Unmanned aerial vehicle autonomous charging device and charging method

Abstract

The invention discloses an unmanned aerial vehicle autonomous charging device which comprises a charging base, at least two battery charging bases and an unmanned aerial vehicle guiding device arranged around the battery charging bases, the charging base is horizontally arranged, and all the battery charging bases are arranged on the charging base at intervals and electrically connected with the charging base; a battery charging and replacing groove with a trapezoidal section is formed in the battery charging and replacing base, charging seats are arranged at the bottom of the battery charging and replacing groove at intervals, and the charging seats are electrically connected with the battery charging and replacing base; a limiting bulge is arranged at one end part of the groove bottom of the battery charging and replacing groove; at least one battery plug and a battery charging head are arranged outside the battery assembly; the battery plug is in hook type connection with a charging socket arranged on the unmanned aerial vehicle; and the charging socket is arranged below the fuselage of the unmanned aerial vehicle. The invention further discloses an unmanned aerial vehicle autonomous charging and battery replacing method. The method has the advantage that rapid and high-success-rate battery replacement can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field, and in particular to an autonomous charging and battery replacement device and a charging and battery replacement method for a drone. Background Art

[0002] Industry status: Drone battery life bottleneck: Mainstream drones have limited battery capacity (e.g., a 6S lithium battery lasts 20-40 minutes), requiring frequent battery replacement.

[0003] Disadvantages of manual battery replacement: It requires downtime and manual operation, which is inefficient (a single battery replacement takes ≥ 3 minutes), and is especially inconvenient in field operation scenarios.

[0004] The existing automatic battery replacement solution is insufficient: Accuracy dependency: The positioning of the robotic arm or guide rail requires millimeter-level accuracy, which is greatly affected by environmental vibration and drone landing deviation. This is because existing electrical interfaces usually require millimeter-level accuracy, and automatic alignment is impossible beyond this.

[0005] Poor compatibility: The battery interface is non-standardized and cannot be adapted to multiple drone models; Unable to operate continuously: Existing technology only supports ground-based battery replacement, which interrupts mission continuity. Charging also requires manual operation, which has a great impact on tasks such as power inspection and logistics transportation. Summary of the Invention

[0006] The technical problem to be solved by the present invention is that the existing automatic battery replacement device has high positioning accuracy requirements.

[0007] In order to solve the above technical problems, the first purpose of the present invention is to provide an autonomous charging and battery replacement device for drones.

[0008] The specific technical solutions adopted are as follows: A drone autonomous charging and battery swapping device comprises a charging base, at least two battery charging and battery swapping bases and a drone guide device arranged around the battery charging and battery swapping bases, the charging base is connected to a power source; all the battery charging and battery swapping bases are arranged at intervals on the charging base and are electrically connected to the charging base; a battery assembly is placed in at least one battery charging and battery swapping base, and at least one battery charging and battery swapping base is empty; a charging and battery swapping slot with a trapezoidal cross-section is provided on the battery charging and battery swapping base along the length direction, and a plurality of charging seats for contacting the battery assembly to charge it are provided at intervals at the bottom of the charging and battery swapping slot, and the charging seats are electrically connected to the battery charging and battery swapping bases; at least one battery plug for contacting the drone for discharge is provided on the outside of the battery assembly along the length direction, and a battery charging head corresponding to the charging seat is provided on the surface opposite to the battery plug, and both the battery plug and the battery charging head are electrically connected to the inside of the battery assembly; the battery plug is connected to the charging socket provided on the drone and supplies power to the drone; the charging socket is provided below the fuselage of the drone, and the charging socket is electrically connected to the drone.

[0009] In a further preferred embodiment of the technical solution of the present invention, the drone has a built-in battery or energy storage capacitor to maintain short-term power supply when the drone has no battery components.

[0010] In a further embodiment of the present invention, a magnetic ring is provided around each charging station at the bottom of the battery trough, and a stopper protrusion is provided at one end of the bottom of the battery trough. The magnetic ring attracts the battery charging head, and the stopper protrusion serves as a stopper for the drone parked in the battery trough.

[0011] In a further preferred embodiment of the technical solution of the present invention, the battery plug is connected to the charging socket provided on the drone in a hook-type connection.

