A mobile hangar and hangar entry system for a swarm of drones

Abstract

The application relates to the unmanned aerial vehicle carrying technical field and discloses a movable hangar and a hangar-entering system for a drone swarm, which comprises a carrying vehicle, a carrying mechanism arranged on the carrying vehicle, a hangar, a supporting frame arranged in the hangar and a fixing mechanism arranged in the carrying mechanism and used for placing the unmanned aerial vehicle. The fixing mechanism comprises a lock rod which is rotationally connected to the supporting frame and used for fixing the unmanned aerial vehicle. The unmanned aerial vehicle hangar is arranged on the carrying vehicle, a large number of unmanned aerial vehicles can be carried, the working capacity is increased, the hangar-entering system for the drone swarm is configured, the rapid operation of the unmanned aerial vehicle into the hangar is realized, the unmanned aerial vehicle is prearranged through the setting of a collection domain and a collection position, the unmanned aerial vehicle is arranged in a large space, the mutual collision of the unmanned aerial vehicles can be effectively prevented, and the failure rate during the entering into the hangar is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned aerial vehicle transportation, in particular to a mobile hangar and a hangar entry system for a UAV swarm. BACKGROUND

[0002] An unmanned aerial vehicle, commonly known as a "drone" ("UAV"), is a pilotless aircraft that is controlled by radio remote control equipment and self-provided program control devices. In fact, a UAV is a general term for pilotless aircraft, which can be divided into the following categories from a technical point of view: unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned parafoils, etc. Compared with manned aircraft, UAVs have the advantages of small size, low cost, easy use, low requirements for operating environment, strong battlefield survival capability, etc. A UAV hangar is used to realize the functions of UAV take-off, landing and storage, as well as automatic charging / battery replacement, etc. A full-automatic hangar is composed of a hangar box, a platform lifting and centering system, an electrical system, a battery replacement and charging system, a temperature control system, an UPS power supply (optional), an industrial control system, and a hangar internal video monitoring system.

[0003] A mobile rotor UAV swarm hangar is disclosed in Chinese Patent No. CN114655105B. The hangar uses a wheeled mobile platform as a carrying platform. The hangar is composed of a container, including: independent parking spaces, a central control system, left and right side doors, a top side door, and an intermediate partition. Each hangar contains multiple loading platforms, each of which is composed of 2n independent parking spaces. Each independent parking space is equipped with an independent drawer-type extension device, which can park one UAV. Each independent parking space is provided with a square base, which has the functions of parking, charging, fixing, centering, and data transmission. The container hangar is provided with a top side door, a left side door, and a right side door. All side doors are linked to the bottom plate or the box partition through hinges. 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 defects: the device does not have the function of pre-arranging the UAV when it enters the hangar, and directly makes the UAV enter the hangar, which may cause the UAV to cross in the path to the hangar due to the limited size of the hangar, and is prone to collision. In view of this, the present application is proposed. SUMMARY

[0005] To solve the above technical problems, the present application provides a mobile hangar and a hangar entry system for a UAV swarm. The UAV hangar is arranged on a carrying vehicle, which can carry a large number of UAVs and increase the operation capacity. At the same time, the hangar entry system for a UAV swarm is configured to realize the rapid operation of the UAV entering the hangar. The UAV is pre-arranged by setting a collection domain and a collection position, which can effectively prevent the UAV from colliding with each other in a larger range of space, and reduce the failure rate when entering the hangar.

[0006] The technical scheme adopted by the present application to solve its technical problems is:

[0007] A mobile hangar of a drone swarm, comprising a carrier vehicle, wherein a carrying mechanism is arranged on the carrier vehicle, the carrying mechanism comprises a hangar, a support frame is arranged in the hangar, and the carrying mechanism is used for placing drones;

[0008] A fixing mechanism is arranged in the carrying mechanism, the fixing mechanism comprises a lock rod, the lock rod is rotationally connected to the support frame, and the fixing mechanism fixes the drones through the lock rod.

