Multi-rotor unmanned aerial vehicle, vehicle-mounted multi-rotor unmanned aerial vehicle group system and control method thereof

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle, a vehicle-mounted multi-rotor unmanned aerial vehicle group system and a control method thereof, and relates to the technical field of unmanned aerial vehicles. A UWB positioning system is arranged on the vehicle-mounted mobile platform, a UWB label plate arranged on the multi-rotor unmanned aerial vehicle can be recognized, accurate position adjustment is conducted in cooperation with contact type guiding of an unmanned aerial vehicle taper sleeve-parking rod, and therefore accurate positioning landing of the unmanned aerial vehicle on the mobile platform in a complex battlefield environment is achieved. Meanwhile, the hollow channel is formed in the middle of the multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle can be parked on the parking rod in a stacked mode, and a large number of multi-rotor unmanned aerial vehicles can be transported and stored in a limited platform space at a time. According to the vehicle-mounted multi-rotor unmanned aerial vehicle group system, cluster bearing transportation and rapid circulation deployment of the multi-rotor unmanned aerial vehicles are achieved, the combat efficiency of the unmanned aerial vehicles can be improved in the aspects of the number and time, the unmanned aerial vehicles are helped to still have reliable return flight positioning capacity in the complex environment, and the vehicle-mounted multi-rotor unmanned aerial vehicle group system is suitable for the battlefield environment with changeable and complex conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a multi-rotor UAV, a vehicle-mounted multi-rotor UAV swarm system, and a control method thereof. Background Art

[0002] In recent years, the rapid development of multi-rotor drone technology has accelerated its application in various fields. However, the limitations of its endurance have given rise to the emergence of air-ground collaborative systems. Currently, the development of vehicle-mounted multi-rotor drone systems is mainly concentrated in civil and industrial applications, and the coupling between ground and air platforms is not high. In addition, drone navigation mostly uses satellite navigation, which cannot meet the requirements of mission execution in complex application scenarios. Moreover, in common air-ground collaborative applications, multi-rotor drones are generally required to take off and land from a stationary ground platform, which undoubtedly reduces the efficiency of air-ground collaboration. Therefore, it is necessary to conduct in-depth research on autonomous landing of drones on mobile platforms to provide a foundation for achieving highly intelligent air-ground collaboration.

[0003] However, there is currently no solution that can achieve accurate positioning of multi-rotor drones in harsh environments and robust landing control of multi-rotor drones on mobile platforms. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-rotor drone, a vehicle-mounted multi-rotor drone swarm system and a control method thereof, which can achieve precise positioning of multi-rotor drones in harsh environments and robust take-off and landing control of multi-rotor drones on mobile platforms, so as to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] In one aspect, the present invention provides a multi-rotor drone, comprising:

[0007] A multi-rotor drone body, wherein a hollow passage for a parking rod to pass through is defined at the geometric center of the multi-rotor drone body, and the hollow passage passes through the top and bottom of the multi-rotor drone body;

[0008] A positioning sleeve assembly, comprising an upper positioning cone sleeve and a lower positioning cone sleeve, wherein the upper positioning cone sleeve and the lower positioning cone sleeve are respectively arranged on the top and bottom of the multi-rotor drone body, and the large ends of the upper positioning cone sleeve and the lower positioning cone sleeve are both facing downward, and the centers of the upper positioning cone sleeve and the lower positioning cone sleeve are each provided with a through hole coaxially connected to the hollow channel for the parking rod to pass through; the lower positioning cone sleeve can be connected to the upper positioning cone sleeve of the adjacent multi-rotor drone on the same parking rod;

[0009] The UWB tag board is provided on the multi-rotor UAV body and can be identified by the UWB positioning system installed on the UAV take-off and landing platform to achieve precise landing of the multi-rotor UAV body on the corresponding parking pole.

[0010] In some embodiments, the multi-rotor drone body includes:

[0011] The frame includes a top plate, a middle plate, and a bottom plate arranged in sequence from top to bottom, the middle plate and the bottom plate being connected, the top plate being supported and connected above the middle plate by pillars to form a partition between the middle plate and the top plate; openings are formed at the geometric centers of the top plate, the middle plate, and the bottom plate, and the openings of the top plate, the middle plate, and the bottom plate are connected to form the hollow channel;

[0012] A plurality of machine arms are provided and are evenly connected to the outer periphery of the middle plate;

[0013] There are multiple rotors, and the outer end of any of the arms is provided with the rotor;

[0014] A flight control center is disposed in the compartment, the flight control center including a flight control board, a power distribution board, and a receiver, and any of the rotors is electrically connected to the flight control center;

[0015] An algorithm center is provided on the middle plate or the bottom plate, and the UWB tag board and the flight control center are both communicatively connected to the algorithm center;

[0016] The battery is arranged on the middle plate or the bottom plate and is used to provide power for the multi-rotor drone body to continue its flight.

[0017] In some embodiments, the multi-rotor drone body further includes a UWB tag board protection box and an algorithm center protection box, wherein the UWB tag board and the algorithm center are respectively disposed in the UWB tag board protection box and the algorithm center protection box; one of the UWB tag board protection box and the algorithm center protection box is fixed to one side of the middle plate, and the other is fixed to one side of the bottom plate;

[0018] The UWB tag board protection box, the algorithm center protection box and the battery are arranged in a counterweight-balanced manner on the periphery of the hollow channel.

[0019] In some embodiments, the multi-rotor drone body further includes:

[0020] A blade guard is provided at the outer end of the arm and is fitted around the periphery of the rotor; the periphery of any of the rotors is fitted with the blade guard;

[0021] The whole machine protection cover is sleeved on the outer periphery of the multi-rotor UAV body and fixed on the top plate.

[0022] In some embodiments, the multi-rotor drone further includes an ammunition taking and throwing mechanism disposed inside the upper positioning cone sleeve, which includes:

[0023] A plurality of L-shaped baffles are arranged on the outer periphery of the hollow channel, and the plurality of L-shaped baffles enclose an ammunition cavity communicating with the hollow channel; the corners of any of the L-shaped baffles are facing upward, and the bottom ends of any of the L-shaped baffles are connected to the top of the multi-rotor drone body via a spring hinge, and any of the L-shaped baffles can automatically retract under the action of the corresponding spring hinge to clamp the thinnest part below the ammunition tail fin through the corners of the L-shaped baffles to complete the ammunition mounting;

[0024] An opening and closing drive is provided on the top of the multi-rotor UAV body. One end of any spring hinge connected to the L-shaped baffle is movably connected to the opening and closing drive. The opening and closing drive can drive the L-shaped baffle to open to release the ammunition in the ammunition cavity and complete the ammunition throwing.