[0012] In a further embodiment of the technical solution of the present invention, the drone guide device includes multiple rollers and two driving wheels. The two driving wheels are distributed on the charging bases on both sides of the battery charging and swapping base, and the two driving wheels move synchronously. All rollers are arranged in a straight line and spaced apart on the charging bases on both sides of the battery charging and swapping base. The driving wheel on one side of the battery charging and swapping base is arranged in a straight line with the rollers. The drone landing gear is parked above the rollers and driving wheels, and its movement resistance is very small. When the drone enters and exits the charging and swapping battery slot, the driving wheel can rotate forward and backward to push the drone forward and backward, completing the connection and release of the charging and swapping plug and socket, and completing the charging and swapping operation.

[0013] In a further embodiment of the technical solution of the present invention, the autonomous charging and battery-changing device for the drone further includes a battery locking member, which is arranged on the charging socket and strengthens the stability of the battery assembly.

[0014] In a further preferred embodiment of the technical solution of the present invention, the battery locking member is an electromagnet, which has a simple structure, a short operating distance and a fast response speed.

[0015] In a further preferred embodiment of the present invention, the battery plug, charging socket, and battery charging head are all made of conductive metal, and are coated with a corrosion-resistant conductive coating, such as gold plating or copper plating. Electrical contact points require corrosion and rust resistance to prevent poor contact; gold plating typically provides better conductivity and corrosion resistance. Copper plating offers a cost advantage.

[0016] In a further preferred embodiment of the present invention, the battery plug, charging socket, and battery charging head are made of ferromagnetic metal plates coated with a corrosion-resistant conductive coating. The ferromagnetic metal plates can be attracted by magnets, do not require a power source, and have a simple structure.

[0017] In a further preferred embodiment of the present invention, the corrosion-resistant conductive coating is a gold-plated layer or a copper-plated layer. Generally, a gold-plated layer has better conductivity and corrosion resistance. A copper-plated layer has a greater cost advantage.

[0018] The second purpose of the present invention is to propose a method for autonomous charging and battery replacement of drones, which can solve the inconvenience of charging and battery replacement of drones, including positioning difficulties and long charging and battery replacement time.

[0019] The technical solutions adopted are as follows: A method for autonomously charging and replacing batteries of a drone, comprising the following steps: Step 1: The drone carries the battery pack close to the drone's autonomous charging and swapping device, and selects an empty battery charging and swapping base for descent; Step 2: Move the drone close to an empty battery charging and swapping base. Adjust the drone to one end of the battery charging and swapping slot and, guided by the inclined surface of the battery charging and swapping slot, quickly align and enter the battery charging and swapping slot. Step 3: Slowly move forward into the battery compartment until the battery pack reaches the stop. The drone stops. The battery charging heads on the drone's battery pack align with the charging cradles in the battery compartment to charge. The magnetic ring on the charging cradle holds the battery pack in place. Step 4. Unlock the battery lock and switch the drone to internal battery power. Start the drone and slowly move it backwards to exit the battery charging and swapping slot and leave the battery charging and swapping base. Step 5: The drone approaches the fully charged battery charging and swapping base with the battery pack. The drone is adjusted to one end of the battery charging and swapping slot and, guided by the inclined surface of the battery charging and swapping slot, quickly aligns and enters the battery charging and swapping slot. Step 6. Unlock the battery lock and slowly move the drone forward in the battery charging and swapping slot until the charging socket on the drone is inserted into the battery plug on the battery assembly. The drone is positioned and docked on the battery charging and swapping base. Step 7: Lock the battery lock piece; Step 8. Switch the drone to battery power, start the drone, and fly it upwards; detach the drone from the battery charging and swapping base to complete the battery swap.

[0020] Compared with the prior art, the present invention has the following beneficial effects: The autonomous charging and battery replacement device for drones of the present invention can achieve fast (≤10 seconds) and high success rate (>95%) battery replacement.

[0021] The autonomous battery charging and swapping device for the drone of the present invention adopts a battery charging and swapping slot with a trapezoidal cross-section. When the drone enters the battery charging and swapping slot, it is guided by the outer inclined surface of the battery charging and swapping slot, and the drone enters the battery charging and swapping slot quickly, thereby reducing the docking accuracy requirements.

[0022] The autonomous charging and battery-swapping device for drones of the present invention realizes autonomous charging and battery-swapping, and can achieve unmanned unlimited flight by switching multiple battery modules.

