Base station capable of parking unmanned aerial vehicle and mechanical dog

Abstract

The invention discloses a base station capable of parking unmanned aerial vehicles and mechanical dogs, and aims to solve the problem of logistics distribution in the last kilometer. The base station comprises a parking room, an unmanned aerial vehicle, a mechanical dog and a transmission assembly. A discharging opening is formed in the top of the parking chamber, and a clamp at the bottom of the unmanned aerial vehicle is located above the discharging opening and used for clamping goods. The mechanical dog is located in the stopping chamber, a collecting box is arranged on the back and located below the discharging opening, and a containing plate and a sealing door are arranged in the collecting box. The placing plate is connected with the collecting box through the first spring, and the placing plate and the sealing door are in transmission connection through the transmission assembly. When the placing plate moves downwards due to the gravity of goods, the transmission assembly drives the sealing door to close the collecting box; and when the placing plate moves upwards, the sealing door is opened. The base station realizes efficient handover and distribution of goods through linkage of the unmanned aerial vehicle and the mechanical dog, improves the logistics efficiency and reliability, and is especially suitable for medical supplies and other scenes with high requirements for timeliness and safety.

Description

Technical Field

[0001] The present invention belongs to the technical fields of drones and robotic dogs, and particularly relates to a base station for docking drones and robotic dogs. Background Art

[0002] With the acceleration of urbanization and the quickening of people's life rhythm, higher requirements are put forward for the efficiency and convenience of logistics distribution. Especially in the field of medical supply distribution, such as distributing drugs, medical devices, etc. from hospitals to patients' homes, a fast, accurate, and safe distribution method is crucial for patients' treatment and recovery. However, traditional logistics distribution methods face many challenges: In the "last mile" of logistics distribution, that is, the distance from the distribution center to the hands of the final user, distribution delays are often caused by problems such as traffic congestion, high labor costs, and low distribution efficiency. Especially in some old communities, remote areas, or places with inconvenient transportation, this problem is more prominent. For the distribution of medical supplies, such as drugs and first-aid supplies, not only fast delivery is required, but also the safety and integrity of the supplies need to be ensured. Traditional manual distribution methods may lead to distribution errors or delays due to human factors, affecting the treatment effect of patients. As a new type of logistics distribution tool, drones have the characteristics of fast, flexible, and efficient, and can effectively solve the distribution problems brought about by urban traffic congestion. However, the endurance and load capacity of drones are limited, and they can usually only cover distribution tasks over a short distance. In addition, after a drone enters a community, it is difficult to directly deliver supplies to the user's doorstep due to the complex internal environment of the community (such as building blockage, dense population, etc.). Robotic dogs (or quadruped robots) have excellent ground adaptability and flexibility, and can freely move through complex terrains (such as stairs, narrow passages, etc.), and can even take the elevator into high-rise buildings. However, the endurance and traveling speed of robotic dogs are relatively slow, and they cannot meet the requirements of long-distance distribution.

[0003] Currently, although drones and robotic dogs both have certain applications in the field of logistics distribution, there is no mature technical solution to effectively combine the two to achieve seamless connection from long-distance rapid transportation to precise distribution within the community. Especially in the material handover link between drones and robotic dogs, the lack of an efficient and reliable handover base station design leads to low coordination efficiency of the entire distribution system.

[0004] Therefore, the present invention aims to propose an end distribution system and handover base station for the linkage of drones and robotic dogs. Through innovative base station design and intelligent handover processes, efficient material handover between drones and robotic dogs can be achieved, thereby solving the last-mile distribution problem and improving logistics distribution efficiency and user experience. Summary of the Invention

[0005] In view of this, the present invention provides a base station that can dock drones and robotic dogs to solve the problem in the prior art that although drones and robotic dogs have certain applications in the field of logistics distribution, there is no mature technical solution to effectively combine the two to achieve seamless connection from long-distance rapid transportation to precise distribution within the community. Especially in the material handover link between the drone and the robotic dog, the lack of an efficient and reliable handover base station design leads to low coordination efficiency of the entire distribution system.

[0006] The technical solution adopted by the present invention is as follows: A base station that can dock drones and robotic dogs, comprising: A docking chamber, a material discharge opening is provided through the top of the docking chamber; A drone, the drone is located on the top of the docking chamber, a clamp for clamping goods is provided at the bottom of the drone, and the clamp is located above the material discharge opening; A robotic dog, the robotic dog is located inside the docking chamber, a collection box is provided on the back of the robotic dog, the collection box is located below the material discharge opening, a sealing door slidably embedded and slidably connected to the collection box is provided at the top of the side wall of the collection box, and a placement plate is slidably embedded inside the collection box, and the placement plate is connected to the collection box through a first spring; A transmission assembly, the transmission assembly is provided on the collection box, the transmission assembly drives the sealing door and the placement plate to be connected. When the placement plate moves downward, the sealing door can be driven by the transmission assembly to close the collection box. When the placement plate moves upward, the sealing door can be driven by the transmission assembly to open the collection box.

[0007] In this technical solution, it should be noted that an inductive switch door can be set at the blanking port of the docking chamber. A two-dimensional code for assisting the positioning of the unmanned aerial vehicle (UAV) is provided on the inductive switch door. When the UAV reaches the designated position at the top of the docking chamber, the inductive switch door can automatically open. The fixture of the UAV adopts the existing technology and can clamp or release the goods. The UAV can reach the designated position at the top of the docking chamber through the existing positioning technology. The robotic dog adopts the existing technology. The collection box on the top of the robotic dog is used to collect the goods falling from the blanking port. When the goods fall onto the placement board in the collection box, the sealing door can automatically close to ensure that the goods will not fall during transportation. When this solution is specifically implemented, taking the example of delivering medicine from the hospital to the patient's home, the UAV covers the distance from the airport to the community entrance (5 - 10 km). After the UAV carrying supplies reaches above the docking chamber, it is assisted in positioning through the two-dimensional code on the inductive switch door until the UAV stably docks at the designated position on the top of the docking chamber. At this time, the inductive switch door automatically opens, and the fixture on the UAV releases. The materials fall from the blanking port into the collection box of the robotic dog located inside the docking chamber. At this time, the placement board in the collection box is affected by the gravity of the goods, and the placement board moves downward. After the placement board moves downward, it drives the sealing door to close the collection box through the transmission component. This closing mechanism can not only prevent the goods from falling due to jolting or external factors during transportation, but also protect the goods from the external environment, ensuring the integrity and safety of medicines or other supplies. After that, the robotic dog carries the supplies to complete the journey within the community, climbs the stairs or takes the elevator, and knocks on the door to deliver them to the door. In addition, to further improve the intelligent level and reliability of the system, the present invention also introduces the following technical points: High-precision positioning technology of the UAV: The UAV adopts an advanced satellite positioning system (such as GPS, Beidou Navigation System) combined with visual recognition technology to ensure that it can accurately dock at the designated position on the top of the docking chamber in a complex environment. At the same time, the fixture design of the UAV adopts intelligent sensors, which can real-time monitor the state of the goods to ensure the stability and safety of clamping. Intelligent control of the inductive switch door: The inductive switch door not only has the function of two-dimensional code-assisted positioning, but also is equipped with infrared sensors or ultrasonic sensors, which can real-time monitor the docking state of the UAV. When the UAV enters the designated position, the sensor automatically triggers the switch door mechanism to achieve seamless docking and improve the handover efficiency. Autonomous navigation and obstacle avoidance technology of the robotic dog: The robotic dog is equipped with a lidar (LiDAR) and visual sensors, which can autonomously plan paths within the community and avoid obstacles and pedestrians in real-time. In addition, the robotic dog also has an intelligent elevator interaction function, which can be docked with the elevator control system through a wireless communication module to achieve autonomous elevator riding, further improving the flexibility and efficiency of distribution. Goods status monitoring and feedback system: During the goods handover process, the placement board inside the collection box is equipped with pressure sensors and weight sensors, which can real-time monitor the weight and placement state of the goods.Once the goods successfully fall into the collection box, the sensor will feed back the information to the base station control system to ensure the reliability of the handover process. At the same time, the closing action of the sealed door will also be confirmed by the sensor to ensure the safety of the goods during transportation. The terminal interaction function of the mechanical dog: After the mechanical dog arrives at the patient's door, it can not only notify the patient by knocking on the door or making a prompt sound, but also display relevant information (such as order number, delivery items, etc.) through the display screen on its back, further enhancing the user experience. In addition, the mechanical dog can also be equipped with an intelligent voice interaction module to conduct simple voice communication with the patient to confirm the receipt status. Through this innovative base station design and intelligent handover process, the present invention realizes efficient material handover between drones and mechanical dogs, solves the problem of last-mile distribution, and improves the efficiency and reliability of logistics distribution.