[0025] On the other hand, the present invention proposes a vehicle-mounted multi-rotor drone swarm system, comprising a vehicle-mounted mobile platform, the parking pole and a plurality of the multi-rotor drones, wherein: a plurality of the UWB positioning systems are distributed at intervals on the vehicle-mounted mobile platform, a plurality of the parking poles are provided and distributed at intervals on the vehicle-mounted mobile platform, and any one of the parking poles can simultaneously pass through a plurality of the multi-rotor drones.

[0026] In some embodiments, any one of the parking poles is provided with a plurality of power replenishment units arranged at intervals along the length direction of the parking pole, and the arrangement position of each of the power replenishment units corresponds one-to-one to the parking height of each layer of the multi-rotor drone on the parking pole; a charging unit adapted to the power replenishment unit is provided in the hollow channel of any one of the multi-rotor drones to charge the multi-rotor drone through the power replenishment unit.

[0027] In some embodiments, each of the power replenishment units includes a radio transmitting coil and a wired power output terminal; the charging unit includes a radio receiving coil inductively adapted to the radio transmitting coil and a wired power receiving terminal electrically adapted to the wired power output terminal.

[0028] In some embodiments, a conical seat for the lower positioning cone sleeve to be overlapped is provided at the bottom of any one of the parking rods.

[0029] In some embodiments, any one of the parking rods is equipped with an ammunition replenishment system, which includes an ammunition storage bin, an ammunition conveying mechanism, and an ammunition temporary blocking mechanism, wherein the ammunition storage bin is opened in the parking rod and passes through the top end of the parking rod; the ammunition temporary blocking mechanism is arranged at the top end of the parking rod, and the ammunition temporary blocking mechanism includes a plurality of bud-shaped blocking pieces arranged along the circumference of the parking rod, and any one of the bud-shaped blocking pieces is connected to the parking rod by a spring hinge, and any one of the bud-shaped blocking pieces can automatically retract under the action of the corresponding spring hinge to block the thinnest part below the tail fin of the ammunition; the ammunition conveying mechanism is arranged in the storage bin, and is used to convey the spare ammunition in the storage bin to the ammunition temporary blocking mechanism one by one, waiting for mounting;

[0030] 14. The foldable ammunition delivery mechanism of claim 13, wherein the at least one L-shaped baffle is arranged on the outside of the at least one L-shaped frame, and the at least one L-shaped frame is arranged on the inside of the at least one L-shaped frame.

[0031] In another aspect, the present invention provides a control method for the above-mentioned vehicle-mounted multi-rotor drone swarm system, including a drone return and landing control method, wherein the drone return and landing control method comprises the following steps:

[0032] S1, after the multi-rotor drone completes the bombing mission or is reminded of low battery, it starts to return;

[0033] S2: The multi-rotor UAV navigates to the vicinity of the vehicle-mounted mobile platform based on GNSS / INS fusion positioning;

[0034] S3: The multi-rotor UAV is navigated to the top of the parking pole where it is required to land based on the combined positioning of UWB / INS;

[0035] S4: The multi-rotor drone passes through the parking rod and lands downward along the parking rod.

[0036] Compared with the prior art, the present invention has achieved the following technical effects:

[0037] The multi-rotor drone proposed in this invention can be used in conjunction with the parking poles installed on a vehicle-mounted mobile platform to achieve precise positioning and landing of the multi-rotor drone on the vehicle-mounted mobile platform. The vehicle-mounted mobile platform is equipped with a UWB positioning system that can recognize the UWB tag plate on the drone. All parking poles on the vehicle-mounted mobile platform are within the position recognition range of the UWB positioning system. When the UWB positioning system detects a multi-rotor drone near the vehicle-mounted mobile platform, it can guide the multi-rotor drone to land and park on any parking pole on the vehicle-mounted mobile platform, thereby achieving precise positioning and landing of the drone on a dynamic platform in complex battlefield environments.

[0038] A hollow channel is opened in the middle of the multi-rotor UAV, which can be stacked and parked on the parking pole, realizing the one-time transportation and storage of a large number of multi-rotor UAVs in a limited platform space; the contact guidance of the UAV drogue-parking pole can be used for the position and attitude control of the multi-rotor UAV during vertical landing on a dynamic mobile platform, improving the stability and reliability of the multi-rotor UAV in autonomous return and vertical landing on a dynamic platform in complex and changeable environments, thereby improving combat efficiency.

[0039] The vehicle-mounted multi-rotor drone swarm system proposed in this invention utilizes a UWB-based vehicle-mounted local mobile positioning system and a parking pole-drogue contact-type integrated guidance method to achieve rapid vertical takeoff and landing of drogue-type drones on a mobile platform. The proposed drogue-drogue-parking pole cluster stacking method utilizes the structural coordination between the drogue-type drones to achieve cluster support. The vehicle-mounted mobile deployment system enables rapid deployment of drone swarms, improving combat efficiency on the battlefield. Furthermore, the entire vehicle-mounted multi-rotor drone swarm system enables the recycling and automatic replenishment of drone swarms, providing a new solution to the problems of insufficient endurance and limited payload capacity of lightweight multi-rotor drones, thereby increasing the combat efficiency of drones in terms of both quantity and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 This is a schematic diagram of the overall structure of the vehicle-mounted multi-rotor drone swarm system proposed in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the structure of the frame of the multi-rotor drone proposed in an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the overall structure of the multi-rotor drone proposed in an embodiment of the present invention;

[0044] Figure 4 A schematic diagram of the counterweight arrangement of a multi-rotor drone frame according to an embodiment of the present invention;

[0045] Figure 5 This is a schematic structural diagram of the upper positioning cone sleeve proposed in an embodiment of the present invention;

[0046] Figure 6 This is a schematic cross-sectional view of the multi-rotor UAV according to an embodiment of the present invention;

[0047] Figure 7 A schematic diagram of the coordination between a multi-rotor drone and a parking pole according to an embodiment of the present invention;

[0048] Figure 8 This is a schematic diagram of the process of ammunition loading and dropping by the ammunition loading and dropping mechanism proposed in an embodiment of the present invention;

[0049] Figure 9 A schematic diagram of the structure and installation of a radio receiving coil in a wireless charging system according to an embodiment of the present invention;

[0050] Figure 10 A schematic diagram of the structure and installation of a wired power receiving end in a wired charging system according to an embodiment of the present invention;

[0051] Figure 11 A schematic diagram of the coordination and guidance of a multi-rotor UAV and a parking pole when the multi-rotor UAV is about to land according to an embodiment of the present invention;

[0052] Figure 12 A schematic diagram of the structure and installation of a cone seat in a parking rod according to an embodiment of the present invention;

[0053] Figure 13 This is a schematic diagram of the assembly of the bottom drone and the cone seat on the parking pole proposed in an embodiment of the present invention.

