Mobile hangar and warehouse entering system for unmanned aerial vehicle swarm

Abstract

The invention relates to the technical field of unmanned aerial vehicle carrying, and discloses an unmanned aerial vehicle swarm mobile hangar and garage entering system.The unmanned aerial vehicle swarm mobile hangar comprises a carrying vehicle, a carrying mechanism is arranged on the carrying vehicle, the carrying mechanism comprises a hangar, a supporting frame is arranged in the hangar, and the carrying mechanism is used for placing an unmanned aerial vehicle; and a fixing mechanism is arranged in the carrying mechanism and comprises a locking rod, the locking rod is rotationally connected to the supporting frame, and the fixing mechanism fixes the unmanned aerial vehicle through the locking rod. The unmanned aerial vehicle warehouse is arranged on the carrying vehicle, a large number of unmanned aerial vehicles can be carried, the working capacity is improved, meanwhile, the warehouse entering system of the unmanned aerial vehicle swarm is configured, rapid operation of unmanned aerial vehicle warehouse entering is achieved, and the unmanned aerial vehicles are pre-arranged by setting the gathering domain and the gathering position; the unmanned aerial vehicles are arranged in a large range space, so that the unmanned aerial vehicles can be effectively prevented from colliding with one another, and the failure rate during garage entering is reduced.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) transportation technology, specifically, it relates to a mobile hangar and storage system for UAV swarms. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are unmanned aircraft controlled by radio remote control equipment and their own program control devices. UAVs are actually a general term for unmanned aerial vehicles, which, from a technical perspective, can be divided into: unmanned fixed-wing aircraft, unmanned vertical takeoff and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, and unmanned paragliders. Compared with manned aircraft, they have advantages such as small size, low cost, ease of use, low requirements for the combat environment, and strong battlefield survivability. UAV hangars are used to realize the takeoff, landing, and storage of UAVs, as well as automatic charging / battery swapping functions. A fully automated hangar consists of: a hangar enclosure, a platform lifting and centering system, an electrical system, a battery replacement and charging system, a temperature control system, a UPS power supply (optional), an industrial control system, and an internal video monitoring system.

[0003] Chinese patent CN114655105B discloses a mobile rotorcraft drone swarm hangar. This hangar uses a wheeled mobile platform as its transport platform and is constructed from shipping containers. It includes: individual drone bays, a central control system, a left side door, a right side door, a top side door, and a central partition. Each hangar contains multiple loading platforms, each consisting of 2n individual drone bays. Each individual drone bay is equipped with an independent drawer-type telescopic device, capable of accommodating one drone. Each individual drone bay has a square base with functions for stopping, charging, securing, centering, and data transmission. The container hangar's top side door, left side door, and right side door are all connected to the floor or container partition via hinges, and all side doors can be opened simultaneously under the control of the central control system.

[0004] However, this technical solution still has at least the following drawbacks: the device lacks the function of pre-arranging drones when they enter the hangar, and directly allowing drones to enter the hangar may result in the drones crossing paths due to the limited hangar size, which could easily lead to collisions. In view of this, the present invention is proposed. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a mobile hangar and swarm entry system for drone swarms. By setting up the drone hangar on a transport vehicle, a large number of drones can be transported, increasing operational capacity. Simultaneously, the drone swarm entry system enables rapid drone entry. By setting up assembly areas and assembly positions to pre-arrange the drones, arranging them within a large space can effectively prevent drones from colliding with each other and reduce the failure rate during entry.

[0006] The technical solution adopted by this invention to solve its technical problem is: A mobile hangar for a drone swarm includes a transport vehicle, on which a transport mechanism is installed. The transport mechanism includes a hangar, and a support frame is installed inside the hangar. The transport mechanism is used to house the drones. The transport mechanism is equipped with a fixing mechanism, which includes a locking rod that is rotatably connected to the support frame. The fixing mechanism secures the drone through the locking rod.

[0007] In a preferred embodiment of the present invention, a pushing device is provided in the hangar, the pushing device is connected to the support frame, the pushing device is used to push the support frame to move laterally, and a triggering mechanism is provided on the support frame, the triggering mechanism is used to control the fixing mechanism to fix and unlock the drone.

[0008] In a preferred embodiment of the present invention, the triggering mechanism includes a connecting frame, which is movably inserted into a support frame. An arc-shaped plate is fixedly installed at the end of the connecting frame. A guide slope is provided on one side of the arc-shaped plate, which is adapted to the locking rod. A reset spring is fixedly installed on one side of the connecting frame, and one end of the reset spring is fixedly connected to the support frame. A torsion spring is installed at the connection between the locking rod and the support frame.

