An unmanned aerial vehicle autonomous charging and battery replacement stereoscopic vertical circulating base station

Abstract

The application provides a vertical and cyclic base station for unmanned aerial vehicle (UAV) autonomous charging and battery replacement, and relates to the technical field of UAV battery replacement, which comprises a parking apron with a battery channel, a vertical frame, a battery carrier, a vertical cyclic transmission mechanism, a jacking mechanism and a power supply system; there are at least four battery carriers on the transmission mechanism, and the battery carriers have jacking openings; the jacking mechanism comprises a jacking plate, a connecting plate, a push rod linear motor, a rotating table, a rotating motor, a shifting plug and an electromagnetic chuck II; the electromagnetic chuck II is arranged at the center of the jacking plate, the bottom of the electromagnetic chuck II is fixed with a push rod of the push rod linear motor through the connecting plate, the push rod linear motor is fixed on the rotating table, the rotating table is fixed with a rotor of the rotating motor, the rotating motor is arranged on the vertical frame, the shifting plug has two groups, and the shifting plug is installed on the jacking plate and corresponds to two groups of plug holes of a battery assembly. The base station can realize automatic battery replacement and charging, has a simple structure, high battery replacement efficiency, can meet the continuous battery replacement of large-scale UAVs, has a small occupied space and can be integrated into a battery replacement center.

Description

Technical Field

[0001] This invention belongs to the field of drone battery swapping technology, and more specifically, it relates to a three-dimensional vertical circulation base station for autonomous charging and swapping of drones. Background Technology

[0002] my country's relevant policies clearly require the comprehensive promotion of intelligent inspection by drones (including urban traffic patrols and park security). The newly revised Civil Aviation Law and the Interim Regulations on the Flight Management of Unmanned Aerial Vehicles continue to open up routine beyond-visual-range operation scenarios for drones and encourage the development of unmanned aerial vehicle ground base station equipment for long-term continuous operation.

[0003] Traditional single-charger, planar battery swapping bays have low space utilization and insufficient continuous operation capability. The number of batteries cannot meet the 24 / 7 uninterrupted inspection needs of large-scale drones in cities or parks. The industry urgently needs base station equipment that integrates vertical three-dimensional circulating power supply and autonomous charging and swapping to fill the technological gap in existing equipment.

[0004] After searching, the existing technology has the following shortcomings: 1. The mainstream single-layer flat battery swapping compartment can only hold a small number of batteries, and the battery storage capacity is limited. There is no automatic circulation and transfer mechanism after the batteries are fully charged. The depleted batteries accumulate and the fully charged batteries are idle. During multiple inspections, there are frequent situations of insufficient battery supply and interruption of line monitoring tasks. The utilization efficiency of a single battery swapping channel is low. 2. A few simple vertical layered compartments only have static battery storage functions and no closed-loop vertical circulation conveying structure. The robotic arm has a long stroke to pick up and put down batteries across layers, and the battery replacement takes a long time. The mechanical movements are complex and the failure rate is high. 3. Traditional equipment only supports a single battery swapping mode and lacks a composite mechanism for electromagnetic adsorption positioning and synchronous charging. Misalignment during drone landing can easily cause poor charging contact. Furthermore, the entire drone is powered off during the battery swapping process, resulting in the loss of flight control and inspection payload data, blind spots in inspection, and a long restart time. 4. Single-channel battery swapping base stations have a loose spatial layout, large equipment size, large footprint, and high weight, making transportation and deployment inconvenient, and the timing of multiple battery charging and transfer swapping cannot be coordinated and controlled.

[0005] Based on the above analysis, the invention team, after a long period of research, proposed a three-dimensional vertical circulating base station for autonomous charging and swapping of unmanned aerial vehicles (UAVs). Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a three-dimensional vertical circular base station for autonomous charging and swapping of unmanned aerial vehicles (UAVs), thereby resolving issues such as the low utilization rate and large space occupation of single-channel battery swapping systems, which cannot meet the needs of large-scale continuous battery swapping for UAVs.

[0007] This invention provides an autonomous charging and swapping three-dimensional vertical loop base station for unmanned aerial vehicles (UAVs), achieved through the following specific technical means: A three-dimensional vertical circulating base station for autonomous charging and swapping of unmanned aerial vehicles (UAVs) includes a parking apron with a battery channel in the center of the parking platform, as well as a vertical frame, a battery carrier for placing battery components, a vertical circulating transmission mechanism, a lifting mechanism, and a power supply system. At least one battery carrier is evenly distributed and installed on the transmission mechanism. The battery carrier has a lifting opening in the center. The lifting mechanism includes a lifting plate, a connecting plate, a push rod linear motor, a rotary table, a rotary motor, a toggle bar, and an electromagnetic chuck. The electromagnetic chuck is installed in the center of the lifting plate. Its bottom is fixedly connected to the push rod of the push rod linear motor through the connecting plate. The push rod linear motor is fixed on the rotary table. The rotary table is fixed to the rotor of the rotary motor. The rotary motor is installed on a vertical frame. There are two sets of toggle bars installed on the upper surface of the lifting plate. Each set has two bars, which are adapted to correspond to the two sets of sockets of the battery assembly.

[0008] Furthermore, the battery carrier includes two sets of hollow hanging rods, a rotating component, a triangular fixing plate, a junction box, and a battery support. The triangular fixing plate is fixed to the transmission mechanism and is also connected to the hollow hanging rods through the rotating component. The junction box and the two ends of the hollow hanging rods are fixed to the two ends of the battery support. The upper surface of the battery support is provided with a charging guide rail that matches the power receiving slot of the metal base plate in the battery assembly.

[0009] Furthermore, the rotating component includes a rotating cylinder, a maintenance plug, a fastening cap, and a fixing post; the fixing post is fixed in the middle to a triangular fixing plate, the fastening cap is threaded to one end of the fixing post, the other end of the fixing post is rotatably connected to the rotating cylinder, and the maintenance plug is threaded to the rotating cylinder.