[0054] In the figure, the reference numerals are: 100, multi-rotor UAV; 200, vehicle-mounted multi-rotor UAV swarm system; 300, vehicle-mounted mobile platform; 400, parking pole; 500, UWB positioning system;

[0055] 1. Multirotor drone body; 11. Hollow channel; 12. Frame; 121. Top plate; 122. Middle plate; 123. Bottom plate; 124. Support column; 13. Arm; 14. Battery; 15. UWB tag board protective box; 16. Algorithm center protective box; 17. Propeller blade protective cover; 18. Overall protective cover; 19. Flight control mounting plate; 110. GNSS clamping fixture;

[0056] 2. Upper positioning cone sleeve; 21. Rotating slot;

[0057] 3. Lower positioning cone sleeve;

[0058] 4. Ammunition ejection mechanism; 41. L-shaped baffle; 42. Spring hinge; 43. Stepper motor;

[0059] 5. Radio transmitting coil; 51. Radio receiving coil;

[0060] 6. Wired power output terminal; 61. Wired power receiving terminal;

[0061] 7. Temporary ammunition stop mechanism; 71. Bud-shaped baffle;

[0062] 8. Ammunition;

[0063] 9. Cone seat. DETAILED DESCRIPTION

[0064] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0065] One of the purposes of the present invention is to provide a multi-rotor drone that can be accurately positioned and landed on a vehicle-mounted mobile platform, which can achieve precise positioning of the multi-rotor drone in harsh environments and robust take-off and landing control of the multi-rotor drone on the mobile platform, so as to solve the problems existing in the prior art.

[0066] Another object of the present invention is to provide a vehicle-mounted multi-rotor drone swarm system including the above-mentioned multi-rotor drone, which can achieve precise positioning of the multi-rotor drone in harsh environments and robust take-off and landing control of the multi-rotor drone on a mobile platform, so as to solve the problems existing in the prior art.

[0067] Another object of the present invention is to provide a control method for a vehicle-mounted multi-rotor drone swarm system, which can achieve precise positioning of multi-rotor drones in harsh environments and robust take-off and landing control of multi-rotor drones on a mobile platform, so as to solve the problems existing in the prior art.

[0068] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0069] Example 1

[0070] like Figures 1 to 6 As shown, this embodiment provides a multi-rotor drone 100, including a multi-rotor drone body 1, a positioning kit and a UWB tag plate. A hollow channel 11 for a parking rod 400 to pass through is opened at the geometric center of the multi-rotor drone body 1, and the hollow channel 11 passes through the top and bottom of the multi-rotor drone body 1; the positioning kit includes an upper positioning cone sleeve 2 and a lower positioning cone sleeve 3, and the upper positioning cone sleeve 2 and the lower positioning cone sleeve 3 are respectively arranged at the top and bottom of the multi-rotor drone body 1, and the large ends of the upper positioning cone sleeve 2 and the lower positioning cone sleeve 3 are both facing downward, and the centers of the upper positioning cone sleeve 2 and the lower positioning cone sleeve 3 are Each of the plurality of multi-rotor drones 100 is provided with a through hole coaxially connected to the hollow channel 11 for the parking rod 400 to pass through. The parking rod 400 can simultaneously stack and park multiple multi-rotor drones 100. The lower positioning cone sleeve 3 of each multi-rotor drone 100 can be connected to the upper positioning cone sleeve 2 of the adjacent multi-rotor drone 100 below on the same parking rod 400, and the lower positioning cone sleeve 3 is connected to the outside of the upper positioning cone sleeve 2. The lower positioning cone sleeve 3 of the lowest multi-rotor drone 100 on the parking rod 400 is directly in contact with the take-off and landing platform (i.e., the vehicle-mounted mobile platform) to support all drones on the parking rod 400. The UWB tag plate is set on the multi-rotor drone body 1. The UWB tag plate can be recognized by the UWB positioning system 500 installed on the drone take-off and landing platform to achieve precise landing of the multi-rotor drone body 1 on the corresponding parking rod 400. The above-mentioned multi-rotor UAV 100 equipped with a UWB tag board is mainly used on a vehicle-mounted mobile platform. Several UWB positioning systems 500 are deployed on the vehicle-mounted mobile platform for ranging communication with the UWB tag board of the UAV, which can realize accurate positioning of the UAV on the vehicle-mounted mobile platform in harsh environments; the multi-rotor UAV body 1 adopts a hollow design, which is convenient for cooperating with the parking rod 400 to perform tasks. When the UAV flies above the parking rod where it is required to land, the UAV is guided to land by relying on the contact-type insertion cooperation between the parking rod and the lower positioning cone sleeve 3, thereby realizing the rapid vertical landing of the cone sleeve type UAV on the vehicle-mounted mobile platform.

[0071] In some feasible implementations, both the upper and lower positioning drogues 2 and 3 are preferably hollow mesh drogues, which are lightweight and do not affect the drone's aerodynamic performance. Aerodynamic simulations can minimize the impact of the drogue design on the drone's flight.

[0072] Some feasible implementations, such as Figures 2 to 4As shown, the multi-rotor drone body 1 has the flight and take-off and landing functions of a conventional multi-rotor drone, and includes a frame 12, an arm 13, a rotor, a flight control center, an algorithm center, and a battery 14. In this embodiment, the frame 12 of the drone includes a top plate 121, a middle plate 122, and a bottom plate 123 arranged in layers from top to bottom. The middle plate 122 and the bottom plate 123 are connected, and the top plate 121 is supported and connected to the top of the middle plate 122 by a support 124 to form a partition between the middle plate 122 and the top plate 121; the frame 12 serves as the main structure of the drone, and the geometric centers of the top plate 121, the middle plate 122, and the bottom plate 123 are all provided with openings, and the top plate 12 1. The openings of the middle plate 122 and the bottom plate 123 are connected to form a hollow channel 11; there are multiple arms 13, which are evenly connected to the periphery of the middle plate 122. The number of arms 13 is flexibly adjusted according to the different models and specifications of the drone. For example, if the multi-rotor drone body 1 is a four-rotor drone, four arms 13 are evenly distributed around the periphery of the middle plate 122. For example, if the multi-rotor drone body 1 is a six-rotor drone, six arms 13 are evenly distributed around the periphery of the middle plate 122, and so on. Figure 3 and Figure 4 The figure shows a schematic diagram of the structure of a multi-rotor drone body 1 employing a quad-rotor drone model. The number of rotors provided is the same as the number of arms 13, and they correspond one-to-one. Each arm 13 is equipped with a rotor at its outer end. In this embodiment, the flight control center is located in the interlayer between the middle plate 122 and the top plate 121. The flight control center generally includes a flight control board, a power distribution board, and a receiver. Each rotor is electrically connected to the flight control center. This is a conventional design for drones and will not be described in detail here. The drone's algorithm center is a microcomputer located on the middle plate 122 or the bottom plate 123. The UWB tag board and the flight control center provided on the drone are both connected to this algorithm center to enable intelligent control of the drone. The algorithm center includes, but is not limited to, a microcomputer such as a Raspberry Pi. The drone's battery 14 is generally located on the middle plate 122 or the bottom plate 123 and is electrically connected to the algorithm center, flight control center, and other components to provide power for the entire multi-rotor drone body 1.

