Unmanned vehicle group carrying unmanned aerial vehicles and cooperation system

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned vehicle group carrying unmanned aerial vehicles and a cooperative system, comprising at least three amphibious unmanned vehicles; a parking cabin is arranged on the upper portion of a vehicle body of each unmanned vehicle, and at least one parking position is arranged in each parking cabin. The parking position comprises an annular charging groove and a telescopic lantern ring coaxially arranged on the periphery of the charging groove. When the unmanned aerial vehicle lands, the lantern ring can actively carry out centering correction and mechanical locking on the supporting legs of the unmanned aerial vehicle through a unique telescopic structure composed of multiple sections of arc pieces, and the mechanical action guarantees the parking stability of the unmanned aerial vehicle on the mobile platform; and stable and reliable physical contact between the charging head and the charging groove is ensured, and a key guarantee is provided for automatic and efficient energy supplement.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to an unmanned vehicle group and collaborative system carrying UAVs. Background Technology

[0002] Currently, in the field of collaborative operations between unmanned vehicles and drones, existing technologies typically employ a single unmanned vehicle or drone to perform tasks such as patrolling and monitoring. For example, in some environmental monitoring or security patrol applications, unmanned vehicles serve as mobile platforms carrying drones, extending the operational range through short-range drone flights. These unmanned vehicles are mostly designed for single-land or water-based operations and rely on traditional charging methods, such as returning to a fixed station or replenishing power via wired connections. When performing tasks, drones are limited by their own endurance and often need to return to the mother vehicle or base for charging before their batteries run out, which to some extent limits their coverage radius and continuous operation capabilities.

[0003] Existing technologies have significant problems in applications in large-scale, complex environments. Taking a patrol scenario of a vast wetland with a radius of 10 kilometers as an example, the terrain of this area is complex, including both water and land, and requires continuous monitoring. If a single unmanned vehicle carrying a drone is used to carry out the mission, the drone must return to the remote mother vehicle to recharge when its battery is depleted to about 50% at a distance of about 5 kilometers. This leads to patrol interruptions and coverage blind spots. This frequent return not only reduces operational efficiency but also makes it impossible to achieve seamless relay, making it impossible to monitor the entire area in real time, which seriously affects the mission results. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is that the existing single-platform operation mode has limited task coverage and monitoring interruption and blind spots due to the dependence of drone battery life and charging.

[0005] The above-mentioned technical problems are solved by the following technical solution: The present invention proposes an unmanned vehicle group carrying drones, including at least three amphibious unmanned vehicles; each unmanned vehicle is provided with a parking compartment on the upper part of its body, and the parking compartment is provided with at least one parking position; the parking position includes an annular charging slot and a retractable collar coaxially arranged around the periphery of the charging slot.

[0006] In a preferred embodiment of the unmanned vehicle group carrying drones described in this invention: the collar includes an outer ring and an inner ring, both of which are equally spaced into multiple outer arc segments and multiple inner arc segments; both ends of each inner arc segment extend into the interior of two adjacent outer arc segments and are slidably connected by ball bearings.

[0007] In a preferred embodiment of the unmanned vehicle group carrying drones described in this invention: a sliding foot is provided on the lower surface of each of the outer arc plates; four sliding grooves are provided at the bottom of each parking position, namely the first groove, the second groove, the third groove and the fourth groove, wherein the first groove and the third groove are on the same straight line, the second groove and the fourth groove are on the same straight line, the two straight lines are perpendicular to each other, and the sliding foot corresponds to the sliding groove one by one and slides along its interior.

[0008] In a preferred embodiment of the unmanned vehicle group carrying drones described in this invention: the first slot of one of two adjacent parking positions is connected to the third slot of the other, and the drive mechanism is provided in the two first slots and the third slot.

[0009] In a preferred embodiment of the unmanned vehicle group carrying drones according to the present invention: the drive mechanism includes a motor, a gear driven by the motor, and two first racks symmetrically arranged on both sides of the gear and meshing with the gear; the two first racks are respectively connected to the sliding foot in the first groove and the sliding foot in the third groove.

[0010] In a preferred embodiment of the unmanned vehicle group carrying drones described in this invention: a cover is rotatably provided on both the left and right sides of the parking cabin via a pivot, and the two covers can cover the top of the parking cabin when they are closed.