[0009] In a preferred embodiment of the present invention, a rigid connection mechanism and a shock-absorbing mechanism are provided between the hangar and the transport vehicle. The rigid connection mechanism includes a first guide block and a second guide block. The second guide block is fixedly installed on the transport vehicle, and the first guide block is slidably installed on the bottom of the hangar. A lead screw is also rotatably installed on the bottom of the hangar. The first guide block and the lead screw are threadedly connected. The shock-absorbing mechanism includes a telescopic rod. The telescopic rod is fixedly connected between the hangar and the transport vehicle. A spring is movably sleeved on the telescopic rod. The rigid connection mechanism controls the first guide block and the second guide block to abut against each other and extend the telescopic rod to its maximum position through the lead screw.

[0010] In a preferred embodiment of the present invention, the hangar is provided with a closing mechanism, the closing mechanism including a main door panel and a secondary door panel, the main door panel and the secondary door panel being rotatably connected, an electric push rod being installed between the main door panel and the secondary door panel, a power device being installed on the hangar, the power device being used to drive the main door panel, and a transmission mechanism being provided at the end of the hangar, the transmission mechanism being used to transmit power between the closing mechanism and the rigid connection mechanism.

[0011] In a preferred embodiment of the present invention, the transmission mechanism includes a rack, one end of which is rotatably connected to the main door panel, and a gear is meshed with the side of the rack. One side of the gear is rotatably mounted on the hangar side, and a first sprocket is fixedly mounted on the side of the gear. A first chain is meshed with the outer side of the first sprocket, and a second sprocket is meshed with one end of the first chain. The second sprocket is fixedly connected to a lead screw.

[0012] A drone swarm storage system includes a mobile hangar for the drone swarm, and also includes an assembly unit and a storage unit; The assembly unit is used to perform assembly operations between drone swarms entering the hangar; The storage unit is used to perform the operation of assembling drones and then sending them into the hangar.

[0013] In a preferred embodiment of the present invention, the aggregating unit includes a spatial preset strategy, which includes setting a aggregating domain in the area above the hangar, the aggregating domain representing the area where the drone swarm aggregates, and the spatial preset strategy also includes setting aggregating positions in the aggregating domain corresponding to the number of drones, and sequentially numbering the aggregating positions, the aggregating positions representing the distribution points of the drones when aggregating. The swarm unit also includes a swarm execution strategy, which includes generating a ranking command when the drone swarm flies into the swarm domain, controlling the drones entering the swarm domain to enter the swarm position based on the ranking command, the swarm execution strategy also includes sequentially numbering the drones according to the order in which they enter the swarm domain, and making the drones correspond to the swarm position when they swarm, the swarm execution strategy also includes generating a node command when the drone swarm has finished swarming.

[0014] In a preferred embodiment of the present invention, the storage unit includes a support frame with parking positions, and the parking positions are sequentially numbered, wherein the parking positions represent the locations where the drones are parked. The warehouse entry unit also includes a two-point positioning strategy, which includes setting positioning points at both ends of the drone and setting two reference points at the parking position, and sorting the positioning points and reference points respectively. The two-point positioning strategy also includes establishing a three-dimensional coordinate system based on the hangar location, obtaining the coordinate information of the positioning point and the reference point, controlling the movement of the UAV based on the coordinate information of the positioning point and the reference point, and making the positions of the positioning point and the reference point correspond.

[0015] In a preferred embodiment of the present invention, the warehouse entry unit further includes a warehouse entry execution strategy, which includes executing a warehouse entry procedure on the UAV when a node instruction is received; The warehouse entry execution strategy also includes generating a marking instruction when the drone begins to enter the warehouse, obtaining the number of the drone entering the warehouse and the parking position corresponding to the number of the drone entering the warehouse based on the marking instruction, marking the reference point on the parking position and the positioning point on the drone entering the warehouse, and generating a recovery instruction after the drone finishes entering the warehouse, and deleting the marking based on the recovery instruction; The warehouse entry procedure includes, when the UAV moves to the parking position based on a two-point positioning strategy, acquiring the marked positioning point and reference point, and maintaining the correspondence between the marked positioning point and reference point.

