Multi-uav swarm automated control system, control method, and apparatus

Abstract

The application relates to the technical field of unmanned aerial vehicle automatic control, and discloses a multi-unmanned aerial vehicle cluster automatic control system, a control method and equipment, the system comprising: a main cabin body and a vice cabin body arranged around, each cabin body is provided with a power supply circuit and a charging unit which are electrically isolated from each other; a cabin-level control unit is independently arranged in the cabin body, a communication interface is arranged on the cabin-level control unit for receiving external scheduling information, and the cabin-level control unit is stored with whole-process control logic for independently completing unmanned aerial vehicle landing guidance, center positioning, charging management, cabin door and stop platform linkage control corresponding to the cabin body; a cross-shaped X-axis push rod assembly and a Y-axis push rod assembly are arranged on the surface of the stop platform in the cabin body, the X-axis push rod assembly is first driven by the cabin-level control unit to clamp the unmanned aerial vehicle and is self-locked, and then the Y-axis push rod assembly is driven to push the unmanned aerial vehicle to a preset charging position; a first charging contact point is arranged on the Y-axis push rod assembly, and when the first charging contact point is in abutment with a second charging contact point of the unmanned aerial vehicle, charging is started. The application realizes high-reliability and high-precision unmanned aerial vehicle cluster automatic control.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) automated control technology, specifically to an automated control system, control method, and device for a multi-UAV swarm. Background Technology

[0002] With the large-scale application of drones in fields such as inspection and logistics, collaborative operations among multiple drone swarms have become a development trend. To meet the parking and charging needs of multiple drones, existing technologies typically employ distributed deployment of multiple independent hangars or integrated multi-hangar solutions. Distributed deployment methods require large land areas, are complex to manage, and are difficult to centralize. Integrated multi-hangar solutions often use welded fixed structures, making it impossible to flexibly adjust the number of hangars according to operational needs, resulting in poor deployment flexibility. Furthermore, their control architecture is often master-slave or centralized, meaning that a failure in the main hangar will paralyze the entire system. Additionally, the power supply circuits of each hangar are interconnected, so an electrical failure in one hangar can easily affect the entire system, leading to low system reliability. Moreover, during drone landing and return, existing hangars often use guide slots or single-direction push rods for correction, which can only correct positional deviations in one direction and cannot achieve positional error compensation in all directions of the X and Y axes in the horizontal plane. This makes drones prone to yaw and spinning, and charging docking often fails due to positional deviations. Furthermore, the charging contacts and correction mechanisms are often separate, requiring additional docking actions after correction, further increasing the probability of docking failure.

[0003] In summary, the urgent problem to be solved is how to provide a cabin system that can ensure the continuity of cluster operations, take into account deployment flexibility, and ensure accurate docking and charging of drones. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide an automated control system, control method and device for multi-UAV swarms, which is used to solve the problem of how to provide a cabin system that can ensure the continuity of swarm operations, take into account the flexibility of deployment and ensure the accurate docking and charging of UAVs.

[0005] According to one aspect of the present invention, a multi-UAV swarm automated control system is provided, comprising: The cabin assembly includes a main cabin and at least one secondary cabin arranged around the main cabin, which are used to accommodate drones of different sizes; each cabin has an independent power supply circuit and charging unit that are electrically isolated from each other, and is equipped with a door drive mechanism and a centering positioning mechanism. Each cabin is independently equipped with a cabin-level control unit. The cabin-level control unit is equipped with a communication interface for receiving external scheduling information. The cabin-level control unit is connected to the independent power supply circuit, charging unit, cabin door drive mechanism and centering positioning mechanism set in the corresponding cabin. It also stores the full-process control logic that drives the corresponding cabin to independently complete the landing guidance, centering positioning, charging management and cabin door and landing pad linkage control of a single UAV. The centering positioning mechanism is correspondingly set on the landing pad surface of each cabin, including an X-axis push rod assembly and a Y-axis push rod assembly arranged in a cross shape. The centering positioning mechanism is driven by the cabin-level control unit of the corresponding cabin and performs the following actions: first, drive the X-axis push rod assembly to move towards each other to clamp the UAV docked on the landing pad surface of the corresponding cabin and keep it self-locking to constrain the horizontal degree of freedom of the UAV; then drive the Y-axis push rod assembly to move towards each other to push the UAV to the preset charging position. The Y-axis push rod assembly is provided with a first charging contact, which is electrically connected to the charging unit of the corresponding cabin. When the Y-axis push rod assembly pushes the drone to the preset charging position and the first charging contact comes into contact with the second charging contact provided on the drone, the cabin-level control unit controls the charging unit to connect the independent power supply circuit to start charging.

[0006] Furthermore, the Y-axis push rod assembly includes a first push rod assembly and a second push rod assembly arranged opposite to each other along the Y-axis direction. The first push rod assembly and the second push rod assembly are respectively provided with first charging contacts on opposite sides. The first push rod assembly and the second push rod assembly are independent drive structures, each configured with an independent drive unit. The drive units of the first push rod assembly and the second push rod assembly are signal connected to the cabin-level control unit of the corresponding cabin. The cabin-level control unit is configured to control the first push rod assembly and the second push rod assembly to move towards each other, and when it receives a contact signal generated between any first charging contact and the second charging contact set on the drone, it determines the current Y-axis position of the drone, and determines the effective range of the preset charging position on the Y-axis in combination with the available accommodating space inside the cabin; based on the current Y-axis position of the drone, it controls the single-sided or double-sided push rod assemblies to continue moving towards each other until the first charging contacts on both sides have completed contact with the second charging contacts.

[0007] Furthermore, the cabin-level control unit is configured to drive the Y-axis push rod assembly to move towards each other until the first charging contact on the Y-axis push rod assembly abuts against the corresponding second charging contact on the drone base, including: Simultaneously, drive units of the first and second push rod assemblies included in the Y-axis push rod assembly are sent with opposite movement commands, and contact detection signals on both push rod assemblies are collected in real time. When any contact detection signal becomes valid and remains stable, it is determined that the first charging contact of the corresponding push rod assembly has abutted against the second charging contact on the corresponding side of the drone base, the position coordinates of the corresponding push rod assembly are obtained, and the current absolute position of the drone on the Y axis is calculated. Based on the available internal space parameters of this cabin, calculate the effective range of the preset charging position in the Y-axis direction under the current working conditions; The current absolute position of the drone on the Y-axis is compared with the effective range. If it is within the effective range, the push rod assembly on the side that has not made contact is controlled to feed on one side until the first charging contact on that side abuts against the second charging contact on the corresponding side of the drone. If it is outside the effective range, control the push rod assemblies on both sides to feed synchronously and correct the position deviation together until the absolute position of the UAV Y-axis falls into the effective range, and then switch to single-sided feeding to complete the docking. When the contact detection signals on both sides become valid, stop driving all push rod assemblies and send a start command to the charging unit.

[0008] Furthermore, the cabin assembly includes at least one main cabin and four sub-cabins, with the main cabin arranged in the center; the sub-cabins are symmetrically arranged on opposite sides of the main cabin along its length, with each side containing two sub-cabins, arranged side by side along the width of the main cabin.

