Unmanned aerial vehicle hangar, hangar control system and hangar control method

Abstract

The invention provides an unmanned aerial vehicle hangar. The unmanned aerial vehicle hangar comprises a hangar box body, a cabin door device and a parking apron. The hangar box is configured as a container. The hangar box body comprises a top plate. The top plate is provided with a hatch. The cabin door device comprises a cabin door assembly. The door assembly is rotatably connected to the hangar box between a closed position and an open position. The hatch assembly in the closed position closes the hatch. The hatch assembly in the open position opens the hatch. The parking apron is movably connected to the hangar box body between a storage position and a lifting position in the height direction of the hangar box body. And the parking apron at the storage position is arranged in the hangar box body. The parking apron located at the rising and falling position is located above the hatch. The structural strength of the hangar box body can be enhanced, and meanwhile transportation is convenient.

Description

Technical Field

[0001] This application generally relates to the technical field of unmanned aerial vehicles (UAVs), and more particularly to a UAV hangar, a hangar control system, and a hangar control method. Background Art

[0002] With the impact of global climate change, the frequency of fire accidents has also increased. There are many limitations in traditional fire-fighting means, such as the inability of firefighters to quickly reach the fire scene after receiving a fire signal, and the inability of fire trucks to approach the fire scene. In recent years, the role played by UAVs in the field of fire-fighting and rescue applications has become increasingly important. Industrial UAVs, as an efficient and convenient auxiliary means, have replaced the original manual fire-fighting and rescue work.

[0003] A UAV hangar, also known as a UAV airport or UAV nest, refers to a dedicated parking place designed specifically for UAVs. The UAV can be directly deployed to the operation site to solve the problem of manually carrying the UAV on duty. There is a problem of inconvenient transportation in the related art UAV hangars.

[0004] Therefore, there is a need to provide a medium and large UAV hangar, a hangar control system, and a hangar control method to at least partially solve the above problems. Summary of the Invention

[0005] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0006] To at least partially solve the above problems, a first aspect of this application provides a UAV hangar, which includes:

[0007] A hangar box body, which is configured as a container. The hangar box body includes a top plate, and a hatch is opened on the top plate;

[0008] A hatch door device, which includes a hatch door assembly. The hatch door assembly is rotatably connected to the hangar box body between a closed position and an open position. The hatch door assembly in the closed position closes the hatch, and the hatch door assembly in the open position opens the hatch; and

[0009] A landing pad, which is movably connected to the hangar box body between a storage position and a take-off / landing position along the height direction of the hangar box body. The landing pad in the storage position is inside the hangar box body, and the landing pad in the take-off / landing position is above the hatch.

[0010] According to the drone hangar of the first aspect of the present application, the hangar box is constructed as a container, so that the structural strength of the hangar box can be enhanced, and it is also convenient for transportation. Furthermore, the hatch is closed and opened by the hatch door device. When the hatch is opened, it is helpful to avoid the movement of the apron from the storage position to the landing position, and it can meet the space requirements of medium and large drones during takeoff and landing.

[0011] Optionally, the door assembly includes a door body, which covers the hatch when the door assembly is in the closed position, and the door body is outside the hangar box in the width direction when the door assembly is in the open position.

[0012] Optionally, the door assembly further includes:

[0013] a first connecting rod, the first connecting rod being configured as a bent or folded rod-shaped structure, one end of the first connecting rod being rotatably connected to the hangar box around a first axis, and the other end of the first connecting rod being rotatably connected to the door body around a second axis; and

[0014] a second connecting rod, the second connecting rod being configured as a bent or folded rod-shaped structure, one end of the second connecting rod being rotatably connected to the hangar box body around a third axis, and the other end of the second connecting rod being rotatably connected to the door body around a fourth axis,

[0015] The first axis, the second axis, the third axis and the fourth axis are all parallel to the length direction of the hangar box, the first axis is closer to the outside of the hangar box than the third axis along the width direction of the hangar box, and the first axis is located above the third axis;

[0016] When the door assembly is in the closed position, the second axis is closer to the outside of the hangar box than the fourth axis along the width direction of the hangar box;

[0017] When the door assembly is located at the open position, the fourth axis is located on an upper side of the second axis.

[0018] Optionally, the drone hangar includes a pair of door assemblies arranged relative to each other.

[0019] Optionally, the door device further comprises a door drive assembly, wherein the door drive assembly is disposed inside the hangar housing, and the door drive assembly is transmission-connected to the first connecting rod to drive the first connecting rod to rotate.

[0020] Optionally, the drone hangar further includes:

[0021] A lifting device is connected to the interior of the hangar box, the lifting device is located below the apron and connected to the apron, and the lifting device is used to drive the apron to move along the height direction.

[0022] Optionally, the apron can be moved relative to the hangar box along the height direction of the hangar box to a loading position, and the height of the apron at the loading position is lower than the height of the apron at the storage position.

[0023] The apron includes:

[0024] A flat body, wherein the flat body is provided with a loading port at least suitable for passing the mounted object; and

[0025] a load-changing shielding member, the load-changing shielding member being movably connected to the platform body at a avoiding position for opening the load-changing port and a blocking position for shielding the load-changing port,

[0026] The drone hangar also includes:

[0027] A loading device is located inside the hangar box and below the apron, and is used to store the mounted objects and transfer the mounted objects to the loading port of the apron located at the loading position.

[0028] Optionally, the load-changing device comprises:

[0029] A storage component, the storage component comprises a turntable, the turntable is located below the apron, the turntable is rotatably connected to the interior of the hangar box around the vertical axis, the turntable is provided with a plurality of accommodating parts, the plurality of accommodating parts are arranged at intervals along the circumferential direction of the turntable, the storage component is configured so that the accommodating parts pass through a loading waiting position during the rotation of the turntable, and the accommodating parts located at the loading waiting position are directly below the loading port;

[0030] a loading container, the loading container being detachably connected to the containing portion, the loading container being suitable for accommodating a hanging object; and

[0031] The transfer assembly includes a transfer component, the transfer component is located below the loading port, the transfer component is movably connected to the interior of the hangar box between an initial position and a transfer position along the height direction of the hangar box, the transfer component located at the initial position is located below the turntable, and during the process of the transfer component moving from the initial position to the transfer position, the transfer component transfers the loading container to the apron located at the loading position.

[0032] Optionally, the storage component further includes a storage transmission member and a storage driving member, and the storage driving member is drivingly connected to the turntable through the storage transmission member to drive the turntable to rotate; and / or

[0033] The transfer component further includes a transfer transmission member and a transfer driving member, and the transfer driving member is drivingly connected to the transfer member through the transfer transmission member to drive the transfer member to move up and down.

[0034] Optionally, the drone hangar further includes:

[0035] A hatch driving assembly drivingly connected to the hatch assembly to be adapted to drive the hatch assembly to rotate;

[0036] A lifting device connected to the landing pad, and the lifting device is used to drive the landing pad to move along the height direction;

[0037] A shielding driving assembly drivingly connected to the transfer shielding member to be adapted to drive the transfer shielding member to move;

[0038] A meteorological detection device disposed outside the hangar box body, and the meteorological detection device is configured to detect meteorological information, and the meteorological information includes at least one of wind speed information and rainfall information; and

[0039] A hangar controller disposed inside the hangar box body, and the hangar controller is connected to the hatch driving assembly, the lifting device, the shielding driving assembly, the transfer device and the meteorological detection device. The hangar controller is configured to obtain the meteorological information of the meteorological detection device and at least control the operating state of the hatch driving assembly according to the meteorological information, and control the operating states of the lifting device, the shielding driving assembly and the transfer device.

[0040] Optionally, the drone hangar further includes a hangar gateway device, and the hangar controller is communicatively connected to the lifting device, the transfer device and the meteorological detection device through the hangar gateway device, and the hangar gateway device is adapted for the hangar controller to be communicatively connected to the user terminal device and the server.

[0041] Optionally, the drone hangar further includes a flight control gateway device, and the hangar controller is communicatively connected to the drone through the hangar gateway device and the flight control gateway device in sequence, and the flight control gateway device is configured to convert the communication protocol between the drone and the hangar gateway device.

[0042] Optionally, the drone hangar further includes an electrical device disposed inside the hangar box body, and the electrical device is at least adapted to be connected to power facilities and network facilities located outside the hangar box body.

[0043] Optionally, the hangar box body further includes:

[0044] A first box door, which is openably disposed on the hangar box body and is arranged corresponding to the electrical device; and / or

[0045] A second box door, which is openably disposed on the hangar box body and is arranged corresponding to the transfer device.

[0046] Optionally, the drone hangar further includes:

[0047] A temperature sensor located inside the hangar box body, connected to the hangar controller, and configured to detect the temperature inside the hangar box; and

[0048] An air conditioner, a part of which is disposed inside the hangar box body and is used to adjust the internal temperature of the hangar box body,

[0049] wherein the hangar controller is configured to control the operating state of the air conditioner according to the temperature detected by the temperature sensor.

[0050] The second aspect of the present application provides a hangar system, which includes:

[0051] The above-mentioned drone hangar;

[0052] A drone;

[0053] A server, which communicates with the hangar controller and the drone;

[0054] A client device, which communicates with the server, the hangar controller, and the drone,

[0055] wherein the client device is configured to send hangar control instructions to the hangar controller to control the operating states of the hatch driving assembly, the lifting device, the shielding driving assembly, and the transfer device, and send flight control instructions to the drone to control the operating state of the drone;

[0056] The hangar controller is configured to control the operating states of the hatch driving assembly, the lifting device, the shielding driving assembly, and the transfer device according to meteorological information and the hangar control instructions.

[0057] According to the hangar system of the second aspect of the present application, by applying the above-mentioned UAV hangar, after locally deploying the UAV hangar in application scenarios such as forests and farms, it is convenient to remotely control the UAV to perform tasks, which can greatly improve the execution efficiency of tasks such as fire-fighting tasks.

