An unmanned aerial vehicle locking and automatic energy supplement closed-loop control system and nest platform

Abstract

The application relates to the field of unmanned aerial vehicle nests, in particular to an unmanned aerial vehicle locking and automatic energy supplementing closed-loop control system and a nest platform, the unmanned aerial vehicle locking and automatic energy supplementing closed-loop control system comprising: a parking module arranged on a ring-shaped load-bearing frame and used for parking and landing of an unmanned aerial vehicle; a pull rod type locking mechanism arranged on the parking module and used for clamping and locking the landed unmanned aerial vehicle; a telescopic charging docking mechanism arranged on the upper portion of the parking module and used for docking with a charging interface at the bottom of the unmanned aerial vehicle to supplement energy; a state detection module comprising a pressure sensor used for detecting the landing state of the unmanned aerial vehicle and a displacement sensor used for detecting the locking state; and a central control system in communication connection with the pull rod type locking mechanism, the telescopic charging docking mechanism and the state detection module. The application is used for improving the safety and reliability of the unmanned aerial vehicle locking operation.

Description

Technical Field

[0001] This application relates to the field of drone nests, and more particularly to a drone locking and automatic recharging closed-loop control system and nest platform. Background Technology

[0002] Existing drone nests typically employ ground-fixed box structures. However, with the increasing prevalence of low-altitude economy and drone swarm operations, traditional nests have revealed the following significant problems: Traditional drone shelters in existing technologies typically require installation on the ground, building rooftops, or fixed vehicle platforms, and their normal operation is highly dependent on stable infrastructure support. In special application scenarios such as mountainous areas with complex terrain, marine areas lacking power supply, and disaster sites where transportation is disrupted, traditional drone shelters still have inherent limitations such as long deployment cycles and poor environmental adaptability, making it difficult to meet the urgent needs of drones for immediate take-off and landing and continuous support under emergency conditions.

[0003] The current energy supply methods for drone nests mainly rely on grid power or photovoltaic-energy storage systems. However, the existing energy supply methods are still easily limited by environmental conditions. At night, in rainy weather, or in complex natural environments, the efficiency of photovoltaic power generation decreases. At the same time, due to the constraints of equipment size and cost, the energy storage capacity is limited, making it difficult to meet the high-frequency, high-power charging needs of drones in long-term unattended scenarios.

[0004] Currently, most drones use simple physical guidance structures for positioning after returning to their nests. In strong winds or under complex airflow disturbances, the drones are prone to shaking inside the nest, which can lead to rigid collisions, wear, or even burnout of the charging connectors, as well as electrical connection interruptions, seriously affecting the reliability of the system's automatic protection. Summary of the Invention

[0005] This application provides a closed-loop control system and nesting platform for UAV locking and automatic recharging to solve problems existing in related technologies. Unlike traditional fixed nesting systems placed on the ground or vehicles, this application deeply integrates the UAV nesting system with an airship platform, using the airship as the aerial carrier platform for the nesting system, constructing an "airship-type aerial airport" that can be stationed in the air for extended periods and move autonomously. The technical solution is as follows: This application provides a closed-loop control system for drone locking and automatic recharging, including: The docking module, mounted on a ring-shaped load-bearing frame, is used for drones to land and dock. A lever-type locking mechanism is installed on the docking module and includes multiple sets of electric push rods. Each set of electric push rods has a limit locking structure at its end for clamping and locking the drone after landing. A retractable charging docking mechanism is provided on the upper part of the docking module, including a lifting drive component and a retractable charging connector installed at the output end of the lifting drive component, for docking with the charging interface at the bottom of the drone for recharging. The status detection module includes a pressure sensor for detecting the drone's position and a displacement sensor for detecting the locked state. The central control system is communicatively connected to the lever-type locking mechanism, the retractable charging docking mechanism, and the status detection module. The central control system is configured to execute a closed-loop control process with time-series interlocking. The closed-loop control process includes: controlling the lever-type locking mechanism to perform a locking action after receiving the positioning signal from the status detection module; controlling the retractable charging docking mechanism to perform a charging docking action after confirming that the locking is in place; and controlling the lever-type locking mechanism to perform an unlocking and releasing action after charging is completed and the reset is confirmed.

