Battery replacing machine table for unmanned aerial vehicle parking inspection and battery replacing method thereof

Abstract

The invention discloses a battery replacing machine table for unmanned aerial vehicle berth inspection and a battery replacing method of the battery replacing machine table, and belongs to the technical field of berth inspection equipment.The battery replacing machine table comprises a battery replacing mechanism, a sensing module and a control module; the battery replacing mechanism comprises a parking platform, and a first battery replacing assembly is arranged on the parking platform; a shielding cover body is arranged above the parking platform, a second battery replacing assembly is arranged on the shielding cover body, and a containing space for parking the unmanned aerial vehicle is formed between the parking platform and the shielding cover body; a battery bin penetrating through the upper end face and the lower end face of the unmanned aerial vehicle is arranged in the middle of the unmanned aerial vehicle, and a battery is detachably contained in the battery bin. The first battery replacing assembly and the second battery replacing assembly are each provided with a push plate and a battery replacing driving module for driving the push plate to move in the vertical direction. By arranging the first and second battery replacement assemblies and the push plate with the electromagnet, the battery of the unmanned aerial vehicle can be rapidly replaced, the problem of interruption caused by charging is solved, and the evidence obtaining efficiency is remarkably improved.

Description

Technical Field

[0001] This invention belongs to the technical field of berth inspection equipment, specifically relating to a motor replacement station and its power replacement method for UAV berth inspection. Background Technology

[0002] The increasing scarcity of on-street parking resources has become a key factor restricting smooth urban traffic flow and improving residents' quality of life. With accelerated urbanization and a continuous increase in vehicle ownership, the supply and demand imbalance for on-street parking spaces is becoming increasingly prominent, leading to frequent traffic congestion and illegal parking, severely impacting road efficiency and residents' travel experience. Currently, the management of on-street parking spaces mainly relies on manual patrols, video surveillance, and patrol vehicle evidence collection. While these methods are effective to a certain extent, they suffer from high equipment deployment costs, limited coverage, and insufficient flexibility, making them unsuitable for large-scale, dynamic parking management needs. In contrast, drone-based on-street parking photography, with its advantages of convenience, flexibility, low cost, and rapid deployment, is being increasingly widely applied, providing a new technological approach to parking management.

[0003] In the prior art, such as Chinese patent document CN119296336B, a drone-based roadside parking space evidence collection system and method are disclosed. This system includes multiple parking spaces located on the roadside; light poles are installed near the parking spaces, and flight evidence collection devices are mounted on the light poles, including drones and helipads; when a vehicle parks in a parking space, the drone approaches the vehicle to take photos and collect evidence. This technical solution solves the battery life problem by using drones to take photos and integrating the helipad on the light poles for charging. However, in this technical solution, the drone charges and continues its flight by parking on the helipad on the light poles. Existing charging methods generally stop flight after the battery is depleted. If there is no backup drone to continue the inspection task, it can easily lead to omissions in the parking photo collection task, resulting in payment disputes. Furthermore, this charging method may cause the drone to be unable to respond in time during peak periods, reducing the system's reliability and efficiency.

[0004] Therefore, in view of the above-mentioned problems in the existing technology, there is an urgent need to provide a motor replacement station and its power replacement method for UAV parking space inspection. Summary of the Invention

[0005] To address the problems in related technologies, this invention proposes a motor swapping station and its battery swapping method for UAV parking space inspection, in order to overcome the defect of interruption of parking space inspection tasks during UAV charging and ensure the continuity and reliability of parking evidence collection work.