[0009] Furthermore, the cabin-level control unit is connected to a multi-sensor redundant detection assembly, including: The landing detection unit consists of multiple infrared sensors and is used to determine that the drone has landed in place when the multiple infrared sensors detect the drone body at the same time. The push rod position detection unit consists of a limit switch and an encoder, and is used for dual detection of the push rod position; The temperature detection unit consists of multiple temperature sensors, which are used to collect the ambient temperature inside the cabin, the temperature of the charging module, and the battery temperature, respectively.

[0010] Furthermore, the main cabin is equipped with a horizontal telescopic parking apron and a corresponding first parking apron drive mechanism. A first protective door is provided on the side wall of the main cabin. The first protective door is opened and closed using a pivot structure to form a telescopic channel at the position corresponding to the horizontal telescopic parking apron. The door drive mechanism includes a first drive unit for driving the first protective door, and the first apron drive mechanism includes a second drive unit for driving the horizontally retractable apron to extend horizontally. The cabin control unit is signal-connected to the first drive unit and the second drive unit respectively, and controls the horizontally retractable apron to extend to the outside of the main cabin or retract to the inside of the main cabin through the telescopic channel.

[0011] Furthermore, the auxiliary cabin is equipped with a vertical lift-type helipad and a corresponding second helipad drive mechanism. A second protective door is provided on the top wall of the auxiliary cabin. The second protective door is a sliding protective door, which is used to form a lifting channel corresponding to the position of the vertical lift-type helipad. The door drive mechanism includes a third drive unit for driving the second protective door, and the second helipad drive mechanism includes a fourth drive unit for driving the vertical lift helipad to move vertically. The cabin-level control unit is signal-connected to the third drive unit and the fourth drive unit respectively, and controls the vertical lift helipad to extend to the outside of the auxiliary cabin or retract to the inside of the auxiliary cabin through the lifting channel.

[0012] Another aspect of this application proposes a multi-UAV swarm automated control method, applied to any of the multi-UAV swarm automated control systems described above, comprising: The target cabin's cabin-level control unit receives external scheduling information, which includes at least information about the UAVs assigned to the target cabin. Send an opening command to the drive mechanism of the corresponding hatch; after receiving the hatch fully open signal, send an extension command to the drive mechanism of the landing pad; and after receiving the landing pad movement into place signal, send landing permission to the UAV. After detecting that the drone has landed on the landing pad surface, the cabin-level control unit drives the X-axis push rod assembly to move towards each other to clamp the drone and maintain self-locking, thereby constraining the drone's horizontal rotational degree of freedom; then drives the Y-axis push rod assembly to move towards each other until the first charging contact on the Y-axis push rod assembly abuts against the corresponding second charging contact on the drone's base, triggering the charging unit to connect the independent power supply circuit and start charging; After charging is complete, the cabin-level control unit sequentially drives the Y-axis push rod assembly and the X-axis push rod assembly to reset. Upon receiving the apron retraction signal, the system drives the cabin door to close and returns to standby mode.

[0013] Further, the step of driving the Y-axis push rod assembly to move towards each other until the first charging contact on the Y-axis push rod assembly abuts against the corresponding second charging contact on the drone base, triggering the charging unit to connect the independent power supply circuit and start charging, includes: Simultaneously, drive units of the first and second push rod assemblies included in the Y-axis push rod assembly are sent with opposite movement commands, and contact detection signals on both push rod assemblies are collected in real time. When any contact detection signal becomes valid and remains stable, it is determined that the first charging contact of the corresponding push rod assembly has abutted against the second charging contact on the corresponding side of the drone base, the position coordinates of the corresponding push rod assembly are obtained, and the current absolute position of the drone on the Y axis is calculated. Based on the available internal space parameters of this cabin, calculate the effective range of the preset charging position in the Y-axis direction under the current working conditions; The current absolute position of the drone on the Y-axis is compared with the effective range. If it is within the effective range, the push rod assembly on the side that has not made contact is controlled to feed on one side until the first charging contact on that side abuts against the second charging contact on the corresponding side of the drone. If it is outside the effective range, control the push rod assemblies on both sides to feed synchronously and correct the position deviation together until the absolute position of the UAV Y-axis falls into the effective range, and then switch to single-sided feeding to complete the docking. When the contact detection signals on both sides become valid, stop driving all push rod assemblies and send a start command to the charging unit.

[0014] According to another aspect of the present invention, a computer device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, wherein the executable instruction causes the processor to perform the operation of the multi-UAV swarm automated control method as described in any of the preceding embodiments.

[0015] According to another aspect of the present invention, a computer-readable storage medium is provided, the storage medium storing at least one executable instruction that causes a computer device to perform the operation of the multi-UAV swarm automated control method as described in any of the preceding embodiments.

[0016] This invention employs a modular layout consisting of a main cabin and at least one auxiliary cabin. Each cabin can be flexibly added or removed according to operational needs, improving deployment flexibility and scenario adaptability. Simultaneously, each cabin has an independent and electrically isolated power supply circuit and charging unit, enabling independent disconnection of the corresponding circuit in the event of a power supply failure in a single cabin without affecting other cabins. This avoids the potential for a single cabin failure to affect the entire integrated hangar due to interconnected power supply circuits. Furthermore, each cabin is independently equipped with a cabin-level control unit storing the entire process control logic. Upon receiving external scheduling information, each cabin-level control unit independently executes the corresponding cabin's landing guidance, centering positioning, charging management, and door and apron linkage control, without relying on other cabins. This architectural approach avoids the shortcomings of traditional master-slave solutions where a main hangar failure leads to system-wide paralysis, significantly improving the continuity of cluster operations and system reliability. Furthermore, the step-by-step action of first driving the X-axis push rods in a cross-shaped layout to clamp the drone in opposite directions and maintain self-locking to constrain its horizontal degree of freedom, and then driving the Y-axis push rod to push the drone to the preset charging position, effectively avoids the yaw rotation caused by simultaneous pushing in the X and Y directions, ensuring that the drone is reliably pushed to the charging position. The first charging contact is directly set on the Y-axis push rod assembly. When the drone is pushed to the preset charging position, the first charging contact automatically abuts with the second charging contact on the drone and triggers the charging unit to start charging. The centering positioning and charging docking are combined into one, simplifying the docking process, improving the charging docking success rate, and avoiding the additional docking actions and docking failure risks caused by the separate setting of the correction mechanism and charging contacts in the existing solution.

[0017] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0018] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic diagram of the structure of an automated control device for a multi-UAV swarm provided in an embodiment of the present invention is shown. Figure 2 A schematic diagram of the sub-cabin structure provided in an embodiment of the present invention is shown; Figure 3 A schematic diagram of the centering positioning mechanism provided in an embodiment of the present invention is shown; Figure 4 A flowchart illustrating an embodiment of the automated control method for multi-UAV swarms provided by the present invention is shown. Figure 5 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention is shown.

