Ground-air cooperative unmanned aerial vehicle and ground robot carrying system

Abstract

The invention provides a ground-air cooperative unmanned aerial vehicle and ground robot carrying system, which relates to the technical field of unmanned aerial vehicles and comprises a ground robot, an unmanned aerial vehicle, a supporting mechanism, a calibration docking mechanism and a limiting mechanism, the supporting mechanism comprises a connecting base, a charging head and a supporting part. The charging head and the supporting part are installed at the bottom of the connecting base. The calibration docking mechanism comprises a base, a charging pile, a carrying platform, a lifting assembly and a calibration assembly, the base is mounted on the ground robot, the charging pile is mounted at the top of the base, a charging port is formed in the top of the charging pile, a docking port is formed in the carrying platform, the calibration assembly can keep a charging head right facing the charging port, and the lifting assembly is used for driving the carrying platform to spirally ascend and descend; the limiting mechanism can limit rotation of the supporting mechanism. Through linkage combination of the lifting assembly, the calibration assembly and the limiting mechanism, preliminary positioning of the unmanned aerial vehicle and accurate calibration of the charging head and the charging port interface are sequentially achieved in the continuous spiral downward moving process of the carrying platform, and the positioning deviation is reduced.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to a ground-air collaborative UAV and ground robot carrying system. Background Technology

[0002] The cross-border spread of invasive species has become a core challenge for customs biosecurity control. Traditional inspection methods have significant limitations: single ground robots have limited inspection range and cannot cover complex port terrain; while drones can achieve large-scale and rapid inspections, their endurance is insufficient, requiring frequent resupply. To address this, an air-ground collaborative inspection system has emerged. This system uses a ground robot equipped with a drone bay to store, charge, and coordinate drone operations. The two work together to photograph plants and identify invasive species, significantly improving inspection efficiency.

[0003] However, existing air-to-ground collaborative systems suffer from a key technical deficiency: the lack of a precise calibration and positioning mechanism for charging docking between drones and ground robots after drones return to base. Current technologies largely rely on the drone's own positioning module for return and docking, which is susceptible to environmental interference, leading to positioning deviations and inaccurate alignment between the charging head and the socket, resulting in a low docking success rate. This problem directly restricts the rapid refueling of drones, causing interruptions in patrol operations and failing to meet the customs' needs for continuous and efficient patrol and identification of invasive species. Therefore, it is urgent to solve the problem of precise calibration and positioning for charging docking between drones and ground robots to improve the operational continuity and reliability of air-to-ground collaborative patrol systems. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a ground-air collaborative drone and ground robot mounting system to solve the problem of inaccurate docking between drone charging heads and ground robot charging sockets.

[0005] The objective of this invention is achieved through the following technical solution: The ground-air cooperative UAV and ground robot mounting system provided by the present invention includes a ground robot, a UAV, a support mechanism, a calibration and docking mechanism, and a limiting mechanism; The support mechanism includes a connector, a charging head, and a support part. The connector is installed on the bottom of the drone, and the charging head and the support part are respectively installed on the bottom of the connector, with the end of the charging head facing downwards. The ground robot is equipped with a charging power supply inside. The calibration docking mechanism includes a base, a charging pile, a mounting platform, a lifting component, and a calibration component. The base is mounted on the ground robot. The charging pile is electrically connected to the charging power supply and is mounted on the top of the base. The top of the charging pile has a charging port. The mounting platform is used to support the support part, and the mounting platform has a docking interface facing the top of the charging pile. The calibration component can move the support mechanism to a position that keeps the charging head facing the top of the charging port. The lifting component is used to drive the mounting platform to spiral up and down so that the charging port moves closer to or away from the docking interface. The limiting mechanism can restrict the rotation of the support mechanism during the spiral lifting and lowering of the mounting platform, so as to keep the interface of the charging head and the charging port matched and aligned.

[0006] Furthermore, the support portion has a ring-shaped structure with the charging head located at the center of its inner ring. The mounting platform is surrounded by multiple radially extending grooves centered on the interface. The calibration component includes a guide ring and multiple push pins. The guide ring is installed on the top periphery of the base with the charging pile as the center. One push pin is slidably installed in each groove. A stop rod is installed on each push pin. A first elastic element is connected between the push pin and the groove to provide elastic force to drive the stop rod to abut against the inner wall of the guide ring at all times. When the mounting platform descends, the guide ring can push each push pin towards the interface.

