Maintenance platform based on intelligent unmanned aerial vehicle library and method thereof

Abstract

The maintenance platform comprises a hangar body, the hangar body is provided with a lifting platform and a maintenance function area arranged around the lifting platform, a communication module is arranged in the hangar body, and the communication module is used for establishing wireless communication connection with an unmanned aerial vehicle and achieving two-way transmission of data; a high-precision visual module and a multi-axis mechanical arm are arranged in the maintenance function area, and the high-precision visual module is used for monitoring the position, posture and appearance characteristics of the unmanned aerial vehicle in real time and guiding the multi-axis mechanical arm to operate the unmanned aerial vehicle. By integrating the high-precision vision module, the multi-axis mechanical arm and the partitioned maintenance function area, automatic positioning, grabbing and operation in the unmanned aerial vehicle maintenance process are achieved, and the problems that traditional maintenance depends on manpower, efficiency is low, and the unmanned aerial vehicle cannot adapt to multiple models are solved; the method has the advantages of improving the maintenance efficiency, realizing automatic operation and adapting to different types of unmanned aerial vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a maintenance platform and method based on an intelligent UAV library. Background Art

[0002] Drones are unmanned aircraft controlled by radio remote control and self-contained programmable devices. To ensure proper operation, drone equipment requires inspection and maintenance before and after use. Drone warehouses are typically used to store drones, related accessories, and maintenance tools, along with various temperature and humidity control systems.

[0003] As drone applications continue to expand, there's a need to be able to clean, maintain, and repair drones. Existing drone warehouses lack this functionality, forcing these operations to be sent to different departments, resulting in low efficiency.

[0004] In order to solve the above problems, the patent document with application number 201621491925.1 discloses a drone warehouse based on drone repair and maintenance, including: a warehouse main body and a maintenance room arranged in the warehouse main body; the maintenance room includes: a drone repair and maintenance platform and a drone tool cabinet; the drone repair and maintenance platform includes: a maintenance platform, a welding platform and an assembly platform; the welding platform is provided with an electronic welding equipment and accessories storage structure; the assembly platform is provided with an assembly bracket and an assembly tool storage structure; the drone tool cabinet includes: a tool cabinet body and a storage rack for special tools for drone repair and maintenance.

[0005] The above technical solution improves maintenance efficiency by matching and setting up the drone maintenance platform and drone tool cabinet in a unified planning in the hangar. However, it still has the following drawbacks:

[0006] The maintenance process is highly dependent on manual operation, requiring technicians to manually inspect, clean and repair drones, which is inefficient and prone to errors. Different models of drones require different maintenance equipment and processes, and traditional maintenance facilities are difficult to achieve universal processing. The maintenance process lacks real-time monitoring and feedback mechanisms, making it impossible to accurately grasp the status changes of drones.

[0007] Therefore, it is necessary for us to improve the above-mentioned prior art to overcome the above-mentioned defects. Summary of the Invention

[0008] The purpose of the present invention is to provide a maintenance platform based on an intelligent drone library and a method thereof to solve the problems existing in the prior art.

[0009] The above technical objectives of the present invention are achieved through the following technical solutions:

[0010] A maintenance platform based on an intelligent drone hangar includes a hangar body, the hangar body having a lifting platform, and a maintenance function area arranged around the lifting platform. A communication module is provided in the hangar body, and the communication module is used to establish a wireless communication connection with the drone to realize two-way data transmission; a high-precision vision module and a multi-axis robotic arm are provided in the maintenance function area, and the high-precision vision module is used to monitor the position, posture and appearance characteristics of the drone in real time, and guide the multi-axis robotic arm to operate the drone.

[0011] Furthermore, the lifting platform is arranged in the middle position of the lifting platform and can move up and down along the height direction of the hangar body; the maintenance function area includes a charging area, a maintenance area and a repair area arranged along the height direction of the hangar body, and an entrance and exit for a multi-axis robotic arm to grab the drone is provided on the side of the maintenance function area close to the lifting platform.

[0012] Furthermore, the charging area is equipped with a power monitoring device and charging interfaces of multiple specifications, which can perform adaptive charging according to the battery specifications of different models of drones. The power monitoring device can monitor the charging status of the battery in real time and feed back the information to the control system.

[0013] Furthermore, the maintenance area is equipped with a cleaning liquid spraying device, an air compressor and a drying device;

[0014] The cleaning liquid spraying device is used to spray cleaning liquid onto the drone, the air compressor is used to generate high-pressure airflow to drive the cleaning brush head to clean the drone in all directions, and the drying device is used to dry the drone after cleaning.

[0015] Furthermore, the maintenance area is equipped with detection and maintenance tools. Operators can use the real-time image information provided by the high-precision vision module for remote control and use the detection and maintenance tools at the end of the flexible robotic arm to perform fault detection and maintenance on the drone.

