Unmanned aerial vehicle airport system and unmanned aerial vehicle automatic recharging method

Abstract

The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle (UAV) airport system and an automatic recharging method of the UAV, and relates to the technical field of UAVs. The application discloses an unmanned aerial vehicle

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle airport charging, in particular to an unmanned aerial vehicle airport system and an unmanned aerial vehicle automatic recharging method. BACKGROUND

[0002] As a fully automated operation hub, the unmanned aerial vehicle airport solves the problem of landing on complex terrain by providing a standardized landing platform, and realizes continuous inspection without human intervention. Its automatic charging function breaks through the endurance bottleneck of single machine, ensures uninterrupted patrol of long-distance pipelines, power grids and other targets, greatly improves the efficiency and safety of patrol, reduces the risk of manual intervention and operation and maintenance cost, and becomes the core infrastructure of large-scale patrol operation, playing a crucial role in unmanned aerial vehicle patrol tasks.

[0003] The existing design of the unmanned aerial vehicle airport system has the following shortcomings in the process of returning and charging the unmanned aerial vehicle:

[0004] 1. In order to realize precise guidance, charging docking and storage protection, the traditional unmanned aerial vehicle airport is usually designed with complex mechanical structures such as multi-degree-of-freedom mechanical arms, precision guide rails, liftable platforms, and expensive high-precision sensor systems and temperature control systems, resulting in high equipment cost and difficult maintenance, which limits the large-scale deployment of unmanned aerial vehicle airports.

[0005] 2. Most of the existing unmanned aerial vehicle airports are designed for specific models or specifications of unmanned aerial vehicles, and their charging interface positions, adapted body sizes and landing gear layouts are highly customized, which cannot be compatible with unmanned aerial vehicles of different brands and models. At the same time, the limitation of the physical space of the unmanned aerial vehicle airport and the charging interface also makes a single airport usually accommodate only a small number of unmanned aerial vehicles or even a single unmanned aerial vehicle, so it is difficult to meet the needs of multi-machine cooperative operation and high-frequency tasks.

[0006] 3. The traditional unmanned aerial vehicle airport mostly requires the unmanned aerial vehicle to land precisely in a small target area, which puts high requirements on the navigation positioning system, wind resistance of the unmanned aerial vehicle and the guidance system of the airport. In actual complex environments such as wind disturbance and GPS signal obstruction, the landing failure rate is high, which seriously affects the operation efficiency and reliability of the unmanned aerial vehicle recharging.

[0007] 4. The existing unmanned aerial vehicle airport mostly follows the principle of "first come, first served" or sorts according to the remaining power in charging scheduling, and the priority rule is rigid without considering factors such as task urgency and overall time consumption, resulting in low efficiency when multiple unmanned aerial vehicles return to charge. SUMMARY

[0008] In view of one or more deficiencies in the prior art, the unmanned aerial vehicle airport system and the unmanned aerial vehicle automatic recharging method can be compatible with different brands and models of unmanned aerial vehicles for charging, improve the landing success rate of the unmanned aerial vehicle, simplify the structure of the unmanned aerial vehicle airport, and reduce the economic cost; and scientific scheduling is realized, and the recharging efficiency of multiple unmanned aerial vehicles is improved.

[0009] To achieve the above-mentioned purpose, the present application adopts one or more of the following technical solutions:

[0010] In a first aspect, an unmanned aerial vehicle airport system is provided, comprising:

[0011] An airport cabin body is internally fixedly installed with a plurality of charging piles, and an airport entrance is formed on one side of the airport cabin body;

[0012] A parking apron is arranged outside the airport entrance;

[0013] The charging pile is provided with a charging interface on the side surface, and the charging interface is used for docking with the unmanned aerial vehicle;

[0014] The unmanned aerial vehicle comprises a fuselage and a landing gear, the fuselage is provided with an unmanned aerial vehicle battery and an auxiliary charging device, the bottom of the landing gear is provided with a traveling wheel and a driving motor, the traveling wheel can be used for traveling between the parking apron and the airport cabin body, and the driving motor can drive the unmanned aerial vehicle to travel to the charging pile; one end of the landing gear is provided with a charging connector for docking charging with the charging pile, the charging connector is connected with the auxiliary charging device through a charging wire, and the charging connector can be docked with the charging interface to establish a charging loop.

[0015] Preferably, the airport main control system is arranged inside the airport cabin body and is in communication connection with the charging pile and the unmanned aerial vehicle, respectively.

[0016] Preferably, the charging pile is fixedly connected with a guide rail on the side facing the unmanned aerial vehicle body, the guide rail is laid on the ground and has a set length, and is used for guiding the traveling wheel close to the charging pile to ensure precise docking of the charging connector and the charging interface;

[0017] The free end of the guide rail is provided with a guide groove, and the width of the guide groove gradually increases from the proximal end to the distal end of the charging pile, so as to guide the traveling wheel into the guide rail and improve the efficiency of the unmanned aerial vehicle body reaching the charging pile.

[0018] Preferably, the unmanned aerial vehicle is provided with a flight control system, which is in communication connection with the airport master control system; the flight control system comprises an integrated RTK positioning module and a main processor, and the main processor is connected with the driving motor; the unmanned aerial vehicle can be navigated by combining the Beidou navigation system with the RTK positioning module, and the driving motor is started under the control of the main processor when it is necessary to walk, so as to realize intelligent navigation positioning and automatic charging.

[0019] Preferably, the charging pile is provided with a plurality of infrared emitters on one side, and left and right infrared receivers are arranged on the landing gear; the left and right infrared receivers can respectively receive the infrared signals emitted by the infrared emitters and obtain deviation information; the infrared receivers are connected with the flight control system, and the flight control system controls the driving motor according to the deviation information, so that the advancing speed and steering of the unmanned aerial vehicle body can be realized.

[0020] Preferably, an outer ring magnet is fixedly arranged around the charging connector, and an outer ring electromagnet is fixedly arranged around the charging interface; when the outer ring magnet and the outer ring electromagnet are attracted to each other, the charging connector and the charging interface are in contact, which can improve the stability of the charging process and avoid the disconnection of the charging connector and the charging interface.

[0021] Preferably, the outer ring magnet is arranged in a circular ring shape, the charging connector is coaxially arranged with the outer ring magnet, and an insulating isolation layer is arranged between the charging connector and the outer ring magnet to avoid current short circuit and magnetic field interference problems.

[0022] Preferably, the top of the airport cabin body is provided with a cabin cover to form a closed structure, and the cabin cover is made of glass material to reduce the interference with the RTK and Beidou positioning signals.