[0073] In some feasible implementations, the pillars 124 between the middle plate 122 and the top plate 121 are preferably aluminum pillars, such as aluminum studs, and the middle plate 122 and the top plate 121 are preferably supported and connected by 4 to 6 pillars 124 .

[0074] In some feasible embodiments, the upper positioning cone sleeve 2 is preferably detachably connected to the top plate 121. For example, the upper surface of the top plate 121 is evenly provided with a plurality of rotating buckles on the outer periphery of the hollow channel 11. Correspondingly, a rotating slot 21 is provided at the bottom of the upper positioning cone sleeve 2. By cooperating with the rotating buckle knob, the upper positioning cone sleeve 2 can be conveniently and quickly disassembled and assembled on the top plate 121 by means of a knob. Specifically, four aluminum column mounting holes are evenly provided on the outer periphery of the hollow channel 11 on the upper surface of the top plate 121. Aluminum columns are respectively installed in the four aluminum column mounting holes, and a rotating buckle is installed on each aluminum column; accordingly, as Figure 5 As shown, four rotating slots 21 are evenly distributed on the bottom of the upper positioning cone sleeve 2 to cooperate with four rotating buckle knobs. The rotating buckle can limit the upper positioning cone sleeve 2 to prevent the upper positioning cone sleeve 2 from detaching from the aluminum column. When the upper positioning cone sleeve 2 needs to be removed, the upper positioning cone sleeve 2 is rotated in the opposite direction so that the rotating buckle is located at the notch of the rotating slot 21, and the upper positioning cone sleeve 2 can be pulled out from the aluminum column. Correspondingly, the lower positioning cone sleeve 3 is detachably connected to the base plate 123, and the structure of the lower positioning cone sleeve 3 is the same as that of the lower positioning cone sleeve 3. Figure 5 The structure of the upper positioning cone sleeve 2 shown is exactly the same, and the connection method between the lower positioning cone sleeve 3 and the bottom plate 123 is the same as the connection method between the upper positioning cone sleeve 2 and the top plate 121 mentioned above, which will not be repeated here.

[0075] Some feasible implementations, such as Figure 3 and Figure 4 As shown, the multi-rotor drone body 1 also includes a UWB tag board protection box 15 and an algorithm center protection box 16. The UWB tag board and the algorithm center are respectively disposed within the UWB tag board protection box 15 and the algorithm center protection box 16. The UWB tag board protection box 15 and the algorithm center protection box 16 respectively serve to encapsulate and protect the UWB tag board and the algorithm center. During actual assembly, one of the UWB tag board protection box 15 and the algorithm center protection box 16 is fixed to one side of the middle plate 122, and the other is fixed to one side of the bottom plate 123. The UWB tag board protection box 15, the algorithm center protection box 16, and the battery 14 are arranged in a counterweighted and balanced manner on the periphery of the hollow channel 11.

[0076] In some feasible implementations, it is preferred that two groups of batteries 14 are provided, and the UWB tag board protection box 15 and the algorithm center protection box 16 can be fixed to the front and rear of the frame 12 respectively by screws, and the two groups of batteries 14 are respectively mounted on the left and right sides of the base plate 123 by nylon straps to maintain the center of gravity balance and flight balance of the drone.

[0077] In some feasible implementations, the multi-rotor drone body 1 further includes a GNSS positioning system that is communicatively connected to the algorithm center, such as Figure 4As shown, a GNSS clamping fixture 110 is installed on at least one of the arms 13, and a GNSS positioning system is installed on the GNSS clamping fixture 110. The GNSS positioning system includes but is not limited to a GPS positioning system.

[0078] In some feasible implementations, the multi-rotor drone body 1 further includes a blade protection cover 17 and a whole machine protection cover 18. Figure 3 and Figure 6 As shown, the blade protection cover 17 is provided at the outer end of the arm 13 and is mounted on the periphery of the rotor; the periphery of any rotor is equipped with a blade protection cover 17; Figure 3 and Figure 6 As shown, the blade protection cover 17 adopts a hollow mesh protection cover, which has the advantage of being lightweight. The hollow structure can prevent the protection cover from affecting the aerodynamic performance of the rotor. The whole machine protection cover 18 is used as a protection cover for the whole machine. It is set on the outer periphery of the entire multi-rotor drone body 1 and fixed on the top plate 121. The opening of the whole machine protection cover 18 faces downward. The blade protection cover 17 at the outer end of each arm 13 is also covered in the whole machine protection cover 18. The whole machine protection cover 18 can improve the anti-collision performance of the drone body; as shown in FIG. Figure 3 As shown, the whole machine protective cover 18 preferably adopts a hollow mesh protective cover, which is lightweight and does not affect the flight performance of the drone.

[0079] In some feasible embodiments, the multi-rotor drone 100 further includes an ammunition taking and throwing mechanism 4 disposed inside the upper positioning cone sleeve 2, which includes a plurality of L-shaped baffles 41 and an opening and closing drive 43, such as Figure 6 and Figure 8As shown, multiple L-shaped baffles 41 are distributed on the outer periphery of the hollow channel 11, and multiple L-shaped baffles 41 enclose an ammunition cavity connected to the hollow channel 11; the corners of any L-shaped baffle 41 are facing upward, and the bottom end of any L-shaped baffle 41 is connected to the top of the multi-rotor drone body 1 through a spring hinge 42, and any L-shaped baffle 41 can automatically retract under the elastic resetting action of the corresponding spring hinge 42, so as to clamp the thinnest part below the tail wing of the ammunition 8 through the corner of the L-shaped baffle 41. The ammunition 8 is mounted in the ammunition cavity; the opening and closing drive 43 is arranged on the top of the multi-rotor drone body 1, and one end of any spring hinge 42 connected to the L-shaped baffle 41 is movably connected to an opening and closing drive 43. The opening and closing drive 43 can drive the L-shaped baffle 41 to open, so as to release the clamping effect of the corner of the L-shaped baffle 41 on the thinnest part below the tail wing of the ammunition 8. At this time, the ammunition 8 can pass through the ammunition cavity and the hollow channel 11 in sequence under the action of its own weight and land from a high altitude, completing the ammunition 8 throwing function of the drone. It should be noted that the above-mentioned opening and closing drive 43 includes but is not limited to the use of telescopic drives such as telescopic cylinders and hydraulic cylinders. Taking the cylinder as an example, one end of the spring hinge 42 connected to the L-shaped baffle 41 is connected to the end of the piston rod of the cylinder with a certain length and non-retractable soft rope (such as nylon rope). The setting of the soft rope can make the automatic rebound and reset of the spring hinge 42 not affected by the cylinder. When the drone is carrying ammunition 8, the corner of the L-shaped baffle 41 is stuck at the thinnest part below the tail wing of the ammunition 8. At this time, the piston rod of the cylinder is in the maximum extension stroke state and the soft rope is in a relaxed state. When the ammunition 8 needs to be thrown, the piston rod of the cylinder begins to contract, which is divided into two stages: stage 1, the piston rod drives the soft rope to gradually straighten. During this process, the L-shaped baffle 41 is not pulled. Stage 2, the soft rope has been straightened, and the piston rod continues to contract to pull the L-shaped baffle 41 through the soft rope, so that the L-shaped baffle 41 is passively opened to release the ammunition 8. On the other hand, after the ammunition 8 is dropped, the piston rod extends and resets. During this reset, the L-shaped baffle 41 gradually retracts under the action of the spring hinge 42. After the L-shaped baffle 41 has fully returned to its retracted state, the piston rod continues to extend and reset until the soft rope returns to its initial relaxed state. When the drone passes downward through the parking rod 400, the L-shaped baffle 41 is pushed open by the parking rod 400. Due to the slack in the soft rope, the opening process of the L-shaped baffle 41 has nothing to do with the cylinder. On the other hand, when the drone is on the parking rod 400 and is ready to take off, when the drone rises to the top of the parking rod 400, the L-shaped baffle 41 is not affected by the parking rod 400 and automatically retracts under the action of the spring hinge 42 to mount the ammunition 8 to be mounted on the top of the parking rod 400. Due to the slack in the soft rope, the retraction process of the L-shaped baffle 41 has nothing to do with the cylinder. The cylinder only opens the L-shaped blocking piece 41 when the UAV needs to release the ammunition 8, and immediately resets after the ammunition is released to restore the L-shaped blocking piece 41 to its initial retracted state.The opening and closing drive 43 can be specifically set on the top plate 121. Taking the opening and closing drive 43 using a cylinder as an example, the cylinder is arranged at an angle, and the lower end of the cylinder is hinged to the top plate 121, and the upper end of the cylinder is movably connected or hinged to one end of the soft rope.