[0006] The technical solution of this invention is implemented as follows: a motor changing station for unmanned aerial vehicle (UAV) parking space inspection, installed on a street light pole on the side of the parking space; comprising: The battery swapping mechanism includes a parking platform fixedly installed on a light pole, on which a first battery swapping component is provided; a shielding cover is provided above the parking platform, on which a second battery swapping component is provided, and a space for parking drones is formed between the parking platform and the shielding cover. The sensing module, installed on the parking platform, is used to sense the parking status of the drone and send the sensing information to the control module; The control module is used to control the first battery swapping component and the second battery swapping component to work together to replace the battery of the drone based on the sensing information. The drone has a battery compartment in the middle that extends through its upper and lower ends, and the battery compartment is detachably housed in the battery compartment; both the first battery swapping component and the second battery swapping component are provided with a push plate and a battery swapping drive module that drives the push plate to move in the vertical direction; an electromagnet is provided on the push plate, and magnetic attracting components that can form a magnetic attraction with the electromagnet are provided on the upper and lower ends of the battery; During battery swapping, the control module controls one of the push plates to move the fully charged battery it has magnetically attracted to the battery compartment of the drone, and pushes out the low-charge battery in the battery compartment. The low-charge battery that is pushed out is magnetically attracted away by another push plate.

[0007] This invention enables rapid and automated battery replacement for drones by setting up a first battery swapping component, a second battery swapping component, and a push plate with an electromagnet. Compared with existing technical solutions for drone inspections that require long downtime for charging, this invention fundamentally solves the problem of inspection task interruption caused by charging, and significantly improves the continuity and efficiency of on-street parking evidence collection.

[0008] As a further improvement to the above solution, the first battery swapping component includes a first push plate and a first battery swapping drive module that drives the first push plate to rise and fall, and a first charging module is provided on the side wall of the first battery swapping drive module; the second battery swapping component includes a second push plate and a second battery swapping drive module that drives the second push plate to rise and fall, and a second charging module is provided on the side wall of the second battery swapping drive module. The power source for the battery swapping drive module is electrical, pneumatic, or hydraulic energy. The first and second charging modules are connected to the external power grid to charge the replaced low-charge batteries. By configuring independent push plates and battery swapping drive modules for the first and second battery swapping components, each component can reliably complete the battery ejection and insertion actions. Furthermore, integrating the charging modules into the sidewalls of each drive module allows the replaced batteries to be charged instantly, ensuring a highly efficient and smooth battery swapping process.

[0009] As a further improvement to the above solution, the second battery swapping assembly also includes a base plate and a third battery swapping drive module for driving the base plate to rise and fall as a whole; the second battery swapping drive module is fixed to the base plate. The third battery swapping drive module includes a mounting plate fixedly connected to the shielding cover. A first drive motor is mounted on the mounting plate, and the output end of the first drive motor drives a screw. The screw and a nut fixed to the base plate form a threaded transmission pair. The base plate is also connected to at least two vertically arranged guide rods, the upper parts of which slide in engagement with the mounting plate. By introducing the third battery swapping drive module to drive the overall lifting and lowering of the second battery swapping assembly, the height of the accommodating space is effectively adjusted, greatly improving the compatibility and parking tolerance of the machine for different models and sizes of drones, allowing drones to enter the battery swapping position more easily and safely.

[0010] As a further improvement to the above solution, the charging module includes a vertical plate, one end of which is fixed to the side wall of the corresponding battery swapping drive module, and the other end is provided with a charging electrode that is elastically telescopic; the vertical plate has a hollow cavity inside, and the charging electrode is connected to the external power grid through a cable passing through the hollow cavity. The push plate has a first clearance opening that is adapted to the vertical plate, so that the push plate can avoid the vertical plate and the charging electrode during the lifting and lowering process; The battery has charging terminals on its sidewall, and a second clearance opening adapted to the vertical plate is also provided on the sidewall. This allows the charging terminals of the low-charge battery to connect with the charging electrode when the push plate magnetically repositions the low-charge battery. By providing a push plate and battery with clearance openings, as well as a flexible charging electrode, the movement of the push plate is ensured to be uninterrupted during battery swapping. After battery swapping, the battery can be reset with the push plate and automatically and reliably connect to the charging electrode, achieving a seamless connection between the "battery swapping-charging" process.

