Unmanned aerial vehicle hydrogen cylinder replacement device

Abstract

The application provides a kind of unmanned plane hydrogen bottle replacement device, it is related to unmanned plane hydrogen replacement field, specifically including general control module, image detection element, storage area and hydrogen replacement module.General control module is electrically connected with unmanned plane, for sending homing instruction when the hydrogen storage bottle of unmanned plane is insufficiently supplied.Image detection element is electrically connected with general control module, for detecting the position information of the landing pad of unmanned plane homing landing.General control module guides unmanned plane homing based on position information.Storage area is provided with multiple storage sites, and the storage site includes the supply site of the full bottle hydrogen storage bottle and the idle site of the hydrogen storage bottle for insufficient supply.Hydrogen replacement module is electrically connected with general control module, for transferring the hydrogen storage bottle for insufficient supply on unmanned plane to idle site, and installing the full bottle hydrogen storage bottle of supply site to unmanned plane, to realize the full automatic, unmanned replacement operation of hydrogen storage bottle of unmanned plane, completely replace traditional manual operation, operation efficiency is high and can avoid the security risks when manual operation.

Description

Technical Field

[0001] This application relates to the field of drone resupply technology, and in particular to a drone hydrogen cylinder replacement device. Background Technology

[0002] As a key new growth engine in the national strategy, the low-altitude economy is powerfully empowering the drone industry to enter a new stage of development. Hydrogen-powered drones, due to their long endurance and strong environmental adaptability, have shown broad application prospects in fields such as power grid inspection and high-altitude operations.

[0003] Currently, the refueling of hydrogen-powered drones still mainly relies on manual replacement of hydrogen storage tanks. However, manual operation not only requires professional personnel to be on duty, but also involves complex procedures, is time-consuming, and carries high safety risks, thus affecting the efficiency and safety of hydrogen replacement operations. Summary of the Invention

[0004] The purpose of this application is to provide a drone hydrogen cylinder replacement device, which aims to solve the problems of low efficiency and low safety caused by manual hydrogen replacement.

[0005] This application provides a drone hydrogen cylinder replacement device, including: The central control module is electrically connected to the drone and is used to issue a homing command when the drone's hydrogen storage tank is low on gas. An image detection element, electrically connected to the central control module, is configured to detect and acquire the location information of the landing pad where the UAV returns to its homing location; the central control module is configured to guide the UAV back to its homing location based on the location information. The storage area has multiple storage positions, including a replenishment position for storing full hydrogen storage cylinders and an idle position for storing hydrogen storage cylinders with insufficient gas supply. And a hydrogen exchange module, electrically connected to the main control module, is used to transfer hydrogen storage cylinders with insufficient gas supply on the UAV to the idle position, and to install full hydrogen storage cylinders from the replenishment position onto the UAV.

[0006] In some embodiments, the drone hydrogen cylinder replacement device further includes a pressure detection element electrically connected to the main control module, configured to detect and acquire the gas pressure in the hydrogen storage cylinder on the drone. The central control module is configured to determine whether the hydrogen storage cylinder is under-supply based on the gas pressure.

[0007] In some embodiments, an auxiliary positioning mechanism is movably provided on the helipad, the auxiliary positioning mechanism having a bearing position for carrying the UAV; The auxiliary positioning mechanism is electrically connected to the main control module, and moves under the control of the main control module after the drone returns to its nest, so as to move the drone to the preset hydrogen exchange position.

[0008] In some embodiments, the auxiliary positioning mechanism includes a drive mechanism disposed on the helipad and a support mechanism that is driven by the drive mechanism, wherein the bearing position is disposed on the support mechanism; The drive mechanism is electrically connected to the main control module and is used to drive the support mechanism to move along the length and / or width of the parking apron under the control of the main control module.

[0009] In some embodiments, the drive mechanism includes a first drive mechanism and a second drive mechanism; The first driving mechanism includes a first driving member, a first sliding rod extending along the width direction of the helipad, and a first sliding member slidably disposed on the first sliding rod. The first sliding rod is movably disposed on the helipad, and the first driving member is connected to the first sliding member in a transmission manner. The second drive mechanism includes a second drive member, a second sliding rod extending along the length of the parking apron, and a second sliding member slidably disposed on the second sliding rod. The second sliding rod is movably disposed on the parking apron, and the second sliding member is in transmission cooperation with the second drive member and is respectively connected to the first sliding member and the support mechanism.

[0010] In some embodiments, the support mechanism includes a support plate, at least two locking structures, and at least two third driving members that correspond one-to-one with the locking structures. The bearing position is located on the support plate, and at least two of the locking structures are located on both sides of the bearing position and are slidably connected to the second sliding rod through a notch on the support plate; The third driving component is electrically connected to the main control module and is used to drive the corresponding locking structures to move toward each other to lock the drone under the control of the main control module, or to move toward each other to release the locking of the drone.

[0011] In some embodiments, the locking structure includes a locking base and a locking hook disposed on the locking base. The locking base is slidably disposed on the second sliding rod and is in transmission cooperation with the third driving member. The locking hook engages and locks with the UAV.

[0012] In some embodiments, each of the locking bases is provided with at least two locking hooks, and the at least two locking hooks are spaced apart along the width direction of the apron.

[0013] In some embodiments, the storage area includes a storage platform and a fixed guide rail disposed on the storage platform. The fixed guide rail is provided with a plurality of storage positions, and each storage position is provided with a first locking part that engages with an electromagnetic lock of the hydrogen storage cylinder. The drone is equipped with a locking position, and the locking position has a second locking part that engages with the electromagnetic lock on the hydrogen storage cylinder.