[0008] Preferably, a mounting groove is provided on the side wall of the collection box, the mounting groove is vertically arranged, and a first rotating shaft is rotatably connected at the top of the mounting groove; the transmission assembly includes a gear, a rack and a driving assembly, the gear is fixedly sleeved on the first rotating shaft, the rack is arranged at the bottom of the sealing door, the gear and the rack are meshed with each other, and the driving assembly connects the transmission shaft and the placement plate, and when the placement plate moves upward or downward, the first rotating shaft can be driven to rotate forward or reverse through the driving assembly.

[0009] In this technical solution, it should be noted that when the goods fall from the blanking port into the collection box and contact the placement plate, the placement plate moves downward under the action of the gravity of the goods. At this time, the downward movement of the placement plate is transmitted to the first rotating shaft through the driving component. The driving component is used to convert the vertical movement of the placement plate into the rotational movement of the first rotating shaft. As the placement plate moves downward, the driving component drives the first rotating shaft to rotate clockwise. The clockwise rotation of the first rotating shaft further drives the gear thereon to rotate. Since the gear meshes with the rack, the rotation of the gear drives the rack to move horizontally. The moving direction of the rack is perpendicular to the rotation direction of the gear, thereby driving the sealing door to close the collection box. When the robotic dog carries the collection box to the delivery location, the receiver (such as the consignee or the staff at the express receiving point) needs to open the sealing door to take out the goods. During the process of opening the sealing door, the rack will undergo a horizontal displacement as the sealing door moves. Since the rack meshes with the gear, the movement of the rack drives the gear to rotate counterclockwise (assuming it rotates clockwise when closing). The rotation of the gear is transmitted to the first rotating shaft through the driving component, thereby driving the connected placement plate to move upward. This upward movement of the placement plate has important design significance. As the placement plate rises, the goods are lifted to a higher position, thus significantly reducing the degree of bending or squatting of the receiver, making it more convenient and labor-saving to take the goods. This design not only improves the operation comfort of the receiver but also reduces the risk of physical fatigue and injury caused by frequent bending or squatting, especially suitable for scenarios where goods are frequently received, such as express stations or medical supply distribution points. By converting the vertical movement of the placement plate into the rotational movement of the first rotating shaft through the driving component and further driving the sealing door to close through the meshing of the gear and the rack, the entire process requires no manual intervention, realizing the automated operation of goods reception and sealing, greatly improving the efficiency and reliability of logistics distribution. Further, the present invention also provides a sealing strip at the edge of the sealing door to enhance the sealing performance of the collection box. The sealing strip can be made of flexible materials (such as rubber or silica gel), which can closely fit the opening edge of the collection box when the sealing door is closed, preventing external dust, rainwater or other pollutants from entering the interior of the collection box, thereby protecting the integrity of the goods.

[0010] Preferably, the driving component includes a second rotating shaft, a conveyor belt and a connecting plate. The second rotating shaft is rotatably connected in the installation groove, and the second rotating shaft is located below the first rotating shaft. Both ends of the conveyor belt are sleeved on two transmission shafts. One end of the connecting plate is connected to the conveyor belt, and the other end is connected to the placement plate.

[0011] In this technical solution, it should be noted that the driving component specifically includes a second rotating shaft, a conveyor belt, and a connecting plate. When the goods fall from the blanking port into the collection box and contact the placement plate, the placement plate moves downward under the action of the gravity of the goods. At this time, the downward movement of the placement plate is transmitted to the conveyor belt through the connecting plate. Since the connecting plate is fixedly connected to the conveyor belt, the vertical downward movement of the placement plate will cause the conveyor belt to move correspondingly on the second rotating shaft. The movement of the conveyor belt further drives the first rotating shaft to rotate clockwise. The clockwise rotation of the first rotating shaft is achieved through the tension and friction of the conveyor belt. When the conveyor belt moves on the second rotating shaft, due to the friction between the conveyor belt and the first rotating shaft, the first rotating shaft will be driven to rotate. As the first rotating shaft rotates clockwise, the gear on it also rotates accordingly. Since the gear meshes with the rack, the rotation of the gear will drive the rack to move horizontally. The moving direction of the rack is perpendicular to the rotation direction of the gear, thereby driving the sealing door to move horizontally and finally closing the collection box. Through this unique design of the driving component, the present invention realizes the efficient conversion between the vertical movement of the placement plate and the rotational movement of the first rotating shaft, and converts the rotational movement into the horizontal movement of the sealing door through the meshing of the gear and the rack. The introduction of the conveyor belt and the connecting plate not only simplifies the transmission structure but also improves the reliability and stability of the system.

[0012] Preferably, the gear is a semi-gear. When the sealing door is fully opened, the tooth block of the semi-gear does not contact the rack at the bottom of the sealing door. During the process of the goods falling into the collection box and driving the placement plate to move downward, when the top of the goods is completely lower than the bottom of the sealing door, the tooth block of the semi-gear contacts the rack and drives the sealing door to close.

[0013] In this technical solution, it should be noted that to ensure that the goods are not damaged during the transfer from the drone to the collection box, in the initial state, the distance between the placement plate and the goods on the drone fixture is strictly controlled to avoid the goods being damaged due to excessive drop. However, due to the certain height of the goods themselves, when the goods fall onto the placement plate, the placement plate will move downward under the action of gravity, and then drive the sealing door to gradually close through the driving component. In this case, if the closing action of the sealing door is started too early, it may come into contact with the goods before the goods have completely dropped below the sealing door, resulting in movement interference and even damage to the goods. To solve this potential problem, the gear in this solution is ingeniously designed as a semi-gear structure. A semi-gear is a special gear that only has tooth blocks on a part of its circumferential direction, while the other part has no tooth blocks. This design makes it so that during the rotation of the semi-gear, only when the tooth block part comes into contact with the rack will it drive the rack to move. The specific working process is as follows: In the initial state, the sealing door is in the fully open position, and the semi-gear is in a specific initial position where its toothless part faces the rack. At this time, even if the semi-gear rotates due to slight vibration or small displacement of the placement plate, since there is no meshing relationship between the toothless part and the rack, the rack will not be driven to move, and the sealing door remains stationary. When the drone releases the goods onto the placement plate, the placement plate starts to move downward under the action of the gravity of the goods. The downward movement of the placement plate is transmitted to the semi-gear through the driving component (such as a conveyor belt, connecting rod, or other transmission mechanisms), causing it to start rotating. As the semi-gear rotates, its tooth block part gradually approaches the rack. After the top of the goods is completely lower than the bottom of the sealing door, the tooth block part of the semi-gear just rotates to the position where it comes into contact with the rack. At this time, the tooth block of the semi-gear meshes with the rack, driving the rack to move horizontally. Under the meshing action of the semi-gear and the rack, the rack drives the sealing door to move horizontally, gradually closing the collection box. The closing action of the sealing door starts only after the goods are completely in place, thus avoiding the problem of movement interference. The edge of the sealing door is closely attached to the opening of the collection box through a flexible sealing strip, ensuring good sealing performance. When the robotic dog reaches the delivery position, the picker opens the sealing door to take out the goods. During the process of opening the sealing door, the rack will move in the reverse direction as the sealing door moves, and then drive the semi-gear to rotate in the reverse direction. Finally, the semi-gear returns to the initial position, and the toothless part faces the rack again, preparing for the next goods reception. By adopting the semi-gear structure, this solution not only effectively avoids movement interference between the goods and the sealing door but also ensures the smoothness and reliability of the entire closing and opening process. This innovative design protects the integrity of the goods while also improving the operating efficiency and safety of the entire system, providing an efficient and reliable solution for the logistics distribution system with the linkage of drones and robotic dogs.

[0014] Preferably, a battery compartment is provided through the fuselage of the drone, and a battery replacement device is provided at the top of the docking chamber; The battery replacement device includes a storage box located on one side of the drone. A tray is slidably embedded in the storage box. The bottom of the tray is connected to the storage box by a second spring. A number of batteries are stacked on the tray. First openings and second openings through which a single battery can pass are respectively provided through both sides of the storage box. The first opening and the second opening are aligned with the battery compartment, and the first opening is close to the battery compartment. An electric push rod is provided on the side of the storage box away from the drone, and a push plate is provided at the output end of the electric push rod. The push plate faces the second opening.