[0009] As a preferred embodiment of the present application, a pushing device is arranged in the hangar, the pushing device is connected to the support frame, the pushing device is used for pushing the support frame to move laterally out, a triggering mechanism is arranged on the support frame, and the triggering mechanism is used for controlling the fixing mechanism to fix and unlock the drones.

[0010] As a preferred embodiment of the present application, the triggering mechanism comprises a connecting frame, the connecting frame is movably inserted into the support frame, an arc-shaped plate is fixedly installed at the end of the connecting frame, a guide inclined surface is formed on one side of the arc-shaped plate, the guide inclined surface is matched with the lock rod, a reset spring piece is fixedly installed on one side of the connecting frame, one end of the reset spring piece is fixedly connected to the support frame, and a torsional spring is installed at the connecting position of the lock rod and the support frame.

[0011] As a preferred embodiment of the present application, a hard connection mechanism and a damping mechanism are arranged between the hangar and the carrier vehicle, the hard connection mechanism comprises a first guide block and a second guide block, the second guide block is fixedly installed on the carrier vehicle, the first guide block is slidingly installed at the bottom of the hangar, a lead screw is also rotationally installed at the bottom of the hangar, the first guide block is threadedly connected to the lead screw, the damping mechanism comprises an extension rod, the extension rod is fixedly connected between the hangar and the carrier vehicle, a spring is movably sleeved on the extension rod, and the hard connection mechanism controls the first guide block and the second guide block to abut against each other and makes the extension rod to be elongated to the maximum position through the lead screw.

[0012] As a preferred embodiment of the present application, a closing mechanism is arranged on the hangar, the closing mechanism comprises a main door plate and a secondary door plate, the main door plate and the secondary door plate are rotationally connected, an electric push rod is installed between the main door plate and the secondary door plate, a power device is installed on the hangar, the power device is used for driving the main door plate, an end of the hangar is provided with a transmission mechanism, and the transmission mechanism is used for driving the closing mechanism and the hard connection mechanism.

[0013] As a preferred embodiment of the present application, the transmission mechanism comprises a rack, one end of the rack is rotatably connected with the main door plate, a gear is meshingly connected with the side of the rack, one side of the gear is rotatably installed on one side of the hangar, and a first sprocket is fixedly installed on one side of the gear, a first chain is meshingly connected with the outside of the first sprocket, a second sprocket is meshingly connected with one end of the first chain, and the second sprocket is fixedly connected with the lead screw.

[0014] A hangar system for a UAV swarm, comprising a mobile hangar for a UAV swarm, further comprising a collection unit and a hangar entry unit;

[0015] The collection unit is configured to perform a collection operation of the UAV swarm entering the hangar.

[0016] The hangar entry unit is configured to perform an operation of the UAV entering the hangar after being collected.

[0017] As a preferred embodiment of the present application, the collection unit comprises a space preset strategy, the space preset strategy comprises a collection area arranged in an area above the hangar, the collection area represents a region for the UAV swarm to collect, the space preset strategy further comprises a collection position corresponding to the number of UAVs arranged in the collection area, and the collection position is sequentially numbered, the collection position representing a point for the UAV to be distributed when collected.

[0018] The collection unit further comprises a collection execution strategy, the collection execution strategy comprises generating a ranking instruction when the UAV swarm flies into the collection area, controlling the UAV entering the collection area to enter the collection position based on the ranking instruction, sequentially numbering the UAVs according to the order of entering the collection area, and making the UAVs correspond to the collection positions when collected according to the numbers, and the collection execution strategy further comprises generating a node instruction when the UAV swarm is assembled.

[0019] As a preferred embodiment of the present application, the hangar entry unit comprises a parking position arranged on the support frame, and the parking position is sequentially numbered, the parking position representing a position for the UAV to be parked.