[0014] In some embodiments, the hydrogen exchange module includes a robotic arm electrically connected to the main control module and a main quick-change disc disposed at the free end of the robotic arm; The main quick-change disc is used to trigger the first locking part or the second locking part to unlock the electromagnetic lock when it is connected to the auxiliary quick-change disc on the hydrogen storage cylinder, or to trigger the first locking part or the second locking part to lock the electromagnetic lock when it is separated.

[0015] The beneficial effects of this invention are: This application provides a hydrogen cylinder replacement device for unmanned aerial vehicles (UAVs), including a central control module, an image detection element, a storage area, and a hydrogen exchange module. The central control module is electrically connected to the UAV and is used to issue a homing command when the UAV's hydrogen storage cylinder supply is insufficient. The image detection element is also electrically connected to the central control module and is configured to detect and acquire the location information of the landing pad where the UAV will hom. The central control module is configured to guide the UAV homing based on the location information. The storage area has multiple storage positions, including a replenishment position for storing full hydrogen storage cylinders and an idle position for storing hydrogen storage cylinders with insufficient supply. The hydrogen exchange module is electrically connected to the central control module and is used to transfer hydrogen storage cylinders with insufficient supply from the UAV to the idle positions and install full hydrogen storage cylinders from the replenishment positions onto the UAV. This achieves fully automated, unmanned replacement of hydrogen storage cylinders on the UAV, completely replacing the traditional manual operation mode, which not only has high operational efficiency but also avoids the safety hazards associated with manual operation. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the drone hydrogen cylinder replacement device shown in the embodiment of this application; Figure 2 This is a schematic diagram of the drone and landing pad of the drone hydrogen cylinder replacement device shown in the embodiments of this application; Figure 3This is a schematic diagram of the structure of the drone and the landing pad after the cabin door of the drone hydrogen cylinder replacement device shown in the embodiment of this application is removed; Figure 4 for Figure 3 A magnified view of a portion at point A; Figure 5 for Figure 3 A magnified view of the area at point B; Figure 6 This is a schematic diagram of the structure of the hydrogen storage cylinder and storage area of ​​the drone hydrogen cylinder replacement device shown in the embodiment of this application; Figure 7 for Figure 6 A magnified view of the area at point C; Figure 8 This is a schematic diagram of the drone's cabin door removal structure for the drone hydrogen cylinder replacement device shown in the embodiments of this application; Figure 9 for Figure 8 A magnified view of the area at point D; Figure 10 This is a schematic diagram of the internal structure of the drone shown in the embodiment of this application for the drone hydrogen cylinder replacement device; Figure 11 for Figure 10 A magnified view of the area at point E; Figure 12 This is a schematic diagram of the hydrogen replacement module of the drone hydrogen cylinder replacement device shown in the embodiment of this application; Figure 13 for Figure 12 A magnified view of the area at point F; Figure 14 This is a schematic diagram of the circuit structure of the drone hydrogen cylinder replacement device shown in an embodiment of this application.

[0018] Figure label: 100. Main control module; 110. Support base plate; 200. UAV; 210. Locking position; 211. Second locking part; 220. Cabin door; 300. Hydrogen storage tank; 310. Secondary quick-change plate; 320. Second circuit interface; 330. Electromagnetic lock; 400. Image detection element; 500. Helipad; 510. Drive mechanism; 600. Storage area; 610. Storage position; 611. Replenishment position; 612. Idle position; 613. First locking part; 620. Storage platform; 630. Fixed guide rail; 700. Hydrogen exchange Module; 710, robotic arm; 720, main quick-change plate; 730, first circuit interface; 800, pressure detection element; 900, auxiliary positioning mechanism; 910, support mechanism; 911, support plate; 912, locking structure; 913, notch; 914, locking base; 915, locking hook; 921, first driving component; 922, first sliding rod; 923, first sliding member; 931, second driving component; 932, second sliding rod; 933, second sliding member; 940, first guide rail; 950, second guide rail. Detailed Implementation

[0019] In the embodiments of this application, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," "third," "fourth," "fifth," and "sixth" may explicitly or implicitly include one or more of that feature.

[0020] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0021] Reference Figures 1 to 14 As shown, this embodiment provides a hydrogen cylinder replacement device for unmanned aerial vehicles, including a central control module 100, an image detection element 400, a storage area 600, and a hydrogen replacement module 700.

[0022] The main control module 100 is electrically connected to the drone 200 and is used to issue a homing command when the hydrogen storage tank 300 of the drone 200 is insufficient.

[0023] The image detection element 400 is electrically connected to the main control module 100 and is configured to detect and acquire the location information of the landing pad 500 where the UAV 200 returns to its nest. The main control module 100 is configured to guide the UAV 200 back to its nest based on the location information.

[0024] The storage area 600 is provided with multiple storage positions 610, including a replenishment position 611 for storing a full hydrogen storage cylinder 300 and an idle position 612 for storing a hydrogen storage cylinder 300 with insufficient gas supply.

[0025] The hydrogen exchange module 700 is electrically connected to the main control module 100 and is used to transfer the hydrogen storage cylinder 300 with insufficient gas supply on the drone 200 to the idle position 612, and to install the full hydrogen storage cylinder 300 of the replenishment position 611 onto the drone 200.

