Modularized unmanned aerial vehicle automatic parking and charging platform

Abstract

The invention discloses a modularized unmanned aerial vehicle automatic parking and charging platform. The platform comprises a centering module overall frame, and a lateral lead screw centering module, a central synchronous belt centering module, a turntable module, a frame charging contact module and a control and power management system module which are located on the centering module overall frame; the rotating disc module comprises a top detachable landing plate and a rotating upper cover plate, the top detachable landing plate is detachably connected to the top of the centering module overall frame, a mounting hole is formed in the top detachable landing plate, and the rotating upper cover plate is rotationally arranged in the mounting hole; the lateral screw rod centering module is used for centering the unmanned aerial vehicle in the X direction; and the central synchronous belt centering module is used for centering the unmanned aerial vehicle in the Y direction. According to the parking and charging platform, the unmanned aerial vehicle can be accurately positioned, the orientation of the unmanned aerial vehicle can be dynamically adjusted, and the task execution efficiency is optimized.

Description

Technical Field

[0001] The present invention belongs to the field of drone auxiliary equipment, and in particular relates to a modular drone automatic parking and charging platform. Background Art

[0002] The increasing popularity of drones in fields such as logistics, agriculture, surveillance, and rescue operations is driving a growing demand for efficient and flexible drone parking and charging platforms. Existing drone parking and charging platforms are mostly fixed and typically installed in specific locations, such as drone airports or charging stations. While these platforms can meet basic parking and charging needs, they suffer from the following technical limitations in practical applications: (1) Fixed limitations: Traditional drone parking and charging platforms are usually fixed at a certain location, making them difficult to move or redeploy quickly and unable to adapt to dynamic mission scenarios.

[0003] (2) Lack of modularity: The components of existing platforms are highly integrated, making them difficult to disassemble and maintain, and the cost of upgrading or adapting to different drone models is high.

[0004] (3) Limitations in direction adjustment: Traditional platforms cannot adjust the orientation of the drone, which limits the flexibility of mission execution, such as optimizing the monitoring angle or adapting to wind direction.

[0005] For example, Huang Wei et al. disclosed in Chinese Invention Publication Patent CN119611847A a "drone hangar with drone centering function." This drone hangar primarily includes a support bracket, a placement panel, a drone take-off and landing frame, a control mainboard, and a first and second centering mechanism. The two centering mechanisms are arranged at a 90-degree angle, each driven by a single motor-driven transmission belt system to move a centering push plate, which is used to push the drone and its take-off and landing frame to the center position for centering and charging connection. However, this technical solution still requires the following steps: (1) Lack of dynamic rotation capability: The hangar is not equipped with a rotating platform or any mechanism for adjusting the orientation of the drone. The drone cannot dynamically adjust its attitude after returning to the center, which limits its flexibility in missions. For example, it cannot optimize the takeoff direction according to wind direction or adjust the monitoring angle to suit specific mission requirements.

[0006] (2) Lack of modular design: The hangar’s support brackets and centering mechanism are fixed integrated designs, making them difficult to quickly disassemble, reassemble, or upgrade. When adapting to different drone models or deploying to new scenarios, the entire system needs to be replaced or significantly modified, increasing maintenance and adaptation costs.

[0007] (3) Insufficient mobility: Although the hangar is equipped with handles for easy transportation, its design is still mainly fixed installation. It is difficult to achieve dynamic scheduling within the drone airport through automatic guided vehicles (AGVs) or conveyor belts, which limits space utilization and applicability in multiple scenarios. Summary of the Invention

[0008] In order to solve at least one of the problems existing in the prior art, the present invention provides a modular automatic parking and charging platform for unmanned aerial vehicles (UAVs).

[0009] The modular automatic parking and charging platform for UAVs provided by the present invention includes an overall centering module framework and a lateral screw centering module, a central synchronous belt centering module, a turntable module, a frame charging contact module, and a control and power management system module located on the overall centering module framework; The turntable module includes a top detachable landing board and a rotating upper cover plate. The top detachable landing board is detachably connected to the top of the overall centering module framework, and mounting holes are provided on the top detachable landing board. The rotating upper cover plate is rotatably arranged in the mounting holes; The lateral screw centering module is used to center the UAV in the X direction. The lateral screw centering module includes two centering rods located above the top detachable landing board and movable. The two centering rods can move in the X direction; The central synchronous belt centering module is used to center the UAV in the Y direction and includes two centering push rods located above the top detachable landing board. The two centering push rods can move in the Y direction; A charging connector and a data transmission interface are provided on the frame charging contact module; The control and power management system module is used to control the working state of the platform and provide an external power supply and communication interface.

[0010] Further, the turntable module further includes a turntable motor, a first driving synchronous pulley, a turntable synchronous belt, a first synchronous belt idler pulley, and a middle transfer shaft of the synchronous belt idler pulley. The turntable motor is arranged on the top detachable landing board, the first driving synchronous pulley is arranged at the output end of the turntable motor, the first driving synchronous pulley is connected by the turntable synchronous belt and the first synchronous belt idler pulley, and the first synchronous belt idler pulley is connected to the rotating upper cover plate through the middle transfer shaft of the synchronous belt idler pulley.