[0010] Furthermore, the power supply system includes two sets of piezoelectric mechanisms, slip rings, connecting grooves, collecting junctions, and circulating power receiving belts arranged symmetrically on the left and right sides. The circulating power receiving belts are arranged in a ring along all the triangular fixing plates on one side. One side of the collecting junction is fixed to the outer side of the triangular fixing plate, and the other side is electrically connected to the circulating power receiving belt. At the same time, one end of the connecting groove is connected to the collecting junction, and the other end is connected to the fastening cap.

[0011] Furthermore, the piezoelectric mechanism includes a piezoelectric electrode with an anode and a cathode, a piezoelectric head, a spring, a piezoelectric support, and a power supply box; the piezoelectric head passes through a circulating power receiving belt, the piezoelectric electrode is adapted to the circulating power receiving belt, one end of the spring is fixed to the bottom of the piezoelectric head, and the other end is fixed to the inside of the piezoelectric support, the piezoelectric support is fixed to the power supply box, and the power supply box is mounted on a vertical frame.

[0012] Furthermore, the upper part of the hollow boom is in a disconnected state, and the inside of the rotating cylinder is equipped with a current-collecting slip ring, including a rotating current-receiving ring, a fixed power supply ring, and a conductive ring with an anode and a cathode. The conductive ring on the rotating current-receiving ring is adapted to the fixed power supply ring, and the rotating current-receiving ring and the fixed power supply ring are rotatably connected to supply power.

[0013] Furthermore, the transmission mechanism includes a drive motor, a vertical helical gear set, a rotating rod, two support plates, two rotating gears, gear bearings, a rotating wheel, a conveyor belt, and rolling bearings; the drive motor is mounted upside down on the vertical frame, one of the helical gears is fixed to the rotor of the drive motor, and the other perpendicular to it is fixed to the middle of the rotating rod, with both ends of the rotating rod passing through the support plates and fixed to the rotating gears, and the support plates are fixed to the vertical frame.

[0014] Furthermore, there are two sets of rotating wheels, each set consisting of two wheels, one above the other. The inner side of the lower rotating wheel is fixed to the inner ring of the gear bearing, which is fixed to the vertical frame. The outer ring of the gear bearing meshes with the rotating gear. The two rotating wheels mesh with each other via a conveyor belt. The outer side of the upper rotating wheel is fixed to the outer ring of the rolling bearing, which is fixed to the vertical frame.

[0015] Furthermore, the vertical frame includes a load-bearing base plate, four supporting columns, three I-beam fixing frames, three connecting supports, two sets of T-shaped fixing frames, and four enclosing baffles. The load-bearing base plate is installed on the four supporting columns near the ground. The I-beam fixing frames are installed in three layers (upper, middle, and lower) and fixed to the inside of the supporting columns. The connecting supports are fixed to the middle of the I-beam fixing frames. The T-shaped fixing frames are symmetrically installed on the supporting columns near the top. The enclosing baffles are fixed on the four sides of the vertical frame, forming an enclosed state with the load-bearing base plate and the parking platform.

[0016] Furthermore, the rotary motor is installed on the upper surface of the upper connecting platform, the drive motor is installed upside down on the lower surface of the middle connecting platform, the support plate is installed at both ends of the upper surface of the lower connecting platform, the inner ring of the gear bearing is fixed to the lower I-beam fixing frame, and the inner ring of the rolling bearing is fixed to the T-shaped fixing frame.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. In this invention, a transmission mechanism is used to drive multiple battery carriers to move in a three-dimensional vertical cycle. The highest battery carrier is used to achieve the purpose of orderly battery swapping of large-scale drones from the bottom of the fuselage. In addition, in order to meet the needs of continuous and effective battery swapping of large-scale drones in the future, in engineering application design, a charging base station can be designed with dozens of battery carriers. The base station is designed with a three-dimensional vertical structure, which occupies a small area and is especially suitable for traffic inspection or security of large parks.

[0018] 2. In this invention, the push rod linear motor, rotary table, and rotary motor in the lifting mechanism work together to move the push bar up and down and exchange its left and right positions. Combined with the metal base plate socket and the self-locking components and elastic buckle structure on the drone, it realizes the function of automatically and orderly replacing batteries from the bottom of the drone on a large scale. It does not rely on the various complex robotic arms in the prior art and simplifies the battery replacement auxiliary components.