[0011] As a further improvement to the above solution, the upper and lower through-holes of the battery compartment of the UAV are each provided with a swing stop that can be swung. The swing stop is driven by a servo motor, and its swinging motion is used to lock the battery in the battery compartment or unlock it.

[0012] As a further improvement to the above solution, the thickness of the magnetic attraction components on the upper and lower end faces of the battery is greater than the thickness of the swing stop. During battery swapping, the pusher plate pushes the fully charged battery so that its magnetic clasp abuts against the magnetic clasp of the low-charge battery. The combined thickness of the magnetic clasps of the two batteries creates a gap between their casings. This gap provides space for the swing stop to rotate. When the swing stop rotates into this gap, the battery is locked; when the swing stop rotates out of the gap, the battery is unlocked. By limiting the thickness of the magnetic clasp to be greater than the thickness of the swing stop, a gap is created when the two batteries abut, ensuring that the swing stop has sufficient space to rotate and unlock, thus improving the continuity and reliability of the battery swapping process.

[0013] As a further improvement to the above solution, the parking platform is also provided with a centering mechanism, which includes at least two centering moving components arranged diagonally. Each centering moving component includes a constraint corner frame and a centering drive device that drives the constraint corner frame to reciprocate along the diagonal direction of the parking platform. The centering drive device includes a base plate on which a second drive motor is fixedly mounted. The output shaft of the second drive motor drives a gear, which meshes with a rack. The rack extends along the diagonal direction and is fixedly connected to the constraint angle frame. In the reality of errors during autonomous drone landing, the centering mechanism ensures that the drone's battery compartment is precisely aligned with the battery swapping mechanism, guaranteeing accurate and damage-free battery swapping and significantly reducing the risk of battery swapping failure or equipment damage due to positional deviations.

[0014] As a further improvement to the above solution, the centering drive device also includes a guide rail fixed on the base plate, the guide rail being arranged parallel to the rack; a slider correspondingly arranged on the constraint corner frame is provided to slide in cooperation with the guide rail. By setting the guide rail and slider structure, the movement trajectory of the constraint corner frame is effectively constrained, preventing jamming or deviation during gear and rack transmission, and ensuring a smooth and stable centering process.

[0015] As a further improvement to the above solution, the sensing module includes two sets of infrared sensor pairs. Each pair consists of an infrared transmitter and an infrared receiver arranged opposite each other to detect the drone's support feet. The two sets of infrared sensor pairs are arranged diagonally on the landing platform, offset from the position of the central moving component. By offsetting the central moving component from the central moving component, non-contact, three-dimensional sensing of the drone's support foot position is achieved, providing accurate triggering and control signals for the control module.

[0016] A battery swapping method for a motor swapping station used for UAV parking space inspection, applied to the motor swapping station as described above, wherein the parking platform is equipped with a centering mechanism for correcting the parking position of the UAV, including the following steps: S1: The sensing module detects that the drone is parked on the parking platform and sends a signal to the control module; S2: The control module activates the centering mechanism to correct the parking position of the drone, aligning its battery compartment with the battery swapping mechanism; S3: After centering is completed, the control module controls the first battery swapping component and the second battery swapping component to move to a predetermined working distance from the upper and lower end faces of the battery, at which time the electromagnet is not energized; S4: The control module controls the swing stop of the battery compartment of the drone to rotate and release the lock on the battery; S5: The control module controls the electromagnets in the first and second battery swapping components to be energized; then, it controls the push plate with the fully charged battery magnetically attracted to move upward or downward to push the fully charged battery into the battery compartment, while pushing out the low-charge battery in the compartment; the low-charge battery that is pushed out is magnetically attracted by another push plate. S6: After the battery replacement is completed, the control module controls the swing stop to swing back, locking the fully charged battery in the battery compartment; S7: The control module controls the push plate to reset and moves the low-power battery to the charging module for charging; S8: After charging is complete, the motor swapping station enters standby mode, waiting to perform the next battery swapping task.