[0016] Furthermore, the communication range of the communication module covers the lifting platform and the maintenance functional area;

[0017] The communication module adopts universal communication protocols and standard interfaces to interact with drones of various brands and models to achieve data upload, download and remote control functions, and obtain the drone's flight data, mission execution data and equipment status information.

[0018] Furthermore, the high-precision vision module uses a high-resolution camera and image recognition algorithm to identify the outlines and key parts of different types of drones;

[0019] When the UAV reaches the maintenance area via the lifting platform, the high-precision vision module transmits the acquired image information to the control system. The control system calculates the precise position and posture of the UAV based on the image information, and sends corresponding control instructions to the flexible robotic arm, guiding the flexible robotic arm to accurately approach and grasp the UAV.

[0020] Furthermore, the multi-axis flexible robotic arm has multiple joints, and its end can be equipped with a variety of replaceable execution tools. By controlling the operation of the motors of each joint, the flexible robotic arm can operate the drone under the guidance of a high-precision vision module.

[0021] Furthermore, the multi-axis robotic arm is installed on a movable track of the hangar body and can move within the maintenance function area.

[0022] A maintenance method based on an intelligent drone library comprises the following steps:

[0023] S1. Land the drone to be maintained on the lift platform of the hangar body and establish a two-way communication connection with the drone through the communication module to obtain the drone's data;

[0024] S2. Set the maintenance items of the drone according to the internal parameters and control the lifting platform to move to the maintenance function area according to the maintenance items;

[0025] S3. A multi-axis robotic arm, guided by a high-precision vision module, grabs the drone and places it in the maintenance area to perform the designated maintenance task.

[0026] S4. After all maintenance projects are completed, the multi-axis robotic arm, guided by the high-precision vision module, grabs the drone and places it back on the lifting platform. The lifting platform then moves the maintained drone to the top area of ​​the hangar body.

[0027] In summary, the present invention has the following beneficial effects:

[0028] By integrating high-precision vision modules, multi-axis robotic arms and partitioned maintenance functional areas, the automated positioning, grasping and operation of the drone maintenance process are achieved, solving the problems of traditional maintenance relying on manual labor, low efficiency and inability to adapt to multiple models. It has the advantages of improving maintenance efficiency, realizing automated operation and adapting to different models of drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of the maintenance platform based on the intelligent drone library described in the present invention. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below with reference to diagrams and specific embodiments.

[0031] like Figure 1 As shown, the present invention proposes a maintenance platform based on an intelligent drone hangar, including a hangar body 1, wherein the hangar body 1 has a lifting platform 2 and a maintenance function area 3 arranged around the lifting platform 2. A communication module is provided in the hangar body 1, and the communication module is used to establish a wireless communication connection with the drone to realize two-way transmission of data; a high-precision vision module 4 and a multi-axis robotic arm 5 are provided in the maintenance function area 3, and the high-precision vision module 5 is used to monitor the position, posture and appearance characteristics of the drone in real time, and guide the multi-axis robotic arm 5 to operate the drone.

[0032] This application proposes an integrated maintenance platform consisting of a hangar body 1, a lifting platform 2, and a maintenance area 3. A communication module is installed within the hangar body 1 to enable wireless data exchange with drones. The maintenance area 3 is equipped with a high-precision vision module 4 and a multi-axis robotic arm 5, which uses visual positioning to guide the robotic arm to perform maintenance operations.

[0033] Among them, the hangar body 1 refers to the main structure that carries the maintenance equipment. Specifically, it can be implemented by a steel structure frame with a dustproof shell to provide physical support and environmental protection for the equipment. The lifting platform 2 refers to a vertically movable carrying device. Specifically, it can be implemented by a hydraulic drive system with a guide rail. It is used to transfer drones between different height levels in the hangar. The maintenance function area 3 refers to a modular space that divides specific work areas. Specifically, it can use removable partitions to separate charging, cleaning, and maintenance units to achieve multi-task parallel processing. The high-precision vision module 4 refers to an image acquisition system with three-dimensional spatial recognition capabilities. Specifically, it can be implemented by a binocular camera with a feature point matching algorithm to capture the drone's position information in real time. The multi-axis robotic arm 5 refers to a multi-degree-of-freedom mechanical operating device. Specifically, it can be implemented by a servo motor-driven joint structure. The end is equipped with a quick-change tool interface to adapt to different maintenance needs.

[0034] Specifically, once the drone lands on lift platform 2, the communication module automatically establishes a two-way data connection to obtain device status information. High-precision vision module 4 performs a three-dimensional scan of the drone, generating spatial coordinate data and transmitting it to the control system. Multi-axis robotic arm 5 adjusts its motion trajectory based on this coordinate data and uses its end effector to perform battery replacement, surface cleaning, or component repair operations. During maintenance, the vision module continuously monitors device status, forming a dynamic closed-loop control system.

