Heavy-load unmanned aerial vehicle nest and control method thereof

Abstract

The invention discloses a heavy-load unmanned aerial vehicle nest and a control method thereof.The nest is installed in an outdoor square cabin and comprises a lifting platform, a centering fixing unit, a transferring unit, a temporary storage unit and an automatic control subsystem. The lifting platform is used for bearing the unmanned aerial vehicle access cabin; the centering fixing unit is used for adjusting and locking the position of the unmanned aerial vehicle on the platform; the transfer unit has multi-axis movement and telescopic functions, is provided with a visual positioning device and is used for automatically replacing a task load and a battery module; the temporary storage unit is used for storage and charging; and the automatic control subsystem is used for coordinating movement of each unit and communicating with a ground station. The control method is based on the system, and full-process unattended operation from automatic recovery, centering and fixing, load and battery replacement to automatic release of the unmanned aerial vehicle is achieved. The problems that heavy-load unmanned aerial vehicle outdoor operation depends on manpower, efficiency is low, and environmental adaptability is poor are solved, and the method is suitable for the fields of electric power, petrifaction, emergency and the like.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) control equipment technology, and particularly relates to a heavy-duty UAV nest and its control method. Background Technology

[0002] With the development of the low-altitude economy, unmanned aerial vehicle (UAV) platforms have been widely used in various fields such as power, petrochemicals, energy, emergency response, and military. Nesting equipment for small UAVs has seen some application, enabling automatic launch and recovery, online charging, and centering and fixing, achieving unattended operation. However, for heavy UAVs with a wingspan of up to 4000mm, all operations still rely on manual labor. Outdoor operations are highly susceptible to environmental factors such as wind, sand, rain, snow, extreme cold, and high temperatures, resulting in low overall efficiency and high workload, failing to meet the actual needs of rapid and efficient operations, and also negatively impacting the physical and mental health of workers. Summary of the Invention

[0003] The purpose of this invention is to provide a heavy-duty unmanned aerial vehicle (UAV) nest and its control method to solve the above-mentioned technical problems.

[0004] To solve the above-mentioned technical problems, the specific technical solution of the present invention for a heavy-load unmanned aerial vehicle (UAV) nest and its control method is as follows: A heavy-duty unmanned aerial vehicle (UAV) nest, installed inside an outdoor container, includes a lifting platform, a centering and fixing unit, a transfer unit, a temporary storage unit, and an automated control subsystem. The lifting platform is installed on the interior floor of the container and is centered horizontally and vertically with a movable roof on the top of the container, used to carry the UAV for entry and exit from the container. The centering and fixing unit is installed on the upper surface of the lifting platform for adjusting and fixing the UAV's position on the platform. The transfer unit is installed on the interior floor of the container, in the UAV's rear-facing direction, and has X / Y / Z directional movement and telescopic transfer functions, and is equipped with a visual positioning device for determining the position of the transfer unit and replacing the mission payload and battery module. The temporary storage unit is installed on the interior floor of the container, behind the transfer unit, for storing and charging the UAV's mission payload and battery module, and can use sensors to determine whether each storage location is occupied. The automated control subsystem uses a programmable logic controller (PLC) for motion control of the above units and also for data interaction with the UAV ground station software.

[0005] Furthermore, the lifting platform adopts a scissor lift structure, including a base, inner fork arm, outer fork arm, platform, electric push rod, low-position limiter, and landing pad. The base is installed on the floor inside the cabin and is centered in both the horizontal and vertical directions with the movable roof of the cabin. The inner and outer fork arms connect the platform and the base by hinges. The platform is raised and lowered by two sets of electric push rods symmetrically hinged on the outer fork arm. The low-position limiter is fixed on the base. When the platform is in a low position, the low-position limiter maintains the stability of the position and improves the load-bearing rigidity of the platform. The landing pad is installed on the platform for UAVs to dock.

[0006] Furthermore, the centering and fixing unit includes two centering mechanisms with identical functions and compositions, and one fixing mechanism. The centering mechanism includes an X-axis centering rod, an X-axis centering drive device, a mounting tray, a Y-axis centering rod, and a centering lever. Two X-axis centering rods are mounted on the platform of the lifting platform, and two Y-axis centering rods are symmetrically mounted on the X-axis centering rods via the mounting tray. The X-axis centering drive device uses a motor to drive two parallel linear motion modules simultaneously via couplings on both sides, enabling the Y-axis centering rod to move along the X-axis centering rod in the X direction. The centering lever is mounted on the Y-axis centering rod and distributed on the left and right sides, interacting with the UAV during the centering process. When the landing gear contacts the grounding point, the centering lever is driven by two sets of Y-axis centering levers to achieve Y-axis movement. Through the joint operation of the two centering mechanisms, the UAV at any position on the landing pad can be adjusted to the center position on the landing pad. The fixing mechanism includes mounting columns, a drive device, a reversing device, and hooks. The fixing mechanism is fixed to the bottom of the lifting platform by four mounting columns. The drive device is connected to the reversing devices on both sides through a coupling. The reversing devices are connected to the hooks on both sides through a connecting rod. The four hooks extend out of the platform. After the UAV is centered, the drive device drives the four hooks to rotate, thereby fixing the UAV landing gear and thus fixing the UAV.