[0019] The components include: 1. Main cabin; 2. Sub-cabin; 3. Apron; 31. Horizontal telescopic apron; 32. Vertical lift apron; 4. X-axis push rod assembly; 5. Y-axis push rod assembly; 6. First charging contact; 7. Second charging contact; 8. First push rod assembly; 9. Second push rod assembly; 10. First protective door; 11. Second protective door. Detailed Implementation

[0020] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0021] First, to further explain the problems with the existing technology, the inventors of this application have discovered that: In existing multi-drone swarm collaborative operations, to meet the parking and charging needs of multiple drones, multiple independent hangars are typically deployed in a dispersed manner, or an integrated multi-hangar solution is used. Dispersed deployment methods occupy a large area, are complex to manage, and are difficult to centrally schedule. Integrated multi-hangar solutions often use welded fixed structures, and the control relationship between the hangars is mostly master-slave or centralized, i.e., one master hangar is designated as the control core, and other auxiliary hangars passively execute commands. When the master hangar experiences power supply abnormalities or control failures, all auxiliary hangars cannot operate independently, requiring the entire system to be shut down for maintenance, severely affecting the continuity and reliability of swarm operations. Furthermore, during the drone landing and return process, existing hangars use guide grooves or single-direction push rods for correction, but during correction, drones are prone to yaw and spinning, making it difficult to reliably push them to the charging position, and charging docking often fails due to positional deviations. At the same time, the charging contacts and correction mechanisms in existing hangars are mostly separately set up, requiring additional docking actions after correction to complete the charging connection, further increasing the probability of docking failure.

[0022] Figures 1-3 The diagram shows a schematic of the structure of a multi-UAV swarm automated control system provided in an embodiment of the present invention. The multi-UAV swarm automated control system includes: a cabin assembly, which includes a main cabin 1 and at least one secondary cabin 2 arranged around the main cabin 1, for accommodating UAVs of different specifications; each cabin has an independent power supply circuit and a charging unit that are electrically isolated from each other, for cutting off the power supply circuit of the corresponding cabin when the power supply of a single cabin is abnormal.

[0023] Each cabin is independently equipped with a cabin-level control unit, which has a communication interface for receiving external scheduling information. Each cabin-level control unit is connected to the independent power supply circuit, charging unit, landing pad drive mechanism, cabin door drive mechanism, and centering positioning mechanism of the corresponding cabin, and stores the full-process control logic for driving the corresponding cabin to independently complete the landing guidance, centering positioning, charging management, and cabin door and landing pad linkage control of a single UAV.

[0024] The centering positioning mechanism is correspondingly set on the surface of the landing pad 3 of each cabin, including the X-axis push rod assembly 4 and the Y-axis push rod assembly 5 arranged in a cross shape. The centering positioning mechanism is driven by the cabin-level control unit of the corresponding cabin and performs the following actions: first, drive the X-axis push rod assembly 4 to move towards each other to clamp the UAV parked on the surface of the landing pad 3 of the corresponding cabin and keep it self-locking to constrain the horizontal degree of freedom of the UAV; then drive the Y-axis push rod assembly 5 to move towards each other to push the UAV to the preset charging position.

[0025] The Y-axis push rod assembly 5 is provided with a first charging contact 6, which is electrically connected to the charging unit of the corresponding cabin. When the Y-axis push rod assembly 5 pushes the drone to the preset charging position, and the first charging contact 6 abuts against the second charging contact 7 provided on the drone, the cabin-level control unit controls the charging unit to connect the independent power supply circuit to start charging.

[0026] Reference Figures 1-3 In this embodiment, the cabin assembly includes a main cabin 1 and at least one auxiliary cabin 2 arranged around the main cabin 1, each used to accommodate drones of different sizes. For example, the main cabin 1 can accommodate large drones with a wheelbase of more than 1 meter for long-endurance, high-payload operations; the auxiliary cabin 2 can accommodate small drones with a wheelbase of less than 0.5 meters for short-range, high-frequency rapid patrol missions. The main cabin 1 and the auxiliary cabin 2 can be connected by a bolt quick-connect structure to achieve modular assembly. Furthermore, since each cabin is an independent box structure, it can also be directly installed on the ground with anchor bolts according to site conditions, without the need for an additional overall foundation.

[0027] Each compartment has an independent power supply circuit and charging unit that are electrically isolated from each other. Specifically, each compartment is independently equipped with an AC-DC power module, a charging unit, and a circuit breaker or solid-state relay. The power supply harnesses and charging circuits of each compartment are arranged in separate chambers or use independent cable trays to achieve electrical isolation. The compartment-level control unit monitors the power supply current, voltage, and temperature and status of the charging unit in real time. When an abnormal power supply is detected, such as overcurrent, short circuit, overheating, or charging module failure, the compartment-level control unit immediately controls the relay or solid-state relay to cut off the power supply circuit of the corresponding compartment and reports the fault status to the remote platform. The normal operation of other compartments is completely unaffected, realizing automatic isolation of single-compartment faults.

[0028] Each cabin's independently configured cabin-level control unit is connected to the corresponding cabin's independent power supply circuit, charging unit, door drive mechanism, and centering positioning mechanism via signals. Specifically: relays or solid-state relays are controlled via I / O ports to manage the power supply circuit; PWM (Pulse Width Modulation) signals or stepper motor drivers are used to control the helipad motor and push rod motor; temperature sensor and contact detection signals are acquired via ADC (Analog-to-Digital Converter); and feedback on the push rod assembly position and helipad 3 position is read via an encoder interface. The helipad 3 includes a horizontally retractable helipad 31 located within the main cabin 1 and a vertically lifting helipad 32 located within the auxiliary cabin 2.

[0029] Each cabin-level control unit is fully stored in local memory and can independently execute the entire process control logic. Even if the cabin's communication network with the external network is interrupted, the cabin-level control unit can still autonomously drive the corresponding cabin to complete the entire process of landing guidance, centering positioning, charging management, and three-way linkage control of the cabin door and landing pad for a single UAV, without relying on any other cabin or central node. This design can avoid the fundamental defect of the traditional master-slave architecture where "failure of the central master control leads to the paralysis of the entire aircraft".

[0030] In addition, the cabin-level control unit also performs status monitoring and fault diagnosis. Specifically, the cabin-level control unit collects status feedback information from various peripherals at fixed intervals (e.g., 100 milliseconds), including motor encoder position, limit switch trigger status, sensor readings, and voltage and current parameters of the charging module, and compares them with the expected status. When an anomaly is detected (e.g., motor stall, sensor data exceeding reasonable range, abnormal fluctuations in charging current), the cabin-level control unit automatically executes protection actions (such as stopping the relevant motor or disconnecting the charging circuit), reports the fault type and occurrence time to the remote platform, and stores the fault log locally in the cabin.

[0031] Centering positioning mechanism: such as Figure 3 As shown, the centering positioning mechanism is correspondingly installed on the surface of the landing pad 3 of each cabin, including an X-axis push rod assembly 4 and a Y-axis push rod assembly 5 arranged in a cross pattern. The X-axis push rod assembly 4 is arranged opposite each other along the horizontal X direction (front-to-back direction), and the Y-axis push rod assembly 5 is arranged opposite each other along the horizontal Y direction (left-to-right direction). The two are orthogonal and located in the same horizontal plane of the landing pad 3. Each push rod assembly is driven by an independent stepper motor through a lead screw or gear rack transmission mechanism, and can make linear reciprocating motion in opposite directions along a linear guide rail.

[0032] The centering positioning mechanism is driven by the cabin-level control unit of the corresponding cabin. First, after the UAV lands on the landing pad 3, the cabin-level control unit drives the X-axis push rod assembly 4 to move in opposite directions, clamping the UAV's landing gear from both sides and maintaining a self-locking state. Self-locking can be achieved by maintaining excitation with a stepper motor, or by using a mechanical self-locking structure such as a worm gear. The purpose of this action is to constrain the UAV's yaw rotational freedom in the horizontal plane. Once the X-axis direction is clamped, the UAV can no longer rotate around the vertical axis, creating stable conditions for subsequent precise positioning on the Y-axis. Second, with the X-axis push rod assembly 4 maintaining a clamping state, the cabin-level control unit then drives the Y-axis push rod assembly 5 to move in opposite directions, pushing the UAV along the Y direction (left and right direction) to the preset charging position.