[0016] Compared with the prior art, the present invention has the following advantages: This invention sets up the drone hangar on a transport vehicle, which can carry a large number of drones, increasing operational capacity. At the same time, it is equipped with a drone swarm entry system to realize the rapid operation of drone entry into the hangar. This invention pre-arranges drones by setting up a set-up field and set-up position. Arranging drones in a large space can effectively prevent drones from colliding with each other and reduce the failure rate when entering the warehouse. This invention enables the hangar to keep synchronized with the transport vehicle by setting a rigid connection mechanism, avoiding vertical movement of the hangar caused by the shock absorption mechanism, which would make it difficult to enter the hangar. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a mobile hangar for a drone swarm according to the present invention; Figure 2 This is a schematic diagram of the distribution structure of the set domain in this invention; Figure 3 This is a schematic diagram of the main door panel and the secondary door panel in the open state of the present invention; Figure 4 This is a schematic diagram of the support frame structure of the present invention; Figure 5 This is a schematic diagram of the transmission mechanism of the present invention; Figure 6 This is a schematic diagram of the rigid connection mechanism of the present invention; Figure 7 This is a schematic diagram of the assembly unit process of the present invention; Figure 8 This is a schematic diagram of the warehousing unit process of the present invention; Figure 9 This is a schematic diagram of the two-point positioning strategy process of the present invention; Figure 10 This is a schematic diagram of the inbound execution strategy process of the present invention.

[0018] In the picture: 100. Transport vehicle; 101. Hanger; 102. Pushing device; 103. Support frame; 104. Locking rod; 105. Torsion spring; 106. Arc plate; 107. Guide ramp; 108. Connecting frame; 109. Reset spring; 200. Main door panel; 201. Electric push rod; 202. Secondary door panel; 203. Rack; 204. Gear; 205. First sprocket; 206. Chain; 207. Second sprocket; 208. Lead screw; 209. First guide block; 210. Second guide block; 211. Telescopic rod; 212. Spring; 213. Power unit; 300, set field; 301, set bit. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention.

[0020] Example 1: like Figures 1 to 6 As shown, a mobile hangar for a drone swarm includes a transport vehicle 100, a transport mechanism on the transport vehicle 100, a hangar 101, and a support frame 103 inside the hangar 101. The transport mechanism is used to house the drones. The carrier mechanism is equipped with a fixing mechanism, which includes a locking rod 104. The locking rod 104 is rotatably connected to the support frame 103, and the fixing mechanism fixes the UAV through the locking rod 104.

[0021] like Figures 1 to 4 As shown, in a specific embodiment, a pushing device 102 is provided inside the hangar 101. The pushing device 102 is connected to the support frame 103. The pushing device 102 is used to push the support frame 103 to move laterally. A triggering mechanism is provided on the support frame 103. The triggering mechanism is used to control the fixing mechanism to fix and unlock the drone. In this configuration, the pushing device adopts an electric slide rail to control the extension of the support frame 103.

[0022] like Figures 3 to 4As shown, the triggering mechanism further includes a connecting frame 108, which is movably inserted into the support frame 103. An arc-shaped plate 106 is fixedly installed at the end of the connecting frame 108. A guide slope 107 is provided on one side of the arc-shaped plate 106, which is adapted to the locking rod 104. A reset spring 109 is fixedly installed on one side of the connecting frame 108. One end of the reset spring 109 is fixedly connected to the support frame 103. A torsion spring 105 is installed at the connection between the locking rod 104 and the support frame 103. In this configuration, the secondary door panel 202 abuts against the connecting frame 108 during movement. The connecting frame 108 moves and drives the arc plate 106 to move. The arc plate 106 rotates by abutting against the locking rod 104 and locks the drone's landing gear, thereby securing the drone. When the drone leaves the hangar, the secondary door panel 202 disengages from the connecting frame 108, causing the reset spring 109 to push the connecting frame 108 to move. At this time, the arc plate 106 disengages from the locking rod 104, and the torsion spring 105 drives the locking rod 104 to rotate, thereby unlocking the drone.

[0023] Example 2: like Figures 1 to 10 As shown, a drone swarm storage system includes a mobile hangar for the drone swarm, as well as an assembly unit and a storage unit. The assembly unit is used to perform assembly operations between drone swarms entering hangar 101; The entry unit is used to execute the operation of the drones entering hangar 101 after they are assembled.