[0011] Further, the turntable module further includes an intermediate bearing and a fixing component. The intermediate bearing and the fixing component include a turntable bearing outer ring fixing plate and a turntable bearing outer ring. The turntable bearing outer ring fixing plate is connected to the lower surface of the top detachable landing board, the turntable bearing outer ring is connected to the turntable bearing outer ring fixing plate, the middle transfer shaft of the synchronous belt idler pulley is connected to the turntable bearing inner ring, the rotating upper cover plate is located above the turntable bearing outer ring fixing plate, and the top of the middle transfer shaft of the synchronous belt idler pulley passes through the turntable bearing outer ring fixing plate and is connected to the rotating upper cover plate.

[0012] Further, the rotating upper cover plate is located at the middle position of the top detachable landing board. When the UAV is parked, the UAV is centered on the rotating upper cover plate through the cooperation of the lateral screw centering module and the central synchronous belt centering module.

[0013] Furthermore, the lateral lead screw centering module further includes two centering rod moving and mounting modules, which are oppositely arranged on both sides of the overall frame of the centering module. Each centering rod moving and mounting module includes a double-shaft motor, two lead screws, and two lead screw nut assemblies. The two lead screws are respectively connected to the two output ends of the double-shaft motor. The two lead screw nut assemblies are respectively arranged on the two lead screws, and the two centering rods are respectively connected to the two lead screw nut assemblies.

[0014] Furthermore, each centering rod moving and mounting module also includes a motor adapter plate assembly. The double-shaft motor is fixed on the overall frame of the centering module through the motor adapter plate assembly. The motor adapter plate assembly includes a frame adapter plate and a motor adapter plate arranged on the frame adapter plate. The frame adapter plate is detachably connected to the overall frame of the centering module, and the double-shaft motor is arranged on the motor adapter plate.

[0015] Furthermore, the central synchronous belt centering module is arranged at the bottom of the overall frame of the centering module, and includes a driving motor, a second driving synchronous pulley, a second synchronous belt idler pulley, a centering synchronous belt, two synchronous belt single-side centering structures and a charging module assembly. The second driving synchronous pulley is connected to the output end of the driving motor. The second driving synchronous pulley is in transmission connection with the second synchronous belt idler pulley through the centering synchronous belt. The two synchronous belt single-side centering structures and the charging module assembly are oppositely arranged and fixed on the centering synchronous belt, and the tops of the two synchronous belt single-side centering structures and the charging module assembly penetrate through the top detachable landing plate. The two centering push rods are respectively connected to the tops of the two synchronous belt single-side centering structures and the charging module assembly.

[0016] Furthermore, the central synchronous belt centering module further includes a slider rail assembly. The bottoms of the two synchronous belt single-side centering structures and the charging module assembly are slidably arranged on the slider rail assembly.

[0017] Furthermore, the frame charging contact module includes a PCB board. The PCB board is provided with a PCB charging connector, a signal connector, and a charging contact for contacting with an external power supply contact. The PCB charging connector is connected to the control and power management system module through a power line, and the signal connector is connected to the control and power management system module through a signal line.

[0018] Furthermore, the control and power management system module includes a housing and a main control board, a communication module, a motor controller, and a battery arranged in the housing.

[0019] Compared with the prior art, the present invention upgrades the parking charging platform from a traditional fixed charging base to a multi-functional modular apron, and has the following beneficial effects: (1)Independent modular landing pad: The platform can be separated from the UAV airport and deployed as an independent unit (the platform, as an independent module, can be separated from the UAV airport for individual use or integrated into systems such as AGV flatbed trucks and lifting mechanisms to enhance the diversity of usage scenarios. Moreover, the assembly or disassembly between the platform and its installation location can be completed within a short time, facilitating rapid deployment at different task locations.

[0020] (2)Support multi-platform collaborative operations and adapt to diverse task requirements.

[0021] (3)Internal mobility of the airport: Through existing conveying equipment such as conveyor belts or lifting mechanisms, the platform can move flexibly within the airport to achieve multi-layer parking or dynamic scheduling, improving space utilization.

[0022] (4)The combination of the centering rod, centering push rod, and turntable enables the platform to not only accurately position the UAV but also dynamically adjust its orientation, optimizing the task execution efficiency. Description of the Drawings

[0023] Figure 1 is a schematic structural diagram of the modular UAV landing and charging platform provided by an embodiment of the present invention.

[0024] Figure 2 is a schematic structural diagram of the overall framework of the centering module in an embodiment of the present invention.

[0025] Figure 3 is a schematic structural diagram of the lateral lead screw centering module in an embodiment of the present invention.

[0026] Figure 4 is a schematic structural diagram of the central synchronous belt centering module in an embodiment of the present invention.

[0027] Figure 5 is a schematic structural diagram of the synchronous belt single-side centering structure and charging module assembly in an embodiment of the present invention.

[0028] Figure 6 is a schematic structural diagram of the turntable module in an embodiment of the present invention.

[0029] Figure 7 is a schematic structural diagram of another perspective of the turntable module in an embodiment of the present invention. Detailed Embodiments

[0030] To make the objectives, 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. Apparently, the described embodiments are some, but not all, of the 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 are within the scope of protection of the present invention.

[0031] Please refer to Figure 1 , the modular unmanned aerial vehicle (UAV) automatic parking and charging platform 10 provided by the embodiments of the present invention includes a centering module overall frame 300, a lateral lead screw centering module 100, a turntable module 200, a central synchronous belt centering module 400, a frame charging contact module 500, and a control and power management system module 600.

