Multi-rotor unmanned aerial vehicle autonomous motor changing nest and method

Abstract

The invention belongs to the technical field of unmanned aerial vehicle equipment, and particularly relates to an autonomous motor changing nest and method for a multi-rotor unmanned aerial vehicle. The device comprises a case, a solar photovoltaic unit, a lifting platform unit, an automatic centering unit, a chain transmission unit, a precise clamping unit and a charging unit. According to the device, uninterrupted continuous operation of the unmanned aerial vehicle can be achieved, the unmanned aerial vehicle returns to the nest for battery replacement when the electric quantity is insufficient, then tasks can be executed again, the limitation of the endurance time of a single battery is fundamentally broken through, and the effective operation time of the unmanned aerial vehicle is prolonged. According to the device, manpower dependence and operation cost can be reduced, the whole battery replacing and charging process in the machine nest is fully automatically completed, field operation of operators is not needed, and task execution standardization and efficiency are improved. Besides, the device can provide sustainable energy supply, can store and manage a plurality of standby batteries in a centralized manner, can charge the standby batteries, can provide fully-charged batteries for the unmanned aerial vehicle at any time, and is particularly suitable for fields and areas where power grids are inconvenient to cover.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) equipment technology, specifically relating to an autonomous motor replacement method for a multi-rotor UAV. Background Technology

[0002] Currently, drones are widely used in aerial photography, power line inspection, forestry inspection, urban patrol, and remote sensing mapping. However, in practical applications, multi-rotor drones face numerous problems. Specifically, multi-rotor drones generally have a flight time of about half an hour, and even larger rotary-wing drones have a flight time of less than an hour. Their limited flight time necessitates carrying multiple batteries for missions, which cannot be recharged promptly. Furthermore, operators need to change the drone's batteries during missions, leading to continuously increasing labor costs for long-term, high-frequency missions. Simultaneously, human factors can negatively impact mission efficiency. Moreover, especially in remote areas with poor power grid coverage, the number of batteries that can be carried is limited, and the inability to recharge batteries promptly after they run out affects mission completion. Summary of the Invention

[0003] The purpose of this invention is to provide an autonomous motor swapping system and method for multi-rotor unmanned aerial vehicles (UAVs), which can automatically complete the battery swapping operation of the UAV and meet the requirements of continuous operation of the UAV.

[0004] To achieve the above objectives, the present invention provides the following technical solution: An autonomous motor-changing receptacle for multi-rotor unmanned aerial vehicles (UAVs) includes: Chassis; The solar photovoltaic unit is located on the outside of the enclosure and is used to provide power to the cell. The landing platform unit is located at one end of the chassis and is used to provide a battery swapping docking location for the drone. An automatic centering unit is located on top of the landing platform unit. The automatic centering unit is used to propel the UAV to the center position of the landing platform unit. The chain drive unit, located inside the chassis, extends from one end of the chassis to the other. The chain drive unit is used to provide guidance during the drone battery replacement process. The precision clamping unit, which is connected to the chain drive unit, is used to remove or install drone batteries. The charging unit, located at the other end of the chassis, is used to store and charge the drone's battery.

[0005] Furthermore, a cover is provided on the top of the chassis, which is slidably connected to the chassis, and the solar photovoltaic unit is mounted on the cover.

[0006] Furthermore, the solar photovoltaic unit includes a first solar panel, a first guide rail, and a cleaning mechanism; The first solar panel is placed horizontally, with its edge connected to the box cover; The first guide rail is installed on both the front and rear sides of the first solar panel. The first guide rail is arranged in the left and right direction, and the two ends of the first guide rail are provided with bases. The cleaning mechanism is in rolling contact with the first guide rail and is used to clean the first solar panel.

[0007] Furthermore, the cleaning mechanism includes a mounting bracket; The mounting bracket is mounted across the front and rear first guide rails. Both ends of the mounting bracket are connected to the bottom of the bottom of the mounting bracket. The bottom of the sliding bracket is rotatably connected to the pulley. The pulley is in rolling contact with the first guide rail. The pulley is connected to the output shaft of the drive motor. A second solar panel is installed on the top of the mounting frame to provide power to the cleaning unit; The bottom of the mounting bracket is equipped with active brushes and auxiliary brushes, both of which are arranged along the length of the mounting bracket. A scraper is provided at the bottom of the mounting bracket, between the active brush and the auxiliary brush; The bottoms of the active brush, auxiliary brush, and scraper are all attached to the first solar panel; A nozzle is also installed at the bottom of the mounting bracket, with the nozzle head facing downwards and the nozzle connected to a water source via a pipe.

[0008] Furthermore, the landing platform unit includes a mounting platform and a telescopic support; The mounting platform is located at the bottom of the chassis; The telescopic bracket is set at one end of the installation platform. The telescopic bracket is set in the vertical direction and is equipped with a first drive mechanism to drive the telescopic bracket to extend and retract. A lifting platform for drone docking is provided on the top of the telescopic support, and the automatic centering unit is located on the lifting platform.