[0007] Furthermore, the transfer unit includes an X-axis drive mechanism, a Z-axis drive mechanism, a Y-axis drive mechanism, and a transfer mechanism. Two sets of X-axis drive mechanisms are symmetrically mounted on the floor inside the container. In the UAV's rear-plane direction, two sets of Z-axis drive mechanisms are respectively mounted on the two sets of X-axis drive mechanisms. The Y-axis drive mechanism is mounted at both ends on the two sets of Z-axis drive mechanisms. The transfer mechanism is mounted on the Y-axis drive mechanism. The X-axis drive mechanism is used to realize the X-axis movement of the transfer mechanism, the Z-axis drive mechanism is used to realize the Z-axis movement of the transfer mechanism, and the Y-axis drive mechanism is used to realize the Y-axis movement of the transfer mechanism.

[0008] Furthermore, the system includes an adapter module, which consists of two parts: a T-shaped slider and a T-shaped guide rail. T-shaped sliders are installed at the bottom of all load modules and battery modules, and T-shaped guide rails are installed on the UAV end, the transfer mechanism, and the temporary storage unit. The transfer of load modules and battery modules between the UAV end and the temporary storage unit is achieved through the precise movement of the transfer unit, enabling automatic replacement.

[0009] Furthermore, the T-shaped guide rail end face of the transfer mechanism is provided with a positioning pin, and the T-shaped guide rail end face of the UAV end is provided with a docking pin hole. During docking, the positioning pin is inserted into the docking pin hole to complete precise docking.

[0010] Furthermore, the transfer mechanism includes a payload module transfer mechanism, a battery module transfer mechanism, a connecting bracket, and a vision component. The payload module transfer mechanism and the battery module transfer mechanism are connected together by the connecting bracket and mounted on the Y-axis drive mechanism, enabling movement in the XYZ directions. The vision component is mounted on the connecting bracket to provide precise guidance for the movement of the transfer mechanism. The payload module transfer mechanism and the battery module transfer mechanism are used for replacing the payload module and battery module of the heavy-duty UAV, respectively.

[0011] Furthermore, the temporary storage unit is installed on the floor inside the container, behind the transfer unit, and is used for storing UAV mission payloads and charging battery modules. It includes two battery storage positions and two payload storage positions. Each storage position is equipped with a position identification sensor to determine whether each storage position is occupied and transmit the signal to the automated control subsystem.

[0012] Furthermore, the automated control subsystem is used for motion control and signal processing of the lifting platform, centering and fixing unit, transfer unit, and temporary storage unit, and is also used for data interaction with the ground station software to achieve automatic control.

[0013] The present invention also discloses a control method for the aforementioned heavy-duty UAV nest, comprising the following steps: S1: The automated control subsystem receives instructions from the UAV ground station software to change the mission payload or battery module; S2: The transfer unit is launched from the initial position, moves to the docking position with the UAV, removes the mission payload or battery module from the UAV, and at the same time the UAV control system transmits its own status to the ground station software. S3: Based on the position recognition sensor signal, the transfer unit moves to the empty docking position with the temporary storage unit, stores the battery module or task load in the unoccupied battery storage position or load storage position, and begins charging the battery module; the position recognition sensor at this position is activated and the signal is transmitted to the automation control subsystem. S4: The transfer unit moves to the full battery storage position or load storage position of the temporary storage unit, and takes out the new fully charged battery module or task load. The position recognition sensor at this position is activated and the signal is transmitted to the automation control subsystem. S5: The transfer unit moves back to the docking position with the UAV, installs the new mission payload or fully charged battery module onto the UAV, and at the same time the UAV control system transmits its own status to the ground station software, and the transfer unit returns to the initial position. S6: The automated control subsystem receives the drone launch command, the movable top cover on the top of the cabin opens, the lifting platform rises to a high position, the centering fixed unit is released, the drone takes off to perform the mission, and the drone launch is completed automatically. S7: The automated control subsystem receives the drone recovery command, the movable top cover on the top of the container opens, the lifting platform rises to the high position, the drone lands, the centering and fixing unit centers and fixes the drone, the lifting platform descends to the low position, the movable top cover closes, and the automatic drone recovery is completed. S8: Repeat the above S1-S7 tasks to complete the execution of the next task instruction.