[0058] Optionally, the hangar controller is further configured to obtain a fault signal of at least one of the hatch drive assembly, the lifting device, the shielding drive assembly, and the transfer device, and control the hatch drive assembly, the lifting device, the shielding drive assembly, and the transfer device to stop operating according to the fault signal and send an alarm message to the server and the user terminal device.

[0059] Optionally, the hangar system includes a power-off detection circuit, the power-off detection circuit is connected to the hangar controller, and the hangar controller is further configured to obtain a power-off signal of the power-off detection circuit, and control the hatch drive assembly, the lifting device, the shielding drive assembly, and the transfer device to stop operating according to the power-off signal and send an alarm message to the server and the user terminal device.

[0060] A third aspect of the present application provides a hangar control method, which is applied to the above-mentioned hangar system. The hangar control method includes:

[0061] After receiving the out-of-hangar operation instruction from the user terminal device, first determine whether the meteorological information meets the operation conditions. If so, execute steps S1 to S8; if not, do not execute.

[0062] S1, control the lifting device to lower the apron to the transfer position;

[0063] S2, control the transfer assembly of the transfer device to transfer the loading container to the apron;

[0064] S3, control the UAV to load the payload;

[0065] S4, control the hatch drive assembly to move the hatch assembly to the open position;

[0066] S5, control the lifting device to raise the apron to the takeoff and landing position;

[0067] S6, control the UAV to take off and fly to the target position according to the preset flight route;

[0068] S7, control the lifting device to lower the apron to the storage position;

[0069] S8, control the hatch drive assembly to move the hatch assembly to the closed position.

[0070] According to the hangar control method of the third aspect of the present application, by adopting the above control method, automatic control of the hangar and the unmanned aerial vehicle can be achieved when the meteorological conditions meet the requirements, which helps to extend the service life of the hangar and the unmanned aerial vehicle.

[0071] Optionally, the hangar control method further includes:

[0072] S9. After determining that the unmanned aerial vehicle reaches the target position, control the unmanned aerial vehicle to release the load.

[0073] S10. After the unmanned aerial vehicle releases the load, control the unmanned aerial vehicle to return to the departure position along a preset flight route.

[0074] Optionally, the hangar control method further includes:

[0075] S11. After the unmanned aerial vehicle reaches the departure position, execute steps S12 to S16;

[0076] S12. Control the hatch drive assembly to move the hatch assembly to the open position;

[0077] S13. Control the lifting device to raise the apron to the landing position;

[0078] S14. Control the unmanned aerial vehicle to land on the apron;

[0079] S15. Control the lifting device to lower the apron to the storage position;

[0080] S16. Control the hatch drive assembly to move the hatch assembly to the closed position.

[0081] Optionally, the preset flight route in step S6 is set by the user terminal device on the server, and the server stores a map.

[0082] Optionally, the hangar control method further includes:

[0083] S17. Detect the number of loads on the storage component of the transfer device, and determine whether the number of loads is lower than a preset quantity value. If so, send a reminder message to remind to replenish the load.

[0084] Optionally, step S17 includes:

[0085] S171. Obtain the image information of the image acquisition device located inside the hangar box, and determine the number of loads according to the image information; or

[0086] S172. Obtain the number of rotations of the turntable of the storage component, and determine the number of loads according to the number of rotations of the turntable.

[0087] Optionally, step S3 includes:

[0088] After the drone is controlled to perform the loading action, it is determined whether the drone has been loaded with the mount. If so, step S4 is executed. If not, a reminder message is issued to remind the drone to add the mount.

[0089] Optionally, after determining that the meteorological information meets the operating conditions, continuously detect whether any one of the lifting device, the load-changing device, the door drive assembly, and the shielding drive assembly feeds back a fault signal, and if so, control the lifting device, the load-changing device, the door drive assembly, and the shielding drive assembly to shut down; or

[0090] After confirming that the meteorological information meets the operating conditions, the system continuously checks whether there is a power outage. If so, the lifting device, load-changing device, door drive assembly, and shielding drive assembly are controlled to shut down.

[0091] Optionally, after executing step S1 and before executing step S2, the load-changing shielding member is controlled to move to the avoidance position; and / or

[0092] After executing step S5 and before executing step S6, the centering component is controlled to release the drone.

[0093] Optionally, after executing step S14 and before executing step S15, the centering component is controlled to center the drone, and the charging component is controlled to charge the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] The following drawings of the embodiments of the present application are hereby used as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

[0095] Figure 1 A three-dimensional view of a drone hangar according to a preferred embodiment of the present application, wherein the door assembly is in a closed position;

[0096] Figure 2 Another stereoscopic view of a drone hangar according to a preferred embodiment of the present application, wherein the door assembly is in an open position and the helipad is in a landing position;

[0097] Figure 3 for Figure 2 A front view of a drone hangar as viewed from the rear end wall to the front end wall, with the door assembly in the open position and the apron in the landing position;

[0098] Figure 4 for Figure 3 Left view of the drone hangar shown;

[0099] Figure 5 The Figure 3 top view of the drone hangar shown;

[0100] Figure 6 is Figure 5 the sectional view taken along line A-A in

[0101] Figure 7 is Figure 5 the sectional view taken along line B-B in

[0102] Figure 8 is Figure 1 the front view of the drone hangar shown when viewed from the rear wall to the front wall, and the hatch assembly in the figure is in the closed position;

[0103] Figure 9 the perspective view of the hatch device according to a preferred embodiment of the present application;

[0104] Figure 10 the partial view of the connection of a pair of hatch assemblies in the closed position according to a preferred embodiment of the present application;

[0105] Figure 11 the partial view at the hatch of the hangar box according to a preferred embodiment of the present application;

[0106] Figure 12 the schematic diagram of the internal structure of the drone hangar in the state of being used in cooperation with the drone according to a preferred embodiment of the present application, and the transfer member in the figure is in the transfer position;

[0107] Figure 13 is Figure 12 the top view of

[0108] Figure 14 the schematic diagram of the hangar system according to a preferred embodiment of the present application;

[0109] Figure 15 the flow chart of the drone operation process; and

[0110] Figure 16 the flow chart of manual ammunition replacement.

[0111] Explanation of reference numerals:

[0112] 100: Drone hangar 110: Hangar box

[0113] 111: Top plate 111a: Hatch

[0114] 111b: Water retaining edge 111c: First sealing strip

[0115] 112: Front wall 112a: First box door

[0116] 113: Underframe 114: Rear end wall

[0117] 114a: Second compartment door 115: Side wall

[0118] 116: Corner fitting 117: Air conditioner

[0119] 120: Compartment door device 121: Compartment door assembly

[0120] 121a: Water guide trough 121b: Water guide part

[0121] 122: Compartment door body 123: First connecting rod

[0122] 124: Second connecting rod 125: Compartment door drive assembly

[0123] 126: Compartment door reducer 127: Compartment door motor

[0124] 128: Second sealing strip 129: Third sealing strip

[0125] 140: Apron 141: Apron body

[0126] 142: Loading and unloading shielding part 144: Centering component

[0127] 145: Centering rod 150: Lifting device

[0128] 151: Lead screw part 152: Nut part

[0129] 153: Guide post 154: Guide sleeve

[0130] 155: Transmission rod 156: Reversing transmission component

[0131] 157: Lifting motor 160: Loading and unloading device

[0132] 161: Storage component 162: Turntable

[0133] 165: Loading container 166: Loading and unloading component

[0134] 167: Loading and unloading member 168: Loading and unloading transmission member

[0135] 169: Loading and unloading drive member 171: Hanging object

[0136] 181: Electrical device 182: Meteorological detection device

[0137] 183: Anemometer 184: Rain gauge

[0138] 185: Hangar controller 186: Hangar gateway device

[0139] 187: Flight control gateway device 188: Server

[0140] 189: Client device 191: Router

[0141] 192: Lightning rod 193: Mounting bracket

[0142] 194: Camera AP: Drone

[0143] AX1: First axis AX2: Second axis

[0144] AX3: Third axis AX4: Fourth axis

[0145] AX5: Vertical axis D1: Length direction

[0146] D2: Width direction D3: Height direction Detailed implementation manners

[0147] In the following description, numerous specific details are given to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without one or more of these details. In other instances, in order to avoid confusion with the embodiments of the present application, some well-known technical features are not described.

[0148] In order to thoroughly understand the embodiments of the present application, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art.

[0149] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not a limitation of the present application. The singular forms "a", "an", and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms "comprising" and / or "including" are used in this specification, they specify the presence of the described features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0150] In the present application, ordinal numbers such as "first" and "second" are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself. It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used in the present application are only for illustrative purposes and are not restrictive.

[0151] Terms such as "center", "parallel", "perpendicular", "aligned", "symmetric" used in the present application do not have to be exact, but may include typical engineering tolerances.

[0152] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings. These drawings show representative embodiments of the present application and do not limit the present application.

[0153] Refer to Figures 1 to 13 , an embodiment of the present application provides an unmanned aerial vehicle hangar 100. The unmanned aerial vehicle hangar 100 can be used to park medium and large unmanned aerial vehicles and even extra-large unmanned aerial vehicles. According to the classification of the International Civil Aviation Organization (ICAO), medium and large unmanned aerial vehicles are usually unmanned aerial vehicles with a maximum takeoff weight (MTOW) greater than 25 kg and a typical size (wingspan / length) greater than 3 meters. It can be understood that in the case where the unmanned aerial vehicle hangar 100 can be used to park medium and large unmanned aerial vehicles, the unmanned aerial vehicle hangar 100 can obviously also be used to park unmanned aerial vehicles smaller than medium and large unmanned aerial vehicles. The unmanned aerial vehicle hangar 100 includes a hangar box body 110, a hatch device 120, and a landing pad 140. The hangar box body 110 is configured as a container. The container can be one of a standard container, a special container, and other containers. The hangar box body 110 includes corner fittings 116 and a top plate 111. The corner fittings 116 facilitate lifting. The top plate 111 is provided with a hatch 111a. The hatch device 120 includes a hatch assembly 121. The hatch assembly 121 is rotatably connected to the hangar box body 110 between a closed position and an open position. The hatch assembly 121 in the closed position closes the hatch 111a. The hatch assembly 121 in the open position opens the hatch 111a. The landing pad 140 is movably connected to the hangar box body 110 between a storage position and a takeoff / landing position along the height direction D3 of the hangar box body 110. The landing pad 140 in the storage position is inside the hangar box body 110. The landing pad 140 in the takeoff / landing position is above the hatch 111a. The landing pad 140 in the storage position is lower than the landing pad 140 in the takeoff / landing position.

