Modularized unmanned aerial vehicle automatic parking and charging platform

Abstract

The utility model discloses a modularized unmanned aerial vehicle automatic parking and charging platform. The modularized unmanned aerial vehicle automatic parking and charging platform comprises a centering module overall frame, a lateral lead screw centering module, a central synchronous belt centering module, a rotating disc module, a frame charging contact module and a control and power management system module, the rotating disc module comprises a top detachable landing plate and a rotating upper cover plate, the top detachable landing plate is detachably connected to the top of the centering module overall frame, a mounting hole is formed in the top detachable landing plate, and the rotating upper cover plate is rotationally arranged in the mounting hole; the lateral screw rod centering module is used for centering the unmanned aerial vehicle in the X direction; and the central synchronous belt centering module is used for centering the unmanned aerial vehicle in the Y direction. The parking and charging platform provided by the utility model not only can accurately position the unmanned aerial vehicle, but also can dynamically adjust the orientation of the unmanned aerial vehicle and optimize the task execution efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of drone auxiliary equipment, and specifically relates to a modular drone automatic parking and charging platform. Background Technology

[0002] The application of drones in logistics, agriculture, surveillance, and rescue is becoming increasingly widespread, leading to a growing demand for efficient and flexible drone parking and charging platforms. Existing drone parking and charging platforms are mostly fixed designs, typically installed in specific locations such as drone airports or charging stations. While these platforms can meet basic parking and charging needs, they suffer from the following technical limitations in practical applications:

[0003] (1) Fixed limitation: Traditional drone parking and charging platforms are usually fixed in a certain location, making it difficult to move or redeploy quickly and unable to adapt to dynamic mission scenarios.

[0004] (2) Lack of modularity: The components of the existing platform are highly integrated, making disassembly and maintenance difficult, and the cost of upgrading or adapting to different drone models is high.

[0005] (3) Limitations of orientation adjustment: Traditional platforms cannot adjust the orientation of the drone, which limits the flexibility of mission execution, such as optimizing the monitoring angle or adapting to the wind direction.

[0006] For example, Huang Wei et al. disclosed a "drone hangar with drone centering function" in Chinese utility model patent CN119611847A. This drone hangar mainly includes a support frame, a placement panel, a drone take-off and landing bracket, a control motherboard, and a first centering mechanism and a second centering mechanism. The two centering mechanisms are arranged at a 90° angle and each moves a centering push plate via a transmission belt system driven by a single motor, used to push the drone and its take-off and landing bracket to the center position to achieve centering and charging connection. However, this technical solution still has the following steps:

[0007] (1) Lack of dynamic rotation capability: The hangar is not equipped with a rotation platform or any mechanism for adjusting the orientation of the UAV. The UAV cannot dynamically adjust its attitude after homing, which limits its flexibility in missions. For example, it cannot optimize the takeoff direction according to the wind direction or adjust the monitoring angle to adapt to specific mission requirements.

[0008] (2) Lack of modular design: The hangar's support frame and centering mechanism are fixed integrated designs, making them difficult to disassemble, reassemble, or upgrade quickly. When adapting to different drone models or deploying to new scenarios, the entire unit needs to be replaced or significantly modified, increasing maintenance and adaptation costs.

[0009] (3) Insufficient mobility: Although the hangar is equipped with handles for easy handling, its design is still mainly based on fixed installation, making it difficult to achieve dynamic scheduling within the UAV airport via automated guided vehicles (AGVs) or conveyor belts, which limits space utilization and applicability to multiple scenarios. Utility Model Content

[0010] In order to at least solve one of the problems of the existing technology, this utility model provides a modular automatic parking and charging platform for drones.

[0011] The modular automatic parking and charging platform for unmanned aerial vehicles provided by this utility model includes an overall frame of a centering module and a lateral lead screw centering module, a central synchronous belt centering module, a turntable module, a frame charging contact module, and a control and power management system module located on the overall frame of the centering module.