[0015] In this technical solution, it should be noted that in the further optimized design of the present invention, in order to solve the problem of insufficient battery power that may occur during the docking process of the drone, an efficient automatic drone battery replacement device is specifically designed. This device is integrated at the top of the docking chamber and perfectly cooperates with the battery compartment of the drone to achieve rapid battery replacement, significantly improving the usage efficiency and endurance of the drone. Specifically, the battery replacement device at the top of the docking chamber includes a storage box located on one side of the drone, and a tray is embedded in it through a slide rail. The bottom of the tray is connected to the storage box by a second spring and can move up and down. A number of spare batteries are stacked on the tray, and these batteries are arranged in order to ensure sufficient power supply during each replacement. First openings and second openings are respectively provided through both sides of the storage box. The sizes of these two openings match the size of a single battery, and their positions are aligned with the inlet and outlet of the drone's battery compartment. The first opening is close to the drone's battery compartment and is used to push the spare battery into the battery compartment; the second opening is for the push plate of the electric push rod to enter and push the spare battery to move. An electric push rod is provided on the side of the storage box away from the drone, and its output end is connected to a push plate that faces the second opening. When the drone reaches the designated position at the top of the docking chamber and detects that the battery power is too low, the battery replacement device will be activated. The push plate of the electric push rod enters the interior of the storage box from the second opening, pushes the spare battery stacked at the top of the tray out of the first opening, and accurately enters the battery compartment of the drone. At the same time, the old battery in the drone's battery compartment is pushed out by the new battery from the other side and falls to the designated recycling position at the top of the docking chamber, rather than entering the storage box. After the battery replacement is completed, the electric push rod resets, and the tray moves upward under the elastic force of the second spring, pushing the next spare battery to the top position of the storage box. At this time, the spare battery is ready and waiting for the next battery replacement operation. This automated battery replacement mechanism not only improves the endurance of the drone but also reduces manual intervention and enhances the intelligent level of the entire system.

[0016] Preferably, a box body is provided on one side of the drone. The box body is located below the battery compartment. A sealing plate is slidably embedded in the box body. The bottom of the sealing plate is connected to the box body through a third spring. The top of the sealing plate extends upward outside the box body and closes one side of the battery compartment. One end of the sealing plate facing the storage box is provided with a first inclined surface, and the first inclined surface is inclined downward along the direction close to the storage box. A baffle is hinged to the drone on the side away from the storage box through a hinge shaft. A torsion spring is connected between the baffle and the hinge shaft. The baffle closes the battery compartment In this technical solution, it should be noted that in the further optimized design of the present invention, in order to ensure good sealing of the drone battery compartment in the non-replacement state and at the same time enable rapid battery replacement, a structure of a sealing plate and a baffle is specifically designed. This design can not only effectively protect the battery in the battery compartment from the external environment, but also achieve automatic opening and closing during the battery replacement process, improving the reliability and operation convenience of the system. Specifically, a box body is provided on one side of the drone, and the box body is located below the battery compartment. A sealing plate is slidably embedded in the box body, and the bottom of the sealing plate is connected to the box body through a third spring. The top of the sealing plate extends upward outside the box body and closes one side of the battery compartment, thus forming a sealed environment. One end of the sealing plate facing the storage box is provided with a first inclined surface, which slopes downward along the direction close to the storage box from top to bottom. This inclined surface design is one of the key innovations of this solution. At the same time, a baffle is hinged on the side of the drone away from the storage box through a hinge shaft, and a coil spring is connected between the baffle and the hinge shaft. The baffle can automatically reset under the action of the coil spring and close the other side of the battery compartment. This design ensures that the battery compartment remains sealed in the non-replacement state, preventing dust, moisture or other pollutants from entering the interior of the battery compartment. During the battery replacement process, when the electric push rod pushes the new battery into the battery compartment from the first opening of the storage box, the new battery will first contact the first inclined surface on the sealing plate. Due to the special design of the first inclined surface, the thrust of the new battery in the horizontal direction will be decomposed into a vertically downward pressure. This pressure acts on the sealing plate, causing it to automatically move downward under the action of the third spring. The downward movement of the sealing plate not only provides space for the entry of the new battery, but also avoids the sealing plate from hindering the advancement of the new battery. At the same time, the old battery in the battery compartment will be pushed out from the other side of the battery compartment under the push of the new battery. The old battery will contact the baffle during the pushing process. Since the baffle is connected through a coil spring and a hinge shaft, it will automatically open when subjected to an external force. This design ensures that the old battery can be smoothly pushed out without being hindered by the baffle. When the external force disappears, the coil spring will automatically reset the baffle to re-close the battery compartment. The design of this sealing plate and baffle not only realizes the sealing function of the battery compartment, but also achieves automatic opening and closing during the battery replacement process through a clever mechanical structure. The design of the first inclined surface enables the sealing plate to automatically give way when the new battery enters, while the combination of the coil spring and the hinge shaft ensures that the baffle can automatically open and reset when the old battery is pushed out. This design not only improves the efficiency of battery replacement, but also reduces the possibility of mechanical failures, providing a reliable guarantee for the efficient operation of the drone. Through this innovative sealing and automatic opening mechanism, this solution realizes rapid battery replacement while ensuring the sealing of the battery compartment, significantly improving the usage efficiency and endurance of the drone. This design is particularly suitable for drone application scenarios that require frequent battery replacement, providing important technical support for the automated operation of drones.

[0017] Preferably, a first guide rail is further provided on the top of the docking chamber. The first guide rail is parallel to the drone. A first electric sliding seat slidably engaged with the first guide rail is provided on the first guide rail. The top of the first electric sliding seat is fixedly connected with a second guide rail. The second guide rail is perpendicular to the first guide rail. A second electric sliding seat slidably engaged with the second guide rail is slidably connected to the second guide rail. The storage box is arranged on the second electric sliding seat.

[0018] In this technical solution, it should be noted that to solve the problem that the storage box may interfere with the drone during landing and to ensure the precise alignment of the storage box and the battery compartment during the battery replacement process, a movable storage box structure is specially designed. This structure realizes the flexible movement of the storage box through the combination of an electric slide and a guide rail, significantly improving the reliability and operational convenience of the system. Specifically, a first guide rail is provided at the top of the docking chamber, and the first guide rail is parallel to the parking direction of the drone. A first electric slide that is slidably engaged with the first guide rail is provided on the first guide rail. The top of the first electric slide is fixedly connected to a second guide rail, and the second guide rail is perpendicular to the first guide rail. A second electric slide is slidably connected to the second guide rail, and the storage box is installed on the second electric slide. This design enables the storage box to move in two directions: Movement along the first guide rail direction: The first electric slide moves on the first guide rail, driving the entire storage box to move along the direction parallel to the drone. Movement along the second guide rail direction: The second electric slide moves on the second guide rail, enabling the storage box to make fine adjustments in the direction perpendicular to the drone. Through this design of double guide rails and double electric slides, the position of the storage box can be precisely controlled. During the battery replacement process, by adjusting the positions of the first electric slide and the second electric slide, it can be ensured that the second opening of the storage box is precisely aligned with the inlet of the drone battery compartment. This alignment mechanism not only improves the reliability of battery replacement but also reduces mechanical failures caused by position deviations. In addition, when the drone lands, the storage box can be moved to a farther position through the first electric slide, avoiding interference with the landing of the drone. This design ensures that the drone will not be hindered by the storage box during landing, improving the overall safety of the system. Through the design of double guide rails and double electric slides, the position of the storage box can be precisely adjusted to ensure the precise alignment of the second opening with the inlet of the drone battery compartment. This design significantly improves the reliability and efficiency of battery replacement. When the drone lands, the storage box can be moved to a farther position, avoiding interference with the landing of the drone. This design improves the overall safety of the system and ensures the smooth operation of the drone during landing. The use of electric slides makes the movement of the storage box completely automated, reducing manual intervention. This design not only improves the operational convenience but also improves the overall efficiency of the system. By adjusting the position of the electric slide, the storage box can adapt to different models of drones and battery compartment designs, improving the versatility and adaptability of the system. Through this innovative storage box movement mechanism, the present invention not only solves the interference problem during drone landing but also improves the reliability of battery replacement through a precise alignment mechanism. This design provides important technical support for the automated battery replacement of drones, significantly improving the usage efficiency and endurance of drones. Additionally, to improve the accuracy of the alignment between the second opening and the drone battery compartment, a comprehensive solution combining sensor technology and a mechanical guiding mechanism can be adopted.The following is the specific implementation method: High-precision positioning sensors are respectively installed on the storage box and the drone battery compartment to monitor the relative position between the two in real time. These sensors can be photoelectric sensors, laser sensors or vision sensors (such as cameras). Based on the position information obtained by the sensors, the controller can precisely adjust the positions of the first electric slide and the second electric slide to ensure the alignment of the second opening with the battery compartment.