[0154] According to the embodiment of the present application, the drone hangar 100 can enhance the structural strength of the hangar box body 110 and is also convenient for transportation by constructing the hangar box body 110 into a container. Further, the hatch device 120 is used to close and open the hatch 111a. In the state where the hatch 111a is open, it helps to avoid the movement of the apron 140 from the storage position to the takeoff and landing position, and can meet the space requirements of medium and large drones AP during takeoff and landing.

[0155] Refer to Figures 1 to 8 , further, the hangar box body 110 further includes a chassis 113, a front wall 112, a rear wall 114, and a pair of side walls 115. The front wall 112, the rear wall 114, and the side walls 115 are fixed to the upper part of the chassis 113. The front wall 112 and the rear wall 114 are located at both ends of the chassis 113 along the length direction D1 of the hangar box body 110. It should be noted that the front wall 112 does not necessarily face forward during use, and the rear wall 114 does not necessarily face backward during use. The reason for naming them the front wall 112 and the rear wall 114 here is to make the description of related structures clearer.

[0156] Refer to Figure 1 , Figure 2 and Figure 4 , optionally, the chassis 113 is provided with fork slots. Combined with the aforementioned corner fittings 116, the hangar box body 110 can be transported by a crane and a forklift, ensuring the strength and transportability of the hangar box body 110.

[0157] Refer to Figure 1 , Figure 2 and Figure 4 , exemplarily, the hatch assembly 121 includes a hatch body 122. The hatch body 122 covers the hatch 111a when the hatch assembly 121 is in the closed position. The hatch body 122 is outside the hangar box body 110 in the width direction D2 when the hatch assembly 121 is in the open position, so as to maximize the takeoff and landing space for the drone AP and be suitable for the use scenarios of medium and large drones AP.

[0158] Refer to Figures 1 to 6 , Figure 8 and Figure 9, Exemplarily, the hatch assembly 121 further includes a first link 123 and a second link 124. The first link 123 is configured as a bent or curved rod-like structure. One end of the first link 123 is rotatably connected to the hangar housing 110 about a first axis AX1. The other end of the first link 123 is rotatably connected to the hatch body 122 about a second axis AX2. The second link 124 is configured as a bent or curved rod-like structure. One end of the second link 124 is rotatably connected to the hangar housing 110 about a third axis AX3. The other end of the second link 124 is rotatably connected to the hatch body 122 about a fourth axis AX4. Wherein, the first axis AX1, the second axis AX2, the third axis AX3, and the fourth axis AX4 are parallel to each other. The first axis AX1 is closer to the outer side of the hangar housing 110 than the third axis AX3 along the width direction D2 of the hangar housing 110. And the first axis AX1 is located above the third axis AX3. When the hatch assembly 121 is in the closed position, the second axis AX2 is closer to the outer side of the hangar housing 110 than the fourth axis AX4 along the width direction D2 of the hangar housing 110, and the line connecting the first axis AX1 and the second axis AX2 does not intersect the line connecting the third axis AX3 and the fourth axis AX4. When the hatch assembly 121 is in the open position, the fourth axis AX4 is located above the second axis AX2, and the line connecting the first axis AX1 and the second axis AX2 intersects the line connecting the third axis AX3 and the fourth axis AX4. Since the first link 123 and the second link 124 are each bent rods, when the hatch assembly 121 is in the open position, the first link 123 and the second link 124 straddle the side wall 115 of the hangar housing 110.

[0159] Continue to refer to Figures 1 to 6 , Figure 8 and Figure 9 , Further, when the hatch assembly 121 is in the closed position, the hatch body 122 is arranged in a horizontal posture. When the hatch assembly 121 is in the open position, the hatch body 122 is arranged in an upright state, and the dimension of the part of the hatch body 122 protruding from the side wall 115 in the height direction D3 is smaller than the dimension of the hatch body 122 in the height direction D3 at this time, and the apron 140 at the landing position protrudes from the hatch body 122.

[0160] Even further, when the hatch assembly 121 is in the open position, the distance that the hatch body 122 protrudes upward from the top surface of the hangar housing 110 is less than or equal to one-fifth of the dimension of the hatch body 122 along the height direction D3.

[0161] Refer to Figure 1 , Figure 8 and Figure 10, Exemplarily, the drone hangar 100 includes a pair of hatch assemblies 121 arranged oppositely. The pair of hatch assemblies 121 are arranged in a double-leaf form. That is, the drone hangar 100 includes a pair of hatch bodies 122. To prevent water accumulation or snow accumulation on the hatch bodies 122 of the hatch assemblies 121 in the closed position in usage environments such as rain and snow, when the hatch assembly 121 is in the closed position, the height of the upper surfaces of the pair of hatch bodies 122 decreases away from each other along the width direction D2.

[0162] Further optionally, when the hatch assembly 121 is in the closed position, the thickness of the pair of hatch bodies 122 decreases away from each other along the width direction D2, and the lower surfaces of the hatch bodies 122 are arranged horizontally or substantially horizontally.

[0163] Refer to Figure 11 , Exemplarily, the hangar box body 110 forms a water retaining edge 111b around the hatch 111a. The water retaining edge 111b is a bent flanging structure. A first sealing strip 111c is installed on the water retaining edge 111b. The first sealing strip 111c is a rubber strip or a silicone strip made of a soft elastic material such as rubber or silicone. When the hatch assembly 121 is in the closed position, the first sealing strip 111c is used to seal the gap between the hatch body 122 and the hangar box body 110.

[0164] Refer to Figure 10 , Exemplarily, one of the pair of hatch bodies 122 is provided with a second sealing strip 128. The second sealing strip 128 is located at the upper part of the hatch body 122 and at the gap between the pair of hatch bodies 122 when both of the pair of hatch assemblies 121 are in the closed position, so as to reduce the gap between the pair of hatch bodies 122 at the upper part of the pair of hatch bodies 122. When both of the pair of hatch assemblies 121 are in the closed position, the upper part of the second sealing strip 128 is in a shape similar to a ridge with a higher middle and lower sides along the width direction D2 of the hangar box body 110. One of the pair of hatch bodies 122 is provided with a third sealing strip 129. The third sealing strip 129 is located at the lower part of the hatch body 122 and at the gap between the pair of hatch bodies 122 when both of the pair of hatch assemblies 121 are in the closed position, so as to reduce the gap between the pair of hatch bodies 122 at the lower part of the pair of hatch bodies 122. The second sealing strip 128 and the third sealing strip 129 are each a rubber strip or a silicone strip made of a soft elastic material such as rubber or silicone.

[0165] Refer to Figure 11, Further, one of a pair of hatch bodies 122 is provided with a water guide member 121b. The water guide member 121b is formed with a water guide groove 121a. The water guide member 121b extends along the length direction D1 of the hangar box body 110. The end of the water guide member 121b away from the connected hatch body 122 is installed with the above-mentioned third sealing strip 129. When a pair of hatch assemblies 121 are both in the closed position, the opening of the water guide groove 121a faces upward and is aligned with the gap between the pair of hatch bodies 122, so as to receive the water seeping into the door seam and guide it along the length direction D1 of the hangar box body 110.

[0166] Refer to Figure 6 and Figure 9 , Exemplarily, the hatch device 120 further includes a hatch driving assembly 125. The hatch driving assembly 125 is arranged inside the hangar box body 110. The hatch driving assembly 125 is drivingly connected to the first connecting rod 123 to drive the first connecting rod 123 to rotate.

[0167] Refer to Figure 9 , Further, the hatch driving assembly 125 may include a hatch motor 127 and a hatch speed reducer 126. The hatch motor 127 is connected to the hatch speed reducer 126 through a coupling. The output shaft of the hatch speed reducer 126 is fixedly connected to the first connecting rod 123. The hatch speed reducer 126 may be one of existing speed reducers such as a worm and worm gear speed reducer. The hatch motor 127 may be a servo motor.

[0168] In order to perform position detection on the fully opened and fully closed states of the hatch assembly 125, the drone hangar 100 of the present application further includes an open position sensor and a closed position sensor. The open position sensor and the closed position sensor may be arranged on the first connecting rod 123 or the second connecting rod 124, or may be arranged on the side wall 115. The open position sensor is used to be triggered when the hatch assembly 125 is in the open position. The closed position sensor is used to be triggered when the hatch assembly 125 is in the closed position. The open position sensor and the closed position sensor are preferably contact sensors, such as a travel switch or a microswitch. The open position sensor and the closed position sensor are connected to a hangar controller 185 to be described below to send an open-in-place signal and a closed-in-place signal to the hangar controller 185.

[0169] Refer to Figures 2 to 4 , Exemplarily, the drone hangar 100 further includes a lifting device 150. The lifting device 150 is connected inside the hangar box body 110. The lifting device 150 is located below the apron 140 and is connected to the apron 140. The lifting device 150 is used to drive the apron 140 to move in the height direction D3.