[0007] Furthermore, the guide ring includes a straight section and a variable diameter section. The straight section has a constant diameter and is installed on the top periphery of the base. The variable diameter section is located on top of the straight section and its diameter tends to increase upward. When the push rod moves to the straight section, each of the push pins can align the center of the support section with the interface.

[0008] Furthermore, it also includes a plugging and unplugging mechanism, which includes a slide block, a slide column, and a drive assembly. The support part is connected to the connecting seat through multiple vertical connecting rods. The charging head is fixed to the bottom of the slide block. The slide block is slidably connected to each connecting rod. The edge of the slide block is provided with an annular groove. Each push column is longitudinally slidably mounted with a slide column. The top of the slide column is provided with a hook plate. When the push rod moves to the straight part, the hook plate can hook into the annular groove. The drive assembly can drive the slide column to move up and down.

[0009] Furthermore, the drive assembly includes a first gear ring and multiple second gear rings. The first gear ring is mounted on the base with the charging pile as the center. The bottom end of the slide column passes through the bottom of the push column and has an external thread. The bottom of each push column is rotatably mounted with a second gear ring. The inner ring of the second gear ring has an internal thread and is screwed to the bottom end of the corresponding slide column. When the push rod transitions from the variable diameter section to the straight section, the second gear ring can mesh with the first gear ring.

[0010] Furthermore, a dustproof ring cover is provided on the inner side of the support part below the charging head. The dustproof ring cover is connected to the support part by multiple support rods. A bottom cover is rotatably installed on the bottom of the dustproof ring cover. A fourth elastic element is installed at the rotatable connection of the bottom cover to provide elastic force to drive the bottom cover to close the bottom of the dustproof ring cover. When the slide is at the top of the stroke, the connector end of the charging head will be retracted into the dustproof ring cover.

[0011] Furthermore, the limiting mechanism includes a first limiting rod and a second limiting rod. The first limiting rod is installed on one side of the inner ring of the support, and the second limiting rod is installed on the top of the charging pile and located next to the charging port. When the mounting platform spirals down to allow the second limiting rod to pass upward through the interface, the second limiting rod can be located on the rotation path of the first limiting rod. When the second limiting rod abuts against the first limiting rod, the charging head and the charging port interface can be matched and aligned.

[0012] Furthermore, the top of the charging pile is provided with a clearance groove next to the charging port. The second limiting rod is slidably installed in the clearance groove, and a second elastic element is connected between the second limiting rod and the bottom of the clearance groove to provide elastic force to push the second limiting rod out of the clearance groove.

[0013] Furthermore, the lifting assembly includes a drive ring, a first motor, a guide rod, and a threaded cylinder. At least one of the guide rods is installed on the top of the base and located next to the charging pile. The drive ring is slidably installed on the charging pile and the guide rod. The outer wall of the charging pile has external threads. The threaded cylinder is threadedly screwed onto the charging pile and rotatably connected to the drive ring. The threaded cylinder is coaxial with the mating interface, and the top end of the threaded cylinder is fixed to the bottom of the mounting platform. A third gear ring is installed on the outer wall of the threaded cylinder. The first motor is fixedly installed on the drive ring, and a first gear that meshes with the third gear ring is installed on the output shaft end of the first motor.

[0014] Furthermore, the top of the ground robot is provided with an extension platform around the calibration docking mechanism. The extension platform is symmetrically mounted with covers on both sides. When the two covers are closed on each other, they can form a sealed compartment that can accommodate the UAV. The ends of the rotating shafts of the two covers are respectively provided with second gears. The two sides of the extension platform are respectively equipped with second motors. The output shafts of the second motors are equipped with third gears that mesh with the corresponding second gears.