[0033] In existing technologies, if the X-axis push rod assembly 4 and the Y-axis push rod assembly 5 move towards each other simultaneously, due to the uneven distribution of friction between the UAV landing gear and the surface of the landing pad 3, or the slight deformation of the landing gear itself, the resultant force applied by the four push rods is difficult to pass through the center of mass of the UAV absolutely. This will generate an uncontrollable rotational torque in the horizontal plane, causing the UAV to yaw and rotate on the landing pad 3. This makes it impossible for the X-axis push rod assembly 4 to accurately engage the landing gear, ultimately leading to correction failure or even jamming. This embodiment uses "X-axis first, then Y-axis" decoupled control. First, the rotational degree of freedom of the UAV is locked with the X-axis push rod, and then the Y-axis is centered separately. This can adapt to the "cross-shaped" or "X-shaped" landing gear configuration of mainstream quadcopter UAVs on the market, ensuring the success rate of correction.

[0034] Charging contact structure: The Y-axis push rod assembly 5 is provided with a first charging contact 6, which is electrically connected to the charging unit of the corresponding cabin via a wire. The first charging contact 6 adopts an elastic telescopic structure (such as a Pogo Pin or spring pin) and is installed on the side of the Y-axis push rod assembly 5 facing the UAV. The front end of the push rod is not a simple metal block, but is equipped with a roller-type elastic return contact: the front end of the push rod is a telescopic shaft with a built-in spring. When it initially contacts the UAV landing gear, the spring compression provides a mechanical buffer to prevent scratching the landing gear, while the roller structure reduces friction.

[0035] When the Y-axis push rod assembly 5 pushes the drone to the preset charging position, the first charging contact 6 physically contacts the second charging contact 7 (electrically connected to the drone's battery management system, BMS) pre-installed on the drone's base, forming a conductive circuit. The cabin-level control unit detects this contact signal (e.g., a level transition or current loop closure) and, after confirming signal stability, immediately controls the charging unit to connect the independent power supply circuit to start charging, thus achieving integrated centering and charging docking.

[0036] This embodiment of the system, through modular main and auxiliary compartment splicing, independent power supply circuits for each compartment to be electrically isolated from each other, independent compartment-level control units for each compartment and storage of full-process control logic, and a central positioning mechanism that integrates charging contacts in a "X-then-Y" step-by-step clamping manner, can achieve automatic isolation of single compartment failures, ensure that the continuity of cluster operations is not affected, and improve the success rate of charging docking.

[0037] In one embodiment, such as Figure 3 As shown, the Y-axis push rod assembly 5 includes a first push rod assembly 8 and a second push rod assembly 9 arranged opposite to each other along the Y-axis direction. The first push rod assembly 8 and the second push rod assembly 9 are respectively provided with first charging contacts 6 on their opposite sides. The first push rod assembly 8 and the second push rod assembly 9 are independent drive structures, each configured with an independent drive unit. The drive units of the first push rod assembly 8 and the second push rod assembly 9 are signal connected to the cabin-level control unit of the corresponding cabin.

[0038] The cabin-level control unit is configured to control the first push rod assembly 8 and the second push rod assembly 9 to move towards each other, and when it receives a contact signal generated between any first charging contact 6 and the second charging contact 7 set on the drone, it determines the current Y-axis position of the drone, and determines the effective range of the preset charging position on the Y-axis in combination with the available space inside the cabin; based on the current Y-axis position of the drone, it controls the single-sided or double-sided push rod assemblies to continue moving towards each other until the first charging contact 6 on both sides has made contact with the second charging contact 7.

[0039] Specifically, the cabin-level control unit simultaneously sends opposing movement commands to the drive units of the first push rod assembly 8 and the second push rod assembly 9 included in the Y-axis push rod assembly 5, and collects contact detection signals on both push rod assemblies in real time; when any contact detection signal becomes valid and remains stable, it is determined that the first charging contact 6 of the corresponding push rod assembly has abutted against the second charging contact 7 on the corresponding side of the UAV base, the position coordinates of the corresponding push rod assembly are obtained, and the current absolute Y-axis position of the UAV is calculated; based on the available space parameters inside the cabin, the preset charging position in the Y-axis direction under the current working condition is calculated. The effective range is determined; the current absolute position of the drone on the Y-axis is compared with the effective range. If it is within the effective range, the push rod assembly on the side that has not made contact is controlled to feed on one side until the first charging contact 6 on that side abuts against the second charging contact 7 on the corresponding side of the drone. If it is outside the effective range, the push rod assemblies on both sides are controlled to feed synchronously and cooperate to correct the position deviation until the absolute position of the drone on the Y-axis falls into the effective range, and then the single-sided feeding is switched to complete the docking. When the contact detection signals on both sides become valid, the driving of all push rod assemblies is stopped and a start command is sent to the charging unit.

[0040] The contact detection signal is generated by a contact detection unit located on the side of the first charging contact 6 near the corresponding push rod assembly. This contact detection unit can be a miniature microswitch or a pressure sensor; when the first charging contact 6 physically comes into contact with the second charging contact 7 of the UAV and generates a predetermined pressure, the contact detection unit sends a contact signal to the cabin-level control unit.

[0041] In the actual drone landing and centering process, when the drone deviates to one side in the Y-axis direction during landing, if the two push rods move simultaneously at the same speed towards each other until the drone is pushed to the geometric midpoint of the landing pad 3, the first charging contact 6 on the push rod assembly closer to the drone will make contact with the second charging contact 7 on the drone base first. Subsequently, as the two push rod assemblies continue to advance synchronously towards the geometric midpoint, continuous relative sliding friction will occur between the first charging contact 6 and the corresponding second charging contact 7 on the already contacted push rod assembly until the drone is pushed to the midpoint of the landing pad 3. This long-term, long-distance mechanical friction will gradually wear down the conductive plating on the contact surface, leading to contact roughening and unstable contact pressure. After long-term operation, this may cause safety hazards such as poor contact and charging overheating.

[0042] To address the aforementioned issues, this embodiment employs an adaptive alignment control strategy based on contact detection signals. When the cabin-level control unit receives a contact signal between any of the first charging contacts 6 and the second charging contacts 7 on the UAV, it first reads the coordinate values ​​fed back by the position detection unit of the contacted push rod assembly, and simultaneously obtains the known fixed distance between the second charging contacts 7 on both sides of the UAV. Based on the current position coordinates of the contacted push rod assembly and this fixed distance, the absolute position of the UAV in the Y-axis direction is calculated. Subsequently, the cabin-level control unit retrieves the available internal space parameters of the cabin and calculates the effective range of the preset charging position in the Y-axis direction.