[0020] The hangar entry unit further comprises a two-point positioning strategy, the two-point positioning strategy comprises positioning points arranged at both ends of the UAV, and two reference points arranged on the parking position, and the positioning points and the reference points are sorted respectively.

[0021] The two-point positioning strategy further comprises establishing a three-dimensional coordinate system based on the position of the hangar, obtaining coordinate information of the positioning points and the reference points, controlling the UAV to move based on the coordinate information of the positioning points and the reference points, and making the positions of the positioning points and the reference points correspond.

[0022] As a preferred embodiment of the present application, the warehouse entry unit further comprises a warehouse entry execution strategy, which comprises executing the warehouse entry procedure for the UAV when the node instruction is obtained;

[0023] The warehouse entry execution strategy further comprises generating a marking instruction when the UAV starts to enter the warehouse, obtaining the number of the warehouse entry UAV based on the marking instruction, and the parking space corresponding to the number of the warehouse entry UAV, marking the reference point on the parking space and the positioning point on the UAV being in the warehouse entry, and generating a recovery instruction after the warehouse entry of the UAV is completed, and deleting the marking based on the recovery instruction;

[0024] The warehouse entry procedure comprises obtaining the marked positioning point and the reference point when the UAV moves to the parking space based on the two-point positioning strategy, and keeping the marked positioning point and the reference point corresponding to each other.

[0025] Compared with the prior art, the present application has the following beneficial effects:

[0026] The present application can carry a large number of UAVs by setting the UAV warehouse on the carrier vehicle, increase the operation capacity, and configure the warehouse entry system of the UAV swarm to realize the rapid operation of the UAV warehouse entry.

[0027] The present application can effectively prevent the collision of UAVs in a large range of space by setting the collection domain and the collection site to arrange the UAVs, and reduce the failure rate during warehouse entry.

[0028] The present application can keep the hangar synchronized with the carrier vehicle by setting the hard connection mechanism, avoid the up and down movement of the hangar caused by the damping mechanism, and cause the difficulty of warehouse entry. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the mobile hangar of the UAV swarm of the present application;

[0030] Figure 2 It is a schematic diagram of the collection domain distribution structure of the present application;

[0031] Figure 3 It is a schematic diagram of the structure of the main door plate and the auxiliary door plate in the open state of the present application;

[0032] Figure 4 It is a schematic diagram of the structure at the support frame of the present application;

[0033] Figure 5 It is a schematic diagram of the structure at the transmission mechanism of the present application;

[0034] Figure 6 It is a schematic diagram of the structure at the hard connection mechanism of the present application;

[0035] Figure 7This is a schematic diagram of the assembly unit process of the present invention;

[0036] Figure 8 This is a schematic diagram of the warehousing unit process of the present invention;

[0037] Figure 9 This is a schematic diagram of the two-point positioning strategy process of the present invention;

[0038] Figure 10 This is a schematic diagram of the inbound execution strategy process of the present invention.

[0039] In the picture:

[0040] 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;

[0041] 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;

[0042] 300, set field; 301, set position. Detailed Implementation

[0043] 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.

[0044] Example 1:

[0045] 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.

[0046] 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.

[0047] like Figures 1 to 4As shown in the specific embodiment, the hangar 101 is provided with a pushing device 102 connected with the support frame 103, the pushing device 102 is used to push the support frame 103 to move laterally out, the support frame 103 is provided with a triggering mechanism, the triggering mechanism is used to control the fixing mechanism to fix and unlock the UAV. In this arrangement, the pushing device adopts an electric sliding rail for controlling the extension of the support frame 103.