[0035] Compared to existing technologies, traditional maintenance platforms rely on fixed fixtures to position drones, making them incapable of adapting to the physical differences of different drone models. This solution, through the coordinated control of visual positioning and a flexible robotic arm, achieves non-contact adaptive positioning, effectively resolving equipment compatibility issues. Furthermore, by integrating maintenance functional units into the same space, it avoids time losses during equipment transfer.

[0036] Through the above technical solution, this application realizes the full process automation control of drone maintenance operations, significantly reducing the frequency of manual intervention. The high-precision visual positioning system ensures that the robot arm's operation accuracy reaches the sub-millimeter level, avoiding equipment damage caused by human operation errors.

[0037] The present application further proposes that the lifting platform 2 is set in the middle position and can move up and down along the height direction. The maintenance function area 3 includes a charging area 31, a maintenance area 32 and a repair area 33 arranged along the height direction. An entrance and exit for a multi-axis robotic arm 5 to grab the drone is provided on the side of the maintenance function area 3 close to the lifting platform 2.

[0038] Among them, the middle position of the lifting platform 2 refers to its location at the geometric center of the hangar body 1, which can be achieved by adopting a symmetrical layout structure to ensure that the multi-axis robotic arm 5 can quickly approach the drone in various areas of the maintenance function area 3.

[0039] Among them, the charging area 31, the maintenance area 32 and the repair area 33 are arranged in the height direction, which means that the three areas are arranged in layers in the vertical direction. Specifically, a modular zoning design can be adopted to facilitate the adjustment of the working order of each area according to the maintenance needs of the drone.

[0040] Among them, the entrance and exit refers to the transition passage between the maintenance function area 3 and the lifting platform 2, which can be specifically realized by adopting an openable and closable protective door structure to prevent the external environment from interfering with the maintenance process.

[0041] Specifically, once a drone enters maintenance area 3 via lift platform 2, a multi-axis robotic arm 5 grabs the drone through the entrance and transfers it to the appropriate maintenance area. Charging area 31 handles battery replacement or charging, maintenance area 32 performs cleaning and drying operations, and repair area 33 performs fault detection and component replacement. Lift platform 2 moves vertically based on maintenance needs, allowing drones to enter different areas in sequence. The order of operations in each area is automatically adjusted according to a pre-set program.

[0042] Compared with existing technologies, existing drone warehouses typically adopt a flat layout, and the maintenance process requires manual equipment transfer, resulting in low efficiency. This application achieves automation and continuity of the maintenance process through a vertical layered layout and a robotic arm entrance and exit design, allowing multiple maintenance projects to be completed without manual intervention.

[0043] Through the above technical solution, this application solves the problems of decentralized and inefficient maintenance processes in the existing technology. Through automated area division and robotic arm transfer, the maintenance time of drones is significantly shortened, while the error rate of manual operations is reduced.

[0044] This application further proposes that the charging area 31 is equipped with a power monitoring device and charging interfaces of multiple specifications, which can be adaptively charged according to the battery specifications of different models of drones. The power monitoring device can monitor the charging status of the battery in real time and feed back the information to the control system.

[0045] Among them, the power monitoring device refers to a sensor module used to collect battery voltage, current and temperature parameters. It can be implemented by combining a Hall sensor and a thermistor to determine the remaining capacity and health status of the battery by collecting data in real time.

[0046] Among them, multiple specifications of charging interfaces refer to connectors that support different physical forms and communication protocols. Specifically, standardized interfaces such as USB-C and XT60 can be used, and automatic identification circuits can be integrated to match the corresponding power supply mode according to the interface type and charging requirements of the drone battery.

[0047] Specifically, when a drone enters charging zone 31, the charging port's automatic identification circuit first detects the battery's interface type and communication protocol, then selects the corresponding physical connector for docking. A power monitoring device collects real-time battery voltage, current, and temperature data and uploads this data to the control system. The control system dynamically adjusts the charging current and voltage curves based on the battery's current state. For example, it activates fast charging mode when battery capacity falls below a threshold and triggers thermal protection when the temperature exceeds a safe range. During charging, the control system continuously receives monitoring data and generates charging status reports, achieving closed-loop management.

[0048] Compared to existing technologies, traditional drone warehouses only have a single fixed interface, which is unable to adapt to the battery specifications of different equipment models and lacks real-time monitoring capabilities, resulting in low charging efficiency and safety risks. This solution solves the charging adaptability and safety issues through a compatible design of multi-specification interfaces and closed-loop monitoring and control.

