Unmanned aerial vehicle cluster automatic scheduling and storage system based on intelligent cabin

Abstract

The invention relates to an unmanned aerial vehicle cluster automatic dispatching and storage system based on an intelligent cabin. The system comprises a supporting frame, a receiving and transmitting device, the intelligent cabin, a cabin dispatching and storage device and a cabin stacking and fixing device. The receiving and transmitting device is arranged at the top of the supporting frame, and the intelligent cabin, the cabin dispatching and storing device and the cabin stacking and fixing device are all arranged in the supporting frame. The receiving and transmitting device is used for safe, stable and automatic receiving and transmitting of the unmanned aerial vehicle on the sea. The intelligent cabin is used for providing a charging function of the unmanned aerial vehicle; the cabin dispatching and storing device is used for dispatching the unmanned aerial vehicles without dead angles in the storage process of the unmanned aerial vehicles; the cabin stacking and fixing device is used for contact type charging of the unmanned aerial vehicle on the sea. The unmanned aerial vehicle group can be automatically dispatched and safely stored without dead angles, precious spaces of marine carriers such as ships and underwater vehicles are fully utilized, and the number of engine rooms can be designed in a deployable mode according to the scale of the unmanned aerial vehicle group.

Description

Technical Field

[0001] The present invention relates to the field of drone storage technology, and more specifically, to an automated scheduling and storage system for drone clusters based on an intelligent cabin. Background Art

[0002] With the continuous improvement of drone technology and communication capabilities, drones are being widely used in various scenarios such as emergency search and disaster relief. Swarms, consisting of multiple drones working together, can obtain more extensive information than a single drone, offering more flexible operation and higher efficiency, making drone swarms more widely used in many fields.

[0003] The use of drones is gradually extending from land to sea. However, facing the increasingly complex maritime environment, the use of drones in offshore operations still faces numerous challenges: insufficient drone endurance, demanding storage conditions, the limited operating range of individual drones, and existing fixed-point support systems that, under certain conditions, limit drone efficiency. Consequently, drones are difficult to deploy in offshore waters and meet diverse mission requirements, driving the development of swarm applications. Safely storing drone swarms in turbulent sea conditions and providing them with adequate supplies during storage are essential for ensuring the safe and efficient operation of drone swarms at sea. Therefore, a storage device suitable for offshore environments is urgently needed for drone swarm operations.

[0004] Currently, there are many types of drone storage options, all rapidly evolving towards independent, intelligent, and autonomous storage. Among them, the smart cabin drone storage model offers promising development prospects and unique advantages for offshore storage. This provides a separate space for individual drones, effectively protecting them from potential collisions and providing essential resupply services such as charging as needed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an automated scheduling and storage system for drone clusters based on an intelligent cabin, which can realize full-cycle scheduling of automatic storage and release of drones, and perform automatic scheduling and storage of drones "without blind spots".

[0006] The technical solution adopted by the present invention to solve its technical problem is: constructing an automated dispatching and storage system for drone swarms based on an intelligent cabin, comprising a support frame, a transceiver, an intelligent cabin, a cabin dispatching and storage device, and a cabin stacking and fixing device; the transceiver is arranged on the top of the support frame, and the intelligent cabin, the cabin dispatching and storage device, and the cabin stacking and fixing device are all arranged inside the support frame;

[0007] The transceiver device is used for the safe, stable and automatic transmission and reception of the UAV at sea;

[0008] The smart cabin is used to provide a charging function for the drone;

[0009] The cabin scheduling and storage device is used to schedule the drone without blind spots during the storage process of the drone;

[0010] The cabin stacking fixture is used for contact charging of drones at sea.

[0011] According to the above solution, the cabin scheduling and storage device includes a rotating device, a lifting and lowering device and a scissor mechanism;

[0012] The lifting and lowering device is arranged on the upper part of the rotating device, and the scissor mechanism is arranged on the surface of the rotating device. The rotating device and the lifting and lowering device are connected by a steel rod to transmit torque, thereby driving the rotating disk inside the lifting and lowering device to rotate.