[0015] As can be seen from the above technical solution, the ground-air cooperative UAV and ground robot carrying system provided by the present invention: 1. When it is necessary to return the drone to the ground robot, the drone can be directly landed on the mounting platform, and the support mechanism is located in the area enclosed by the pushers. This helps to expand the drone's docking area and significantly reduce the difficulty of landing the drone. The mounting platform is driven to descend spirally by the lifting component. During the spiral descent of the mounting platform, each pusher is pushed synchronously towards the interface along the path of the guide ring, and the position of the support mechanism is initially calibrated so that the charging head is directly above the interface and the charging port. Furthermore, as the mounting platform continues to rotate and descend, the second limit rod will block the rotation path of the first limit rod to achieve contact between the two. During the subsequent rotation of the mounting platform, the rotation of the support mechanism is stopped, so that the charging head and the charging port maintain an interface matching and alignment state, ensuring that the charging head can be straight inserted into the charging port later. This invention utilizes a lifting component to drive the mounting platform to descend in a spiral rotation, providing a power source for the position calibration of the drone and charging head. In conjunction with the calibration component and the limiting mechanism, the mounting platform achieves the initial positioning of the drone and the precise calibration of the charging head and charging port interface during the continuous spiral descent, significantly reducing positioning deviation and improving the docking success rate. In addition, each push column can also provide lateral support for the support mechanism to prevent the drone from detaching from the mounting platform. 2. As the mounting platform spirals downwards, the drone completes the calibration of its charging position, achieving precise alignment between the charging head and the charging port interface. Then, as the mounting platform continues its spiral descent, the second gear ring engages with the first gear ring, driving the sliding column downwards via a thread. This, in turn, pulls the sliding block downwards via a hook plate, allowing the charging head to descend and connect with the charging port, thus achieving automatic charging of the drone. This invention uses a lifting component to drive the mounting platform downwards in a spiral rotation, linked with the calibration component, limiting mechanism, and insertion / removal mechanism. This allows the mounting platform to automatically align the charging head and automatically connect the charging head with the charging port during descent, eliminating the need for manual charging of the drone. Remote operation is possible, which improves the continuity and reliability of the air-to-ground collaborative patrol system. 3. The dust cover protects the charging head. When the drone is not charging, it prevents the charging head from being damaged by collision or foreign objects from entering the interface. When charging is needed, simply pull down the slide to push the charging head open and expose it. After the bottom cover is pushed open, it can also hold the charging head to a certain extent by the elastic force of the fourth elastic element, keeping the charging head relatively fixed. It is convenient to use. After charging is completed, simply push the charging head back into the dust cover. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention, the accompanying drawings used in the specific embodiments will be briefly described below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the ground robot in this invention; Figure 3 This is a three-dimensional structural diagram of the UAV in this invention; Figure 4 for Figure 3 A magnified view of a section at point A in the middle; Figure 5 This is a three-dimensional structural diagram of the present invention, which conceals the rear support structure of the ground robot and the drone, placed on the calibration and docking mechanism. Figure 6 This is a cross-sectional view of the main structural diagram of the present invention, which conceals the rear support structure of the ground robot and the drone being placed on the calibration docking mechanism. Figure 7 for Figure 6 A magnified view of a section at point B in the middle; Figure 8 for Figure 6 A magnified view of a section at point C; Figure label: Ground robot 1, extension platform 11, cover 12, second gear 13, second motor 14, third gear 15; Drone 2, support rod 21; Support mechanism 3, connector 31, wire storage groove 311, connecting groove 312, third elastic element 313, charging head 32, wire 321, support part 33, connecting rod 331, dustproof ring cover 332, support rod 333, bottom cover 334. The calibration docking mechanism 4, base 41, charging pile 42, charging port 421, clearance groove 422, second elastic element 423, mounting platform 43, docking interface 431, slide groove 432, lifting assembly 44, drive ring 441, first motor 442, guide rod 443, threaded cylinder 444, third gear ring 445, first gear 446, calibration assembly 45, guide ring 451, straight part 4511, variable diameter part 4512, push column 452, stop rod 453, first elastic element 454; Limiting mechanism 5, first limiting rod 51, second limiting rod 52; Insertion and removal mechanism 6, slide 61, annular groove 611, slide column 62, hook plate 621, ball bearing 622, drive assembly 63, first gear ring 631, second gear ring 632. Detailed Implementation

[0018] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0019] like Figure 1-8 As shown, the ground-air cooperative UAV and ground robot carrying system provided in this embodiment includes a ground robot 1, a UAV 2, a support mechanism 3, a calibration docking mechanism 4, and a limiting mechanism 5.

[0020] like Figures 3-6 As shown, the support mechanism 3 includes a connecting base 31, a charging head 32, and a support part 33. The connecting base 31 is installed on the bottom of the drone 2, and the charging head 32 and the support part 33 are respectively installed on the bottom of the connecting base 31. The charging head 32 is electrically connected to the internal power supply of the drone 2, and the end of the charging head 32 faces downward. It should be noted that the support part 33 is used to provide landing support for the drone 2, therefore the bottom of the charging head 32 needs to be higher than the bottom of the support part 33 to avoid damage to the charging head 32 and instability of the support.

[0021] The ground robot 1 has a charging power supply installed inside. It can be understood that the ground robot 1 has a power supply for its own power and a charging power supply for the drone 2.