[0026] In practice, the central control module 100 is electrically connected to the UAV 200, and is responsible for the overall logic control, command issuance, and job scheduling of the UAV 200. Specifically, during various flight missions such as power grid inspection and high-altitude operations, the central control module 100 can receive and acquire key data such as the remaining hydrogen storage capacity and working status of the hydrogen storage tank 300 on the UAV 200. When it is detected that the hydrogen storage tank 300 is depleted and cannot support the UAV 200 to continue flight operations, the central control module 100 issues a homing command to the UAV 200, guiding the UAV 200 to terminate the current flight operation and return to its home base. This allows for intelligent determination and autonomous triggering of the UAV 200's refueling needs from the source. The entire process does not require manual monitoring of the UAV 200's endurance status or manual control of the homing process, thus effectively solving the cumbersome problems of traditional manual prediction of endurance and manual control of homing.

[0027] In addition, it should be noted that the master control module 100 can also issue a homing command after the UAV 200 has completed its mission, so as to achieve intelligent control.

[0028] Specifically, the image detection element 400 is electrically connected to the central control module 100 and is used to collect and detect the coordinates or relative position information of the helipad 500 in real time. The image detection element 400 transmits the real-time acquired position information to the central control module 100. Based on this position information, combined with the flight attitude and position parameters of the UAV 200, the central control module 100 generates a precise flight guidance trajectory to guide the UAV 200 to complete its return landing. This ensures that the UAV 200 can accurately reach the helipad 500 for subsequent hydrogen exchange operations, providing a precise positional basis for subsequent automated hydrogen exchange operations and avoiding problems such as hydrogen exchange failure or equipment collisions due to landing deviation.

[0029] For example, the image detection element 400 can be a visual sensor such as a camera or a webcam.

[0030] Specifically, storage area 600 is a dedicated storage and turnover area for hydrogen storage cylinders 300. It is internally divided into multiple independent storage positions 610, which are categorized into two types, forming a complete turnover system for hydrogen storage cylinders 300. The replenishment position 611 is specifically used to store full hydrogen storage cylinders 300, providing energy reserves for the returning drone 200; the idle position 612 is specifically used to receive hydrogen storage cylinders 300 with insufficient gas supply disassembled from the drone 200, ensuring the standardized storage of these cylinders.

[0031] In this embodiment, the partitioned design of the multiple storage positions 610 can simultaneously store multiple sets of full hydrogen storage cylinders 300 and accommodate multiple sets of hydrogen storage cylinders 300 with insufficient gas supply. This enables the classification and orderly management of the hydrogen storage cylinders 300, avoiding the mixing and stacking of full hydrogen storage cylinders 300 and hydrogen storage cylinders 300 with insufficient gas supply. This not only ensures the orderly connection of hydrogen exchange operations, but also improves the standardization and safety of hydrogen storage cylinder storage 300, so as to facilitate automated batch hydrogen exchange operations.

[0032] Specifically, the hydrogen swapping module 700 is electrically connected to the main control module 100. After the drone 200 accurately lands, the main control module 100 issues a hydrogen swapping command, and the hydrogen swapping module 700 starts the operation. Specifically, the hydrogen swapping module 700 first precisely removes the insufficient hydrogen storage cylinder 300 from the drone 200 and automatically transfers and places it in an empty slot 612 in the storage area 600 for storage. Then, it retrieves a pre-prepared full hydrogen storage cylinder 300 from the replenishment slot 611 in the storage area 600 and precisely aligns and installs it onto the drone 200, completing the energy replenishment operation for the drone 200. The entire hydrogen swapping process is fully automated, requiring no manual intervention, thus effectively improving operational efficiency and reducing potential hazards.

[0033] For example, the drone hydrogen cylinder replacement device in this embodiment also includes a support substrate 110, which is located at the bottom of the main control module 100, the storage area 600 and the hydrogen replacement module 700, and is used to support the entire device structure.

[0034] In summary, the drone hydrogen cylinder replacement device of this embodiment achieves automated hydrogen replacement operation of the drone 200 through the coordinated cooperation of the main control module 100, image detection element 400, storage area 600, and self-replacement hydrogen module 700. This avoids the need for manual hydrogen replacement, saving labor costs and simplifying the operation process to significantly improve hydrogen replacement efficiency.

[0035] Furthermore, since hydrogen is a flammable and explosive gas, the manual disassembly, handling, and installation of the hydrogen storage cylinder 300 can easily lead to safety risks such as leaks and explosions due to human factors such as operational errors, bumps, and improper installation. This embodiment adopts a fully automated hydrogen exchange operation, which can avoid the instability of manual operation, reduce direct contact between personnel and the hydrogen storage cylinder 300, and fundamentally reduce the probability of hydrogen leaks and safety accidents. Therefore, it can significantly improve the safety and reliability of hydrogen exchange operations.

[0036] Reference Figure 1 , Figure 14 As shown, in some embodiments, the drone hydrogen cylinder replacement device also includes a pressure detection element 800 electrically connected to the main control module 100, configured to detect and acquire the gas pressure in the hydrogen storage cylinder 300 on the drone 200.

[0037] The main control module 100 is configured to determine whether the hydrogen storage cylinder 300 is under-supplying gas, whether the gas pressure has reached the working gas pressure range, or whether there is a gas leak in the gas line based on the gas pressure.

[0038] In practice, during the entire process of the UAV 200's flight operations, standby, and hydrogen exchange, the pressure detection element 800 continuously collects the gas pressure in the hydrogen storage cylinder 300 carried by the UAV 200 and uploads the real-time gas pressure data to the main control module 100.