[0019] 3. In this invention, the piezoelectric mechanism, slip ring, connecting groove, collector junction, and circulating power receiving belt in the power supply system, combined with the junction box on the battery carrier, charging rail, and power receiving groove on the lower surface of the metal base plate, form a complete automatic charging system. When each depleted battery of a drone is removed and placed on the charging rail of the battery carrier, the battery will automatically connect to the base station power supply and be charged in a timely manner. Since the batteries of the entire base station move in a three-dimensional, cyclical manner, when the drone is swapped out, the battery being replaced is the one with the longest charging time. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the UAV of this application; Figure 2 This is a schematic diagram of the UAV structure viewed from below in this application; Figure 3 This is a schematic diagram of the internal structure of the UAV in this application, viewed from below. Figure 4 This is a three-dimensional structural diagram of the self-locking component of the UAV in this application; Figure 5 This is a schematic diagram of the structure of the drone battery assembly in this application; Figure 6 This application Figure 5 A partially enlarged schematic diagram of the battery assembly; Figure 7 This is a schematic diagram of the UAV power collection cup structure viewed from below in this application; Figure 8 This is a schematic diagram of the three-dimensional structure of the helipad in this application; Figure 9 This is a three-dimensional structural diagram of the drone charging accessory and internal components of this application; Figure 10 This is a three-dimensional structural diagram of the base station inside the base station of this application; Figure 11 This is a schematic diagram of the vertical frame structure of the base station in this application; Figure 12 This is a three-dimensional structural diagram of the base station as described in this application; Figure 13 This is a three-dimensional structural diagram of the vertical frame, lifting mechanism, and transmission mechanism of this application; Figure 14 This is a three-dimensional structural schematic diagram of the transmission mechanism of this application; Figure 15 This is a three-dimensional structural diagram of the power supply system of this application; Figure 16 This application Figure 15 A magnified schematic diagram of the local structure at the location; Figure 17 This is a three-dimensional structural diagram of the piezoelectric mechanism of this application; Figure 18 This is a three-dimensional structural schematic diagram of the slip ring of this application; Figure 19This is a three-dimensional structural diagram of the lifting mechanism of this application (initial state, ready to retrieve battery components). Figure 20 This is a three-dimensional structural diagram of the lifting mechanism of this application (prepared for installation of battery components). Figure 21 This is a three-dimensional structural schematic diagram of the battery carrier of this application; Figure 22 This is a schematic diagram of the disassembled structure of the rotating component of this application; Figure 23 This is a schematic diagram showing the positional relationship between the battery carrier and the lifting mechanism in this application; Figure 24 This application describes the positional relationship between the socket and the sliding strip when installing the battery assembly; Figure 25 This application describes the positional relationship between the socket and the sliding bar when the battery assembly is removed; Figure 26 This is a single-line diagram of the power supply lines and contact connections of some of the main components in this application; Figure 27 This is the overall control block diagram (core component control) of the battery swapping method in this application. Figure 28 This is a flowchart of the battery swapping method described in this application. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] Example 1: Refer to Appendix Figure 1 To be continued Figure 9 As shown, this embodiment provides an uninterrupted power supply drone during automatic battery swapping, including a fuselage 11, a battery assembly 12, four rotor assemblies 13, and a camera device 14 mounted on the fuselage 11; The rotor assembly 13 includes a support rod 131 mounted on the fuselage 11, a motor cup 133 mounted on the top of the support rod 131, and a blade 132 fixed on the motor rotor inside the motor cup 133. like Figure 7 As shown, the rotor assembly 13 also includes a power-collecting cup 134 mounted at the bottom of the motor cup 133, as well as a charging accessory 22 and a self-locking assembly 17, such as... Figure 9 As shown, the charging accessory 22 includes a cylindrical slide 221, with a charging cone 223 made of insulating material installed at the bottom center of the cylindrical slide 221. A charging electrode 222 is fixed to the top of the charging cone 223. The bottom of the power receiving cup 134 has a conical cavity 1341 adapted to the charging cone 223, and a receiving electrode 1342 adapted to the charging electrode 222 is provided at its top. The internal space of the cylindrical slide 221 is larger than that of the power receiving cup 134, which can correct the deviation position of the power receiving cup when the drone docks to a certain extent.

[0023] For specific implementation, please refer to the appendix. Figure 9 The charging accessory 22 also includes an electromagnetic chuck 224, a telescopic column 225, and a spring 226. The bottom of the power cup 134 is a circular plane, which is adapted to the electromagnetic chuck 224, and the bottom of the power cup 134 contains magnetic material. The two ends of the spring 226 are respectively fixed to the inner bottom surface of the cylindrical slide 221 and the bottom of the telescopic column 225. The electromagnetic chuck 224 is installed on the telescopic column 225, and the charging cone 223 is installed on the electromagnetic chuck 224. The outer surface of the telescopic column 225 has multiple limiting posts 2251, which are adapted to the inner surface of the cylindrical slide 221. In this embodiment, the electromagnetic chuck 224 can firmly attract the power cup 134, allowing the charging electrode 222 and the receiving electrode 1342 to make more sufficient contact and avoid affecting charging. On the other hand, the electromagnetic chuck 224 can make the drone more reliable when charging and swapping batteries, preventing the drone from sliding or falling from a height on the landing pad, especially suitable for charging and swapping in harsh outdoor environments. In addition, a spring 226 is installed at the bottom of the telescopic column 225, which can finely adjust the height to properly accommodate drones of different heights with certain deviations for fixing and charging, and can also provide some buffering during the adsorption process.

[0024] In specific implementation, refer to Figure 3 The bottom of the body 11 has a cavity 15 and two cavities 16. The cavities 16 are symmetrically opened on both sides of the cavity 15. The battery assembly 12 can be placed inside the cavity 15, and the self-locking assembly 17 is installed inside the cavity 16.

[0025] In specific implementation, refer to Figure 5 The battery assembly 12 includes a metal base plate 121, a protective plate 122, a cuboid battery 123, and clips 124. The cuboid battery 123 is mounted and fixed at the center of the upper surface of the metal base plate 121. There are two protective plates 122, which are respectively mounted against the long side of the cuboid battery 123. There are two sets of clips 124, with two clips in each set, which are mounted on the upper surface of the metal base plate 121 at both ends of the cuboid battery 123. (Reference) Figure 6 The protective plate 122 has multiple protrusions 1221, for reference. Figure 3The battery assembly 12 is secured by elastic slots 151 on both sides of the cavity 15. Two charging slots 1211 are provided on the lower surface of the metal base plate 121 corresponding to the anode and cathode, respectively, for charging the battery. A discharge electrode 1231 and a charge detection port 1232 are provided on one end face of the cuboid battery 123. The metal base plate 121 at both ends of the cuboid battery 123 has two sets of insertion holes 1212, namely insertion hole one 1212a and insertion hole two 1212b, with two holes in each set. The insertion holes 1212 are located in the cavity 16, but since there are no electronic components in the cavity 16, waterproofing is not a concern.

[0026] For specific implementation, please refer to the appendix. Figure 4 The self-locking assembly 17 includes two locking rods 172, a second spring 173, and a fixing cylinder 174, which are symmetrically arranged. It also includes a horizontal plate 171 with an inclined surface and a clamp 175. One end of the second spring 173 is fixed to the outer surface of the locking rod 172, and the other end is fixed inside the fixing cylinder 174. The two locking rods 172 are connected and fixed by the horizontal plate 171. The fixing cylinder 174 is installed in the cavity 16 by the clamp 175. That is, there are two sets of self-locking assemblies 17.

[0027] Under normal circumstances, the locking rod 172 extends from the fixed cylinder 174 under the tension of the second spring 173, thus inserting into the buckle 124, preventing the battery assembly 12 from falling off the drone. When it is necessary to remove the battery assembly 12, simply insert the actuating strip into the socket 1212. The inclined plate 171 is subjected to an upward squeezing force, which forces the locking rod 172 to compress the second spring 173 and retract into the fixed cylinder 174, releasing the lock and allowing the battery assembly 12 to be removed. When replacing the battery assembly 12, push the battery assembly 12 into the cavity 15. The buckle 124 squeezes the end of the locking rod 172, causing it to move laterally and retract into the fixed cylinder 174. After the upper part of the buckle 124 has squeezed through, the locking rod 172 automatically inserts into the buckle 124 under the tension of the second spring 173, thus achieving the automatic locking function.