[0043] If the calculated absolute Y-axis position of the drone is within the effective range, the control unit stops the contact-side push rod assembly and only drives the push rod assembly on the non-contact side to advance until the first charging contact 6 on that side abuts against the second charging contact 7 on the corresponding side of the drone, and no further relative sliding occurs between the first charging contact 6 and the corresponding second charging contact 7 on the contact-side. If the drone's current absolute Y-axis position is outside the effective range, the cabin-level control unit controls the contact-side push rod assembly to move based on the difference between the drone's current absolute Y-axis position and the boundary of the effective range, while simultaneously driving the non-contact side push rod assembly to advance, so that both push rod assemblies move in coordination to correct the drone into the effective range, and then switches to single-side advance to complete the docking. When the contact signals on both sides become valid and remain stable, the cabin-level control unit stops the driving of all push rod assemblies and sends a start command to the charging unit.

[0044] Through the aforementioned adaptive alignment control strategy, this embodiment significantly reduces the ineffective sliding distance of the charging contacts on the contact side while ensuring reliable charging docking, effectively slowing down the wear of the contact plating and extending the service life of the charging components.

[0045] like Figure 1 As shown, in one embodiment, the cabin assembly includes at least one main cabin 1 and four auxiliary cabins 2, with the main cabin 1 centrally located; the auxiliary cabins 2 are symmetrically arranged on opposite sides of the main cabin 1 along its length, with each side containing two auxiliary cabins 2, arranged side by side along the width of the main cabin 1.

[0046] The cabin assembly includes at least one main cabin 1 and four auxiliary cabins 2. The main cabin 1 is centrally located, and its internal dimensions are adapted to the parking and charging of large drones. The four auxiliary cabins 2 are symmetrically arranged on opposite sides along the length of the main cabin 1, with two auxiliary cabins 2 on each side, arranged side-by-side along the width of the main cabin 1, forming a compact "one main, four auxiliary" layout. The main cabin 1 and auxiliary cabins 2, as well as adjacent auxiliary cabins 2, are connected by a bolt quick-connect structure, and waterproof sealing strips are pressed onto the joint surfaces to ensure the overall sealing and protection level of the machine. In addition, the bottom of each auxiliary cabin 2 integrates a set of height-adjustable omnidirectional wheels and leveling legs. During deployment or reconfiguration, the auxiliary cabin 2 can be manually moved to a predetermined position around the main cabin 1. Once in place, the leveling legs extend to fix the cabin and bear the main weight, and the omnidirectional wheels retract to ensure stable system operation. This modular splicing and flexible configuration design allows the system to dynamically adjust the number of cabins according to the size of the drone swarm, reducing deployment costs and floor space.

[0047] In one embodiment, the cabin-level control unit is equipped with a multi-sensor redundant detection component, including: a landing position detection unit, composed of multiple infrared sensors, used to determine that the UAV has landed in position when the multiple infrared sensors simultaneously detect the UAV body; a push rod position detection unit, composed of a limit switch and an encoder, used to perform dual detection of the push rod position; and a temperature detection unit, composed of multiple temperature sensors, used to collect the cabin ambient temperature, charging module temperature and battery temperature respectively.

[0048] Specifically, in the landing detection unit, multiple infrared sensors can be installed in a triangular arrangement below or around the landing pad 3 (for example, one located in the center of the rear of landing pad 3, and two located on the left and right sides of the front). The cabin-level control unit only determines that the UAV has landed accurately when multiple infrared sensors simultaneously detect the reflected signal from the UAV body. The cabin-level control unit performs software filtering on the signals of each group of infrared sensors to eliminate misjudgments caused by transient interference. If any group of sensors fails, the cabin-level control unit automatically switches to a degraded operation mode (for example, from multiple sensors simultaneously determining landing to at least two groups of sensors simultaneously determining landing), and simultaneously reports a sensor failure warning to the remote platform to ensure that the failure of a single sensor does not lead to the complete loss of the on-site detection function.

[0049] In the push rod position detection unit, the mechanical limit switch serves as a hard limit signal at the end of the stroke. It is triggered when the push rod reaches its limit position to prevent overshoot and provide an absolute position reference. The encoder, as a continuous position feedback unit, provides the absolute position or relative displacement of the push rod in real time. The cabin-level control unit cross-verifies the encoder reading with the triggering state of the mechanical limit switch. When the encoder signal shows an abnormal jump or the mechanical limit switch is unexpectedly triggered, the system can comprehensively determine the true position of the push rod and take timely safety measures such as stopping or reversing to avoid the push rod going out of control or being damaged by impact due to the failure of a single sensor.

[0050] The temperature detection unit comprises multiple temperature sensors that collect data on three key temperatures: the ambient temperature inside the cabin, the charging module temperature, and the drone battery temperature. Data from each sensor is reported in real-time to the cabin-level control unit, which automatically adjusts the cabin's temperature control equipment based on the collected data. If a temperature sensor malfunctions, the control unit automatically switches to readings from other functioning sensors for assessment and control, and reports the fault information, effectively preventing the risk of overheating or overcooling during charging due to a single-point temperature detection failure.

[0051] Through the above-described multi-sensor redundancy detection design, this embodiment achieves automatic degradation operation in the event of partial sensor failure, significantly improving the system's long-term unattended reliability in complex outdoor environments.

[0052] In one embodiment, a horizontally retractable helipad 31 is provided inside the main cabin 1, and a first protective door 10 is provided on the side wall of the main cabin 1. The first protective door 10 is opened and closed using a pivot structure to form a retractable channel corresponding to the position of the horizontally retractable helipad 31.

[0053] The door drive mechanism includes a first drive unit for driving the first protective door 10, and the apron drive mechanism includes a second drive unit for driving the horizontally retractable apron 31 to extend horizontally. The cabin control unit is signal-connected to the first drive unit and the second drive unit respectively, and controls the horizontally retractable apron 31 to extend to the outside of the main cabin or retract to the inside of the main cabin through the telescopic channel.

[0054] The cabin-level control unit controls the timing of the actions of both the door drive mechanism and the landing pad drive mechanism through control commands: When the drone needs to land, the cabin-level control unit first sends a door opening command to the first drive unit. After receiving a feedback signal that the first protective door 10 is fully open, it then sends a command to the second drive unit to extend the horizontally retractable landing pad 31, driving the horizontally retractable landing pad 31 to extend outside the main cabin 1 through the telescopic channel. After the drone has finished charging and taken off, the cabin-level control unit first sends a landing pad retraction command to the second drive unit. After receiving a feedback signal that the landing pad has been retracted to the correct position, it then sends a door closing command to the first drive unit, causing the first protective door 10 to close and form a fully enclosed protective cavity. Each of the door drive mechanism and the landing pad drive mechanism is equipped with a position status feedback unit to provide position status feedback to the cabin-level control unit. The cabin-level control unit controls the actions of both according to the above timing logic and uses electrical signals to achieve safety interlocking. For example, if the door is not fully open, the landing pad extension command is prohibited; if the horizontally retractable landing pad 31 is not fully retracted, the door closing command is prohibited. Through this time-sharing sequence control and electrical interlocking mechanism, this embodiment achieves reliable coordination between the horizontal telescopic landing pad 31 and the first protective hatch 10 without the need for mechanical linkage, thus avoiding action conflicts and mechanical interference.

[0055] Reference Figure 2 In one embodiment, the auxiliary cabin 2 is provided with a vertical lift-type landing pad 32, and a second protective door 11 is provided on the top wall of the auxiliary cabin 2. The second protective door 11 is a sliding protective door, which is used to form a lifting channel corresponding to the position of the vertical lift-type landing pad 32.