[0009] Furthermore, the automatic centering unit includes an X-axis push rod and a Y-axis push rod, with the extension direction of the X-axis push rod perpendicular to the extension direction of the Y-axis push rod; The two ends of the X-axis push rod are connected to a first lead screw drive mechanism for driving the X-axis push rod to move back and forth. The extension direction of the X-axis push rod is perpendicular to the extension direction of the first lead screw drive mechanism. The two ends of the first lead screw drive mechanism are connected to the lifting platform unit through a first support. The two ends of the Y-axis push rod are connected to a second lead screw drive mechanism for driving the Y-axis push rod to move left and right. The extension direction of the Y-axis push rod is perpendicular to the extension direction of the second lead screw drive mechanism. The two ends of the second lead screw drive mechanism are connected to the lifting platform unit through a second support.

[0010] Furthermore, the chain drive unit includes an outer support, a second guide rail, and a mounting bracket plate; The outer bracket is connected to the chassis and is set vertically. A third lead screw drive mechanism is installed inside the outer bracket and is also set vertically. The two ends of the second guide rail are connected to the third lead screw drive mechanism, which is used to drive the second guide rail to move in the up and down direction. The mounting bracket plate is slidably connected to the second guide rail, and the mounting bracket plate is provided with a second drive mechanism for driving the mounting bracket plate to move along the second guide rail. The mounting bracket plate is connected to the precision clamping unit.

[0011] Furthermore, the precision clamping unit includes a support frame, a slider, a second mounting frame, a telescopic cylinder, and an adsorption plate; One end of the support frame is connected to the chain drive unit, and the other end of the support frame is equipped with a slide rail; The bottom of the slider is slidably connected to the slide rail, and the top of the slider is connected to the second mounting bracket; The second mounting bracket is connected to the fourth lead screw drive mechanism, which is used to drive the second mounting bracket to move along the slide rail. A clamping platform is provided at one end of the second mounting bracket. The clamping platform is C-shaped and the opening faces the charging unit. The adsorption plate is set inside the clamping platform. The adsorption plate is connected to the end of the telescopic rod of the telescopic cylinder. The cylinder body of the telescopic cylinder is set on the second mounting bracket. The telescopic cylinder extends towards the charging unit.

[0012] Furthermore, the charging unit includes a housing, a rotating platform, and multiple battery compartments; An inlet / outlet is provided on the side of the outer casing facing the precision clamping unit; The rotating platform is housed within the outer casing and is equipped with a third drive mechanism for driving the rotating platform to rotate. Multiple battery compartments are evenly spaced along the circumference of the rotating platform; The battery compartment is used to house the battery, and it is equipped with clamps for securing the battery, as well as a charging plate for charging the battery. The battery compartment is connected to a controller, and the battery power status inside the battery compartment is transmitted to the controller in real time. The controller is used to determine whether the battery compartment is idle or the batteries inside are fully charged based on the power information.

[0013] Furthermore, an autonomous battery swapping method for multi-rotor UAVs, applying the aforementioned autonomous battery swapping system for multi-rotor UAVs, is described below: S1. The case is opened, the drone lands on the lifting platform, the drone battery faces the chain drive unit, and the telescopic bracket is in the extended state; the automatic centering unit pushes the drone to the center position of the lifting platform and fixes the drone, and the lifting platform descends to the set height under the action of the telescopic bracket; S2. Under the action of the third screw drive mechanism, the second guide rail rises to a position higher than the drone propeller. Under the action of the second drive mechanism, the mounting bracket disk moves to a position directly facing the center of the drone. Under the action of the third screw drive mechanism, the second guide rail descends to the same height as the drone battery. The precision clamping unit removes the drone battery. S3. The second guide rail is adjusted to the same height as the battery compartment under the action of the third lead screw drive mechanism. The mounting bracket plate is moved to the position facing the middle of the battery compartment under the action of the second drive mechanism. After the controller judges, it aligns the empty battery compartment with the precision clamping unit. The precision clamping unit puts the drone battery into the empty battery compartment for charging. S4. After the controller makes a judgment, it will align the battery compartment of the fully charged battery with the precision clamping unit, and the precision clamping unit will clamp the battery in the battery compartment of the fully charged battery. S5. Under the action of the third screw drive mechanism, the second guide rail rises to a position higher than the drone propeller. Under the action of the second drive mechanism, the mounting bracket disk moves to a position directly opposite the center of the drone. Under the action of the third screw drive mechanism, the second guide rail descends to the same height as the drone battery mounting position. The precision clamping unit pushes the fully charged battery into the drone. S6. After the drone battery is replaced, the automatic centering unit used to fix the drone is reset, the lifting platform is raised to the upper limit position under the action of the telescopic bracket, the lifting platform is reset after the drone takes off, and the box cover is closed.

[0014] Compared with the prior art, the present invention has the following advantages: (1) Enable uninterrupted continuous operation of UAVs: When the UAV's battery is low, it returns to the nest for battery swapping. The precision clamping unit automatically replaces the battery with a fully charged one, and then the UAV can perform the mission again. This fundamentally breaks through the limitation of the battery life of a single battery and significantly extends the effective operating time of the UAV.