[0048] As shown in the specific embodiment, Figures 3 to 4 Further, the triggering mechanism includes a connecting frame 108 movably inserted on the support frame 103, the end of the connecting frame 108 is fixedly installed with an arc-shaped plate 106, one side of the arc-shaped plate 106 is provided with a guide slope 107 matched with the lock rod 104, one side of the connecting frame 108 is fixedly installed with a reset spring 109, one end of the reset spring 109 is fixedly connected with the support frame 103, and the lock rod 104 is provided with a torsion spring 105 at the connecting position with the support frame 103. In this arrangement, the sub-door plate 202 abuts against the connecting frame 108 during movement, the connecting frame 108 moves and drives the arc-shaped plate 106 to move, the arc-shaped plate 106 rotates by abutting against the lock rod 104 and clamps the landing gear of the UAV, thereby fixing the UAV, when the UAV exits the hangar, the sub-door plate 202 is separated from the connecting frame 108 to drive the reset spring 109 to move the connecting frame 108, at this time, the arc-shaped plate 106 is separated from the lock rod 104, and the torsion spring 105 drives the lock rod 104 to rotate, thereby unlocking the UAV.

[0049] Embodiment 2:

[0050] As shown in the specific embodiment, Figures 1 to 10 A hangar entry system for a UAV swarm, comprising a mobile hangar for the UAV swarm, further comprising a collection unit and a hangar entry unit;

[0051] The collection unit is used to perform a collection operation of the UAV swarm entering the hangar 101;

[0052] The hangar entry unit is used to perform an operation of the UAV after collection entering the hangar 101.

[0053] The collection unit includes a space preset strategy, the space preset strategy includes that a collection area 300 is arranged in an area above the hangar 101, the collection area 300 represents a region for the UAV swarm to collect, the space preset strategy further includes that a collection position 301 corresponding to the number of UAVs is arranged in the collection area 300, and the collection position 301 is sequentially numbered, the collection position 301 represents a point for the UAV to distribute during collection;

[0054] The collection unit further comprises a collection execution strategy, the collection execution strategy comprising generating a ranking instruction when the UAV swarm flies into the collection area 300, and controlling the UAVs entering the collection area 300 to enter the collection positions 301 based on the ranking instruction, the collection execution strategy further comprising sequentially numbering the UAVs according to the order in which the UAVs enter the collection area 300, and causing the UAVs to correspond to the collection positions 301 when the UAVs are collected according to the numbers, and the collection execution strategy further comprising generating a node instruction when the UAV swarm is completely assembled.

[0055] The collection execution strategy further comprises generating a temporary instruction when a UAV enters the collection area 300, and controlling the UAVs that have not entered the collection area 300 to stop moving based on the temporary instruction to avoid collisions caused by the intersection of the UAV collection paths, and generating a moving instruction when the UAV enters the collection position 301, and controlling the UAVs that have not entered the collection area 300 to continue moving towards the collection area 300 based on the moving instruction.

[0056] The warehouse entry unit comprises a support frame 103 provided with parking positions, and the parking positions are sequentially numbered, and the parking positions represent the positions where the UAVs are parked;

[0057] The warehouse entry unit further comprises a two-point positioning strategy, the two-point positioning strategy comprising positioning points provided at both ends of the UAV, and two reference points provided on the parking positions, and the positioning points and the reference points are sorted respectively;

[0058] The two-point positioning strategy further comprises establishing a three-dimensional coordinate system based on the warehouse location, and obtaining coordinate information of the positioning points and the reference points, and controlling the UAV to move based on the coordinate information of the positioning points and the reference points, and causing the positions of the positioning points and the reference points to correspond to each other.

[0059] The warehouse entry unit further comprises a warehouse entry execution strategy, the warehouse entry execution strategy comprising executing a warehouse entry program for the UAV when the node instruction is obtained;

[0060] The warehouse entry execution strategy further comprises generating a marking instruction when the UAV starts to enter the warehouse, obtaining the number of the warehouse entry UAV and the parking position corresponding to the number of the warehouse entry UAV based on the marking instruction, marking the reference point on the parking position and the positioning point on the warehouse entry UAV, and generating a recovery instruction after the warehouse entry UAV finishes entering the warehouse, and deleting the marking based on the recovery instruction;

[0061] The warehouse entry program comprises obtaining the marked positioning points and reference points when the UAV moves to the parking position based on the two-point positioning strategy, and keeping the marked positioning points and reference points corresponding to each other.