[0006] Optionally, each set of electric push rods includes a drive motor and a drive rod, the drive motor driving the drive rod to move on the guide rail; the limiting locking structure can achieve clamping and locking or unlocking of the UAV when pushed or pulled by the drive rod; and / or, the rod-type locking mechanism adopts a dual-insurance control strategy of constant torque and limit switch, when the torque feedback of the drive motor reaches a preset threshold, the drive motor automatically brakes.

[0007] Optionally, the locking action, charging docking action, and / or unlocking / releasing action in the closed-loop control process specifically include: the central control system sending a locking command to the electric push rod, driving the drive lever to extend, causing the limit locking structure to lock the drone, and detecting the locking status through the displacement sensor; when the locking is detected, generating and sending a locking confirmation signal; and / or, after receiving the locking confirmation signal, the central control system controlling the lifting drive assembly to start, driving the retractable charging connector to extend upward, dock with the charging interface at the bottom of the drone, and start charging; and / or, after charging is completed, the central control system controlling the lifting drive assembly to drive the retractable charging connector to retract downward; after detecting that the retractable charging connector is fully reset, generating and sending a reset confirmation signal; and after receiving the reset confirmation signal, the central control system controlling the electric push rod to retract, thereby releasing the drone.

[0008] Optionally, the electric push rod is in four groups, including a rear drivable pull rod, a left drivable pull rod, a front drivable pull rod, and a right drivable pull rod, which are respectively arranged at the four corners below the limiting engagement structure.

[0009] Optionally, the central control system is also configured with meteorological condition monitoring logic and / or fault tolerance logic; when the meteorological condition monitoring logic is executed, if the external wind speed is detected to be greater than the preset wind speed threshold or if there is rainfall, the lever-type locking mechanism is re-controlled to lock the drone until the meteorological conditions improve; and / or, when the fault tolerance logic is executed, if a fault is detected in a group of electric push rods, the faulty electric push rod is marked as a fault isolation zone, and the remaining normal modules are controlled to continue operating.

[0010] This application also provides a drone nesting platform, including: The airship's buoyancy body includes a ring-shaped load-bearing frame and a buoyancy airbag set on the ring-shaped load-bearing frame. The buoyancy airbag adopts an inner and outer double-layer nested structure, and buoyancy adjustment is achieved by the replacement of buoyancy gas and air. Multiple docking modules are arranged at intervals along the circumference of the ring-shaped load-bearing frame. Each docking module includes a pull rod locking mechanism and a retractable charging docking mechanism. The pull rod locking mechanism includes multiple sets of electric push rods, and each set of electric push rods has a limit locking structure at its end. The retractable charging docking mechanism includes a lifting drive assembly and a retractable charging connector installed at the output end of the lifting drive assembly. The energy security system includes a solar power generation module, a wind power auxiliary power generation module, and a hydrogen fuel cell power supply module. The solar power generation module, the wind power auxiliary power generation module, and the hydrogen fuel cell power supply module provide energy to the airship's buoyancy body and multiple docking modules through a multi-energy coordinated scheduling method. The central control system is communicatively connected to the lever-type locking mechanism, the retractable charging docking mechanism, and the status detection module, and is configured to execute a closed-loop control process with time-series interlocks. The closed-loop control process includes: controlling the lever-type locking mechanism to perform a locking action after receiving the positioning signal from the status detection module, and controlling the retractable charging docking mechanism to perform a charging docking action after confirming that the locking is in place; and controlling the lever-type locking mechanism to perform an unlocking and releasing action after charging is completed and the reset is confirmed.

[0011] Optionally, the multi-energy coordinated scheduling mode of the energy security system is as follows: when the ambient light conditions are sufficient, the solar power generation module prioritizes providing energy for system operation; when the airflow conditions are met, the wind power auxiliary power generation module provides energy supplementation; when renewable energy is insufficient or in a long-term rainy environment, the hydrogen fuel cell power supply module provides stable energy output.

[0012] Optionally, the airship's buoyancy body is also equipped with a helium buoyancy compensation and power assistance control system, which is configured to enable the airship's buoyancy body to bear part of the weight of the nest structure, thereby reducing energy consumption during long-term hovering.

[0013] Optionally, the annular load-bearing frame is a detachable and assembleable annular carbon fiber hollow structure, and the ends of the annular carbon fiber hollow structure are equipped with quick-connect buckles and positioning locking structures.

[0014] Optionally, the airship's buoyancy body is also equipped with a hollow through-hole conductive slip ring, which is installed at the central main axis of the annular load-bearing frame to enable the rotating structure to rotate 360° and to transmit power and control signals.