[0012] It includes the overall frame of the centering module, as well as the lateral lead screw centering module, the central synchronous belt centering module, the turntable module, the frame charging contact module, and the control and power management system module located on the overall frame of the centering module;

[0013] The turntable module includes a detachable top landing plate and a rotating top cover plate. The detachable top landing plate is detachably connected to the top of the overall frame of the centering module. The detachable top landing plate has mounting holes, and the rotating top cover plate is rotatably disposed in the mounting holes.

[0014] The lateral lead screw centering module is used to center the UAV along the X direction;

[0015] The central synchronization belt centering module is used to center the UAV along the Y direction;

[0016] The frame charging contact module is equipped with a charging connector and a data transmission interface;

[0017] The control and power management system module is used to control the platform's operating status and provide power and communication interfaces to the outside world.

[0018] Furthermore, the turntable module also includes a turntable motor, a first active synchronous pulley, a turntable synchronous belt, a first synchronous belt idler pulley, and a central adapter shaft for the synchronous belt idler pulley. The turntable motor is mounted on the top detachable landing plate, the first active synchronous pulley is mounted at the output end of the turntable motor, the first active synchronous pulley is connected to the turntable synchronous belt and the first synchronous belt idler pulley via a drive connection, and the first synchronous belt idler pulley is connected to the rotating upper cover plate via the central adapter shaft for the synchronous belt idler pulley.

[0019] Furthermore, the turntable module also includes an intermediate bearing and a fixing assembly, which includes a turntable bearing outer ring fixing plate and a turntable bearing outer ring. The turntable bearing outer ring fixing plate is connected to the lower surface of the top detachable landing plate. The turntable bearing outer ring is connected to the turntable bearing outer ring fixing plate. The middle adapter shaft of the timing belt idler pulley is connected to the inner ring of the turntable bearing. The rotating upper cover plate is located above the turntable bearing outer ring fixing plate. The top of the middle adapter shaft of the timing belt idler pulley passes through the turntable bearing outer ring fixing plate and is connected to the rotating upper cover plate.

[0020] Furthermore, the rotating top cover is located in the middle of the top detachable landing plate. When the drone is parked, it is centered on the rotating top cover through the cooperation of the lateral lead screw centering module and the central synchronous belt centering module.

[0021] Furthermore, the lateral screw centering module includes two movable centering rods located above the top detachable landing plate, which can move in the X direction.

[0022] Furthermore, the lateral lead screw centering module also includes two centering rod moving and mounting modules. The two centering rod moving and mounting modules are arranged opposite each other on both sides of the overall frame of the centering module. Each centering rod moving and mounting module includes a dual-axis motor, two lead screws and two lead screw nut assemblies. The two lead screws are respectively connected to the two output ends of the dual-axis motor, and the two lead screw nut assemblies are respectively mounted on the two lead screws. The two centering rods are respectively connected to the two lead screw nut assemblies.

[0023] Furthermore, each centering rod moving installation module also includes a motor adapter plate assembly. The dual-axis motor is fixed to the overall frame of the centering module through the motor adapter plate assembly. The motor adapter plate assembly includes a frame adapter plate and a motor adapter plate set on the frame adapter plate. The frame adapter plate is detachably connected to the overall frame of the centering module, and the dual-axis motor is set on the motor adapter plate.

[0024] Furthermore, the central synchronization belt centering module includes two centering push rods located above the top detachable landing plate, which are movable in the Y direction.

[0025] Furthermore, the central synchronous belt centering module is located at the bottom of the overall frame of the centering module, including a drive motor, a second active synchronous pulley, a second synchronous belt idler pulley, a centering synchronous belt, and two single-sided centering structures and charging module assemblies of the synchronous belt. The second active synchronous pulley is connected to the output end of the drive motor and is connected to the second synchronous belt idler pulley through the centering synchronous belt. The two single-sided centering structures and charging module assemblies of the synchronous belt are arranged opposite to each other and fixed on the centering synchronous belt. The tops of the two single-sided centering structures and charging module assemblies of the synchronous belt protrude through the top detachable landing plate, and two centering push rods are respectively connected to the tops of the two single-sided centering structures and charging module assemblies of the synchronous belt.