[0014] The heavy-load unmanned aerial vehicle (UAV) nest and its control method of the present invention have the following advantages: 1. This invention constructs an automated drone nesting device suitable for heavy-duty drones by using automated units such as outdoor cabins, lifting platforms, centering and fixing units, and transfer units, filling a gap in the industry.

[0015] 2. This invention adopts fully automatic program control, which shortens the operation time and improves operation efficiency.

[0016] 3. This invention enables automatic replacement of external payloads and battery modules for heavy-duty UAVs through a transfer unit that can move in three directions (X / Y / Z) and extend in two directions, eliminating the need for manual labor and improving replacement efficiency and safety.

[0017] 4. This invention, through installation modules with the same installation interface, enables external loads with different installation interfaces to be adapted and used, realizing automatic, accurate, and rapid replacement of task load modules and battery modules of different sizes and interfaces, greatly improving the system's versatility and task flexibility. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the heavy-duty UAV nest of the present invention; Figure 2 This is a schematic diagram of the lifting platform structure of the present invention; Figure 3 This is a schematic diagram of the centering and fixing unit structure of the present invention; Figure 4This is a schematic diagram of the centering mechanism of the present invention; Figure 5 This is a schematic diagram of the fixing mechanism structure of the present invention; Figure 6 This is a schematic diagram of the transfer unit structure of the present invention; Figure 7 This is a schematic diagram of the adapter module structure of the present invention; Figure 8 This is a schematic diagram of the transfer mechanism structure of the present invention; Figure 9 This is a schematic diagram of the battery module transfer mechanism of the present invention; Figure 10 This is a schematic diagram of the drive device structure of the present invention; Figure 11 This is a schematic diagram of the telescopic device structure of the present invention; Figure 12 This is a schematic diagram of the driven device structure of the present invention; Figure 13 This is a schematic diagram of the hook and claw device of the present invention; Figure 14 This is a schematic diagram of the transfer mechanism of the present invention docking with a drone; Figure 15 This is a schematic diagram of the transfer mechanism of the present invention extending in the +x direction; Figure 16 This is a schematic diagram of the transfer mechanism of the present invention extending in the -x direction; Figure 17 This is a schematic diagram of the temporary storage unit structure of the present invention; Figure 18 This is a schematic diagram of the automation subsystem structure of the present invention; Figure 19 This is a control block diagram of the automation subsystem of the present invention; Explanation of markings in the diagram: 1. Lifting platform; 2. Centering and fixing unit; 3. Transfer unit; 4. Temporary storage unit; 5. Automated control subsystem; 6. Transfer module; 11. Base; 12. Inner fork arm; 13. Outer fork arm; 14. Platform; 15. Electric push rod; 16. Low position limiter; 17. Helipad; 21. Centering mechanism; 22. Fixing mechanism; 211. X-axis centering rod; 212. X-axis centering drive device; 213. 214. Mounting tray; 215. Y-axis centering rod; 226. Centering lever; 227. Mounting column; 228. Drive unit; 229. Reversing device; 220. Claw; 31. X-axis drive mechanism; 32. Z-axis drive mechanism; 33. Y-axis drive mechanism; 34. Transfer mechanism; 341. Load module transfer mechanism; 342. Battery module transfer mechanism; 343. Connecting bracket; 344. Vision component; 3421. Base; 3422. Fixed baffle; 3423. Drive unit; 34231. Drive motor; 34232. Drive reducer; 34233. Drive shaft; 34234. Synchronous pulley one; 34235. Synchronous belt one; 34236. Tensioning mechanism; 3424. Telescopic device; 34241. Telescopic guide rail; 34242. Rack; 34243. Driven device; 342431. Adjusting block; 342432. Synchronous... Belt 2; 342433, Synchronous pulley 2; 342434, Mounting block; 34244, Telescopic plate; 3425, Hook and claw device; 34251, Bearing seat; 34252, Gear motor; 34253, Claw hook; 34254, Sensor; 41, Battery storage position; 42, Load storage position; 43, Position recognition sensor; 61, T-shaped slider; 62, T-shaped guide rail; 621, Positioning pin; 622, Docking pin hole. Detailed Implementation

[0019] To better understand the purpose, structure, and function of this invention, the following detailed description of a heavy-duty unmanned aerial vehicle (UAV) nest and its control method, in conjunction with the accompanying drawings, is provided.

[0020] like Figure 1 As shown, the present invention provides a heavy-duty UAV nest, which is installed in an outdoor container and includes a lifting platform 1, a centering and fixing unit 2, a transfer unit 3, a temporary storage unit 4, and an automated control subsystem 5.