[0022] like Figure 2 , Figure 5 and Figure 6 As shown, the calibration docking mechanism 4 includes a base 41, a charging pile 42, a mounting platform 43, a lifting assembly 44, and a calibration assembly 45. The base 41 is mounted on the ground robot 1, preferably on top of the ground robot 1, to provide a good landing space for the drone 2. The charging pile 42 is electrically connected to a charging power source and is mounted on top of the base 41. The top of the charging pile 42 has a charging port 421, which is compatible with the connector of the charging head 32. The mounting platform 43 is used to support the support part 33, and the mounting platform 43 has a docking interface 431 facing the charging pile 42. When the drone 2 lands on the top of the mounting platform 43, the calibration assembly 45 can move the support mechanism 3 to a position that keeps the charging head 32 facing the charging port 421. The lifting assembly 44 is used to drive the mounting platform 43 to spiral up and down, so that the charging port 421 moves closer to or away from the docking interface 431.

[0023] Specifically, the support 33 has a ring-shaped structure with the charging head 32 located at the center of its inner ring. Therefore, no matter how the support mechanism 3 rotates, the charging head 32 will always be in the center position of the support 33. The mounting platform 43 has multiple radially extending grooves 432 arranged around the interface 431. The calibration assembly 45 includes a guide ring 451 and multiple pushers 452. The guide ring 451 is mounted on the top periphery of the base 41 with the charging pile 42 as the center. Each pusher 452 is slidably mounted in each groove 432, allowing each pusher 452 to slide towards or away from the interface 431. A stop bar 453 is mounted on each pusher 452. A first elastic element 454 connects the pusher 452 and the groove 432 to provide elastic force that drives the stop bar 453 to abut against the inner wall of the guide ring 451 at all times. Specifically, an end block is provided at the path end of the groove 432, and the first elastic element 454 is connected between the end block and the pusher 452. The first elastic element 454 can be a spring. When the mounting platform 43 descends, the guide ring 451 can push each pusher 452 towards the interface 431.

[0024] Furthermore, the guide ring 451 includes a straight portion 4511 and a variable diameter portion 4512. The straight portion 4511 has a constant diameter and is installed on the top periphery of the base 41. The variable diameter portion 4512 is located on top of the straight portion 4511 and its diameter tends to increase upward. When the push rod 453 moves downward from the upper end of the variable diameter portion 4512, it can push each push post 452 synchronously toward the center of the interface 431. Conversely, it can push the push post 452 away from the center of the interface 431. When the push rod 453 moves to the straight portion 4511, each push post 452 can align the center of the support portion 33 with the interface 431, thereby positioning the charging head 32 directly above the interface 431 and the charging port 421.

[0025] It should be noted that the contact position between the support mechanism 3 and each push post 452 is the outer periphery of the annular structure of the support part 33. When each push post 452 aligns the center of the support part 33 with the interface 431, the push post 452 and the support part 33 only form abutting contact, not clamping and reinforcing. Therefore, each push post 452 will not hinder the support part 33 from rotating around the center.

[0026] Specifically, the lifting assembly 44 includes a drive ring 441, a first motor 442, a guide rod 443, and a threaded cylinder 444. At least one guide rod 443 is mounted on the top of the base 41 and located next to the charging pile 42. The drive ring 441 is slidably mounted on the charging pile 42 and the guide rod 443. It should be noted that the drive ring 441 is longitudinally slidably connected to the charging pile 42 and the guide rod 443 respectively, in order to prevent the drive ring 441 from rotating when it moves up and down. The outer wall of the charging pile 42 has external threads. A threaded cylinder 444 is threadedly screwed onto the charging pile 42 and rotatably connected to the drive ring 441 via a bearing. When the threaded cylinder 444 rotates based on the drive ring 441, it will also spirally rise and fall on the charging pile 42. The threaded cylinder 444 is coaxial with the interface 431, and the top end of the threaded cylinder 444 is fixed to the bottom of the mounting platform 43. A third gear ring 445 is installed on the outer wall of the threaded cylinder 444. A first motor 442 is fixedly installed on the drive ring 441, and a first gear 446 that meshes with the third gear ring 445 is installed on the output shaft end of the first motor 442. It is understood that the first motor 442 should be a reversible motor to achieve bidirectional rotation. The first motor 442 can drive the threaded cylinder 444 to rotate through the first gear 446 and the third gear ring 445. Thus, the threaded cylinder 444 will drive the mounting platform 43 to spirally rise and fall based on the charging pile 42, while simultaneously driving the drive ring 441 to move up and down.