[0039] The central control module 100 has a built-in preset standard air pressure threshold. By comparing the real-time detected air pressure data with the standard air pressure threshold, it can determine whether the hydrogen storage cylinder 300 is in a state of insufficient air supply. When insufficient air supply is detected in the hydrogen storage cylinder 300, the drone 200 is triggered to return to its homing point for refueling. In addition, the air pressure detection can also be used to determine whether the air pressure in the hydrogen storage cylinder 300 is within the standard operating air pressure range of the drone 200 after cylinder replacement, so as to determine whether the takeoff and operation conditions are met, or it can be used to accurately determine faults such as gas leakage when there is a sudden drop in air pressure.

[0040] For example, the pressure sensing element 800 may specifically be a pressure sensor.

[0041] Reference Figures 1 to 5 As shown, in some embodiments, an auxiliary positioning mechanism 900 is movably provided on the helipad 500, and the auxiliary positioning mechanism 900 has a carrying position for carrying the UAV 200. The auxiliary positioning mechanism 900 is electrically connected to the main control module 100 so that it can move under the control of the main control module 100 after the UAV 200 returns to its home, so as to move the UAV 200 to a preset hydrogen exchange position.

[0042] In practice, after the central control module 100 issues a homing command, the image detection element 400 transmits the real-time acquired position information to the central control module 100. Based on this position information, and combined with the flight attitude and position parameters of the UAV 200, the central control module 100 generates a precise flight guidance trajectory to guide the UAV 200 to complete its homing landing, thus achieving coarse positioning of the UAV 200. At this point, the UAV 200 may have a positional deviation compared to the preset hydrogen exchange location, affecting the docking and hydrogen exchange operation with the hydrogen exchange module 700. Therefore, in this embodiment, the auxiliary positioning mechanism 900 can be moved to ultimately move the UAV 200 to the preset hydrogen exchange location for subsequent hydrogen exchange operations.

[0043] Reference Figures 1 to 5 As shown, in some embodiments, the auxiliary positioning mechanism 900 includes a drive mechanism 510 disposed on the helipad and a support mechanism 910 that is in transmission cooperation with the drive mechanism 510, and a bearing position is disposed on the support mechanism 910; the drive mechanism 510 is electrically connected to the main control module and is used to drive the support mechanism 910 to move along the length and / or width of the helipad under the control of the main control module.

[0044] In practice, the drive mechanism 510 is electrically connected to the main control module 100 to receive the control signals output by the main control module 100. Under the control of the main control module 100, the drive mechanism 910 moves along the length or width of the landing pad 500, ultimately adjusting the bearing position on the support mechanism 910 to a preset precise position, and then adjusting the UAV 200 to the preset hydrogen exchange position. This completes the auxiliary alignment and displacement calibration of the UAV, effectively solving problems such as landing deviation, irregular parking position, and inability to accurately dock with the work station of the UAV 200.

[0045] Reference Figures 1 to 5 As shown, in some embodiments, the drive mechanism 510 includes a first drive mechanism and a second drive mechanism; the first drive mechanism includes a first drive member 921, a first sliding rod 922 extending along the width direction of the helipad, and a first sliding member 923 slidably disposed on the first sliding rod 922. The first sliding rod 922 is movably disposed on the helipad, and the first drive member 921 and the first sliding member 923 are connected in a transmission manner.

[0046] The second drive mechanism includes a second drive member 931, a second sliding rod 932 extending along the length of the helipad, and a second sliding member 933 slidably disposed on the second sliding rod 932. The second sliding rod 932 is movably disposed on the helipad. The second sliding member 933 is in a transmission cooperation with the second drive member 931 and is respectively connected to the first sliding member 923 and the support mechanism 910.

[0047] In specific implementation, the first drive mechanism is used to drive the UAV 200 along the width direction of the landing pad 500 (refer to...). Figure 1 The drone 200 moves along the width of the helipad 500 (as shown in the y-direction) to adjust its position. The second drive mechanism drives the drone 200 along the length of the helipad 500 (refer to the y-direction). Figure 1 The drone 200 moves in the x-direction shown to adjust its position along the length of the helipad 500.

[0048] Specifically, the first sliding rod 922 extends along the width of the landing pad 500, providing a directional guide reference for the displacement movement of the UAV 200 along the width of the landing pad 500. The first sliding member 923 is slidably mounted on the outside of the first sliding rod 922 and can slide linearly back and forth along the first sliding rod 922, thereby preventing the first sliding member 923 from deviating during movement. At the same time, the first sliding rod 922 is movably mounted on the landing pad 500, that is, it can move relative to the landing pad 500 along its length, so that when the second drive mechanism drives the support mechanism 910 to move along the length of the landing pad 500, the entire first drive mechanism is linked, preventing the first drive mechanism from affecting the smooth movement of the support mechanism 910 along the length of the landing pad 500.

[0049] Similarly, the second sliding rod 932 extends along the length of the landing pad 500, providing a directional guide reference for the displacement movement of the UAV 200 along the length of the landing pad 500. The second sliding member 933 is slidably mounted on the outside of the second sliding rod 932, and can slide linearly back and forth along the second sliding rod 932 to prevent the second sliding member 933 from deviating during the sliding process. At the same time, the second sliding rod 932 is movably mounted on the landing pad 500, that is, it can move relative to the landing pad 500 along its width direction, so as to link the entire second drive mechanism when the first drive mechanism drives the support mechanism 910 to move along the width direction of the landing pad, thus preventing the second drive mechanism from affecting the smooth movement of the support mechanism 910 along the width direction of the landing pad 500.