[0023] The autonomous charging and battery-swapping device for unmanned aerial vehicles of the present invention is compatible with dual-mode battery swapping in the air or on the ground.

[0024] The autonomous drone battery charging and swapping device of this invention features a modular, full-length cylindrical battery assembly. Unlike the blind-hole slots and short cylindrical batteries used in conventional drones, it facilitates replacement, eliminating the need for a robotic arm. This significantly reduces the device's cost. Battery swapping takes only a few tenths of the time of conventional charging, more than doubling the drone's operational frequency.

[0025] The autonomous charging and battery replacement method for drones of the present invention is different from the blind hole slots and short cylindrical batteries used in traditional drones, which require a robotic arm or even manual operation for charging and battery replacement. Charging and battery replacement basically rely on the movement of the drone and the locking device. Eliminating the robotic arm greatly reduces the cost of the charging and battery replacement device. The use of a guide device reduces the alignment accuracy of the drone. Unmanned operation is achieved, which not only improves the battery replacement speed, but also allows the charging and battery replacement device to be placed in places that are difficult for people to reach, such as street lights and telephone poles. This improves the navigation conditions for drones and makes it less likely that drone blades will injure people. In addition, charging and battery replacement are processed in parallel, and interleaved use can increase the battery life indefinitely, greatly improving the user experience. Traditional drones only have a battery life of tens of minutes, which greatly limits the usage scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of the charging base of the autonomous charging and battery-swapping device for the drone of this embodiment; Figure 2 yes Figure 1 Side view; Figure 3 yes Figure 1 A top view of Figure 4 yes Figure 2 AA cut view; Figure 5 It is a structural diagram of a battery assembly; Figure 6 This is the main view of the battery assembly; Figure 7 This is a schematic diagram of the structure of the battery assembly carried by the drone; Figure 8 yes Figure 7 The main view; Figure 9 yes Figure 7 Side view of Figure 10 This is a schematic diagram of a drone carrying a battery assembly and landing on the battery charging and swapping base 5; Among them, 1-UAV, 11-charging socket, 2-battery assembly, 21-battery plug, 22-battery charging head, 23-battery assembly indicator light, 3-charging base, 31-charging and swapping battery slot, 4-UAV guide device, 41-roller, 42-driving wheel, 5-battery charging and swapping base, 51-charging and swapping battery slot, 52-limiting protrusion, 53-charging and swapping indicator light, 6-charging base, 7-magnetic ring, 8-battery locking part. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clear, the following Figures 1-10 The present invention is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0028] Example 1

[0029] like Figure 1-6 As shown, this embodiment is an autonomous charging and battery-swappable device for a drone, comprising a charging base 3, two battery charging and battery-swappable bases 5, and a drone guide device 4 arranged around the battery charging and battery-swappable bases 5.

[0030] The charging base 3 is placed horizontally and can be fixed at any desired position as needed. After being fixed, the charging base 3 is connected to 380V or 220V AC. Two battery charging and swapping bases 5 are arranged at intervals on the charging base 3 and are electrically connected to the charging base 3.

[0031] like Figure 2 、 3 As shown in Figure 4, a battery charging and swapping slot 31 with a trapezoidal cross-section is set along the length direction of the battery charging and swapping base 5. A plurality of charging seats 6 for contacting the battery assembly 2 to charge it are set at intervals at the bottom of the battery charging and swapping slot 31. The charging seats 6 are electrically connected to the battery charging and swapping base 5.

[0032] It should be noted here that, in this embodiment, the electrical connection between the battery charging and swapping base 5 and the charging base 3 and the electrical connection of the charging base 6 to the battery charging and swapping base 5 are all known technologies in the art and are known to those skilled in the art.

[0033] A stop protrusion 52 is provided at one end of the bottom of the battery compartment 51. This stop protrusion 52 serves to limit the parking position of the drone parked in the battery compartment 51. Specifically, when the drone 1 carrying the battery pack 2 enters the battery compartment 51 and slowly advances within the compartment 51, the battery pack 2 contacts the stop protrusion 52, causing the drone to stop due to the attraction between the magnetic ring 7 and the ferromagnetic battery charging head 22.