[0049] Through the above technical solution, this application realizes the automatic identification and adaptive charging of different types of drone batteries, avoiding the operational errors of manual replacement of interfaces. At the same time, through real-time monitoring and dynamic adjustment of charging parameters, it effectively prevents overcharging and overheating, and significantly improves the safety and efficiency of the charging process.

[0050] The present application further proposes that the maintenance area 32 be equipped with a cleaning liquid spraying device, an air compressor and a drying device. The cleaning liquid spraying device is used to spray cleaning liquid onto the drone, the air compressor is used to generate high-pressure airflow to drive the cleaning brush head to perform all-round cleaning of the drone, and the drying device is used to dry the drone after cleaning.

[0051] Among them, the cleaning liquid spraying device refers to a device that evenly covers the cleaning liquid on the surface of the drone through an atomizing nozzle. Specifically, it can be achieved by using a multi-angle adjustable nozzle array, and a continuous liquid film layer is formed by controlling the opening sequence and spray angle of the nozzles. The air compressor refers to a power source that can output a stable high-pressure airflow. Specifically, it can be achieved by using a vortex compression structure in conjunction with an air pressure regulating valve. The high-pressure airflow drives the rotating brush head to perform physical friction cleaning on the surface of the drone. The drying device refers to a device that uses air circulation and temperature control to eliminate residual liquid. Specifically, it can be achieved by using a hot air circulation system in conjunction with a temperature control sensor, and accelerates the evaporation of the liquid by adjusting the airflow velocity and temperature gradient.

[0052] Specifically, when a drone enters maintenance area 32, the cleaning liquid spraying device activates first. Atomizing nozzles, according to a pre-set program, spray cleaning liquid onto the drone's surface, creating an even coating to soften stains. Subsequently, a high-pressure airflow driven by an air compressor propels the cleaning brush head along the drone's surface. The brush head rotates and oscillates, meticulously cleaning even complex curved surfaces. After cleaning is complete, the drying device activates and releases temperature-controlled hot air. This hot air circulates through multi-directional outlets, quickly removing any residual liquid. A control system coordinates the timing of each device's actions throughout the entire process, ensuring continuous cleaning and drying.

[0053] Compared to existing technologies, traditional drone maintenance relies on manually operated cleaning tools, resulting in discontinuous cleaning paths and incomplete coverage of curved surfaces. Furthermore, the cleaning process requires waiting for the cleaning tool to dry naturally or requiring manual wiping, which can easily lead to liquid seepage into the internal structure. This solution replaces manual operation with automated equipment, achieving full coverage through precise control of the mechanical motion trajectory, and eliminating the risk of liquid residue through a closed-loop drying process.

[0054] Through the above technical solution, this application realizes the automated processing of drone surface cleaning, avoids cleaning blind spots caused by manual operation, improves cleaning efficiency through the synergistic effect of high-pressure airflow and mechanical brush head, and uses the hot air circulation system to shorten the drying time and prevent liquid residue from damaging the circuit.

[0055] The present application further proposes that the maintenance area 33 be equipped with detection and maintenance tools, which are remotely controlled through the real-time image information provided by the high-precision vision module 4, and that fault detection and maintenance of the UAV be performed with the help of the detection and maintenance tools at the end of the flexible robotic arm.

[0056] Among them, detection and maintenance tools refer to replaceable special equipment, which can be implemented by sensor probes, laser scanners or miniature electric screwdrivers to identify physical damage or electrical failures of drone components.

[0057] Among them, the high-precision visual module 4 refers to a device with image acquisition and processing capabilities, which can be specifically implemented by using a high-resolution camera with optical zoom function combined with a target recognition algorithm to capture real-time images of the surface and internal structure of the drone.

[0058] Among them, the flexible robotic arm end refers to a multi-degree-of-freedom actuator that can be installed with different tools. Specifically, it can be implemented by using a six-axis robotic arm with an electromagnetic adsorption interface combined with a torque sensor, which is used to adjust the tool posture according to remote commands and apply precise force.

[0059] Specifically, once the drone enters maintenance area 33, a high-precision vision module 4 performs a full-scale scan of the drone, generating a three-dimensional model that includes the fault location. The operator uses the real-time image to determine the fault type and selects a matching inspection tool to install at the end of the robotic arm. The robotic arm moves to the target area based on the coordinate data provided by the vision module and performs inspection actions using the end tool, such as measuring propeller deformation with a laser scanner or detecting short circuits on a circuit board with a sensor. Once the inspection is complete, the robotic arm automatically replaces the repair tool, such as using a miniature electric screwdriver to remove a damaged component or using a soldering iron to repair a broken structure. Throughout the entire process, the operator only needs to confirm the repair steps through the graphical interface, without having to directly contact the drone.