[0032] The centering module overall frame 300 is the core support structure of the entire platform, and all other modules are directly or indirectly installed on the centering module overall frame 300. Reserved channels for installing the lateral lead screw centering module 100 are provided around the centering module overall frame 300. The bottom of the centering module overall frame 300 is fixed to the ground or other platforms through brackets, having good rigidity and stability.

[0033] As the main support structure of the entire system, in one of the embodiments of the present invention, please refer to Figure 2 , the centering module overall frame 300 includes a connecting plate at the bottom and connecting frames provided on both sides of the connecting plate. Preferably, the connecting frames are made of aluminum alloy profiles, and the aluminum alloy profiles adopt standardized European standard 2080 profiles with T-shaped grooves, and are fixedly connected to the connecting plate through the cooperation of T-shaped nuts and bolts. The connecting plate is a metal plate, and the pre-drilled holes on the surface of the connecting plate are aligned with the T-shaped grooves of the aluminum alloy profiles and are arranged on one side of the profiles in a parallel manner to form a stable frame structure. The connecting plate serves as the bottom plate of the frame, connecting the connecting frames on the left and right sides, providing structural support and an installation platform.

[0034] The lateral screw centering module is used to center the UAV in the X direction. The lateral screw centering module 100 includes two centering rods 160 and two centering rod moving and mounting modules, and the two centering rod moving and mounting modules are respectively installed at the left and right side edge positions of the overall frame 300 of the centering module. Each centering rod moving and mounting module includes a dual-axis motor, a screw rod, and a screw nut assembly 120. The screw rod is driven by the dual-axis motor, and the screw nut assembly 120 is arranged on the screw rod. The two ends of the centering rod 160 are respectively connected to the two opposite screw nut assemblies 120 in the two centering rod moving and mounting modules. By driving the screw rod with the dual-axis motor, the two centering rods 160 are driven to move towards or away from each other through the screw nut assembly 120, so as to push the UAV in the horizontal direction (X-axis). The two centering rods 160 are driven through the cooperation of the two centering rod moving and mounting modules, and the centering positioning function of the UAV in the X direction is realized. In one embodiment of the present invention, please refer to Figure 3 , each centering rod moving and mounting module includes two said screw rods 150, a dual-axis motor fixing and output component 140, two screw rod bearing components 110, two screw nut assemblies 120, and a motor adapter plate component 130. The motor adapter plate component 130 is detachably connected to the overall frame 300 of the centering module through bolts. The dual-axis motor fixing and output component 140 is installed on the motor adapter plate component 130. The dual-axis motor fixing and output component 140 includes the said dual-axis motor. One end of the two screw rods 150 is connected to the two output ends of the dual-axis motor to drive the screw rod 150 to rotate, and the other end is supported by the screw rod bearing component 110. The surfaces of the two screw rods 150 are respectively engaged with a screw nut assembly 120. The two centering rods 160 are arranged in parallel, and the two ends are respectively connected to the two screw nut assemblies 120 arranged oppositely in the two centering rod moving and mounting modules. The lateral screw centering module 100 can convert the rotational motion of the motor into the linear motion of the nut, drive the screw nut assembly 120 to move, and then directly contact and move the UAV through the centering rod 160 to perform the centering task in the X direction.

[0035] Each centering rod moving and mounting module is connected to the overall frame 300 of the centering module through a fixing member (such as a bolt) on the motor adapter plate component 130, forming a modular installation structure, which is convenient for disassembly and maintenance.

[0036] The spatial relationship between the centering rod 160 and the top detachable landing plate 210 is as follows: The top detachable landing plate 210, as the landing surface of the drone, is located at the top of the turntable module 200, and its surface is flat to support rotation and QR code guidance. The contact surface of the centering rod 160 is higher than the plane of the top detachable landing plate 210 (in one embodiment of the present invention, the height difference between the two is about 30 mm) to avoid direct contact with the top detachable landing plate 210, while avoiding the rotating upper cover plate 234 of the turntable module 200 and directly acting on the upper part of the drone's feet.

[0037] In one embodiment of the present invention, both of the two lead screws 150 are Tr8×2 trapezoidal lead screws, 200 mm long, and made of stainless steel.

[0038] In one embodiment of the present invention, the motor adapter plate assembly 130 includes a frame adapter plate and a motor adapter plate. The frame adapter plate is connected to the overall frame 300 of the centering module by bolts to provide a stable motor installation platform. Standard holes for installing the motor are provided on the frame adapter plate; the motor adapter plate is detachably connected to the frame adapter plate, and the dual-axis motor is fixed on the motor adapter plate. Elongated bolt holes are provided on the motor adapter plate. By adjusting through the elongated bolt holes on the motor adapter plate, the deviation between the axis of the motor output shaft and the axis of the lead screw 150 is eliminated, ensuring that the axis of the motor output shaft is precisely aligned with the axis of the lead screw 150, avoiding uneven stress on the coupling, and improving the centering accuracy of the lateral lead screw centering module 100.

[0039] In one embodiment of the present invention, the dual-axis motor fixing and output assembly 140 includes the dual-axis motor 140 and two couplings. The dual-axis motor 140 is fixed on the overall frame 300 of the centering module through the motor adapter plate assembly 130. One end of the lead screw 150 is connected to the output end of the dual-axis motor 140 through a coupling, and the other end is supported by the lead screw bearing assembly 110. The lead screw nut assembly 120 is installed on the lead screw 150 and is fixedly connected to the centering rod 160. When the dual-axis motor rotates, the lead screw 150 drives the lead screw nut assembly 120 to move horizontally, thereby driving the centering rod 160 to achieve the centering function.