[0170] Refer to Figure 6 and Figure 12, optionally, the lifting device 150 includes four sets of screw-nut lifters, a plurality of transmission rods 155, a plurality of reversing transmission components 156, and four sets of guiding structures. The apron 140 is movably mounted on the hangar box 110 along the height direction D3 of the hangar box 110 through the four sets of guiding structures. The guiding structure includes a guide post 153 and a guide sleeve 154 that are slidably connected to each other. The guide post 153 extends along the height direction D3 and is fixed to the hangar box 110. The guide sleeve 154 is fixed to the apron 140. Each of the four sets of screw-nut lifters includes a screw member 151 and a nut member 152. The screw member 151 is arranged to extend along the height direction D3. The nut member 152 is fixed to the apron 140. The transmission rod 155 is arranged perpendicular to the screw member 151. One reversing transmission component 156 is connected between the transmission rod 155 and the lifting motor 157, and the remaining reversing transmission components 156 are connected between the screw and the transmission rod 155. The reversing transmission component 156 is, for example, a T-shaped transmission box and includes a pair of bevel gears that mesh with each other.

[0171] Refer to Figure 5 , exemplarily, the apron 140 further includes a centering component 144. The centering component 144 includes four centering rods 145. Two of the centering rods 145 are arranged opposite to each other along the length direction D1 of the hangar box 110 and can approach and move away from each other along the length direction D1. The remaining two centering rods 145 are arranged opposite to each other along the width direction D2 of the hangar box 110 and can approach and move away from each other along the width direction D2. Through the centering movement of the four centering rods 145, the UAV AP can be centered to a preset position on the apron 140. The preset position here is, for example, the central position of the apron 140.

[0172] Further, a charging component (not shown) is provided on the apron 140. When the UAV AP is centered, the charging component can charge the UAV AP. The charging component here can adopt the UAV AP charging structure in the prior art.

[0173] Refer to Figure 5 , Figure 12 and Figure 13, Exemplarily, the helipad 140 can move relative to the hangar box body 110 in the height direction D3 of the hangar box body 110 to a transfer position. The height of the helipad 140 at the transfer position is lower than the height of the helipad 140 at the storage position. The helipad 140 includes a pad body 141 and a transfer shielding member 142. The pad body 141 is provided with at least a transfer opening adapted for the load 171 to pass through. The transfer shielding member 142 is movably connected to the pad body 141 between an avoidance position where the transfer opening is opened and a blocking position where the transfer opening is shielded. The UAV hangar 100 further includes a transfer device 160. The transfer device 160 is located inside the hangar box body 110 and below the helipad 140. The transfer device 160 is used to store the load 171 and transfer the load 171 to the transfer opening of the helipad 140 at the transfer position. After the helipad 140 moves to the transfer position, the transfer shielding member 142 moves to the avoidance position, and the transfer device 160 transfers the load 171 to the transfer opening for being clamped or installed by the UAV AP. The load 171 can be items such as fire extinguishing bombs, emergency rescue supplies, and logistics express. In this application, the load 171 is preferably a fire extinguishing bomb. It should be noted that when the transfer shielding member 142 is in the blocking position, it also complements the transfer opening of the pad body 141 to prevent the UAV AP from stepping on empty when landing and to enable the UAV AP to be centered smoothly.

[0174] In order to detect the position of the helipad 140 in the height direction D3 to determine whether the helipad 140 has moved in place, some embodiments of the present application further include a lifting-in-place sensor. The lifting-in-place sensor can be arranged corresponding to one or several of the helipad 140 at the takeoff and landing position, the helipad 140 at the storage position, and the helipad 140 at the transfer position. The lifting-in-place sensor is triggered when the helipad 140 moves to the corresponding position. The lifting-in-place sensor can be a contact sensor such as a travel switch or a microswitch. The lifting-in-place sensor is connected to the hangar controller 185 to be described below to send an in-place signal to the hangar controller 185.

[0175] Furthermore, the number of the lifting-in-place sensors is one group. This group of lifting-in-place sensors is arranged corresponding to one of the helipad 140 at the takeoff and landing position, the helipad 140 at the storage position, and the helipad 140 at the transfer position as the origin of position detection. The determination of the remaining positions can be achieved through internal positioning of the lifting motor 157. Thus, the structure of the UAV hangar 100 can be simplified and the cost can be reduced.

[0176] Refer to Figure 6 、 Figure 12 and Figure 13, Exemplarily, the transfer device 160 includes a storage component 161, a loading container 165, and a transfer component 166. The storage component 161 includes a turntable 162. The turntable 162 is located below the apron 140. The turntable 162 is rotatably connected to the inside of the hangar box body 110 about a vertical axis AX5. The vertical axis AX5 is parallel to the height direction D3 of the hangar box body 110. The turntable 162 is provided with a plurality of receiving portions. The plurality of receiving portions are arranged at intervals along the circumferential direction of the turntable 162. The storage component 161 is configured such that the receiving portion passes through the transfer waiting position during the rotation of the turntable 162. The receiving portion located at the transfer waiting position is directly below the transfer port. The loading container 165 is detachably connected to the receiving portion. The loading container 165 is adapted to accommodate the payload 171. The transfer component 166 includes a transfer member 167. The transfer member 167 is located below the transfer port. The transfer member 167 is movably connected to the inside of the hangar box body 110 between an initial position and a transfer position along the height direction D3 of the hangar box body 110. The transfer member 167 located at the initial position is located below the turntable 162. During the movement of the transfer member 167 from the initial position to the transfer position, the transfer member 167 transfers the loading container 165 to the apron 140 located at the transfer position. Here, the loading container 165 adapted to accommodate the payload 171 is stored in the receiving portion of the turntable 162, and the movement of the loading container 165 is realized by the movement of the transfer member 167 along the height direction D3. When the transfer member 167 moves to the transfer position, the loading container 165 can be transferred to the apron 140 located at the transfer position so that the UAV AP located on the apron 140 can load the payload 171. When the transfer member 167 moves to the initial position, the loading container 165 can be reset to the turntable 162. The initial position here can also be understood as the origin position of the transfer member 167.

[0177] In Figure 13 the example shown, a total of 10 loading containers 165 are included. Each loading container 165 can hold two payloads 171.

[0178] Further, the storage component 161 further includes a storage transmission member (not shown) and a storage drive member (not shown). The storage drive member is drivingly connected to the turntable 162 through the storage transmission member to drive the turntable 162 to rotate.

[0179] Optionally, the storage transmission member includes a first gear and a second gear that mesh with each other. The axis of the first gear and the axis of the second gear are parallel. The axis of the second gear coincides with the vertical axis AX5. The storage drive member is a storage motor. The storage motor is connected to the first gear. The diameter of the first gear is smaller than that of the second gear. The storage transmission member can be replaced by a reduction mechanism such as a worm and worm gear reducer.

[0180] Refer to Figure 12, Further, the transfer component 166 further includes a transfer transmission member 168 and a transfer drive member 169. The transfer drive member 169 is drivingly connected to the transfer member 167 through the transfer transmission member 168 to drive the transfer member 167 to move up and down.

[0181] Optionally, the transfer member 167 is configured as a plate member. The transfer member 167 is installed in the hangar box body 110 through a linear guide rail slider mechanism and can slide along the height direction D3 of the hangar box body 110. The transfer transmission member 168 includes a lead screw, a nut, and a T-shaped transmission box. The lead screw extends along the height direction D3 of the hangar box body 110. The nut is in threaded cooperation with the lead screw. The nut is fixed to the transfer member 167. The transfer drive member 169 is a transfer motor. The transfer motor is connected to the lead screw through the T-shaped transmission box. The T-shaped transmission box includes a pair of meshing bevel gears.

[0182] In order to detect the position of the transfer member 167 in the height direction, some embodiments of the present application further include a transfer in-place sensor. The transfer in-place sensor is arranged corresponding to the transfer member 167 at the transfer position so as to be triggered when the transfer member 167 moves to the transfer position. The transfer in-place sensor can adopt contact sensors such as a travel switch and a microswitch. The transfer in-place sensor is connected to the hangar controller 185 to be described below to send an in-place signal to the hangar controller 185.

[0183] Referring to Figure 14 , Exemplarily, the UAV hangar 100 includes a hatch drive assembly 125, a lifting device 150, a shielding drive assembly, a weather detection device 182, and a hangar controller 185. The hatch drive assembly 125 is drivingly connected to the hatch assembly 121 to be adapted to drive the hatch assembly 121 to rotate. The lifting device 150 is connected to the landing pad 140. The lifting device 150 is used to drive the landing pad 140 to move along the height direction D3. The shielding drive assembly is drivingly connected to the transfer shielding member 142 to be adapted to drive the transfer shielding member 142 to move. The weather detection device 182 is arranged outside the hangar box body 110. The weather detection device 182 is configured to detect weather information. The weather information includes at least one of wind speed information and rainfall information. The hangar controller 185 is arranged inside the hangar box body 110. The hangar controller 185 is connected to the hatch drive assembly 125, the lifting device 150, the shielding drive assembly, the transfer device 160, and the weather detection device 182. The hangar controller 185 is configured to obtain the weather information of the weather detection device 182 and control at least the operating state of the hatch drive assembly 125 according to the weather information, and control the operating states of the lifting device 150, the shielding drive assembly, and the transfer device 160. This can not only achieve the automatic control of the hangar, but also control the hangar to perform actions such as opening the hatch when it is determined that the weather information meets the requirements, thereby being able to extend the service life of the hangar and the UAV AP.

[0184] Refer to Figure 1 、 Figure 7 and Figure 14 , optionally, the meteorological detection device 182 includes meteorological detection equipment such as an anemometer 183 and a rain gauge 184.

[0185] Refer to Figure 14 , exemplarily, the drone hangar 100 further includes a hangar gateway device 186. The hangar controller 185 is communicatively connected to the lifting device 150, the transfer device 160, and the meteorological detection device 182 through the hangar gateway device 186. The hangar gateway device 186 is adapted for the hangar controller 185 to be communicatively connected to the client device 189 and the server 188.

[0186] Continue to refer to Figure 14 , further, the drone hangar 100 further includes a flight control gateway device 187. The hangar controller 185 is communicatively connected to the drone AP through the hangar gateway device 186 and the flight control gateway device 187 in sequence. The flight control gateway device 187 is configured to convert the communication protocol between the flight control of the drone AP and the hangar gateway device 186 so as to be able to adapt to and control drone APs with different protocols.