[0023] Preferably, a weather monitoring rod is fixedly arranged on the apron, and a weather observation assembly is installed on the weather monitoring rod; the weather observation assembly comprises a wind speed and direction sensor, a temperature and humidity pressure sensor, a precipitation sensor and a visibility sensor, so that the airport master control system can accurately determine whether the unmanned aerial vehicle landing conditions are met according to the weather monitoring information and temperature information.

[0024] In a second aspect, an unmanned aerial vehicle automatic recharging method based on the unmanned aerial vehicle airport system of any one of the above is provided, which comprises the following steps:

[0025] After the unmanned aerial vehicle lands on the apron, the automatic access control senses the identity of the unmanned aerial vehicle and opens, and the unmanned aerial vehicle enters the airport cabin body;

[0026] The airport master control system schedules according to the state information of the charging pile and the state information of the unmanned aerial vehicle to obtain time-space scheduling information;

[0027] The airport master control system sends instructions to the unmanned aerial vehicle and the target charging pile according to time-space scheduling information, the charging station starts an infrared guidance mode, the self-driving assembly of the unmanned aerial vehicle adjusts the moving direction based on the infrared guidance signal, and the unmanned aerial vehicle continues to move into the guide rail until the charging connector of the unmanned aerial vehicle is physically connected with the charging interface of the target charging pile and is locked through magnetic attraction, and a stable charging loop is established.

[0028] After receiving the take-off inspection instruction, the airport master control system determines whether the take-off condition is met according to the meteorological and temperature information obtained by the meteorological observation assembly; when the take-off condition is met, the state of each unmanned aerial vehicle is automatically detected, the available unmanned aerial vehicles meeting the task requirements are screened out, and control instructions are issued; the unmanned aerial vehicle starts the self-driving assembly to move out of the airport cabin through the airport entrance and enters the waiting area of the external parking apron; after completing the preparation for take-off action and self-checking action in the waiting area, the unmanned aerial vehicle enters the waiting state.

[0029] Preferably, the specific process of obtaining the time-space scheduling information by the airport master control system according to the state information of the charging pile and the state information of the unmanned aerial vehicle is as follows:

[0030] S1, obtain the state data of each charging pile and the state data of each returning unmanned aerial vehicle, and construct a compatibility matrix and a time cost matrix;

[0031] S2, preliminarily screen and sort the returning unmanned aerial vehicles based on the task urgency, and obtain a to-be-scheduled queue;

[0032] S3, based on the compatibility matrix and the time cost matrix, the to-be-scheduled queue is allocated to the charging pile by using an optimal allocation algorithm, and pile allocation data is obtained;

[0033] S4, based on the pile allocation data, a time slot reservation method is used to allocate the departure time for each unmanned aerial vehicle and plan a conflict-free path, and time-space scheduling information is obtained.

[0034] By using the above technical solutions, the application has the following advantages:

[0035] 1. The application is charged through the docking of the charging interface and the charging connector, without arranging complex mechanical structures to disassemble the unmanned aerial vehicle battery, the charging pile is small in size and occupies less land, making it possible to deploy large-scale unmanned aerial vehicles in the unmanned aerial vehicle airport; second, the charging interface and the charging connector can be designed in a standardized manner, and multiple charging piles of different models and charging power can be installed in the unmanned aerial vehicle airport, which can meet the charging needs of unmanned aerial vehicles of different models, greatly improve the versatility of the unmanned aerial vehicle airport, effectively reduce the construction cost of the unmanned aerial vehicle airport, and provide endurance conditions for the multi-vehicle cooperative operation and high-frequency tasks of the unmanned aerial vehicle fleet; third, the self-driving assembly realizes the wheeled walking of the unmanned aerial vehicle, reduces the demand for landing accuracy of the unmanned aerial vehicle, can be well applied to complex environments, and greatly improves the success rate of landing and charging efficiency of the unmanned aerial vehicle.

[0036] 2. In the application, the unmanned aerial vehicle airport, the charging pile and the unmanned aerial vehicle can be managed, dispatched and executed through a unified platform, realizing the high automation and intelligence of the unmanned aerial vehicle charging process, and realizing the unmanned management, efficient automatic detection, dispatching and execution of the airport.

[0037] 3. In the dispatching process of the unmanned aerial vehicle returning to the unmanned aerial vehicle airport for charging, the application comprehensively considers factors such as task urgency, overall time consumption and path conflict, adopts a combination of optimal allocation algorithm, departure time allocation and time slot reservation mechanism to allocate pile positions and plan space-time paths for the unmanned aerial vehicle, taking into account the charging efficiency and safe operation of the unmanned aerial vehicle, compared with the traditional single dispatching principle, significantly improving the utilization rate of the unmanned aerial vehicle airport channel and the multi-unmanned aerial vehicle charging efficiency, while realizing the rapid response of the unmanned aerial vehicle to emergency tasks, and improving the overall dispatching level of the unmanned aerial vehicle airport. BRIEF DESCRIPTION OF DRAWINGS

[0038] The drawings accompanying the specification of the application form part of the application and serve to provide a further understanding of the application, the exemplary embodiments of the application and their description serve to explain the application and do not constitute an improper limitation thereof.

[0039] Figure 1 is a system structure schematic diagram in one or more embodiments of the application;

[0040] Figure 2 is an airport mechanism schematic diagram in one or more embodiments of the application;

[0041] Figure 3 is a structure schematic diagram of the unmanned aerial vehicle and the charging pile in one or more embodiments of the application Figure 1 ;

[0042] Figure 4 is a structure schematic diagram of the unmanned aerial vehicle and the charging pile in one or more embodiments of the application Figure 2 ;

[0043] Figure 5 is a schematic diagram of a charging pile structure in one or more embodiments of the present application;

[0044] Figure 6 is a schematic diagram of a charging connector structure in one or more embodiments of the present application;

[0045] Figure 7 is a flow chart of an unmanned aerial vehicle automatic recharging method in one or more embodiments of the present application;

[0046] Figure 8 is a flow chart of an unmanned aerial vehicle airport charging scheduling in one or more embodiments of the present application;

[0047] Figure 9 is a schematic diagram of an unmanned aerial vehicle travel path in one or more embodiments of the present application.