[0028] For specific implementation, please refer to the appendix. Figure 26 The power receiving electrodes 1342 of the four rotors of the UAV are connected in parallel and then electrically connected to the interlock switch and the charging switch, respectively. The interlock switch and the charging switch are also electrically connected to the discharge electrode 1231 of the cuboid battery 123. That is, the power receiving electrode 1342 and the discharge electrode 1231 form an electrical interlock relationship. During the battery swapping process, all the power receiving devices of the UAV are powered by the base station power provided by the power receiving electrode 1342, and during the UAV's inspection flight, the power is provided by the cuboid battery 123.

[0029] The technical solution of this embodiment has the following beneficial effects: 1. In this embodiment, the battery compartment entrance is designed at the bottom of the drone. On the one hand, this makes the drone more aesthetically pleasing, and on the other hand, it provides a design and application idea for parking and battery swapping of the drone.

[0030] 2. In this embodiment, the drone can achieve autonomous charging by setting a power cup at the end of the rotor and designing corresponding charging accessories. In addition, the design of the battery assembly and matching self-locking assembly has the function of autonomous battery swapping. That is, the solution of this embodiment has both autonomous charging and autonomous battery swapping functions, providing dual power supply options for the drone.

[0031] 3. In this embodiment, during the battery swapping process, the drone can operate without power through the power cup and charging accessories, thereby avoiding the need for re-frequency matching and data updates after the system restarts during frequent battery replacements, and speeding up the re-flight time. On the other hand, during large-scale (inspection) drone operations, drones that do not require power can be continuously located, monitored, and tracked, thereby improving management accuracy and efficiency.

[0032] 4. In this embodiment, during the battery swapping process, once the electromagnetic chuck is energized, the charging accessories can be fixed to the battery cup by electromagnetic adsorption, thereby increasing the reliability of the charging and battery swapping process.

[0033] Example 2: Based on the UAV of Example 1, this example provides an autonomous charging and swapping three-dimensional vertical loop base station for UAVs, see attached diagram. Figure 10-26 It includes a parking platform 21 with a battery channel 211 in the center, a vertical frame 3, a battery carrier 4 that can hold the battery assembly 12 in embodiment 1, a vertical circulation transmission mechanism 5, a lifting mechanism 6, and a power supply system 7. At least four battery carriers 4 are evenly distributed on the transmission mechanism 5, and each battery carrier 4 has a lifting opening 421 in the center; see attached diagram. Figure 19 , 2023. The lifting mechanism 6 includes a lifting plate 61, a connecting plate 62, a push rod linear motor 63, a rotary table 64, a rotary motor 65, a toggle bar 66, and an electromagnetic chuck 67. The electromagnetic chuck 67 is installed in the center of the lifting plate 61, with both surfaces flush. The lifting plate 61 can freely pass through the lifting opening 421 and the battery channel 211 located at the top of the battery carrier 4. Its bottom is fixedly connected to the push rod of the push rod linear motor 63 through the connecting plate 62. The push rod is located in the center of the lifting plate 61, and the push rod linear motor 63 is fixed on the rotary table 64. The rotary table 64 is fixed to the rotor of the rotary motor 65, which is mounted on the vertical frame 3. Two sets of actuating inserts 66 are installed on the upper surface of the lifting plate 61, with two inserts in each set. These inserts are adapted to correspond to the two sets of sockets 1212 of the battery assembly 12. The distances of the two sets of actuating inserts 66 from the center of the lifting plate 61 are not equal. When the rotary table 64 rotates 180°, the actuating inserts 66 will be misaligned with the original positions of the two sets of sockets 1212 on the metal base plate 121, thereby achieving automatic removal and installation of the battery assembly 12. A detailed diagram of the positional relationship is attached. Figure 24 and 25 .

[0034] For specific implementation, please refer to the appendix. Figure 21 The battery carrier 4 includes two sets of hollow suspension rods 41, a rotating component 43, a triangular fixing plate 44, and a junction box 45. It also includes a battery support 42. The triangular fixing plate 44 is fixed to the transmission mechanism 5 and is connected to the hollow suspension rods 41 via the rotating component 43. The junction box 45 and both ends of the hollow suspension rods 41 are fixed to both ends of the battery support 42. The upper surface of the battery support 42 is provided with charging rails 422 that match the power receiving groove 1211 of the metal base plate 121 in the battery assembly 12. One charging rail 422 is an anode, and the other is a cathode. In this embodiment, the battery carrier 4 can also be designed to charge the battery assembly 12 wirelessly. Such structures or methods are existing technologies and will not be elaborated upon in this application. Furthermore, if a more robust method to prevent the battery carrier 4 from shaking is required in this embodiment, an anti-slip or shaking locking mechanism after rotation can be designed, similar to that used in a three-dimensional circulating parking garage.

[0035] For specific implementation, please refer to the appendix. Figure 21 The rotating component 43 includes a rotating cylinder 431, a maintenance plug 432, a fastening cap 433, and a fixing post 434. The fixing post 434 is fixed in the middle to a triangular fixing plate 44. The fastening cap 433 is threaded to one end of the fixing post 434, and the other end of the fixing post 434 is rotatably connected to the rotating cylinder 431. The maintenance plug 432 is threaded to the rotating cylinder 431.

[0036] For specific implementation, please refer to the appendix. Figure 15 , 1617. The power supply system 7 includes two sets of piezoelectric mechanisms 71, slip rings 72, connecting grooves 73, junctions 74, and circulating power receiving belts 75 arranged symmetrically on the left and right sides. The circulating power receiving belts 75 are arranged in a ring along all the triangular fixing plates 44 on one side. One side of the junction 74 is fixed to the outer side of the triangular fixing plate 44, and the other side is electrically connected to the circulating power receiving belts 75. At the same time, one end of the connecting groove 73 is connected to the junction 74, and the other end is connected to the fastening cap 433. The piezoelectric mechanism 71 includes a piezoelectric electrode 711 with an anode and a cathode, a piezoelectric head 712, a spring 713, a piezoelectric support 714, and a power supply box 715. The piezoelectric head 712 passes through the circulating power receiving belt 75, and the piezoelectric electrode 711 is adapted to the circulating power receiving belt 75. One end of the spring 713 is fixed to the bottom of the piezoelectric head 712, and the other end is fixed to the inside of the piezoelectric support 714. The piezoelectric support 714 is fixed to the power supply box 715, which is mounted on the vertical frame 3. In the above scheme, the two power supply systems, charging rails, junction boxes, and related power supply lines can be designed to be mutually redundant to increase the reliability of base station charging, especially in scenarios where large-scale UAVs need continuous battery swapping operations. They can also simultaneously provide power to the charging rail 422 to reduce the current of a single charging line and reduce power loss.