[0021] The outdoor shelter is standard equipment, with an openable and closable movable top cover. When opened, the movable top cover allows the drone to enter and exit. It also has information communication interfaces and power supply interfaces for establishing communication and power connections with the device of this invention. A lifting platform 1 is installed on the floor inside the shelter and is centered horizontally and vertically with the movable top cover, used to carry the drone in and out of the shelter. A centering and fixing unit 2 is installed on the upper surface of the lifting platform 1 for adjusting and fixing the drone's position on the platform. A transfer unit 3 is installed on the floor inside the shelter, in the drone's rear-facing direction, and has X / Y / Z directional movement and telescopic transfer functions. It is equipped with a visual positioning device for determining the position of the transfer unit 3 and for replacing the mission payload and battery module. A temporary storage unit 4 is installed on the floor inside the shelter, behind the transfer unit 3, for storing and charging the drone's mission payload and battery module. Sensors can determine whether each storage location is occupied. The automated control subsystem 5 uses a programmable controller for motion control of the above units and for data interaction with the drone ground station software.

[0022] like Figure 2 As shown, the lifting platform 1 adopts a scissor lift structure, including a base 11, inner fork arm 12, outer fork arm 13, platform 14, electric push rod 15, low-position limiter 16, and landing pad 17. The base 11 is installed on the floor inside the shelter and is centered horizontally and vertically with the movable roof of the shelter. The inner fork arm 12 and outer fork arm 13 are hinged to connect the platform 14 and the base 11. The platform 14 is raised and lowered by two sets of electric push rods 15 symmetrically hinged to the outer fork arm 13. The low-position limiter 16 is fixed to the base 11. When the platform 14 is in a low position, the low-position limiter 16 maintains positional stability and improves the load-bearing rigidity of the platform 14. The landing pad 17 is installed on the platform 14 for UAVs to dock.

[0023] like Figure 3 As shown, the centering and fixing unit 2 includes two sets of centering mechanisms 21 with the same function and composition and a set of fixing mechanisms 22. Figure 4The two centering mechanisms 21 shown work together to adjust the position of the UAV on the landing pad 17. Specifically, the centering mechanism 21 includes an X-axis centering rod 211, an X-axis centering drive device 212, a mounting tray 213, a Y-axis centering rod 214, and a centering lever 215. Two X-axis centering rods 211 are mounted on the platform 14 of the lifting platform 1. Two Y-axis centering rods 214 are symmetrically mounted on the X-axis centering rods 211 via the mounting tray 213. The X-axis centering drive device 212 drives two parallel linear motion modules simultaneously via a motor and couplings on both sides. This allows the Y-axis centering rod 214 to move along the X-axis centering rod 211 in the X direction. The centering lever 215 is mounted on the Y-axis centering rod 214, distributed on the left and right sides, and contacts the UAV landing gear during centering. The centering lever 215 is driven by the two sets of Y-axis centering rods 214 (linear motion modules) to achieve Y-axis movement. By operating the two centering mechanisms 21 together, the drone located at any position on the helipad 17 can be adjusted to center its position in the middle of the helipad.

[0024] like Figure 5 As shown, the fixing mechanism 22 includes mounting columns 221, a drive device 222, a reversing device 223, and hooks 224. The fixing mechanism 22 is fixed to the bottom of the platform 14 of the lifting platform 1 by four mounting columns 221. The drive device 222 is connected to the reversing devices 223 on both sides through a coupling. The reversing devices 223 are connected to the hooks 224 on both sides through a connecting rod. The four hooks 224 extend out of the platform 14. After the drone returns to center, the drive device 222 drives the four hooks 224 to rotate, thereby fixing the drone's landing gear and thus securing the drone.

[0025] like Figure 6 As shown, the transfer unit 3 includes an X-axis drive mechanism 31, a Z-axis drive mechanism 32, a Y-axis drive mechanism 33, and a transfer mechanism 34. Two sets of X-axis drive mechanisms 31 are symmetrically mounted on the floor inside the container. In the UAV's rear-plane direction, two sets of Z-axis drive mechanisms 32 are respectively mounted on the two sets of X-axis drive mechanisms 31. The Y-axis drive mechanism 33 is mounted at both ends on the two sets of Z-axis drive mechanisms 32. The transfer mechanism 34 is mounted on the Y-axis drive mechanism 33. The X-axis drive mechanism 31 is used to realize the X-axis movement of the transfer mechanism 34. The Z-axis drive mechanism 32 is used to realize the Z-axis movement of the transfer mechanism 34. The Y-axis drive mechanism 33 is used to realize the Y-axis movement of the transfer mechanism 34. All three axis drive mechanisms are existing linear motion modules, which will not be described in detail here.