[0050] For example, when it is necessary to adjust the position of the drone 200 along the width of the helipad 500, after the main control module 100 outputs an electrical control signal, the first drive component 921 is activated, driving the first slider 923 to slide precisely along the first sliding rod 922, thereby causing the support mechanism 910 and the drone 200 to move along the width of the helipad 500, thus correcting the positional deviation of the drone 200 along the width of the helipad 500. Similarly, when it is necessary to adjust the position of the drone 200 along the length of the helipad 500, after the main control module 100 outputs an electrical control signal, the second drive component 931 is activated, driving the second slider 933 to slide precisely along the second sliding rod 932, thereby causing the support mechanism 910 and the drone 200 to move along the length of the helipad 500, thus correcting the parking deviation of the drone 200 along the length of the helipad 500.

[0051] It should be noted that the position adjustment of the drone 200 can be achieved by using only the first drive mechanism to adjust its position in the width direction, or by using only the second drive mechanism to adjust its position in the length direction, or by using both the first and second drive mechanisms to adjust its position in both the length and width directions. In this case, the first drive mechanism can be used first to adjust its position in the width direction, and then the second drive mechanism can be used to adjust its position in the length direction. Alternatively, the order can be limited to this. Ultimately, the drone 200 can be precisely adjusted to the preset hydrogen exchange position to facilitate subsequent docking and hydrogen exchange with the hydrogen exchange module 700.

[0052] Furthermore, since the second sliding member 933 is connected to the first sliding member 923 and the support mechanism 910, when the first sliding member 923 moves along the width direction of the apron 500, it indirectly drives the support mechanism 910 to move through the second sliding member 933, thereby realizing the adjustable position of the support mechanism 910 in the width direction of the apron 500.

[0053] Reference Figures 1 to 5 As shown, in some embodiments, the support mechanism 910 includes a support plate 911, at least two locking structures 912, and at least two third driving members that correspond one-to-one with the locking structures 912; the bearing position is located on the support plate 911, and the at least two locking structures 912 are respectively located on both sides of the bearing position and are slidably connected to the second sliding rod 932 through notches 913 on the support plate 911; the third driving member is electrically connected to the main control module 100 and is used to drive the corresponding locking structures 912 to move toward each other to lock the drone 200, or to move toward each other to release the locking of the drone 200, under the control of the main control module 100.

[0054] In practice, the support plate 911 is used as the bearing base of the support mechanism 910. The support plate 911 has a direct bearing plane for the UAV 200 to land and park as a bearing position to stably support the UAV 200.

[0055] Specifically, the support plate 911 can be set above the second drive mechanism, and the bearing position is set on the upper surface of the support plate 911. In order to realize the sliding assembly of the locking structure 912 and the second sliding rod 932, the support plate 911 is symmetrically provided with notches 913 on both sides. The two sets of locking structures 912 are respectively located in the notches 913 and are respectively set on the left and right sides of the bearing position, forming a symmetrical locking layout to ensure that the UAV 200 is subjected to uniform force.

[0056] All locking structures 912 are slidably connected to the second sliding rod 932 through notches 913, so that the locking structures 912 can slide along the second sliding rod 932 under the drive of the third driving member, thereby allowing at least two locking structures 912 to move toward or away from each other to lock or unlock the drone 200.

[0057] For example, the locking structure 912 can be set as two, and the two locking structures 912 are symmetrically arranged on opposite sides of the bearing position. In this case, the third driving member is also set as two.

[0058] In this embodiment, two locking structures 912 are used, and the principle of their locking or unlocking process is explained as follows: When it is necessary to lock the drone 200, after the drone 200 lands on the support plate 911, the main control module 100 outputs a locking command, controls the third drive components on both sides to start synchronously, drives the two sets of locking structures 912 to move towards each other, and finally clamps and locks the drone 200 from both sides of the drone 200 to restrict the movement of the drone 200.

[0059] When it is necessary to unlock the drone 200, that is, when the drone 200 needs to take off, move, or change its parking position, the main control module 100 outputs an unlock command, the third drive components on both sides move in opposite directions, driving the locking structure 912 to slide in a direction away from each other, releasing the clamping constraint on the drone 200's body, thereby realizing the unlocking operation of the drone 200.

[0060] Reference Figures 1 to 5 As shown, in some embodiments, the locking structure 912 includes a locking base 914 and a locking hook 915 disposed on the locking base 914. The locking base 914 is slidably disposed on the second sliding rod 932 and is in transmission cooperation with the third driving member. The locking hook 915 is used to engage and lock with the corresponding position of the UAV.

[0061] In practice, the locking base 914 is slidably mounted on the second sliding rod 932 and can move smoothly back and forth along the second sliding rod 932. At the same time, it forms a reliable transmission cooperation with the corresponding third driving component. Under the drive of the third driving component, it drives the locking hook 915 to move towards the drone 200 to lock onto the drone 200 or to move away from the drone 200 to release the lock on the drone 200.

[0062] For example, the shape of the locking hook 915 is adapted to the outer contour of the preset locking position of the drone 200, thereby achieving precise locking and engagement and completing the mechanical locking and fixation of the drone 200.

[0063] In some embodiments, each locking base 914 is provided with at least two locking hooks 915, and the at least two locking hooks 915 are spaced apart along the width direction of the apron 500.

[0064] Alternatively, in other implementations, the locking structure 912 can be, for example, an electrically locking clamp.

[0065] In practice, at least two locking hooks 915 are set on each locking base 914. All locking hooks are evenly spaced along the width of the landing pad 500, thus forming a multi-point, array-type locking structure. The UAV 200 is locked together by multiple locking hooks 915, which can effectively limit the UAV 200 from flipping, deflecting, and shaking, thereby greatly improving the locking stability.