[0015] The advantages or beneficial effects of the above technical solutions include at least the following: The UAV locking and automatic recharging closed-loop control system and nest platform of this application significantly improve the safety and reliability of UAV locking operations. Through the timing interlock logic of "locking by pulling the lever first, then extending and docking for charging", combined with the dual insurance strategy of constant torque and limit switch, the risk of charging connector collision wear and electrical connection interruption is eliminated; the elastic buffer layer reduces clamping stress, and meteorological monitoring and fault tolerance mechanisms ensure operational reliability.

[0016] This application also realizes the rapid and mobile deployment of the airship platform. The airship floating platform and the annular floating cabin configuration are combined with helium buoyancy compensation and vector power fan coordinated control to achieve long-term airborne residence and autonomous mobile deployment. It can be quickly deployed to extreme scenarios such as islands and disaster areas, freeing it from dependence on ground infrastructure.

[0017] This application also achieves long-endurance, all-weather autonomous operation, and a multi-energy supply system that integrates wind, solar and hydrogen (solar energy priority, wind energy supplement, and hydrogen energy backup) combined with a hollow through-hole conductive slip ring to ensure the endurance under unattended operation and meet the energy replenishment needs of high-frequency drone swarms.

[0018] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0019] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0020] Figure 1 This is a partial three-dimensional structural diagram of the UAV locking and automatic recharging closed-loop control system in the embodiments of this application; Figure 2 This refers to the closed-loop control system for drone locking and automatic recharging in the embodiments of this application. Figure 3 This is a three-dimensional structural diagram from another angle in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of the electric actuator in the embodiments of this application; Figure 5 This is a three-dimensional structural diagram of the UAV nest platform in the embodiments of this application; Figure 6 This is a schematic diagram of the overall structure after separation from the airship's floating body in an embodiment of this application. Figure 7 This is an exploded view of the UAV nesting platform in the embodiments of this application. Detailed Implementation

[0021] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0022] See Figures 1-3 This application illustrates a preferred embodiment of a closed-loop control system for locking and automatically replenishing power for unmanned aerial vehicles (UAVs), comprising: The docking module 1 is mounted on the ring-shaped load-bearing frame 2 and is used for the UAV 20 to land and dock. A lever-type locking mechanism 3 is installed on the docking module 1 and includes multiple sets of electric push rods 32. Each set of electric push rods 32 has a limit locking structure 31 at its end, which is used to clamp and lock the UAV 20 after it has landed. The retractable charging docking mechanism 4 is located on the upper part of the docking module 1, including a lifting drive component 42 and a retractable charging connector 41 installed at the output end of the lifting drive component 42, for docking with the charging interface 21 at the bottom of the drone 20 to replenish power. The status detection module 5 includes a pressure sensor 51 for detecting the drone's in-position status and a displacement sensor 52 for detecting the locked status. The central control system 6 is communicatively connected to the lever-type locking mechanism 3, the retractable charging docking mechanism 4, and the status detection module 5. The central control system 6 is configured to execute a closed-loop control process with time-interlocking. This closed-loop control process includes: upon receiving the positioning signal from the status detection module 5, controlling the lever-type locking mechanism to perform a locking action; and after confirming the locking is in place, controlling the retractable charging docking mechanism to perform a charging docking action; and after charging is complete and a reset is confirmed, controlling the lever-type locking mechanism to perform an unlocking and releasing action. The central control system 6 can be implemented using an embedded control board, such as an STM32-based control board, to collect sensor information from the pressure sensor 51 and displacement sensor 52 in the status detection module 5, and simultaneously execute the closed-loop control process with time-interlocking.

[0023] The pressure sensor 51 can be a capacitive or strain gauge sensor to detect the difference in takeoff and landing weight of the drone 20. The displacement sensor 52 can be disposed at one end of the limiting engagement structure 31, and can be detected when the limiting engagement structure 31 moves and causes displacement. The drone support platform 101 is a metal support, and the pressure sensor 51 is installed on the bottom surface of the drone support platform 101. When the drone 20 rests on the drone support platform 101, the drone support platform 101 will deform. The pressure sensor 51 detects the deformation, thereby realizing the difference in takeoff and landing weight of the drone 20 and triggering subsequent locking or unlocking actions.