[0019] Preferably, a recycling box is further provided at the top of the docking chamber. The recycling box is located on the side of the drone away from the storage box, and the recycling box can be driven by a moving component to move on the top of the docking chamber.

[0020] In this technical solution, it should be noted that to improve the stability and safety of the drone battery replacement process and simultaneously achieve the effective recycling of old batteries, a recycling box is particularly provided at the top of the docking chamber. The recycling box is located on the side of the drone away from the storage box and is driven by a moving component to be able to move on the top of the docking chamber. This design not only provides a dedicated recycling area for old batteries but also plays an important auxiliary role during the battery replacement process. The moving method of the recycling box is the same as that of the storage box, adopting rail-type movement. When replacing the drone battery, after the old battery is pushed out of the battery compartment, it will directly fall into the recycling box. The presence of the recycling box ensures that old batteries can be centrally managed and recycled, avoiding the random scattering of old batteries on the top of the docking chamber, and improving the safety and convenience of the operation. This centralized recycling method facilitates the subsequent unified charging, detection or processing of old batteries, further optimizing the battery management process. During the battery replacement process, after the recycling box moves to the other side of the drone, it can hold against the other side of the drone. Since the drone may have a slight displacement due to external forces (such as the pushing force of the new battery) during the battery replacement process, the holding function of the recycling box can effectively prevent the movement of the drone, ensuring the stability of the battery replacement process. This design physically restricts the shaking of the drone, improving the reliability of battery replacement, especially in automated scenarios without human operation, which is particularly important.

[0021] Preferably, an electric switch door is provided on one side of the docking chamber.

[0022] In this technical solution, it should be noted that when the robotic dog goes out, the electric switch door will automatically open.

[0023] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. Realize efficient linkage between drones and robot dogs to solve the problem of last-mile delivery. Through the combination of drones and robot dogs, seamless connection from long-distance transportation to precise delivery within the community is achieved. The drone is responsible for covering the distance from the airport to the entrance of the community (5-10 kilometers), while the robot dog is responsible for short-distance delivery within the community, including climbing stairs or taking elevators. This linkage method significantly improves the efficiency and flexibility of logistics distribution, especially for scenarios such as medical supplies that have high requirements for timeliness and safety.

[0024] 2. Through the design of the semi-gear structure and transmission components, a smooth handover of the cargo from the drone to the robot dog is achieved. The special design of the semi-gear avoids the motion interference between the cargo and the sealing door, ensuring the integrity and safety of the cargo during transportation. At the same time, the automatic closing mechanism of the sealing door can effectively prevent the cargo from falling due to bumps or external factors during transportation.

[0025] 3. The use of rail-type mobile storage and recycling box design, combined with the precise control of the electric slide, can significantly improve the efficiency and reliability of the battery replacement process. The position of the storage and recycling boxes can be flexibly adjusted according to the specific position of the drone to ensure accurate alignment of battery replacement, reduce mechanical failures caused by position deviation, and achieve fast and stable battery replacement.

[0026] 4. The recycling box can hold the other side of the drone during the battery replacement process to prevent the drone from being slightly displaced by external forces (such as the propulsion of the new battery). This design physically limits the shaking of the drone and improves the reliability of battery replacement, which is particularly important in unmanned automation scenarios.

[0027] 5. Through the unique design of the drive assembly (including the second rotating shaft, conveyor belt and connecting plate), efficient conversion between the vertical movement of the placement plate and the rotational movement of the first rotating shaft is achieved. The introduction of the conveyor belt and connecting plate not only simplifies the transmission structure, but also improves the reliability and stability of the system. This design reduces the number of mechanical parts, reduces the failure rate, and improves the overall efficiency of the system.

[0028] 6. Through the design of the transmission component, when the sealed door is opened, the placement plate can automatically rise and lift the goods to a higher position, significantly reducing the degree to which the recipient has to bend or squat, making the collection of goods more convenient and labor-saving. This design not only improves the operating comfort of the recipient, but also reduces the risk of physical fatigue and injury caused by frequent bending or squatting. It is especially suitable for scenes where goods are frequently collected, such as express delivery stations or medical supplies distribution points. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will now be described by way of example with reference to the accompanying drawings, in which: Figure 1 Schematic three-dimensional structure diagram of the present invention; Figure 2 Schematic three-dimensional structure diagram after the docking chamber of the present invention is opened; Figure 3 Schematic three-dimensional structure diagram of the mechanical dog of the present invention; Figure 4 Schematic cutaway three-dimensional structure diagram of the collection box of the present invention; Figure 5 Schematic three-dimensional structure diagram of the drone and the storage box of the present invention; Figure 6 Schematic cutaway three-dimensional structure diagram of the fuselage of the drone of the present invention; Figure 7 Schematic three-dimensional structure diagram of the storage box of the present invention; Figure 8 Schematic cutaway three-dimensional structure diagram of the present invention.

[0030] Wherein: 1 - docking chamber, 2 - electric switch door, 3 - drone, 4 - blanking port, 5 - mechanical dog, 6 - collection box, 7 - placement plate, 8 - connecting plate, 9 - first spring, 10 - first rotating shaft, 11 - second rotating shaft, 12 - conveyor belt, 13 - gear, 14 - sealing door, 15 - rack, 16 - fixture, 17 - storage box, 18 - fuselage, 19 - battery compartment, 20 - sealing plate, 21 - first inclined surface, 22 - box body, 23 - second spring, 24 - electric push rod, 25 - first guide rail, 26 - first electric sliding seat, 27 - second guide rail, 28 - second electric sliding seat, 29 - battery, 30 - push plate, 31 - first opening, 32 - second opening, 33 - support plate, 34 - third spring, 35 - baffle, 36 - recycling box. Specific embodiments

[0031] To make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Usually, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents the selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0033] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0034] It should be noted that like reference numerals and letters denote like items in the following figures, and thus, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0035] In the present invention, unless otherwise clearly defined and limited, the first feature being “on” or “under” the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being “above”, “over” and “on top of” the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being “under”, “below” and “beneath” the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0036] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0037] Embodiment 1 As Figures 1-8 shown, a base station for docking a drone 3 and a robotic dog 5 is disclosed in an embodiment of the present invention, including: A docking chamber 1, a blanking port 4 is provided through the top of the docking chamber 1; A drone 3, the drone 3 is located on the top of the docking chamber 1, a clamp 16 for clamping goods is provided at the bottom of the drone 3, and the clamp 16 is located above the blanking port 4; A robotic dog 5, the robotic dog 5 is located in the docking chamber 1, a collection box 6 is provided on the back of the robotic dog 5, the collection box 6 is located below the blanking port 4, a sealing door 14 slidably embedded in the side wall top of the collection box 6 is slidably connected thereto, a placement plate 7 is slidably embedded in the interior of the collection box 6, and the placement plate 7 is connected to the collection box 6 through a first spring 9; A transmission assembly, the transmission assembly is provided on the collection box 6, the transmission assembly drives the sealing door 14 and the placement plate 7 to be connected. When the placement plate 7 moves downward, the sealing door 14 can be driven through the transmission assembly to close the collection box 6. When the placement plate 7 moves upward, the sealing door 14 can be driven through the transmission assembly to open the collection box 6.