[0024] The assembly unit includes a spatial preset strategy, which includes setting an assembly domain 300 in the area above the hangar 101. The assembly domain 300 represents the area where the drone swarm assembles. The spatial preset strategy also includes setting assembly positions 301 corresponding to the number of drones in the assembly domain 300 and sequentially numbering the assembly positions 301. The assembly positions 301 represent the distribution points of the drones when they assemble. The swarm unit also includes a swarm execution strategy, which includes generating a ranking command when the drone swarm flies into the swarm domain 300, controlling the drones entering the swarm domain 300 to enter the swarm position 301 based on the ranking command, the swarm execution strategy also includes sequentially numbering the drones according to the order in which they enter the swarm domain 300, and making the drones correspond to the swarm position 301 when they swarm, the swarm execution strategy also includes generating a node command when the drone swarm has finished swarming. The group execution strategy also includes generating a provisional instruction when a drone enters the group domain 300, controlling drones that have not entered the group domain 300 to stop moving based on the provisional instruction, so as to avoid collisions caused by the intersection of drone group paths; and generating a movement instruction when a drone enters the group position 301, controlling drones that have not entered the group domain 300 to continue moving towards the group domain 300 based on the movement instruction.

[0025] The storage unit includes a parking space set on the support frame 103, and the parking spaces are numbered sequentially. The parking space indicates the location where the drone is parked. The warehouse entry unit also includes a two-point positioning strategy, which includes setting positioning points at both ends of the drone and setting two reference points at the parking position, and sorting the positioning points and reference points respectively. The two-point positioning strategy also includes establishing a three-dimensional coordinate system based on the hangar location, obtaining the coordinate information of the positioning point and the reference point, controlling the movement of the UAV based on the coordinate information of the positioning point and the reference point, and making the positions of the positioning point and the reference point correspond.

[0026] The warehouse entry unit also includes a warehouse entry execution strategy, which includes executing a warehouse entry procedure on the drone when a node instruction is received; The warehouse entry execution strategy also includes generating a marking instruction when the drone begins to enter the warehouse, obtaining the number of the drone entering the warehouse and the parking position corresponding to the number of the drone entering the warehouse based on the marking instruction, marking the reference point on the parking position and the positioning point on the drone entering the warehouse, and generating a recovery instruction after the drone finishes entering the warehouse, and deleting the marking based on the recovery instruction; The warehouse entry procedure includes acquiring the marked positioning point and reference point when the drone moves to the parking position based on a two-point positioning strategy, and maintaining the correspondence between the marked positioning point and the reference point.

[0027] Example 3: like Figure 3 , Figure 5 , Figure 6As shown, in a specific embodiment, a rigid connection mechanism and a shock-absorbing mechanism are provided between the hangar 101 and the transport vehicle 100. The rigid connection mechanism includes a first guide block 209 and a second guide block 210. The second guide block 210 is fixedly installed on the transport vehicle 100, and the first guide block 209 is slidably installed on the bottom of the hangar 101. A lead screw 208 is also rotatably installed on the bottom of the hangar 101. The first guide block 209 and the lead screw 208 are threadedly connected. The shock-absorbing mechanism includes a telescopic rod 211. The telescopic rod 211 is fixedly connected between the hangar 101 and the transport vehicle 100. A spring 212 is movably sleeved on the telescopic rod 211. The rigid connection mechanism controls the first guide block 209 and the second guide block 210 to abut against each other and extend the telescopic rod 211 to its maximum position through the lead screw 208. In this configuration, when the drone leaves the hangar, the opening of the main door panel 200 causes the first guide block 209 to abut against the second guide block 210. At this time, the first guide block 209 and the second guide block 210 abut against each other in the vertical direction, causing the telescopic rod 211 to extend to its maximum value. This prevents the hangar 101 from moving vertically relative to the transport vehicle 100, thus avoiding the hangar from moving up and down due to the weight of the drones on it, making it difficult to enter or leave the hangar.

[0028] like Figure 3 , Figure 5 , Figure 6 As shown, the hangar 101 is further equipped with a closing mechanism, which includes a main door panel 200 and a secondary door panel 202. The main door panel 200 and the secondary door panel 202 are rotatably connected. An electric push rod 201 is installed between the main door panel 200 and the secondary door panel 202. A power unit 213 is installed on the hangar 101 to drive the main door panel 200. A transmission mechanism is provided at the end of the hangar 101 to transmit power between the closing mechanism and the rigid connection mechanism. In this configuration, the electric push rod 201 controls the secondary door panel 202 to rotate and maintain a perpendicular state to the main door panel 200. At this time, the power unit 213 is activated, and the power unit 213 drives the main door panel 200 to rotate. The main door panel 200 and the secondary door panel 202 move together to one side of the hangar 101 and close the drone swarm together with the hangar 101.