[0066] Furthermore, in this embodiment, the first driving mechanism further includes a first guide rail 940 movably disposed on the helipad 500, the first guide rail 940 extending along the width direction of the helipad 500, a first sliding rod 922 disposed on the first guide rail 940, and a first sliding member 923 slidably disposed on the first guide rail 940. The second driving mechanism further includes a second guide rail 950 movably disposed on the helipad 500, the second guide rail 950 extending along the length direction of the helipad 500, a second sliding rod 932 disposed on the second guide rail 950, and a second sliding member 933 and a locking structure 912 slidably disposed on the second guide rail 950.

[0067] In specific implementation, when the first driving component 921 drives the first sliding component 923 to move, the first sliding component 923 is constrained by the track of the first guide rail 940 and can only slide back and forth in a straight line along the width direction of the apron 500, completely eliminating problems such as forward and backward offset, up and down swaying, jamming and deviation during the sliding process. Similarly, when the second driving component 931 drives the second sliding component 933 to move, and the third driving component drives the locking structure 912 to slide, the second sliding component 933 and the locking structure 912 can be limited and guided by the second guide rail 950, and can only slide precisely in a straight line along the length direction of the apron 500, so as to avoid offset or swaying during the movement.

[0068] It should be noted that at least two locking structures 912 can be set on both sides of the second sliding member 933 and spaced apart from the second sliding member 933. This allows the locking structure 912 and the second sliding member 933 to share a second sliding rod 932, which simplifies the structure and reduces costs.

[0069] Reference Figure 1 , Figure 6 and Figure 7 As shown, in some embodiments, the storage area 600 includes a storage platform 620 and a fixed guide rail 630 disposed on the storage platform 620. The fixed guide rail 630 is provided with a plurality of storage positions 610, and each storage position 610 is provided with a first locking part 613 that engages with the electromagnetic lock 330 of the hydrogen storage cylinder 300. The drone 200 is provided with a locking position 210, and the locking position 210 is provided with a second locking part 211 that engages with the electromagnetic lock 330 on the hydrogen storage cylinder 300.

[0070] In practice, the storage area 600 consists of a storage platform 620 and a fixed guide rail 630, which is fixedly laid on the storage platform 620. The fixed guide rail 630 is divided along its length (for example, the width of the helipad 500) to form multiple independent storage positions 610, including a replenishment position 611 for neatly storing full hydrogen storage cylinders 300 and an idle position 612 for storing hydrogen storage cylinders 300 with insufficient gas supply, thereby achieving orderly and zoned storage of hydrogen storage cylinders 300.

[0071] Specifically, each storage position 610 is equipped with a first locking part 613, which engages with the electromagnetic lock 330 of the hydrogen storage cylinder 300. When the hydrogen storage cylinder 300 is placed in the storage position 610 of the fixed guide rail 630, the electromagnetic lock 330 of the hydrogen storage cylinder 300 automatically aligns and engages with the first locking part 613, thereby mechanically locking and fixing the hydrogen storage cylinder 300 in the storage area 600. This ensures that the full hydrogen storage cylinder 300 and the hydrogen storage cylinder 300 with insufficient gas supply remain in a fixed posture and position during standby storage and waiting for cylinder replacement, and will not slip or shift due to vibration of the storage platform 620, airflow disturbance, or the proximity of the robotic arm 710 for operation.

[0072] When it is necessary to remove the full hydrogen storage cylinder 300 from the storage position 610 and install it on the drone 200, the first locking part 613 can be unlocked from the electromagnetic lock 330 to facilitate the removal of the hydrogen storage cylinder 300.

[0073] Meanwhile, the UAV 200 has a pre-set locking position 210 inside, and a second locking part 211 is arranged on the locking position 210. The second locking part 211 can also achieve precise locking with the electromagnetic lock 330 structure of the hydrogen storage cylinder 300. When the robotic arm 710 takes the full hydrogen storage cylinder 300 out of the storage area 600 and accurately delivers it into the cabin of the UAV 200, the hydrogen storage cylinder 300 is placed in the locking position 210 of the UAV 200. At this time, the electromagnetic lock 330 of the hydrogen storage cylinder 300 and the second locking part 211 complete the locking docking, so that the hydrogen storage cylinder 300 is firmly fixed inside the cabin of the UAV 200, realizing high-strength limiting and fixing of the hydrogen storage cylinder 300 in the airborne state.

[0074] When it is necessary to remove the hydrogen storage cylinder 300 on the drone 200 that is under-supplied with gas, the second locking part 211 can be unlocked from the electromagnetic lock 330 to facilitate the removal of the under-supplied hydrogen storage cylinder 300.

[0075] For example, both the first locking part 613 and the second locking part 211 can be locking holes. The locking rod of the electromagnetic lock 330 can extend and be inserted into the locking hole to achieve locking, or the locking rod can retract and be moved out of the locking hole to achieve unlocking. The specific structure and principle of the electromagnetic lock 330 can be referred to the description of related technologies, which will not be explained in detail in this embodiment.

[0076] For example, the electromagnetic locks 330 on the hydrogen storage cylinder 300 can be one, two, or more. The specific number and location of the locks can be set according to actual needs. This embodiment does not impose any specific limitations on this.

[0077] Reference Figure 1 , Figures 8 to 13As shown, in some embodiments, the hydrogen exchange module 700 includes a robotic arm 710 electrically connected to the main control module 100 and a main quick-change disk 720 disposed at the free end of the robotic arm 710.