[0048] In the figure: 1, airport cabin body; 2, parking apron; 3, charging pile; 4, unmanned aerial vehicle;

[0049] cabin cover; 102, automatic access control assembly; 103, temperature and humidity control module; 104, airport entrance and exit; 201, I-shaped take-off and landing sign; 202, waiting area; 203, weather monitoring rod; 204, weather observation assembly;

[0050] 301, charging interface; 302, outer ring electromagnet; 303, infrared emitter; 304, guide rail; 305, guide groove;

[0051] 401, fuselage; 402, landing gear; 403, unmanned aerial vehicle battery; 404, auxiliary charging device; 405, charging wire; 406, flight control system; 407, drive motor; 408, front wheel; 409, rear wheel; 410, charging connector; 411, outer ring magnet; 412, infrared receiver. DETAILED DESCRIPTION

[0052] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the application belongs.

[0053] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0054] Example 1

[0055] In one typical embodiment of this application, an unmanned aerial vehicle (UAV) airport system is provided, such as... Figures 1-6 As shown, it includes:

[0056] Airport cabin 1, several charging piles 3 are fixedly installed inside the airport cabin 1, and an airport entrance / exit 104 is opened on one side of the airport cabin 1.

[0057] Apron 2 is located outside airport entrance / exit 104;

[0058] The charging station 3 has a charging interface 301 on its side, which is used for physical docking with the drone 4.

[0059] The drone 4 includes a fuselage 401 and a landing gear 402. The fuselage 401 is equipped with a drone battery 403 and an auxiliary charging device 404. The landing gear 402 is equipped with a self-drive component, which includes wheels and a drive motor 407. The wheels can be used to move between the apron and the airport cabin, and the drive motor can drive the drone to the charging station. One end of the landing gear 402 is equipped with a charging connector 410 for docking with the charging station 3. The charging connector 410 is connected to the auxiliary charging device 404 through a charging cable 405. The charging connector 410 can dock with the charging interface 301 to establish a charging circuit.

[0060] Specifically, such as Figure 1 and Figure 2 As shown, the interior of the airport cabin 1 is a rectangular area, with the apron 2 located adjacent to the outer side, serving as a platform for drone takeoff and landing. The airport cabin 1 houses the airport main control system, which is communicatively connected to the charging piles and the drones.

[0061] In this embodiment, several charging piles 3 are fixedly installed inside the airport cabin 1, and can connect to the drone 4 through the charging interface 301 to charge the drone battery 403. For example, Figure 3 and Figure 4As shown, the charging port of the unmanned aerial vehicle battery 403 is plugged with the auxiliary charging device 404, which is detachably connected. The auxiliary charging device 404 adopts an existing adapter, including a circuit board, an input interface, an output interface and a shell, the circuit board of which is packaged in the shell, including two input interfaces of positive and negative poles, and the two input interfaces are respectively connected with the left and right charging connectors through a charging wire. Figure 4 As shown, the charging connector 410 is arranged at the front end of the left and right sides of the landing gear 402, and the left and right charging connectors 410 are respectively positive and negative connectors, which can be respectively connected with the charging interfaces 301 at the two ends of the side of the charging pile. In this embodiment, the charging connector adopts a charging copper sheet, and the charging interface adopts a charging copper core. When the charging connector is stably connected with the charging interface, a charging loop is established between the unmanned aerial vehicle and the charging pile, and the auxiliary charging device is used to charge the unmanned aerial vehicle battery.

[0062] By using the above scheme, the unmanned aerial vehicle airport system of the present embodiment does not need to arrange complex mechanical structures to detach the unmanned aerial vehicle battery, the charging pile has small volume and occupies less land, which makes it possible to deploy large-scale unmanned aerial vehicles in the unmanned aerial vehicle airport, and improves the accommodation capacity of the unmanned aerial vehicle airport. Moreover, due to the existence of the auxiliary charging device, the charging interface and the charging connector can be designed in a standardized manner, and multiple charging piles with different charging powers can be installed in the unmanned aerial vehicle airport to match with different models of unmanned aerial vehicle batteries for charging, so that the charging requirements of different models of unmanned aerial vehicles can be met, the versatility of the unmanned aerial vehicle airport is improved, the construction cost of the unmanned aerial vehicle charging airport is effectively reduced, and the endurance condition for the unmanned aerial vehicle fleet to complete multi-vehicle cooperative operation and high-frequency tasks is provided. In addition, the present embodiment realizes the wheeled walking of the unmanned aerial vehicle through the self-driving assembly, reduces the demand for the take-off and landing accuracy of the unmanned aerial vehicle, can be well applied to complex environments, and greatly improves the success rate of landing and charging efficiency of the unmanned aerial vehicle.

[0063] In order to further improve the versatility of the charging pile, as shown in Figure 3 and Figure 5 A plurality of positive and negative charging interfaces 301 are respectively installed at the left and right ends of the charging pile 3, which can be adaptively selected according to the width of the landing gear of different models of unmanned aerial vehicles. Therefore, for a certain charging pile, as long as the charging power and current of the unmanned aerial vehicle battery are matched, the distance between the multiple interfaces on the charging pile of the present embodiment can be matched with the width of the landing gear of most existing unmanned aerial vehicles on the market, so that the charging pile has better compatibility, and the versatility of the airport where the charging pile is located can be further improved.

[0064] In order to ensure the stability of the charging process, the present embodiment is provided with a magnet locking assembly, as shown in Figure 4 and Figure 6As shown, the charging copper sheet is fixedly provided with an outer ring magnet 411 around it, and the charging interface 301 is fixedly provided with an outer ring electromagnet 302 around it, and the positions of the outer ring magnet 411 and the outer ring electromagnet 302 are correspondingly arranged. In the state of attraction between the outer ring magnet and the outer ring electromagnet, the charging connector and the charging interface are precisely connected and tightly contacted to achieve locking, which improves the stability of the contact at the charging interface and can effectively prevent the charging connector from being separated from the charging interface. The charging connector 410 is a circular charging copper sheet, the outer ring magnet 411 is coaxially arranged in the outer ring of the charging copper sheet in a circular ring shape, and an insulating isolation layer is arranged between the outer ring magnet 411 and the charging copper sheet to avoid current short circuit or magnetic field interference. Similarly, an insulating isolation layer is also arranged between the outer ring electromagnet 302 and the charging copper core to play the same role.

[0065] The outer ring magnet is a permanent magnet, the outer ring electromagnet is a normally closed electromagnet, the permanent magnet, the coil and the core are connected in series in the same main magnetic circuit, and in the normal state, the magnetic property of the permanent magnet is attracted to the outer ring magnet. When the charging is completed, the coil is energized, and then the magnetic property of the outer ring electromagnet is offset, and the unmanned aerial vehicle is unlocked from the charging pile.