[0015] (2) Reduced reliance on manpower and operating costs: The entire battery swapping and charging process in the battery cell is completed automatically without the need for on-site operation by personnel. It is particularly suitable for scenarios that require long-term, high-frequency operations (such as power line inspection and urban patrol), which can significantly reduce human intervention, reduce long-term labor costs, and improve the standardization and efficiency of task execution.

[0016] (3) Provide sustainable energy supply: The top of the nest integrates solar photovoltaic units, which can convert solar energy into electrical energy to power the operation of equipment and battery charging inside the nest, especially suitable for the field and areas with inconvenient power grid coverage. At the same time, the nest can centrally store and manage multiple backup batteries and charge them at the same time, so that the drone can always have a fully charged battery. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0018] Figure 1 This is a three-dimensional view of an autonomous motor-changing nest for a multi-rotor UAV according to the present invention; Figure 2 This is a perspective view of the internal mechanism of the nest-type chassis of a multi-rotor UAV with autonomous motor changing capability according to the present invention. Figure 3 This is a perspective view of a solar photovoltaic unit in an autonomous motor-swapping nest for a multi-rotor unmanned aerial vehicle (UAV) according to the present invention. Figure 4 This is a perspective view of a cleaning mechanism in an autonomous motor-changing nest of a multi-rotor UAV according to the present invention; Figure 5 This is a perspective view of the landing platform unit in an autonomous motor-changing nest for a multi-rotor unmanned aerial vehicle (UAV) according to the present invention. Figure 6 This is a perspective view of the automatic centering unit in the autonomous motor-changing nest of a multi-rotor UAV according to the present invention; Figure 7 This is a perspective view of a chain transmission unit in an autonomous motor-changing nest for a multi-rotor unmanned aerial vehicle (UAV) according to the present invention. Figure 8 This is a schematic diagram of a partial mechanism of the chain transmission unit in the autonomous motor changing nest of a multi-rotor UAV according to the present invention; Figure 9 This is a perspective view of a precision clamping unit in an autonomous motor-changing nest for a multi-rotor UAV according to the present invention. Figure 10 This is a schematic diagram of the internal mechanism of the precision clamping unit support frame in the autonomous motor changing nest of a multi-rotor UAV according to the present invention; Figure 11 This is a perspective view of a charging unit in an autonomous motor-swapping nest for a multi-rotor unmanned aerial vehicle (UAV) according to the present invention. Figure 12 This is a perspective view of the internal mechanism of the charging unit shell in an autonomous motor-changing nest for a multi-rotor UAV according to the present invention. Figure 13 for Figure 12 Top view.

[0019] Explanation of reference numerals in the attached drawings: 1-Chassis, 11-Case cover, 12-First slide rail, 2-Solar photovoltaic unit, 21-First solar panel, 22-First guide rail, 221-Base, 23-Cleaning mechanism, 231-First mounting bracket, 232-Slide plate, 233-Pulley, 234-Second solar panel, 235-Active brush, 236-Auxiliary brush, 237-Scraper, 238-Nozzle, 3-Lifting platform unit, 31-Mounting platform, 32-Telescopic bracket, 33-Lifting platform, 34-Hydraulic cylinder, 35-Joint pin, 36-Industrial UPS, 4-Automatic centering unit, 41-X-direction push rod, 42-Y-direction push rod, 43-First lead screw drive mechanism, 431-Second drive motor, 432-Coupling, 433-First lead screw, 434-Second slide rail, 435-First slider, 44-Second lead screw drive mechanism 45-First support, 46-Second support, 5-Chain transmission unit, 51-Outer bracket, 52-Second guide rail, 53-Mounting bracket plate, 54-Third screw drive mechanism, 541-Second slider, 55-Chain, 56-Sprocket, 57-Third drive motor, 58-Baffle, 6-Precision clamping unit, 61-Support frame, 611-Third slide rail, 62-Third slider, 63-Second mounting frame, 631-Clamping platform, 64-Electric cylinder, 65-Adsorption plate, 66-Fourth screw drive mechanism, 661-Fourth drive motor, 662-Second screw, 7-Charging unit, 71-Outer shell, 711-Entrance / exit, 72-Rotating platform, 721-Driven wheel, 722-Belt, 723-Drive wheel, 724-Fifth drive motor, 73-Battery compartment, 731-Charging plate, 732-Gripper. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] like Figure 1 and Figure 2 As shown, an autonomous motor-changing hub for a multi-rotor UAV includes a chassis 1, a solar photovoltaic unit 2, a landing platform unit 3, an automatic centering unit 4, a chain drive unit 5, a precision clamping unit 6, and a charging unit 7.

[0022] A cover 11 is slidably connected to the top of the chassis 1. The cover 11 is slidably connected to the chassis 1 via a first slide rail 12 and can be moved along the first slide rail 12 by an electric push rod. The cover 11 protects the internal structure of the chassis 1, preventing damage to the internal structure from external factors such as dust and rain. The cover 11 is divided into left and right covers 11 in the left-right direction. The left and right covers 11 move closer or further apart via the first slide rail 12 to close or open the chassis 1. The left and right covers 11 are each divided into two covers 11 in the front-back direction, and the two covers 11 of the left or right cover 11 fit together and seal.