[0038] It should be noted that an inductive switch door can be set at the discharge port 4 of the docking room 1, and a QR code for auxiliary positioning of the drone 3 is provided on the inductive switch door. When the drone 3 reaches the designated position on the top of the docking room 1, the inductive switches can be automatically opened, and the clamp 16 of the drone 3 adopts the existing technology, which can clamp or release the goods. The drone 3 can reach the designated position on the top of the docking room 1 through the existing positioning technology; the mechanical dog 5 adopts the existing technology, and the collection box 6 on the top of the mechanical dog 5 is used to collect the goods dropped from the discharge port 4. When the goods fall onto the placement plate 7 in the collection box 6, the sealing door 14 can be automatically closed to ensure that the goods will not fall during transportation; when this plan is implemented specifically, taking the delivery of medicines from the hospital to the patient's home as an example, the drone 3 covers the machine The distance from the field to the entrance of the community (5-10km), after the drone 3 arrives above the docking room 1 with the materials, it uses the QR code on the inductive switch door to assist in positioning until the drone 3 is safely docked at the designated position on the top of the docking room 1. At this time, the inductive switch door automatically opens, and the clamp 16 on the drone 3 is released, and the materials fall from the unloading port 4 into the collection box 6 of the mechanical dog 5 located inside the docking room 1. At this time, the placement plate 7 in the collection box 6 is affected by the gravity of the goods, and the placement plate 7 moves downward. After the placement plate 7 moves downward, the sealing door 14 is driven by the transmission component to close the collection box 6. This closing mechanism can not only prevent the goods from falling due to bumps or external factors during transportation, but also protect the goods from the influence of the external environment, ensuring the integrity and safety of medicines or other materials. After that, the mechanical dog 5 completes the journey in the community + climbs the stairs or takes the elevator, knocks on the door and delivers it to the door. In addition, in order to further improve the intelligence level and reliability of the system, the present invention also introduces the following technical points: High-precision positioning technology of UAV 3: UAV 3 adopts advanced satellite positioning system (such as GPS, Beidou navigation system) combined with visual recognition technology to ensure that it can accurately dock at the designated position on the top of the docking room 1 in a complex environment. At the same time, the clamp 16 of UAV 3 is designed with intelligent sensors, which can monitor the status of the goods in real time to ensure the stability and safety of the clamping. Intelligent control of inductive switch door: The inductive switch door not only has the function of QR code auxiliary positioning, but also is equipped with infrared sensors or ultrasonic sensors, which can monitor the docking status of UAV 3 in real time. When UAV 3 enters the designated position, the sensor automatically triggers the switch door mechanism to achieve seamless docking and improve the handover efficiency. Autonomous navigation and obstacle avoidance technology of mechanical dog 5: Mechanical dog 5 is equipped with laser radar (LiDAR) and visual sensors, which can autonomously plan paths in the community and avoid obstacles and pedestrians in real time. In addition, mechanical dog 5 also has intelligent elevator interaction function, which can dock with the elevator control system through the wireless communication module to realize autonomous elevator riding, further improving the flexibility and efficiency of distribution.Goods Status Monitoring and Feedback System: During the goods handover process, the placement board 7 inside the collection box 6 is equipped with pressure sensors and weight sensors, which can monitor the weight and placement status of the goods in real time. Once the goods successfully fall into the collection box 6, the sensors will feedback the information to the base station control system to ensure the reliability of the handover process. At the same time, the closing action of the sealing door 14 will also be confirmed through the sensors to ensure the safety of the goods during transportation. End Interaction Function of the Mechanical Dog 5: After the mechanical dog 5 arrives at the patient's doorstep, it can not only notify the patient by knocking on the door or emitting a prompt sound, but also display relevant information (such as order number, delivered items, etc.) through the display screen on its back to further enhance the user experience. In addition, the mechanical dog 5 can also be equipped with an intelligent voice interaction module to have a simple voice conversation with the patient to confirm the receipt status. Through this innovative base station design and intelligent handover process, the present invention realizes the efficient material handover between the drone 3 and the mechanical dog 5, solves the last-mile delivery problem, and improves the efficiency and reliability of logistics distribution.

[0039] Such as Figure 4As shown, in this embodiment, an installation groove is provided on the side wall of the collection box 6. The installation groove is vertically arranged, and a first rotating shaft 10 is rotatably connected at the top of the installation groove; the transmission assembly includes a gear 13, a rack 15 and a driving assembly. The gear 13 is fixedly sleeved on the first rotating shaft 10. The rack 15 is arranged at the bottom of the sealing door 14. The gear 13 and the rack 15 are meshed with each other. The driving assembly drives the transmission shaft and the placing plate 7 to be connected. When the placing plate 7 moves up or down, the first rotating shaft 10 can be driven to rotate forward or backward by the driving assembly. It should be noted that when the goods fall from the feeding port 4 into the collection box 6 and contact the placing plate 7, the placing plate 7 moves downward under the action of the gravity of the goods. At this time, the downward movement of the placing plate 7 is transmitted to the first rotating shaft 10 through the driving assembly. The driving assembly is used to convert the vertical movement of the placing plate 7 into the rotational movement of the first rotating shaft 10. As the placing plate 7 moves downward, the driving assembly drives the first rotating shaft 10 to rotate clockwise. The clockwise rotation of the first rotating shaft 10 further drives the gear 13 thereon to rotate. Since the gear 13 and the rack 15 are meshed with each other, the rotation of the gear 13 will drive the rack 15 to move in the horizontal direction. The moving direction of the rack 15 is perpendicular to the rotation direction of the gear 13, thereby driving the sealing door 14 to close the collection box 6. When the mechanical dog 5 carries the collection box 6 to the delivery location, the receiver (such as the consignee or the staff at the express receiving point) needs to open the sealing door 14 to take out the goods. During the process of opening the sealing door 14, the rack 15 will undergo a horizontal displacement as the sealing door 14 moves. Since the rack 15 and the gear 13 are meshed with each other, the movement of the rack 15 will drive the gear 13 to rotate counterclockwise (assuming it rotates clockwise when closed). The rotation of the gear 13 is transmitted to the first rotating shaft 10 through the driving assembly, thereby driving the connected placing plate 7 to move upward. This upward movement of the placing plate 7 has important design significance. As the placing plate 7 rises, the goods are lifted to a higher position, thus significantly reducing the degree of bending or squatting of the receiver, making it more convenient and labor-saving to take the goods. This design not only improves the operating comfort of the receiver but also reduces the risk of physical fatigue and injury caused by frequent bending or squatting, especially suitable for scenarios where goods are frequently received, such as express stations or medical supply distribution points. By converting the vertical movement of the placing plate 7 into the rotational movement of the first rotating shaft 10 through the driving assembly and further driving the sealing door 14 to close through the meshing of the gear 13 and the rack 15, the whole process does not require manual intervention, realizing the automatic operation of goods receiving and sealing, greatly improving the efficiency and reliability of logistics distribution. Further, the present invention also provides a sealing strip at the edge of the sealing door 14 to enhance the sealing performance of the collection box 6.The sealing strip can be made of flexible materials (such as rubber or silicone), and can closely fit with the opening edge of the collection box 6 when the sealing door 14 is closed, preventing external dust, rainwater or other pollutants from entering the interior of the collection box 6, thereby protecting the integrity of the goods.

[0040] As Figure 4 Shown in the figure, in this embodiment, the driving assembly includes a second rotating shaft 11, a conveyor belt 12 and a connecting plate 8. The second rotating shaft 11 is rotatably connected in the installation groove, and the second rotating shaft 11 is located below the first rotating shaft 10. Both ends of the conveyor belt 12 are sleeved on two drive shafts. One end of the connecting plate 8 is connected to the conveyor belt 12, and the other end is connected to the placement plate 7. It should be noted that the driving assembly specifically includes the second rotating shaft 11, the conveyor belt 12 and the connecting plate 8. When the goods fall from the feeding port 4 into the collection box 6 and contact the placement plate 7, the placement plate 7 moves downward under the action of the gravity of the goods. At this time, the downward movement of the placement plate 7 is transmitted to the conveyor belt 12 through the connecting plate 8. Since the connecting plate 8 is fixedly connected to the conveyor belt 12, the vertical downward movement of the placement plate 7 will cause the conveyor belt 12 to move correspondingly on the second rotating shaft 11. The movement of the conveyor belt 12 further drives the first rotating shaft 10 to rotate clockwise. The clockwise rotation of the first rotating shaft 10 is achieved through the tension and friction of the conveyor belt 12. When the conveyor belt 12 moves on the second rotating shaft 11, due to the friction between the conveyor belt 12 and the first rotating shaft 10, the first rotating shaft 10 will be driven to rotate. As the first rotating shaft 10 rotates clockwise, the gear 13 on it also rotates accordingly. Since the gear 13 meshes with the rack 15, the rotation of the gear 13 will drive the rack 15 to move horizontally. The moving direction of the rack 15 is perpendicular to the rotation direction of the gear 13, thereby driving the sealing door 14 to move horizontally, and finally closing the collection box 6. Through this unique design of the driving assembly, the present invention realizes the efficient conversion between the vertical movement of the placement plate 7 and the rotational movement of the first rotating shaft 10, and converts the rotational movement into the horizontal movement of the sealing door 14 through the meshing of the gear 13 and the rack 15. The introduction of the conveyor belt 12 and the connecting plate 8 not only simplifies the transmission structure, but also improves the reliability and stability of the system.