[0026] like Figure 7As shown, this invention utilizes an adapter module 6 with identical mounting interfaces, enabling the use of external loads with different mounting interfaces. The adapter module comprises two parts: a T-shaped slider 61 and a T-shaped guide rail 62. These two parts work together to ensure that the T-shaped slider 61 slides on the T-shaped guide rail 62 without falling off. T-shaped sliders 61 are installed at the bottom of all load modules and battery modules, while T-shaped guide rails 62 are installed on the drone end, the transfer mechanism 34, and the temporary storage unit 4. The precise movement of the transfer unit 3 enables the transfer of load modules and battery modules between the drone end and the temporary storage unit 41, achieving automatic replacement.

[0027] To ensure precise docking between the T-shaped guide rail 62 on the UAV end and the T-shaped guide rail 62 on the transfer mechanism 34, a positioning pin 621 is provided on the end face of the T-shaped guide rail 62 on the transfer mechanism 34, and a docking pin hole 622 is provided on the end face of the T-shaped guide rail 62 on the UAV end. During docking, the positioning pin 621 is inserted into the docking pin hole 622 to complete the precise docking.

[0028] like Figure 8 As shown, the transfer mechanism 34 includes a payload module transfer mechanism 341, a battery module transfer mechanism 342, a connecting bracket 343, and a vision component 344. The payload module transfer mechanism 341 and the battery module transfer mechanism 342 are connected together via the connecting bracket 343 and mounted on the Y-axis drive mechanism 33, enabling movement in the X, Y, and Z directions. The vision component 344 is mounted on the connecting bracket 343 and is used to precisely guide the movement of the transfer mechanism 34. The payload module transfer mechanism 341 and the battery module transfer mechanism 342 are used for replacing the payload module and battery module of the heavy-duty UAV, respectively.

[0029] like Figure 9 As shown, the battery module transfer mechanism 342 includes a base 3421, a fixed baffle 3422, a drive device 3423, a telescopic device 3424, and a claw device 3425. The base 3421 provides the mounting foundation and frame for the replacement mechanism and is made of lightweight, high-strength aluminum alloy. T-shaped guide rails 62 are fixed to the base 3421 and have the same interface and span dimensions as the T-shaped guide rails 62 on the UAV end. The two T-shaped guide rails 62 are precisely connected via positioning pins 621 and mating pin holes 622. Fixed baffles 3422 are located on both sides of the base 3421. The drive device 3423 is fixedly mounted on the fixed baffles 3422 and is used to drive the telescopic device 3424 to achieve bidirectional telescopic function. The claw device 3425 is installed at both ends of the telescopic mechanism to move the battery module or load module.

[0030] like Figure 10As shown, the drive unit 3423 includes a drive motor 34231, a drive reducer 34232, a drive shaft 34233, synchronous pulleys 34234, a synchronous belt 34235, and a tensioning mechanism 34236. The drive motor 34231 and drive reducer 34232 are the power sources, employing a servo motor and planetary reducer transmission method, enabling arbitrary adjustment of the telescopic stroke to accommodate battery modules and load modules of different lengths and sizes. One end of the drive shaft 34233 is directly connected to the drive reducer 34232, ensuring transmission accuracy. The telescopic transmission uses synchronous belt drive; four synchronous pulleys 34234 are fixed to the drive shaft 34233, and the synchronous belt 34235 is fixed to the synchronous pulleys 34234, maintaining tooth meshing. Furthermore, the timing belt 34235 adopts a double-toothed timing belt, which meshes with the timing pulley 34234 through its internal teeth, converting the rotational motion of the timing pulley 34234 into the linear motion of the timing belt 34235.

[0031] like Figure 11 As shown, the telescopic device 3424 includes a telescopic guide rail 34241, a rack 34242, a driven device 34243, and a telescopic plate 34244. One telescopic guide rail 34241 is fixedly installed inside the fixed baffle 3422, and another telescopic guide rail 34241 is fixedly installed inside the telescopic plate 34244. The rack 34242 is slidably connected to both sides of the two telescopic guide rails 34241, and the telescopic guide rails 34241 provide motion guidance for the telescopic device 3424. The lower tooth surface of the rack 34242 meshes with the outer tooth surface of the timing belt 34235. When the timing pulley 34234 rotates forward, it drives the timing belt 34235 to move forward, and the rack 34242 extends; conversely, the rack 34242 retracts, realizing a single-stage telescopic movement.