[0011] In a preferred embodiment of the unmanned vehicle group carrying drones described in this invention: the cover is fixed on a rotating shaft, and a first gear is provided at both ends of the rotating shaft. A second gear meshes below the first gear, and a second rack meshes below the second gear. The second rack is located in a second groove or a fourth groove, and both the second groove and the fourth groove penetrate the side wall of the parking cabin.

[0012] In a preferred embodiment of the unmanned vehicle group carrying drones described in this invention: a storage compartment for photovoltaic panels is provided at the lower part of the vehicle body, and two symmetrical rolls of photovoltaic panels are wound up in the storage compartment. A strip-shaped opening is provided above the storage compartment, and the free end of the photovoltaic panel is located at the strip-shaped opening.

[0013] In a preferred embodiment of the unmanned vehicle group carrying a drone according to the present invention: a notch adapted to the collar is provided on the foot of the drone, and a retractable charging head is provided in one of the notches.

[0014] The above-mentioned technical problems are solved by the following technical solution: The present invention also proposes an unmanned vehicle group cooperative system carrying drones, including the unmanned vehicle group carrying drones, and including multiple drones, wherein the drones have charging heads that can contact the charging slots, and legs that can be engaged with the collar; the unmanned vehicles in the unmanned vehicle group establish a cooperative network through inter-vehicle communication to receive landing requests from drones and schedule them for take-off, landing and charging.

[0015] The beneficial effects of this invention are as follows: by constructing a physical network composed of multiple amphibious unmanned vehicles, specifically by deploying at least three unmanned vehicles and dispersing them in space, the drones can land and resupply on any nearby unmanned vehicle along the mission path without relying on a distant starting point. This distributed deployment method successfully extends the effective operating radius of a single drone from its own limited range to the vast area covered by the entire fleet network, thereby achieving continuous and seamless monitoring of a large area, such as a ten-kilometer radius.

[0016] Furthermore, the ring-shaped charging slot in the unmanned vehicle's parking position works in conjunction with a retractable collar. When the drone lands, the collar, through its unique telescopic structure composed of multiple arc segments, actively centers and mechanically locks the drone's legs. This mechanical action not only ensures the drone's stability on the mobile platform but also guarantees a stable and reliable physical contact between its charging head and the charging slot, providing crucial support for automatic and efficient energy replenishment. Simultaneously, the collar's telescopic movement can be coupled with the opening and closing of the protective cover, achieving full automation of the drone's recovery and takeoff processes, significantly improving operational efficiency and system reliability in complex environments.

[0017] Ultimately, the system, through intelligent scheduling and coordination via vehicle-to-vehicle communication networks and the autonomous solar refueling capability provided by the photovoltaic panel storage compartment under the vehicle, jointly constructs a self-sustaining, long-term operational system. Drones can intelligently select the optimal refueling point within the fleet network based on instructions, achieving a "leapfrog" relay operation, while unmanned vehicles can utilize environmental energy to extend their operating time. This entire solution, through synergistic effects across physical deployment, mechanical automation, and energy management, ultimately achieves an optimal balance between deployment costs, monitoring efficiency, and operational duration over a wide area. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Wherein:

[0019] Figure 1This is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 This is a front view structural diagram of the present invention.

[0021] Figure 3 This is a top view of the structure of the present invention. Figure 1 .

[0022] Figure 4 This is a top view of the structure of the present invention. Figure 2 .

[0023] Figure 5 This is a schematic diagram of the parking bay of the present invention.

[0024] Figure 6 This is a cross-sectional internal view of the parking bay of the present invention.

[0025] Figure 7 for Figure 6 A schematic diagram of the cross-section of the AA-oriented unmanned vehicle.

[0026] Figure 8 for Figure 6 Enlarged schematic diagram of the structure at point C.

[0027] Figure 9 for Figure 7 Enlarged schematic diagram of the structure at point B.

[0028] Figure 10 This is a schematic diagram of the cross-section of the drone's support legs. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0030] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0031] Reference Figures 1-6 This embodiment provides an unmanned vehicle group carrying drones, including at least three amphibious unmanned vehicles 100; each unmanned vehicle 100 has a parking compartment 102 on the upper part of its body 101, and the parking compartment 102 has at least one parking position 103; the parking position 103 includes an annular charging slot 104 and a retractable collar 105 coaxially arranged around the charging slot 104.