[0062] Embodiment 3:

[0063] As Figure 3 , Figure 5 , Figure 6As shown in the specific embodiments, the hard connection mechanism between the hangar 101 and the carrier 100 includes a first guide block 209 and a second guide block 210, the second guide block 210 is fixedly installed on the carrier 100, and the first guide block 209 is slidingly installed on the bottom of the hangar 101. The bottom of the hangar 101 is also rotatably installed with a lead screw 208, the first guide block 209 is threadedly connected with the lead screw 208, and the damping mechanism includes a telescopic rod 211, the telescopic rod 211 is fixedly connected between the hangar 101 and the carrier 100, and a spring 212 is movably sleeved on the telescopic rod 211. The hard connection mechanism controls the first guide block 209 and the second guide block 210 to abut against each other and makes the telescopic rod 211 extend to the maximum position through the lead screw 208. In the present arrangement, when the UAV is discharged, the opening of the main door plate 200 makes the first guide block 209 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 to make the telescopic rod 211 extend to the maximum value, so that the hangar 101 cannot move in the vertical direction relative to the carrier 100, avoiding the difficulty of entering or discharging the hangar due to the upward and downward movement of the hangar caused by the weight of the UAV on the hangar.

[0064] As Figure 3 , Figure 5 , Figure 6 Further, the hangar 101 is provided with a sealing mechanism, the sealing mechanism includes a main door plate 200 and a secondary door plate 202, the main door plate 200 and the secondary door plate 202 are rotatably connected, and an electric push rod 201 is installed between the main door plate 200 and the secondary door plate 202. A power device 213 is installed on the hangar 101, the power device 213 is used to drive the main door plate 200, and a transmission mechanism is arranged at the end of the hangar 101, the transmission mechanism is used to drive the sealing mechanism and the hard connection mechanism. In the present arrangement, the electric push rod 201 controls the rotation of the secondary door plate 202 and keeps it perpendicular to the main door plate 200, at this time, the power device 213 is started, the power device 213 drives the main door plate 200 to rotate, the main door plate 200 drives the secondary door plate 202 to move to one side of the hangar 101 together with the hangar 101, and the main door plate 200 and the secondary door plate 202 together seal the UAV swarm.

[0065] As Figure 5 , Figure 6As shown, further, the transmission mechanism comprises a rack 203, one end of the rack 203 is rotatably connected with the main door plate 200, and the side surface of the rack 203 is meshingly connected with a gear 204, one side gear 204 is rotatably installed on one side of the hangar 101, and a first sprocket 205 is fixedly installed on one side of the gear 204, the first sprocket 205 is meshingly connected with a first chain 206 on the outside, one end of the first chain 206 is meshingly connected with a second sprocket 207, and the second sprocket 207 is fixedly connected with a lead screw 208. In this setting, in the process of rotation of the main door plate 200, the rack 203 is driven to move, the rack 203 drives the first sprocket 205 to rotate through the meshing with the gear 204, the first sprocket 205 drives the second sprocket 207 to rotate through the chain 206, and the second sprocket 207 drives the lead screw 208 to rotate.

[0066] The implementation principle of the mobile hangar and the hangar entry system of the unmanned aerial vehicle swarm of the embodiment is as follows: when the unmanned aerial vehicles enter the hangar, the unmanned aerial vehicle swarm is parked on the parking positions on the support frame 103 according to the hangar entry system of the unmanned aerial vehicle swarm, after the unmanned aerial vehicles are completely parked, the support frame 103 is driven to retract by the pushing device 102, the electric push rod 201 controls the rotation of the auxiliary door plate 202 and keeps the auxiliary door plate 202 in a state of being perpendicular to the main door plate 200, at this time, the power device 213 is started, the power device 213 drives the main door plate 200 to rotate, the main door plate 200 drives the auxiliary door plate 202 to move to one side of the hangar 101 together with the hangar 101, and the main door plate 200 and the auxiliary door plate 202 together close the unmanned aerial vehicle swarm;