[0041] As Figure 4As shown, in this embodiment, the gear 13 is a semi-gear 13. When the sealing door 14 is fully opened, the tooth blocks of the semi-gear 13 do not contact the rack 15 at the bottom of the sealing door 14. During the process of the goods falling into the collection box 6 and driving the placement plate 7 to move downward, when the top of the goods is completely lower than the bottom of the sealing door 14, the tooth blocks of the semi-gear 13 contact the rack 15 and drive the sealing door 14 to close. It should be noted that to ensure that the goods are not damaged during the transfer from the drone 3 to the collection box 6, in the initial state, the distance between the placement plate 7 and the goods on the fixture 16 of the drone 3 is strictly controlled to avoid the goods being damaged due to excessive drop. However, due to the certain height of the goods themselves, when the goods fall onto the placement plate 7, the placement plate 7 will move downward due to the gravitational force, and then drive the sealing door 14 to gradually close through the driving component. In this case, if the closing action of the sealing door 14 is started too early, it may contact the goods before the goods have completely descended to a position below the sealing door 14, resulting in movement interference and even damage to the goods. To solve this potential problem, the gear 13 is ingeniously designed as a semi-gear 13 structure in this solution. The semi-gear 13 is a special gear 13, with only a part of its circumference having tooth blocks and the other part having no tooth blocks. This design enables the semi-gear 13 to drive the rack 15 to move only when the tooth block part contacts the rack 15 during rotation. The specific working process is as follows: In the initial state, the sealing door 14 is in the fully opened position, and the semi-gear 13 is in a specific initial position, with its toothless part facing the rack 15. At this time, even if the semi-gear 13 rotates due to slight vibration or small displacement of the placement plate 7, since there is no meshing relationship between the toothless part and the rack 15, the rack 15 will not be driven to move, and the sealing door 14 remains stationary. When the drone 3 releases the goods onto the placement plate 7, the placement plate 7 starts to move downward under the gravitational force of the goods. The downward movement of the placement plate 7 is transmitted to the semi-gear 13 through the driving component (such as the conveyor belt 12, connecting rod or other transmission mechanisms), causing it to start rotating. As the semi-gear 13 rotates, its tooth block part gradually approaches the rack 15. When the top of the goods is completely lower than the bottom of the sealing door 14, the tooth block part of the semi-gear 13 just rotates to the position where it contacts the rack 15. At this time, the tooth blocks of the semi-gear 13 start to mesh with the rack 15, driving the rack 15 to move horizontally. Under the meshing action of the semi-gear 13 and the rack 15, the rack 15 drives the sealing door 14 to move horizontally, gradually closing the collection box 6. The closing action of the sealing door 14 is started only after the goods are completely in place, thus avoiding the problem of movement interference. The edge of the sealing door 14 is closely attached to the opening of the collection box 6 through a flexible sealing strip, ensuring good sealing performance. When the mechanical dog 5 reaches the delivery position, the picker opens the sealing door 14 to take out the goods.During the process of opening the sealed door 14, the rack 15 will move in the opposite direction as the sealed door 14 moves, thereby driving the half-gear 13 to rotate in the opposite direction. Eventually, the half-gear 13 returns to its initial position, and the toothless part faces the rack 15 again, preparing for the next cargo reception. By adopting the half-gear 13 structure, this solution not only effectively avoids the movement interference between the cargo and the sealed door 14, but also ensures the smoothness and reliability of the entire closing and opening process. This innovative design protects the integrity of the cargo while also improving the operating efficiency and safety of the entire system, providing an efficient and reliable solution for the logistics distribution system with the linkage of the drone 3 and the robotic dog 5.

[0042] Embodiment 2 As Figures 5-8As shown, this embodiment is substantially the same as the above embodiment, except that a battery compartment 19 is provided through the fuselage 18 of the drone 3, and a battery 29 replacement device is provided at the top of the docking chamber 1; the battery 29 replacement device includes a storage box 17, the storage box 17 is located on one side of the drone 3, a pallet 33 is slidably embedded in the storage box 17, the bottom of the pallet 33 is connected to the storage box 17 through a second spring 23, several batteries 29 are stacked on the pallet 33, the two sides of the storage box 17 are respectively provided with a first opening 31 and a second opening 32 through which a single battery 29 can pass, the first opening 31 and the second opening 32 are aligned with the battery compartment 19, and the first opening 31 is close to the battery compartment 19, an electric push rod 24 is provided on the side of the storage box 17 away from the drone 3, and a push plate 30 is provided at the output end of the electric push rod 24, and the push plate 30 faces the second opening 32. It should be noted that in the further optimized design of the present invention, in order to solve the problem of insufficient battery 29 power that may occur during the docking process of the drone 3, a highly efficient automatic battery 29 replacement device for the drone 3 is specially designed. This device is integrated on the top of the docking chamber 1 and perfectly matches the battery compartment 19 of the drone 3, realizing the rapid replacement of the battery 29 and significantly improving the use efficiency and endurance of the drone 3. Specifically, the battery 29 replacement device on the top of the docking chamber 1 includes a storage box 17, the storage box 17 is located on one side of the drone 3, and a pallet 33 is embedded inside through a slide rail. The bottom of the pallet 33 is connected to the storage box 17 through a second spring 23, enabling up and down movement. Several spare batteries 29 are stacked on the pallet 33, and these batteries 29 are arranged in sequence to ensure sufficient power supply each time of replacement. The two sides of the storage box 17 are respectively provided with a first opening 31 and a second opening 32, the sizes of these two openings match the size of a single battery 29, and the positions are aligned with the inlet and outlet of the battery compartment 19 of the drone 3. The first opening 31 is close to the battery compartment 19 of the drone 3 and is used to push the spare battery 29 into the battery compartment 19; the second opening 32 is used for the push plate 30 of the electric push rod 24 to enter and push the spare battery 29 to move. On the side of the storage box 17 away from the drone 3, an electric push rod 24 is provided, and a push plate 30 is connected to its output end, and the push plate 30 faces the second opening 32. When the drone 3 reaches the designated position on the top of the docking chamber 1, if it is detected that the battery 29 power is too low, the battery 29 replacement device will be activated. The push plate 30 of the electric push rod 24 enters the interior of the storage box 17 from the second opening 32, pushing the spare battery 29 stacked on the top of the pallet 33 out from the first opening 31 and accurately entering the battery compartment 19 of the drone 3. At the same time, the old battery 29 in the battery compartment 19 of the drone 3 is pushed out by the new battery 29 from the other side and falls to the designated recycling position on the top of the docking chamber 1, rather than entering the storage box 17.After the replacement of the battery 29 is completed, the electric push rod 24 resets, and the support plate 33 moves upward under the elastic force of the second spring 23, pushing the next spare battery 29 to the topmost position of the storage box 17. At this time, the spare battery 29 is ready and waiting for the next battery 29 replacement operation. This automated battery 29 replacement mechanism not only improves the endurance of the drone 3 but also reduces manual intervention and enhances the intelligence level of the entire system.

[0043] As Figure 6As shown, in this embodiment, a box body 22 is provided on one side of the fuselage 18. The box body 22 is located below the battery compartment 19. A sealing plate 20 is slidably embedded in the box body 22. The bottom of the sealing plate 20 is connected to the box body 22 by a third spring 34. The top of the sealing plate 20 extends upward outside the box body 22 and closes one side of the battery compartment 19. One end of the sealing plate 20 facing the storage box 17 is provided with a first inclined surface 21, and the first inclined surface 21 is inclined downward along the direction close to the storage box 17. A baffle 35 is hinged to one side of the drone 3 away from the storage box 17 through a hinge shaft. A torsion spring is connected between the baffle 35 and the hinge shaft. The baffle 35 closes the battery compartment 19. It should be noted that in the further optimized design of the present invention, in order to ensure good sealing of the battery compartment 19 of the drone 3 in the non-replacement state and at the same time realize the rapid replacement of the battery 29, the structures of the sealing plate 20 and the baffle 35 are specially designed. This design can not only effectively protect the battery 29 in the battery compartment 19 from the influence of the external environment, but also realize automatic opening and closing during the replacement process of the battery 29, improving the reliability and operation convenience of the system. Specifically, a box body 22 is provided on one side of the drone 3, and the box body 22 is located below the battery compartment 19. A sealing plate 20 is slidably embedded in the box body 22, and the bottom of the sealing plate 20 is connected to the box body 22 by a third spring 34. The top of the sealing plate 20 extends upward outside the box body 22 and closes one side of the battery compartment 19, thus forming a sealed environment. One end of the sealing plate 20 facing the storage box 17 is provided with a first inclined surface 21, and this inclined surface is inclined downward along the direction close to the storage box 17. This inclined surface design is one of the key innovations of this solution. At the same time, a baffle 35 is hinged to one side of the drone 3 away from the storage box 17 through a hinge shaft, and a torsion spring is connected between the baffle 35 and the hinge shaft. The baffle 35 can automatically reset under the action of the torsion spring and close the other side of the battery compartment 19. This design ensures that the battery compartment 19 remains sealed in the non-replacement state, preventing dust, moisture or other contaminants from entering the interior of the battery compartment 19. During the replacement process of the battery 29, when the electric push rod 24 pushes the new battery 29 to enter the battery compartment 19 from the first opening 31 of the storage box 17, the new battery 29 will first contact the first inclined surface 21 on the sealing plate 20. Due to the special design of the first inclined surface 21, the horizontal thrust of the new battery 29 will be decomposed into a vertically downward pressure. This pressure acts on the sealing plate 20, causing it to automatically move downward under the action of the third spring 34. The downward movement of the sealing plate 20 not only provides space for the entry of the new battery 29, but also avoids the sealing plate 20 from hindering the advancement of the new battery 29. At the same time, the old battery 29 in the battery compartment 19 will be pushed out from the other side of the battery compartment 19 under the push of the new battery 29. The old battery 29 will contact the baffle 35 during the pushing process, and since the baffle 35 is connected to the hinge shaft through a torsion spring, it will automatically open when subjected to an external force.This design ensures that the old battery 29 can be smoothly ejected without being obstructed by the baffle 35. When the external force disappears, the coil spring automatically resets the baffle 35 to re-close the battery compartment 19. The design of this sealing plate 20 and baffle 35 not only realizes the sealing function of the battery compartment 19, but also achieves the automatic opening and closing during the battery 29 replacement process through a clever mechanical structure. The design of the first inclined surface 21 enables the sealing plate 20 to automatically give way when the new battery 29 enters, while the combination of the coil spring and the hinge shaft ensures that the baffle 35 can automatically open and reset when the old battery 29 is ejected. This design not only improves the efficiency of battery 29 replacement, but also reduces the possibility of mechanical failures, providing a reliable guarantee for the efficient operation of the drone 3. Through this innovative sealing and automatic opening mechanism, this solution ensures the sealing of the battery compartment 19 while achieving the rapid replacement of the battery 29, significantly improving the usage efficiency and endurance of the drone 3. This design is particularly suitable for the application scenarios of drones 3 that require frequent battery 29 replacement, providing important technical support for the automated operation of drones 3.