[0032] An unmanned vehicle convoy carrying drones comprises at least three unmanned vehicles 100 with amphibious mobility. By deploying three or more unmanned vehicles 100, these vehicles can be spatially dispersed during missions, maintaining communication and coordination with each other, thereby physically forming a distributed mobile network. The direct result of this distributed deployment is that the physical area covered by the unmanned vehicle convoy is no longer limited to the movement range of a single vehicle, but extends to the entire convoy's coverage area.

[0033] Each of the unmanned vehicles 100 has a dedicated landing bay 102 on its upper body 101 to accommodate a drone 200. This bay 102 provides a protected containment space for the drone 200, shielding it from external environmental factors, particularly moisture, sandstorms, or accidental collisions, during non-missionary periods. Inside the landing bay 102, there are one or more landing positions 103 for carrying the drone 200. Each such landing position 103 is a functional integrated unit, its core components including an annular charging slot 104 and a retractable collar 105 coaxially arranged around the charging slot 104. The main function of the annular charging slot 104 is to accommodate the outriggers 210 of the drone 200 when it lands. When the outriggers 210 of the drone 200 accurately land in the slot, a stable electrical connection is established for subsequent operation. The coaxial collar 105 can change its diameter. During the landing of the UAV 200, the collar 105 can be in a larger diameter state to provide a generous guiding area. After the UAV 200's legs 210 have landed and initially positioned, the collar 105 retracts its inner wall to contact and compress the UAV 200's legs 210. This continuous, centripetal mechanical force continuously corrects the UAV 200's minor positional deviations, ultimately pushing all legs 210 precisely into the annular charging slot 104 to complete precise centering and positioning. Furthermore, when the collar 105 retracts to its final state, it can wrap around and constrain the UAV 200's legs 210, thus physically locking the UAV 200 and preventing it from detaching from the charging position due to shaking during vehicle movement, ensuring the continuous stability of the charging connection and the safety of the aircraft carrier.

[0034] The collar 105 includes an outer ring 105a and an inner ring 105b. Both the outer ring 105a and the inner ring 105b are equally spaced into multiple outer arc plates 105a-1 and multiple inner arc plates 105b-1. Both ends of each inner arc plate 105b-1 extend into the interior of two adjacent outer arc plates 105a-1 and are slidably connected by ball bearings.

[0035] The retractable collar 105 consists of two concentric nested rings, namely an outer ring 105a and an inner ring 105b. In order to achieve flexible changes in the diameter of the ring, its overall structure is not a complete rigid ring, but both the outer ring 105a and the inner ring 105b are segmented. The outer ring 105a is divided into multiple outer arc plates 105a-1 at equal intervals, and the inner ring 105b is also divided into multiple inner arc plates 105b-1 at equal intervals. The two ends of each inner arc plate 105b-1 extend into the internal cavity of the two adjacent outer arc plates 105a-1. Several ball bearings are provided on the interface where the end of the inner arc plate 105b-1 contacts the interior of the outer arc plate 105a-1, so that the inner arc plate 105b-1 can slide relative to the outer arc plate 105a-1 with low friction.

[0036] This nested and sliding connection design allows all the arc plates to form a coordinated mechanical whole. When an external driving force attempts to change the relative position between the outer arc plate 105a-1 and the inner arc plate 105b-1, for example, by forcing all the outer arc plates 105a-1 to move synchronously towards the center, the inner arc plate 105b-1, constrained at both ends within the adjacent outer arc plates 105a-1 and able to slide via ball bearings, will generate coordinated relative motion between the arc plates. As a result, the effective circumference of the entire annular assembly decreases, and the ring diameter shrinks accordingly. Conversely, when the external driving force causes the outer arc plates 105a-1 to move synchronously away from the center, the ring diameter expands with the assistance of the ball bearings. In this way, a rigid, segmented annular structure achieves controllable and continuous extension and retraction capabilities, providing a crucial mechanical basis for the subsequent guidance, centering, and locking of the UAV 200 legs 210.