[0024] In a preferred embodiment, each set of electric push rods 32 includes a drive motor 321 and a drive rod 322. The drive motor drives the drive rod 322 to move on the guide rail 312. The limiting locking structure 31 can achieve clamping and locking or locking and unlocking of the UAV when pushed and pulled by the drive rod 322. Preferably, the lever-type locking mechanism 3 adopts a dual-insurance control strategy of constant torque and limit switch. When the torque feedback reaches the preset threshold, the drive motor 321 automatically brakes, rigidly locking the drone 20 onto the drone load-bearing platform 101 on the docking module 1.

[0025] In a preferred embodiment, such as Figure 1-2As shown, the limiting engagement structure 31 consists of two clamping rods 311 that can be driven by a pull rod to clamp or release, and two guide rails 312. The clamping surface of the clamping rods 311 is provided with an elastic buffer layer, which is a rubber layer, a silicone layer, or an elastic composite material layer, to avoid scratching the drone. The drone's landing gear is clamped by the two clamping rods. When the drone lands on the docking module, the clamping rods are extended at both ends, and clamping is performed when the drone is docked smoothly, so as to facilitate subsequent charging or maintain the drone's stable position. Figure 4 As shown, the drive lever 322 includes a drive gear 3221 connected to the drive motor 321 and a rack 3222 connected to the clamping rod 311. Preferably, the end of the clamping rod 311 is welded to the back or side of the rack 3222. The drive motor 321 drives the drive gear 3221 to move the rack 3222, thereby driving the clamping rod 311.

[0026] In a preferred embodiment, the electric push rod 32 consists of four groups, including a rear drivable pull rod, a left drivable pull rod, a front drivable pull rod, and a right drivable pull rod, which are respectively arranged at the four corners below the limiting engagement structure to achieve stable driving of the two clamping rods 311.

[0027] In a preferred embodiment, the lifting drive assembly 42 is fixed in a groove on the UAV load-bearing platform 101 and is controlled by the central control system 6.

[0028] In one embodiment, the locking action, charging docking action, and / or unlocking / releasing action in the closed-loop control process specifically include: the central control system 6 sends a locking command to the electric push rod 32, driving the drive lever to extend, causing the limiting engagement structure 31 to lock the drone 20, and detecting the locking state through the displacement sensor 52. When the locking is detected, a locking confirmation signal is generated and sent. Preferably, after receiving the locking confirmation signal, the central control system 6 controls the lifting drive assembly 42 to start, driving the retractable charging connector 41 to extend upward, dock with the charging interface 21 at the bottom of the drone 20, and start charging. Preferably, after charging is completed, the central control system 6 controls the lifting drive assembly 42 to drive the retractable charging connector 41 to retract downward. After detecting that the retractable charging connector 41 is fully reset (for example, the lifting drive assembly 42 returns a completion signal after completing the drive, which is considered as a complete reset), a reset confirmation signal is generated and sent. After receiving the reset confirmation signal, the central control system 6 controls the electric push rod 32 to retract, thereby releasing the drone 20. Additionally, once the central control system 5 detects that the drone 20's battery level has reached a set value (e.g., 95%), the system first cuts off the charging current, and the central control system 6 controls the charging port to retract and reset. After complete reset, the four sets of lever-type fixing devices simultaneously and slowly extend outwards, releasing the drone 32's landing gear and sending a takeoff command to the drone 20. The drone 20 then autonomously starts its rotors, detaches from the pod, and heads to the next mission location. If rain or excessive wind occurs during charging, the pod can also use the locking force of the levers to firmly restrain the drone 20 in its docking position until charging is complete and weather conditions improve before releasing it.

[0029] To enable the decision to allow the drone 20 to leave its nest based on weather conditions, in one embodiment, the central control system 6 is further configured with weather condition monitoring logic and / or fault tolerance logic. When the weather condition monitoring logic is executed, if the external wind speed exceeds a preset wind speed threshold or rainfall is detected, the lever-type locking mechanism 3 is re-controlled to lock the drone 20 until the weather conditions improve. Preferably, when the fault tolerance logic is executed, if a fault is detected in a group of electric push rods 32, the faulty electric push rod 32 is marked as a fault isolation zone, and the remaining normal modules continue to operate. This enables the system to have single-point fault tolerance capability, greatly reducing the risk of the entire system stopping due to a partial fault.