[0044] Such as Figure 7As shown in the figure, in this embodiment, a first guide rail 25 is further provided at the top of the docking chamber 1. The first guide rail 25 is parallel to the drone 3. A first electric sliding seat 26 that is slidably engaged with the first guide rail 25 is provided on the first guide rail 25. A second guide rail 27 is fixedly connected to the top of the first electric sliding seat 26. The second guide rail 27 is perpendicular to the first guide rail 25. A second electric sliding seat 28 that is slidably engaged with the second guide rail 27 is slidably connected to the second guide rail 27. The storage box 17 is provided on the second electric sliding seat 28. It should be noted that in order to solve the problem that the storage box 17 may interfere with the drone 3 when the drone 3 lands, and to ensure the precise alignment of the storage box 17 and the battery compartment 19 during the battery 29 replacement process, a movable storage box 17 structure is specifically designed. This structure realizes the flexible movement of the storage box 17 through the combination of the electric sliding seat and the guide rail, significantly improving the reliability and operation convenience of the system. Specifically, a first guide rail 25 is provided at the top of the docking chamber 1, and the first guide rail 25 is parallel to the parking direction of the drone 3. A first electric sliding seat 26 that is slidably engaged with the first guide rail 25 is provided on the first guide rail 25. A second guide rail 27 is fixedly connected to the top of the first electric sliding seat 26, and the second guide rail 27 is perpendicular to the first guide rail 25. A second electric sliding seat 28 is slidably connected to the second guide rail 27, and the storage box 17 is installed on the second electric sliding seat 28. This design enables the storage box 17 to move in two directions: Movement along the first guide rail 25 direction: The first electric sliding seat 26 moves on the first guide rail 25, driving the entire storage box 17 to move in a direction parallel to the drone 3. Movement along the second guide rail 27 direction: The second electric sliding seat 28 moves on the second guide rail 27, enabling the storage box 17 to perform fine adjustment in a direction perpendicular to the drone 3. Through this design of double guide rails and double electric sliding seats, the position of the storage box 17 can be precisely controlled. During the battery 29 replacement process, by adjusting the positions of the first electric sliding seat 26 and the second electric sliding seat 28, it can be ensured that the second opening 32 of the storage box 17 is precisely aligned with the inlet of the battery compartment 19 of the drone 3. This alignment mechanism not only improves the reliability of the battery 29 replacement but also reduces mechanical failures caused by position deviations. In addition, when the drone 3 lands, the storage box 17 can be moved to a farther position through the first electric sliding seat 26 to avoid interfering with the landing of the drone 3. This design ensures that the drone 3 will not be obstructed by the storage box 17 during the landing process, improving the overall safety of the system. Through the design of double guide rails and double electric sliding seats, the position of the storage box 17 can be precisely adjusted to ensure the precise alignment of the second opening 32 with the inlet of the battery compartment 19 of the drone 3. This design significantly improves the reliability and efficiency of the battery 29 replacement. When the drone 3 lands, the storage box 17 can be moved to a farther position to avoid interfering with the landing of the drone 3. This design improves the overall safety of the system and ensures the smooth operation of the drone 3 during the landing process. The use of the electric sliding seat makes the movement of the storage box 17 completely automated, reducing manual intervention.This design not only improves the convenience of operation but also enhances the overall efficiency of the system. By adjusting the position of the electric slide, the storage box 17 can adapt to different models of drones 3 and battery compartments 19, improving the versatility and adaptability of the system. Through this innovative storage box 17 movement mechanism, the present invention not only solves the interference problem during the landing of the drone 3 but also improves the reliability of battery 29 replacement through a precise alignment mechanism. This design provides important technical support for the automatic battery 29 replacement of the drone 3, significantly improving the usage efficiency and endurance of the drone 3. Additionally, to improve the alignment accuracy between the second opening 32 and the battery compartment 19 of the drone 3, a comprehensive solution combining sensor technology and a mechanical guiding mechanism can be adopted. The following is the specific implementation method: High-precision positioning sensors are respectively installed on the storage box 17 and the battery compartment 19 of the drone 3 to continuously monitor the relative positions between the two. These sensors can be optoelectronic sensors, laser sensors, or vision sensors (such as cameras). Based on the position information obtained by the sensors, the controller can precisely adjust the positions of the first electric slide 26 and the second electric slide 28 to ensure the alignment of the second opening 32 with the battery compartment 19.

[0045] Such as Figure 5As shown, in this embodiment, a recycling bin 36 is further provided at the top of the docking chamber 1. The recycling bin 36 is located on the side of the drone 3 away from the storage bin 17. The recycling bin 36 can be driven by a moving component to move on the top of the docking chamber 1. It should be noted that, to improve the stability and safety during the battery 29 replacement process of the drone 3 and at the same time achieve the effective recycling of the old battery 29, the recycling bin 36 is specifically provided at the top of the docking chamber 1. The recycling bin 36 is located on the side of the drone 3 away from the storage bin 17 and is driven by a moving component, enabling it to move on the top of the docking chamber 1. This design not only provides a dedicated recycling area for the old battery 29 but also plays an important auxiliary role during the battery 29 replacement process. The moving mode of the recycling bin 36 is the same as that of the storage bin 17, adopting rail-type movement. When the battery 29 of the drone 3 is replaced, after the old battery 29 is ejected from the battery compartment 19, it will directly fall into the recycling bin 36. The presence of the recycling bin 36 ensures that the old battery 29 can be centrally managed and recycled, preventing the old battery 29 from being randomly scattered on the top of the docking chamber 1 and improving the safety and convenience of the operation. This centralized recycling method facilitates the subsequent unified charging, detection, or processing of the old battery 29, further optimizing the battery 29 management process. During the battery 29 replacement process, after the recycling bin 36 moves to the other side of the drone 3, it can abut against the other side of the drone 3. Since the drone 3 may have a slight displacement due to external forces (such as the pushing force of the new battery 29) during the battery 29 replacement process, the abutting function of the recycling bin 36 can effectively prevent the movement of the drone 3 and ensure the stability of the battery 29 replacement process. This design physically restricts the shaking of the drone 3, improving the reliability of the battery 29 replacement, which is particularly important in automated scenarios without human operation.

[0046] As Figure 1 shown, in this embodiment, an electric switch door 2 is provided on one side of the docking chamber 1. It should be noted that when the robotic dog 5 goes out, the electric switch door 2 will automatically open.