[0040] In one embodiment of the present invention, the biaxial motor 140 is a 57-type stepper motor with a rated current of 1.2 A and a torque of 0.45 N·m. This stepper motor has a dual output shaft, with one output shaft at each end, and they rotate coaxially. Each output shaft is connected to a lead screw 150 through a 5 mm to 8 mm plum blossom flexible coupling, and the two lead screws 150 are designed with left-hand and right-hand threads. By setting the dual output shaft and connecting two lead screws with left-hand and right-hand threads, when the biaxial motor 140 rotates, the centering rods 160 on the left and right sides can move towards or away from the center synchronously, realizing a symmetric centering action. Compared with the single-output shaft and single-lead screw solution, this design can improve the positioning accuracy and stability, and avoid deviations or uneven forces caused by single-sided driving.

[0041] In one embodiment of the present invention, the lead screw bearing assembly 110 is fixed to the side of the overall frame 300 of the centering module through bolts and is used to connect the lead screw 150. The lead screw bearing assembly 110 includes a lead screw bearing seat and a lead screw bearing seat adapter. The lead screw bearing adapter is an aluminum alloy machined part installed between the connection frame of the lead screw bearing seat and the overall frame 300 of the centering module and is fixed to the overall frame 300 of the centering module through 2 M4 bolts, which is used to compensate for the distance between the lead screw bearing seat and the side connection frame of the overall frame 300 of the centering module; the lead screw bearing assembly 110 contains angular contact bearings, which are used to support the axial and radial loads of the lead screw 150 to ensure smooth rotation of the lead screw. The outer ring of the bearing is fixed, and the inner ring is connected to the end of the lead screw 150, allowing the lead screw 150 to rotate freely.

[0042] In one embodiment of the present invention, the lead screw nut assembly 120 includes a lead screw nut seat, a T-shaped lead screw nut provided on the lead screw nut seat, and an adapter for connecting the centering rod 160. Preferably, the adapter is made of PETG plastic.

[0043] The turntable module 200 is one of the core components of the entire platform. The turntable module 200 is installed on the overall frame 300 of the centering module. Specifically, the top detachable landing plate 210 in the turntable module 200 is fixedly connected to the overall frame 300 of the centering module through bolts. The top of the turntable module 200 provides a landing platform for the drone and can achieve 360° rotation through an internal turntable bearing, and the orientation of the drone can be adjusted as needed.

[0044] Please refer to Figure 6 and Figure 7 , the turntable module 200 includes a top detachable landing plate 210, an intermediate bearing and fixing assembly 220, an internal turntable bearing connection and rotation assembly 230, and a turntable motor output and fixing assembly 240.

[0045] The top detachable landing plate 210 serves as the landing surface for the drone.

[0046] The intermediate bearing and fixing assembly 220 includes a rotary table bearing outer ring fixing plate 222 and a rotary table bearing outer ring 221. The rotary table bearing outer ring fixing plate 222 is fixed to the lower surface of the top detachable landing plate 210 which is fixedly arranged through a plurality of bolts to ensure the stability of the entire rotating system; the rotary table bearing outer ring 221 is fixed on the rotary table bearing outer ring fixing plate 222 and does not rotate with the rotary table, providing rotary support; the rotary table bearing outer ring fixing plate 222 is provided with appropriate strengthening parts to improve rigidity.

[0047] Both sides of the top detachable landing plate 210 are detachably connected to the two connecting frames of the centering module integral frame 100, and the rotary table bearing outer ring is fixed on the top detachable landing plate 210 through the intermediate bearing and fixing assembly 220.

[0048] The internal rotary table bearing connection and rotation assembly 230 includes a synchronous pulley end cover plate 231, a first synchronous belt idler pulley 232, a synchronous belt idler pulley middle transfer shaft 233 and a rotary upper cover plate 234. The synchronous pulley end cover plate 231 is fixed below the inner ring of the rotary table bearing and is connected by 4 M5 bolts, forming a part of the synchronous belt drive system, which is convenient for assembly and disassembly; the synchronous belt idler pulley 232 is installed on the idler pulley middle transfer shaft 233 and is used to adjust the tension of the synchronous belt to ensure reliable transmission; the synchronous belt idler pulley middle transfer shaft 233 is fixedly connected to the inner ring of the rotary table bearing and rotates together with the inner ring of the rotary table bearing; the synchronous belt idler pulley middle transfer shaft 233 connects the first synchronous belt idler pulley 232 and the rotary upper cover plate 234 to provide support for the first synchronous belt idler pulley 232. The rotary upper cover plate 234 is located above the rotary table bearing outer ring fixing plate 222, and the top of the synchronous belt idler pulley middle transfer shaft 233 passes through the rotary table bearing outer ring fixing plate 222 and is connected to the rotary upper cover plate 234; a circular installation hole is opened at the middle position of the top detachable landing plate 210, and the rotary upper cover plate 234 rotates and is located in the installation hole. The top detachable landing plate 210 and the rotary upper cover plate 234 are located in the same plane.

[0049] In one of the two of the present invention, the top detachable landing plate 210 is detachably connected to the aluminum alloy profile of the centering module integral frame 300 through bolts. The top detachable landing plate 210 serves as the landing surface of the unmanned aerial vehicle and is detachable for maintenance.