[0034] like Figure 2 As shown, a charging indicator light 53 is provided on one end face of the battery charging and swapping base 5 of this embodiment. The charging indicator light 53 is electrically connected to the battery charging and swapping base 5. The charging indicator light 53 indicates the base position, facilitating remote control of the drone. When the drone contacts the base, the charging indicator light 53 flashes in different colors to indicate the location of the base. The charging indicator light 53 remains on to indicate the base position. When the charging indicator light 53 flashes, it indicates that the battery on the battery charging and swapping base 5 is fully charged, which is used to indicate the drone.

[0035] like Figure 5 As shown, the battery assembly 2 in this embodiment is a product of the art. Figure 6 As shown, the battery assembly 2 in this embodiment has at least one battery plug 21 provided on the outside of the battery assembly 2 along the length direction for contacting and discharging with the drone 1, and a battery charging head 22 corresponding one-to-one to the charging seat 6 is provided on the surface opposite to the battery plug 21. The battery plug 21 and the battery charging head 22 are both electrically connected to the inside of the battery assembly 2.

[0036] It should be noted here that, in this embodiment, the battery plug 21 and the battery charging head 22 on the battery assembly 2 are both electrically connected to the inside of the battery assembly 2, which are both known technologies in the art and are known to those skilled in the art.

[0037] like Figure 6 As shown, a battery assembly indicator light 23 is set at one end of the battery assembly 2. The battery assembly indicator light 23 is electrically connected to the inside of the battery assembly 2. The battery assembly indicator light 23 remains always on and can indicate the position of the drone when in the air, facilitating remote control.

[0038] like Figure 4 As shown, in the charging socket 11, a magnetic ring 7 is provided around each charging seat 6 at the bottom of the charging and swapping battery slot 51. When the battery assembly 2 enters the charging and swapping battery slot 51 for positioning and charging, the magnetic ring 7 adsorbs the battery charging head 22 on the battery assembly 2 to fix the battery assembly 2.

[0039] like Figure 7 As shown, the drone 1 in this embodiment is a product of the art. The drone 1 in this embodiment has a charging socket 11 at the bottom of the drone 1 corresponding to the battery plug 21 , and the charging socket 11 is electrically connected to the drone 1 .

[0040] like Figure 8 As shown, the charging socket 11 and the battery plug 21 are connected in a hook-type manner, specifically: A charging socket plate is provided extending downward from the bottom of the fuselage of the drone 1 , and a charging socket 11 is vertically provided on the surface of the charging socket plate, and the charging socket 11 is a cylinder.

[0041] A battery plug plate is vertically arranged on the outer surface of the battery assembly 2 , and a notch is provided on the battery plug plate for the charging socket 11 to be inserted, forming a battery plug 21 .

[0042] Further, if Figure 8 As shown, a battery lock 8 is provided on the charging socket plate, located on the same side of the plate as the charging socket 11. In this embodiment, the battery lock 8 is preferably an electromagnet. The specific operation process is as follows: the electromagnet drives the cylinder at its center. When extended, the cylinder locks the charging socket 11 and the battery plug 21. When retracted, the battery plug 21 can move backward and disengage from the charging socket 11.

[0043] like Figure 9 As shown, after the battery replacement is completed, the battery locking piece 8 is extended, and the charging socket 11 and the battery plug 21 are clamped and fixed by the cylinder, so that the battery assembly 2 and the drone 1 are fixed as one; the drone can then use the battery assembly.

[0044] In this embodiment, the battery locking member 8 further uses a stepper motor or a steering gear drive transmission structure to drive the guide post to extend or retract, thereby achieving the purpose of locking the battery assembly 2. The guide post is provided on the charging socket 11.

[0045] like Figure 7 and 8 As shown, the battery plug 21, the charging socket 11 and the battery charging head 22 are all made of metal conductive materials, preferably ferromagnetic metal plates in this embodiment, and the surface is coated with a corrosion-resistant conductive coating. The preferred corrosion-resistant conductive coating in this embodiment is a gold-plated layer or a copper-plated layer.

[0046] like Figure 1 and 4 As shown, considering that the drone 1 is parked on the battery charging and swapping base 5, the drone 1 is fixed in position and moving forward and backward may be inconvenient. In this embodiment, a drone guide device 4 is set around the battery charging and swapping base 5.