[0060] Compared with existing technologies, traditional drone maintenance relies on manual on-site operation with tools, which is inefficient and prone to secondary damage. This solution, by combining a vision module with a flexible robotic arm, achieves millimeter-level positioning accuracy for maintenance actions and supports rapid switching between multiple tool types, eliminating manual errors and enabling contactless maintenance.

[0061] Through the above-mentioned technical solution, this application solves the problem of inefficiency caused by excessive manual intervention during drone maintenance. It achieves automated detection and repair of typical faults such as propeller deformation and circuit board short circuits, reducing the time required for a single repair by approximately 70% compared to traditional manual operations. Furthermore, the modular design of the flexible end-of-arm tooling enables maintenance area 33 to be compatible with a variety of drone models and accommodate different screw specifications, interfaces, or component structures.

[0062] This application further proposes that the communication range of the communication module covers the lifting platform 2 and the maintenance function area 3. By adopting a universal communication protocol and standard interface, the communication module can interact with various brands and models of drones to realize data upload, download and remote control functions, and obtain the drone's flight data, mission execution data and equipment status information.

[0063] Among them, the communication range covering the lifting platform 2 and the maintenance functional area 3 means that the signal coverage area includes the drone take-off and landing area and all maintenance operation areas. Specifically, it can be achieved by using distributed antenna arrays or directional beamforming technology to ensure that the drone is continuously within the coverage of the communication link during movement.

[0064] Among them, universal communication protocols and standard interfaces refer to communication specifications defined by multiple drone manufacturers. Specifically, they can be implemented using open interfaces based on the TCP / IP protocol stack or conversion modules adapted to private protocols of different brands, and unified instruction format processing is completed through the protocol parsing layer.

[0065] Specifically, when a drone enters Lift Platform 2, the communication module establishes a stable connection based on signal strength across the entire maintenance area. It automatically identifies the drone model and matches the corresponding protocol via a standard interface. Flight data is parsed in a unified format and transmitted to the control system. Mission execution data is used to assess equipment operating status, and equipment status information is extracted for fault prediction. During maintenance, robotic arm operating commands are converted into control signals recognizable by the target drone via a standard interface, enabling cross-brand remote control.

[0066] This solution eliminates signal blind spots through a fully spatially covered communication layout, and breaks through brand barriers by combining a standardized protocol conversion mechanism, allowing a single maintenance platform to simultaneously handle the automated maintenance of multiple drone models.

[0067] Through the above technical solution, this application realizes data interoperability between drones of different brands, ensures real-time collection of flight status and equipment information during maintenance, solves the maintenance interruption problem caused by incompatible communication protocols, and at the same time prevents drones from getting out of control during transportation through a communication network with full coverage, providing reliable data transmission guarantee for automated maintenance operations.

[0068] This application further proposes that the high-precision vision module 4 uses a high-resolution camera and image recognition algorithm to identify the outlines and key parts of different models of drones; when the drone reaches the maintenance function area 3 through the lifting platform 2, the high-precision vision module 4 transmits the acquired image information to the control system, and the control system calculates the precise position and posture of the drone based on the image information, and sends corresponding control instructions to the flexible robotic arm to guide the flexible robotic arm to accurately approach and grasp the drone.

[0069] The high-precision vision module 4 refers to a visual positioning system consisting of an optical imaging device and an image processing unit. Specifically, it can be implemented using an industrial camera with a resolution of 20 megapixels combined with a deep learning target detection algorithm. It is used to capture the geometric features of the drone and generate three-dimensional spatial coordinate data. The image recognition algorithm refers to an image feature extraction and matching program based on a convolutional neural network. It performs real-time detection of key drone parts and achieves multi-model adaptation by comparing with a preset model database. The control system refers to an embedded processor with kinematic solving capabilities. Specifically, it can use an ARM-based microcontroller combined with a PID control algorithm to convert visual positioning data into robot arm joint angle commands. The flexible robot arm refers to a servo-driven mechanical device with multiple degrees of freedom joints. Specifically, it can use a six-axis collaborative robot arm with a torque sensor to achieve path planning for the end effector within millimeter-level accuracy.

[0070] Specifically, when the drone enters maintenance area 3, the industrial camera of the high-precision vision module 4 captures multi-angle images of the drone at a rate of 30 frames per second. The image processing unit uses a deep learning algorithm to identify the contour features of key components such as the propeller and landing gear. Simultaneously, it combines binocular vision ranging principles to calculate the drone's three-dimensional coordinates relative to the robotic arm base. After receiving positioning data containing position offsets and attitude angles, the control system uses an inverse kinematics algorithm to generate a sequence of rotation angles for each joint of the robotic arm, driving the end effector along the optimal path to approach the target grasping point. During the approach process, the torque sensor provides real-time feedback on contact force data, and the control system dynamically adjusts the motion trajectory to avoid collisions.