[0023] like Figure 3 As shown, the solar photovoltaic unit 2 is mounted on the cover 11 and is used to provide power to the drone nest. Specifically, the solar photovoltaic unit 2 includes a first solar panel 21, a first guide rail 22, and a cleaning mechanism 23. The first solar panel 21 is placed horizontally, and its edge is connected to the cover 11 to reduce volume and cost. The first solar panel 21 is connected to the charging terminal of a first battery, which converts solar energy into electrical energy and stores it in the first battery. The first battery is electrically connected to relevant motors or electric components inside the drone nest for continuous power supply. The first guide rail 22 is located on the front and rear sides of the first solar panel 21 and is arranged in a left-right direction. Bases 221 are provided at both ends of the first guide rail 22. The cleaning mechanism 23 has rolling contact with the first guide rail 22 at both ends and is used to clean the first solar panel 21, removing dust, fallen leaves, and stains from its surface. This improves the power generation efficiency of the first solar panel 21, maintains its high-efficiency power generation, and reduces the cost and risk of manual cleaning. Specifically, such as Figure 4As shown, the cleaning mechanism 23 includes a first mounting frame 231, which is horizontally mounted on the front and rear first guide rails 22. Slides 232 are connected to the bottom of both ends of the first mounting frame 231. Rollers 233 are rotatably connected to the bottom of each slide 232, and the rollers 233 are in rolling contact with the first guide rails 22. Four rollers 233 are provided, with two rollers rolling in contact with the front side of the first guide rails 22 and the other two rollers rolling in contact with the rear side of the first guide rails 22. At least one roller 233 is connected to the output shaft of a first drive motor, which is mounted on the first mounting frame 231. The first drive motor drives the cleaning mechanism 23 to reciprocate linearly along the first guide rails 22. The top of the first mounting frame 231 is equipped with a second solar panel 234 for providing power to the cleaning mechanism 23. A second battery is also housed within the first mounting frame 231. The second solar panel 234 is electrically connected to the charging terminal of the second battery, and stores the electrical energy converted from solar energy in the second battery. The bottom of the first mounting frame 231 is equipped with an active brush 235 and an auxiliary brush 236, both arranged along the front-to-back direction. The auxiliary brushes 236 are located on both the left and right sides of the first mounting frame 231, while the active brush 235 is positioned between the two auxiliary brushes 236. The second battery is electrically connected to a motor for driving the active brush 235, and is also electrically connected to a first drive motor. A scraper 237 is located at the bottom of the first mounting frame 231, between the active brush 235 and the auxiliary brushes 236. The bottoms of the active brush 235, the auxiliary brushes 236, and the scraper 237 are all attached to the first solar panel 21. A nozzle 238 is also provided at the bottom of the first mounting bracket 231. The nozzle 238 is located between the active brush 235 and the scraper 237 near the middle of the casing 1. The nozzle 238 has its nozzle head facing downwards and is connected to a water source via a pipe. In this embodiment, four solar photovoltaic units 2 are provided. Two solar photovoltaic units 2 are provided on each of the left and right side covers 11, and the two solar photovoltaic units 2 are arranged at the front and rear positions of the same side cover 11.

[0024] like Figure 5As shown, the landing platform unit 3 is located on the front right side of the chassis 1, and is used to provide a battery swapping docking position for the UAV. The landing platform unit 3 includes a mounting platform 31, a telescopic bracket 32, and a lifting platform 33. The mounting platform 31 is located at the bottom of the chassis 1, providing a stable base for the landing platform unit 3. The telescopic bracket 32 ​​is located at one end of the mounting platform 31, and is arranged vertically. A first drive mechanism for extending and retracting the telescopic bracket 32 ​​is configured on the telescopic bracket 32. In this embodiment, the telescopic bracket 32 ​​is configured as a scissor-type lifting structure, consisting of two sets of vertically arranged, mutually interlocking high-strength metal arms. The arms are movably connected by pins to form a foldable scissor structure, used to transfer loads and achieve vertical telescopic movement. The front bottom of the telescopic support 32 is hinged to the mounting platform 31, and the rear bottom of the telescopic support 32 is slidably connected to the mounting platform 31. The front top of the telescopic support 32 is hinged to the lifting platform 33, and the rear top of the telescopic support 32 is slidably connected to the lifting platform 33. The telescopic support 32 extends and retracts vertically while also extending and retracting in the front-to-back direction. Therefore, the front-to-back extension and retraction is achieved by hinged one end of the top or bottom of the telescopic support 32 and slidably connected the other end. The telescopic support 32 is driven by a hydraulic cylinder 34 to complete the extension and retraction movement. The cylinder body of the hydraulic cylinder 34 is hinged to the bottom of the telescopic support 32, and the telescopic end of the hydraulic cylinder 34 is hinged to the top of the telescopic support 32 via a joint pin 35. This allows the top of the telescopic support 32 to move away from or closer to the bottom. The joint pin 35 allows the telescopic support 32 to rotate flexibly during lifting and lowering, ensuring smooth movement. Two hydraulic cylinders 34 are used to ensure the load-bearing stability of the telescopic support 32. The lifting platform 33 is located on top of the telescopic support 32 and is used for docking during the battery replacement process of the drone. An industrial UPS 36 is also installed at the other end of the mounting platform 31. The industrial UPS 36 provides uninterrupted power supply to the landing platform unit 3 when the external power supply fails or is interrupted, ensuring that the system can work normally or stop safely, and avoiding accidents caused by sudden power outages.