[0032] like Figure 12 As shown, the driven device 34243 includes a mounting block 342434, a second synchronous pulley 342433, a second synchronous belt 342432, and an adjusting block 342431. The second synchronous pulley 342433 is mounted on the rack 34242, and the second synchronous belt 342432 is mounted on the second synchronous pulley 342433. The mounting blocks 342434 and adjusting blocks 342431 at both ends of the second synchronous belt 342432 are respectively mounted on the fixed baffle 3422 and the telescopic plate 34244. When the rack 34242 extends, it pulls one side of the second synchronous belt 342432 to move, thereby driving the second synchronous pulley 342433 to rotate. The other side of the second synchronous belt 342432 also moves, thereby driving the telescopic plate 34244 to extend and retract relative to the fixed baffle 3422, realizing a two-stage telescopic movement. The telescopic device 3424 is equipped with two sets of driven devices 34243, which can realize the forward and reverse extension and retraction of the telescopic plate 34244 to complete the unloading and loading operations.

[0033] like Figure 13As shown, the hook device 3425 includes a bearing housing 34251, a geared motor 34252, a claw hook 34253, and a sensor 34254. The entire assembly is mounted to the telescopic plate 34244 via the bearing housing 34251. The geared motor 34252 and the claw hook 34253 are mounted on the bearing housing 34251. The output end of the geared motor 34252 is connected to the claw hook 34253, enabling it to rotate. When the telescopic plate 34244 is fully extended or retracted, the claw hook 34253 should be positioned behind the battery module or load module. Driven by the geared motor 34252, the claw hook 34253 rotates 90°, changing from a vertical to a horizontal position. When the telescopic plate 34244 retracts, it moves the battery module or load module along with it. Two sensors 34254 are installed on one side of the claw hook 34253. The position is identified by the stop on one side of the claw hook 34253, thereby detecting the position of the claw hook 34253 and realizing automatic control.

[0034] In particular, the load module transfer mechanism 341 and the battery module transfer mechanism 342 have the same composition and structure, and will not be described further here.

[0035] like Figure 14-16 As shown, after the transfer mechanism 34 achieves precise docking with the UAV or temporary storage unit 4 through the movement of the transfer unit 3, the drive motors 34231 of the load module transfer mechanism 341 and the battery module transfer mechanism 342 drive the telescopic plates 34244 of the load module transfer mechanism 341 and the battery module transfer mechanism 342 to extend and retract respectively. The claws 34253 of the load module transfer mechanism 341 and the battery module transfer mechanism 342 respectively complete the picking and placing of the load module and the battery module.

[0036] like Figure 17 As shown, the temporary storage unit 4 is installed on the floor inside the container, behind the transfer unit 3. It is used for storing the UAV mission payload and charging the battery module. It includes two battery storage positions 41 and two payload storage positions 42. Each storage position is equipped with a position identification sensor 43 to determine whether each storage position is occupied and transmit the signal to the automated control subsystem 5.

[0037] like Figure 18 As shown, this is the hardware component of the automation control subsystem 5. Figure 19 As shown, the automated control subsystem 5 is used for motion control and signal processing of the lifting platform 1, the centering and fixing unit 2, the transfer unit 3, and the temporary storage unit 4. It is also used for data interaction with the cabin release and ground station software to achieve automatic control.

[0038] The specific working method of this invention is illustrated by taking an unattended operation process as an example: S1: The automated control subsystem 5 receives instructions from the UAV ground station software to change the mission payload or battery module.

[0039] S2: Transfer unit 3 is launched from its initial position, moves to the docking position with the UAV, removes the mission payload or battery module from the UAV, and at the same time the UAV control system transmits its own status to the ground station software.

[0040] S3: Based on the signal from the position recognition sensor 43, the transfer unit 3 moves to the empty docking position with the temporary storage unit 4, stores the battery module or task load in the unoccupied battery storage position 41 and load storage position 42, and begins charging the battery module.

[0041] The location identification sensor 43 is activated and the signal is transmitted to the automation control subsystem 5.

[0042] S4: The transfer unit 3 moves to the full battery storage position 41 or load storage position 42 of the temporary storage unit 4 to take out the new fully charged battery module or task load. The position identification sensor 43 at this position is activated and the signal is transmitted to the automation control subsystem 5.

[0043] S5: Transfer unit 3 moves again to the docking position with the UAV, installs the new mission payload or fully charged battery module onto the UAV, and at the same time the UAV control system transmits its status to the ground station software, and transfer unit 3 returns to the initial position.

[0044] S6: The automated control subsystem 5 receives the drone launch command, the movable top cover on the top of the cabin opens, the lifting platform 1 rises to the high position, the centering and fixing unit 2 is released, the drone takes off to perform the mission, and the drone is automatically launched.

[0045] Depending on the actual situation, the lifting platform 1 can be lowered to a low position, and the movable top cover of the cabin can be closed to prevent wind, sand, dust, etc.

[0046] S7: The automated control subsystem 5 receives the drone recovery command, the movable top cover on the top of the container opens, and the lifting platform 1 rises to the high position. The drone lands, the centering and fixing unit 2 centers and fixes the drone, the lifting platform 1 descends to the low position, the movable top cover closes, and the automatic drone recovery is completed.