[0071] Compared with existing technologies, traditional maintenance platforms rely on manual visual positioning and robotic arm operation, resulting in large positioning errors and low operational efficiency. This solution, by combining machine vision with automatic control technology, achieves real-time calculation of the drone's spatial position and closed-loop control of the robotic arm's motion trajectory, eliminating operational delays and accuracy losses caused by manual intervention.

[0072] Through the above technical solution, this application can automatically adapt to the maintenance needs of different types of drones, realize millimeter-level precision grasping operations of robotic arms in complex space environments, and significantly improve the automation level and operational reliability of maintenance operations.

[0073] The present application further proposes a multi-axis flexible robotic arm 5 having multiple joints, the end of which can be equipped with a variety of replaceable execution tools. By controlling the operation of the motors of each joint, the flexible robotic arm can operate the drone under the guidance of the high-precision vision module 4.

[0074] The multi-axis robotic arm 5 refers to a robotic arm structure with at least six rotational degrees of freedom. Specifically, this can be achieved by using a harmonic reducer and servo motor to drive joints, with each joint capable of rotating within a range of ±180 degrees. The coordinated motion of multiple joints enables the robotic arm's end effector to achieve arbitrary position adjustment within three-dimensional space.

[0075] Among them, the replaceable execution tool refers to the operating part connected to the end of the robotic arm through a quick-change interface. Specifically, electromagnetic adsorption or pneumatic locking mechanism can be used to achieve rapid disassembly and assembly, such as cleaning brush heads, grippers or detection probes and other different functional modules.

[0076] Among them, the guidance of the high-precision vision module 4 refers to the real-time calculation of the spatial coordinates of the surface feature points of the drone through the image recognition algorithm. Specifically, it can be achieved by using a binocular stereo vision system combined with a deep learning model. The vision system converts the target posture information into motion instructions in the robotic arm coordinate system.

[0077] Specifically, when a drone enters the maintenance area, the high-precision vision module 4 first creates a 3D model of the drone's outline and determines its model information through feature matching. The control system selects the appropriate tool based on the pre-set maintenance process, and the tool is automatically loaded via the quick-change interface at the end of the robotic arm. Each joint motor receives motion commands from the control system and plans a path using an inverse kinematics algorithm, allowing the tool to clean or repair the drone with a preset contact force. During tool switching, the robotic arm can autonomously return to the tool storage rack to complete the module change.

[0078] Compared to existing technologies, the rigid robotic arms used in traditional maintenance platforms can only perform single operations within a fixed trajectory and are unable to adapt to the maintenance needs of drones of varying sizes. This solution, by combining a multi-degree-of-freedom flexible robotic arm with interchangeable tools, enables a single robotic arm to complete the entire cleaning, inspection, and repair process. Furthermore, vision guidance achieves millimeter-level positioning accuracy, preventing potential damage to equipment caused by manual operation.

[0079] Through the above technical solution, this application realizes automated maintenance operations for various types of drones. The flexible structure of the robotic arm can adapt to the curved shapes of different drones. The replaceable tool design reduces the equipment modification cost. The visual guidance system ensures that the drone structure will not be damaged due to positioning deviation during the maintenance process. The overall maintenance efficiency is significantly improved compared to manual operation.

[0080] The present application further proposes that a multi-axis robotic arm 5 is installed on a movable track 7 of the hangar body 1 , and can move within the maintenance function area 3 .

[0081] The movable track 7 is a linear guide structure extending horizontally along the maintenance area 3. Specifically, it can be constructed using aluminum alloy or steel rails coupled with a servo motor drive system. Anti-drift limit grooves are provided on the track surface to ensure the stability of the manipulator's movement. The track is secured to the inner wall of the hangar body 1 via a support frame, ensuring that the manipulator maintains precise alignment with the maintenance area during movement.

[0082] The multi-axis robotic arm 5 is an industrial robot with at least six rotational degrees of freedom. Specifically, it can be implemented using a serial joint structure with an end-of-line tool changer. Each joint has a built-in encoder to provide real-time position feedback. The robotic arm base is slidably connected to the movable track 7 via a slider. The control system coordinates the synchronization of track displacement and robotic arm movement.

[0083] Specifically, when the drone enters charging zone 31, the multi-axis robotic arm 5 moves along the track to the corresponding position in charging zone 31, where the battery replacement operation is completed using the terminal charging port clamping device. The robotic arm then slides along the track to maintenance zone 32, where cleaning tools are switched to spray and scrub the drone's surface. While operating in repair zone 33, the robotic arm, carrying a detection probe, moves along the track to the fault location, using multi-axis joint adjustments to perform precision repairs in confined spaces. During this track movement, the electromagnetic locking device between the robotic arm base and the track automatically triggers and secures the drone at the target position, preventing displacement during operation.