[0025] like Figure 6As shown, the automatic centering unit 4 is located on top of the landing platform unit 3. Specifically, the automatic centering unit 4 is located on the lifting platform 33 and is used to push the UAV to the center position of the lifting platform 33. The automatic centering unit 4 includes an X-axis push rod 41, a Y-axis push rod 42, a first lead screw drive mechanism 43, and a second lead screw drive mechanism 44. The extension direction of the X-axis push rod 41 is perpendicular to the extension direction of the Y-axis push rod 42. The X-axis push rod 41 extends in the left-right direction, and the Y-axis push rod 42 extends in the front-back direction. The extension direction of the X-axis push rod 41 is perpendicular to the extension direction of the first lead screw drive mechanism 43. The two ends of the first lead screw drive mechanism 43 are connected to the lifting platform 33 through a first support 45. The first lead screw drive mechanism 43 is used to realize the movement of the X-axis push rod 41 in the front-back direction. Figure 6 As shown, the first lead screw drive mechanism 43 includes a second drive motor 431, a coupling 432, a first lead screw 433, a second slide rail 434, and a first slider 435. One end of the first lead screw 433 is connected to the output shaft of the second drive motor 431 through the coupling 432. The first slider 435 has a threaded hole and cooperates with the first lead screw 433 for transmission. Simultaneously, the first slider 435 is slidably connected to the second slide rail 434. Both ends of the X-axis push rod 41 are connected to the first slider 435. Driven by the second drive motor 431, the first slider 435 reciprocates linearly along the second slide rail 434 under the action of the first lead screw 433, thereby driving the X-axis push rod 41 to move forward and backward. Two X-axis push rods 41 are provided, arranged in parallel, and each is equipped with a first lead screw drive mechanism 43. The first lead screw drive mechanism 43 drives the two X-axis push rods 41 to move closer or further apart. Similarly, both ends of the Y-axis push rod 42 are connected to the second lead screw drive mechanism 44, and the extension direction of the Y-axis push rod 42 is perpendicular to the extension direction of the second lead screw drive mechanism 44. Both ends of the second lead screw drive mechanism 44 are connected to the lifting platform 33 via the second support 46. The second lead screw drive mechanism 44 is used to move the Y-axis push rod 42 in the left and right directions. The structure of the second lead screw drive mechanism 44 is the same as that of the first lead screw drive mechanism 43, and will not be described again here. Two Y-axis push rods 42 are provided, arranged in parallel, and each is equipped with a second lead screw drive mechanism 44. The second lead screw drive mechanism 44 drives the two Y-axis push rods 42 to move closer to or further away from each other. The automatic centering unit 4 can adapt to drones of different sizes. When the drone lands off-center from the lifting platform 33, the X-axis push rod 41 and the Y-axis push rod 42, under the action of the drive mechanism, push the drone precisely to the designated battery swapping position and fix it in place.

[0026] like Figure 7As shown, the chain drive unit 5 is located at the rear of the chassis 1, extending in the left-right direction. The chain drive unit 5 provides guidance during the UAV battery replacement process. The chain drive unit 5 includes an outer bracket 51, a second guide rail 52, and a mounting bracket plate 53. The outer bracket 51 is connected to the chassis 1, located inside the chassis 1 and on its rear side, and is vertically oriented. A third lead screw drive mechanism 54 is installed within the outer bracket 51, also vertically oriented. The third lead screw drive mechanism 54 has the same structure as the first lead screw drive mechanism 43. The two ends of the second guide rail 52 are connected to the second sliders 541 of the third lead screw drive mechanism 54, enabling the second guide rail 52 to move vertically. The second guide rail 52 extends in the left-right direction, and the mounting bracket plate 53 is slidably connected to it. The second guide rail 52 is configured as a linear guide rail. The mounting bracket plate 53 is provided with a second drive mechanism for driving the mounting bracket plate 53 to move along the second guide rail 52. Specifically, as follows: Figure 8 As shown, the second drive mechanism includes a chain 55, a sprocket 56, and a third drive motor 57. A closed chain 55 is arranged around the front and rear sides of the second guide rail 52. The chain 55 connects the two sprockets 56, and the chain 55 is fixedly connected to the mounting bracket disc 53. The sprockets 56 are connected to the output shaft of the third drive motor 57. Baffles 58 are also provided at the upper and lower positions at both ends of the second guide rail 52, with the sprocket 56 positioned between the upper and lower baffles 58. The baffles 58 serve a limiting function, restricting the movement range of the mounting bracket disc 53, preventing it from exceeding its travel range, avoiding component collisions and interference, and ensuring the safe operation of the chain drive unit 5. The third drive motor 57 drives the sprocket 56 to rotate, which in turn drives the chain 55 to rotate, thereby moving the mounting bracket disc 53 along the second guide rail 52.