[0050] The turntable motor output and fixing assembly 240 provides rotational power and includes a turntable motor 241, a motor base 242, a first driving synchronous pulley 243, and a turntable synchronous belt 244. The turntable motor 241 and the motor base 242 are located on the top of the top detachable landing plate 210. The output end of the turntable motor 241 passes downward through the top detachable landing plate 210 and is connected to the first driving synchronous pulley 243. The first driving synchronous pulley 243 is connected to the first synchronous belt idler pulley 232 through the turntable synchronous belt 244. Through the transmission of the turntable synchronous belt 244, the rotational movement of the turntable motor 241 is transmitted to the internal turntable bearing connection and rotation assembly 230, thereby driving the rotation of the rotating upper cover plate 234, and thus achieving the precise rotational positioning of the rotating upper cover plate 234.

[0051] In one embodiment of the present invention, the motor base 242 is fixed to a corner of the top detachable landing plate 210 by 4 M5 bolts.

[0052] ArUco two-dimensional codes can be arranged on the surface of the top detachable landing plate 210 according to requirements for the drone to scan through an on-board camera or a tripod camera. The encoding of the ArUco two-dimensional code includes the coordinates of the center position of the top detachable landing plate 210 (in one embodiment of the present invention, which is actually the center of the rotating upper cover plate 234) and orientation information (such as planar coordinates and azimuth angles). The drone analyzes the two-dimensional code through a real-time image processing algorithm and combines the perspective of the on-board camera to calculate the attitude of the drone itself relative to the two-dimensional code (including position and orientation). By comparing the calculated attitude with the preset attitude of the center of the top detachable landing plate 210, the drone can calculate the attitude deviation (angle error) and position deviation (horizontal and vertical offsets) from the center of the top detachable landing plate 210, and then adjust the flight control parameters (pitch, yaw, and displacement) so that the drone can land at the center position of the top detachable landing plate 210 even under the influence of wind when landing.

[0053] In one embodiment of the present invention, the top detachable landing plate 210 is made of an existing lightweight and high-strength composite material such as fiberglass lightweight and high-strength composite material, with a size of 400 mm × 400 mm; the outer ring fixing plate 222 of the turntable bearing is made of a fiberglass material plate; the synchronous pulley end cover plate 231 is made of aluminum alloy; the rotating upper cover plate 234 is made of aluminum alloy (with a diameter of 450 mm and a thickness of 8 mm); the turntable motor is a 42-step motor with a rated current of 1.2 A and a torque of 0.45 N•m; the synchronous belt is an HTD5M synchronous belt. In other embodiments, other materials and sizes can also be used.

[0054] The central synchronous belt centering module 400 is installed on the overall frame 300 of the centering module and is bolted to the connecting plate at the bottom of the overall frame 300 of the centering module. In the central synchronous belt centering module 400, through the drive of the synchronous belt, the UAV is centered and positioned in the front-back direction (Y direction). The central synchronous belt centering module 400 and the lateral lead screw centering module 100 are arranged orthogonally to form a cross-shaped centering system, jointly ensuring the precise positioning of the UAV.

[0055] Please refer to Figure 1 、 Figure 3 and Figure 4 , the central synchronous belt centering module 400 includes a bottom connecting plate 410 and an idler pulley and fixed shaft assembly 420, a centering synchronous belt, two synchronous belt single-side centering structures and a charging module assembly 430, two centering push rods 431, a motor fixing and synchronous pulley assembly 440, a slider rail assembly 450, and a limit component 460 located on the bottom connecting plate 410. The central synchronous belt centering module 400 converts the horizontal movement of the centering synchronous belt into the positioning of the centering push rod in the horizontal direction and provides charging and data transmission functions.

[0056] The bottom connecting plate 410 is fixed to the connecting plate at the bottom of the overall frame 300 of the centering module through M4 bolts and positioning pins, serving as the installation basis for all sub-components to ensure the overall rigidity and alignment accuracy.

[0057] The motor fixing and synchronous pulley assembly 440 and the idler pulley and fixed shaft assembly 420 are respectively located on both sides of the bottom connecting plate 410. The motor fixing and synchronous pulley assembly 440 includes a driving motor, a motor fixing seat, and a second driving synchronous pulley. The driving motor is fixed to one side of the bottom connecting plate 410 through the motor fixing seat, and the second driving synchronous pulley is arranged at the output end of the driving motor.

[0058] The idler pulley and fixed shaft assembly 420 includes a second synchronous belt idler pulley, an idler pulley connecting piece, and an L-shaped fixing piece. The L-shaped fixing piece is installed on the other side of the bottom connecting plate 410 through bolts. The second synchronous belt idler pulley is arranged on the L-shaped fixing piece through the idler pulley connecting piece. The second driving synchronous pulley and the second synchronous belt idler pulley are driven by the centering synchronous belt. The centering synchronous belt is tensioned through the idler pulley and fixed shaft assembly 420 and is driven by the motor fixing and synchronous pulley assembly 440. The driving motor provides power for the centering synchronous belt. The idler pulley and fixed shaft assembly 420 and the motor fixing and synchronous pulley assembly 440 cooperate to adjust the tension of the centering synchronous belt to form a closed transmission loop.

[0059] In one embodiment of the present invention, an adjustment groove is provided on the L-shaped fixing piece. The second driving synchronous pulley adopts the HTD5M specification.