[0066] In this embodiment, a local controller and an AC / DC converter are arranged inside the charging pile, the local controller communicates with the airport master control system, and can report the charging pile ID, charging state, power, error code and other data to the airport master control system in real time. The AC / DC converter is used to convert the AC input of the charging pile into DC output, and the AC / DC converter is connected with the outer ring electromagnet through an electromagnet driving circuit. When the unmanned aerial vehicle on a certain charging pile completes charging, the airport master control system issues an instruction to the local controller, the local controller sends a low-level signal to trigger the electromagnet driving circuit, and the outer ring electromagnet is energized to be unlocked. At this time, the unmanned aerial vehicle can be separated from the charging pile.

[0067] To realize automatic charging of the unmanned aerial vehicle, as shown in the figure, Figure 4 As shown, the upper part of the fuselage 401 is provided with a flight control system 406, the flight control system 406 is connected with a driving motor 407, and the flight control system 406 is integrated with a main processor, an RTK positioning module, an inertial measurement unit and a 5G module. The 5G module receives the correction data sent by the ground reference station and transmits it to the RTK positioning module, the RTK positioning module receives the satellite signals of the Beidou navigation system and the correction data of the reference station, and the high-precision positioning data after RTK calculation is sent to the main processor. The main processor can receive the high-precision positioning data sent by the RTK positioning module and the deviation information sent by the infrared receiver, and then control the flight driving motor of the unmanned aerial vehicle and the driving motor in this embodiment, so that the unmanned aerial vehicle body can land in the range near the charging pile and accurately walk to the charging pile under the infrared guidance to achieve precise connection.

[0068] To realize the self-driving walking and flexible steering of the unmanned aerial vehicle, the self-driving assembly includes two front wheels 408, two rear wheels 409 and two driving motors 407, wherein the two driving motors 407 are respectively installed on the left and right cross bars at the bottom of the landing gear 402, and the output shaft of the driving motor 407 is connected with the rear wheel 409 for driving. The two driving motors 407 are electrically connected with the flight control system 406, and when steering, the direction deflection is realized by controlling the different rotating speeds of the two driving motors. In the embodiment, the front wheel 408 and the rear wheel 409 are both universal wheels with a wheel diameter of 60 mm and made of high-strength polyurethane material, which can not only ensure the supporting strength, but also realize flexible steering by matching the different states of the left and right driving motors.

[0069] To improve the navigation accuracy of the unmanned aerial vehicle to the target charging pile, an infrared module is arranged in the embodiment to realize infrared guidance. As shown in Figures 3-5 , a plurality of infrared emitters 303 are arranged on one side of the charging pile 3, and the plurality of infrared emitters 303 are integrally arranged in the middle of the two charging interfaces 301 of the charging pile 3. The left and right infrared receivers 412 are fixedly arranged on the landing gear 402, and the left and right infrared receivers 412 are electrically connected with the flight control system 406. The infrared receiver 412 can receive the infrared signals emitted by the infrared emitter 303 and obtain the deviation information, and the main processor in the flight control system 406 controls the driving motor according to the deviation information, so that the advancing speed and steering of the unmanned aerial vehicle body can be realized.

[0070] By using the above scheme, the infrared emitter, the infrared receiver and the main processor of the flight control system cooperate, the infrared emitter continuously emits infrared signals in different frequencies or coding modes, forms a clear space guidance reference, the infrared receiver can receive these signals in real time, and according to the strength difference of the left and right and front and back received signals, the deviation information of the position and direction of the self is judged, and the flight control system adjusts the advancing speed and steering of the walking wheel according to the deviation information, so that the unmanned aerial vehicle body automatically corrects the heading and gradually aligns with the charging pile.

[0071] To further accurately guide the unmanned aerial vehicle to the charging pile and quickly realize the precise butt joint of the charging connector and the charging interface, one side of the charging pile 3 in the embodiment is also provided with a guide rail 304, as shown in Figures 3-5 , the guide rail 304 is laid on the ground and fixed with the ground, which is used for guiding the walking wheel close to the charging pile to ensure the precise butt joint of the charging connector and the charging interface. One end of the guide rail 304 extends to below the charging interface 301 and is connected with the charging pile 3, and the other end of the guide rail 304 is provided with a guide groove 305, the width of the guide groove 305 gradually increases from the near end to the far end of the charging pile 3, which is a flat horn type, which is convenient for guiding the walking wheel into the guide rail, avoiding the walking wheel being stuck outside the guide rail, and improving the efficiency of the unmanned aerial vehicle body reaching the charging interface.

[0072] Using the above scheme, when the drone approaches a charging station at a certain distance, its wheels enter the guide rail via guide grooves, and then travel along the guide rail to accurately align the charging connector with the charging port of the charging station, establishing a charging circuit. This effectively improves the accuracy of the drone's movement and docking position with the charging station. As the drone moves directionally along the guide rail, it can sense the distance to the charging station using an infrared rangefinder on its fuselage, and the flight control system controls the drive motor to gradually decelerate until the outer ring magnet on the landing gear attracts the outer ring electromagnet on the charging station, thus making contact between the charging connector and the charging port of the charging station, ensuring charging stability.

[0073] To avoid confusion regarding the take-off and landing locations of different drones, such as Figure 2 As shown, circular area markers and I-shaped take-off and landing markers 201 are painted or pasted on the surface of the helipad 2. The I-shaped take-off and landing markers 201 are located in the center of the circular area markers to guide the drones to the optimal take-off and landing positions. The area outside the circular area markers on the helipad 2 is the drone waiting area 202.

[0074] In this embodiment, as Figure 2 As shown, a canopy 101 is fixedly installed on the top of the airport cabin 1, forming a closed structure to protect the drones and charging piles parked inside from damage caused by severe weather. In this embodiment, the canopy 101 is made of glass, which can reduce the interference of the canopy on RTK positioning signals and Beidou navigation positioning signals, ensuring the navigation accuracy of the drones.