[0029] like Figure 5 , Figure 6As shown, the transmission mechanism further includes a rack 203, one end of which is rotatably connected to the main door panel 200. A gear 204 is meshed with the side of the rack 203. One side of the gear 204 is rotatably mounted on one side of the hangar 101, and a first sprocket 205 is fixedly mounted on one side of the gear 204. A first chain 206 is meshed with the outer side of the first sprocket 205, and a second sprocket 207 is meshed with one end of the first chain 206. The second sprocket 207 is fixedly connected to a lead screw 208. In this configuration, during the rotation of the main door panel 200, the rack 203 is moved. The rack 203, through meshing with the gear 204, drives the first sprocket 205 to rotate. The first sprocket 205, through the chain 206, drives the second sprocket 207 to rotate, and the second sprocket 207 drives the lead screw 208 to rotate.

[0030] The implementation principle of the mobile hangar and entry system for a drone swarm in this embodiment is as follows: When the drones enter the hangar, the drones are parked on the parking positions on the support frame 103 according to the drone swarm entry system. After all the drones have been parked, the support frame 103 is retracted by the push device 102. At the same time, the electric push rod 201 controls the rotation of the sub-door panel 202 and keeps it perpendicular to the main door panel 200. At this time, the power device 213 is started. The power device 213 drives the main door panel 200 to rotate. The main door panel 200 and the sub-door panel 202 move together to one side of the hangar 101 and close the drone swarm together with the hangar 101. During the movement, the sub-door panel 202 abuts against the connecting frame 108. The connecting frame 108 moves and drives the arc plate 106 to move. The arc plate 106 rotates by abutting against the locking rod 104 and locks the landing gear of the drone, thereby fixing the drone. During the rotation of the main door panel 200, the rack 203 is moved. The rack 203, through meshing with the gear 204, drives the first sprocket 205 to rotate. The first sprocket 205 drives the second sprocket 207 to rotate through the chain 206. The second sprocket 207 drives the lead screw 208 to rotate, thereby causing the first guide block 209 to move and disengage from the second guide block 210. At this time, the hangar 101 can move up and down, so that the shock absorption mechanism can play its role. When the drone leaves the hangar, the opening of the main door panel 200 causes the first guide block 209 to abut against the second guide block 210. At this time, the first guide block 209 and the second guide block 210 abut against each other in the vertical direction, causing the telescopic rod 211 to extend to its maximum value. This prevents the hangar 101 from moving vertically relative to the transport vehicle 100, thus avoiding the hangar from moving up and down due to the weight of the drones on it, making it difficult to enter or leave the hangar. When the drone leaves the warehouse, the secondary door panel 202 disengages from the connecting frame 108, causing the reset spring 109 to push the connecting frame 108 to move. At this time, the arc plate 106 disengages from the locking rod 104, and the torsion spring 105 drives the locking rod 104 to rotate, thereby unlocking the drone.

[0031] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A mobile hangar for a drone swarm, comprising a transport vehicle (100), characterized in that, The transport vehicle (100) is equipped with a transport mechanism, which includes a hangar (101) and a support frame (103) inside the hangar (101). The transport mechanism is used to house the drone. The carrying mechanism is equipped with a fixing mechanism, which includes a locking rod (104). The locking rod (104) is rotatably connected to the support frame (103). The fixing mechanism fixes the UAV through the locking rod (104). The hangar (101) is equipped with a pushing device (102), which is connected to a support frame (103). The pushing device (102) is used to push the support frame (103) to move laterally. The support frame (103) is equipped with a triggering mechanism, which is used to control the fixing mechanism to fix and unlock the drone.

2. The mobile hangar for a drone swarm according to claim 1, characterized in that, The triggering mechanism includes a connecting frame (108), which is movably inserted into the support frame (103). An arc plate (106) is fixedly installed at the end of the connecting frame (108). A guide slope (107) is provided on one side of the arc plate (106). The guide slope (107) is adapted to the locking rod (104). A reset spring (109) is fixedly installed on one side of the connecting frame (108). One end of the reset spring (109) is fixedly connected to the support frame (103). A torsion spring (105) is installed at the connection between the locking rod (104) and the support frame (103).