[0013] According to the above scheme, the rotating device includes an inner groove pulley, a slewing bearing, a rotating disk, a steel rod, a detent pin and a first stepper motor; the rotating disk is hexagonal and steel rods are provided through the ends every 120° to transmit the torque to the lifting and lowering device; the inner groove pulley is clamped in the rotating disk, and a slewing bearing is provided in the center of the inner groove pulley, and the slewing bearing is connected to the first stepper motor through a detent pin.

[0014] According to the above scheme, the lifting and lowering device includes a synchronous belt, a system connector, a rotating disk and a second stepper motor; the rotating disk is circular and a system connector is set at the edge, and the outer end of the system connector is set with a second stepper motor through a synchronous belt; the steel rod is set through the turntable and the rotating disk to realize linkage.

[0015] According to the above scheme, the scissors-fork mechanism includes a first limiting groove wheel, a second limiting groove wheel, a scissors-fork connecting rod, a fixed pulley, a winding wheel, a wire rope, a three-phase asynchronous motor, a magnetic clamp, a first pull pin and a second pull pin; the first limiting groove wheel is connected to the second limiting groove wheel through the scissors-fork connecting rod, the three-phase asynchronous motor is arranged on the upper surface of the second limiting groove wheel, the first winding wheel is arranged on the upper surface of the second limiting groove wheel, the second winding wheel is arranged on the lower surface of the second limiting groove wheel, the first pull pin and the second pull pin are arranged on the upper surface of the scissors-fork connecting rod, a wire rope is wound between the first winding wheel and the first pull pin, a fixed pulley is arranged on the bottom surface of the scissors-fork connecting rod, a wire rope is wound between the second winding wheel and the fixed pulley, and the magnetic clamp is arranged at the end of the scissors-fork mechanism.

[0016] According to the above scheme, the cabin stacking fixing device includes a cabin support plate, a worm gear motor, a bull's eye and a lifting platform; a lifting platform is provided on the surface of the cabin support plate, a two-way lever is provided on the lifting platform, a worm gear motor is provided on the side of the two-way lever, and the bull's eye is provided at the bottom of the cabin of the intelligent cabin.

[0017] According to the above solution, the support frame is hexagonal and hexagonal, used to support the entire system; the interior of the support frame adopts the form of a honeycomb, and each layer of the support frame stores six drone cabins.

[0018] According to the above solution, the intelligent cabin device includes an iris chuck, a large cylindrical gear and a small cylindrical gear;

[0019] There are four iris chucks, which are used to dock and stabilize the corresponding devices of the drone;

[0020] The large gear is provided with four notches for mounting the iris chuck and providing power for the linear motion of the iris chuck;

[0021] There are three small gears which mesh with the large gear for transmission.

[0022] According to the above solution, the transceiver includes an elastic umbrella surface and expandable umbrella ribs; the elastic umbrella surface is evenly arranged on the expandable umbrella ribs, and the umbrella-shaped structure formed by the elastic umbrella surface and the expandable umbrella ribs is used to guide the recovery of the drone.

[0023] The implementation of the UAV swarm automated scheduling and storage system based on the intelligent cabin of the present invention has the following beneficial effects:

[0024] 1. The present invention can automatically dispatch and safely store drone swarms in a “no blind spot” manner according to the type of drone, its own timely needs and mission content;

[0025] 2. This invention fully utilizes the valuable space of marine vehicles such as ships and submersibles. The number of engine rooms can be adjusted according to the size of the drone swarm. This helps to realize the functional advantages of intelligent engine rooms such as charging drones in marine environments.