[0027] The limiting mechanism 5 can restrict the rotation of the support mechanism 3 during the spiral lifting and lowering of the mounting platform 43, so as to keep the interface of the charging head and the charging port 421 matched and aligned.

[0028] like Figure 6 As shown, specifically, the limiting mechanism 5 includes a first limiting rod 51 and a second limiting rod 52. The first limiting rod 51 is installed on one side of the inner ring of the support part 33, and the second limiting rod 52 is installed on the top of the charging pile 42 and located next to the charging port 421. When the mounting platform 43 spirals down to allow the second limiting rod 52 to pass upward through the interface 431, the second limiting rod 52 can be located on the rotation path of the first limiting rod 51. As the mounting platform 43 continues to rotate and descend, the second limiting rod 52 will abut against the first limiting rod 51. In this state, the charging head 32 can be matched and aligned with the interface of the charging port 421, ensuring that the charging head 32 can be smoothly inserted into the charging port 421. Then, when the mounting platform 43 rotates, the support part 33 will stop rotating due to the abutment between the first limiting rod 51 and the second limiting rod 52, awaiting subsequent charging docking.

[0029] Preferably, the contact surfaces between the support portion 33 and the mounting platform 43, as well as the contact surfaces between the support portion 33 and the push column 452, can be made of relatively smooth materials to reduce wear.

[0030] like Figure 7As shown, preferably, the top of the charging pile 42 is provided with a clearance groove 422 next to the charging port 421. The second limiting rod 52 is slidably installed in the clearance groove 422, and a second elastic member 423 is connected between the second limiting rod 52 and the bottom of the clearance groove 422. The second elastic member 423 can be a spring to provide elastic force to push the second limiting rod 52 out of the clearance groove 422. This structure is for anti-collision protection. When the second limiting rod 52 just passes through the interface 431 and the first limiting rod 51 is just above the second limiting rod 52, the second limiting rod 52 can be pressed into the clearance groove 422 for auxiliary clearance, preventing the first limiting rod 51 and the second limiting rod 52 from colliding hard and causing structural damage.

[0031] In this invention, when it is necessary to return the drone 2 to the ground robot 1, the drone 2 can be directly landed on the mounting platform 43, and the support mechanism 3 is located in the area enclosed by the pushers 452. This helps to expand the docking area of ​​the drone 2 and greatly reduce the difficulty of landing the drone 2. The mounting platform 43 is driven to descend spirally by the lifting component 44. During the spiral descent of the mounting platform 43, each pusher 452 is pushed synchronously towards the interface 431 along the path of the guide ring 451, and the position of the support mechanism 3 is initially calibrated so that the charging head 32 is directly above the interface 431 and the charging port 421. Furthermore, as the mounting platform 43 continues to rotate and descend, the second limit rod 52 will block the rotation path of the first limit rod 51 to achieve the contact between the two. The rotation of the support mechanism 3 is stopped during the subsequent rotation of the mounting platform 43, so that the charging head 32 and the charging port 421 maintain an interface matching and alignment state, ensuring that the charging head 32 can be straight inserted into the charging port 421 later. This invention utilizes the lifting component 44 to drive the mounting platform 43 to descend in a spiral rotation, providing a power source for the position calibration of the drone 2 and the charging head 32. It is also linked with the calibration component 45 and the limiting mechanism 5, so that the mounting platform 43 can achieve the initial positioning of the drone 2 and the precise calibration of the interface between the charging head 32 and the charging port 421 during the continuous spiral descent. This significantly reduces the positioning deviation, improves the docking success rate, and each push column 452 can also provide lateral support for the support mechanism 3 to prevent the drone 2 from falling off the mounting platform 43.

[0032] like Figure 5 and Figure 6As shown, in one embodiment, it also includes a plugging / unplugging mechanism 6, which includes a slide 61, a sliding column 62, and a drive assembly 63. The support 33 is connected to the connecting seat 31 through multiple vertical connecting rods 331. The charging head 32 is fixed to the bottom of the slide 61. The slide 61 is slidably connected to each connecting rod 331 along the length direction of the connecting rods 331. An annular groove 611 is provided on the edge of the slide 61. The annular groove 611 is coaxial with the support 33. A sliding column is slidably mounted longitudinally on each push column 452. 62. Specifically, the sliding column 62 slides through the push column 452. The inner wall of the push column 452 is provided with a guide groove and the sliding column 62 is provided with a guide pin that matches the guide groove so that the sliding column 62 will not deflect when it slides. The top of the sliding column 62 is provided with a hook plate 621. When the abutment rod 453 moves to the straight part 4511, the push column 452 aligns the center of the support part 33 with the interface 431, and the hook plate 621 can hook into the annular groove 611. The drive assembly 63 can drive the sliding column 62 to move up and down.