[0037] For specific implementation, please refer to the appendix. Figure 18 and 22 The upper part of the hollow boom 41 is in a disconnected state. A slip ring 72 is installed inside the rotating cylinder 431, including a rotating receiving ring 721, a fixed power supply ring 723, and a conductive ring 722 with an anode and a cathode. The conductive ring 722 on the rotating receiving ring 721 is adapted to the fixed power supply ring 723, and the rotating receiving ring 721 and the fixed power supply ring 723 are rotatably connected for power supply. The rotating receiving ring 721 is connected to the junction box 45 via a wire passing through the hollow boom 41. The junction box is connected to the charging rail 422. The fixed power supply ring 723 is fixed inside the fixed column 434.

[0038] For specific implementation, please refer to the appendix. Figure 13 and 14The transmission mechanism 5 includes a drive motor 51, a vertical helical gear set 52, a rotating rod 53, two support plates 54, two rotating gears 55, a gear bearing 56, a rotating wheel 57, a conveyor belt 58, and a rolling bearing 59. The drive motor 51 is mounted upside down on the vertical frame 3. One of the helical gears 52 is fixed to the rotor of the drive motor 51, and the other, which is perpendicular to it, is fixed to the middle of the rotating rod 53. The two ends of the rotating rod 53 pass through the support plates 54 and are fixed to the rotating gears 55, respectively. The support plates 54 are fixed to the vertical frame 3. There are two sets of rotating wheels 57, each set consisting of two wheels, one upper and one lower. The inner side of the lower rotating wheel 57 is fixed to the inner ring of the gear bearing 56, which is fixed to the vertical frame 3. The outer ring of the gear bearing 56 meshes with the rotating gears 55. The upper and lower rotating wheels 57 mesh through the conveyor belt 58. The outer side of the upper rotating wheel 57 is fixed to the outer ring of the rolling bearing 59, which is fixed to the vertical frame 3.

[0039] For specific implementation, please refer to the appendix. Figure 11 and 12 The vertical frame 3 includes a load-bearing base plate 31, four supporting columns 32, three I-beam fixing frames 33, three connecting platforms 34, two sets of T-shaped fixing frames 35, and four enclosing baffles 36. The load-bearing base plate 31 is installed on the four supporting columns 32 near the ground. The I-beam fixing frames 33 are installed in three layers (upper, middle, and lower) and fixed to the inner side of the supporting columns 32. The connecting platforms 34 are fixed to the middle position of the I-beam fixing frames 33 respectively. The T-shaped fixing frames 35 are symmetrically installed on the supporting columns 32 near the top. The enclosing baffles 36 are fixed on the four sides of the vertical frame 3, forming an enclosed state with the load-bearing base plate 31 and the parking platform 21. In addition to serving as a channel for replacing batteries, the battery channel 211 also has the function of dissipating heat from the batteries inside the base station. The rotary motor 65 is installed on the upper surface of the upper connecting base 34, the drive motor 51 is installed upside down on the lower surface of the middle connecting base 34, the support plate 54 is installed at both ends of the upper surface of the lower connecting base 34, the inner ring of the gear bearing 56 is fixed to the lower I-beam fixing frame 33, and the inner ring of the rolling bearing 59 is fixed to the T-shaped fixing frame 35.

[0040] In this application, multiple battery carriers 4 can move freely within the base station along with the transmission mechanism 5 without interfering with other components or structures. Furthermore, elastic locking elements can be correspondingly provided on the upper surface of the battery support 42 of the battery carrier 4 and the lower surface of the metal base plate 121 of the battery assembly 12, thereby increasing the stability of the battery assembly 12 itself and its charging. The elastic locking elements can be engaged and disengaged using the electromagnetic chuck 67. The suction force of the electromagnetic chuck 67 on the metal base plate 121 is greater than the elastic friction force generated between the protrusion 1221 and the elastic slot 151 in Embodiment 1.

[0041] The beneficial effects of the technical solution in this embodiment are as follows: 1. In this embodiment, a transmission mechanism is used to drive multiple battery carriers to move vertically and cyclically in three dimensions. The highest battery carrier is used to achieve the purpose of orderly battery swapping of large-scale drones from the bottom of the fuselage. In addition, in order to meet the needs of continuous and effective battery swapping of large-scale drones in the future, in engineering application design, a charging base station can be designed with dozens of battery carriers. The base station is designed with a three-dimensional vertical structure, which occupies a small area and is especially suitable for traffic inspection or security of large parks.

[0042] 2. In this embodiment, the push rod linear motor, rotary table, and rotary motor in the lifting mechanism work together to move the push bar up and down and exchange its left and right positions. Combined with the metal base plate socket and the self-locking components and elastic buckle structure on the UAV, the function of automatically and orderly replacing batteries from the bottom of the UAV on a large scale is realized. This does not rely on the various complex robotic arms in the prior art and simplifies the battery replacement auxiliary components.

[0043] 3. In this embodiment, the piezoelectric mechanism, slip ring, connecting groove, collector junction, and circulating power receiving belt in the power supply system, combined with the junction box on the battery carrier, charging rail, and power receiving groove on the lower surface of the metal base plate, form a complete automatic charging system. When each depleted battery of the drone is removed and placed on the charging rail of the battery carrier, the battery will automatically connect to the base station power supply and be charged in a timely manner. Since the batteries of the entire base station move in a three-dimensional, cyclical manner, when the drone is swapped out, the battery being replaced is the one with the longest charging time.