[0080] It should be noted that the aforementioned spring hinge 42 has an automatic return function, which is a prior art and will not be described in detail here. Preferably, two L-shaped baffles 41 are provided and arranged symmetrically.

[0081] The ammunition loading mechanism 4 inside the upper positioning cone sleeve 2 generally cooperates with the ammunition temporary locking mechanism 7 at the top of the parking rod 400 to mount ammunition. The main process steps are as follows:

[0082] S1: The multi-rotor UAV 100 at the top of each parking rod 400 takes off vertically along the parking rod to prepare to mount ammunition 8. At this time, the two L-shaped blocking pieces 41 of the UAV are in an outwardly opened state under the support of the parking rod 400.

[0083] S2: As the multirotor drone 100 passes the top of the parking rod 400 during takeoff, the L-shaped flap 41 automatically closes due to the spring hinge 42, locking onto the narrowest part of the tail fin of the ammunition 8. The multirotor drone 100 continues its upward takeoff, pulling the ammunition 8 with it. The bud-shaped flap 71 at the top of the parking rod 400 passively opens outward due to the upward movement of the ammunition 8, releasing the ammunition 8 to be mounted. The multirotor drone 100 completes its takeoff mission with the ammunition mounted.

[0084] S3: The multi-rotor drone 100 that has autonomously mounted the ammunition 8 identifies the attack target. After the identification is completed, it receives the attack command, and the opening and closing drive 43 drives the spring hinge 42 to open the L-shaped blocking piece 41 that is stuck in the ammunition outward, and throws the ammunition 8 to attack.

[0085] S4: After completing the attack mission, the multi-rotor drone 100 returns autonomously to refill ammunition and power and wait for the next mission instruction; at the same time, the spare ammunition inside the parking rod 400 moves upward, and the spare ammunition 8 is ready at the top of the parking rod 400. The drone on the parking rod 400 continues to complete the above process to perform the mission.

[0086] The multi-rotor drone body in the multi-rotor drone 100 can also be replaced by a vertical take-off and landing aircraft, and the rest of the structure remains unchanged.

[0087] The multi-rotor UAV 100 can cooperate with the parking rod 400 provided on the vehicle-mounted mobile platform 300 to achieve precise positioning and landing of the multi-rotor UAV 100 on the vehicle-mounted mobile platform 300. The vehicle-mounted mobile platform 300 is equipped with a UWB positioning system 500, which can identify the UWB tag plate on the UAV. All the parking rods 400 on the vehicle-mounted mobile platform 300 are within the position recognition range of the UWB positioning system 500. When the UWB positioning system 500 detects that a multi-rotor UAV 100 is near the vehicle-mounted mobile platform 300, it can guide the multi-rotor UAV 100 to land and park on any parking rod 400 on the vehicle-mounted mobile platform 300. Multiple UWB positioning systems 500 can be configured on the vehicle-mounted mobile platform 300 at the same time. For the specific arrangement, please refer to Figure 1 , Figure 1 The “black dot” in the figure is the installation location of the UWB positioning system 500.

[0088] Since the multi-rotor UAV 100 is equipped with a GNSS positioning system, the multi-rotor UAV 100 uses GNSS / UWB / INS positioning recognition in conjunction with contact-type drogue guidance to achieve navigation and positioning for the UAV's return landing, including the main navigation positioning through multi-sensor fusion and the contact guidance of the drogue-parking rod for precise position adjustment, thereby achieving precise positioning of the UAV on a local dynamic platform in a complex battlefield environment.

[0089] A hollow channel 11 is provided in the middle of the multi-rotor UAV 100, which can be stacked and parked on the parking pole, thus realizing the one-time transportation and storage of a large number of multi-rotor UAVs 100 in a limited platform space; the contact guidance of the drogue-parking pole can be used for position and attitude control of the multi-rotor UAV 100 during vertical landing on a dynamic mobile platform, thereby improving the stability and reliability of the multi-rotor UAV 100 in autonomous return and vertical landing on a dynamic platform in complex and changeable environments, thereby improving combat efficiency.

[0090] The ammunition supply system is deployed by utilizing the structural design of the parking rod, and the ammunition taking and throwing mechanism 4 is configured on the multi-rotor UAV 100 to cooperate with the ammunition temporary locking mechanism 7 at the top of the parking rod 400 to mount ammunition, solving the problem that light and small rotor UAVs need to manually mount ammunition on the battlefield.

[0091] Example 2

[0092] like Figure 1As shown, this embodiment proposes a vehicle-mounted multi-rotor drone swarm system 200, including a vehicle-mounted mobile platform 300, a parking pole 400 and multiple multi-rotor drones 100 disclosed in Example 1. A plurality of parking poles 400 are provided and are distributed at intervals on the vehicle-mounted mobile platform 300. Any parking pole 400 can simultaneously pass through multiple multi-rotor drones 100. A plurality of UWB positioning systems 500 are distributed at intervals on the vehicle-mounted mobile platform 300 and are distributed around the parking poles 400 to improve the recognition and detection accuracy of the multi-rotor drones 100 and the landing guidance accuracy of the multi-rotor drones 100.