[0060] The motor fixing and the synchronous pulley assembly 440 drive the synchronous belt single-sided centering structure and the charging module assembly 430 to move in the Y direction. The driving motor communicates with the control and power management system module 600 in real time through the driving board to achieve precise control.

[0061] The synchronous belt single-sided centering structure and the charging module assembly 430 include a top protection shell and a bottom connection frame 432, a charging adapter board 433, a vertical connection component 434, and a slider and belt connection component 435. The surface of the centering push rod 431 is anodized and can directly contact the drone, guiding the drone to move towards the center during the contact process. The charging adapter board 433 is provided with PogoPin spring contacts, a power connector, and a signal connector.

[0062] The slider rail assembly 450 is installed on the bottom connection plate 410. The slider and belt connection component 435 is connected to the centering synchronous belt and slides along the slider rail assembly 450 driven by the centering synchronous belt. The slider in the slider rail assembly 450 is connected to the bottom of the vertical connection component 434, the top of the vertical connection component 434 is connected to the centering push rod 431, and the centering push rod 431 is located above the top detachable landing plate 210. After the drone lands, it can contact the upper part of the drone's feet and push the drone to be centered along the Y axis to the center of the top detachable landing plate 210 (with a deviation < 1 mm). The top protection shell and the bottom connection frame 432 are arranged on the centering push rod 431, and the charging adapter board 433 is fixed to the top protection shell and the bottom connection frame 432.

[0063] In one embodiment of the present invention, the centering push rod 431 is connected to the screw holes on the outside of the top protection shell and the bottom connection frame 432. The charging adapter board 433 at the top of the centering push rod 431 is aligned with the feet, providing precise positioning for subsequent charging and data transmission.

[0064] The top protection shell and the bottom connection frame 432 are fixed to the vertical connection component 434. The top of the vertical connection component 434 passes through the reserved slot on the top detachable landing plate 210. The top and bottom of the vertical connection component 434 are respectively connected to the centering push rod 431 and the slider rail assembly 450, and the centering push rod 431 is located above the top detachable landing plate 210; the slider and belt connection component 435 is connected and fixed to the centering synchronous belt through a clamp and is connected to the slider in the slider rail assembly 450.

[0065] The slider rail assembly 450 includes a stainless steel linear rail and a slider slidably arranged on the linear rail, providing linear guidance for the synchronous belt single-sided centering structure and the charging module assembly 430 to ensure that the centering structure moves along a linear trajectory and reduce the influence of lateral deviation.

[0066] Limit assembly 460 is used to limit the range of motion of the slider to ensure centering accuracy. Limit assemblies 460 are installed at both ends of the slider rail assembly 450. Each limit assembly 460 includes a limit switch, a mechanical stop, and a limit switch adapter. The limit switch and mechanical stop are connected via the limit switch adapter, and the limit switch is connected to the control and power management system module 600 via a signal line. The mechanical stop and limit switch adapter limit the range of motion of the slider and also serve to fix the limit switch.

[0067] In one embodiment of the present invention, the bottom connecting plate 410 is made of fiberglass material, the synchronous belt idler is made of aluminum alloy, and the aluminum alloy is CNC-machined; the centering push rod 431 is an aluminum alloy plate; the top protective shell and the bottom connecting frame 432 are made of anti-static ABS material to protect the charging contacts; the charging adapter board 433 is a double-layer PCB, using double-layer PCB 3oz copper foil, supporting charging and data transmission, integrating charging and data transmission functions, the contact is a pogo pin elastic pin with a diameter of 2.5mm, and the contact resistance is <5mΩ; the vertical connecting component 434 is a 3mm thick FR4 fiberglass board; the slider and belt connecting component 435 is a PA12-CF3D printed part; the limit switch uses the Omron limit switch EE-SX671.

[0068] The frame charging contact module 500 is fixed to the front or rear side of the central module frame 300. It charges the battery of the control and power management system module 600 and supports data transmission. In one embodiment of the present invention, the frame charging contact module 500 is fixed to the reserved mounting holes on the front or rear side of the central module frame 300 using four M5 bolts, forming a modular structure that facilitates disassembly and maintenance.

[0069] The frame charging contact module 500 is used to enable charging and data exchange for the drone, including a PCB charging connector and a data transmission interface. This contact charging design allows the charging platform to be deployed as a single module within structures such as mobile platforms and airport elevators.

[0070] The frame charging contact module 500 includes a PCB board, on the surface of which there are two exposed copper-plated areas (each with a size of 30mm×20mm, a thickness of 35μm, and gold-plated treatment), which serve as charging contacts to contact the external power supply contacts (such as the spring contacts of a mobile platform or an airport elevator), supporting 14.8V / 10A current transmission. The copper-plated areas are connected to the PCB charging connector (XT60 connector, rated current 30A) on the PCB board through highly conductive copper foils (impedance <0.01Ω), and the PCB charging connector transmits the current to the 12V+ battery (14.8V, 5000mAh) of the control and power management system module 600 through a 2-wire power cord (16AWG, length 200mm).

[0071] There is also a signal connector (2.54mm pin header, 4 pins, UART interface, 115200bps) on the PCB board, which is connected to the main control board or communication module of the control and power management system module 600 through a signal wire (24AWG, length 200mm), supporting the transmission of status data (battery power, charging status) and control instructions.

[0072] The control and power management system module 600 is connected to each functional module through a wire harness, uniformly controlling the working state of the entire platform, and at the same time providing power and communication interfaces externally.