3. The mobile hangar for a drone swarm according to claim 2, characterized in that, A rigid connection mechanism and a shock-absorbing mechanism are provided between the hangar (101) and the transport vehicle (100). The rigid connection mechanism includes a first guide block (209) and a second guide block (210). The second guide block (210) is fixedly installed on the transport vehicle (100). The first guide block (209) is slidably installed on the bottom of the hangar (101). A lead screw (208) is also rotatably installed on the bottom of the hangar (101). The first guide block (209) and the lead screw (208) are threadedly connected. The shock-absorbing mechanism includes a telescopic rod (211). The telescopic rod (211) is fixedly connected between the hangar (101) and the transport vehicle (100). A spring (212) is movably sleeved on the telescopic rod (211). The rigid connection mechanism controls the first guide block (209) and the second guide block (210) to abut against each other and extend the telescopic rod (211) to its maximum position through the lead screw (208).

4. A mobile hangar for a drone swarm according to claim 3, characterized in that, The hangar (101) is provided with a closing mechanism, which includes a main door panel (200) and a secondary door panel (202). The main door panel (200) and the secondary door panel (202) are rotatably connected. An electric push rod (201) is installed between the main door panel (200) and the secondary door panel (202). A power device (213) is installed on the hangar (101). The power device (213) is used to drive the main door panel (200). A transmission mechanism is provided at the end of the hangar (101). The transmission mechanism is used to transmit the closing mechanism and the rigid connection mechanism.

5. A mobile hangar for a drone swarm according to claim 4, characterized in that, The transmission mechanism includes a rack (203), one end of which is rotatably connected to the main door panel (200). A gear (204) is meshed with the side of the rack (203). One side of the gear (204) is rotatably mounted on the side of the hangar (101), and a first sprocket (205) is fixedly mounted on the side of the gear (204). A first chain (206) is meshed with the outer side of the first sprocket (205). A second sprocket (207) is meshed with one end of the first chain (206). The second sprocket (207) is fixedly connected to the lead screw (208).

6. A drone swarm storage system, comprising a mobile hangar for the drone swarm as described in any one of claims 1-5, characterized in that, It also includes collection units and warehousing units; The assembly unit is used to perform assembly operations between drone swarms entering hangar (101); The storage unit is used to perform the operation of the drones entering the hangar (101) after they are assembled.

7. A drone swarm storage system according to claim 6, characterized in that, The assembly unit includes a spatial preset strategy, which includes setting an assembly domain (300) in the area above the hangar (101). The assembly domain (300) represents the area where the drone swarm assembles. The spatial preset strategy also includes setting assembly positions (301) corresponding to the number of drones in the assembly domain (300) and sequentially numbering the assembly positions (301). The assembly positions (301) represent the distribution points of the drones when they assemble. The swarm unit also includes a swarm execution strategy, which includes generating a ranking command when the drone swarm flies into the swarm domain (300), and controlling the drones entering the swarm domain (300) to enter the swarm position (301) based on the ranking command. The swarm execution strategy also includes sequentially numbering the drones according to the order in which they enter the swarm domain (300), and making the drones correspond to the swarm position (301) according to the number. The swarm execution strategy also includes generating a node command when the drone swarm has finished swarming.

8. A drone swarm storage system according to claim 7, characterized in that, The storage unit includes a parking space set on the support frame (103) and the parking spaces are numbered sequentially, the parking space representing the position where the drone is parked; The warehouse entry unit also includes a two-point positioning strategy, which includes setting positioning points at both ends of the drone and setting two reference points at the parking position, and sorting the positioning points and reference points respectively. The two-point positioning strategy also includes establishing a three-dimensional coordinate system based on the hangar location, obtaining the coordinate information of the positioning point and the reference point, controlling the movement of the UAV based on the coordinate information of the positioning point and the reference point, and making the positions of the positioning point and the reference point correspond.

9. A drone swarm storage system according to claim 8, characterized in that, The warehouse entry unit also includes a warehouse entry execution strategy, which includes executing a warehouse entry procedure on the UAV when a node instruction is received. The warehouse entry execution strategy also includes generating a marking instruction when the drone begins to enter the warehouse, obtaining the number of the drone entering the warehouse and the parking position corresponding to the number of the drone entering the warehouse based on the marking instruction, marking the reference point on the parking position and the positioning point on the drone entering the warehouse, and generating a recovery instruction after the drone finishes entering the warehouse, and deleting the marking based on the recovery instruction; The warehouse entry procedure includes, when the UAV moves to the parking position based on a two-point positioning strategy, acquiring the marked positioning point and reference point, and maintaining the correspondence between the marked positioning point and reference point.

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