[0047] like Figure 4 As shown, the drone guide device 4 includes multiple rollers 41 and two driving wheels 42. The two driving wheels 42 are distributed on the charging base 3 on both sides of the battery charging and swapping base 5, and the two driving wheels 42 move synchronously; all the rollers 41 are in a straight line and are distributed at intervals on the charging base 3 on both sides of the battery charging and swapping base 5; the driving wheel 42 on one side of the battery charging and swapping base 5 is arranged in a straight line with the roller 41.

[0048] like Figure 10 As shown, the UAV landing gear is parked above the roller 41 and the driving wheel 42, and its movement resistance is very small; when forward and backward movement is required (when the UAV enters and exits the charging and swapping battery slot), the driving wheel 42 can also be rotated forward and reverse to push the UAV forward and backward to complete the connection and release of the charging and swapping plug and socket, thereby completing the charging and swapping action.

[0049] like Figure 7 As shown, in this embodiment, the drone 1 has a built-in battery or energy storage capacitor to maintain short-term power supply when the drone is without a battery component. It should be noted that in this embodiment, the drone 1 has a built-in battery or energy storage capacitor, which is a known technology in the art and is known to those skilled in the art.

[0050] like Figure 1-10 As shown, a method for autonomous charging and battery replacement of a drone includes the following steps: Step 1: The drone 1 carries the battery pack 2 and approaches the drone's autonomous charging and swapping device, and selects an empty battery charging and swapping base 5 for descent; Step 2: The drone 1 approaches an empty battery charging and swapping base 5. The drone 1 is adjusted to one end of the battery charging and swapping slot 51 and is guided by the inclined surface of the battery charging and swapping slot 51 to quickly align and enter the battery charging and swapping slot 51. Step 3: Slowly move forward in the battery compartment 51 until the battery pack 2 reaches the limit protrusion 52, and the drone 1 stops. At this time, the battery charging head 22 on the battery pack 2 carried by the drone 1 corresponds to the charging seat 6 in the battery compartment 51, and charging is started. The magnetic ring 7 on the charging seat 6 attracts the battery pack 2. Step 4: Unlock the battery lock 8 and switch the drone 1 to internal battery power supply; start the drone 1 and slowly move it backwards to exit the battery charging and swapping slot 51 and leave the battery charging and swapping base 5; Step 5: The drone 1 approaches the battery charging and swapping base 5 with the battery assembly 2 that has been fully charged. The drone 1 is adjusted to one end of the battery charging and swapping slot 51 and is guided by the inclined surface of the battery charging and swapping slot 51 to quickly align and enter the battery charging and swapping slot 51. Step 6: Unlock the battery lock 8, and slowly move the drone 1 forward in the battery charging and swapping slot 51 until the charging socket 11 on the drone 1 is inserted forward into the battery plug 21 on the battery assembly 2. The drone 1 is positioned and docked on the battery charging and swapping base 5. Step 7: Lock the battery locking member 8; Step 8: The drone 1 switches to the battery pack 2 for power supply, starts the drone 1, and flies upward; detaches from the battery charging and swapping base 5, and completes the battery swap.

[0051] In the autonomous charging and battery swapping method for drones of this embodiment, in step 1, the drone 1, under its own drone operating system, approaches the autonomous charging and battery swapping device for drones and selects an empty battery charging and battery swapping base 5 for descent; specifically, check the charging and battery swapping indicator light 53 set on one side end face of the battery charging and battery swapping base 5 to determine the position of the battery charging and battery swapping base 5, and then further observe whether the charging and battery swapping indicator light 53 flashes to determine whether there is a fully charged battery assembly 2 on the battery charging and battery swapping base 5.

[0052] In the autonomous charging and battery swapping method for drones of this embodiment, in step 2, the drone 1 enters the charging and battery swapping slot 51. Due to the inclined surface guidance of the charging and battery swapping slot 51, the drone 1 quickly enters the charging and battery swapping slot 51, reducing the docking accuracy requirement (centimeter-level deviation is allowed).

[0053] In the autonomous charging and battery replacement method for drones of this embodiment, in step 3, the battery assembly 2 reaches the limit protrusion 52 and the drone 1 stops. Specifically, when the battery assembly 2 contacts the limit protrusion 52, the drone stops moving due to the adsorption effect of the magnetic ring 7 and the ferromagnetic battery charging head 22.

[0054] In the autonomous charging and battery replacement method for the drone of this embodiment, in step 4, the drone operating system unlocks the battery locking member 8, that is, the battery locking member 8 is retracted; Figure 9 As shown, when the drone 1 carries the battery assembly 2, the battery locking member 8 extends to block the direction in which the battery assembly 2 can be separated.