[0037] Reference Figures 5-8 Each outer arc plate 105a-1 has a sliding foot 106 on its lower surface; each stop position 103 has four sliding grooves 107 at its bottom, namely the first groove 107a, the second groove 107b, the third groove 107c, and the fourth groove 107d. The first groove 107a and the third groove 107c are on the same straight line, and the second groove 107b and the fourth groove 107d are on the same straight line. The two straight lines are perpendicular to each other. The sliding foot 106 corresponds to the sliding groove 107 one by one and slides along its interior. The first groove 107a of one of two adjacent stop positions 103 is connected to the third groove 107c of the other. A drive mechanism 108 is provided in the first groove 107a and the third groove 107c.

[0038] At the center of the lower surface of each outer arc plate 105a-1, a sliding foot 106 is provided. Correspondingly, four sliding grooves 107 are provided on the bottom plane of the stop position 103. The four sliding grooves 107 are arranged such that two are on the same straight line and the other two are on another straight line, and the two straight lines are perpendicular to each other, forming a cross-shaped guide track. Each sliding foot 106 is embedded in the corresponding sliding groove 107 and can slide along the path of the sliding groove 107. This cooperation between the sliding foot 106 and the sliding groove 107 strictly restricts the movement of the outer arc plate 105a-1 to a predetermined straight line direction. When the sliding foot 106 is driven, it can only move along the sliding groove 107 in which it is located, thereby driving the outer arc plate 105a-1 fixed to it to perform linear displacement.

[0039] For two adjacent parking positions 103, the two grooves 107 on the same straight line in their bottom cross-shaped grooves 107 are interconnected. Specifically, the first groove 107a of one parking position 103 is connected to the third groove 107c of the adjacent parking position 103 to form a through channel. Inside this pair of connected first grooves 107a and third grooves 107c, a drive mechanism 108 is provided. The core components of the drive mechanism 108 include a motor 108a, a gear 108b directly driven by the output shaft of the motor 108a, and two first racks 108c symmetrically arranged and meshing with the gear 108b as the center point. These two first racks 108c extend along two directions of the connecting grooves 107 respectively. The end of one first rack 108c is fixedly connected to the sliding foot 106 located in the first groove 107a, and the end of the other first rack 108c is fixedly connected to the sliding foot 106 located in the third groove 107c.

[0040] When motor 108a starts and drives gear 108b to rotate, it simultaneously and synchronously drives the two first racks 108c meshing with it to perform linear movements in opposite directions or in opposite directions, depending on the rotation direction of gear 108b. When moving in opposite directions, the two racks retract simultaneously; when moving in opposite directions, the two racks extend simultaneously. Since the racks are directly connected to slide foot 106, this linear movement is directly transmitted to slide foot 106, forcing slide foot 106 to move along slide groove 107. The movement of slide foot 106 then pushes or pulls the outer arc plate 105a-1 connected above it, ultimately converting and transmitting the rotational output of motor 108a into paired and symmetrical linear mechanical forces required to drive the extension and retraction of collar 105. This design ensures that the driving force acting on collar 105 is balanced and synchronous, thereby ensuring that collar 105 can smoothly and stably change its diameter.

[0041] Reference Figures 6-9On both the left and right sides of the parking bay 102, a cover 109 is rotatably mounted via a pivot 109a. When the two covers 109 are closed, they can cover the top of the parking bay 102. The cover 109 is fixed on the pivot 109a, and a first gear 109b is provided at both ends of the pivot 109a. A second gear 109c meshes below the first gear 109b, and a second rack 109d meshes below the second gear 109c. The second rack 109d is located in either the second groove 107b or the fourth groove 107d. Both the second groove 107b and the fourth groove 107d penetrate the side wall of the parking bay 102.

[0042] On the left and right edges of the parking bay 102, a cover 109 is rotatably mounted via a pivot 109a. The shape and size of these two covers 109 are designed so that when they rotate and close inwards, they can completely cover the upper opening of the parking bay 102. Each cover 109 is fixedly mounted on its corresponding pivot 109a, so that the rotational motion of the pivot 109a can be directly converted into the opening and closing motion of the cover 109. In order to transmit the driving force to the pivot 109a, a gear, referred to as a first gear 109b, is fixedly mounted at both ends of the pivot 109a. Below each first gear 109b, a second gear 109c meshes with it. The second gear 109c reverses the power direction of the first gear 109b and meshes with a second rack 109d below it. The second rack 109d is placed horizontally, with its front end extending into the second groove 107b or the fourth groove 107d in the cross-shaped slide groove 107 at the bottom of the stop position 103, and is fixed to the slide foot 106 therein.