[0093] In some feasible embodiments, any parking pole 400 is provided with a plurality of power replenishment units arranged at intervals along the length direction of the parking pole 400, and the arrangement position of each power replenishment unit corresponds one-to-one to the parking height of each layer of multi-rotor drones 100 on the parking pole 400; a charging unit adapted to the power replenishment unit is provided in the hollow channel 11 of any multi-rotor drone 100 to charge the multi-rotor drone 100 through the power replenishment unit.

[0094] In some feasible implementations, each power replenishment unit includes at least one of a wireless charging system and a wired charging system. To meet the power replenishment needs of drones in various situations, it is preferred that the power replenishment unit be equipped with both a wireless charging system and a wired charging system, wherein the wireless charging system is a radio transmitting coil 5 and the wired charging system is a wired power output terminal 6. Accordingly, each charging unit on the drone includes a radio receiving coil 51 inductively coupled to the radio transmitting coil 5 and a wired power receiving terminal 61 electrically coupled to the wired power output terminal 6.

[0095] In some feasible embodiments, each of the parking rods 400 is equipped with an ammunition replenishment system, which includes a magazine, an ammunition delivery mechanism, and an ammunition temporary locking mechanism 7. The magazine is located within the parking rod 400 and extends through the top of the parking rod 400. The ammunition temporary locking mechanism 7 is located at the top of the parking rod 400 and includes a plurality of bud-shaped blocking pieces 71 arranged circumferentially along the parking rod 400. Each bud-shaped blocking piece 71 is connected to the parking rod 400 via a spring hinge, and each bud-shaped blocking piece 71 can automatically retract under the action of the corresponding spring hinge to lock the ammunition 8 at the thinnest point below the tail fin. The ammunition delivery mechanism is located within the magazine and is used to deliver the spare ammunition in the magazine to the ammunition temporary locking mechanism 7 one by one, awaiting loading. It should be noted that the aforementioned spring hinge has an automatic return function, which is prior art and will not be described in detail here.

[0096] The above-mentioned ammunition conveying mechanism generally adopts different structures according to different ammunition storage modes. For example, if only the ammunition storage chamber in the inner cavity of the parking rod 400 is used to store spare ammunition, the ammunition conveying mechanism is arranged at the bottom end of the inner cavity of the parking rod 400. For example, the ammunition conveying mechanism adopts a compensation spring. When ammunition 8 is stored in the ammunition storage chamber in the inner cavity of the parking rod 400, it is arranged in sequence along the axial direction of the parking rod 400, and the compensation spring is compressed. After the parking rod 400 is filled with ammunition 8, the ammunition storage chamber is closed by automatically retracting the ammunition temporary locking mechanism 7. Every time a drone takes off from the parking rod 400, an ammunition 8 will be mounted. Correspondingly, the spare ammunition in the ammunition storage chamber will be transported upward one by one to the ammunition temporary locking mechanism 7 under the resetting action of the bottom compensation spring, waiting to be mounted. In some other embodiments, a bullet storage space may also be provided below the surface of the vehicle-mounted mobile platform 300 to store ammunition 8, each parking rod 400 is provided on the surface of the vehicle-mounted mobile platform 300, and the bullet storage compartment in the inner cavity of each parking rod 400 is connected to the bullet storage space of the vehicle-mounted mobile platform 300, and the ammunition storage capacity of the vehicle-mounted mobile platform 300 is large enough to replenish ammunition for the ammunition temporary locking mechanism 7 of each parking rod 400; in the bullet storage space of the vehicle-mounted mobile platform 300, a set of ammunition conveying mechanism is provided corresponding to each parking rod 400, and the ammunition conveying mechanism adopts existing technology, such as the artillery ammunition vehicle artillery ammunition conveying chain disclosed in the utility model patent with publication number CN204240859U, the artillery locking device during the operation of the pneumatic system conveyor belt disclosed in the utility model patent with publication number CN216637754U, or the tank artillery shell lifting device disclosed in the utility model patent with publication number CN206258020U, etc. In practical applications, other mature and well-known ammunition delivery technologies besides the above-mentioned ammunition delivery mechanisms may also be used.

[0097] As a preferred solution, Figure 12 and Figure 13 As shown, the bottom of each parking rod 400 is provided with a conical seat 9 for the lower positioning cone sleeve 3 to overlap. On the one hand, the cone seat 9 can reinforce the parking rod 400 and prevent it from deflecting during long-term use. On the other hand, the cone seat 9 can cooperate with the lower positioning cone sleeve 3 of the lowest drone on the parking rod to support the drone, preventing the lower positioning cone sleeve 3 from directly contacting and impacting the vehicle platform during landing, thereby effectively cushioning the impact force of the drone landing on the vehicle platform.

[0098] The above-mentioned ammunition temporary locking mechanism 7 cooperates with the ammunition taking and throwing mechanism 4 inside the upper positioning cone sleeve 2 to replenish ammunition. The main process steps are as follows:

[0099] S1: The multi-rotor UAV 100 at the top of each parking rod 400 takes off vertically along the parking rod to prepare to mount ammunition 8. At this time, the two L-shaped blocking pieces 41 of the UAV are in an outwardly opened state under the support of the parking rod 400.

[0100] S2: As the multirotor drone 100 passes the top of the parking rod 400 during takeoff, the L-shaped flap 41 automatically closes due to the spring hinge 42, locking onto the narrowest part of the tail fin of the ammunition 8. The multirotor drone 100 continues its upward takeoff, pulling the ammunition 8 with it. The bud-shaped flap 71 at the top of the parking rod 400 passively opens outward due to the upward movement of the ammunition 8, releasing the ammunition 8 to be mounted. The multirotor drone 100 completes its takeoff mission with the ammunition mounted.

[0101] S3: The multi-rotor drone 100 that has autonomously mounted the ammunition 8 identifies the attack target. After the identification is completed, it receives the attack command, and the opening and closing drive 43 drives the spring hinge 42 to open the L-shaped blocking piece 41 that is stuck in the ammunition outward, and throws the ammunition 8 to attack.

[0102] S4: After completing the attack mission, the multi-rotor drone 100 returns autonomously to refill ammunition and power and wait for the next mission instruction; at the same time, the spare ammunition inside the parking rod 400 moves upward, and the spare ammunition 8 is ready at the top of the parking rod 400. The drone on the parking rod 400 continues to complete the above process to perform the mission.