[0187] In Figure 14 , it further includes a router 191. Both the hangar gateway device 186 and the flight control gateway device 187 need to communicate with the server 188 and the client device 189 through the router 191.

[0188] Optionally, the hangar gateway device 186 is responsible for connecting the hardware in the hangar to the Internet and communicating with the server 188 via the MQTT protocol. The hangar gateway device 186 communicates with the hangar controller 185, sensors, and meteorological detection device 182 via RS485. The hangar gateway device 186 collects the status of all hardware and reports the hardware status via MQTT. After receiving the instructions sent by the software platform, the hangar gateway device 186 sends control instructions to one or more of the hardware such as the hatch drive assembly 125, the lifting device 150, the shielding drive assembly, and the transfer device 160 via RS485 to control the corresponding hardware to perform corresponding actions. The flight control gateway device 187 is responsible for the communication between the UAV AP and the software platform, and is used to convert the flight control protocols of different flight control manufacturers into APIs of the unified MQTT protocol and report the status of the UAV AP to the software platform. After receiving the flight instructions sent by the software platform, the flight control gateway device 187 sends control instructions to the flight control to implement the operation of the UAV AP. The software platform can control the flight of the UAV and read the remote sensing data of the UAV via the MQTT protocol through the flight control gateway device 187. The software platform is provided with a counting system to calculate the time for the next replenishment of the payload based on the number of times the UAV loads the payload. Here, the software platform can be a web-based software platform or a client software on a computer, or an app or a mini-program on a mobile device.

[0189] Refer to Figure 6 , exemplarily, the UAV hangar 100 further includes an electrical device 181. The electrical device 181 is disposed inside the hangar housing 110. The electrical device 181 is at least adapted to be connected to power facilities and network facilities located outside the hangar housing 110. The electrical device 181 here can be understood as an electrical cabinet.

[0190] Optionally, the transfer device 160 and the electrical device 181 are arranged along the length direction D1 of the hangar housing 110 to make full use of the space of the hangar housing 110 along the length direction D1.

[0191] Refer to Figures 1 to 3 , Figure 7 and Figure 8, Further, the hangar box body 110 further includes a first box door 112a and a second box door 114a. The first box door 112a is openably provided at the end of the hangar box body 110 in the length direction D1, for example, it is provided on the front end wall 112. The distance between the first box door 112a and the electrical device 181 is less than the distance between the first box door 112a and the transfer device 160. That is, the electrical device 181 is arranged close to the front end wall 112. By opening the first box door 112a, it is convenient to wire, repair the electrical device 181 and replenish the mounting objects 171 to the turntable 162. The second box door 114a is openably provided at the end of the hangar box body 110 in the length direction D1, for example, it is provided on the rear end wall 114. The distance between the second box door 114a and the transfer device 160 is less than the distance between the second box door 114a and the electrical device 181. By opening the second box door 114a, it is convenient to repair and maintain hardware such as the transfer device 160 and the lifting device 150.

[0192] In some other embodiments, the first box door 112a may be located on the side of the hangar box body 110 in the width direction D2.

[0193] In some other embodiments, the second box door 114a may be located on the side of the hangar box body 110 in the width direction D2.

[0194] In some other embodiments, both the first box door 112a and the second box door 114a may be located on the side of the hangar box body 110 in the width direction D2. For example, the first box door 112a and the second box door 114a are respectively located on both sides of the hangar box body 110 in the width direction D2. For another example, both the first box door 112a and the second box door 114a are located on the same side of the hangar box body 110 in the width direction D2.

[0195] It can be understood that in some application scenarios where there is no need to manually replenish the mounting objects 171 or repair the electrical device 181, the box door may not be provided.

[0196] Refer to Figure 4 、 Figure 7 and Figure 14 , Exemplarily, the UAV hangar 100 further includes a temperature sensor (not shown) and an air conditioner 117. The temperature sensor is located inside the hangar box body 110. The temperature sensor is connected to the hangar controller 185. The temperature sensor is configured to detect the temperature inside the hangar box body 110. A part of the air conditioner 117 is arranged inside the hangar box body 110. The air conditioner 117 is used to adjust the internal temperature and humidity of the hangar box body 110 to ensure that the UAV, battery and other devices operate in the best state. Among them, the hangar controller 185 is configured to control the operating state of the air conditioner 117 according to the temperature detected by the temperature sensor. The air conditioner 117 can adopt an air conditioner of the prior art.

[0197] Optionally, the drone hangar 100 further includes other sensors such as humidity sensors. The other sensors are located inside the hangar box 110 and are used to detect the internal environmental parameters of the hangar box 110.

[0198] Refer to Figure 14 , the drone hangar 100 further includes an audible and visual alarm device. The audible and visual alarm device is connected to the hangar controller 185. The drone hangar 100 further includes a smoke alarm device. The smoke alarm device is configured to be triggered when detecting smoke and send a smoke alarm signal to the hangar controller 185. The hangar controller 185 is configured to control the audible and visual alarm device to emit audible and visual information when receiving signals such as a power failure signal, an overload signal, a motor stall signal, a smoke alarm signal, etc., so as to remind personnel to find the location of the drone hangar 100 more quickly.

[0199] Refer to Figure 14, an embodiment of the present application further provides a hangar system. The hangar system includes the above-mentioned drone hangar 100, a drone AP, a server 188, and a client device 189. The drone AP is one of drones such as small drones, medium and large drones, and extra-large drones. The drone hangar 100 includes a hatch driving assembly 125, a lifting device 150, a shielding driving assembly, a loading and unloading device 160, a meteorological detection device 182, and a hangar controller 185. The hatch driving assembly 125 is drivingly connected to the hatch assembly 121. The hatch driving assembly 125 is configured to drive the hatch assembly 121 to rotate. The lifting device 150 is connected to the apron 140. The lifting device 150 is configured to drive the apron 140 to selectively move along the height direction D3 to one of a takeoff and landing position, a storage position, and a loading and unloading position. The shielding driving assembly is connected to the loading and unloading shield 142. The shielding driving assembly is configured to drive the loading and unloading shield 142 to move to open or close the loading and unloading opening. The loading and unloading device 160 is located inside the hangar housing 110 and below the apron 140. The loading and unloading device 160 is configured to store the payload 171 and transfer the payload 171 to the loading and unloading opening of the apron 140 at the loading and unloading position. The meteorological detection device 182 is provided outside the hangar housing 110. The meteorological detection device 182 is connected to the hangar controller 185. The meteorological detection device 182 is configured to detect meteorological information. The meteorological information includes at least one of wind speed information and rainfall information. The hangar controller 185 is provided inside the hangar housing 110. The hangar controller 185 communicates with the hatch driving assembly 125, the lifting device 150, the shielding driving assembly, the loading and unloading device 160, and the meteorological detection device 182. The server 188 communicates with the hangar controller 185 and the drone AP. The client device 189 communicates with the server 188, the hangar controller 185, and the drone AP. Among them, the client device 189 is configured to send a hangar control instruction to the hangar controller 185 to control the operating states of the hatch driving assembly 125, the lifting device 150, the shielding driving assembly, and the loading and unloading device 160, and send a flight control instruction to the drone AP to control the operating state of the drone AP. The hangar controller 185 is configured to control the operating states of the hatch driving assembly 125, the lifting device 150, the shielding driving assembly, and the loading and unloading device 160 according to the meteorological information and the hangar control instruction.

[0200] According to the hangar system of the embodiment of the present application, by applying the above-mentioned drone hangar 100, after the drone hangar 100 is locally deployed in application scenarios such as forests and farms, it is convenient to remotely control the drone AP to perform tasks, and can greatly improve the execution efficiency of tasks such as fire fighting tasks.

[0201] Optionally, the hangar controller 185 is further configured to obtain a fault signal of at least one of the hatch drive assembly 125, the lifting device 150, the shielding drive assembly, and the transfer device 160, and control the hatch drive assembly 125, the lifting device 150, the shielding drive assembly, and the transfer device 160 to stop operating according to the fault signal and send an alarm message to the server 188 and the client device 189.

[0202] Optionally, the hangar system includes a power-off detection circuit. The power-off detection circuit is connected to the hangar controller 185. The hangar controller 185 is further configured to obtain a power-off signal of the power-off detection circuit, and control the hatch drive assembly 125, the lifting device 150, the shielding drive assembly, and the transfer device 160 to stop operating according to the power-off signal and send an alarm message to the server 188 and the client device 189.

[0203] In addition, for the convenience of the operator to perform on-site control in the UAV hangar 100, the electrical device may be provided with an operation panel. The operation panel may include one or several of hardware such as a knob, a button, and a touch screen or a display screen.

[0204] In addition, cameras are respectively arranged inside and outside the hangar box body 110. The camera 194 located inside the hangar box body 100 (as Figure 12 shown) is used to collect image information inside the hangar box body 110, especially at the transfer device, so as to monitor the state inside the hangar box body 110. This is convenient for the client device to know the quantity information of the remaining payloads, thus helping to replenish the payloads in a timely manner. The camera located outside the hangar box body 110 is used to collect image information outside the hangar box body 110, so as to monitor the external environment of the hangar box body 110 and the state when the UAV takes off, etc. This is convenient for knowing the external image information of the UAV hangar 100. For example, whether the UAV has flown away from the hangar box body 110 or has returned to the hangar box body 110; for another example, whether there are people or animals around.

[0205] In addition, a lightning rod 192 and a grounding piece are arranged outside the hangar box body 110 to protect the safety of equipment and personnel.

[0206] In addition, a mounting bracket 193 is arranged outside the hangar box body 110. The mounting bracket 193 is used to mount facilities such as the above-mentioned meteorological detection device 182, the lightning rod, and the camera located outside the hangar box body 110.