[0043] The slide 107 is not closed in design; one end near the side wall of the parking compartment 102 is open. This allows the second rack 109d to partially extend or retract from the slide 107 during movement without obstruction. When the second rack 109d extends out of the slide 107, the cover 109 is also in an open state after rotating ninety degrees. This supports and limits the state of the cover 109, preventing it from blocking the strip opening 110a of the storage compartment 110 below, which would prevent the photovoltaic panels 111 in the storage compartment 110 from being properly rolled up.

[0044] When the drive mechanism 108 is running, the first rack 108c, which is fixedly connected to the sliding foot 106, moves within the slide groove 107. Since the second rack 109d is also located within the same slide groove 107, the movement of the first rack 108c will directly or indirectly drive the second rack 109d to move together. The linear motion of the second rack 109d then drives the second gear 109c, which meshes with it, to rotate. The rotation of the second gear 109c further drives the first gear 109b and the rotating shaft 109a, which mesh with it, to rotate together. Finally, the horizontal linear motion is converted into the rotational motion of the rotating shaft 109a, thereby realizing the automatic opening or closing of the cover 109. This series of linked mechanical actions enables the sealing and protection of the landing bay 102 and the deployment and charging process of the UAV 200 to be seamlessly connected and completed synchronously.

[0045] Reference Figure 2 , Figure 7 The lower part of the vehicle body 101 is provided with a storage compartment 110 for photovoltaic panels 111. Two symmetrical rolls of photovoltaic panels 111 are rolled up in the storage compartment 110. A strip opening 110a is opened above the storage compartment 110, and the free end of the photovoltaic panel 111 is located at the strip opening 110a.

[0046] At the lower part of the vehicle body 101, there is a storage compartment 110 specifically for accommodating photovoltaic panels 111. Inside the storage compartment 110, two rolls of photovoltaic panels 111 are symmetrically rolled up. This symmetrical rolling arrangement allows the photovoltaic panels 111 to naturally face both sides of the vehicle body 101 when unfolded, thereby obtaining a wider range of sunlight. The upper shell of the storage compartment 110 has a narrow strip opening 110a along the longitudinal direction of the vehicle body 101. The free ends of the two rolls of photovoltaic panels 111, i.e., the unrolled portions, extend from the inside to this strip opening 110a.

[0047] When the vehicle needs refueling, external traction can be applied to the free end of the photovoltaic panel 111. Because the photovoltaic panel 111 itself has a certain degree of flexibility and is pre-rolled and retracted, it can smoothly move outward and unfold through the upper slot 110a under the traction force. Its working principle is similar to a common roller shutter: the pre-rolled panel slides smoothly out of the slit under tension, and after being fully unfolded, forms a large area of ​​light-receiving surface. This process realizes the transformation of the photovoltaic panel 111 from a compact, retracted state to a large-area working state, enabling the unmanned vehicle 100 to autonomously replenish its power using solar energy during task breaks, significantly enhancing its long-term operational capability in the field environment 105a.

[0048] Reference Figures 1-10An unmanned vehicle group collaborative system carrying drones includes an unmanned vehicle group carrying drones, and multiple drones 200. Each drone 200 has a charging head 212 that can contact a charging slot 104, and a support leg 210 that can be engaged with a collar 105. The unmanned vehicles 100 in the unmanned vehicle group establish a collaborative network through inter-vehicle communication to receive landing requests from the drones 200 and schedule them for take-off, landing and charging.

[0049] An unmanned vehicle group cooperative system carrying drones comprises unmanned vehicles 100 as described above, and multiple drones 200 carried by the vehicle groups. These drones 200 do not operate independently; their design is adapted to the structural features of the unmanned vehicle groups 100. Specifically, each drone 200 has a charging head 212 for power transmission at the bottom of its support leg 210. The support leg 210 of the drone 200 has a notch 211 that mates with a collar 105, and one of the notches 211 houses a retractable charging head 212.