[0017] Beneficial effects: By placing the first and second battery swapping components on the parking platform and the shielding cover respectively, a coordinated battery swapping structure is constructed and integrated with the light pole. The control module directly manages the coordinated actions of the first and second battery swapping components based on sensor information. Utilizing the combination of electromagnet attraction and pusher plate pushing, the synchronous replacement of fully charged and low-charge batteries is achieved. This solves the problem of traditional charging solutions requiring interruption of flight missions, ensuring uninterrupted inspection work after battery replacement and significantly improving the continuity of on-street parking and evidence collection. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the installation of the motor changing station of the present invention on the lamp post; Figure 2 This is a perspective view of the motor changing station of the present invention; Figure 3 This is a schematic diagram illustrating the operation of unlocking the drone battery according to the present invention; Figure 4 This is a perspective view of the second battery swapping component of the present invention; Figure 5 This is a schematic diagram of the shutdown platform of the present invention; Figure 6This is a schematic diagram of the structure of the centering moving component of the present invention; Figure 7 This is a schematic diagram illustrating the working principle of the UAV battery swapping system of the present invention. Figure label: T1, Motor replacement station; 1. Battery swapping mechanism; 11. Shutdown platform; 12. First battery swapping component; 121. First push plate; 122. First battery swapping drive module; 13. Covering or shielding; 14. Second battery swapping assembly; 141. Second push plate; 142. Second battery swapping drive module; 143. Base plate; 15. Third battery swapping drive module; 151. Mounting plate; 152. First drive motor; 153. Screw; 154. Nut; 155. Guide rod; 2. Sensing module; 21. Infrared transmitter; 22. Infrared receiver; 3. Control module; 4. First charging module; 41. Vertical plate; 42. Charging electrode; 43. First clearance opening; 5. Second charging module; 6. Drone; 61. Battery compartment; 62. Battery; 621. Magnetic attachment; 622. Charging terminal; 623. Second air vent; 63. Swing stop; D1. Low battery; D2. Full battery; 7. Centering mechanism; 71. Centering moving component; 711. Constraint corner frame; 712. Centering drive device; 7121. Base plate; 7122. Second drive motor; 7123. Gear; 7124. Rack; 7125. Guide rail; 7126. Slider; 8. Light poles. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] Example: like Figures 1-6 As shown, this embodiment provides a motor-changing station for UAV parking space inspection, installed on a street light pole 8 on the side of the parking space; including: The battery swapping mechanism 1 includes a parking platform 11 fixedly installed on the light pole 8, a first battery swapping component 12 is provided on the parking platform 11, a shielding cover 13 is provided above the parking platform 11, a second battery swapping component 14 is provided on the shielding cover 13, and a space for the drone 6 to be parked is formed between the parking platform 11 and the shielding cover 13. The sensing module 2 is installed on the parking platform 11 to sense the parking status of the UAV 6 and send the sensing information to the control module 3; Control module 3 is used to control the first battery swapping component 12 and the second battery swapping component 14 to work together to replace the battery 62 of the drone 6 according to the sensing information. The drone 6 has a battery compartment 61 extending through its upper and lower ends in the middle, and a battery 62 is detachably housed in the battery compartment 61; both the first battery swapping component 12 and the second battery swapping component 14 are provided with push plates and battery swapping drive modules that drive the push plates to move in the vertical direction; an electromagnet is provided on the push plate, and magnetic attracting components 621 that can form a magnetic attraction with the electromagnet are provided on the upper and lower ends of the battery 62; During battery swapping, the control module 3 controls any pusher to move the fully charged battery D2 that it has magnetically attracted to the drone 6 into the battery compartment 61, and pushes out the low-charge battery D1 in the battery compartment 61. The low-charge battery D1 that has been pushed out is magnetically attracted away by another pusher.