[0044] 4. In this embodiment, when large-scale inspection drones require continuous battery swapping inspections in the future, this can be promoted and applied as a typical solution, possessing high engineering value and commercial prospects. In this embodiment, a single battery swapping base station occupies a small area, and multiple base stations can be integrated into a large-scale drone battery swapping hub.

[0045] Example 3: Based on Examples 1 and 2, refer to Appendix Figure 1-28 This embodiment provides a method for large-scale autonomous and orderly charging and swapping of batteries for unmanned aerial vehicles (UAVs). (Refer to the attached document.) Figure 28 This includes the following steps: S1. The drone sends a charging / battery swapping request, and the system determines whether the landing pad is suitable for landing. S2. The electromagnetic chuck 224 and the charging electrode 222 are energized, attracting the power cup 134 to lock the drone's position, and the charging electrode 222 and the receiving electrode 1342 are electrically connected; the interlock switch is activated, and the drone switches from battery assembly 12 to base station power supply; the infrared sensor 228 installed in the charging accessory 22 detects the drone's docking status. If the drone is detected, the electromagnetic chuck 224 is closed and energized. At the same time, the charging electrode 222 is energized, and the charging electrode 222 is inserted into the conical cavity 1341 so that the receiving electrode 1342 is energized.

[0046] S3. Start the push rod linear motor 63 and electromagnetic chuck 67 in the lifting mechanism 6, and move the insert 66 to make the battery assembly 12 locking rod 172 disengage from the buckle 124. The push rod linear motor 63 and electromagnetic chuck 67 work together to adsorb the battery assembly 12, and remove it to place it on the battery carrier 4 for charging. S4. The drive motor 51 of the transmission mechanism starts, the conveyor belt 58 rotates for a fixed stroke, the replaced battery component 12 moves to the side, and the battery component 12 with the longest charging time moves to the top of the base station; the drive motor 51 always rotates in one direction to ensure that the cuboid battery 123 of the battery component 12 is the one with the longest charging time each time the battery is replaced, and after the drone battery replacement is completed, the top battery carrier 4 in the base station is always empty, while all other battery carriers 4 have battery components 12 charging.

[0047] S5. Start the rotating platform 64 and electromagnetic chuck 67 of the lifting mechanism 6. The rotating platform 64 rotates 180° to offset and exchange the positions of the two sets of toggle bars 66 and the two sets of sockets 1212. The linear motor 63 pushes the rod upward to make the locking rod 172 lock the buckle 124 to fix the battery assembly 12. S6. The drone detects the power level through the power detection port 1232. If the power level meets the requirements, the interlock switch is activated, the drone is powered by the battery pack 12, and the base station power is disconnected; the electromagnetic chuck 224 and the charging electrode 222 are physically and electrically disconnected; the drone resumes flight.

[0048] In specific implementation, in step S3, the lifting mechanism 6 removes the battery assembly 12 as follows: W1. The linear motor 63 of the push rod is started, and its push rod extends upward, as shown in the attached diagram. Figure 251. Insert the second insert 66b into the second socket 1212b on the left, and insert the first insert 66a into the first socket 1212a on the right. Inserting the second insert 66b presses against the horizontal plate 171, causing the locking rod 172 to move laterally and disengage from the latch 124. At this time, the battery assembly 12 is connected by the protrusion 1221 and the elastic slot 151 and will not fall off. 2. The second electromagnetic chuck 67 is energized and attracts the metal base plate 121 of the battery assembly 12. 3. The push rod retracts, removing the battery assembly 12 and placing it on the battery support 42 of the battery carrier 4. The second electromagnetic chuck 67 is de-energized. 4. The push rod continues to retract until the position of the second insert 66 is lower than the battery support 42. The suction force of the second electromagnetic chuck 67 is greater than the connecting force between the protrusion 1221 and the elastic slot 151. At this time, the lifting plate 61 is located below the battery support 42, and after the electromagnetic chuck 67 is de-energized, the push rod needs to be retracted a little further, that is, the highest position of the toggle bar 66 should be lower than the battery support 42, so as to avoid the toggle bar 66 interfering with the position of the battery carrier 4 and hindering the normal rotation of the conveyor belt 58. After the toggle bar 66 is pulled out from the socket 1212, the horizontal plate 171 and the locking rod 172 on the UAV are restored to their original state by the tension of the spring 226.

[0049] In specific implementation, step S5, the lifting mechanism 6 operates to install the battery assembly 12 as follows: H1. The rotary table 64 is activated, driving the lifting plate 61 and the actuating insert 66 to rotate 180° clockwise; H2. The push rod extends upward until the actuating insert 66 is fully inserted into the socket 1212; H3. The electromagnetic chuck 67 is energized, and the electromagnetic chuck 67 attracts the metal base plate 121 of the charged battery assembly 12. (Refer to the attached document.) Figure 24 H4. Insert the push bar 66b into the right-side socket 1212b, and insert the push bar 66a into the left-side socket 1212a; H5. The push bar of the linear motor 63 extends upward, and the latch 124 on the battery assembly 12 presses against the end of the locking rod 172. The locking rod 172 is pushed back laterally by the force of the latch 124. After the latch 124 has pushed past, the locking rod 172 rebounds under the tension of the spring 173 and inserts into the latch 124 to lock the battery assembly 12; H6. The electromagnetic chuck 67 is de-energized, the push bar of the linear motor 63 retracts to the initial position and is de-energized, and the rotary table 64 rotates 180° in the opposite direction and is de-energized. After the battery swap is completed, the rotary table 64 and the linear motor 63 can remain powered for a certain threshold time range to meet the needs of large-scale UAV continuous battery swapping operations. In addition, attached Figure 24 , 25 The self-locking component 17 should be installed inside the second cavity 16 of the drone. These two figures are split and combined to show the principle and positional relationship.