[0207] In addition, a ventilation facility (not shown) is arranged inside the hangar box body 110 to improve the indoor air quality. The ventilation facility here may adopt a ventilation device such as an exhaust fan. Correspondingly, in order to communicate the inside and outside of the hangar box body 110, the hangar box body 110 is provided with ventilation holes or ventilation ducts. The ventilation device is arranged at the ventilation holes or ventilation ducts.

[0208] Refer to Figure 14 , optionally, the camera can be an IP camera. An IP camera can also be referred to as a network camera. A network camera is a monitoring device integrated with network transmission functions, consisting of core components such as an ordinary camera, a video server, a network card, and application software. Some network cameras also include extended function modules such as a pan-tilt head and a zoom lens. It realizes the remote transmission and control of audio and video data through network protocols (such as TCP / IP).

[0209] Continue to refer to Figure 14 , the management backend in the figure refers to the background management function of server 188, which can monitor and serve the user-side devices in real time. Server 188 supports forms including message service, video service, and file service. The message service, video service, and file service in the figure are different background management function modules within server 188. Among them, the message service module is used to manage, for example, fault alarm information, weather information, etc. The video service module is used to manage, for example, the video of the hangar site. The file service module is used to manage information in the form of, for example, some real-time data that can be in the form of packets, texts, etc. Server 188 can be a cloud server.

[0210] Refer to again Figure 14 , the data transmission device in the figure is a UAV data transmission device that utilizes UAV data transmission (abbreviated as DT) technology. UAV data transmission refers to the process of transmitting data on a UAV to a ground station or other devices through radio communication technology. The application of data transmission technology in the UAV field is becoming more and more extensive. Due to its characteristics of fast speed, high efficiency, and no delay, it is widely used in fields such as UAV aerial photography, UAV mapping, and UAV cruising. The UAV data transmission device here can adopt the UAV data transmission device in the existing technology.

[0211] Refer to Figure 15 , the embodiment of the present application also provides a hangar control method, which is applied to the above-mentioned hangar system. The hangar control method includes:

[0212] After receiving the out-of-warehouse operation instruction from the user-side device 189, first judge whether the meteorological information meets the operation conditions. If so, execute steps S1 to S8; if not, do not execute;

[0213] S1, control the lifting device 150 to lower the apron 140 to the transfer position;

[0214] S2, control the transfer component 166 of the transfer device 160 to transfer the loading container 165 to the apron 140;

[0215] S3, control the UAV AP to load the hanging object 171;

[0216] S4, controlling the door driving assembly 125 to move the door assembly 121 to an open position;

[0217] S5, controlling the lifting device 150 to raise the apron 140 to a landing position;

[0218] S6, control the drone AP to take off and fly to the target location according to the preset flight route;

[0219] S7, controlling the lifting device 150 to lower the apron 140 to the storage position;

[0220] S8, controlling the door driving assembly 125 to move the door assembly 121 to a closed position.

[0221] Among them, in order to ensure flight safety, if the meteorological information indicates that the wind speed is too high or the rainfall is too heavy, flight operations will not be able to be carried out.

[0222] According to the hangar control method of the embodiment of the present application, by adopting the above-mentioned control method, it is possible to realize automatic control of the hangar and the UAV AP when the meteorological conditions meet the requirements, thereby helping to extend the service life of the hangar and the UAV AP.

[0223] Optionally, the hangar controller 185 controls hardware in the hangar such as the lifting device 150, the loading device 160, and the door drive assembly 125. The user terminal device 189 controls the actions of the drone AP such as loading the mount 171, taking off, flying, releasing the mount 171, and landing.

[0224] Further, after executing step S1 and before executing step S2 , step S18 is executed: controlling the load-changing shielding member 142 to move to the avoidance position to allow the mounted object 171 to pass through the load-changing opening.

[0225] Further, after executing step S5 and before executing step S6, execute step S19: control the centering component 144 to release the drone AP. Specifically, the drone AP is released by controlling each centering rod 145 of the centering component 144 to move in a horizontal direction away from the center of the flat body 141. The centering component 144 includes a motor. The hangar controller 185 controls the position of each centering rod 145 by controlling the operation and stop of the motor. Other structures of the centering component 144 and its working principle can refer to the prior art.

[0226] Exemplarily, the hangar control method further includes:

[0227] S9, after determining that the drone AP has reached the target position, control the drone AP to release the mount 171;

[0228] S10. After the drone AP releases the payload 171, control the drone AP to return to the departure position according to a preset flight route.

[0229] According to the embodiments of the present application, it is possible to control the drone AP to release the payload 171 and control the return of the drone AP.

[0230] Exemplarily, the hangar control method further includes:

[0231] S11. After the drone AP reaches the departure position, execute steps S12 to S16;

[0232] S12. Control the hatch drive assembly 125 to move the hatch assembly 121 to the open position;

[0233] S13. Control the lifting device 150 to raise the landing pad 140 to the landing position;

[0234] S14. Control the drone AP to land on the landing pad 140;

[0235] S15. Control the lifting device 150 to lower the landing pad 140 to the storage position;

[0236] S16. Control the hatch drive assembly 125 to move the hatch assembly 121 to the closed position.

[0237] According to this embodiment, it is possible to store the returning drone AP in the hangar.

[0238] Optionally, the preset flight route in step S6 is set by the user terminal device 189 in the server 188, and the server 188 stores a map.

[0239] Further, after executing step S14 and before executing step S15, execute step S20: Control the centering component 144 to center the drone AP, and control the charging component to charge the drone AP. It can be understood that after the centering component 144 centers the drone AP, it is possible to limit the drone AP in the horizontal direction and to a certain extent prevent the drone AP from detaching from the landing pad 140 along the height direction D3. After the drone AP is centered, the charging contacts of the charging component can be docked with the drone AP. Then, by controlling the charging component to be powered on, the drone AP can be charged, and by controlling the charging component to be powered off, the charging of the drone AP can be stopped.

[0240] Exemplarily, the hangar control method further includes:

[0241] S17. Detect the number of payloads 171 in the storage component 161 of the transfer device 160, and determine whether the number of payloads 171 is lower than a preset quantity value. If so, send a reminder message to remind to replenish the payload.

[0242] According to this embodiment, it is possible to remind the user to replenish the payloads 171 in a timely manner based on the number of payloads 171 in the hangar, ensuring the reliable operation of the UAV hangar 100.

[0243] Exemplarily, step S17 includes:

[0244] S171, obtaining the image information of the image acquisition device located inside the hangar box 110, and determining the number of payloads 171 according to the image information. The image acquisition device may be a camera.

[0245] According to this embodiment, based on the image information collected by the image acquisition device, it is possible to visually determine the number of remaining payloads 171 on the turntable 162.

[0246] Exemplarily, step S17 includes:

[0247] S172, obtaining the number of rotations of the turntable 162 of the storage component 161, and determining the number of payloads 171 according to the number of rotations of the turntable 162.

[0248] According to this embodiment, based on the number of rotations of the turntable 162, it is possible to determine the number of remaining payloads 171 on the turntable 162.

[0249] Exemplarily, step S3 includes:

[0250] After controlling the UAV AP to perform the loading action, determine whether the UAV AP has loaded the payload 171. If so, execute step S4; if not, send a reminder message to remind to replenish the payload 171.

[0251] According to this embodiment, it is possible to send a reminder message to replenish the payload 171 based on the fact that the UAV AP has not loaded the payload 171.

[0252] Exemplarily, after determining that the meteorological information meets the operation conditions, continuously detect whether any one of the lifting device 150, the transfer device 160, the hatch drive assembly 125, and the shielding drive assembly feeds back a fault signal. If so, control the lifting device 150, the transfer device 160, the hatch drive assembly 125, and the shielding drive assembly to stop.

[0253] According to this embodiment, it is possible to control all hardware to stop based on the fault signal to prevent the expansion of the fault range, thereby helping to extend the service life of the UAV hangar 100.

[0254] Exemplarily, after determining that the meteorological information meets the operation conditions, continuously detect whether there is a power outage. If so, control the lifting device 150, the transfer device 160, the hatch driving assembly 125, and the shielding driving assembly to stop. On the premise of having a backup power supply, controlling the hardware devices to stop according to the power outage situation helps the system to operate with low power consumption during a power outage and store the positions or states of the hardware devices at this time, so as to continue to execute tasks after the power is restored, thereby improving the efficiency of task execution.

[0255] Regarding the manual ammunition replacement in the hangar system, reference can be made to Figure 16 the manual ammunition replacement process for operation. The electrical device 181 of the UAV hangar 100 is provided with a mode selection knob and a jog button for switching between the manual ammunition replacement mode and the automatic ammunition loading mode. In the manual ammunition replacement mode, the operator operates the jog button, and each time it is pressed, the turntable 162 rotates to a position, so as to manually replenish the fire extinguishing ammunition into the empty loading container 165 of the turntable 162. In the automatic ammunition loading mode, the transfer device 160 and the lifting device 150 automatically load ammunition under the control of the hangar controller 185. The manual ammunition replacement here can be understood as manually replacing or replenishing the fire extinguishing ammunition. The fire extinguishing ammunition here is a form of the above-mentioned payload 171.

[0256] According to the UAV hangar 100 and the hangar system of the present application, using a container structure as the UAV hangar 100, the four corners of the hangar have container standard corner fittings 116, which have the transportability and structural strength of the container. The present application combines solutions such as a link-type double-opening hatch solution, a lifting device 150, and a transfer device 160, and realizes the functions of protecting, parking, and transferring the UAV AP through a simple and efficient mechanism.

[0257] Next, refer to Figures 1 to 16 the examples of to further elaborate in detail on a specific embodiment of the present application.