[0073] The control and power management system module 600 coordinates the work of each functional module of the platform and provides stable power and communication support. It is installed at the bottom of the centering module overall frame 300. The control and power management system module 600 includes a housing, and inside the housing, there are integrated a main control board, a communication module, a motor controller, a 12V+ battery, a 7.4V battery, and a buck voltage regulator module. The control and power management system module 600 is connected to each functional module through a shielded wire harness (24AWG).

[0074] The working principle of the control and power management system module 600 is as follows: The main control board analyzes the ArUco QR code signal on the top detachable landing board 210. After confirming the landing of the drone, it drives the lateral lead screw centering module 100 (dual-axis motor) and the central synchronous belt centering module 400 (the drive motor in the motor fixing and synchronous pulley assembly 440) through the motor controller to complete centering in the X and Y directions (deviation < 1 mm), and controls the turntable module 200 (42-step motor) to adjust the orientation of the drone (accuracy ±0.5°). The communication module communicates with the drone airport or mission center via WiFi to transmit control commands and status data. The platform uses two batteries to meet different voltage requirements: The 12V+ battery (14.8V, 5000 mAh, regulated to 12V) powers the dual-axis motor, the drive motor in the motor fixing and synchronous pulley assembly 440, and the turntable motor to provide high-power drive; the 7.4V battery (2000 mAh, regulated to 5V) powers the main control board and the communication module to ensure the stable operation of low-power electronic components. The two batteries are powered separately to optimize power management and improve the system efficiency and reliability. A stable power supply (12V and 5V) is provided through the buck and voltage regulation module, and supplementary power is obtained from an external power supply through the PCB charging connector of the frame charging contact module 500. The control and power management system module 600 provides an external DC 12V power output interface (maximum 10A) and communication interfaces (WiFi and USB-C), supporting integration with external systems.

[0075] In one embodiment of the present invention, the main control board uses Arduino Mega2560, the communication module uses ESP32-S3 WiFi, and the motor controller uses DM430. The housing adopts an IP67 sealed design, which is an aluminum alloy housing with a thickness of 2 mm.

[0076] Drone parking and take-off process 1. Initial positioning and landing The drone identifies the ArUco QR code arranged on the top detachable landing board 210 through an on-board camera or a tripod camera. The QR code encoding contains the position coordinates and orientation information of the center of the top detachable landing board 210. The drone calculates its own attitude through an image processing algorithm, adjusts the flight parameters (pitch, yaw, and displacement), and precisely lands in the central area of the top detachable landing board 210 of the turntable module 200 (however, under the interference of the wind, it is inevitable to produce landing errors through visual algorithm guidance. The subsequent centering is to ensure that the position and attitude of the drone return to a known state, and at the same time clamp the drone to achieve the subsequent charging function). The position deviation is less than 1 cm, and the orientation deviation is less than ±1°.

[0077] 2. Centering trigger After the drone touches the top detachable landing board 210, the control and power management system module 600 detects a landing signal (confirmed by QR code positioning or mechanical contact), triggering the lateral lead screw centering module 100 and the central timing belt centering module 400 to start and enter the centering process in the X and Y directions.

[0078] 3. Centering in the X direction The lateral lead screw centering module 100 starts. The left and right groups of lateral lead screw centering modules 100 drive the lead screw 150 through a dual-axis motor, and move the centering rod 160 to push the drone horizontally (X-axis), adjusting the horizontal deviation to less than 1 mm.

[0079] 4. Centering in the Y direction The central timing belt centering module 400 takes over. The drive motor (42 stepper motor) in the motor fixing and synchronous pulley assembly 440 drives the centering push rod 431 in the centering timing belt single-side centering structure and the charging module assembly 430 through the centering timing belt, and moves along the front-back direction (Y-axis), adjusting the deviation of the drone in the Y-axis direction to less than 1 mm. Ensure smooth and precise pushing through the centering push rod 431.

[0080] 5. Charging and data transmission After centering is completed, the charging adapter board 433 is precisely aligned with the drone's feet, automatically starting the charging connection and data transmission interface to achieve efficient power supply and mission data exchange.

[0081] 6. Orientation adjustment According to the mission requirements (such as optimizing the takeoff wind direction or monitoring angle), the turntable motor output and fixing component 240 of the turntable module 200 drive the internal turntable bearing connection and rotation component 230 through the turntable timing belt 244, and then drive the rotating upper cover plate 234 to rotate, adjusting the drone's orientation to the optimal position with a rotation accuracy of ±0.5°.

[0082] 7. Takeoff preparation The centering mechanism (lateral lead screw centering module 100 and central timing belt centering module 400) moves the centering rod 160 and the centering push rod 431 away, and adjusts to the optimal takeoff direction through the turntable module 200. The drone starts the rotor or propulsion system to complete the takeoff.

[0083] The aforementioned embodiment of the present invention provides a modular drone automatic parking and charging platform, which has modularity and mobility: the platform and the location to be installed can be connected by standard aluminum alloy profiles and T-nuts and bolts (M5, M6 specifications), etc., and supports assembly or disassembly within 5 minutes. It can be separated from the drone airport as an independent apron, or moved within the airport through conveyor belts and lifting mechanisms, significantly improving deployment flexibility and space utilization; it has a dynamic rotation function: the turntable module 200 is driven by a turntable motor through a turntable synchronous belt, supports 360° rotation, and can adjust the posture of the drone after landing to optimize centering, or adjust the take-off direction according to wind direction and mission requirements, making up for the lack of direction adjustment in existing technologies such as CN119611847A.