[0050] For specific implementation, please refer to the appendix. Figure 27In step S1, all drones and base stations are individually numbered, meaning each drone and base station has a unique MAC code. All charging and swapping base stations determine their idle status by detecting current through current sensors 227 installed in the charging accessory 22. If current is present, a drone is swapping batteries; otherwise, the base station is idle. The base station controller 183 sends this signal to the central controller 182 via the communication module. All drones operating around the base stations are monitored and scheduled by the drone management center. The drone power sensor 1811 detects the remaining power of the cuboid battery 123. When the power threshold is reached, the drone controller 181 sends the charging request to the central controller 182 via the communication module. The central controller 182 then uses an algorithm to search for idle base stations and sends the list back to the drone controller 181. The drone then proceeds to an idle base station for emergency landing.

[0051] In practice, after the drone arrives over an idle base station, it uses its visual sensor 1812 to detect whether there are other drones or foreign objects at the base station's parking platform 21 and battery channel 211. If so, the drone controller 181 resends a charging request to the central controller 182. If not, it lands at the battery channel 211 to prepare for battery swapping. If, after sending a charging request, it cannot be assigned to a base station for battery swapping, it uses its visual sensor 1812 to detect and dock at the backup parking area of ​​any individual base station.

[0052] In specific implementation, in step S3, when the push rod is retracted in step W4, the electronic opener in the junction box 45 on the battery carrier 4 is closed, and the charging rail 422 is energized to charge the replaced battery assembly 12; in step S5, when the rotary table 64 is de-energized in step H5, the electronic opener in the junction box 45 on the battery carrier 4 on which the battery assembly 12 has been replaced for the drone is de-energized.

[0053] In practice, when the drone controller 181 sends a charging request to the central controller 182 again, the drone lands on the base station's backup parking apron. After the drone that is currently swapping its battery finishes swapping, the drones parked on the backup parking apron will be given priority to swap batteries according to their queuing time.

[0054] Reference Appendix Figure 19 When removing battery assembly 12, the linear motor 63 of the lifting mechanism 6 extends through the lifting opening 421, meaning the lifting plate 61 approaches the battery channel 211, which is also the initial position of the lifting mechanism 6. (See attached diagram) Figure 27The infrared sensor 228, current sensor 227, linear actuator motor 63, power supply box 715, junction box 45, and rotary motor 65 are all communicatively connected to the base station controller 183. The UAV controller 181, central controller 182, and base station controller 183 communicate with each other through their respective communication modules. The central controller 182 uses the GPS carried by the UAV itself to locate the real-time position of each UAV.

[0055] In a specific implementation, this application provides a computer device, which includes a memory and a processor. The memory is used to store computer programs, and the processor is used to call and run the computer programs from the memory, so that the computer device executes the above-described large-scale UAV autonomous and orderly charging and swapping method.

[0056] In specific implementation, this application provides a computer-readable storage medium that stores instructions or code. When the instructions or code are run on a computer, the computer executes them to implement the above-described large-scale UAV autonomous and orderly charging and swapping method.

[0057] The beneficial effects of the technical solution in this embodiment are as follows: 1. In this embodiment, the base station, the drone, and the control center work closely together. The entire battery swapping process is achieved through the fully automated cooperation of the drone controller, base station controller, central controller, and various sensors and actuators, providing a reliable guarantee for the continuous operation of the drone. It is especially suitable for future large-scale inspection, patrol, and security drone application scenarios as a battery swapping operation to ensure that the drone can carry out inspection tasks without interruption.

[0058] 2. In this embodiment, the three-dimensional circulating base station automatically charges the replaced undercharged batteries and can set up enough spare batteries to meet the needs of large-scale drones to continuously swap batteries. Each battery is replaced with the one with the longest charging time. On the other hand, during the battery swapping process, the four rotors of the drone are fixed by electromagnetic chucks, which ensures that the drone will not fail to swap batteries due to force shifting from the battery swapping center position.

[0059] 3. In this embodiment, the battery removal and installation processes use the same set of execution equipment (lifting mechanism), which simplifies the battery replacement auxiliary steps. During the battery replacement process, whether removing or installing the battery, the electromagnetic chuck is used to adsorb the battery assembly, and the battery assembly only needs to move up and down, which maximizes the reliability and efficiency of battery assembly replacement.

[0060] 4. In this embodiment, the current sensor inside the base station's charging accessories first detects the presence or absence of current, thereby quickly allocating a base station to the drone. After reaching the airspace above the base station, the drone's visual sensor detects drones in incorrect parking positions and foreign objects, ensuring the safety of the drone's landing. In other words, this embodiment ensures both the efficiency of base station allocation and the safety of drone parking.

[0061] 5. In this embodiment, when the UAV sends a battery swap request and there is no base station available for battery swapping, it uses a visual sensor to detect an available backup parking pad and docks there. It relies on the base station's own backup parking pad to temporarily dock and queue for battery swapping. This effectively prevents the UAV from losing power due to invalid flight distance, ensuring that the UAV can swap batteries and resume flight as quickly as possible. It also avoids the UAV losing all power and falling from the air or being unable to dock at its destination, which would affect its ability to resume flight (UAV signal is lost after power failure).

[0062] In this application, the size of all holes is based on the technical solutions achievable by those skilled in the art. It will be apparent to those skilled in the art that the technical solutions of this application are not limited to the details of the above exemplary embodiments, and that the technical solutions of this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Therefore, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A three-dimensional vertical circulating base station for autonomous charging and swapping of unmanned aerial vehicles (UAVs), comprising a parking platform (21) and a parking apron (2) with a battery channel (211) in the center, characterized in that, It also includes a vertical frame (3), a battery carrier (4) for placing battery components (12), a vertical circulation transmission mechanism (5), a lifting mechanism (6), and a power supply system (7). At least four battery carriers (4) are evenly distributed on the transmission mechanism (5), and the battery carrier (4) has a lifting opening (421) in the center; the lifting mechanism (6) includes a lifting plate (61), a connecting plate (62), a push rod linear motor (63), a rotating table (64), a rotating motor (65), a toggle insert (66), and an electromagnetic chuck (67); the electromagnetic chuck (67) is installed in the center of the lifting plate (61), and its bottom is fixedly connected to the push rod of the push rod linear motor (63) through the connecting plate (62). The push rod linear motor (63) is fixed on the rotating table (64), and the rotating table (64) is fixed to the rotor of the rotating motor (65). The rotating motor (65) is installed on the vertical frame (3). There are two sets of toggle inserts (66), which are installed on the upper surface of the lifting plate (61), with two in each set, and are adapted to correspond to the two sets of sockets (1212) of the battery assembly (12).