[0047] The working principle of the present invention is: Docking of drone 3 and delivery of goods: After drone 3 arrives above docking room 1 with goods, it uses the QR code on the inductive switch door to assist positioning, and uses a high-precision satellite positioning system (such as GPS, Beidou navigation system) combined with visual recognition technology to accurately dock at the designated position on the top of docking room 1. The inductive switch door automatically opens after drone 3 arrives at the designated position. The clamp 16 at the bottom of drone 3 is released, and the goods fall from the unloading port 4 into the collection box 6 of the mechanical dog 5 inside the docking room 1. The placement plate 7 in the collection box 6 moves downward under the gravity of the goods, and drives the first rotating shaft 10 to rotate clockwise through the driving components (such as conveyor belt 12, connecting rod, etc.). The half gear 13 on the first rotating shaft 10 meshes with the rack 15, driving the sealing door 14 to move horizontally to close the collection box 6. At this time, the flexible sealing strip on the edge of the sealing door 14 fits tightly with the opening of the collection box 6 to ensure that the goods will not fall during transportation and prevent the external environment from affecting the goods. The placement plate 7 in the collection box 6 is equipped with a pressure sensor and a weight sensor to monitor the weight and placement status of the goods in real time. The sensor feeds back the information to the base station control system to ensure the reliability of the goods handover process.

[0048] Starting and Navigating the Robot Dog 5: After receiving the goods in the collection box 6, the Robot Dog 5 plans a path through autonomous navigation and obstacle avoidance technology (such as lidar and visual sensors) to avoid obstacles and pedestrians in the community. The Robot Dog 5 also has an intelligent elevator interaction function, which can connect to the elevator control system through a wireless communication module to realize autonomous elevator riding. After the Robot Dog 5 arrives at the patient's door with the goods, it notifies the patient by knocking on the door or sounding a prompt. The display screen on the back of the Robot Dog 5 displays relevant information (such as order number, delivery items, etc.), and is equipped with an intelligent voice interaction module to communicate with the patient in a simple manner to confirm the status of receipt.

[0049] Cargo removal and opening of the sealed door 14: The patient opens the sealed door 14, and the rack 15 moves in the opposite direction with the sealed door 14, driving the half gear 13 to rotate counterclockwise, so that the placement plate 7 rises, and the cargo is lifted to a higher position, which is convenient for the patient to take the cargo. After the sealed door 14 is opened, the patient takes out the cargo, and the mechanical dog 5 returns to the docking room 1 to wait.

[0050] Replacement of the battery 29 of the drone 3: When the drone 3 reaches the designated position on the top of the docking room 1, if it is detected that the battery 29 is too low, the battery 29 replacement device is activated. The push plate 30 of the electric push rod 24 enters from the second opening 32 of the storage box 17, pushes the spare battery 29 stacked on the top of the pallet 33 out of the first opening 31, and enters the battery compartment 19 of the drone 3. The old battery 29 in the battery compartment 19 of the drone 3 is pushed out from the other side by the new battery 29 and falls on the designated recycling position on the top of the docking room 1. The recycling box 36 moves to the other side of the drone 3 through the moving components (such as the electric slide and the guide rail) to collect the old batteries 29 and prevent the old batteries 29 from being scattered.

[0051] The replacement of the battery 29 is completed: the electric push rod 24 resets, and the support plate 33 moves upward under the elastic force of the second spring 23, pushing the next spare battery 29 to the topmost position of the storage box 17 to prepare for the next replacement of the battery 29.

[0052] The circuits, electronic components and modules involved are all prior arts and can be fully realized by those skilled in the art without further elaboration. The content protected by the present invention does not involve the improvement of software and methods either.

[0053] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same and similar parts among the various embodiments, reference can be made to each other.

[0054] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A base station capable of docking drones and robotic dogs, characterized in that, Including: A docking chamber (1), at the top of which there is a feeding port (4) running through; A drone (3), which is located at the top of the docking chamber (1). A fixture (16) for clamping goods is provided at the bottom of the drone (3), and the fixture (16) is located above the feeding port (4); A robotic dog (5), which is located inside the docking chamber (1). A collection box (6) is provided on the back of the robotic dog (5). The collection box (6) is located below the feeding port (4). A sealing door (14) which is slidably embedded and slidably connected to the side wall top of the collection box (6) is provided. A placement plate (7) is slidably embedded inside the collection box (6), and the placement plate (7) is connected to the collection box (6) through a first spring (9); A transmission assembly, which is arranged on the collection box (6). The transmission assembly drives the sealing door (14) and the placement plate (7) to be connected. When the placement plate (7) moves downward, the sealing door (14) can be driven by the transmission assembly to close the collection box (6). When the placement plate (7) moves upward, the sealing door (14) can be driven by the transmission assembly to open the collection box (6).

2. The base station for a dockable drone and a robotic dog according to claim 1, wherein, An installation groove is provided on the side wall of the collection box (6). The installation groove is vertically arranged, and a first rotating shaft (10) is rotatably connected to the top of the installation groove; The transmission assembly includes a gear (13), a rack (15) and a driving assembly. The gear (13) is fixedly sleeved on the first rotating shaft (10). The rack (15) is arranged at the bottom of the sealing door (14). The gear (13) and the rack (15) are meshed with each other. The driving assembly drives the transmission shaft and the placement plate (7) to be connected. When the placement plate (7) moves upward or downward, the first rotating shaft (10) can be driven to rotate forward or backward through the driving assembly.

3. The base station for a dockable drone and a robotic dog according to claim 2, wherein, The driving assembly includes a second rotating shaft (11), a conveyor belt (12) and a connecting plate (8). The second rotating shaft (11) is rotatably connected inside the installation groove, and the second rotating shaft (11) is located below the first rotating shaft (10). Both ends of the conveyor belt (12) are sleeved on the two transmission shafts. One end of the connecting plate (8) is connected to the conveyor belt (12), and the other end is connected to the placement plate (7).

4. The base station for a dockable drone and a robotic dog according to claim 2, characterized in that, The gear (13) is a semi-gear (13). When the sealing door (14) is fully opened, the tooth blocks of the semi-gear (13) do not contact the rack (15) at the bottom of the sealing door (14). During the process that the goods fall into the collection box (6) and drive the placement plate (7) to move downward, when the top of the goods is completely lower than the bottom of the sealing door (14), the tooth blocks of the semi-gear (13) contact the rack (15) and drive the sealing door (14) to close.

5. A base station for a dockable drone and a robotic dog according to claim 1, characterized in that, A battery compartment (19) runs through the fuselage (18) of the drone (3), and a battery (29) replacement device is provided at the top of the docking chamber (1); The battery (29) replacement device includes a storage box (17) located on one side of the drone (3). A pallet (33) is slidably embedded in the storage box (17). The bottom of the pallet (33) is connected to the storage box (17) by a second spring (23). A number of batteries (29) are stacked on the pallet (33). First openings (31) and second openings (32) through which a single battery (29) can pass are respectively provided on both sides of the storage box (17). The first openings (31) and the second openings (32) are aligned with the battery compartment (19), and the first openings (31) are close to the battery compartment (19). An electric push rod (24) is provided on the side of the storage box (17) away from the drone (3). A push plate (30) is provided at the output end of the electric push rod (24), and the push plate (30) faces the second opening (32).

6. The base station for a dockable drone and a robotic dog according to claim 5, characterized in that A box body (22) is provided on one side of the drone (3). The box body (22) is located below the battery compartment (19). A sealing plate (20) is slidably embedded in the box body (22). The bottom of the sealing plate (20) is connected to the box body (22) by a third spring (34). The top of the sealing plate (20) extends upward outside the box body (22) and closes one side of the battery compartment (19). A first inclined surface (21) is provided at one end of the sealing plate (20) facing the storage box (17), and the first inclined surface (21) is inclined downward along the direction close to the storage box (17).

7. A base station for a dockable drone and a robotic dog according to claim 6, characterized in that, A baffle (35) is hinged to the side of the drone (3) away from the storage box (17) by a hinge shaft. A coil spring is connected between the baffle (35) and the hinge shaft, and the baffle (35) closes the battery compartment (19).

8. A base station for a dockable drone and a robotic dog according to claim 7, wherein, A first guide rail (25) is further provided on the top of the docking chamber (1). The first guide rail (25) is parallel to the drone (3). A first electric sliding seat (26) slidably engaged with the first guide rail (25) is provided on the first guide rail (25). A second guide rail (27) is fixedly connected to the top of the first electric sliding seat (26). The second guide rail (27) is perpendicular to the first guide rail (25). A second electric sliding seat (28) slidably engaged with the second guide rail (27) is slidably connected to the second guide rail (27). The storage box (17) is provided on the second electric sliding seat (28).

9. A base station for a dockable drone and a robotic dog according to claim 8, characterized in that, A recycling box (36) is further provided on the top of the docking chamber (1). The recycling box (36) is located on the side of the drone (3) away from the storage box (17). The recycling box (36) can be driven by a moving component to move on the top of the docking chamber (1).

10. A base station for a dockable drone and a robotic dog according to claim 1, characterized in that, An electric switch door (2) is provided on one side of the docking chamber (1).

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