[0050] Reference Figure 10 When the drone 200 lands on the parking position 103 of the unmanned vehicle 100, its legs 210 fall into the annular charging slot 104. At this time, the charging head 212 on the legs 210 establishes physical contact with the conductive surface of the charging slot 104, providing a path for power transmission. Simultaneously, the retractable collar 105 retracts under the action of the drive mechanism 108, and its structure fits precisely with the notch 211 on the legs 210 of the drone 200. This fitting relationship securely locks the drone 200 on the parking position 103, preventing it from shifting during movement or vibration. On the other hand, the part of the collar 105 that is stuck in the notch 211 presses down on the charging head 212 against the spring restoring force, thus making contact between the charging head 212 and the charging slot 104. This also ensures that the charging head 212 and the charging slot 104 can maintain a stable and reliable contact pressure, thereby achieving an efficient charging process.

[0051] The unmanned vehicles 100 in the group of 100 maintain real-time information exchange through an established vehicle-to-vehicle communication network. This communication link allows the dispersed vehicles to share their respective locations, statuses, and received information from the drones 200. When a drone 200's onboard battery depletes to a preset threshold during a patrol mission, it sends a landing and resupply request to the entire collaborative network via wireless communication. Upon receiving this request, the unmanned vehicles 100 in the network can make collaborative decisions and schedule operations based on their own location, battery status, and the availability of parking positions 103. For example, an unmanned vehicle 100 that is closest to the drone 200 and has the capability to receive signals will be assigned as the target landing platform for that drone 200. This selected unmanned vehicle 100 can prepare in advance, such as controlling its collar 105 and protective shield to enter a landing preparation state. At the same time, this vehicle or other vehicles in the network can schedule another drone 200 that has completed charging to take off and take over the mission from the requesting drone 200. Through this vehicle-to-vehicle communication-based collaborative scheduling, the UAV 200 does not need to return to its mother vehicle at the starting point each time. Instead, it can land on any suitable UAV 100 along the mission path for rapid energy replenishment. This allows the UAV 200's operating range to be extended beyond its single-trip range to the entire mobile area covered by the collaborative network of UAV 100s, thus achieving continuous and efficient monitoring of a large area.

[0052] Reference Figures 1-10 The "leapfrog" style relay patrol process is as follows: Step 1: Drone 200 Departure and Relay Call. A fully charged Drone 200 (Drone 200 No. 1) takes off from vehicle A and patrols towards vehicle B along a predetermined route. When Drone 200 No. 1's battery level drops to 50%, it sends a landing request to the nearest vehicle B. Once vehicle B (or moving towards Drone 200) arrives at the rendezvous point, it immediately initiates the recovery procedure.

[0053] Step Two: Synchronous Recovery and Preparation of the Leading Vehicle. The motor 108a inside the parking bay 102 drives the rack and pinion mechanism, first pulling the sliding foot 106 of the collar 105 outward along the slide groove 107, expanding the diameter of the collar 105 and releasing the lock on another standby UAV 200 (UAV No. 2 200) inside the bay. This mechanical movement is synchronously converted into power through a linkage mechanism, driving the protective covers on both sides to rotate 90 degrees and fully open, thus opening the protective covers. The fully charged UAV 200 200 immediately takes off, taking over the patrol route from UAV No. 1 200, achieving a seamless handover. A parking position 103 is already vacant, ready to recover UAV No. 1 200 and welcome its return.

[0054] Step 3: Precise Landing, Locking, and Charging. Drone 200 lands on the vacant parking position 103. Motor 108a reverses, pushing the collar 105 to retract. The retracting collar 105 gently pushes the drone 200's legs 210, aligning them and guiding them into the annular charging slot 104. As the collar 105 continues to retract, it eventually engages with the notch 211 in the drone 200's legs 210, completing centering and mechanical locking. During locking, the charging head 212 inside the legs 210 contacts the bottom surface of the charging slot 104 under the pressure of the collar 105, automatically initiating charging. Simultaneously, the retraction of the collar 105, via a rack and pinion linkage mechanism, drives the protective cover to rotate and close synchronously, resealing the parking compartment 102 and creating a protected charging environment for the drone 200.

[0055] Step Four: Looping and Expansion. After completing its mission, UAV 200 continues to land at vehicle C for resupply or returns to vehicle B. In this way, by using multiple forward vehicles such as B and C as physical fulcrums, the system successfully extends the effective operating radius of a single UAV 200 from its limited self-endurance to the coverage area of ​​the entire convoy network (over 10 kilometers), achieving efficient and continuous large-area monitoring.