[0030] This application also provides a drone nesting platform 100, such as... Figure 1-7 As shown, it includes: The airship buoyancy body 10 includes an annular load-bearing frame 2 and a buoyancy airbag 11 disposed on the annular load-bearing frame 2. The buoyancy airbag 11 adopts an inner and outer double-layer nested structure, and the buoyancy is adjusted by the replacement of buoyancy gas and air. Multiple docking modules 1 are arranged at intervals along the circumference of the annular load-bearing frame 2. Each docking module 1 includes a pull rod locking mechanism 3 and a retractable charging docking mechanism 4. The pull rod locking mechanism includes multiple sets of electric push rods 32, and each set of electric push rods 32 has a limiting engagement structure 31 at its end. The retractable charging docking mechanism 4 includes a lifting drive assembly 42 and a retractable charging connector 41 installed at the output end of the lifting drive assembly 42. The energy security system 7 includes a solar power generation module 71, a wind power auxiliary power generation module 72, and a hydrogen fuel cell power supply module 73. The solar power generation module 71, the wind power auxiliary power generation module 72, and the hydrogen fuel cell power supply module 73 provide energy to the airship floating body 10 and the multiple docking modules 1 through a multi-energy coordinated scheduling method. The annular load-bearing frame 2 is further equipped with a centrally hollow load-bearing skeleton 8 extending to the top of the buoyancy airbag 11. This skeleton consists of multiple layers of annularly arranged reinforcing beams 81 and circumferentially arranged vertical support rods 82, used to connect the upper and lower structures and improve the overall bending and torsional stability. It also provides installation space for the central control system 6 and the energy security system. The wind power auxiliary power generation module 72 is located at the bottom of the buoyancy airbag 11, while the hydrogen fuel cell power supply module 73 is preferably located inside the buoyancy airbag 11. The buoyancy airbag 11 is annularly arranged, that is, it surrounds the load-bearing skeleton 8, so that the buoyancy of the buoyancy airbag 11 can evenly drive the load-bearing skeleton 8.

[0031] The central control system 6 is communicatively connected to the lever-type locking mechanism 3, the retractable charging docking mechanism 4, and the status detection module 5, and is configured to execute a closed-loop control process with time-series interlocking. The closed-loop control process includes: controlling the lever-type locking mechanism 3 to perform a locking action after receiving the positioning signal from the status detection module 5, and controlling the retractable charging docking mechanism 4 to perform a charging docking action after confirming that the locking is in place; and controlling the lever-type locking mechanism 3 to perform an unlocking and releasing action after charging is completed and the reset is confirmed.

[0032] In one embodiment, the multi-energy coordinated scheduling mode of the energy security system 7 is as follows: when ambient light conditions are sufficient, the solar power generation module 71 prioritizes providing energy for system operation (including drone charging or electronic control consumption); when airflow conditions are satisfactory, energy is supplemented by the wind power auxiliary power generation module 72; when renewable energy is insufficient or in prolonged cloudy or rainy conditions, a stable energy output is provided by the hydrogen fuel cell power supply module 73. The hydrogen fuel cell power supply module 73 includes four sets of high-pressure composite hydrogen storage tanks and one set of hydrogen fuel cell stacks. When solar and wind energy output is insufficient in extreme environments such as nighttime, windless conditions, or continuous cloudy days, the hydrogen fuel cell system starts, the hydrogen storage module provides hydrogen, and through electrochemical reactions, stably outputs high-power electrical energy, ensuring uninterrupted operation of the drone nest and drone missions.

[0033] In one embodiment, the solar power generation module 71 includes a flexible solar thin-film module 111 located on the buoyancy airbag 11. These flexible solar thin-film modules are fixed to the skin by adhesive or snap-fit ​​methods and electrically connected to the DC bus inside the airship via waterproof cables penetrating the airship skin. The wind-assisted power generation module 72 is located above the plurality of docking modules 1. The wind-assisted power generation module 72 includes multiple wind turbine structures, each containing wind turbine blades. During airship operation, the central control system 6 controls the multiple wind turbine structures to extend from the tail of the airship and enter the airflow area to capture and generate electricity from wind energy. When the airship lands, docks, or encounters strong winds, the central control system 6 controls a reverse action to retract the wind turbine blade assemblies within the outer contour of the airship, thereby preventing collisions and interference between the wind turbine structures and the external environment and improving the airship's operational safety. The power output structure of the wind power generation device: A miniature permanent magnet generator is installed inside the retractable auxiliary energy collection device. The rotation of the wind turbine blades drives the generator rotor to rotate and generate electricity. The generated AC power is converted into stable DC power by the rectifier and voltage regulator module, and then fed into the system DC bus through a flexible conductive line to realize the collection and utilization of wind power.