[0056] The door drive mechanism includes a third drive unit for driving the second protective door 11, and the apron drive mechanism includes a fourth drive unit for driving the vertical lift apron 32 to move vertically. The cabin control unit is signal connected to the third drive unit and the fourth drive unit respectively, and controls the vertical lift apron 32 to extend to the outside of the auxiliary cabin or retract to the inside of the auxiliary cabin through the lifting channel.

[0057] The vertical lift-type landing pad 32 employs a scissor-type lifting mechanism as its lifting actuation component. This scissor-type lifting mechanism consists of two sets of intersecting inner and outer connecting rods connected by hinges, forming a foldable scissor structure. Its bottom is fixed to the mounting base at the bottom of the auxiliary cabin 2, and its top is fixedly connected to the bottom surface of the landing platform. The fourth drive unit is connected to the active connecting rod of the scissor-type lifting mechanism through a transmission mechanism. When the fourth drive unit drives forward, the scissor arms gradually straighten, lifting the landing platform to a set height; when the fourth drive unit drives in reverse, the scissor arms gradually fold, and the landing platform descends and retracts into the auxiliary cabin 2. The multi-hinge fulcrum structure of the scissor-type lifting mechanism ensures the levelness of the vertical lift-type landing pad 32 throughout its lifting stroke, preventing the UAV from slipping due to platform tilt.

[0058] The cabin-level control unit controls the actions of the third and fourth drive units in a sequential manner: When the drone needs to land, the cabin-level control unit first sends a door opening command to the third drive unit, driving the second protective door 11 to slide open to both sides. After receiving a feedback signal that the door is fully open, it then sends a landing pad extension command to the fourth drive unit, driving the vertical lift landing pad 32 to rise into position, and then sends landing clearance to the drone. After the drone has finished charging and taken off, the cabin-level control unit first sends a landing pad retraction command to the fourth drive unit, lowering the vertical lift landing pad 32 back into the auxiliary cabin 2. After receiving a feedback signal that it has been retracted into position, it then sends a door closing command to the third drive unit, driving the second protective door 11 to slide closed, forming a fully enclosed protective cavity. Each drive unit is equipped with a position status feedback unit to provide position status feedback to the cabin-level control unit and avoids action conflicts through an electrical interlock mechanism—for example, the landing pad extension command is prohibited when the second protective door 11 is not fully open, and the door closing command is prohibited when the vertical lift landing pad 32 is not fully retracted.

[0059] Through the combination design of the scissor-type lifting mechanism and the sliding door, this embodiment realizes the vertical take-off and landing and storage of small drones in a limited horizontal space. The folding characteristics of the scissor-type lifting mechanism make the utilization rate of the cabin height direction higher. The sliding door is flush with the top wall after closing, which is beneficial to the waterproof, dustproof and heat preservation of the whole machine, and is suitable for outdoor unattended deployment.

[0060] In one embodiment, before and during the extension of the apron 3, the cabin-level control unit reads meteorological sensor data in real time. When the wind speed exceeds a preset threshold or a rainfall signal is detected, the cabin-level control unit automatically stops the apron extension command. If the apron 3 has already been extended, it is forcibly retracted and the protective hatch is closed, while simultaneously reporting a weather alarm to the remote platform. After the meteorological sensor data returns to normal, the cabin-level control unit automatically returns to standby mode, awaiting the next landing command.

[0061] Figure 4 A flowchart of an automated control method for multi-UAV swarms provided by an embodiment of the present invention is shown. This method is executed by a computer device. The computer device can be a desktop computer, laptop computer, tablet computer, smart terminal, distributed device, etc., and the embodiments of the present invention do not impose specific limitations. Figure 4 As shown, the method, applied to the multi-UAV swarm automated control system described in any of the above embodiments, includes the following steps: S110. The target cabin's cabin-level control unit receives external scheduling information, which includes information about the UAVs assigned to the cabin. S120. The cabin-level control unit sends an opening command to the drive mechanism of the corresponding cabin door. After receiving the cabin door fully open signal, it sends an extension command to the drive mechanism corresponding to the landing pad 3. After receiving the landing pad 3 moving into place signal, it sends a landing permission to the UAV. S130. After detecting that the drone has landed on the surface of the landing pad 3, the cabin-level control unit drives the X-axis push rod assembly 4 to move towards each other to clamp the drone and maintain self-locking, so as to constrain the horizontal rotational degree of freedom of the drone; then drives the Y-axis push rod assembly 5 to move towards each other until the first charging contact 6 on the Y-axis push rod assembly 5 abuts against the corresponding second charging contact 7 on the drone base, triggering the charging unit to start charging. S140. After charging is completed, the cabin-level control unit sequentially drives the Y-axis push rod assembly 5 and the X-axis push rod assembly 4 to reset. After receiving the signal that the parking apron 3 has been retracted into position, the system drives the cabin door to close and returns to standby mode.

[0062] After powering on, each cabin-level control unit first performs a hardware self-test of its respective cabin. Each cabin-level control unit is equipped with a communication interface for receiving external dispatch information. Upon receiving the dispatch information, the target cabin's cabin-level control unit first sends an opening command to the corresponding door's drive mechanism (main cabin 1 has a pivot door, auxiliary cabin 2 has a sliding door). After receiving a fully open door signal, it then sends an extension command to the drive mechanism corresponding to the landing pad 3 (main cabin 1 extends horizontally, auxiliary cabin 2 extends vertically). After receiving a landing pad 3 movement signal, it sends landing clearance to the UAV.

[0063] After detecting that the drone has landed on the surface of the landing pad 3, the cabin-level control unit first drives the X-axis push rod assembly 4 to move towards each other, clamping the drone's landing gear and maintaining self-locking to constrain the drone's horizontal rotational freedom; then it drives the Y-axis push rod assembly 5 to move towards each other until the first charging contact 6 on the Y-axis push rod assembly 5 abuts against the corresponding second charging contact 7 on the drone's base, triggering the charging unit to start charging.

[0064] During the process of driving the Y-axis push rod assembly 5 to move towards each other, the cabin-level control unit simultaneously drives the first push rod assembly 8 and the second push rod assembly 9 included in the Y-axis push rod assembly 5 to move towards each other, and collects the contact detection signals on both push rod assemblies in real time; when any contact detection signal becomes valid and remains stable, it is determined that the first charging contact 6 of the corresponding push rod assembly has abutted against the second charging contact 7 on the corresponding side of the UAV base, the position coordinates of the corresponding push rod assembly are obtained, and the current absolute position of the UAV on the Y-axis is calculated; based on the available space parameters inside the cabin, the preset position in the Y-axis direction under the current working condition is calculated. The effective range of the charging position is determined by comparing the current absolute Y-axis position of the drone with the effective range. If the position is within the effective range, the push rod assembly on the side that has not yet made contact is controlled to feed unilaterally until the first charging contact 6 on that side abuts against the second charging contact 7 on the corresponding side of the drone. If the position is outside the effective range, the push rod assemblies on both sides are controlled to feed synchronously to correct the position deviation until the absolute Y-axis position of the drone falls within the effective range. Then, unilateral feeding is switched to complete the docking. When the contact detection signals on both sides become valid, the driving of all push rod assemblies is stopped, and a start command is sent to the charging unit.

[0065] After charging is complete, the cabin-level control unit sequentially drives the Y-axis push rod assembly 5 and the X-axis push rod assembly 4 to reset to their initial positions, and can directly send a charging completion signal to the UAV via the communication interface. Upon receiving the retraction signal from the landing pad 3, the cabin door is driven to close, and the system returns to standby mode.