[0103] The above-mentioned vehicle-mounted multi-rotor drone swarm system 200 realizes the cluster-carrying transportation and rapid cyclic deployment of multi-rotor drones 100, which can improve the combat efficiency of drones in terms of quantity and time. The specific effects are as follows:

[0104] (1) A plurality of parking rods 400 are provided on the vehicle-mounted mobile platform 300. The size of the parking rods 400 matches the hollow channel 11 of the multi-rotor UAV 100 and is used for parking and fixing the UAV. The cone sleeve structures between adjacent multi-rotor UAVs 100 are nested with each other and are used for stacking the UAV swarm up and down. The above cone sleeve-parking rod stacking method can store and transport a large number of multi-rotor UAVs within the limited space on the vehicle-mounted mobile platform, greatly increasing the number of multi-rotor UAVs that can be transported and carried by the vehicle-mounted mobile platform at one time. In addition, the position of the UAV is fixed by the parking rod, which ensures the safety of transporting the UAV in the field environment and lays the foundation for the rapid and cyclic deployment of the UAV swarm.

[0105] (2) The parking rod 400 adopts a multifunctional design. The parking rod 400 utilizes its structure to simultaneously configure the functions of drone group parking, ammunition storage, power replenishment, and drone take-off and landing guidance. It can replenish drone power and ammunition, reduce drone downtime, and solve the problem of short flight time of multi-rotor drones and the need to manually mount ammunition.

[0106] (3) The top of the parking rod 400 is equipped with a bud-shaped baffle 71 that can be opened outward and is connected to the parking rod body via a spring hinge. The top of the bud-shaped baffle 71 can be clamped at the thinnest part under the tail fin of the ammunition, preparing the ammunition for the drone to be mounted during takeoff. The parking rod 400 can store multiple spare ammunition vertically. During the vertical takeoff of the drone along the parking rod, the L-shaped baffle 41 on the drone cooperates with the bud-shaped baffle 71 on the top of the parking rod to complete the transfer of ammunition, allowing the multi-rotor drone to autonomously mount ammunition for firepower replenishment.

[0107] (4) A power replenishment system is provided on the outside of the parking pole and inside the hollow channel 11 of the UAV to realize autonomous power replenishment of the UAV. The power replenishment system can be deployed as a wireless power replenishment system or a wired power replenishment system. The stacking method of the cone sleeve-parking pole type multi-rotor UAV can ensure the precise docking of the power replenishment structure between the parking pole and the UAV, avoid the offset and misalignment between the coils, and adapt to the rapid power replenishment of light and small multi-rotors in various situations.

[0108] (5) The use of GNSS / UWB / INS and contact combined positioning methods improves the reliability of the UAV's return positioning in a changing and complex environment, while also improving the maneuverability of combat multi-rotor UAVs in complex battlefield environments.

[0109] Example 3

[0110] This embodiment provides a control method for the vehicle-mounted multi-rotor drone swarm system 200 in Embodiment 2, which mainly includes a drone return and landing control method. The drone return and landing control method includes the following steps:

[0111] S1. After the multi-rotor drone 100 completes the bombing mission or receives a low battery warning, it starts to return home.

[0112] S2: The multi-rotor UAV 100 navigates to the vicinity of the vehicle-mounted mobile platform 300 based on GNSS / INS fusion positioning;

[0113] S3: The multi-rotor drone 100 navigates to the top of the desired landing position using the combined positioning of UWB / INS;

[0114] S4: The multi-rotor drone 100 passes through the parking rod 400 and descends along the parking rod 400. At this point, the multi-rotor drone 100 returns to the destination and can be replenished with power and ammunition through the parking rod 400, waiting to perform the next mission.

[0115] During the return process, the combined positioning method of GNSS / UWB / INS and drone drogue-parking pole can help the multi-rotor drone 100 still have reliable return positioning capabilities in complex environments; at the same time, in an emergency, the returning multi-rotor drone 100 can also rely on the assistance of the parking pole 400 to adjust its position and attitude and quickly land accurately on a dynamic platform, which is suitable for battlefield environments with changing and complex situations.

[0116] In summary, this embodiment proposes a means of autonomous landing guidance for UAVs that is adaptable to complex combat environments. It adopts a comprehensive guidance method based on a UWB-based vehicle-mounted local mobile positioning system and a parking pole-drogue contact type to achieve rapid vertical take-off and landing of drogue-type UAVs on a mobile platform. The proposed drogue-drogue-parking pole cluster stacking method realizes cluster carrying through the mutual coordination of the structures between the drogue-type UAVs; the rapid deployment of UAV clusters is achieved through a vehicle-mounted mobile deployment system, thereby improving strike efficiency on the battlefield. In addition, the entire vehicle-mounted multi-rotor UAV swarm system 200 can realize the recycling and automatic replenishment of UAV swarms, providing a new solution to the problems of insufficient endurance and limited mounting capacity of light and small multi-rotor UAVs.

[0117] It should be noted that the structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present invention. Therefore, they have no substantial technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose of the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0118] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A multi-rotor drone, characterized in that: include: A multi-rotor UAV body (1), wherein a hollow passage (11) for a parking rod (400) to pass through is provided at the geometric center of the multi-rotor UAV body (1), and the hollow passage (11) passes through the top and bottom of the multi-rotor UAV body (1); A positioning sleeve assembly comprises an upper positioning cone sleeve (2) and a lower positioning cone sleeve (3), wherein the upper positioning cone sleeve (2) and the lower positioning cone sleeve (3) are respectively arranged at the top and the bottom of the multi-rotor unmanned aerial vehicle body (1), and the large ends of the upper positioning cone sleeve (2) and the lower positioning cone sleeve (3) are both facing downwards, and the centers of the upper positioning cone sleeve (2) and the lower positioning cone sleeve (3) are both provided with a through hole coaxially connected to the hollow channel (11) for the parking rod (400) to pass through; the lower positioning cone sleeve (3) can be sleeved with the upper positioning cone sleeve (2) of the adjacent multi-rotor unmanned aerial vehicle (100) on the same parking rod (400); A UWB tag plate is provided on the multi-rotor UAV body (1) and can be identified by a UWB positioning system (500) installed on the UAV take-off and landing platform, so as to achieve precise landing of the multi-rotor UAV body (1) on the corresponding parking rod (400).

2. The multi-rotor drone according to claim 1, characterized in that: The multi-rotor drone body (1) comprises: The frame (12) comprises a top plate (121), a middle plate (122) and a bottom plate (123) arranged in sequence from top to bottom, the middle plate (122) and the bottom plate (123) being connected, the top plate (121) being supported and connected above the middle plate (122) by a support (124) to form a partition between the middle plate (122) and the top plate (121); openings are provided at the geometric centers of the top plate (121), the middle plate (122) and the bottom plate (123), and the openings of the top plate (121), the middle plate (122) and the bottom plate (123) are connected to form the hollow channel (11); A plurality of machine arms (13) are provided and are evenly connected to the outer periphery of the middle plate (122); There are multiple rotors, and the outer end of any one of the arms (13) is provided with the rotor; A flight control center is disposed in the compartment, the flight control center including a flight control board, a power distribution board, and a receiver, and any of the rotors is electrically connected to the flight control center; An algorithm center is arranged on the middle plate (122) or the bottom plate (123), and the UWB tag board and the flight control center are both communicatively connected to the algorithm center; A battery (14) is arranged on the middle plate (122) or the bottom plate (123) and is used to provide power for the multi-rotor drone body (1) to continue its flight.