[0021] In this embodiment, the first battery swapping assembly 12 includes a first push plate 121 and a first battery swapping drive module 122 that drives the first push plate 121 to rise and fall. A first charging module 4 is provided on the side wall of the first battery swapping drive module 122. The second battery swapping assembly 14 includes a second push plate 141 and a second battery swapping drive module 142 that drives the second push plate 141 to rise and fall. A second charging module 5 is provided on the side wall of the second battery swapping drive module 142. The power source of the battery swapping drive module is electrical energy, pneumatic energy, or hydraulic energy. Specifically, in this embodiment, a cylinder is preferred as the battery swapping drive module.

[0022] The first charging module 4 and the second charging module 5 are connected to an external power grid to charge the replaced low-power battery D1. Specifically, the charging module includes a vertical plate 41, one end of which is fixed to the side wall of the corresponding battery swapping drive module, and the other end is provided with an elastically extendable charging electrode 42; the vertical plate 41 has a hollow cavity inside, and the charging electrode 42 is connected to the external power grid through a cable passing through the hollow cavity. The push plate has a first clearance opening 43 adapted to the vertical plate 41, allowing the push plate to avoid the vertical plate 41 and charging electrode 42 during lifting and lowering. The side wall of the battery 62 has a charging terminal 622, and a corresponding second clearance opening 623 adapted to the vertical plate 41 is also provided on the side wall of the battery 62. This allows the charging terminal 622 of the low-power battery D1 to connect with the charging electrode 42 when the push plate magnetically repositions the low-power battery D1. By providing a push plate and battery 62 with clearance openings, and an elastic charging electrode 42, the movement of the push plate is ensured to be uninterrupted during battery swapping. After battery swapping, the battery 62 can be reset with the push plate and automatically and reliably connect to the charging electrode 42, achieving a seamless connection between the "battery swapping-charging" process.

[0023] In this embodiment, by configuring independent push plates and battery swapping drive modules for the first battery swapping component 12 and the second battery swapping component 14, each battery swapping component can reliably complete the ejection and insertion of the battery 62. Furthermore, the charging module is integrated into the side wall of each drive module, allowing the replaced battery 62 to be charged immediately, ensuring the efficient and smooth battery swapping process.

[0024] In this embodiment, the second battery swapping assembly 14 further includes a base plate 143 and a third battery swapping drive module 15 that drives the base plate 143 to rise and fall as a whole. The second battery swapping drive module 142 is fixed to the base plate 143. The third battery swapping drive module 15 includes a mounting plate 151 fixedly connected to the shielding cover 13. A first drive motor 152 is provided on the mounting plate 151. The output end of the first drive motor 152 drives a screw 153. The screw 153 and a nut 154 fixed to the base plate 143 form a threaded transmission pair. The base plate 143 is also connected to at least two vertically arranged guide rods 155. The upper part of the guide rods 155 slides in cooperation with the mounting plate 151. By introducing the third battery swapping drive module 15 to drive the second battery swapping assembly 14 to rise and fall as a whole, the height of the accommodating space is effectively adjusted, greatly improving the compatibility and parking tolerance of the machine for different models and sizes of UAVs 6, allowing the UAVs 6 to enter the battery swapping position more easily and safely.

[0025] In this embodiment, a swing stop 63 is provided at the upper and lower through openings of the battery compartment 61 of the UAV 6. The swing stop 63 is driven by a servo motor, and its swinging motion is used to lock the battery 62 in the battery compartment 61 or unlock it.

[0026] In this embodiment, the thickness of the magnetic suction member 621 on the upper and lower end faces of the battery 62 is greater than the thickness of the swing stop 63; specifically, the magnetic suction member 621 can be made of iron sheet.