[0034] In a preferred embodiment, the airship's buoyancy body 10 is further equipped with a helium buoyancy compensation and power-assisted control system. This system is configured to allow the airship's buoyancy body 10 to bear part of the nest structure weight, reducing energy consumption during long-term hovering. The buoyancy gasbag 11, acting as a helium-containing chamber, generates upward buoyancy by filling with helium, supporting part of the nest's own weight and reducing the energy consumption required for continuous hovering. To ensure the stable load-bearing capacity of the airship's buoyancy platform, the helium volume of the buoyancy gasbag 11 is designed to match the overall mass of the nest, so that the static buoyancy generated by the helium is used to offset the airship's structural weight and part of the equipment load, with the remaining load supported by a vector-driven fan for attitude adjustment and auxiliary lift. In one implementation, when the total mass of the nacelle system is approximately 300 kg, the effective volume of the helium-filled buoyancy chamber is designed to be 290 m³ to 320 m³, generating a theoretical static buoyancy of approximately 300 kg to 335 kg under standard atmospheric conditions. This static buoyancy is used to offset the weight of the nacelle platform itself and part of the mission load, and to reduce energy consumption during continuous hovering of the vector-driven fan. The remaining attitude adjustment and dynamic disturbances are handled by the vector-driven fan. By combining buoyancy compensation with power control, the energy consumption of the airship during long-term hovering is reduced, and its aerial loitering capability is improved.

[0035] In one embodiment, the annular load-bearing frame is a detachable and assembleable annular carbon fiber hollow structure. The ends of the annular carbon fiber hollow structure are equipped with quick-connect buckles and positioning locking structures to maximize weight reduction.

[0036] In one embodiment, the airship's buoyancy body is further provided with a hollow through-hole conductive slip ring, which is installed at the central main axis position of the annular load-bearing frame to realize 360° rotation of the rotating structure and to transmit power and control signals.

[0037] In one embodiment, the buoyancy airbag 11 is made of a waterproof and airtight composite material, and all cable interfaces penetrating the airship hull have IP67-rated waterproof sealing rings or waterproof plugs at their sealing bushings. The surface of the solar thin-film module is covered with a transparent waterproof coating, the wind power auxiliary power generation module 72 is enclosed in a waterproof rectifier, and the hydrogen fuel cell and electrical control cabinet are installed in a dry cabin inside the airship. The cabin entrances and exits are equipped with waterproof covers, enabling the entire system to operate normally in light to moderate rain.

[0038] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0040] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A closed-loop control system for UAV locking and automatic recharging, characterized in that, include: The docking module, mounted on a ring-shaped load-bearing frame, is used for drones to land and dock. A lever-type locking mechanism is installed on the docking module and includes multiple sets of electric push rods. Each set of electric push rods has a limit locking structure at its end for clamping and locking the drone after landing. A retractable charging docking mechanism is provided on the upper part of the docking module, including a lifting drive component and a retractable charging connector installed at the output end of the lifting drive component, for docking with the charging interface at the bottom of the drone for recharging. The status detection module includes a pressure sensor for detecting the drone's position and a displacement sensor for detecting the locked state. The central control system is communicatively connected to the lever-type locking mechanism, the retractable charging docking mechanism, and the status detection module, respectively. The central control system is configured to execute a closed-loop control process with timing interlocks. The closed-loop control process includes: controlling the lever-type locking mechanism to perform a locking action after receiving the positioning signal from the status detection module, and controlling the retractable charging docking mechanism to perform a charging docking action after confirming that the locking is in place; and controlling the lever-type locking mechanism to perform an unlocking and releasing action after charging is completed and the reset is confirmed.

2. The UAV locking and automatic recharging closed-loop control system according to claim 1, characterized in that, Each set of electric push rods includes a drive motor and a drive rod. The drive motor drives the drive rod to move on the guide rail. The limiting locking structure can achieve clamping and locking or unlocking of the UAV when pushed or pulled by the drive rod. And / or, the rod-type locking mechanism adopts a dual-insurance control strategy of constant torque and limit switch. When the torque feedback of the drive motor reaches a preset threshold, the drive motor automatically brakes.