[0067] In the process of movement of the auxiliary door plate 202, the auxiliary door plate 202 abuts against the connecting frame 108, the connecting frame 108 moves and drives the arc-shaped plate 106 to move, the arc-shaped plate 106 drives the locking rod 104 to rotate by abutting against the locking rod 104, and the arc-shaped plate 106 locks the landing gear of the unmanned aerial vehicle, so as to realize the fixation of the unmanned aerial vehicle;

[0068] In the process of rotation of the main door plate 200, the rack 203 is driven to move, the rack 203 drives the first sprocket 205 to rotate through the meshing with the gear 204, the first sprocket 205 drives the second sprocket 207 to rotate through the chain 206, and the second sprocket 207 drives the lead screw 208 to rotate, so as to drive the first guide block 209 to move and be separated from the second guide block 210, at this time, the hangar 101 can move up and down, so as to enable the damping mechanism to play a role;

[0069] When the unmanned aerial vehicles exit the hangar, the opening of the main door plate 200 makes the first guide block 209 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 to make the telescopic rod 211 be elongated to the maximum, so as to make the hangar 101 unable to move in the vertical direction relative to the carrier 100, thereby avoiding the difficulty in entering or exiting the hangar due to the up and down movement of the hangar caused by the weight of the unmanned aerial vehicles on the hangar;

[0070] When the UAV is discharged, the sub-door plate 202 is separated from the connecting frame 108, so that the reset spring 109 pushes the connecting frame 108 to move, at this time, the arc-shaped plate 106 is separated from the lock rod 104, and the torsional spring 105 drives the lock rod 104 to rotate, so as to unlock the UAV.

[0071] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the present application, and they should be covered in the scope of claims of the present application.

Claims

1. A mobile hangar for a swarm of drones, comprising a carrier vehicle (100), characterized in that, The carrying vehicle (100) is provided with a carrying mechanism, the carrying mechanism comprises a hangar (101), a support frame (103) is arranged in the hangar (101), and the carrying mechanism is used for placing a drone; The carrying mechanism is provided with a fixing mechanism, the fixing mechanism comprises a lock rod (104), the lock rod (104) is rotationally connected to the support frame (103), and the fixing mechanism fixes the drone through the lock rod (104); The hangar (101) is provided with a pushing device (102), the pushing device (102) is connected to the support frame (103), the pushing device (102) is used for pushing the support frame (103) to move transversely out, the support frame (103) is provided with a triggering mechanism, and the triggering mechanism is used for controlling the fixing mechanism to fix and unlock the drone; The hangar (101) and the carrying vehicle (100) are provided with a hard connection mechanism and a damping mechanism, the hard connection mechanism comprises a first guide block (209) and a second guide block (210), the second guide block (210) is fixedly installed on the carrying vehicle (100), the first guide block (209) is slidingly installed at the bottom of the hangar (101), a lead screw (208) is also rotationally installed at the bottom of the hangar (101), the first guide block (209) is in threaded connection with the lead screw (208), the damping mechanism comprises a telescopic rod (211), the telescopic rod (211) is fixedly connected between the hangar (101) and the carrying vehicle (100), a spring (212) is movably sleeved on the telescopic rod (211), and the hard connection mechanism controls the first guide block (209) and the second guide block (210) to abut against each other and makes the telescopic rod (211) to be elongated to the maximum position through the lead screw (208); The hangar (101) is provided with a sealing mechanism, the sealing mechanism comprises a main door plate (200) and a secondary door plate (202), the main door plate (200) and the secondary door plate (202) are rotationally connected, an electric push rod (201) is installed between the main door plate (200) and the secondary door plate (202), a power device (213) is installed on the hangar (101), the power device (213) is used for driving the main door plate (200), an end of the hangar (101) is provided with a transmission mechanism, and the transmission mechanism is used for driving the sealing mechanism and the hard connection mechanism; The transmission mechanism comprises a rack (203), one end of the rack (203) is rotationally connected with the main door plate (200), a gear (204) is meshingly connected to the side surface of the rack (203), one side of the gear (204) is rotationally installed on one side of the hangar (101), a first sprocket (205) is fixedly installed on one side of the gear (204), a first chain (206) is meshingly connected to the outside of the first sprocket (205), a second sprocket (207) is meshingly connected to one end of the first chain (206), and the second sprocket (207) is fixedly connected with the lead screw (208).