[0056] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. An unmanned vehicle group carrying a drone, characterized in that: Including at least three amphibious unmanned vehicles (100); Each of the unmanned vehicles (100) has a parking compartment (102) on the upper part of the vehicle body (101), and the parking compartment (102) has at least one parking space (103). The parking position (103) includes an annular charging slot (104) and a retractable collar (105) coaxially disposed around the periphery of the charging slot (104).

2. The unmanned vehicle group carrying an unmanned aerial vehicle according to claim 1, characterized in that: The collar (105) includes an outer ring (105a) and an inner ring (105b), both of which are equally spaced into multiple outer arc plates (105a-1) and multiple inner arc plates (105b-1). Both ends of each inner arc plate (105b-1) extend into the interior of the two adjacent outer arc plates (105a-1) and are slidably connected by ball bearings.

3. The unmanned vehicle group carrying an unmanned aerial vehicle according to claim 2, characterized in that: Each of the outer arc plates (105a-1) has a sliding foot (106) on its lower surface. Each of the parking positions (103) has four sliding grooves (107) at its bottom, namely the first groove (107a), the second groove (107b), the third groove (107c), and the fourth groove (107d). The first groove (107a) and the third groove (107c) are on the same straight line, and the second groove (107b) and the fourth groove (107d) are on the same straight line. The two straight lines are perpendicular to each other. The sliding foot (106) corresponds to the sliding groove (107) one by one and slides along its interior.

4. The unmanned vehicle group carrying an unmanned aerial vehicle according to claim 3, characterized in that: The first slot (107a) of one of the two adjacent stopping positions (103) is connected to the third slot (107c) of the other, and the drive mechanism (108) is provided in the two first slots (107a) and the third slot (107c).

5. The unmanned vehicle group carrying an unmanned aerial vehicle according to claim 4, characterized in that: The drive mechanism (108) includes a motor (108a), a gear (108b) driven by the motor (108a), and two first racks (108c) that are symmetrically arranged on both sides of the gear (108b) and mesh with the gear (108b). The two first racks (108c) are respectively connected to the slide foot (106) in the first groove (107a) and the slide foot (106) in the third groove (107c).

6. The unmanned vehicle group carrying an unmanned aerial vehicle according to any one of claims 1-5, characterized in that: The parking cabin (102) has a cover (109) on each of its left and right sides via a pivot (109a). When the two covers (109) are closed, they can cover the top of the parking cabin (102).

7. The unmanned vehicle group carrying an unmanned aerial vehicle according to any one of claims 3 to 5, characterized in that: The cover (109) is fixed on the rotating shaft (109a), and a first gear (109b) is provided at both ends of the rotating shaft (109a). A second gear (109c) meshes below the first gear (109b), and a second rack (109d) meshes below the second gear (109c). The second rack (109d) is located in the second groove (107b) or the fourth groove (107d), both of which penetrate the side wall of the parking compartment (102).

8. The unmanned vehicle group carrying a drone according to any one of claims 1-5, 7, characterized in that: The lower part of the vehicle body (101) is provided with a storage compartment (110) for photovoltaic panels (111). Two symmetrical rolls of photovoltaic panels (111) are rolled up in the storage compartment (110). A strip opening (110a) is opened above the storage compartment (110), and the free end of the photovoltaic panel (111) is located at the strip opening (110a).

9. The unmanned vehicle group carrying a drone according to any one of claims 1-5 and 7, characterized in that: The foot (210) of the drone (200) is provided with a notch (211) that is adapted to the collar (105), and a retractable charging head (212) is provided in one of the notches (211).

10. A collaborative system for unmanned vehicle groups carrying drones, characterized in that: The unmanned vehicle group carrying drones as described in any one of claims 1 to 9, and the unmanned vehicle group including multiple drones (200), wherein the drones (200) have a charging head (212) that can contact the charging slot (104) and a support leg (210) that can engage with the collar (105). The unmanned vehicles (100) in the unmanned vehicle (100) group establish a collaborative network through vehicle-to-vehicle communication to receive landing requests from unmanned aerial vehicles (200) and schedule them for take-off, landing and charging.

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