3. The UAV locking and automatic recharging closed-loop control system according to claim 1 or 2, characterized in that, The locking, charging docking, and / or unlocking / releasing actions in the closed-loop control process specifically include: the central control system sending a locking command to the electric push rod, driving the drive lever to extend, causing the limit locking structure to lock the drone, and detecting the locking status through the displacement sensor. When the locking is detected, a locking confirmation signal is generated and sent; and / or, after receiving the locking confirmation signal, the central control system controls the lifting drive assembly to start, driving the retractable charging connector to extend upward, dock with the charging interface at the bottom of the drone, and begin charging; and / or, after charging is completed, the central control system controls the lifting drive assembly to drive the retractable charging connector to retract downward. After detecting that the retractable charging connector is fully reset, a reset confirmation signal is generated and sent. After receiving the reset confirmation signal, the central control system controls the electric push rod to retract, thereby releasing the drone.

4. The UAV locking and automatic recharging closed-loop control system according to claim 2, characterized in that, The electric push rod consists of four sets, including a rear drivable pull rod, a left drivable pull rod, a front drivable pull rod, and a right drivable pull rod, which are respectively arranged at the four corners below the limiting and engaging structure.

5. The UAV locking and automatic recharging closed-loop control system according to claim 1, characterized in that, The central control system is also configured with meteorological condition monitoring logic and / or fault tolerance logic; when the meteorological condition monitoring logic is executed, if the external wind speed is detected to be greater than the preset wind speed threshold or if there is rainfall, the lever-type locking mechanism is re-controlled to lock the drone until the meteorological conditions improve; and / or, when the fault tolerance logic is executed, if a fault is detected in a group of electric push rods, the faulty electric push rod is marked as a fault isolation zone, and the remaining normal modules are controlled to continue operating.

6. A drone nesting platform, characterized in that, include: The airship's buoyancy body includes a ring-shaped load-bearing frame and a buoyancy airbag set on the ring-shaped load-bearing frame. The buoyancy airbag adopts an inner and outer double-layer nested structure, and buoyancy adjustment is achieved by the replacement of buoyancy gas and air. Multiple docking modules are arranged at intervals along the circumference of the ring-shaped load-bearing frame. Each docking module includes a pull rod locking mechanism and a retractable charging docking mechanism. The pull rod locking mechanism includes multiple sets of electric push rods, and each set of electric push rods has a limit locking structure at its end. The retractable charging docking mechanism includes a lifting drive assembly and a retractable charging connector installed at the output end of the lifting drive assembly. The energy security system includes a solar power generation module, a wind power auxiliary power generation module, and a hydrogen fuel cell power supply module. The solar power generation module, the wind power auxiliary power generation module, and the hydrogen fuel cell power supply module provide energy to the airship's buoyancy body and multiple docking modules through a multi-energy coordinated scheduling method. The central control system is communicatively connected to the lever-type locking mechanism, the retractable charging docking mechanism, and the status detection module, and is configured to execute a closed-loop control process with time-series interlocks. The closed-loop control process includes: controlling the lever-type locking mechanism to perform a locking action after receiving the positioning signal from the status detection module, and controlling the retractable charging docking mechanism to perform a charging docking action after confirming that the locking is in place; and controlling the lever-type locking mechanism to perform an unlocking and releasing action after charging is completed and the reset is confirmed.

7. The UAV nesting platform according to claim 6, characterized in that, The energy security system employs a multi-energy coordinated scheduling method as follows: when ambient light conditions are sufficient, the solar power generation module prioritizes providing energy for system operation; when airflow conditions are favorable, energy is supplemented through the wind power auxiliary power generation module; and when renewable energy is insufficient or in prolonged cloudy or rainy conditions, a stable energy output is provided through the hydrogen fuel cell power supply module.

8. The UAV nesting platform according to claim 6, characterized in that, The airship's buoyancy body is also equipped with a helium buoyancy compensation and power assistance control system, which is configured to enable the airship's buoyancy body to bear part of the weight of the nest structure, thereby reducing energy consumption during long-term hovering.

9. The UAV nesting platform according to claim 6, characterized in that, The ring-shaped load-bearing frame is a detachable and assembleable ring-shaped carbon fiber hollow structure, and the ends of the ring-shaped carbon fiber hollow structure are equipped with quick-connect buckles and positioning locking structures.

10. The UAV nesting platform according to claim 6, characterized in that, The airship's buoyancy body is also equipped with a hollow, through-hole conductive slip ring, which is installed at the central main axis of the annular load-bearing frame to enable the rotating structure to rotate 360° and to transmit power and control signals.

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