[0047] S8: Repeat the above S1-S7 tasks to complete the execution of the next task instruction.

[0048] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A heavy duty drone nest installed in an outdoor shelter, characterized in that, The utility model relates to a kind of unmanned aerial vehicle transfer system, including lifting platform (1), centering fixed unit (2), transfer unit (3), temporary storage unit (4), automation control subsystem (5), the lifting platform (1) is installed on the floor inside shelter, and with the mobile top cover in transverse and longitudinal position of shelter top keeps centering, for carrying unmanned aerial vehicle realizes into and out of cabin;The centering fixed unit (2) is installed on the upper surface of lifting platform (1), for the position adjustment and fixed of unmanned aerial vehicle on lifting platform (1);The transfer unit (3) is installed on the floor inside shelter, in unmanned aerial vehicle rear direction of navigation, with X / Y / Z direction movement and telescopic transfer function, and be equipped with visual positioning device, for the position determination of transfer unit (3) and task load and battery module replacement;The temporary storage unit (4) is installed on the floor inside shelter, in the rear of transfer unit (3), for unmanned aerial vehicle task load and battery module storage and charging, can be occupied by sensor whether each storage position;The automation control subsystem (5) uses programmable controller, for the motion control of above-mentioned each unit, also for with unmanned aerial vehicle ground station software data interaction.

2. The heavy-lift drone nest of claim 1, wherein, The lifting platform (1) adopts scissor lifting structure, including base (11), inner fork arm (12), outer fork arm (13), table top (14), electric push rod (15), low position limiter (16) and landing pad (17), the base (11) is installed on the floor inside shelter, and with the mobile top cover in transverse and longitudinal position of shelter top keeps centering, the inner fork arm (12) and outer fork arm (13) are connected by hinged way table top (14) and base (11), and table top (14) is lifted by two sets of symmetrical hinged electric push rod (15) installed on outer fork arm (13), the low position limiter (16) is fixed on base (11), when table top (14) is in low position, the stability of position is kept by low position limiter (16) and can improve the carrying stiffness of table top (14), the landing pad (17) is installed on table top (14), for unmanned aerial vehicle to berth.

3. The heavy-lift drone nest of claim 1, wherein, The centering fixing unit (2) comprises two sets of centering mechanisms (21) with the same function and composition and a set of fixing mechanisms (22). The centering mechanism (21) comprises X-direction centering rods (211), X-direction centering driving devices (212), mounting trays (213), Y-direction centering rods (214) and centering rods (215). Two X-direction centering rods (211) are mounted on the table top (14) of the lifting platform (1). Two Y-direction centering rods (214) are symmetrically mounted on the X-direction centering rods (211) through the mounting trays (213). The X-direction centering driving device (212) drives two parallel linear motion modules to move through a motor and two side couplings, so as to realize the X-direction movement of the Y-direction centering rod (214) along the X-direction centering rod (211). The centering rod (215) is mounted on the Y-direction centering rod (214) and is distributed on the left and right sides. The centering rod (215) is in contact with the unmanned aerial vehicle foot support during the centering process. The centering rod (215) is driven to move in the Y direction through two Y-direction centering rods (214). The common operation of the two sets of centering mechanisms (21) can complete the centering adjustment of the unmanned aerial vehicle at any position on the landing apron (17) to the middle position of the landing apron. The fixing mechanism (22) comprises mounting columns (221), driving devices (222), reversing devices (223) and hooks (224). The fixing mechanism (22) is fixed to the bottom of the table top (14) of the lifting platform (1) through four mounting columns (221). The driving device (222) is connected to the reversing devices (223) on both sides through a coupling. The reversing device (223) is connected to the hooks (224) on both sides through a connecting rod. Four hooks (224) are extended from the table top (14). After the unmanned aerial vehicle is centered, the four hooks (224) are driven to rotate by the driving device (222), so as to fix the unmanned aerial vehicle foot support and realize the fixing of the unmanned aerial vehicle.

4. The heavy-lift drone nest of claim 1, wherein, The transfer unit (3) comprises X-axis driving mechanisms (31), Z-axis driving mechanisms (32), Y-axis driving mechanisms (33) and transfer mechanisms (34). Two sets of X-axis driving mechanisms (31) are symmetrically mounted on the floor inside the shelter. Two sets of Z-axis driving mechanisms (32) are respectively mounted on the two sets of X-axis driving mechanisms (31) in the rear direction of the unmanned aerial vehicle. The Y-axis driving mechanisms (33) are mounted at both ends of the two sets of Z-axis driving mechanisms (32). The transfer mechanisms (34) are mounted on the Y-axis driving mechanisms (33). The X-axis driving mechanisms (31) are used to realize the X-direction movement of the transfer mechanisms (34). The Z-axis driving mechanisms (32) are used to realize the Z-direction movement of the transfer mechanisms (34). The Y-axis driving mechanisms (33) are used to realize the Y-direction movement of the transfer mechanisms (34).