[0066] In one embodiment, the step of driving the Y-axis push rod assembly 5 to move towards each other until the first charging contact 6 on the Y-axis push rod assembly 5 abuts against the corresponding second charging contact 7 on the drone base, triggering the charging unit to start charging, includes: Simultaneously, drive units of the first push rod assembly 8 and the second push rod assembly 9 included in the Y-axis push rod assembly 5 are sent with opposite movement commands, and contact detection signals on both push rod assemblies are collected in real time. When any contact detection signal becomes valid and remains stable, it is determined that the first charging contact 6 of the corresponding push rod assembly has abutted against the second charging contact 7 on the corresponding side of the drone base, the position coordinates of the corresponding push rod assembly are obtained, and the current absolute position of the drone on the Y axis is calculated. Based on the available internal space parameters of this cabin, calculate the effective range of the preset charging position in the Y-axis direction under the current working conditions; The current absolute position of the drone on the Y-axis is compared with the effective range. If it is within the effective range, the push rod assembly on the side that has not made contact is controlled to feed on one side until the first charging contact 6 on that side abuts against the second charging contact 7 on the corresponding side of the drone. If it is outside the effective range, control the push rod assemblies on both sides to feed synchronously and correct the position deviation together until the absolute position of the UAV Y-axis falls into the effective range, and then switch to single-sided feeding to complete the docking. When the contact detection signals on both sides become valid, stop driving all push rod assemblies and send a start command to the charging unit.

[0067] Simultaneously, the cabin-level control unit sends opposing movement commands to the drive units of the first push rod assembly 8 and the second push rod assembly 9 included in the Y-axis push rod assembly 5, causing the push rods on both sides to move from their initial positions toward the center of the apron 3. At the same time, the cabin-level control unit collects the contact detection signals output by the contact detection units at the rear of the first charging contacts 6 on both sides in real time.

[0068] When any contact detection signal becomes valid and remains stable, the cabin-level control unit determines that the first charging contact 6 of the side push rod assembly has achieved reliable physical contact with the second charging contact 7 on the corresponding side of the drone base. At this time, the cabin-level control unit reads the position coordinates of the side push rod assembly and calculates the current absolute position of the drone in the Y-axis direction using the pre-stored fixed distance between the second charging contacts 7 on both sides of the drone.

[0069] Subsequently, the cabin-level control unit retrieves the available space parameters inside the cabin and calculates the effective range of the preset charging position in the Y-axis direction under the current operating conditions.

[0070] The calculated current absolute Y-axis position of the drone is compared with the effective range, and the following control is executed based on the comparison result: If the drone's current absolute Y-axis position is within the valid range, it indicates that the drone's Y-axis position deviation meets the charging docking accuracy requirements. The cabin-level control unit controls the contacting side push rod assembly to stop and maintain self-locking, only driving the non-contacting side push rod assembly to continue moving until the first charging contact 6 on that side abuts against the corresponding second charging contact 7 on the drone's side. During this process, there is no relative sliding between the contacting side's first charging contact 6 and the corresponding second charging contact 7, avoiding contact wear.

[0071] If the UAV's current absolute Y-axis position is outside the effective range, it indicates that the UAV is significantly off-center and requires coordinated correction. The cabin-level control unit controls the movement of the contact-side push rod assembly while simultaneously controlling the feed of the non-contact-side push rod assembly. Through the cooperation of the push rods on both sides, the UAV is moved as a whole, and its absolute Y-axis position gradually moves closer to the effective range. When the UAV's absolute Y-axis position falls within the effective range, the contact-side push rod assembly stops, and single-side feed is switched to complete the docking.

[0072] When the cabin-level control unit detects that the contact detection signals on both sides have become valid and remain stable, it determines that the drone is in the correct charging position and that the charging contacts on both sides are reliably connected. It then sends a start command to the charging unit to begin charging the drone.

[0073] Through the above-mentioned adaptive alignment control method, this embodiment avoids unnecessary relative sliding of the charging contacts on the contact side while ensuring reliable charging docking, effectively reducing wear of the contact plating and extending the service life of the charging components.

[0074] like Figure 5 As shown, the computer device may include: a processor 402, a communications interface 404, a memory 406, and a communications bus 408.

[0075] The processor 402, communication interface 404, and memory 406 communicate with each other via communication bus 408. Communication interface 404 is used to communicate with other network elements such as clients or other servers. The processor 402 executes program 410, specifically performing the relevant steps described in the embodiment of the multi-UAV swarm automated control method.

[0076] Specifically, program 410 may include program code, which includes computer-executable instructions.

[0077] Processor 402 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The computer device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0078] Memory 406 is used to store program 410. Memory 406 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0079] Specifically, program 410 can be called by processor 402 to cause the computer device to perform the operation of the multi-UAV swarm automated control method provided in any of the above embodiments.

[0080] This invention provides a computer-readable storage medium storing at least one executable instruction that, when executed on a computer device, causes the computer device to perform the multi-UAV swarm automation control method described in any of the above method embodiments.

[0081] Specifically, the executable instructions can be used to cause the computer device to perform the operation of the multi-UAV swarm automation control method in any of the above method embodiments.

[0082] This invention provides a computer program that can be called by a processor to enable a computer device to execute the multi-UAV swarm automation control method described in any of the above method embodiments.

[0083] This invention provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions, which, when executed on a computer, cause the computer to perform the multi-UAV swarm automation control method described in any of the above method embodiments.

[0084] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of the present invention are not directed to any particular programming language. It should be understood that the content of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0085] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0086] Similarly, it should be understood that, in order to streamline the invention and aid in understanding one or more of the various aspects of the invention, features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of the invention. However, this disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim.

[0087] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0088] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. An automated control system for a multi-UAV swarm, characterized in that, include: The cabin assembly includes a main cabin and at least one sub-cabin arranged around the main cabin, each used to accommodate drones of different sizes. Each compartment has an independent power supply circuit and charging unit that are electrically isolated from each other, and is equipped with a door drive mechanism and a centering positioning mechanism; Each cabin is independently equipped with a cabin-level control unit. The cabin-level control unit is equipped with a communication interface for receiving external scheduling information. The cabin-level control unit is connected to the independent power supply circuit, charging unit, cabin door drive mechanism and centering positioning mechanism set in the corresponding cabin. It also stores the full-process control logic that drives the corresponding cabin to independently complete the landing guidance, centering positioning, charging management and cabin door and landing pad linkage control of a single UAV. The centering positioning mechanism is correspondingly set on the landing pad surface of each cabin, including an X-axis push rod assembly and a Y-axis push rod assembly arranged in a cross shape. The centering positioning mechanism is driven by the cabin-level control unit of the corresponding cabin and performs the following actions: first, drive the X-axis push rod assembly to move towards each other to clamp the UAV docked on the landing pad surface of the corresponding cabin and keep it self-locking to constrain the horizontal degree of freedom of the UAV; then drive the Y-axis push rod assembly to move towards each other to push the UAV to the preset charging position. The Y-axis push rod assembly is provided with a first charging contact, which is electrically connected to the charging unit of the corresponding cabin. When the Y-axis push rod assembly pushes the drone to the preset charging position and the first charging contact comes into contact with the second charging contact provided on the drone, the cabin-level control unit controls the charging unit to connect the independent power supply circuit to start charging.