[0033] Preferably, ball bearings 622 are installed on the upper and lower sides of the hook plate 621 respectively. When the support mechanism 3 is limited by the limiting mechanism 5 and rotates relative to the mounting platform 43, it helps to reduce the frictional resistance between the hook plate 621 and the ring groove 611.

[0034] Specifically, the drive assembly 63 includes a first gear ring 631 and multiple second gear rings 632. The first gear ring 631 is mounted on the base 41 with the charging pile 42 as the center. The bottom end of the sliding column 62 passes through the bottom of the push column 452 and has an external thread. The bottom of each push column 452 is rotatably mounted with a second gear ring 632. The inner ring of the second gear ring 632 has an internal thread and is screwed to the bottom end of the corresponding sliding column 62. When the mounting platform 43 spirals down and drives the push rod 453 to move downward in the variable diameter section 4512, the second gear ring 632 is driven by the push column 452 to move towards the first gear ring 631. When the push rod 453 transitions from the variable diameter section 4512 to the straight section 4511, the second gear ring 632 can mesh with the first gear ring 631. In this invention, as the mounting platform 43 spirals downward, the drone 2 completes the calibration of its charging position, achieving precise calibration of the charging head 32 and the charging port 421 interface. Then, as the mounting platform 43 continues its spiral descent, the second gear ring 632 engages with the first gear ring 631, driving the sliding column 62 downward via a thread. This, in turn, pulls the sliding block 61 downward via the hook plate 621, causing the charging head 32 to descend and connect with the charging port 421, thus achieving automatic charging of the drone 2. This invention uses the lifting component 44 to drive the mounting platform 43 to descend in a spiral rotation, which, in conjunction with the calibration component 45, the limiting mechanism 5, and the insertion / removal mechanism 6, automatically calibrates the position of the charging head 32 and automatically connects it with the charging port 421 during descent. This eliminates the need for manual charging of the drone 2, allowing for remote operation and improving the continuity and reliability of the air-to-ground collaborative patrol system.

[0035] It should be noted that the first limiting rod 51 and the second limiting rod 52 abut against each other before the second gear ring 632 engages with the first gear ring 631, so as to ensure that the charging head 32 can be adapted to the interface of the charging port 421 when it moves down.

[0036] like Figure 1 and Figure 2 As shown, in one embodiment, the top of the ground robot 1 is provided with an extension platform 11 surrounding the calibration docking mechanism 4. The two sides of the extension platform 11 are symmetrically mounted with covers 12. When the two covers 12 are closed to each other, they can form a sealed compartment that can accommodate the drone 2. The ends of the rotating shafts of the two covers 12 are respectively provided with second gears 13. The two sides of the extension platform 11 are respectively equipped with second motors 14. The second motors 14 should be forward and reverse motors to achieve bidirectional rotation. The output shaft of the second motors 14 is equipped with a third gear 15 that meshes with the corresponding second gear 13. By driving the covers 12 to open and close, the drone 2 can be launched or docked. When the covers 12 are closed, they can provide protection for the drone 2 and the calibration docking mechanism 4.

[0037] like Figure 3 , Figure 4 and Figure 6 As shown, in one embodiment, a dustproof ring cover 332 is provided on the inner side of the support 33 below the charging head 32. The dustproof ring cover 332 is connected to the support 33 via multiple support rods 333. A bottom cover 334 is rotatably mounted on the bottom of the dustproof ring cover 332. A fourth elastic element (not shown) is installed at the rotatable connection of the bottom cover 334. The fourth elastic element can be a torsion spring to provide elastic force to drive the bottom cover 334 to close the bottom of the dustproof ring cover 332. When the slide 61 is at the top of its stroke, the connector end of the charging head 32 will be retracted into the dustproof ring cover 332. The dust cover 332 protects the charging head 32. When the drone 2 is not charging, it prevents the charging head 32 from being damaged by impact or foreign objects from entering the interface. When charging is needed, simply pull down the slide 61 to push the charging head 32 open the bottom cover 334 and expose it. After the bottom cover 334 is pushed open, it can also hold the charging head 3 to a certain extent by the elastic force of the fourth elastic element, keeping the charging head 3 relatively fixed, which is convenient to use. After charging is completed, the charging head 3 can be pushed back into the dust cover 332. Combined with the insertion and removal mechanism 6 in this invention, the charging head 3 can automatically retract or extend from the dust cover 332.