[0075] To facilitate unified scheduling of takeoffs and landings, an airport entrance / exit 104 is located on one side of the airport cabin 1, allowing drones to enter or exit the airport cabin from the same direction. For example... Figure 2 As shown, airport entrance / exit 104 is equipped with an automatic access control component 102 that can automatically open and close the door according to central control commands. The automatic access control component 102 adopts an existing structure, including a roller shutter door, a motor, a transmission chain, and a control element. The control element establishes communication with the airport's main control system. When an authorized drone needs to enter or exit, such as when a drone receives a mission command to go out or when a drone needs to enter the station after completing an inspection, the control element receives the command, identifies the authorized drone, and controls the motor to start. The transmission chain drives the roller shutter door's roller shaft to rotate, opening the roller shutter door. Under normal circumstances, the roller shutter door is closed to prevent rain, snow, or unauthorized personnel or objects from entering the airport cabin. At the same time, infrared photoelectric sensors are installed on both sides of the roller shutter door frame. If a person or object passes by when the roller shutter door is closing, the roller shutter door will immediately stop and open in the reverse direction to ensure safety.

[0076] To protect the electronic equipment in the airport cabin, such as Figure 1 and Figure 2As shown, the airport cabin 1 is provided with a temperature and humidity control module 103, which can adopt a constant temperature and humidity precision air conditioning system, and is fixedly installed on the side wall of the airport cabin 1, so as to accurately maintain a constant temperature and humidity environment inside the airport, effectively protect the unmanned aerial vehicle and other electronic devices, and thereby prolong the service life of the unmanned aerial vehicle.

[0077] In order to improve the safety guarantee of the unmanned aerial vehicle operation, as shown in Figure 1 and Figure 2 As shown, a meteorological monitoring rod 203 is fixedly arranged at a corner of the parking apron 2, and a meteorological observation assembly 204 is arranged at the upper portion of the meteorological monitoring rod 203, wherein the meteorological observation assembly 204 includes a wind speed and direction sensor, a temperature and humidity and pressure sensor, a precipitation sensor, an visibility sensor and the like, and is connected with the airport main control system, so as to send the monitoring data to the airport main control system in real time. The airport main control system judges whether the conditions for the unmanned aerial vehicle to go out to perform a task are met according to all the meteorological information obtained, so as to guarantee the safety of the unmanned aerial vehicle operation.

[0078] Embodiment Two

[0079] In another typical embodiment of the present application, an unmanned aerial vehicle automatic recharging method is also provided, which, as shown in Figures 7-9 is based on the unmanned aerial vehicle airport system in Embodiment One, and includes the following steps:

[0080] After the unmanned aerial vehicle lands on the parking apron, the automatic door access senses the identity of the unmanned aerial vehicle and then opens, and the unmanned aerial vehicle enters the airport cabin;

[0081] The airport main control system schedules according to the state information of the charging pile and the state information of the unmanned aerial vehicle, including allocating the charging pile for each unmanned aerial vehicle, allocating the departure time and planning the conflict-free path for the unmanned aerial vehicle based on the time slot reservation method, and finally obtaining the time-space scheduling information;

[0082] The airport main control system sends instructions to the unmanned aerial vehicle and the target charging pile according to the time-space scheduling information, the charging station starts the infrared guidance mode, the self-driving component of the unmanned aerial vehicle adjusts the moving direction based on the infrared guidance signal, continues to move into the guide rail until the charging connector of the unmanned aerial vehicle is physically connected with the charging interface of the target charging pile and is locked through magnetic attraction, and a stable charging loop is established;

[0083] After receiving the take-off inspection instruction, the airport main control system judges whether the take-off conditions are met according to the meteorological and temperature information obtained by the meteorological observation assembly; if the take-off conditions are met, the state of each unmanned aerial vehicle and charging pile is automatically detected, the available unmanned aerial vehicle meeting the task requirements is selected, and a control instruction is issued. The unmanned aerial vehicle starts the self-driving component to leave the charging pile and enters the waiting area of the parking apron through the airport entrance, and after completing the preparation for take-off action and self-checking action in the waiting area, the unmanned aerial vehicle enters the waiting state.

[0084] In the process of scheduling by the airport master control system according to the state information of the charging piles and the state information of the unmanned aerial vehicles, the embodiment on one hand adopts an optimal allocation algorithm to allocate charging piles for the unmanned aerial vehicles in the current scheduling batch, so as to minimize the total time cost of completing the charging task by all the allocated unmanned aerial vehicles, while taking into account the state information of the unmanned aerial vehicles and the charging piles and the matching of the model compatibility, to obtain pile allocation data that is comprehensively optimized; and by triggering the time allocation and time slot reservation mechanism, the ground driving path of the unmanned aerial vehicle from the current position to the target charging pile is planned, and the unmanned aerial vehicle to which the pile is allocated in priority is planned in priority, in combination with the pile allocation data, which not only shortens the overall moving time of the unmanned aerial vehicle and effectively improves the overall scheduling efficiency of the unmanned aerial vehicle, but also makes it possible to have available unmanned aerial vehicles in the shortest time, thereby ensuring the rapid response of the unmanned aerial vehicle to emergency tasks.

[0085] In the embodiment, the specific process of scheduling by the airport master control system according to the state information of the charging piles and the state information of the unmanned aerial vehicles is as follows:

[0086] S1, acquire the state data of each charging pile and the state data of each returned unmanned aerial vehicle, and construct a compatibility matrix and a time cost matrix.

[0087] Specifically, the master control system of the unmanned aerial vehicle airport acquires the state data of all returned unmanned aerial vehicles and the state data of all charging piles in real time, wherein the state data of the returned unmanned aerial vehicle includes the unmanned aerial vehicle ID, the battery model, the current position, the current power, the battery capacity and the task urgency; the state data of the charging pile includes the current state, the model and the power information. The state data of the charging pile located in the field includes the current state of the charging pile: idle / occupied / fault, and the model and power information of the charging pile.

[0088] In the embodiment, a binary compatibility matrix M is constructed, wherein the element Mij=1 indicates that the unmanned aerial vehicle i and the charging pile j are compatible in model, i.e. the charging power is matched and the charging is possible; and Mij=0 indicates that they are not compatible.

[0089] For all combinations of Mij=1, the total time cost C of the unmanned aerial vehicle i using the charging pile j is calculated. In the embodiment, the entrance and exit of the unmanned aerial vehicle airport are integrated into an airport entrance and exit. The calculation formula of the total time cost of the unmanned aerial vehicle i from the airport entrance and exit to a certain unmanned aerial vehicle charging station j and then from the airport entrance and exit is as follows: T t(i,j) + T c(i,j) + T b(i,j) , wherein, T t(i,j) is the driving time from the entrance of the unmanned aerial vehicle airport to the charging pile j based on the road network model, Tc(i,j) a charging time calculated based on the remaining power of the UAV i, the battery capacity, and the power information of the charging pile j, T b(i,j) a driving time from the charging pile j back to the exit of the UAV airport estimated based on a road network model.