[0078] The main quick-change plate 720 is used to trigger the first locking part 613 or the second locking part 211 to unlock the electromagnetic lock 330 when it is connected to the auxiliary quick-change plate 310 on the hydrogen storage cylinder 300, or to trigger the first locking part 613 or the second locking part 211 to lock the electromagnetic lock 330 when it is disconnected.

[0079] In specific implementation, the main quick-change plate 720 is used to connect with the auxiliary quick-change plate 310 on the hydrogen storage cylinder 300 of the drone 200 when the drone 200 returns to its nest. The main control module 100 is used to trigger the second locking part 211 and the electromagnetic lock 330 to unlock when the main quick-change plate 720 connects with the auxiliary quick-change plate 310 on the hydrogen storage cylinder 300, so that the robotic arm 710 can separate the hydrogen storage cylinder 300 with insufficient gas supply from the drone 200 and move it to the idle position 612.

[0080] The main quick-change plate 720 is used to connect and communicate with the auxiliary quick-change plate 310 on the full hydrogen storage cylinder 300 on the supply position 611. The main control module 100 is used to trigger the first locking part 613 and the electromagnetic lock 330 to unlock when the main quick-change plate 720 is connected to the auxiliary quick-change plate 310 on the full hydrogen storage cylinder 300, so that the robotic arm 710 can separate the full hydrogen storage cylinder 300 from the supply position 611 and install it on the drone 200 and make it electrically connected to the drone 200.

[0081] In this embodiment, the detailed process of hydrogen exchange operation is described as follows: The process of disassembling the hydrogen storage cylinder 300 on the drone 200 with insufficient gas supply is as follows: After the drone 200 is positioned and locked, the cabin door 220 of the drone 200 opens, and the robotic arm 710 drives the main quick-change plate 720 to precisely connect with the auxiliary quick-change plate 310 of the hydrogen storage cylinder 300 with insufficient gas supply, completing the physical connection and simultaneously establishing electrical continuity. The main control module 100 detects the continuity signal in real time. After confirming that the connection is in place, it automatically triggers the second locking part 211 inside the drone 200 to unlock the electromagnetic lock 330 between the hydrogen storage cylinder 300 and the drone 200, releasing the locking limit between the hydrogen storage cylinder 300 and the drone 200 body. Subsequently, the robotic arm 710 smoothly drags the hydrogen storage cylinder 300 with insufficient gas supply, achieving a complete disconnection and separation of the gas and electrical circuits between the hydrogen storage cylinder 300 with insufficient gas supply and the drone 200. That is, the electrical interface on the hydrogen storage cylinder 300 is separated from the electrical interface on the drone 200, and the hydrogen storage cylinder 300 with insufficient gas supply is transferred to the empty space 612 in the storage area 600, completing the unloading of the hydrogen storage cylinder 300 with insufficient gas supply.

[0082] The process of installing a full hydrogen storage tank 300 on the drone 200 is as follows: After the hydrogen storage tank 300 with insufficient gas supply is stored, the robotic arm 710 moves to the replenishment position 611 in the storage area 600. The main quick-change plate 720 at the free end of the robotic arm 710 precisely connects with the auxiliary quick-change plate 310 of the full hydrogen storage tank 300, and the circuit is connected. After the main control module 100 detects a valid connection signal, it triggers the first locking part 613 of the storage area 600 to unlock the electromagnetic lock 330 of the full hydrogen storage tank 300, releasing the lock on the full hydrogen storage tank 300. The robotic arm 710 clamps the full hydrogen storage tank 300 and smoothly and accurately delivers it into the preset position in the cabin of the drone 200, completing the alignment and installation, and realizing the automatic connection of the gas and electrical circuits between the hydrogen storage tank 300 and the drone 200. At this time, the electrical interface on the hydrogen storage tank 300 is separated from the electrical interface on the drone 200. After the hydrogen storage cylinder 300 is installed in place, the connection circuit between the main quick-change plate 720 and the auxiliary quick-change plate 310 is disconnected. At the same time, the electromagnetic lock 330 of the hydrogen storage cylinder 300 and the second locking part 211 are automatically locked, thereby fixing the hydrogen storage cylinder 300.

[0083] It should be noted that after replacing the full hydrogen storage tank 300, the UAV 200 can issue a self-test command through the central control module 100, causing the UAV 200 to execute a self-test program. Specific self-test procedures may include checking key parameters such as whether the hydrogen pressure reaches the operating range, whether the flight control system is functioning normally, and whether there are any leaks in the gas path. Once all self-test items are confirmed to be normal, the UAV 200 enters a takeoff-ready state and can respond to takeoff commands at any time.

[0084] In practice, the main quick-change plate 720 is equipped with a first circuit interface 730, and the auxiliary quick-change plate 310 is equipped with a second circuit interface 320. When the main quick-change plate 720 and the auxiliary quick-change plate 310 are connected, the first circuit interface 730 and the second circuit interface 320 are connected and conductive. At this time, the main control module 100 receives the electrical signal indicating that the connection is established and controls the electromagnetic lock 330 to unlock, allowing the hydrogen storage tank 300 to be removed. Similarly, when the main quick-change plate 720 and the auxiliary quick-change plate 310 are separated, the first circuit interface 730 and the second circuit interface 320 are disconnected. At this time, the main control module 100 receives the electrical signal indicating that the connection is broken and controls the electromagnetic lock 330 to lock, preventing the hydrogen storage tank 300 from being removed.