[0258] Please refer to Figures 1 to 13, an embodiment of the present application provides a container - type UAV hangar solution. This solution adopts the standard design of containers to ensure the structural strength. Standard corner fittings 116 are provided at the four corners of the top plate and the chassis 113, and a fork groove 113a is provided in the middle of the chassis for easy transportation. This solution adopts the method of the UAV exiting from the top. A hatch 111a is provided on the top plate 111. A hatch door body 122 is provided on the hatch 111a. A water - retaining edge 111b is provided around the hatch 111a. A first sealing strip 111c is installed above the water - retaining edge 111b. When the hatch door body 122 is closed, the hatch door body 122 fits with the first sealing strip 111c to prevent rainwater and dust from entering the hangar box body 110. The side wall 115 is between the top plate 111 and the chassis 113. An air conditioner 117 is provided on the front end wall 112 to control the temperature inside the hangar box body 110 and prevent the UAV battery from getting too cold or too hot. The front end wall 112 is also provided with an anemometer 183 and a rain gauge 184, which can detect the external weather of the hangar box body 110 and judge whether the conditions for the UAV to take off are met. The top plate 111, the front end wall 112, the rear end wall 114, and the side wall 115 all use fire - proof and heat - insulating materials. This ensures the heat preservation, sealing, and fire - proof performance of the hangar box body 110.

[0259] The opening and closing of the hatch door body 122 are controlled by a hatch door motor 127 and a connecting rod group. The upper surface of the hatch door body 122 is an inclined surface with a higher inner side and a lower outer side when it is closed. Here, the higher inner side and the lower outer side mean that the height of the upper surface of the hatch door body 122 decreases in the direction of approaching the outside of the hangar box body 110 along the width direction D2. When a pair of hatch door bodies 122 are closed and observed along the length direction D1 of the hangar box body 110, the pair of hatch door bodies 122 are in a triangular shape. This can prevent snow accumulation and is also convenient for draining water to both sides in the width direction D2 of the hangar box body 110. The height of the hatch door body 122 is lower than the corner fitting 116 at the top of the hangar box body 110 when it is closed. During the opening process, the inclined surface of the hatch door body 122 suitable for draining water always faces both sides in the width direction D2 of the hangar box body 110, avoiding snow and water accumulation from falling into the hangar interior. After being fully opened, the two hatch door bodies 122 stand vertically on both sides of the hangar box body 110, reducing the occupied space, and the height of its top is lower than the landing position of the apron 140, without affecting the take - off of the UAV. The working principle of the hatch door body 122 is: after receiving the opening signal or closing signal from the hangar controller 185, the hatch door motor 127 drives the connecting rod group to rotate, and the connecting rod group pushes a pair of hatch door bodies 122 to open to both sides or close to the middle. Here, the connecting rod group includes the above - mentioned first connecting rod 123 and second connecting rod 124.

[0260] Preferably, the hatch door body 122 can be equipped with a heating device to melt snow and ice in extreme weather, ensuring the safety and normal operation of the hangar.

[0261] The lifting device 150 includes a lifting motor 157, four screw jacks and four sliding guides 33. The lifting motor 157 controls the four screw jacks through a coupling and a transmission rod, ensuring the synchronization of the four screw jacks. The screw jack includes a screw member 151 and a nut member 152. When the screw member 151 rotates, the nut member 152 moves up and down along the screw member 151. The four nut members 152 are fixed to the apron 140 with bolts, and the apron 140 moves with the nut member 152. When the hangar controller 185 sends a signal to rise or fall to the lifting motor 157, the lifting motor 157 drives the screw member 151 to rotate. The rotation of the screw member 151 drives the nut member 152 to rise or fall, thereby realizing the rise or fall of the apron 140 and realizing the switching of the apron 140 among the takeoff and landing position, the storage position and the transfer position.

[0262] The apron 140 includes a transfer shielding member 142 and four centering rods 145. When the UAV AP stops on the apron 140, the four centering rods 145 gather towards the center of the apron 140 from the four directions of up, down, left and right respectively, pushing the UAV AP to the center of the apron 140 and clamping it. Charging contacts are provided on the centering rods 145, and the UAV AP can be charged after being clamped.

[0263] The transfer device 160 includes a transfer assembly 166, a turntable 162 and a loading container 165. The turntable 162 is driven by a servo motor, ensuring the accuracy of rotation. The turntable 162 can store multiple loading containers 165, and one loading container 165 can store two fire extinguishing bombs. All the loading containers 165 are evenly arranged on the turntable 162, and the position directly below the UAV AP is the loading point. When the turntable 162 rotates, the empty loading bucket is transferred out of the loading point, and a new loading bucket is rotated to the loading point, realizing the automatic replacement of the loading container 165. The transfer assembly 166 is arranged directly below the loading point. When loading is required, the transfer assembly 166 can lift the loading container 165 at the loading point to the loading position for the UAV AP to pick up the fire extinguishing bombs.

[0264] The system sets three common positions for the apron 140, namely the takeoff and landing position (the position where the UAV takes off), the storage position (the position where the UAV is stored) and the loading position (the position where the UAV is loaded). The loading container 165 has two common positions, namely the initial position and the transfer position.

[0265] The working principle of the system is as follows:

[0266] When the hangar controller 185 receives an operation instruction from the user terminal device 189, it first detects whether the environmental rainfall and wind speed meet the takeoff conditions. If so, the following loading process is started.

[0267] First, the transfer shield 142 of the helipad 140 is opened. After receiving the signal sent by the hangar controller 185, the lifting motor 157 starts to control the screw lift to descend. The screw lift drives the helipad 140 to descend to the transfer position and then stops. The system sends a reloading instruction to the transfer assembly 166. The transfer assembly 166 lifts the loading container 165 to the loading position. After reaching the position, the position sensor or the lifting motor 157 sends a signal indicating the position reached to the hangar controller 185. The hangar controller 185 sends a loading signal to the UAV AP. After receiving the signal, the UAV AP starts the fixture to fix the fire extinguishing bomb. When the hangar controller 185 detects that the UAV AP has fixed the fire extinguishing bomb, the hangar controller 185 immediately sends an opening signal to the hatch motor 127, and the hatch assembly 121 then opens. When the hatch assembly 121 is fully opened, the screw lift drives the helipad 140 to rise to the takeoff and landing position and then stops, and the UAV AP can take off for operation.

[0268] Then, the hangar controller 185 sends a descending signal to the lifting device 150 and the transfer assembly 166. The lifting device 150 drives the helipad 140 to descend to the storage position, and the transfer assembly 166 descends and drives the loading container 165 back to the initial position.

[0269] Subsequently, the hangar controller 185 sends a rotation signal to the turntable 162. The turntable 162 rotates by a fixed angle, aiming to move the new loading container 165 filled with fire extinguishing bombs to directly below the transfer port. At this time, the system detects whether there is a fire extinguishing bomb on the loading container 165 below the transfer port. If not, an alarm is issued to remind manual reloading. Here, it can be known by whether the turntable 162 has rotated a preset number of times or by directly observing through the camera installed in the hangar box 110.

[0270] Finally, the hangar controller 185 sends a closing signal to the hatch motor 127, and the hatch assembly 121 then closes.

[0271] When the UAV AP returns, the hangar controller 185 immediately sends an opening signal to the hatch motor 127. The hatch motor 127 drives the hatch assembly 121 to open. When the hatch assembly 121 is fully opened, the lifting device 150 drives the helipad 140 to rise to the takeoff and landing position, and the UAV AP can land on the helipad 140. After the UAV AP lands, the centering rod 145 pushes the UAV AP to the center of the helipad 140. After the UAV AP completes centering, the lifting device 150 receives the descending signal sent by the hangar controller 185 and then starts to descend, driving the helipad 140 to descend to the storage position and then stops. Finally, the hangar controller 185 sends a closing signal to the hatch motor 127, and the hatch assembly 121 then closes.

[0272] Preferably, when an unexpected shutdown or a failure occurs, the lifting device 150 and the transfer device 160 have functions of reset, manual adjustment, and zero return. After receiving a signal of motor or driver failure, the motor immediately locks and stops, and at the same time an alarm is output to the controller to pause subsequent actions, and the alarm signal notifies relevant staff.

[0273] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the technical field of this application. The terms used herein are only for the purpose of describing specific implementation purposes and are not intended to limit this application. Terms such as "arranged" that appear herein can either mean that one component is directly attached to another component or that one component is attached to another component through an intermediate member. The features described in one embodiment herein can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other embodiment.

[0274] This application has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of illustration and example, and are not intended to limit this application to the scope of the described embodiments. Those skilled in the art can understand that more variations and modifications can be made according to the teachings of this application, and these variations and modifications all fall within the scope claimed by this application.

Claims

1. A drone hangar, characterized in that: The drone hangar includes: A hangar box, the hangar box is configured as a container, the hangar box comprises a top plate, and the top plate is provided with a hatch; a hatch device, the hatch device comprising a hatch assembly, the hatch assembly being rotatably connected to the hangar box between a closed position and an open position, the hatch assembly in the closed position closing the hatch, and the hatch assembly in the open position opening the hatch; and A helipad, the helipad is movably connected to the hangar body between a storage position and a landing position along the height direction of the hangar body, the helipad at the storage position is inside the hangar body, and the helipad at the landing position is above the hatch.

2. The drone hangar according to claim 1, characterized in that: The door assembly comprises a door body, wherein the door body covers the hatch when the door assembly is located at the closed position, and the door body is located outside the hangar box in a width direction when the door assembly is located at the open position.

3. The drone hangar according to claim 2, characterized in that: The door assembly further comprises: a first connecting rod, the first connecting rod being configured as a bent or folded rod-shaped structure, one end of the first connecting rod being rotatably connected to the hangar box around a first axis, and the other end of the first connecting rod being rotatably connected to the door body around a second axis; and a second connecting rod, the second connecting rod being configured as a bent or folded rod-shaped structure, one end of the second connecting rod being rotatably connected to the hangar box body around a third axis, and the other end of the second connecting rod being rotatably connected to the door body around a fourth axis, The first axis, the second axis, the third axis and the fourth axis are all parallel to the length direction of the hangar box, the first axis is closer to the outside of the hangar box than the third axis along the width direction of the hangar box, and the first axis is located above the third axis; When the door assembly is in the closed position, the second axis is closer to the outside of the hangar box than the fourth axis along the width direction of the hangar box; When the door assembly is located at the open position, the fourth axis is located on an upper side of the second axis.