[0038] Preferably, at least two bottom covers 334 are rotatably mounted on the bottom of the dustproof ring cover 332, and a fourth elastic element is installed at the rotatable connection of each bottom cover 334. The shapes of each bottom cover 334 are complementary so that when each bottom cover 334 is placed on the bottom of the dustproof ring cover 332, it can completely seal the bottom of the dustproof ring cover 332. Multiple bottom covers 334 can distribute the force when the charging head 3 pushes out of the dustproof ring cover 332, reduce the resistance when the charging head 3 pushes out of the dustproof ring cover 332, and also avoid frequent failure of a single fourth elastic element due to force.

[0039] Preferably, the charging head 32 is connected to the power supply of the drone 2 via the wire 321, and the length of the wire 321 from the end connected to the charging head 32 to the end connected to the connector 31 is greater than the downward travel of the slide 61, so that the wire 321 can be prevented from being damaged by excessive pulling when the slide 61 drives the charging head 32 to move downward.

[0040] Furthermore, the bottom of the connector 31 is provided with a wire storage groove 311 for storing the wire 321. When the slide 61 is at the top of its stroke, the wire 321 will be stored in the wire storage groove 311, which can prevent the wire 321 from being squeezed and damaged between the slide 61 and the connector 31.

[0041] Furthermore, an elastic sleeve is provided on the outer side of the portion between the end of the wire 321 connected to the charging head 32 and the end connected to the connector 31. When the elastic sleeve is not subjected to external force, it is coiled in a curved shape. When the slide 61 is at the top of the stroke, the elastic sleeve can return to the curved shape, which can prevent the wire 321 from being damaged by excessive folding during frequent pulling.

[0042] Preferably, the bottom of the connecting seat 31 is provided with a connecting groove 312, and a third elastic member 313 is installed in the connecting groove 312. The bottom end of the third elastic member 313 is connected to the slide 61. The third elastic member 313 can be a spring. The third elastic member 313 can provide a certain pulling force when the charging head 3 is retracted into the dustproof ring cover 332, so as to reduce the pressure of the charging head 3 on the bottom cover 334 and prevent the bottom cover 334 from being opened by pressure, causing foreign objects to enter the dustproof ring cover 332.