[0026] 3. The present invention has good compatibility with two types of marine vehicles, ships and submersibles, and gives full play to the respective advantages and functions of the two types of carriers, which is conducive to realizing functions such as drone rescue and maritime risk avoidance, and is conducive to improving the safety of drones after recovery, the stability during storage, and the space utilization rate of drone cluster storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0028] Figure 1This is a working principle diagram of the control module of the present invention;

[0029] Figure 2 Schematic diagram of the transceiver structure

[0030] Figure 3 This is a schematic diagram of the external structure of the intelligent cabin of the present invention;

[0031] Figure 4 This is a structural diagram of the cabin scheduling and storage device of the present invention;

[0032] Figure 5 This is a schematic diagram of the structural details of the cabin scheduling and storage device of the present invention;

[0033] Figure 6 This is a schematic structural diagram of the scissor-type mechanism of the present invention;

[0034] Figure 7 This is a schematic structural diagram of the cabin stacking fixing device of the present invention;

[0035] Figure 8 1 is a schematic diagram of the structure of the present invention when used in the storage mode of the submersible carrier;

[0036] Figure 9 This is a schematic diagram of the internal structure of the intelligent cabin of the present invention;

[0037] Figure 10 This is a schematic diagram of the structure of the present invention when used in a storage mode of a container carrier;

[0038] Figure 11 It is a structural diagram of the UAV cluster automatic scheduling and storage system based on the intelligent cabin of the present invention.

[0039] In the figure: 101, transceiver, 102, intelligent cabin, 103, cabin stacking and fixing device, 104, cabin scheduling and storage device, 105, support frame, 201, elastic umbrella canopy, 202, expandable and retractable umbrella ribs, 301, bull's eye, 401, magnetic gripper, 402, take-off and landing system, 403, scissor mechanism, 404, rotation system, 405, steel rod, 406, first stepper motor, 407, synchronous belt, 408, rotating disk, 409, system connector, 410, slewing bearing, 411, inner groove pulley, 412, turntable, 413, slewing ring, 414, slewing ring, 415, slewing ring, 416, slewing ring, 417, slewing ring, 418, slewing ring, 419, slewing ring, 420, slewing ring, 421, slewing ring, 422, slewing ring, 423, slewing ring, 424, slewing ring, 425, slewing ring, 426, slewing ring, 427, slewing ring, 428, slewing ring, 429, slewing ring, 430, slewing ring, 431, slewing ring, 432, slewing ring, 433, slewing ring, 434, slewing ring, 435, slewing ring, 436, slewing ring, 437, slewing ring, 438, slewing ring, 439, slewing ring, 440, slewing ring, 3. Second stepper motor, 414. First limit groove pulley, 415. Scissor linkage, 416. First pull pin, 417. Fixed pulley, 418. Wire rope, 419. Second pull pin, 420. Second limit groove pulley, 421. Three-phase asynchronous motor, 422. First winding wheel, 423. Second winding wheel, 501. Cabin support plate, 502. Lifting platform, 503. Two-way lever, 504. Worm gear motor, 601. Airbag, 602. Hydraulic rod, 701. Small cylindrical gear, 702. Large cylindrical gear, 703. Iris chuck. DETAILED DESCRIPTION

[0040] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0041] like Figure 1-11 As shown, the present invention's automated drone swarm scheduling and storage system based on a smart cabin includes a support frame 105, a transceiver 101, a smart cabin 102, a cabin scheduling and storage device 104, and a cabin stacking and securing device 103. The transceiver 101 is mounted on top of the support frame 105, while the smart cabin 102, cabin scheduling and storage device 104, and cabin stacking and securing device 103 are all located within the support frame 105. The smart cabin 102 provides a charging guarantee. The cabin scheduling and storage device 104 enables seamless scheduling of drones during storage, ensuring the utilization of all drones and improving storage efficiency. The cabin stacking and securing device 103 fully utilizes the limited space on the offshore carrier to safely store drones and allows them to be charged contact-wise in turbulent sea conditions. The support frame 105 is a hexagonal prism with hexagonal elements arranged around the perimeter, forming a multi-layer stacked structure. Each layer of the support frame 105 can store six drone cabins.