[0027] During battery swapping, the pusher plate pushes the fully charged battery D2 so that its magnetic chuck 621 abuts against the magnetic chuck 621 of the low-charge battery D1. The total thickness of the combined magnetic chucks 621 of the two batteries creates a gap between their housings. This gap provides space for the swing stop 63 to rotate. When the swing stop 63 rotates into the gap, the battery 62 is locked; when the swing stop 63 rotates out of the gap, the battery 62 is unlocked. By limiting the thickness of the magnetic chuck 621 to be greater than the thickness of the swing stop 63, a gap is created when the two batteries 62 abut, ensuring that the swing stop 63 has sufficient space to rotate and unlock, thus improving the continuity and reliability of the battery swapping operation.

[0028] In this embodiment, the parking platform 11 is also provided with a centering mechanism 7. The centering mechanism 7 includes at least two centering moving components 71 arranged diagonally. Each centering moving component 71 includes a constraint corner frame 711 and a centering drive device 712 that drives the constraint corner frame 711 to reciprocate along the diagonal direction of the parking platform 11. The centering drive device 712 includes a base plate 7121, on which a second drive motor 7122 is fixedly mounted. The output shaft of the second drive motor 7122 drives a gear 7123, which meshes with a rack 7124. The rack 7124 extends along the diagonal direction and is fixedly connected to the constraint angle frame 711. In the reality that the autonomous landing of the UAV 6 may have errors, the centering mechanism 7 can ensure that the battery compartment 61 of the UAV 6 is accurately aligned with the battery swapping mechanism 1, providing a guarantee for subsequent accurate and non-destructive battery swapping, and greatly reducing the risk of battery swapping failure or equipment damage due to positional deviation.

[0029] In this embodiment, the centering drive device 712 further includes a guide rail 7125 fixed on the base plate 7121, the guide rail 7125 being arranged parallel to the rack 7124; a slider 7126 correspondingly provided on the constraint corner frame 711, which slides in cooperation with the guide rail 7125. By setting the guide rail 7125 and slider 7126 structure, the movement trajectory of the constraint corner frame 711 is effectively constrained, preventing jamming or deviation during the transmission of the gear 7123 and rack 7124, thus ensuring a smooth and stable centering process.

[0030] In this embodiment, the sensing module 2 includes two sets of infrared sensor pairs. Each set consists of an infrared transmitter 21 and an infrared receiver 22 arranged opposite each other to detect the support feet of the UAV 6. The two sets of infrared sensor pairs are arranged diagonally on the landing platform 11, offset from the position of the centering moving component 71. By offsetting the arrangement from the centering mechanism 7, non-contact, three-dimensional sensing of the position of the support feet of the UAV 6 is achieved, providing accurate triggering and control signals for the control module 3.

[0031] like Figure 7 As shown, through the above-described solution of the present invention, a battery swapping method for a motor swapping station T1 used for UAV parking space inspection is applied to the motor swapping station T1 as described above. The parking platform 11 is equipped with a centering mechanism 7 for correcting the parking position of the UAV 6, and includes the following steps: S1: When the UAV 6 completes its inspection task and needs to replenish its energy, it automatically flies to and lands on the parking platform 11 of the battery swapping station T1; the sensing module 2 detects that the UAV 6 is parked on the parking platform 11 and sends a signal to the control module 3 to start the battery swapping process. S2: The control module 3 activates the centering mechanism 7, and each constraint corner frame 711 moves synchronously in the diagonal direction to accurately correct the body of the UAV 6 to the predetermined position, ensuring that its battery compartment 61 is strictly aligned with the upper and lower battery swapping components; S3: After centering is completed, the control module 3 controls the first battery swapping component 12 and the second battery swapping component 14 to move to the preparatory position close to the upper and lower end faces of the battery 62, at which time the electromagnet remains de-energized. S4: The control module 3 controls the swing stop 63 of the battery compartment 61 of the UAV 6 to swing and release the lock on the battery 62. S5: The control module 3 controls the electromagnets in the first battery swapping component 12 and the second battery swapping component 14 to be energized; then, it controls the push plate with the fully charged battery D2 magnetically attracted to move upward or downward, pushing the fully charged battery D2 into the battery compartment 61, while pushing out the low-charge battery D1 in the compartment; the low-charge battery D1 that is pushed out is magnetically attracted by another push plate. S6: After the battery 62 is replaced, the control module 3 controls the swing stop 63 to swing back and lock the fully charged battery D2 in the battery compartment 61. S7: The control module 3 controls the push plate to reset and moves the low-power battery D1 to the charging module; at this time, the charging terminal 622 automatically connects with the charging electrode 42 for charging; S8: After charging is completed, the motor swapping station T1 enters standby mode, waiting to perform the next battery swapping task.