[0090] wherein, T t(i,j) , T b(i,j) only related to the charging pile j; T c(i,j) related to the target charging current of the UAV i and the charging power of the charging pile j. Therefore, when a certain UAV i selects a charging pile j for charging, the total time cost C of the UAV i can be determined. When m UAVs enter an UAV airport with n charging piles, the time cost matrix can be represented as:

[0091] (1)

[0092] wherein, C ij is the total time cost of the UAV i entering the UAV charging pile j.

[0093] wherein, for Mij =0, set Cij =INF, INF is a maximum value, such as the maximum value that can be identified by the system, representing that the combination cannot be allocated.

[0094] S2, preliminarily screening and sorting the returning UAVs based on the task urgency, to obtain a to-be-scheduled queue.

[0095] Specifically, the system determines the UAVs that need to complete the recharging task in priority according to the task urgency (such as “urgent”, “general”, and “low priority”), for example, the UAVs with a task marked as “urgent” and a remaining power lower than 20%. These high-priority UAVs are preferentially included in the current scheduling batch, and the low-priority UAVs are temporarily stored in the to-be-scheduled pool. Then, the UAVs in the current scheduling batch are sorted in descending order of urgency to form a to-be-scheduled queue Dpriority, for example: Drone_3 (urgent) → Drone_1 (urgent) → Drone_5 (general).

[0096] S3, distributing the charging piles to the to-be-scheduled queue based on the compatibility matrix and the time cost matrix by using an optimal distribution algorithm, to obtain pile distribution data.

[0097] Specifically, the following steps are included:

[0098] S301, determine the priority charging return unmanned aerial vehicle and charging pile combination according to the greedy algorithm based on the time cost matrix.

[0099] Determine the unmanned aerial vehicle that needs to be prioritized to complete the return charging task, so as to obtain the available unmanned aerial vehicle in the shortest time, for example, the time cost matrix

[0100] (2)

[0101] Wherein, represents that the unmanned aerial vehicle i and the charging pile j model do not match.

[0102] If one unmanned aerial vehicle needs to be prioritized for return charging at this time, the minimum value corresponding scheme is found according to the greedy algorithm, that is, the time cost minimum allocation scheme. In this embodiment, C 14 =1 and C 26 =1. When the minimum value is greater than one, that is, there are multiple schemes with the same time cost, the following formula is used for selection:

[0103] (3)

[0104] That is, after removing the model mismatch data in the row and column where the minimum value is located, the scheme corresponding to the maximum sum of the row and column where the minimum value is located is selected, so as to reduce the overall time cost of the remaining unmanned aerial vehicle return charging, optimize the scheduling scheme, and maximize the overall return charging efficiency.

[0105] In this embodiment, =13, =15. Therefore, the No. 2 unmanned aerial vehicle is prioritized to enter the No. 6 charging station for return charging.

[0106] S302, remove the allocated return unmanned aerial vehicle and charging pile from the time cost matrix to obtain a reduced time cost matrix.

[0107] Since the No. 2 unmanned aerial vehicle has been allocated to the No. 6 charging station, the time cost matrix is recalculated, the problem size is reduced, and the adjusted time cost matrix becomes:

[0108] (4)

[0109] Similarly, according to the greedy algorithm, the current time cost minimum scheme is continued to be found, that is, =1, the No. 1 unmanned aerial vehicle has been allocated to the No. 4 charging station, then the reduced matrix becomes:

[0110] (5)

[0111] ​S303, reduce the time consumption matrix and find the optimal solution to get the pile allocation data.

[0112] The time consumption matrix Respectively, the row reduction and column reduction are carried out:

[0113] (6)

[0114] That is, each element in the matrix is subtracted from the minimum value of the row and column, Not involved in the calculation, can produce more zero elements, zero elements represent the relative optimal allocation options, so as to facilitate the finding of the optimal solution.

[0115] The row reduction of the matrix in formula (5) is carried out, and at least one zero element is ensured in each row, and the time consumption matrix after row reduction :

[0116] (7)

[0117] The column reduction of the matrix in formula (7) is carried out, and at least one zero element is ensured in each column, and the time consumption matrix after column reduction :

[0118] (8)

[0119] Finding the optimal solution: for the matrix of formula (8), the minimum covering line method is used to find the least number of straight lines covering all zero elements. If the number of straight lines is equal to the order of the matrix, that is, the number of unmanned aerial vehicles is equal to the number of charging piles, the optimal allocation scheme is found: each zero element corresponds to a group of "unmanned aerial vehicle-charging pile" allocation scheme, and there is no repetition. If the number of straight lines is less than the order of the matrix, the minimum value of the elements in the matrix that are not covered needs to be calculated, the elements that are not covered are subtracted by the minimum value, the elements at the intersection of the two covering lines are added by the minimum value, and the step is repeated until the number of straight lines is equal to the order of the matrix.

[0120] The zero element allocation scheme in the above reduced matrix is mapped back to the original time consumption matrix , to get the final pile allocation data , }.

[0121] According to the optimal solution obtained, the pile allocation data is obtained, unmanned aerial vehicle No. 2 is allocated to No. 6 charging station, and the available unmanned aerial vehicle is ensured in the shortest time. Then allocate unmanned aerial vehicle No. 1 to No. 4 charging station; unmanned aerial vehicle No. 3 to No. 1 charging station; unmanned aerial vehicle No. 4 to No. 3 charging station. According to the original time consumption matrix, the total time consumption under this allocation scheme is 1+1+2+2=6.

[0122] S4, based on the pile position allocation data, a time slot reservation method is used to allocate the departure time for each unmanned aerial vehicle and plan a conflict-free path, to obtain time-space scheduling information.

[0123] In this embodiment, in the two-dimensional plane road network model, the time slot reservation method is used to plan the shortest conflict-free path for the unmanned aerial vehicle which has been allocated a charging pile, which can avoid channel occupation conflict and reduce the risk of unmanned aerial vehicle collision and congestion.

[0124] In the two-dimensional plane road network model, the internal channels of the airport are abstracted as edges and divided into multiple road segments, such as "road segment 1-2" and "road segment 3-4", and key positions such as intersections, buffer sites, and charging pile entrances are abstracted as vertices V (such as "aircraft parking apron exit V1" and "charging pile entrance V5"). The occupation state r(e,t)∈{0,1} of each channel e∈E at time t is defined, where r(e,t)=1 indicates that the channel e is occupied at time t, and r(e,t)=0 indicates that it is idle. For a two-way channel, an additional opposite channel constraint is added: r(e,t)+r(eo,t)≤1 (eo is the opposite channel of e), that is, the two-way channel cannot be occupied at the same time slot.