[0042] In a preferred embodiment of the present invention, the intelligent cabin 102 provides charging and other security functions. Based on the concept of "honeycombs" in a natural honeycomb, cabins are equipped for different drone models. These cabins are arranged in a hexagonal pattern around the perimeter, forming a stacked structure. Each layer can accommodate six drone cabins, greatly improving space utilization. The cabins can be pushed and adjusted using hydraulic rods 602 during integration with the carrier. Furthermore, considering the significant swaying at sea, airbags 601 are installed to provide shock absorption and protection. The airbags are located on the inner wall of the cabin where it contacts the carrier, while the hydraulic rods are located below the cabin. The size of the cabins can also be adjusted based on the carrier and specific requirements.

[0043] In a preferred embodiment of the present invention, the cabin scheduling and storage device 104 includes a rotating device 404, a lifting and lowering device 402, and a scissor mechanism 403. The rotating device 404 is hexagonal in shape, with the lifting and lowering device 402 mounted on top of the rotating device 404, and the scissor mechanism 403 mounted on the surface of the rotating device 404. The rotating device 404 and the lifting and lowering device 402 are connected by a steel rod 405 to transmit torque.

[0044] In a preferred embodiment of the present invention, the rotating device 404 includes an inner grooved wheel 411, a slewing bearing 410, a rotating disk 412, and a first stepper motor 406. The inner grooved wheel 411 is fixed within the rotating disk 412. The rotating disk 412 is also located at its center. The slewing bearing 410 is also located at its center. The slewing bearing is connected to the first stepper motor 406 via a first detent pin 416. The operating principle of the rotating device 404 is as follows: the first stepper motor 406 provides power to rotate the first detent pin 416, which in turn rotates the inner grooved wheel 411, thereby driving the rotating disk 412 to rotate around the slewing bearing 410. Three steel rods 405 transmit torque between the rotating device 404 and the lifting and lowering device 402, enabling the entire cabin scheduling and storage device 4 to rotate within the system in 30° increments. The rotation angle is also fed back by a rotation angle sensor.

[0045] In a preferred embodiment of the present invention, the lifting and lowering device 402 includes a synchronous belt 407, a system connector 409, a rotating disk 408, and a second stepper motor 413. The rotating disk 408 is circular and is provided with a system connector 409 at its edge. The outer end of the system connector 409 is provided with a second stepper motor 413 through the synchronous belt 407. The working principle of the lifting and lowering device 402 is as follows: the second stepper motor 413 provides power to drive the synchronous belt 407 to work, and the rotating disk 408 and the synchronous belt 407 are connected by a connector to enable the cabin scheduling storage device 4 to take off and land at any height within the system. Three steel rods 405 are used to penetrate the rotating disk 408 to act as virtual constraints. The lifting height is fed back by the TOF laser ranging module, and travel limit switches are provided at the upper and lower limit positions as a feedback protection mechanism.

[0046] In a preferred embodiment of the present invention, the scissor mechanism 403 includes a first limiting groove wheel 414, a second limiting groove wheel 420 and a scissor link 415. The first limiting groove wheel 414 is connected to the second limiting groove wheel 420 through the scissor link 415. A three-phase asynchronous motor 421 is provided on the upper surface of the second limiting groove wheel 420, a first winding wheel 422 is provided on the upper surface of the second limiting groove wheel 420, and a second winding wheel 423 is provided on the lower surface of the second limiting groove wheel 420. A first pull pin 416 and a second pull pin 419 are provided on the upper surface of the scissor link 415. A wire rope 418 is wound between the first winding wheel 422 and the first pull pin 416. A fixed pulley 417 is provided on the bottom surface of the scissor link 415, and a wire rope 418 is wound between the second winding wheel 423 and the fixed pulley 417.