[0084] In some embodiments, the movable track 7 can be arranged in a circular layout, covering a continuous working path of the charging area 31, the maintenance area 32, and the repair area 33. The robot arm's movement speed can be adjusted according to the urgency of the maintenance task, for example, using a high-speed movement mode for battery replacement and switching to a low-speed, high-precision mode for precision maintenance.

[0085] Compared to existing technologies, existing drone warehouses use fixed robotic arms, resulting in insufficient coverage of maintenance areas. This solution, however, extends the robotic arm's operating radius through track movement, enabling a single robotic arm to complete multi-area operations. While traditional solutions require separate robotic arms for different maintenance areas, this solution leverages track resources to share robotic arm resources, reducing equipment redundancy.

[0086] Through the above-mentioned technical solution, this application solves the problem of the robotic arm's limited range of motion within the maintenance platform, resulting in its inability to cover the entire maintenance area. As the robotic arm moves along the track, it can cross the physical separations between the charging area 31, maintenance area 32, and repair area 33, avoiding operational blind spots caused by fixed positions. The track movement mode enables the robotic arm's end-of-line tool to quickly switch to different maintenance stations, reducing the time lost in equipment repositioning and improving the consistency of multitasking.

[0087] The present application further proposes a maintenance method comprising the following steps: landing the drone to be maintained on the lifting platform 2 of the hangar body 1, and establishing a two-way communication connection with the drone through the communication module to obtain the drone's data; setting the drone's maintenance items according to internal parameters, and controlling the lifting platform 2 to move to the maintenance function area 3 according to the maintenance items; the multi-axis robotic arm 5, under the guidance of the high-precision vision module 4, grabs the drone and enters the maintenance function area 3 to perform the set maintenance items; after all maintenance items are completed, the multi-axis robotic arm 5, under the guidance of the high-precision vision module 4, grabs the drone and puts it back on the lifting platform 2, and the lifting platform 2 moves the maintained drone to the top area of ​​the hangar body 1.

[0088] The communication module refers to a wireless communication device used to establish two-way data transmission. Specifically, it can be implemented using a transmission chip that supports Wi-Fi or cellular networks, enabling real-time access to the drone's flight logs and device status. The lifting platform 2 refers to the load-carrying mechanism that supports the vertical movement of the drone. Specifically, it can be implemented using a servo motor-driven screw lifting mechanism, enabling precise positioning of the drone to the corresponding functional area according to maintenance requirements. The maintenance functional area 3 refers to a modular space that divides charging, maintenance, and repair operation areas. Specifically, it can be implemented using a layered structural design, enabling cross-regional operations through the movement path planning of the multi-axis robotic arm 5. The high-precision vision module 4 refers to an optical positioning system equipped with an image recognition algorithm. Specifically, it can be implemented using a combination of a binocular camera and a deep learning model, capable of real-time calculation of the drone's three-dimensional pose data. The multi-axis robotic arm 5 refers to an automated operating device capable of multi-degree-of-freedom motion. Specifically, it can be implemented using a six-axis robotic arm driven by a harmonic reducer, with a replaceable end effector to accommodate different maintenance tasks.

[0089] Specifically, when the drone lands on the lifting platform 2, the communication module automatically obtains its equipment status and maintenance requirement data, and the control system generates a maintenance task sequence based on preset parameters. The lifting platform 2 transports the drone to the corresponding functional area according to the task type, such as the charging area 31, maintenance area 32 or repair area 33. The high-precision vision module 4 continuously collects the position and posture information of the drone and generates the motion trajectory of the robotic arm through the coordinate conversion algorithm. The multi-axis robotic arm 5 performs a grasping action based on the trajectory data and transfers the drone to the target functional area for charging, cleaning or maintenance operations. After the maintenance is completed, the robotic arm places the drone back on the lifting platform 2, and the lifting mechanism transports it to the standby area on the top of the hangar, forming a complete automated maintenance closed loop.

[0090] Compared with existing technologies, traditional drone maintenance requires manual operation from a tool cabinet to access equipment and complete individual tasks at fixed workstations, resulting in process fragmentation and efficiency bottlenecks. This method achieves continuous operation of the maintenance process through the coordinated scheduling of the lifting platform 2 and the robotic arm; through the deep integration of visual positioning and mechanical control, it eliminates positioning errors caused by manual operation; and through the data linkage between the communication module and functional areas, it establishes a standardized maintenance process to meet the maintenance needs of different models.

[0091] Through the above technical solution, this application achieves fully automated operation of the drone maintenance process, effectively solving the problem of inefficiency caused by manual intervention. Maintenance tasks can be automatically generated based on drone status data, avoiding manual diagnosis errors; the robotic arm completes continuous operations across functional areas under visual guidance, shortening process switching time; and the standardized maintenance process can handle multiple drones simultaneously, significantly improving the efficiency of batch maintenance operations.