[0027] like Figure 9 and Figure 10As shown, the precision clamping unit 6 is disposed inside the housing 1 and is connected to the chain drive unit 5. The precision clamping unit 6 is used for removing or installing the drone battery. Specifically, the precision clamping unit 6 includes a support frame 61, a third slider 62, a second mounting frame 63, an electric cylinder 64, an adsorption plate 65, and a fourth lead screw drive mechanism 66. The rear end of the support frame 61 is fixedly connected to the mounting bracket plate 53, and the front end of the support frame 61 is provided with a third slide rail 611. The bottom of the third slider 62 is slidably connected to the third slide rail 611, and the top of the third slider 62 is fixedly connected to the second mounting frame 63. The fourth lead screw drive mechanism 66 includes a fourth drive motor 661 and a second lead screw 662. The output shaft of the fourth drive motor 661 is connected to the second lead screw 662. The bottom of the second mounting frame 63 has a threaded hole that cooperates with the second lead screw 662 of the fourth lead screw drive mechanism 66 for transmission. The fourth lead screw drive mechanism 66 is used to drive the second mounting frame 63 to move along the third slide rail 611. A clamping platform 631 is provided at the front end of the second mounting bracket 63. The clamping platform 631 is C-shaped with its opening facing the charging unit 7, and is used to clamp the battery. An adsorption plate 65 is provided inside the clamping platform 631. The adsorption plate 65 is connected to the end of the telescopic rod of the electric cylinder 64. The cylinder body of the electric cylinder 65 is provided on the second mounting bracket 63, and the telescopic direction of the electric cylinder 64 faces the charging unit 7. Since the battery surface is flat and smooth and not suitable for clamping, the adsorption plate 65 is magnetic. It uses the principle of magnetic force to attract the battery, which greatly increases the stability of the precision clamping unit 6 in clamping the battery and ensures that the battery will not tilt. The working principle of the precision clamping unit 6 is as follows: the fourth lead screw drive mechanism 66 drives the second mounting bracket 63 to move to the set position; then the telescopic rod of the electric cylinder 64 extends, and the battery is taken out by the adsorption plate 65. After that, the telescopic rod retracts and places the battery on the clamping platform 631.

[0028] like Figures 11 to 13As shown, the charging unit 7 is located on the front left side of the chassis 1, and is situated to the left of the landing platform unit 3. It is also positioned above the other end of the mounting platform 31. The charging unit 7 stores and charges the drone battery. Specifically, the charging unit 7 includes a housing 71, a rotating platform 72, and multiple battery compartments 73. The housing 71 has an entrance / exit 711 on its side, with the side facing the precision clamping unit 6. The housing 71 is made of high-strength material, capable of withstanding extreme environments such as high temperature and high pressure, and possesses protective, heat-insulating, and explosion-proof functions to ensure safe battery charging operation. The rotating platform 72 is located inside the housing 71 and is equipped with a third drive mechanism for rotating the platform. The third drive mechanism includes a driven wheel 721, a belt 722, a drive wheel 723, and a fifth drive motor 724. A bevel gear is located at the end of the central shaft of the driven wheel 721, and a bevel gear is also located at the end of the central shaft of the rotating platform 72. The two bevel gears mesh with each other, providing a power connection between the central shaft of the rotating platform 72 and the central shaft of the driven wheel 721. The driven wheel 721 is connected to the drive wheel 723 via the belt 722. The drive wheel 723 is connected to the output shaft of the fifth drive motor 724, thereby driving the rotating platform 72 to rotate. Multiple battery compartments 73 are disposed on the rotating platform, and the battery compartments 73 are evenly spaced along the circumference of the rotating platform 72. The hatches of the battery compartments 73 face outwards. The battery compartments 73 are used to house batteries and are equipped with charging plates 731 for charging the batteries. The charging plates 731 employ wireless charging technology. The coils on the wireless charging plates 731 generate an electromagnetic field, inducing a current in the receiving coil electrically connected to the battery, thereby charging the battery. The battery compartment 73 is connected to a controller, and the battery power status inside the battery compartment 73 is transmitted to the controller in real time. The controller uses this power information to determine whether the battery compartment 73 is in an idle state or whether the batteries inside the battery compartment 73 are fully charged. Figure 13 As shown, the battery compartment 73 is also equipped with grippers 732 for securing the battery. The grippers 732 are electrically driven and hold the battery in place when no battery replacement is required. This prevents the battery from shifting or vibrating during charging, handling, or other processes, ensuring the accuracy and stability of the battery's position during operation. For example, it prevents the centrifugal force generated when the rotating platform 72 rotates from detaching the battery from the battery compartment 73.

[0029] An autonomous battery swapping method for multi-rotor unmanned aerial vehicles (UAVs) is described below: S1. Drone Return: The case cover 11 opens, and the drone lands on the lifting platform 33 with its battery facing the rear of the case 1. At this time, the telescopic bracket 32 ​​is extended. The automatic centering unit 4 pushes the drone to the center of the lifting platform 33, which also serves to secure the drone. The lifting platform 33 descends to the set height under the action of the telescopic bracket 32.