[0047] In a preferred embodiment of the present invention, the working principle of the scissors-fork mechanism 403 is divided into return motion and working process motion; ① Return motion: above the first limit groove pulley 414 and the second limit groove pulley 420, one end of the wire rope 418 is connected to the first pull pin 416 fixed on the scissors-fork link 415, and the other end is connected to the first winding wheel 422. The three-phase asynchronous motor located on the first limit groove pulley 414 provides power to drive the first winding wheel 422 to work, and the scissors-fork mechanism 403 is pulled back by the wire rope 418, assisted by the first limit groove pulley 414 and the second limit groove pulley 420 to limit the stroke, thereby realizing the entire return motion; ② Working process motion: below the first limit groove pulley 414 and the second limit groove pulley 420, one end of the wire rope 418 is connected to the second pull pin 419 fixed on the scissors-fork link 415, and the other end passes around the fixed pulley fixed on the second limit groove pulley 420. 417 is connected to the second winding wheel 423, and the three-phase asynchronous motor located under the second limit groove wheel 420 provides power to drive the second winding wheel 423 to work. The wire rope 418 passes around the fixed pulley 417 to change the direction of tension to push the scissors-fork mechanism 403 outward, assisted by limiting the first limit groove wheel 414 and the second limit groove wheel 420 to limit the stroke, thereby realizing the entire working stroke movement; wherein the small pulley is located under the second limit groove wheel 420, and when the scissors-fork mechanism 403 is pushed to the system for storing the cabin, the sliding friction is changed to rolling friction to reduce friction, and the cantilever beam is changed to a simply supported beam to improve the force condition of the scissors-fork mechanism 403, and the first limit groove wheel 414 and the second limit groove wheel 420 are provided with a travel limit switch as a feedback protection mechanism, and the selected three-phase asynchronous motor 421 will not generate back electromotive force when the power is off and reversed, thereby ensuring the smooth progress of the working process movement and the return movement.

[0048] In a preferred embodiment of the present invention, the magnetic clamp 401 is located above the second limit groove wheel 420. When the magnetic clamp 401 is pushed to the appropriate position, the relay energizes the electromagnet to attract the cabin, so as to facilitate the cabin scheduling storage device 104 to meet the drone transportation needs between the drone transceiver 101 and the cabin stacking fixing device 103, and realize the full-cycle scheduling of automatic storage and release of the drone. A thin film pressure sensor is provided on the magnetic clamp 401 to feedback whether it is clamped.

[0049] In a preferred embodiment of the present invention, the cabin stacking and fixing device 103 comprises a cabin support plate 501, a worm gear motor 504, a two-way lever 503, and a lifting platform 502. Four bull's-eyes 301 are installed at the bottom of each cabin to reduce friction and assist the scissor mechanism 403 in transporting the cabin to the target location. The two-way lever 503 and the lifting platform 502 are powered by the worm gear motor 504. When the cabin is transported by the scissor mechanism 403, the lifting platform 502 descends to form a cabin slot. The two-way lever 503 drags the lifting platform 502 on one side and clamps the cabin on the other side, allowing it to fall into the cabin slot. This ensures that when the intelligent cabin reaches the designated storage position during the drone recovery and storage process, the cabin is firmly fixed to the cabin support plate 501. During the drone release and launch process, the two-way lever 503 opens, pushing the lifting platform 502 upward, and the slot disappears, releasing the cabin, allowing the magnetic clamp 401 to properly release the intelligent cabin. The worm gear motor can realize the function of self-locking when power is off. After the cabin is fixed and released, the power can be cut off and the state can be kept unchanged to save energy.

