drone and / or the transport robot; a battery compartment, used to store a spare battery of the drone and / or a spare battery of the handling robot, and to charge the spare batteries; and A battery replacement manipulator is used to perform battery replacement operations on the batteries of the drone and / or the transport robot.

3. The fully automatic airport system for unmanned aerial vehicles according to claim 2 is characterized in that: The control station is also used to monitor the battery power of the drone, and when the battery power of the drone is lower than a preset first power threshold, generate and send a drone recharge instruction; The battery replacement manipulator is used to charge or replace the battery of the drone according to the drone energy replenishment instruction.

4. The fully automatic airport system for unmanned aerial vehicles according to claim 2 is characterized in that: The control station is also used to monitor the battery power of the transport robot, and when the battery power of the transport robot is lower than a preset second power threshold, generate and send a robot recharge instruction; The battery replacement manipulator is used to charge or replace the battery of the transport robot according to the robot energy replenishment instruction.

5. The fully automatic airport system for unmanned aerial vehicles according to claim 3 or 4, characterized in that: The battery compartment includes a charging cable, and the battery-changing manipulator electrically connects the charging cable to the charging port of the drone according to the drone energy replenishment instruction; The battery-swapping robot electrically connects the charging cable to the charging interface of the transport robot according to the robot energy replenishment instruction.

6. The fully automatic airport system for unmanned aerial vehicles according to claim 2, characterized in that: The UAV fully automatic airport system also includes a lift, which is located at the door of the parking cabin. The control station is also used to generate a lifting instruction; The lift is used to lift the transport robot and the drone from the ground to the height of the battery exchange platform of the parking compartment, or to lower the transport robot and the drone from the height of the battery exchange platform of the parking compartment to the ground according to the lifting instruction.

7. The UAV fully automatic airport system according to claim 1 is characterized in that: The UAV fully automatic airport system also includes a patrol device, The control station is also used to generate patrol instructions; The patrol device is used to check the pre-flight test status of the UAV according to the patrol instruction, and to inspect the take-off and landing platform to remove foreign objects that affect flight safety.

8. The fully automatic airport system for unmanned aerial vehicles according to claim 2, characterized in that: The UAV fully automatic airport system also includes a meteorological device, The control station is also used to generate meteorological monitoring instructions; The meteorological device obtains meteorological information of the location according to the meteorological monitoring instruction.

9. The fully automatic airport system for unmanned aerial vehicles according to claim 2, characterized in that: The UAV fully automatic airport system also includes a communication device, which includes: a base station, disposed in the hangar, the base station being communicatively connected with the control station; and A data link antenna is communicatively connected to the base station, and the data link antenna is used to send and receive wireless signals and establish a communication connection with the UAV.

10. The fully automatic airport system for unmanned aerial vehicles according to claim 2, characterized in that: The UAV fully automatic airport system also includes an environmental adjustment device, The control station is also used to generate environmental adjustment instructions; The environmental adjustment device is used to monitor and adjust the temperature and humidity in the hangar according to the environmental adjustment instruction.

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