2. The UAV autonomous charging and swapping three-dimensional vertical circulating base station according to claim 1, characterized in that, The battery carrier (4) includes two sets of hollow rods (41), a rotating component (43), a triangular fixing plate (44), a junction box (45), and a battery support (42). The triangular fixing plate (44) is fixed to the transmission mechanism (5). The triangular fixing plate (44) is also connected to the hollow rods (41) through the rotating component (43). The junction box (45) and the hollow rods (41) are fixed at both ends of the battery support (42). The upper surface of the battery support (42) is provided with a charging rail (422) that matches the power receiving slot (1211) of the metal base plate (121) in the battery assembly (12).

3. A three-dimensional vertical circulating base station for autonomous charging and swapping of batteries for unmanned aerial vehicles according to claim 2, characterized in that, The rotating component (43) includes a rotating cylinder (431), a maintenance plug (432), a fastening cap (433), and a fixing post (434); the fixing post (434) is fixed in the middle to a triangular fixing plate (44), the fastening cap (433) is threaded to one end of the fixing post (434), the other end of the fixing post (434) is rotatably connected to the rotating cylinder (431), and the maintenance plug (432) is threaded to the rotating cylinder (431).

4. A three-dimensional vertical circulating base station for autonomous charging and swapping of batteries for unmanned aerial vehicles according to claim 1, characterized in that, The power supply system (7) includes two sets of piezoelectric mechanisms (71) arranged symmetrically on the left and right, a slip ring (72), a connecting groove (73), a collecting junction (74), and a circulating power receiving belt (75). The circulating power receiving belt (75) is arranged in a ring along all the triangular fixing plates (44) on one side. One side of the collecting junction (74) is fixed to the outer side of the triangular fixing plate (44), and the other side is electrically connected to the circulating power receiving belt (75). At the same time, one end of the connecting groove (73) is connected to the collecting junction (74), and the other end is connected to the fastening cap (433).

5. A three-dimensional vertical circulating base station for autonomous charging and swapping of batteries for unmanned aerial vehicles according to claim 4, characterized in that, The piezoelectric mechanism (71) includes a piezoelectric electrode (711) with an anode and a cathode, a piezoelectric head (712), a spring three (713), a piezoelectric support (714), and a power supply box (715); the piezoelectric head (712) passes through a circulating power receiving belt (75), the piezoelectric electrode (711) is adapted to the circulating power receiving belt (75), one end of the spring three (713) is fixed to the bottom of the piezoelectric head (712), and the other end is fixed to the inside of the piezoelectric support (714), the piezoelectric support (714) is fixed to the power supply box (715), and the power supply box (715) is mounted on a vertical frame (3).

6. A three-dimensional vertical circulating base station for autonomous charging and swapping of batteries for unmanned aerial vehicles according to claim 2, characterized in that, The upper part of the hollow rod (41) is in a disconnected state. The rotating cylinder (431) is provided with a current-collecting slip ring (72), including a rotating current-receiving ring (721), a fixed power supply ring (723), and a conductive ring (722) with an anode and a cathode. The conductive ring (722) on the rotating current-receiving ring (721) is adapted to the fixed power supply ring (723), and the rotating current-receiving ring (721) and the fixed power supply ring (723) are rotatably connected to supply power.

7. A three-dimensional vertical circulating base station for autonomous charging and swapping of batteries for unmanned aerial vehicles according to claim 1, characterized in that, The transmission mechanism (5) includes a transmission motor (51), a vertical helical gear set (52), a rotating rod (53), two support plates (54), two rotating gears (55), a gear bearing (56), a rotating wheel (57), a conveyor belt (58), and a rolling bearing (59). The transmission motor (51) is installed upside down on the vertical frame (3). One of the helical gear sets (52) is fixed to the rotor of the transmission motor (51), and the other one is fixed to the middle of the rotating rod (53) perpendicular to each other. The two ends of the rotating rod (53) pass through the support plate (54) and are fixed to the rotating gear (55). The support plate (54) is fixed to the vertical frame (3).

8. A three-dimensional vertical circulating base station for autonomous charging and swapping of batteries for unmanned aerial vehicles according to claim 7, characterized in that, There are two sets of rotating wheels (57), each set has two, one upper and one lower. The inner side of the lower rotating wheel (57) is fixed on the inner ring of the gear bearing (56). The inner ring of the gear bearing (56) is fixed to the vertical frame (3). The outer ring of the gear bearing (56) meshes with the rotating gear (55). The upper and lower rotating wheels (57) mesh through the conveyor belt (58). The outer side of the upper rotating wheel (57) is fixed on the outer ring of the rolling bearing (59). The rolling bearing (59) is fixed to the vertical frame (3).

9. A three-dimensional vertical circulating base station for autonomous charging and swapping of batteries for unmanned aerial vehicles according to claim 1, characterized in that, The vertical frame (3) includes a bearing base plate (31), four supporting columns (32), three I-beam fixing frames (33), three connecting platforms (34), two sets of T-shaped fixing frames (35), and four enclosing baffles (36). The bearing base plate (31) is installed on the four supporting columns (32) near the ground. The I-beam fixing frames (33) are installed in three layers (upper, middle, and lower) and fixed to the inner side of the supporting columns (32). The connecting platforms (34) are fixed to the middle position of the I-beam fixing frames (33). The T-shaped fixing frames (35) are symmetrically installed on the supporting columns (32) near the top. The enclosing baffles (36) are fixed on the four sides of the vertical frame (3) and form an enclosing state with the bearing base plate (31) and the parking platform (21).

10. A three-dimensional vertical circulating base station for autonomous charging and swapping of batteries for unmanned aerial vehicles according to claim 9, characterized in that, The rotary motor (65) is installed on the upper surface of the upper connecting platform (34), the transmission motor (51) is installed upside down on the lower surface of the middle connecting platform (34), the support plate (54) is installed at both ends of the upper surface of the lower connecting platform (34), the inner ring of the gear bearing (56) is fixed to the lower I-beam fixing frame (33), and the inner ring of the rolling bearing (59) is fixed to the T-shaped fixing frame (35).

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