[0125] Wherein, the specific process of allocating the departure time for each unmanned aerial vehicle and planning a conflict-free path to obtain time-space scheduling information is as follows:

[0126] S401, plan a static shortest path for each unmanned aerial vehicle, divide the airport channels into multiple road segments, and identify potential conflict points between all static shortest paths.

[0127] Based on the road network model, Dijkstra algorithm is used to plan a static shortest path from the current position to the target charging pile.

[0128] S402, calculate a time window for each unmanned aerial vehicle to allow departure, including the earliest departure time and the latest departure time, and use a greedy insertion algorithm to allocate a specific departure time for the unmanned aerial vehicle.

[0129] Specifically, the main control system calculates a time window for each unmanned aerial vehicle to allow departure [ESTi, LSTi], where ESTi is the earliest departure time, which refers to the time when the unmanned aerial vehicle is ready after landing and completing self-checking on the aircraft parking apron, and LSTi is the latest departure time, which can be calculated by reversing the task deadline, for example, when the task requires to be ready by 10:00, and the total charging time is about 30 minutes, then LSTi=9:30.

[0130] According to the greedy insertion strategy, the current time of the system is obtained, all allocated drones with the earliest departure time not later than the system time are screened, the screened drones are simulated to travel from the current time T as the starting point according to the static shortest path from the current position to the target charging pile and the time slot reservation table of the current airport channel in the order of the stake distribution in step S3, and the charging completion time is calculated. The drone with the earliest charging completion time is selected, and the departure time of the drone is set as the system time. After the setting is completed, the system state is updated, including the current time of the system, the time slot reservation table of the current airport channel, the state of the remaining drones, and the like, and the above process is cycled until the departure time of all allocated drones is determined.

[0131] S403, according to the departure time of each drone, a exclusive time window is reserved for each potential conflict point on the static shortest path of the drone, and time-space scheduling information is generated.

[0132] According to the departure time of each drone, a exclusive time window is reserved for each potential conflict point on the static shortest path of the drone, and a time slot reservation table at the multiple potential conflict points is formed. The potential conflict points include path intersection nodes, path overlapping sections, and shared sections.

[0133] Wherein, when reserving the planned time window for each drone, the length of each channel on the static shortest path and the driving speed of the drone are calculated, and then it is checked in the time slot reservation table whether the time window conflicts with the existing reservation.

[0134] If there is no conflict with the existing reservation, the time slot is directly marked as "occupied (drone i)" in the time slot reservation table of the potential conflict point, and the reservation is completed.

[0135] If there is a conflict with the existing reservation, the driving speed can be fine-tuned or the drone can wait at a non-conflict section to ensure that the drone strictly operates according to the reservation schedule, thereby avoiding any spatial conflict. Specifically, the driving speed of the drone is fine-tuned, such as increasing the speed from 1 m / s to 1.2 m / s to shorten the channel passing time. If the conflict cannot be solved by fine-tuning the driving speed, the drone waits at a node on the path until the conflict time slot ends, the time window is recalculated and the conflict is checked until a time slot solution without conflict is found.

[0136] In all non-conflict time slot scheme, select the earliest completion of the UAV "travel-charging-return" whole process of the scheme, formally allocate its departure time, and write the time slot reservation results into the channel time slot reservation table, finally obtain the time-space scheduling information, determine the travel path of each UAV. Finally, according to the time-space scheduling information, the main control system of the UAV airport sends the path instructions containing detailed departure time and time slot reservation point to each UAV, and the UAV executes according to the instructions, realizing efficient and conflict-free automatic charging process.

[0137] Specifically, after completing the stake allocation and path planning to obtain the time-space scheduling information of each return UAV, the above scheduling planning is executed by the self-driving component, infrared module, etc. In the path execution process, in order to further ensure the safety of UAV operation and avoid collision between UAVs, safety distance monitoring is also performed in this embodiment.

[0138] Among them, a safety R safe (such as 0.5 meters, which can be adjusted according to the size of the UAV) is set for each UAV, and other UAVs are not allowed to enter within the safety radius. The main control system obtains the position coordinates of each UAV in real time through the navigation positioning of Beidou and RTK, and calculates the distance d ij (t) between any two UAVs. Once d ij (t) < R safe is detected, the system immediately sends a stop or speed setting command to the rear UAV, forcing it to slow down or stop until the distance between the two machines returns to R safe above.

[0139] In addition, in the preferred embodiment, if the position deviates after the UAV enters the channel according to the allocated time, it can be corrected immediately through the obstacle avoidance sensor installed on the edge of the UAV. When the UAV approaches the target stake within a range of 2-3 meters, it switches to infrared guidance mode for final accurate adjustment.

[0140] The infrared transmitter of the charging pile continuously sends coded infrared signals, which can avoid signal interference with other devices; the left and right infrared receivers at the bottom of the UAV receive signals respectively, and calculate the signal intensity difference according to formula (9):

[0141] (9)

[0142] Among them I L is the signal intensity of the left receiver, and I R is the signal intensity of the right receiver. Through the proportional control algorithm of formula (10), the steering speed of the UAV chassis is automatically adjusted, so that ΔI gradually approaches 0, that is, the central axis of the UAV is aligned with the docking axis of the charging pile, and finally the millimeter-level precision docking of the UAV and the charging pile is realized, ensuring accurate connection of the charging interface.

[0143] (10)

[0144] wherein, is the chassis steering angular velocity, k p is a proportional coefficient, which can be optimized by debugging.

[0145] In the embodiment, during the charging of the unmanned aerial vehicle, the current detection device in the charging pile monitors the charging state (such as voltage, current, temperature, etc.), the running state of the charging station itself, and the docking condition, etc. in real time, and uploads the monitoring information to the airport master control system, so as to facilitate remote monitoring and fault early warning. The control terminal in the unmanned aerial vehicle airport detects the temperature and humidity state in the airport, and maintains a constant temperature and humidity environment in the interior through the temperature and humidity control module in the interior of the airport, so as to protect the electronic equipment of the unmanned aerial vehicle and prolong the service life of the unmanned aerial vehicle. All state data including charging progress, environmental parameters, and equipment health degree are summarized to the airport control terminal, an operation and maintenance report is generated, and the operation and maintenance report is synchronized to the airport master control system, so as to provide a decision basis for task scheduling, battery maintenance, and airport management.