[0030] S2. Battery removal action: The second guide rail 52 rises to a position higher than the drone propeller under the action of the third lead screw drive mechanism 54, otherwise there will be obstruction when changing the battery; the mounting bracket plate 53 moves to a position directly opposite the center of the drone under the action of the chain 55 and the sprocket 56, and the second guide rail 52 descends to the same height as the drone battery under the action of the third lead screw drive mechanism 54, and the precision clamping unit 6 removes the drone battery.

[0031] S3. Battery Insertion Operation: The second guide rail 52 is adjusted to the same height as the battery compartment 73 under the action of the third lead screw drive mechanism 54. The mounting bracket plate 53 is moved to the middle position directly opposite the battery compartment 73 under the action of the chain 55 and sprocket 56. The battery compartment 73 is connected to the controller, and the battery power status inside the battery compartment 73 is transmitted to the controller in real time. After the controller judges the result, the controller is connected to the fifth drive motor 724, which rotates the rotating platform 72, so that the hatch of the empty battery compartment 73 is aligned with the precision clamping unit 6. The precision clamping unit 6 puts the drone battery into the empty battery compartment 73 for charging.

[0032] S4. Battery Retrieval Action: The controller selects the nearest fully charged battery compartment 73, and the controller signal connects to the fifth drive motor 724, thereby rotating the rotating platform 72 so that the hatch of the fully charged battery compartment 73 is aligned with the precision clamping unit 6, and the precision clamping unit 6 clamps the fully charged battery in the fully charged battery compartment 73.

[0033] S5. Battery installation action: The second guide rail 52 rises to a position higher than the drone propeller under the action of the third lead screw drive mechanism 54. The mounting bracket plate 53 moves to a position directly opposite the center of the drone under the action of the chain 55 and the sprocket 56. The second guide rail 52 descends to the same height as the drone battery installation position under the action of the third lead screw drive mechanism 54. The precision clamping unit 6 pushes the fully charged battery into the drone.

[0034] S6. Drone Takeoff: After the drone's battery is replaced, the automatic centering unit 4 used to fix the drone is reset, the lifting platform 33 is raised to the upper limit position under the action of the telescopic bracket 32, the lifting platform 33 is reset after the drone takes off, and the box cover 11 is closed.

[0035] The present embodiment has now been described in detail with reference to the accompanying drawings. Based on the above description, those skilled in the art should have a clear understanding of the present invention. Of course, the above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the content of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention and should be protected by the present invention.

Claims

1. An autonomous motor-changing receptacle for a multi-rotor unmanned aerial vehicle (UAV), characterized in that, include: Chassis; The solar photovoltaic unit is located on the outside of the enclosure and is used to provide power to the cell. The landing platform unit is located at one end of the chassis and is used to provide a battery swapping docking location for the drone. An automatic centering unit is located on top of the landing platform unit. The automatic centering unit is used to propel the UAV to the center position of the landing platform unit. The chain drive unit, located inside the chassis, extends from one end of the chassis to the other. The chain drive unit is used to provide guidance during the drone battery replacement process. The precision clamping unit, which is connected to the chain drive unit, is used to remove or install drone batteries. The charging unit, located at the other end of the chassis, is used to store and charge the drone's battery.

2. The autonomous motor-changing receptacle for a multi-rotor unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The top of the chassis is equipped with a cover, which is slidably connected to the chassis, and the solar photovoltaic unit is mounted on the cover.

3. The autonomous motor-changing receptacle for a multi-rotor unmanned aerial vehicle (UAV) according to claim 2, characterized in that, The solar photovoltaic unit includes a first solar panel, a first guide rail, and a cleaning mechanism; The first solar panel is placed horizontally, with its edge connected to the box cover; The first guide rail is installed on both the front and rear sides of the first solar panel. The first guide rail is arranged in the left and right direction, and the two ends of the first guide rail are provided with bases. The cleaning mechanism is in rolling contact with the first guide rail and is used to clean the first solar panel.

4. The autonomous motor-changing receptacle for a multi-rotor unmanned aerial vehicle (UAV) according to claim 3, characterized in that, The cleaning mechanism includes a mounting frame; The mounting bracket is mounted across the front and rear first guide rails. Both ends of the mounting bracket are connected to the bottom of the bottom of the mounting bracket. The bottom of the sliding bracket is rotatably connected to the pulley. The pulley is in rolling contact with the first guide rail. The pulley is connected to the output shaft of the drive motor. A second solar panel is installed on the top of the mounting frame to provide power to the cleaning unit; The bottom of the mounting bracket is equipped with active brushes and auxiliary brushes, both of which are arranged along the length of the mounting bracket. A scraper is provided at the bottom of the mounting bracket, between the active brush and the auxiliary brush; The bottoms of the active brush, auxiliary brush, and scraper are all attached to the first solar panel; A nozzle is also installed at the bottom of the mounting bracket, with the nozzle head facing downwards and the nozzle connected to a water source via a pipe.

5. The autonomous motor-changing receptacle for a multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The landing platform unit includes a mounting platform and a telescopic support; The mounting platform is located at the bottom of the chassis; The telescopic bracket is set at one end of the installation platform. The telescopic bracket is set in the vertical direction and is equipped with a first drive mechanism to drive the telescopic bracket to extend and retract. A lifting platform for drone docking is provided on the top of the telescopic support, and the automatic centering unit is located on the lifting platform.