[0085] Furthermore, the overall control module 100 in this embodiment serves as the core of the entire control system, integrating multiple key algorithms and collaborative control capabilities, mainly including: Algorithm integration: visual positioning algorithm for homing recognition and coarse positioning; path planning algorithm of robotic arm 710 for safely and efficiently completing bottle picking and placing operations; pressure control algorithm for monitoring and controlling hydrogen supply and pressure stability.

[0086] Multi-system collaboration: Enables centralized scheduling and real-time collaborative control of robotic arm 710, auxiliary positioning mechanism 900, image detection element 400, pressure detection element 800, etc., so that robotic arm 710 can have path planning and obstacle avoidance functions.

[0087] Communication and task assignment: Supports two-way communication with UAV 200, can obtain the status of UAV 200, issue self-test commands, receive self-test results, and send take-off commands to UAV 200 after all processes are completed, realizing fully automated closed-loop operation.

[0088] In the description of the embodiments of this application, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0089] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A hydrogen cylinder replacement device for unmanned aerial vehicles (UAVs), characterized in that, include: The central control module is electrically connected to the drone and is used to issue a homing command when the drone's hydrogen storage tank is low on gas. An image detection element, electrically connected to the central control module, is configured to detect and acquire the location information of the landing pad where the UAV returns to its homing location; the central control module is configured to guide the UAV back to its homing location based on the location information. The storage area has multiple storage positions, including a replenishment position for storing full hydrogen storage cylinders and an idle position for storing hydrogen storage cylinders with insufficient gas supply. And a hydrogen exchange module, electrically connected to the main control module, is used to transfer hydrogen storage cylinders with insufficient gas supply on the UAV to the idle position, and to install full hydrogen storage cylinders from the replenishment position onto the UAV.

2. The UAV hydrogen cylinder replacement device according to claim 1, characterized in that, The drone hydrogen cylinder replacement device also includes a pressure detection element electrically connected to the main control module, configured to detect and acquire the gas pressure in the hydrogen storage cylinder on the drone. The central control module is configured to determine whether the hydrogen storage cylinder is under-supply based on the gas pressure.

3. The UAV hydrogen cylinder replacement device according to claim 1, characterized in that, An auxiliary positioning mechanism is movably provided on the helipad, and the auxiliary positioning mechanism has a bearing position for carrying the UAV; The auxiliary positioning mechanism is electrically connected to the main control module, and moves under the control of the main control module after the drone returns to its nest, so as to move the drone to the preset hydrogen exchange position.

4. The UAV hydrogen cylinder replacement device according to claim 3, characterized in that, The auxiliary positioning mechanism includes a drive mechanism disposed on the helipad and a support mechanism that is in transmission cooperation with the drive mechanism, and the bearing position is disposed on the support mechanism; The drive mechanism is electrically connected to the main control module and is used to drive the support mechanism to move along the length and / or width of the parking apron under the control of the main control module.

5. The UAV hydrogen cylinder replacement device according to claim 4, characterized in that, The driving mechanism includes a first driving mechanism and a second driving mechanism; The first driving mechanism includes a first driving member, a first sliding rod extending along the width direction of the helipad, and a first sliding member slidably disposed on the first sliding rod. The first sliding rod is movably disposed on the helipad, and the first driving member is connected to the first sliding member in a transmission manner. The second drive mechanism includes a second drive member, a second sliding rod extending along the length of the parking apron, and a second sliding member slidably disposed on the second sliding rod. The second sliding rod is movably disposed on the parking apron, and the second sliding member is in transmission cooperation with the second drive member and is respectively connected to the first sliding member and the support mechanism.

6. The UAV hydrogen cylinder replacement device according to claim 5, characterized in that, The support mechanism includes a support plate, at least two locking structures, and at least two third driving components that correspond to and cooperate with the locking structures one by one. The bearing position is located on the support plate, and at least two of the locking structures are located on both sides of the bearing position and are slidably connected to the second sliding rod through a notch on the support plate; The third driving component is electrically connected to the main control module and is used to drive the corresponding locking structures to move toward each other to lock the drone under the control of the main control module, or to move toward each other to release the locking of the drone.

7. The UAV hydrogen cylinder replacement device according to claim 6, characterized in that, The locking structure includes a locking base and a locking hook disposed on the locking base. The locking base is slidably disposed on the second sliding rod and is in transmission cooperation with the third driving member. The locking hook is used to engage and lock with the UAV.

8. The UAV hydrogen cylinder replacement device according to claim 7, characterized in that, Each of the locking bases is provided with at least two locking hooks, and the at least two locking hooks are spaced apart along the width direction of the parking apron.

9. The unmanned aerial vehicle hydrogen cylinder replacement device according to any one of claims 1 to 8, characterized in that, The storage area includes a storage platform and a fixed guide rail disposed on the storage platform. The fixed guide rail is provided with a plurality of storage positions, and each storage position is provided with a first locking part that engages with the electromagnetic lock of the hydrogen storage cylinder. The drone is equipped with a locking position, and the locking position has a second locking part that engages with the electromagnetic lock on the hydrogen storage cylinder.

10. The UAV hydrogen cylinder replacement device according to claim 9, characterized in that, The hydrogen exchange module includes a robotic arm electrically connected to the main control module and a main quick-change disc located at the free end of the robotic arm. The main quick-change disc is used to trigger the first locking part or the second locking part to unlock the electromagnetic lock when it is connected to the auxiliary quick-change disc on the hydrogen storage cylinder, or to trigger the first locking part or the second locking part to lock the electromagnetic lock when it is separated.

Images