[0146] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An unmanned aircraft airport system, characterized by, The utility model relates to an unmanned aerial vehicle airport cabin, unmanned aerial vehicle charging pile and unmanned aerial vehicle charging method, including: An airport cabin is internally fixedly installed with a plurality of charging piles, and an airport entrance is formed on one side of the airport cabin; a cabin cover is fixedly arranged on the top of the airport cabin to form a closed structure for protecting the unmanned aerial vehicles and the charging piles inside; an automatic access control assembly capable of automatically opening and closing the door according to the central control instruction is arranged at the airport entrance; A parking apron is arranged outside the airport entrance; The charging pile is provided with a charging interface on the side, and the charging interface is used for docking with the unmanned aerial vehicle; the charging pile is small in size and occupies less land, and a larger number of charging piles can be arranged in the limited space of the airport cabin, so that large-scale unmanned aerial vehicles can be deployed in the unmanned aerial vehicle airport; The unmanned aerial vehicle comprises a fuselage and a landing gear, the fuselage is provided with an unmanned aerial vehicle battery and an auxiliary charging device, the bottom of the landing gear is provided with a walking wheel and a driving motor, the walking wheel can be used for driving between the parking apron and the airport cabin, and the driving motor can drive the unmanned aerial vehicle to walk to the charging pile; a charging connector for docking and charging with the charging pile is arranged at one end of the landing gear; the charging connector is connected with the auxiliary charging device through a charging wire; the charging connector can be connected with the charging interface to establish a charging loop, and the charging connector and the charging interface are designed in a standardized manner; The side of the charging pile facing the unmanned aerial vehicle body is fixedly connected with a guide rail, the guide rail is laid on the ground, and the walking wheel close to the charging pile is guided, so that the charging connector and the charging interface are accurately connected; Wherein, after the unmanned aerial vehicle lands on the parking apron, the automatic access control assembly is opened after sensing the identity of the unmanned aerial vehicle, and the unmanned aerial vehicle enters the airport cabin; the airport main control system schedules according to the state information of the charging pile and the state information of the unmanned aerial vehicle to obtain time-space scheduling information, and the specific process is as follows: S1, the state data of each charging pile and the state data of each returning unmanned aerial vehicle are obtained, and a compatibility matrix and a time cost matrix are constructed; S2, the returning unmanned aerial vehicles are preliminarily screened and sorted based on the task urgency to obtain a to-be-scheduled queue; S3, based on the compatibility matrix and the time cost matrix, the to-be-scheduled queue is allocated to the charging pile by using the optimal allocation algorithm to obtain pile allocation data; including: S301, based on the time cost matrix, the priority charging returning unmanned aerial vehicle and the charging pile combination are determined according to the greedy algorithm; S302, the allocated returning unmanned aerial vehicle and the charging pile are removed from the time cost matrix to obtain a reduced time cost matrix; S303, the reduced time cost matrix is reduced and the optimal solution is found to obtain the pile allocation data; S4, based on the pile allocation data, the time slot reservation method is used to allocate the departure time for each unmanned aerial vehicle and plan a conflict-free path to obtain the time-space scheduling information; including S401, a static shortest path is planned for each unmanned aerial vehicle, the airport channel is divided into a plurality of road sections, and potential conflict points between all static shortest paths are identified; S402, calculate a time window for each UAV to take off, including the earliest take-off time and the latest take-off time, and use the greedy insertion algorithm to assign a specific take-off time to the UAV; S403, according to the take-off time of each UAV, reserve an exclusive time window for each potential conflict point on its static shortest path, and generate time-space scheduling information.

2. The drone airfield system of claim 1, wherein, It also includes an airport master control system, which is arranged inside the airport cabin and is in communication connection with the charging pile and the UAV respectively.

3. The drone airfield system of claim 1, wherein, The free end of the guide rail is provided with a guide groove, and the width of the guide groove gradually increases from the proximal end to the distal end of the charging pile.

4. The drone airport system of claim 2, wherein, The aircraft body is provided with a flight control system, which is in communication connection with the airport master control system; one side of the charging pile is provided with a plurality of infrared emitters, and the landing gear is provided with left and right infrared receivers; the left and right infrared receivers can respectively receive the infrared signals emitted by the infrared emitters and obtain deviation information; the infrared receivers are connected with the flight control system, and the flight control system controls the driving motor according to the deviation information.

5. The drone airfield system of claim 1, wherein, The charging connector is fixedly provided with an outer ring magnet around the charging connector, and the charging connector is fixedly provided with an outer ring electromagnet around the charging connector; in the state of attracting each other, the charging connector and the charging connector are in contact.

6. The drone airfield system of claim 5, wherein, The outer ring magnet is arranged in a circular ring shape, and the charging connector is coaxially arranged with the outer ring magnet; an insulating isolation layer is arranged between the charging connector and the outer ring magnet.

7. The drone airfield system of claim 1, wherein, The hatch cover is made of glass material.

8. The drone airfield system of claim 1, wherein, The weather monitoring rod is fixedly arranged on the parking apron, and the weather observation assembly is installed on the weather monitoring rod; the weather observation assembly includes a wind speed and direction sensor, a temperature and humidity pressure sensor, a precipitation sensor and a visibility sensor.

9. An unmanned aerial vehicle automatic recharging method based on the unmanned aerial vehicle airport system of any one of claims 1-8, characterized in that, The method comprises the following steps: After the UAV lands on the parking apron, the automatic access control senses the identity of the UAV and opens the door, and the UAV enters the airport cabin; The airport master control system schedules according to the state information of the charging pile and the state information of the UAV to obtain time-space scheduling information; The airport master control system sends instructions to the UAV and the target charging pile according to the time-space scheduling information, the charging station starts the infrared guidance mode, the self-driving component of the UAV adjusts the moving direction based on the infrared guidance signal, and the UAV continues to move into the guide rail until the charging connector of the UAV and the charging connector of the target charging pile are physically connected and locked by magnetic attraction, and a stable charging circuit is established; After receiving the take-off inspection instruction, the airport master control system judges whether the take-off condition is met according to the weather and temperature information obtained by the weather observation assembly; when the take-off condition is met, the state of each UAV is automatically detected, the available UAVs that meet the task requirements are selected, and control instructions are issued; the UAV starts the self-driving component to move out of the airport cabin through the airport entrance, enters the waiting area of the external parking apron, and completes the preparation for take-off and self-checking after entering the waiting area, and the UAV enters the waiting state.

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