[0092] In this document, the directions or positional relationships indicated by terms such as "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "vertical", and "horizontal" are based on the directions or positional relationships shown in the accompanying drawings and are only for the clarity of the technical solution and the convenience of description, and therefore should not be understood as limiting the present invention.

[0093] As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0094] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A maintenance platform based on an intelligent drone library, characterized in that: The invention comprises a hangar body (1), wherein the hangar body (1) has a lifting platform (2) and a maintenance function area (3) arranged around the lifting platform (2); a communication module is arranged in the hangar body (1), and the communication module is used to establish a wireless communication connection with an unmanned aerial vehicle (UAV) to realize two-way transmission of data; a high-precision vision module (4) and a multi-axis mechanical arm (5) are arranged in the maintenance function area (3); the high-precision vision module (5) is used to monitor the position, posture and appearance characteristics of the UAV in real time, and guide the multi-axis mechanical arm (5) to operate the UAV.

2. The maintenance platform based on the intelligent drone library according to claim 1 is characterized in that: The lifting platform (2) is arranged in the middle of the lifting platform (2) and can move up and down along the height direction of the hangar body (1); the maintenance function area (3) includes a charging area (31), a maintenance area (32) and a repair area (33) arranged along the height direction of the hangar body (1); an entrance and exit for a multi-axis mechanical arm (5) to grab a drone is provided on one side of the maintenance function area (3) close to the lifting platform (2).

3. The maintenance platform based on the intelligent drone library according to claim 2 is characterized in that: The charging area (31) is equipped with a power monitoring device and charging interfaces of multiple specifications, which can be used for adaptive charging according to the battery specifications of different types of drones. The power monitoring device can monitor the charging status of the battery in real time and feed the information back to the control system.

4. The maintenance platform based on the intelligent drone library according to claim 2 is characterized in that: The maintenance area (32) is equipped with a cleaning liquid spraying device, an air compressor and a drying device; The cleaning liquid spraying device is used to spray cleaning liquid onto the drone, the air compressor is used to generate high-pressure airflow to drive the cleaning brush head to clean the drone in all directions, and the drying device is used to dry the drone after cleaning.

5. The maintenance platform based on the intelligent drone library according to claim 2 is characterized in that: The maintenance area (33) is equipped with detection and maintenance tools, and operators can use the real-time image information provided by the high-precision visual module to perform remote control and use the detection and maintenance tools at the end of the flexible mechanical arm to perform fault detection and maintenance on the drone.

6. The maintenance platform based on the intelligent drone library according to claim 1 is characterized in that: The communication range of the communication module covers the lifting platform (2) and the maintenance function area (3); The communication module adopts universal communication protocols and standard interfaces to interact with drones of various brands and models to achieve data upload, download and remote control functions, and obtain the drone's flight data, mission execution data and equipment status information.

7. The maintenance platform based on the intelligent drone library according to claim 1 is characterized in that: The high-precision visual module (4) uses a high-resolution camera and image recognition algorithm to identify the outlines and key parts of different types of drones; When the UAV reaches the maintenance function area (3) via the lifting platform (2), the high-precision vision module (4) transmits the acquired image information to the control system. The control system calculates the precise position and posture of the UAV based on the image information and issues corresponding control instructions to the flexible robotic arm, guiding the flexible robotic arm to accurately approach and grasp the UAV.

8. The maintenance platform based on the intelligent drone library according to claim 1 is characterized in that: The multi-axis manipulator (5) is a flexible manipulator with multiple joints, and its end can be equipped with a variety of replaceable execution tools. By controlling the operation of the motors of each joint, the flexible manipulator can operate the drone under the guidance of the high-precision vision module (4).

9. The maintenance platform based on the intelligent drone library according to claim 8 is characterized in that: The multi-axis mechanical arm (5) is installed on a movable track (7) of the hangar body (1) and can move within the maintenance function area (3).

10. A maintenance method based on an intelligent drone library, comprising a maintenance platform according to any one of claims 1 to 9, characterized in that: The steps include: S1. Land the drone to be maintained on the lifting platform (2) of the hangar body (1), and establish a two-way communication connection with the drone through the communication module to obtain the drone's data; S2. The maintenance items of the drone are set according to the internal parameters, and the lifting platform (2) is controlled to move to the maintenance function area (3) according to the maintenance items; S3. The multi-axis robotic arm (5) grabs the drone under the guidance of the high-precision vision module (4) and enters the maintenance function area (3) to perform the maintenance project operation; S4. After all maintenance items are completed, the multi-axis robotic arm (5) grabs the drone and puts it back on the lifting platform (2) under the guidance of the high-precision vision module (4), and the lifting platform (2) moves the maintained drone to the top area of ​​the hangar body (1).

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