[0050] The STM32F103 main control chip 1 is at the core, coordinating the operations of various modules. The magnetic gripper module includes a pressure sensor, a relay, and an electromagnet. The pressure sensor transmits the pressure signal generated by the gripper grasping the object to the main control chip 1. The relay receives the activation signal from the main control chip to control the power on and off of the electromagnet, thus achieving the gripper's magnetic attraction. The rotating platform module includes a rotation angle sensor and a 57-mm stepper motor 4. The rotation angle sensor provides feedback on the platform's rotation angle, and the 57-mm stepper motor 4 executes the rotation according to the main control chip's instructions. The lifting platform module consists of 57-mm stepper motors 1, 2, and 3, a time-of-flight (TOF) laser ranging module, and synchronous belt upper and lower limit switches. The 57-mm stepper motor controls lifting and lowering. The TOF laser ranging module measures the distance between the platform and the object and transmits a signal to the main control chip 1. The limit switches detect the upper and lower limit positions of the platform and provide feedback. The cabin storage and fixturing module consists of an STM32F103 main control chip 2 and worm gear motors 1 and 2. It interacts with the main control chip 1 via Bluetooth communication, enabling remote control and monitoring of the storage and fixturing module. The system realizes automatic scheduling and operation of objects in the cabin through modular design and precise signal transmission and control.

[0051] The transceiver includes an elastic umbrella surface 201 and expandable umbrella ribs 202, wherein the elastic umbrella surface 201 is evenly arranged on the expandable umbrella ribs 202, and the umbrella-shaped structure formed by the two is used to guide the recovery of the drone.

[0052] The intelligent cabin device primarily consists of an iris chuck 703, a large cylindrical gear 702, and a small cylindrical gear 701. The iris chuck 703 has four slots for capturing the drone's guidance mechanism. The large cylindrical gear 702 has four notches for mounting the iris chuck 703 and for powering its linear motion. The small cylindrical gear 701 has three slots for meshing with the large cylindrical gear 702. When the drone is recovered, the small cylindrical gear 701 rotates, driving the large cylindrical gear 702. The restraining action of the large cylindrical gear 702 allows the iris chuck 703 to open and close, facilitating the capture of the drone's guidance mechanism and guiding its landing.

[0053] Working principle of the present invention:

[0054] Once the drone cabin enters the system, the system uses the automated scheduling control module to achieve cabin movement and automatic storage of the drone. The drone cabin is coupled to the magnetic gripper 401 and rotated to a predetermined angle by the rotating device 404. Simultaneously, the lifting and landing device 402 descends to a predetermined height. The scissor mechanism 403 then drives the magnetic gripper 401 to deliver the cabin to the predetermined storage system. Finally, the cabin stacking fixture 3 secures the cabin to the predetermined storage system, draws power to the cabin, and charges the drone. The remaining mechanisms are reset, completing storage. During launch, the rotating device 404 and the lifting and landing device 402 cooperate to align the scissor mechanism 403 with the predetermined storage system. The scissor mechanism 403 then drives the magnetic gripper 401 to secure the cabin. The cabin stacking fixture 103 releases the cabin, and the lifting and landing device 402 lifts the drone cabin to the release height. The drone's transceiver 101 then completes the launch of the drone. In summary, the cabin's movement within the support system and the drone's automatic storage are achieved.

[0055] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. An automated dispatching and storage system for drone swarms based on an intelligent cabin, characterized in that: It includes a support frame, a transceiver, an intelligent cabin, a cabin scheduling and storage device, and a cabin stacking and fixing device; the transceiver is arranged on the top of the support frame, and the intelligent cabin, the cabin scheduling and storage device, and the cabin stacking and fixing device are all arranged inside the support frame; The transceiver device is used to realize automatic transmission and reception of the UAV at sea; The smart cabin is used to provide wireless charging for the drone; The cabin scheduling and storage device is used to schedule the drone during the storage process of the drone; The cabin stacking fixture is used for contact charging of drones at sea.

2. The UAV swarm automated scheduling and storage system based on the intelligent cabin according to claim 1 is characterized in that: The cabin scheduling and storage device includes a rotating device, a lifting and lowering device and a scissor mechanism; The lifting and lowering device is arranged on the upper part of the rotating device, and the scissor mechanism is arranged on the surface of the rotating device. The rotating device and the lifting and lowering device are connected by a steel rod to transmit torque, thereby driving the rotating disk inside the lifting and lowering device to rotate.