[0043] Preferably, multiple support rods 21 are installed around the bottom of the drone 2 around the support part 33. The bottom end of the support rods 21 is flush with the bottom of the support part 33 to balance the center of gravity of the drone 2 and provide stable support for the drone 2.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An air-ground cooperative unmanned aerial vehicle and ground robot carrying system, characterized in that, The ground robot, the unmanned aerial vehicle, the supporting mechanism, the calibration docking mechanism and the limiting mechanism are comprised; The supporting mechanism comprises a connecting seat, a charging head and a supporting part, the connecting seat is installed on the bottom of the unmanned aerial vehicle, the charging head and the supporting part are respectively installed on the bottom of the connecting seat, and the end of the charging head faces downward; The inside of the ground robot is installed with a charging power supply; The calibration docking mechanism comprises a base, a charging pile, a carrying platform, a lifting assembly and a calibration assembly, the base is installed on the ground robot, the charging pile is electrically connected with the charging power supply and installed on the top of the base, the top of the charging pile is provided with a charging port, the carrying platform is used for receiving the supporting part, and the carrying platform is provided with a docking port which is opposite to the top of the charging pile, the calibration assembly can move the supporting mechanism to a position where the charging head is opposite to the top of the charging pile, and the lifting assembly is used for driving the carrying platform to spiral lift so as to make the charging port close to or away from the docking port; The limiting mechanism can limit the rotation of the supporting mechanism during the spiral lifting of the carrying platform, so as to keep the interface of the charging head and the charging port matched and aligned. 2.The UAV and ground robot loading system according to claim 1, wherein, The supporting part is in the form of a ring structure, the charging head is located at the center of the inner ring, the carrying platform is provided with a plurality of radially extending sliding grooves which are arranged around the docking port as the center, the calibration assembly comprises a guide ring and a plurality of push rods, the guide ring is installed on the top periphery of the base as the center of the charging pile, one push rod is slidingly installed in each sliding groove, a resisting rod is installed on the push rod, a first elastic member is connected between the push rod and the sliding groove to provide an elastic force to drive the resisting rod to always abut against the inner wall of the guide ring, and the guide ring can push each push rod towards the docking port when the carrying platform is lowered. 3.The UAV and ground robot loading system according to claim 2, wherein, The guide ring comprises a flat part and a variable-diameter part, the diameter of the flat part is constant and the flat part is installed on the top periphery of the base, and the variable-diameter part is arranged on the top of the flat part and has a trend of expanding upwards, when the resisting rod moves to the flat part, each push rod can align the center of the supporting part with the docking port. 4.The UAV and ground robot loading system according to claim 3, wherein, Further comprising a plug-in mechanism, the supporting part is connected with the connecting seat through a plurality of vertical connecting rods, the charging head is fixed on the bottom of the sliding seat, the sliding seat is slidingly connected with each connecting rod, the edge of the sliding seat is provided with a ring groove, each push rod is respectively longitudinally slidingly installed with a sliding column, the top end of the sliding column is provided with a hook plate, when the resisting rod moves to the flat part, the hook plate can be hooked into the ring groove, and the driving assembly can drive the sliding column to move up and down. 5.The UAV and ground robot loading system according to claim 4, wherein, The driving assembly comprises a first gear ring and a plurality of second gear rings, the first gear ring is installed on the base as the center of the charging pile, the bottom end of the sliding column penetrates through the bottom of the push rod and has external threads, the bottom of each push rod is respectively rotationally installed with a second gear ring, the inner ring of the second gear ring has internal threads and is screwed to the bottom end of the corresponding sliding column, and when the resisting rod transitions from the variable-diameter part to the flat part, the second gear ring can engage with the first gear ring. 6.The UAV and ground robot loading system according to claim 2, wherein, The dustproof ring cover is connected with the supporting part through a plurality of supporting rods, a bottom cover is rotatably installed at the bottom of the dustproof ring cover, a fourth elastic member is installed at the rotary connection of the bottom cover to provide elastic force to drive the bottom cover to close the bottom of the dustproof ring cover, and when the sliding seat is at the top of the stroke, the connector end of the charging head will be received in the dustproof ring cover. 7.The ground-air cooperative unmanned aerial vehicle and ground robot carrying system according to claim 1 or 2, characterized in that, The limiting mechanism includes a first limiting rod and a second limiting rod, the first limiting rod is installed on one side of the inner ring of the supporting part, the second limiting rod is installed on the top of the charging pile and located beside the charging port, when the carrying platform spirally descends to make the second limiting rod pass through the docking port upwards, the second limiting rod can be located on the rotation path of the first limiting rod, and when the second limiting rod abuts against the first limiting rod, the interface between the charging head and the charging port can be matched and aligned. 8.The UAV and ground robot loading system according to claim 7, wherein, The top of the charging pile is provided with an avoiding slot beside the charging port, the second limiting rod is slidingly installed in the avoiding slot, and a second elastic member is connected between the second limiting rod and the bottom of the avoiding slot to provide elastic force to push the second limiting rod out of the avoiding slot. 9.The ground-air cooperative unmanned aerial vehicle and ground robot carrying system according to claim 1 or 2, characterized in that, The lifting assembly includes a driving ring, a first motor, a guide rod and a threaded cylinder, at least one guide rod is installed on the top of the base and located beside the charging pile, the driving ring is slidingly installed on the charging pile and the guide rod, the outer wall of the charging pile has external threads, the threaded cylinder is threadedly screwed on the charging pile and rotationally connected with the driving ring, the threaded cylinder is coaxial with the docking port and the top end of the threaded cylinder is fixed to the bottom of the carrying platform, the outer wall of the threaded cylinder is provided with a third gear ring, the first motor is fixedly installed on the driving ring, and the output shaft end of the first motor is provided with a first gear meshing with the third gear ring. 10.The UAV and ground robot loading system according to claim 1, wherein, The top of the ground robot is provided with an extension table around the calibration docking mechanism, two side symmetrical buckle covers are rotatably installed on the extension table, the two buckle covers can form a sealed warehouse body capable of accommodating the unmanned aerial vehicle when the two buckle covers cover each other, second gears are respectively arranged at the rotation shaft ends of the two buckle covers, second motors are respectively installed on the two sides of the extension table, and the output shaft ends of the second motors are provided with third gears meshing with the corresponding second gears.

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