[0032] In this embodiment, the first battery swapping component 12 and the second battery swapping component 14 are respectively mounted on the parking platform 11 and the cover 13, constructing a coordinated battery swapping structure that is integrated with the light pole 8. The control module 3 directly manages the coordinated actions of the first battery swapping component 12 and the second battery swapping component 14 based on sensing information. By utilizing the combination of electromagnet adsorption and pusher plate pushing, the synchronous replacement of the fully charged battery D2 with the low-charge battery D1 is achieved. This solves the problem that traditional charging schemes require interruption of flight missions, ensuring that the inspection work of the UAV 6 is not interrupted after the battery 62 is replaced, and significantly improving the continuity of on-street parking evidence collection work.

[0033] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. A motor-changing station for unmanned aerial vehicle (UAV) parking space inspection, mounted on a street light pole on the side of the parking space; characterized in that, include: The battery swapping mechanism includes a parking platform fixedly installed on a light pole, on which a first battery swapping component is provided; a shielding cover is provided above the parking platform, on which a second battery swapping component is provided, and a space for parking drones is formed between the parking platform and the shielding cover. The sensing module, installed on the parking platform, is used to sense the parking status of the drone and send the sensing information to the control module; The control module is used to control the first battery swapping component and the second battery swapping component to work together to replace the battery of the drone based on the sensing information. The drone has a battery compartment in the middle that extends through its upper and lower ends, and the battery compartment is detachably housed in the battery compartment; both the first battery swapping component and the second battery swapping component are provided with a push plate and a battery swapping drive module that drives the push plate to move in the vertical direction; an electromagnet is provided on the push plate, and magnetic attracting components that can form a magnetic attraction with the electromagnet are provided on the upper and lower ends of the battery; During battery swapping, the control module controls one of the push plates to move the fully charged battery it has magnetically attracted to the battery compartment of the drone, and pushes out the low-charge battery in the battery compartment. The low-charge battery that is pushed out is magnetically attracted away by another push plate.

2. The motor changing station for UAV parking space inspection according to claim 1, characterized in that, The first battery swapping assembly includes a first push plate and a first battery swapping drive module that drives the first push plate to rise and fall, and a first charging module is provided on the side wall of the first battery swapping drive module; the second battery swapping assembly includes a second push plate and a second battery swapping drive module that drives the second push plate to rise and fall, and a second charging module is provided on the side wall of the second battery swapping drive module. The power source of the battery swapping drive module is electrical energy, pneumatic energy or hydraulic energy; the first charging module and the second charging module are connected to the external power grid and are used to charge the replaced low-power batteries.

3. A motor changing station for UAV parking space inspection according to claim 2, characterized in that, The second battery swapping assembly also includes a base plate and a third battery swapping drive module for driving the base plate to rise and fall as a whole; the second battery swapping drive module is fixed to the base plate; The third battery swapping drive module includes a mounting plate fixedly connected to the shield cover. A first drive motor is provided on the mounting plate. The output end of the first drive motor drives a screw. The screw and a nut fixed on the base plate form a threaded transmission pair. The base plate is also connected to at least two vertically arranged guide rods. The upper part of the guide rods slides with the mounting plate.