3. The UAV swarm automated scheduling and storage system based on the intelligent cabin according to claim 2 is characterized in that: The rotating device includes an inner groove pulley, a slewing bearing, a rotating disk, a steel rod, a detent pin and a first stepper motor; the rotating disk is hexagonal and steel rods are provided through the ends every 120 degrees to transmit the torque to the lifting and lowering device; the inner groove pulley is clamped in the rotating disk, and a slewing bearing is provided at the center of the inner groove pulley, and the slewing bearing is connected to the first stepper motor through the detent pin.

4. The UAV swarm automated scheduling and storage system based on the intelligent cabin according to claim 2 is characterized in that: The lifting and lowering device includes a synchronous belt, a system connector, a rotating disk and a second stepper motor; the rotating disk is circular and a system connector is set at the edge, and the outer end of the system connector is set with a second stepper motor through a synchronous belt; the steel rod is set through the turntable and the rotating disk to realize linkage.

5. The UAV swarm automated scheduling and storage system based on the intelligent cabin according to claim 2 is characterized in that: The scissors-fork mechanism includes a first limiting groove wheel, a second limiting groove wheel, a scissors-fork connecting rod, a fixed pulley, a winding wheel, a wire rope, a three-phase asynchronous motor, a magnetic clamp, a first pull pin and a second pull pin; the first limiting groove wheel is connected to the second limiting groove wheel through the scissors-fork connecting rod, the three-phase asynchronous motor is arranged on the upper surface of the second limiting groove wheel, the first winding wheel is arranged on the upper surface of the second limiting groove wheel, the second winding wheel is arranged on the lower surface of the second limiting groove wheel, the first pull pin and the second pull pin are arranged on the upper surface of the scissors-fork connecting rod, a wire rope is wound between the first winding wheel and the first pull pin, a fixed pulley is arranged on the bottom surface of the scissors-fork connecting rod, a wire rope is wound between the second winding wheel and the fixed pulley, and the magnetic clamp is arranged at the end of the scissors-fork mechanism.

6. The UAV swarm automated scheduling and storage system based on the intelligent cabin according to claim 1 is characterized in that: The cabin stacking fixing device includes a cabin support plate, a worm gear motor, a bull's eye and a lifting platform; a lifting platform is provided on the surface of the cabin support plate, a two-way lever is provided on the lifting platform, a worm gear motor is provided on the side of the two-way lever, and the bull's eye is provided at the bottom of the cabin of the intelligent cabin.

7. The UAV swarm automated scheduling and storage system based on the intelligent cabin according to claim 1 is characterized in that: The support frame is in the form of a hexagonal prism and is used to support the entire system; the interior of the support frame adopts a honeycomb form, and each layer of the support frame stores six drone cabins.

8. The UAV swarm automated scheduling and storage system based on the intelligent cabin according to claim 1 is characterized in that: The interior of the support frame adopts a honeycomb form, and each layer of the support frame stores six drone cabins.

9. The UAV swarm automated scheduling and storage system based on the intelligent cabin according to claim 1 is characterized in that: The intelligent cabin device includes an iris chuck, a large cylindrical gear and a small cylindrical gear; There are four iris chucks, which are used to dock and stabilize the corresponding devices of the drone; The large cylindrical gear is provided with four notches for mounting the iris chuck and providing power for the linear motion of the iris chuck; There are three small cylindrical gears which mesh with the large gear for transmission.

10. The UAV swarm automated scheduling and storage system based on the intelligent cabin according to claim 1 is characterized in that: The transceiver includes an elastic umbrella surface and expandable umbrella ribs; the elastic umbrella surface is evenly arranged on the expandable umbrella ribs, and the umbrella-shaped structure formed by the elastic umbrella surface and the expandable umbrella ribs is used to guide the recovery of the drone.

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