3. The multi-rotor UAV according to claim 2, characterized in that: The multi-rotor UAV body (1) further comprises a UWB tag board protection box (15) and an algorithm center protection box (16), wherein the UWB tag board and the algorithm center are respectively arranged in the UWB tag board protection box (15) and the algorithm center protection box (16); one of the UWB tag board protection box (15) and the algorithm center protection box (16) is fixed to one side of the middle plate (122), and the other is fixed to one side of the bottom plate (123); The UWB tag board protection box (15), the algorithm center protection box (16) and the battery (14) are arranged in a counterweight-balanced manner on the periphery of the hollow channel (11).

4. The multi-rotor UAV according to claim 2, characterized in that: The multi-rotor drone body (1) further comprises: A blade protection cover (17) is provided at the outer end of the machine arm (13) and is sleeved on the outer periphery of the rotor; the outer periphery of any of the rotors is sleeved with the blade protection cover (17); The whole machine protection cover (18) is mounted on the outer periphery of the multi-rotor UAV body (1) and is fixed on the top plate (121).

5. The multi-rotor drone according to any one of claims 1 to 4, characterized in that: It also includes an ammunition taking and throwing mechanism (4) arranged inside the upper positioning cone sleeve (2), which includes: A plurality of L-shaped baffles (41), wherein the plurality of L-shaped baffles (41) are uniformly distributed on the periphery of the hollow channel (11), and the plurality of L-shaped baffles (41) enclose an ammunition cavity communicating with the hollow channel (11); the corners of any of the L-shaped baffles (41) are facing upward, and the bottom end of any of the L-shaped baffles (41) is connected to the top of the multi-rotor UAV body (1) through a spring hinge (42); and any of the L-shaped baffles (41) can automatically retract under the action of the corresponding spring hinge (42) to clamp the thinnest part below the tail wing of the ammunition (8) through the corner of the L-shaped baffle (41), thereby completing the ammunition (8) mounting; An opening and closing drive is provided on the top of the multi-rotor UAV body (1), and one end of any one of the spring hinges (42) connected to the L-shaped baffle (41) is movably connected to the opening and closing drive. The opening and closing drive can drive the L-shaped baffle (41) to open, so as to release the ammunition (8) in the ammunition cavity and complete the throwing of the ammunition (8).

6. A vehicle-mounted multi-rotor drone swarm system, characterized in that: The invention comprises a vehicle-mounted mobile platform (300), the parking rod (400) and a plurality of multi-rotor drones (100) according to any one of claims 1 to 4, wherein: a plurality of the UWB positioning systems (500) are spaced apart on the vehicle-mounted mobile platform (300), a plurality of the parking rods (400) are provided and spaced apart on the vehicle-mounted mobile platform (300), and any one of the parking rods (400) can simultaneously pass through a plurality of the multi-rotor drones (100).

7. The vehicle-mounted multi-rotor drone swarm system according to claim 6, characterized in that: A plurality of power replenishment units are arranged at intervals along the length direction of the parking rod (400) on any one of the parking rods (400), and the arrangement position of each power replenishment unit corresponds one-to-one to the parking height of each layer of the multi-rotor drone (100) on the parking rod (400); a charging unit adapted to the power replenishment unit is arranged in the hollow channel (11) of any one of the multi-rotor drones (100), so as to charge the multi-rotor drone (100) through the power replenishment unit.

8. The vehicle-mounted multi-rotor drone swarm system according to claim 7, characterized in that: Each of the power replenishment units comprises a radio transmitting coil (5) and a wired power output terminal (6); the charging unit comprises a radio receiving coil (51) inductively adapted to the radio transmitting coil (5) and a wired power receiving terminal (61) electrically adapted to the wired power output terminal (6).

9. The vehicle-mounted multi-rotor drone swarm system according to any one of claims 6 to 8, characterized in that: Any of the parking rods (400) is equipped with an ammunition replenishment system, and the ammunition replenishment system includes a magazine, an ammunition conveying mechanism and an ammunition temporary positioning mechanism (7), wherein the magazine is opened in the parking rod (400) and passes through the top end of the parking rod (400); the ammunition temporary positioning mechanism (7) is arranged at the top end of the parking rod (400), and the ammunition temporary positioning mechanism (7) includes a plurality of bud-shaped blocking pieces (71) arranged along the circumference of the parking rod (400), and any of the bud-shaped blocking pieces (71) is connected to the parking rod (400) through a spring hinge, and any of the bud-shaped blocking pieces (71) can be automatically retracted under the action of the corresponding spring hinge to clamp the thinnest part below the tail wing of the ammunition (8); the ammunition conveying mechanism is arranged in the magazine, and is used to convey the spare ammunition in the magazine to the ammunition temporary positioning mechanism (7) one by one, waiting for mounting; Any of the multi-rotor UAVs (100) further comprises an ammunition taking and throwing mechanism (4) arranged inside the upper positioning cone sleeve (2), which comprises an opening and closing drive (43) and a plurality of L-shaped baffles (41), wherein the plurality of L-shaped baffles (41) are spaced and distributed on the periphery of the hollow channel (11), and the plurality of L-shaped baffles (41) enclose and form an ammunition cavity communicating with the hollow channel (11); the corners of any of the L-shaped baffles (41) are all facing upwards, and the bottom end of any of the L-shaped baffles (41) is connected to the top of the multi-rotor UAV body (1) through a spring hinge (42), and any of the L-shaped baffles (41) can be opened and closed at the corresponding The spring hinge (42) is automatically retracted under the action of the spring hinge (42), so that when the multi-rotor UAV (100) takes off, the corner of the L-shaped baffle (41) is used to clamp the thinnest part of the ammunition (8) below the tail wing, thereby completing the ammunition (8) mounting; the opening and closing drive (43) is arranged on the top of the multi-rotor UAV body (1), and one end of any spring hinge (42) in the ammunition taking and throwing mechanism (4) connected to the L-shaped baffle (41) is movably connected to the opening and closing drive (43), and the opening and closing drive (43) can drive the L-shaped baffle (41) to open, so as to release the ammunition (8) mounted in the ammunition cavity, thereby completing the throwing of the ammunition (8).

10. A control method for a vehicle-mounted multi-rotor drone swarm system according to any one of claims 6 to 9, characterized in that: The invention comprises a method for controlling the return and landing of a UAV, and the method comprises the following steps: S1, the multi-rotor UAV (100) starts returning home after completing the bombing mission or receiving a low battery warning; S2: The multi-rotor UAV (100) navigates to the vicinity of the vehicle-mounted mobile platform (300) based on GNSS / INS fusion positioning; S3: The multi-rotor drone (100) navigates to a position above the parking pole (400) where it is required to land based on the combined positioning of UWB / INS; S4: The multi-rotor drone (100) passes through the parking rod (400) and descends along the parking rod (400).

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