4. A motor changing station for UAV parking space inspection according to claim 3, characterized in that, The charging module includes a vertical plate, one end of which is fixed to the side wall of the corresponding battery swapping drive module, and the other end is provided with a charging electrode that is elastically telescopic; the vertical plate has a hollow cavity inside, and the charging electrode is connected to the external power grid through a cable passing through the hollow cavity. The push plate has a first clearance opening that is adapted to the vertical plate, so that the push plate can avoid the vertical plate and the charging electrode during the lifting and lowering process; The battery has a charging terminal on its side wall, and a second clearance opening adapted to the vertical plate is provided on the side wall of the battery, so that when the push plate magnetically attracts the low-power battery to reset, the charging terminal of the low-power battery can be connected to the charging electrode.

5. A motor changing station for UAV parking space inspection according to claim 1, characterized in that, The drone's battery compartment has a swing stop at each of its upper and lower through-holes. The swing stop is driven by a servo motor, and its swinging motion locks the battery in the battery compartment or unlocks it.

6. A motor changing station for UAV parking space inspection according to claim 5, characterized in that, The thickness of the magnetic attraction components on the upper and lower end faces of the battery is greater than the thickness of the swing stop; When swapping batteries, the push plate pushes the fully charged battery so that its magnetic attraction piece abuts against the magnetic attraction piece of the low-charge battery. The total thickness of the magnetic attraction pieces of the two batteries combined creates a gap between the casings of the two batteries. This gap provides space for the swing stop to rotate. When the swing stop is rotated into the gap, the battery is locked. When the swing stop is rotated out of the gap, the battery is unlocked.

7. A motor changing station for UAV parking space inspection according to claim 1, characterized in that, The parking platform is also equipped with a centering mechanism, which includes at least two centering moving components arranged diagonally. Each centering moving component includes a constraint corner frame and a centering drive device that drives the constraint corner frame to reciprocate along the diagonal direction of the parking platform. The centering drive device includes a base plate on which a second drive motor is fixedly mounted. The output shaft of the second drive motor drives a gear, which meshes with a rack. The rack extends along the diagonal direction and is fixedly connected to the constraint angle frame.

8. A motor changing station for UAV parking space inspection according to claim 7, characterized in that, The centering drive device also includes a guide rail fixed on the substrate, the guide rail being arranged parallel to the rack; a slider corresponding to the guide rail is provided on the constraint corner frame.

9. A motor changing station for UAV parking space inspection according to claim 8, characterized in that, The sensing module includes two sets of infrared sensor pairs, each consisting of an infrared transmitter and an infrared receiver arranged opposite each other, for detecting the support feet of the UAV; the two sets of infrared sensor pairs are arranged diagonally on the landing platform, offset from the position of the central moving component.

10. A battery swapping method for a motor swapping station used for unmanned aerial vehicle (UAV) parking space inspection, applied to a motor swapping station as described in any one of claims 1-9, wherein the parking platform is provided with a centering mechanism for correcting the parking position of the UAV; characterized in that, Includes the following steps: S1: The sensing module detects that the drone is parked on the parking platform and sends a signal to the control module; S2: The control module activates the centering mechanism to correct the parking position of the drone, aligning its battery compartment with the battery swapping mechanism; S3: After centering is completed, the control module controls the first battery swapping component and the second battery swapping component to move to a predetermined working distance from the upper and lower end faces of the battery, at which time the electromagnet is not energized; S4: The control module controls the swing stop of the battery compartment of the drone to rotate and release the lock on the battery; S5: The control module controls the electromagnets in the first and second battery swapping components to be energized; then, it controls the push plate with the fully charged battery magnetically attracted to move upward or downward to push the fully charged battery into the battery compartment, while pushing out the low-charge battery in the compartment; the low-charge battery that is pushed out is magnetically attracted by another push plate. S6: After the battery replacement is completed, the control module controls the swing stop to swing back, locking the fully charged battery in the battery compartment; S7: The control module controls the push plate to reset and moves the low-power battery to the charging module for charging; S8: After charging is complete, the motor swapping station enters standby mode, waiting to perform the next battery swapping task.

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