5. The heavy-lift drone nest of claim 1, wherein, The transfer module (6) comprises a T-shaped slider (61) and a T-shaped guide rail (62), the T-shaped slider (61) is installed at the bottom of all the load modules and the battery modules, the T-shaped guide rail (62) is installed at the unmanned aerial vehicle end, the transfer mechanism (34) and the temporary storage unit (4), the transfer of the load modules and the battery modules between the unmanned aerial vehicle end and the temporary storage unit (4) is realized through the precise movement of the transfer unit (3), and automatic replacement is realized.

6. The heavy-lift drone nest of claim 5, wherein, The end surface of the T-shaped guide rail (62) of the transfer mechanism (34) is provided with a positioning pin (621), the end surface of the T-shaped guide rail (62) at the unmanned aerial vehicle end is provided with a butt joint pin hole (622), and the precise butt joint is completed by inserting the positioning pin (621) into the butt joint pin hole (622) during butt joint.

7. The heavy-lift drone nest of claim 5, wherein, The transfer mechanism (34) comprises a load module transfer mechanism (341), a battery module transfer mechanism (342), a connecting support (343) and a visual assembly (344), the load module transfer mechanism (341) and the battery module transfer mechanism (342) are connected together through the connecting support (343) and are installed on the Y-axis driving mechanism (33), the movement in three directions of XYZ can be realized, the visual assembly (344) is installed on the connecting support (343) and is used for realizing the precise guidance of the movement of the transfer mechanism (34), and the load module transfer mechanism (341) and the battery module transfer mechanism (342) are respectively used for replacing the load modules and the battery modules of the heavy-duty unmanned aerial vehicle.

8. The heavy-lift drone nest of claim 1, wherein, The temporary storage unit (4) is installed on the floor inside the shelter and is behind the transfer unit (3) and is used for storing the task load of the unmanned aerial vehicle and charging the battery modules, contains two battery storage positions (41) and two load storage positions (42), a position recognition sensor (43) is installed at each storage position, whether each storage position is occupied is judged, and a signal is transmitted to the automatic control subsystem (5).

9. The heavy-lift drone nest of claim 1, wherein, The automatic control subsystem (5) is used for the movement control and signal processing of the lifting platform (1), the centering fixing unit (2), the transfer unit (3) and the temporary storage unit (4) and is also used for data interaction with the ground station software, so that automatic control is realized.

10. A method of controlling a heavy duty drone nest according to any one of claims 1-9, characterized in that, The method comprises the following steps: S1: the automatic control subsystem (5) receives the replacement task load or battery module instruction sent by the unmanned aerial vehicle ground station software; S2: the transfer unit (3) is moved from an initial position to a butt joint position with the unmanned aerial vehicle, the task load or the battery module on the unmanned aerial vehicle is removed, and meanwhile the state of the unmanned aerial vehicle control system is transmitted to the ground station software; S3: according to the signal of the position recognition sensor (43), the transfer unit (3) is moved to a butt joint position with the empty position of the temporary storage unit (4), the battery module or the task load is stored on the unoccupied battery storage position (41) or the load storage position (42), and charging of the battery module is started; the position recognition sensor (43) of the position is activated and transmits a signal to the automatic control subsystem (5). S4: The transfer unit (3) moves to the full battery storage site (41) or load storage site (42) of the temporary storage unit (4), takes out the new full-charged battery module or task load, and the position recognition sensor (43) of the site is activated to transmit a signal to the automatic control subsystem (5); S5: The transfer unit (3) moves again to the docking position of the UAV, installs the new task load or full-charged battery module on the UAV, and at the same time, the UAV control system transmits its state to the ground station software, and the transfer unit (3) returns to the initial position; S6: The automatic control subsystem (5) receives the UAV launch instruction, the movable top cover at the top of the shelter is opened, the lifting platform (1) is raised to the high position, the centering and fixing unit (2) is released, the UAV takes off to perform the task, and the automatic UAV launch is completed; S7: The automatic control subsystem (5) receives the UAV recovery instruction, the movable top cover at the top of the shelter is opened, the lifting platform (1) is raised to the high position, the UAV lands, the centering and fixing unit (2) centers and fixes the UAV, the lifting platform (1) is lowered to the low position, the movable top cover is closed, and the automatic UAV recovery is completed; S8: The above S1-S7 working contents are repeatedly executed to complete the execution of the next task instruction.

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