2. The multi-UAV swarm automated control system according to claim 1, characterized in that, The Y-axis push rod assembly includes a first push rod assembly and a second push rod assembly arranged opposite to each other along the Y-axis direction. The first push rod assembly and the second push rod assembly are respectively provided with first charging contacts on opposite sides. The first push rod assembly and the second push rod assembly are independent drive structures, each configured with an independent drive unit. The drive units of the first push rod assembly and the second push rod assembly are signal connected to the cabin-level control unit of the corresponding cabin. The cabin-level control unit is configured to control the first push rod assembly and the second push rod assembly to move towards each other, and when it receives a contact signal generated between any first charging contact and the second charging contact set on the drone, it determines the current Y-axis position of the drone, and determines the effective range of the preset charging position on the Y-axis in combination with the available accommodating space inside the cabin; based on the current Y-axis position of the drone, it controls the single-sided or double-sided push rod assemblies to continue moving towards each other until the first charging contacts on both sides have completed contact with the second charging contacts.

3. The multi-UAV swarm automated control system according to claim 1, characterized in that, The cabin-level control unit is configured to drive the Y-axis push rod assembly to move towards each other until the first charging contact on the Y-axis push rod assembly abuts against the corresponding second charging contact on the drone base, including: Simultaneously, drive units of the first and second push rod assemblies included in the Y-axis push rod assembly are sent with opposite movement commands, and contact detection signals on both push rod assemblies are collected in real time. When any contact detection signal becomes valid and remains stable, it is determined that the first charging contact of the corresponding push rod assembly has abutted against the second charging contact on the corresponding side of the drone base, the position coordinates of the corresponding push rod assembly are obtained, and the current absolute position of the drone on the Y axis is calculated. Based on the available internal space parameters of this cabin, calculate the effective range of the preset charging position in the Y-axis direction under the current working conditions; The current absolute position of the drone on the Y-axis is compared with the effective range. If it is within the effective range, the push rod assembly on the side that has not made contact is controlled to feed on one side until the first charging contact on that side abuts against the second charging contact on the corresponding side of the drone. If it is outside the effective range, control the push rod assemblies on both sides to feed synchronously and correct the position deviation together until the absolute position of the UAV Y-axis falls into the effective range, and then switch to single-sided feeding to complete the docking. When the contact detection signals on both sides become valid, stop driving all push rod assemblies and send a start command to the charging unit.

4. The multi-UAV swarm automated control system according to claim 1, characterized in that, The cabin assembly includes at least one main cabin and four sub-cabins, with the main cabin centrally located. The sub-cabins are symmetrically arranged on opposite sides of the main cabin along its length, with each side containing two sub-cabins, arranged side-by-side along the width of the main cabin.

5. The multi-UAV swarm automated control system according to claim 1, characterized in that, The cabin-level control unit is connected to a multi-sensor redundant detection component, including: The landing detection unit consists of multiple infrared sensors and is used to determine that the drone has landed in place when the multiple infrared sensors detect the drone body at the same time. The push rod position detection unit consists of a limit switch and an encoder, and is used for dual detection of the push rod position; The temperature detection unit consists of multiple temperature sensors, which are used to collect the ambient temperature inside the cabin, the charging module temperature, and the battery temperature, respectively.

6. The multi-UAV swarm automated control system according to claim 1, characterized in that, The main cabin is equipped with a horizontal telescopic parking apron and a corresponding first parking apron drive mechanism. A first protective door is provided on the side wall of the main cabin. The first protective door is opened and closed using a pivot structure to form a telescopic channel at the position corresponding to the horizontal telescopic parking apron. The door drive mechanism includes a first drive unit for driving the first protective door, and the first apron drive mechanism includes a second drive unit for driving the horizontally retractable apron to extend horizontally. The cabin control unit is signal-connected to the first drive unit and the second drive unit respectively, and controls the horizontally retractable apron to extend to the outside of the main cabin or retract to the inside of the main cabin through the telescopic channel.

7. The multi-UAV swarm automated control system according to claim 1, characterized in that, The auxiliary cabin is equipped with a vertical lift-type helipad and a corresponding second helipad drive mechanism. A second protective door is provided on the top wall of the auxiliary cabin. The second protective door is a sliding protective door, which is used to form a lifting channel corresponding to the position of the vertical lift-type helipad. The door drive mechanism includes a third drive unit for driving the second protective door, and the second helipad drive mechanism includes a fourth drive unit for driving the vertical lift helipad to move vertically. The cabin-level control unit is signal-connected to the third drive unit and the fourth drive unit respectively, and controls the vertical lift helipad to extend to the outside of the auxiliary cabin or retract to the inside of the auxiliary cabin through the lifting channel.

8. A method for automated control of a multi-UAV swarm, characterized in that, The multi-UAV swarm automated control system according to any one of claims 1 to 7 comprises: The target cabin's cabin-level control unit receives external scheduling information, which includes at least information about the UAVs assigned to the target cabin. Send an opening command to the drive mechanism of the corresponding hatch; after receiving the hatch fully open signal, send an extension command to the drive mechanism of the landing pad; and after receiving the landing pad movement into place signal, send landing permission to the UAV. After detecting that the drone has landed on the landing pad surface, the cabin-level control unit drives the X-axis push rod assembly to move towards each other to clamp the drone and maintain self-locking, thereby constraining the drone's horizontal rotational degree of freedom; then drives the Y-axis push rod assembly to move towards each other until the first charging contact on the Y-axis push rod assembly abuts against the corresponding second charging contact on the drone's base, triggering the charging unit to connect the independent power supply circuit and start charging; After charging is complete, the cabin-level control unit sequentially drives the Y-axis push rod assembly and the X-axis push rod assembly to reset. Upon receiving the apron retraction signal, the system drives the cabin door to close and returns to standby mode.

9. The automated control method for multi-UAV swarms according to claim 8, characterized in that, The step of driving the Y-axis push rod assembly to move towards each other until the first charging contact on the Y-axis push rod assembly abuts against the corresponding second charging contact on the drone base, triggering the charging unit to connect the independent power supply circuit and start charging, includes: Simultaneously, drive units of the first and second push rod assemblies included in the Y-axis push rod assembly are sent with opposite movement commands, and contact detection signals on both push rod assemblies are collected in real time. When any contact detection signal becomes valid and remains stable, it is determined that the first charging contact of the corresponding push rod assembly has abutted against the second charging contact on the corresponding side of the drone base, the position coordinates of the corresponding push rod assembly are obtained, and the current absolute position of the drone on the Y axis is calculated. Based on the available internal space parameters of this cabin, calculate the effective range of the preset charging position in the Y-axis direction under the current working conditions; The current absolute position of the drone on the Y-axis is compared with the effective range. If it is within the effective range, the push rod assembly on the side that has not made contact is controlled to feed on one side until the first charging contact on that side abuts against the second charging contact on the corresponding side of the drone. If it is outside the effective range, control the push rod assemblies on both sides to feed synchronously and correct the position deviation together until the absolute position of the UAV Y-axis falls into the effective range, and then switch to single-sided feeding to complete the docking. When the contact detection signals on both sides become valid, stop driving all push rod assemblies and send a start command to the charging unit.

10. A computer device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the operation of the multi-UAV swarm automated control method as described in any one of claims 8-9.

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