6. The autonomous motor-changing receptacle for a multi-rotor unmanned aerial vehicle (UAV) according to claim 1, characterized in that, The automatic centering unit includes an X-axis push rod and a Y-axis push rod, with the extension directions of the X-axis push rod and the Y-axis push rod being perpendicular. The two ends of the X-axis push rod are connected to a first lead screw drive mechanism for driving the X-axis push rod to move back and forth. The extension direction of the X-axis push rod is perpendicular to the extension direction of the first lead screw drive mechanism. The two ends of the first lead screw drive mechanism are connected to the lifting platform unit through a first support. The two ends of the Y-axis push rod are connected to a second lead screw drive mechanism for driving the Y-axis push rod to move left and right. The extension direction of the Y-axis push rod is perpendicular to the extension direction of the second lead screw drive mechanism. The two ends of the second lead screw drive mechanism are connected to the lifting platform unit through a second support.

7. The autonomous motor-changing receptacle for a multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The chain drive unit includes an outer support, a second guide rail, and a mounting bracket plate; The outer bracket is connected to the chassis and is set vertically. A third lead screw drive mechanism is installed inside the outer bracket and is also set vertically. The two ends of the second guide rail are connected to the third lead screw drive mechanism, which is used to drive the second guide rail to move in the up and down direction. The mounting bracket plate is slidably connected to the second guide rail, and the mounting bracket plate is provided with a second drive mechanism for driving the mounting bracket plate to move along the second guide rail. The mounting bracket plate is connected to the precision clamping unit.

8. The autonomous motor-changing receptacle for a multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The precision clamping unit includes a support frame, a slider, a second mounting frame, a telescopic cylinder, and an adsorption plate; One end of the support frame is connected to the chain drive unit, and the other end of the support frame is equipped with a slide rail; The bottom of the slider is slidably connected to the slide rail, and the top of the slider is connected to the second mounting bracket; The second mounting bracket is connected to the fourth lead screw drive mechanism, which is used to drive the second mounting bracket to move along the slide rail. A clamping platform is provided at one end of the second mounting bracket. The clamping platform is C-shaped and the opening faces the charging unit. The adsorption plate is set inside the clamping platform. The adsorption plate is connected to the end of the telescopic rod of the telescopic cylinder. The cylinder body of the telescopic cylinder is set on the second mounting bracket. The telescopic cylinder extends towards the charging unit.

9. The autonomous motor-changing receptacle for a multi-rotor unmanned aerial vehicle according to claim 1, characterized in that, The charging unit includes a housing, a rotating platform, and multiple battery compartments. An inlet / outlet is provided on the side of the outer casing facing the precision clamping unit; The rotating platform is housed within the outer casing and is equipped with a third drive mechanism for driving the rotating platform to rotate. Multiple battery compartments are evenly spaced along the circumference of the rotating platform; The battery compartment is used to house the battery, and it is equipped with clamps for securing the battery, as well as a charging plate for charging the battery. The battery compartment is connected to a controller, and the battery power status inside the battery compartment is transmitted to the controller in real time. The controller is used to determine whether the battery compartment is idle or the batteries inside are fully charged based on the power information.

10. A method for autonomous battery swapping of a multi-rotor unmanned aerial vehicle (UAV), employing the autonomous battery swapping receptacle for multi-rotor UAVs as described in any one of claims 1 to 9, characterized in that, The method is as follows: S1. The case is opened, the drone lands on the lifting platform, the drone battery faces the chain drive unit, and the telescopic bracket is in the extended state; the automatic centering unit pushes the drone to the center position of the lifting platform and fixes the drone, and the lifting platform descends to the set height under the action of the telescopic bracket; S2. Under the action of the third screw drive mechanism, the second guide rail rises to a position higher than the drone propeller. Under the action of the second drive mechanism, the mounting bracket disk moves to a position directly facing the center of the drone. Under the action of the third screw drive mechanism, the second guide rail descends to the same height as the drone battery. The precision clamping unit removes the drone battery. S3. The second guide rail is adjusted to the same height as the battery compartment under the action of the third lead screw drive mechanism. The mounting bracket plate is moved to the position facing the middle of the battery compartment under the action of the second drive mechanism. After the controller judges, it aligns the empty battery compartment with the precision clamping unit. The precision clamping unit puts the drone battery into the empty battery compartment for charging. S4. After the controller makes a judgment, it will align the battery compartment of the fully charged battery with the precision clamping unit, and the precision clamping unit will clamp the battery in the battery compartment of the fully charged battery. S5. Under the action of the third screw drive mechanism, the second guide rail rises to a position higher than the drone propeller. Under the action of the second drive mechanism, the mounting bracket disk moves to a position directly opposite the center of the drone. Under the action of the third screw drive mechanism, the second guide rail descends to the same height as the drone battery mounting position. The precision clamping unit pushes the fully charged battery into the drone. S6. After the drone battery is replaced, the automatic centering unit used to fix the drone is reset, the lifting platform is raised to the upper limit position under the action of the telescopic bracket, the lifting platform is reset after the drone takes off, and the box cover is closed.

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