2. The mobile hangar for a swarm of drones of claim 1, wherein, The trigger mechanism comprises a connecting frame (108) movably inserted on a supporting frame (103), an arc-shaped plate (106) fixedly installed at the end of the connecting frame (108), a guide inclined surface (107) formed on one side of the arc-shaped plate (106) and matched with a locking rod (104), and a reset spring (109) fixedly installed on one side of the connecting frame (108) and fixedly connected with the supporting frame (103); and the locking rod (104) is provided with a torsional spring (105) at the connecting position with the supporting frame (103).

3. A system for storing a swarm of drones in a hangar, comprising the mobile hangar of any one of claims 1-2, wherein, Further comprising a collection unit and a warehouse entry unit; The collection unit is used for performing the collection operation of the UAV swarm between the hangars (101); The warehouse entry unit is used for performing the operation of entering the hangar (101) after the UAVs are collected; The collection unit comprises a space preset strategy, the space preset strategy comprises a collection area (300) arranged in the area above the hangar (101), the collection area (300) represents the area for the UAV swarm to collect, the space preset strategy further comprises a collection position (301) corresponding to the number of UAVs arranged in the collection area (300), and the collection position (301) is sequentially numbered, and the collection position (301) represents the point position of the UAVs when collecting; The collection unit further comprises a collection execution strategy, the collection execution strategy comprises generating a ranking instruction when the UAV swarm flies into the collection area (300), controlling the UAVs entering the collection area (300) to enter the collection position (301) based on the ranking instruction, sequentially numbering the UAVs according to the entering sequence of the UAVs into the collection area (300), and making the UAVs correspond to the collection position (301) when collecting according to the number, and the collection execution strategy further comprises generating a node instruction when the UAV swarm is completely assembled; The warehouse entry unit comprises a parking position arranged on the supporting frame (103) and sequentially numbered, and the parking position represents the position of the UAVs to be parked; The warehouse entry unit further comprises a two-point positioning strategy, the two-point positioning strategy comprises a positioning point arranged at both ends of the UAV and two reference points arranged on the parking position, and the positioning point and the reference points are sorted respectively; The two-point positioning strategy further comprises establishing a three-dimensional coordinate system based on the position of the hangar, obtaining the coordinate information of the positioning point and the reference point, controlling the UAV to move 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 to each other.

4. The warehouse entry system of claim 3, wherein, The warehouse entry unit further comprises a warehouse entry execution strategy, the warehouse entry execution strategy comprises executing the warehouse entry program of the UAV when the node instruction is obtained; The warehouse entry execution strategy further comprises generating a marking instruction when the UAV starts to enter the warehouse, obtaining the number of the warehouse entry UAV and the parking position corresponding to the number of the warehouse entry UAV based on the marking instruction, marking the reference point on the parking position and the positioning point on the warehouse entry UAV, and generating a recovery instruction after the warehouse entry of the UAV is completed, and deleting the marking based on the recovery instruction. The warehouse entry procedure comprises: when the UAV moves to the parking stand based on the two-point positioning strategy, acquiring the marked positioning point and the reference point, and keeping the marked positioning point and the reference point corresponding to each other.

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