[0055] In the autonomous charging and battery replacement method for drones of this embodiment, in step 4, the drone 1 switches to internal battery power supply; this is completed by the drone operating system, and the drone operating system is a known technology in the art and is known to those skilled in the art.

[0056] In the autonomous charging and battery replacement method for drones of this embodiment, in step 4, when the drone 1 moves slowly backward, the battery assembly 2 will not follow the movement of the drone 1 under the adsorption force of the magnetic ring 7, and the charging socket 11 of the drone 1 will be separated from the battery plug 21.

[0057] In the autonomous charging and battery-changing method for drones of this embodiment, in step 4, when the drone 1 leaves the battery charging and battery-changing slot 51 and the battery charging and battery-changing base 5, the electromagnet will reset, that is, the cylinder will extend.

[0058] In the autonomous charging and swapping method for drones of this embodiment, in step 6, the battery lock 8 is retracted after being unlocked again. When the drone 1 enters the battery charging and swapping slot 51, the charging socket 11 on the drone 1 is inserted forward into the battery plug 21 on the battery assembly 2. At this time, due to the adsorption effect of the magnetic ring 7 and the ferromagnetic battery charging head 22, the battery assembly 2 is adsorbed within the battery charging and swapping slot 51. The drone propeller speed is not high enough, and it cannot move forward or upward, indicating that the drone 1 has been positioned and docked on the battery charging and swapping base 5. The charging socket 11 on the drone 1 is inserted forward into the battery plug 21 on the battery assembly 2.

[0059] In the autonomous charging and battery replacement method for the drone of this embodiment, in step 7, after step 6 is completed, the drone operating system gives a signal and the battery locking member 8 is locked.

[0060] In the autonomous charging and battery replacement method for drones of this embodiment, in step 8, after the battery assembly 2 is replaced, the drone operating system starts the drone 1 to fly upward. At this time, the battery assembly 2 is locked due to the battery locking part 8, and only the adsorption force of the magnetic ring 7 exists between the battery charging and battery replacement slot 51. The battery assembly 2 slowly flies upward, and gradually gets rid of the adsorption force of the magnetic ring 7 and completely detaches from the battery charging and battery replacement base 5, completing the autonomous battery replacement of the drone 1; realizing unmanned autonomous battery replacement.

[0061] The autonomous charging and battery-swappable device for unmanned aerial vehicles of this embodiment can realize autonomous charging and battery-swappable with unlimited endurance, and has high practical value for tasks such as power inspection, logistics transportation, and reconnaissance and monitoring.

[0062] The autonomous charging and battery swapping device for drones in this embodiment can be used in a variety of scenarios: it is suitable for ground and rooftop installation, as well as installation in vehicles, ships, and even aircraft, significantly increasing the drone's range and endurance. By staggering charging and battery swapping, it can even achieve unlimited flight time. This is very helpful for applications such as inspection, security, and communication relay.

[0063] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An autonomous charging and battery-swapping device for a drone, characterized in that: The invention comprises a charging base (3), at least two battery charging and swapping bases (5) and a UAV guide device (4) arranged around the battery charging and swapping bases (5), wherein the charging base (3) is connected to a power source; all the battery charging and swapping bases (5) are arranged at intervals on the charging base (3) and are electrically connected to the charging base (3); a battery assembly (2) is placed in at least one battery charging and swapping base (5), and at least one battery charging and swapping base (5) is vacant; a charging and swapping battery slot (51) with a trapezoidal cross section is arranged on the battery charging and swapping base (5) along the length direction, and a plurality of charging seats (6) for contacting the battery assembly (2) to charge the battery are arranged at intervals at the bottom of the charging and swapping battery slot (51). The seat (6) is electrically connected to the battery charging and swapping base (5); along the length direction of the battery assembly (2), at least one battery plug (21) is provided on the outside of the battery assembly (2) for contacting and discharging with the drone (1); a battery charging head (22) corresponding to the charging seat (6) is provided on the surface opposite to the battery plug (21); the battery plug (21) and the battery charging head (22) are both electrically connected to the inside of the battery assembly (2); the battery plug (21) is connected to the charging socket (11) provided on the drone (1) and supplies power to the drone (1); the charging socket (11) is provided below the fuselage of the drone (1), and the charging socket (11) is electrically connected to the drone (1).