[0084] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but is intended to be embodied in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. Modular UAV automatic parking and charging platform, characterized in that, It includes the overall frame of the centering module and the lateral screw centering module, the central synchronous belt centering module, the turntable module, the frame charging contact module, and the control and power management system module located on the overall frame of the centering module; The turntable module includes a top detachable landing plate and a rotating upper cover plate. The top detachable landing plate is detachably connected to the top of the overall frame of the centering module. Mounting holes are provided on the top detachable landing plate, and the rotating upper cover plate is rotatably arranged in the mounting holes; The lateral screw centering module is used to center the UAV in the X direction. The lateral screw centering module includes two centering rods located above the top detachable landing plate and movable. The two centering rods can move in the X direction; The central synchronous belt centering module is used to center the UAV in the Y direction. It includes two centering push rods located above the top detachable landing plate. The two centering push rods can move in the Y direction; The frame charging contact module is provided with a charging connector and a data transmission interface; The control and power management system module is used to control the working state of the platform and provide an external power supply and communication interface.

2. The modular unmanned aerial vehicle automatic parking and charging platform according to claim 1, wherein The turntable module further includes a turntable motor, a first driving synchronous pulley, a turntable synchronous belt, a first synchronous belt idler pulley, and a synchronous belt idler pulley middle transfer shaft. The turntable motor is arranged on the top detachable landing plate. The first driving synchronous pulley is arranged at the output end of the turntable motor. The first driving synchronous pulley is connected by the turntable synchronous belt and the first synchronous belt idler pulley, and the first synchronous belt idler pulley is connected to the rotating upper cover plate through the synchronous belt idler pulley middle transfer shaft.

3. The modular unmanned aerial vehicle automatic parking and charging platform according to claim 2, characterized in that, The turntable module further includes an intermediate bearing and a fixing component. The intermediate bearing and the fixing component include a turntable bearing outer ring fixing plate and a turntable bearing outer ring. The turntable bearing outer ring fixing plate is connected to the lower surface of the top detachable landing plate. The turntable bearing outer ring is connected to the turntable bearing outer ring fixing plate. The synchronous belt idler pulley middle transfer shaft is connected to the turntable bearing inner ring. The rotating upper cover plate is located above the turntable bearing outer ring fixing plate. The top of the synchronous belt idler pulley middle transfer shaft passes through the turntable bearing outer ring fixing plate and is connected to the rotating upper cover plate.

4. The modular UAV automatic parking and charging platform according to claim 1, characterized in that, The rotating upper cover plate is located at the middle position of the top detachable landing plate. When the UAV is parked, the UAV is centered on the rotating upper cover plate through the cooperation of the lateral screw centering module and the central synchronous belt centering module.

5. The modular unmanned aerial vehicle automatic parking and charging platform according to claim 1, wherein The lateral screw centering module further includes two centering rod moving and mounting modules. The two centering rod moving and mounting modules are oppositely arranged on both sides of the overall frame of the centering module. Each centering rod moving and mounting module includes a double-axis motor, two lead screws, and two lead screw nut assemblies. The two lead screws are respectively connected to the two output ends of the double-axis motor. The two lead screw nut assemblies are respectively arranged on the two lead screws. The two centering rods are respectively connected to the two lead screw nut assemblies.

6. The modular unmanned aerial vehicle automatic parking and charging platform according to claim 5, wherein Each centering rod moving and mounting module also includes a motor adapter plate assembly. The motor adapter plate assembly includes a frame adapter plate and a motor adapter plate arranged on the frame adapter plate. The frame adapter plate is detachably connected to the overall frame of the centering module. The double-axis motor is arranged on the motor adapter plate.

7. The modular UAV automatic parking and charging platform according to claim 1, characterized in that The central synchronous belt centering module is arranged at the bottom of the overall frame of the centering module, and includes a driving motor, a second driving synchronous pulley, a second synchronous belt idler pulley, a centering synchronous belt, two single-sided synchronous belt centering structures and a charging module assembly. The second driving synchronous pulley is connected to the output end of the driving motor, and the second driving synchronous pulley is in transmission connection with the second synchronous belt idler pulley through the centering synchronous belt. The two single-sided synchronous belt centering structures and the charging module assembly are arranged oppositely and fixed on the centering synchronous belt, and the tops of the two single-sided synchronous belt centering structures and the charging module assembly penetrate through the top detachable landing plate. Two centering push rods are respectively connected to the tops of the two single-sided synchronous belt centering structures and the charging module assembly.

8. The modular unmanned aerial vehicle automatic parking and charging platform according to claim 7, characterized in that, The central synchronous belt centering module further includes a slider rail assembly, and the bottoms of the two single-sided synchronous belt centering structures and the charging module assembly are slidably arranged on the slider rail assembly.

9. The modular unmanned aerial vehicle automatic parking and charging platform according to claim 1, characterized in that, The frame charging contact module includes a PCB board, on which a PCB charging connector, a signal connector and a charging contact for contacting with an external power supply contact are arranged. The PCB charging connector is connected to the control and power management system module through a power line, and the signal connector is connected to the control and power management system module through a signal line.

10. The modular UAV automatic parking and charging platform according to any one of claims 1-9, characterized in that, The control and power management system module includes a housing and a main control board, a communication module, a motor controller and a battery arranged in the housing.

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