4. The drone hangar according to any one of claims 1 to 3, characterized in that: The drone hangar includes a pair of door assemblies arranged relative to each other.

5. The drone hangar according to any one of claims 1 to 3, characterized in that: The door device further includes a door drive assembly, which is disposed inside the hangar box and is transmission-connected to the first connecting rod to drive the first connecting rod to rotate.

6. The drone hangar according to any one of claims 1 to 3, characterized in that: The drone hangar also includes: A lifting device is connected to the interior of the hangar body, the lifting device is located below the apron and connected to the apron, and the lifting device is used to drive the apron to move along the height direction.

7. The drone hangar according to claim 6, characterized in that: The apron can be moved relative to the hangar box along the height direction of the hangar box to a loading position, and the height of the apron at the loading position is lower than the height of the apron at the storage position. The apron includes: A flat body, wherein the flat body is provided with a loading port at least suitable for passing the mounted object; and a load-changing shielding member, the load-changing shielding member being movably connected to the platform body at a avoiding position for opening the load-changing port and a blocking position for shielding the load-changing port, The drone hangar also includes: A loading device is located inside the hangar box and below the apron, and is used to store the mounted objects and transfer the mounted objects to the loading port of the apron located at the loading position.

8. The drone hangar according to claim 7, characterized in that: The load-changing device comprises: A storage component, the storage component comprises a turntable, the turntable is located below the apron, the turntable is rotatably connected to the interior of the hangar box around the vertical axis, the turntable is provided with a plurality of accommodating parts, the plurality of accommodating parts are arranged at intervals along the circumferential direction of the turntable, the storage component is configured so that the accommodating parts pass through a loading waiting position during the rotation of the turntable, and the accommodating parts located at the loading waiting position are directly below the loading port; a loading container, the loading container being detachably connected to the containing portion, the loading container being suitable for accommodating a hanging object; and The transfer assembly includes a transfer component, the transfer component is located below the loading port, the transfer component is movably connected to the interior of the hangar box between an initial position and a transfer position along the height direction of the hangar box, the transfer component located at the initial position is located below the turntable, and during the process of the transfer component moving from the initial position to the transfer position, the transfer component transfers the loading container to the apron located at the loading position.

9. The drone hangar according to claim 8, characterized in that: The storage assembly further comprises a storage transmission member and a storage drive member, wherein the storage drive member is connected to the turntable through the storage transmission member to drive the turntable to rotate; and / or The transfer assembly further includes a transfer transmission component and a transfer drive component. The transfer drive component is connected to the transfer component through the transfer transmission component to drive the transfer component to rise and fall.

10. The drone hangar according to claim 7, characterized in that: The drone hangar also includes: A door drive assembly, the door drive assembly is transmission-connected to the door assembly so as to drive the door assembly to rotate; A lifting device, the lifting device is connected to the apron, and the lifting device is used to drive the apron to move along the height direction; A shielding drive assembly, the shielding drive assembly is transmission-connected to the load-changing shielding member so as to drive the load-changing shielding member to move; A meteorological detection device, the meteorological detection device is arranged outside the hangar body, the meteorological detection device is configured to detect meteorological information, the meteorological information includes at least one of wind speed information and rainfall information; and A hangar controller is arranged inside the hangar body, the hangar controller is connected to the door drive assembly, the lifting device, the shielding drive assembly, the load-changing device and the meteorological detection device, and the hangar controller is configured to obtain meteorological information of the meteorological detection device, and control the operating state of the door drive assembly, and control the operating states of the lifting device, the shielding drive assembly and the load-changing device at least according to the meteorological information.

11. The drone hangar according to claim 10, characterized in that: The drone hangar also includes a hangar gateway device, and the hangar controller is communicatively connected to the lifting device, the loading device and the meteorological detection device through the hangar gateway device. The hangar gateway device is suitable for the hangar controller to be communicatively connected to the user-end equipment and the server.

12. The drone hangar according to claim 11, characterized in that: The drone hangar also includes a flight control gateway device, and the hangar controller is connected to the drone through the hangar gateway device and the flight control gateway device in turn. The flight control gateway device is configured to convert the communication protocol between the drone and the hangar gateway device.

13. The drone hangar according to claim 7, characterized in that: The drone hangar also includes an electrical device, which is arranged inside the hangar box and is at least suitable for connection with power facilities and network facilities located outside the hangar box.

14. The drone hangar according to claim 13, characterized in that: The hangar housing also includes: A first door, the first door is openably disposed on the hangar housing, the first door is arranged corresponding to the electrical device; and / or A second door, wherein the second door is openably disposed on the hangar body, and the second door is arranged corresponding to the loading device.

15. The drone hangar according to claim 10, characterized in that: The drone hangar also includes: a temperature sensor, the temperature sensor being located inside the hangar housing, the temperature sensor being connected to the hangar controller, and the temperature sensor being configured to detect the temperature inside the hangar housing; and an air conditioner, a part of which is arranged inside the hangar box, and the air conditioner is used to adjust the internal temperature of the hangar box, Wherein, the hangar controller is configured to control the operating state of the air conditioner according to the temperature detected by the temperature sensor.

16. A hangar system, characterized in that: The hangar system includes: The drone hangar according to any one of claims 1 to 15; Drones; a server, the server communicating with the hangar controller and the drone; A user terminal device, wherein the user terminal device communicates with the server, the hangar controller and the drone, The user terminal device is configured to send a hangar control instruction to the hangar controller to control the operating state of the door drive component, the lifting device, the shielding drive component, and the load-changing device, and to send a flight control instruction to the drone to control the operating state of the drone; The hangar controller is configured to control the operating states of the door drive assembly, the lifting device, the shielding drive assembly, and the load-changing device according to meteorological information and the hangar control instructions.

17. The hangar system according to claim 16, characterized in that: The hangar controller is also configured to obtain a fault signal of at least one of the door drive assembly, the lifting device, the shielding drive assembly, and the load-changing device, and control the door drive assembly, the lifting device, the shielding drive assembly, and the load-changing device to stop running and send an alarm message to the server and the user-end device according to the fault signal.

18. The hangar system according to claim 16, characterized in that: The hangar system includes a power-off detection circuit, which is connected to the hangar controller. The hangar controller is also configured to obtain a power-off signal from the power-off detection circuit, and control the door drive assembly, the lifting device, the shielding drive assembly, and the load-changing device to stop running and send an alarm message to the server and the user-end device according to the power-off signal.

19. A hangar control method, applied to the hangar system according to any one of claims 16 to 18, characterized in that: The hangar control method comprises: After receiving the outbound operation instruction from the user terminal device, first determine whether the weather information meets the operation conditions, if yes, execute steps S1 to S8, otherwise do not execute; S1, control the lifting device to lower the apron to the loading position; S2, controlling the transfer component of the load-changing device to transfer the loading container to the apron; S3, controlling the drone to load a mount; S4, controlling the door driving assembly to move the door assembly to an open position; S5, controlling the lifting device to raise the apron to a landing position; S6, controlling the UAV to take off and fly to the target location according to a preset flight route; S7, controlling the lifting device to lower the apron to a storage position; S8, controlling the door driving assembly to move the door assembly to a closed position.

20. The hangar control method according to claim 19, characterized in that: The hangar control method further comprises: S9, after determining that the UAV has reached the target location, controlling the UAV to release the mounted object; S10, after the drone releases the mounted object, controlling the drone to return to the departure position along a preset flight route.

21. The hangar control method according to claim 20, characterized in that: The hangar control method further comprises: S11, after the UAV reaches the departure position, steps S12 to S16 are executed; S12, controlling the door driving assembly to move the door assembly to an open position; S13, controlling the lifting device to raise the apron to a landing position; S14, controlling the UAV to land on the apron; S15, controlling the lifting device to lower the apron to a storage position; S16, controlling the door driving assembly to move the door assembly to a closed position.

22. The hangar control method according to any one of claims 19 to 21, characterized in that: The preset flight route in step S6 is set by the user terminal device on the server, and the server stores a map.

23. The hangar control method according to claim 19, characterized in that: The hangar control method further comprises: S17, detecting the number of mounted objects of the storage assembly of the load-changing device, and determining whether the number of mounted objects is lower than a preset number value, and if so, issuing a reminder message to remind the user to replenish the mounted objects.

24. The hangar control method according to claim 23, characterized in that: Step S17 includes: S171, acquiring image information of an image acquisition device located in the hangar box, and determining the number of mounted objects according to the image information; or S172, obtaining the number of rotations of the turntable of the storage assembly, and determining the number of mounted objects according to the number of rotations of the turntable.

25. The hangar control method according to claim 19, characterized in that: Step S3 includes: After the drone is controlled to perform the loading action, it is determined whether the drone has been loaded with the mount. If so, step S4 is executed. If not, a reminder message is issued to remind the drone to add the mount.

26. The hangar control method according to claim 19, characterized in that: After determining that the meteorological information meets the operating conditions, continuously detect whether any of the lifting device, the load-changing device, the door drive component, and the shielding drive component feedbacks a fault signal, and if so, control the lifting device, the load-changing device, the door drive component, and the shielding drive component to shut down; or After confirming that the meteorological information meets the operating conditions, the system continuously checks whether there is a power outage. If so, the lifting device, load-changing device, door drive assembly, and shielding drive assembly are controlled to shut down.

27. The hangar control method according to claim 19, characterized in that: After executing step S1 and before executing step S2, controlling the load-changing shielding member to move to the avoidance position; and / or After executing step S5 and before executing step S6, the centering component is controlled to release the drone.

28. The hangar control method according to claim 21, characterized in that: After executing step S14 and before executing step S15, the centering component is controlled to center the drone, and the charging component is controlled to charge the drone.

Images