2. The autonomous charging and battery-swapping device for drones according to claim 1, characterized in that: The drone (1) has a built-in battery or energy storage capacitor.

3. The autonomous charging and battery-swapping device for drones according to claim 1, characterized in that: The bottom of the battery charging and swapping slot (51) is provided with a magnetic ring (7) around each charging seat (6), and a limiting protrusion (52) is provided at one end of the bottom of the battery charging and swapping slot (51).

4. The autonomous charging and battery-swapping device for drones according to claim 1, characterized in that: The battery plug (21) is connected to the charging socket (11) provided on the drone (1) in a hook-type manner.

5. The autonomous charging and battery-swapping device for drones according to claim 1, characterized in that: The UAV guide device (4) includes a plurality of rollers (41) and two driving wheels (42), the two driving wheels (42) are distributed on the charging base (3) on both sides of the battery charging and swapping base (5), and the two driving wheels (42) move synchronously; all the rollers (41) are arranged in a straight line and are distributed at intervals on the charging base (3) on both sides of the battery charging and swapping base (5); the driving wheel (42) on one side of the battery charging and swapping base (5) is arranged in a straight line with the roller (41).

6. The autonomous charging and battery-changing device for a UAV according to claim 1, characterized in that: The autonomous charging and battery replacement device for the unmanned aerial vehicle further comprises a battery locking member (8), and the battery locking member (8) is arranged on the charging socket (11).

7. The autonomous charging and battery-changing device for a drone according to claim 6, characterized in that: The battery locking member (8) is an electromagnet.

8. The autonomous charging and battery-changing device for a UAV according to claim 1, characterized in that: The battery plug (21), the charging socket (11) and the battery charging head (22) are all made of metal conductive materials, and the surfaces of the battery plug (21), the charging socket (11) and the battery charging head (22) are all plated with a corrosion-resistant conductive coating, which is a gold-plated layer or a copper-plated layer.

9. The autonomous charging and battery-changing device for a UAV according to claim 8, characterized in that: The battery plug (21), the charging socket (11) and the battery charging head (22) are ferromagnetic metal plates, and the surfaces are plated with a corrosion-resistant conductive coating.

10. The charging and swapping method of the autonomous charging and swapping device for a UAV according to any one of claims 1 to 9, characterized in that: The steps include: Step 1: The drone (1) carries the battery pack (2) close to the drone's autonomous charging and swapping device, and selects an empty battery charging and swapping base (5) for descent; Step 2: The drone (1) approaches an empty battery charging and swapping base (5), and the drone (1) is adjusted to one end of the battery charging and swapping slot (51), and is guided by the inclined surface of the battery charging and swapping slot (51), and quickly aligns and enters the battery charging and swapping slot (51); Step 3: Slowly move forward in the battery charging and swapping slot (51) and enter the battery charging and swapping slot (51) until the battery assembly (2) reaches the limit protrusion (52), and the drone (1) stops; at this time, the battery charging head (22) on the battery assembly (2) carried by the drone (1) corresponds one-to-one with the charging seat (6) in the battery charging and swapping slot (51) to charge; and the magnetic ring (7) on the charging seat (6) attracts the battery assembly (2); Step 4: Unlock the battery lock (8), and the drone (1) switches to internal battery power supply; start the drone (1), slowly move it backward, exit the battery charging and swapping slot (51), and leave the battery charging and swapping base (5); Step 5: The drone (1) approaches the battery charging and swapping base (5) with the battery assembly (2) and the battery is fully charged. The drone (1) is adjusted to one end of the battery charging and swapping slot (51), and is guided by the inclined surface of the battery charging and swapping slot (51) to quickly align and enter the battery charging and swapping slot (51); Step 6: Unlock the battery lock (8), and the drone (1) slowly moves forward in the battery charging and swapping slot (51) until the charging socket (11) on the drone (1) is inserted forward into the battery plug (21) on the battery assembly (2). The drone (1) is positioned and docked on the battery charging and swapping base (5); Step 7: Lock the battery locking member (8); Step 8: The drone (1) switches to the battery pack (2) for power supply, starts the drone (1), and flies upward; and detaches from the battery charging and swapping base (5), completing the battery swap.

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