[0026] Furthermore, the central synchronization belt centering module also includes a slider rail assembly, and the bottom of the two synchronization belt single-sided centering structures and the charging module assembly are slidably mounted on the slider rail assembly.

[0027] Furthermore, the frame charging contact module includes a PCB board, on which a PCB charging connector, a signal connector, and charging contacts for contacting external power contacts are provided. The PCB charging connector is connected to the control and power management system module via a power line, and the signal connector is connected to the control and power management system module via a signal line.

[0028] Furthermore, the control and power management system module includes a housing and a main control board, communication module, motor controller, and battery housed within the housing.

[0029] Compared with existing technologies, this utility model upgrades the parking and charging platform from a traditional fixed charging base to a multi-functional modular parking apron, which has the following beneficial effects:

[0030] (1) Independent modular landing pad: The platform can be separated from the UAV airport and deployed as an independent unit (the platform can be separated from the UAV airport for independent use, or integrated into AGV flatbed trucks, lifting mechanisms and other systems to improve the diversity of use scenarios, and can complete the assembly or disassembly between the platform and its installation location in a short time, which is convenient for rapid deployment in different mission locations).

[0031] (2) Supports multi-platform collaborative operation to adapt to diverse task requirements.

[0032] (3) Airport mobility: The platform can move flexibly within the airport through existing conveyor belts or lifting mechanisms, enabling multi-level parking or dynamic scheduling and improving space utilization.

[0033] (4) The combination of centering rod, centering push rod and turntable enables the platform to not only accurately position the UAV, but also dynamically adjust its orientation to optimize the efficiency of mission execution. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the modular UAV landing and charging platform provided in this embodiment of the utility model.

[0035] Figure 2 This is a schematic diagram of the overall frame of the centering module in an embodiment of this utility model.

[0036] Figure 3 This is a schematic diagram of the lateral lead screw centering module in an embodiment of this utility model.

[0037] Figure 4This is a schematic diagram of the central synchronization belt centering module in an embodiment of this utility model.

[0038] Figure 5 This is a schematic diagram of the synchronous belt single-sided centering structure and charging module assembly in an embodiment of this utility model.

[0039] Figure 6 This is a schematic diagram of the turntable module in an embodiment of this utility model.

[0040] Figure 7 This is a structural schematic diagram of the turntable module from another perspective in an embodiment of this utility model. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0042] Please see Figure 1 The modular drone automatic parking and charging platform 10 provided in this embodiment includes a centering module overall frame 300, a lateral lead screw centering module 100, a turntable module 200, a central synchronous belt centering module 400, a frame charging contact module 500, and a control and power management system module 600.

[0043] The centering module frame 300 is the core support structure of the entire platform, and all other modules are directly or indirectly installed on it. The centering module frame 300 has pre-reserved slots around its perimeter for installing the lateral lead screw centering module 100. The bottom of the centering module frame 300 is fixed to the ground or other platform via supports, providing good rigidity and stability.

[0044] As the main supporting structure of the entire system, in one embodiment of this utility model, please refer to... Figure 2 The overall frame 300 of the centralization module includes a connecting plate at the bottom and connecting frames on both sides of the connecting plate. Preferably, the connecting frames are made of aluminum alloy profiles, specifically the standardized European 2080 profile, with T-slots. They are fixedly connected to the connecting plate using T-nuts and bolts. The connecting plate is a metal plate with pre-drilled holes aligned with the T-slots of the aluminum alloy profile, arranged parallel to one side of the profile to form a stable frame structure. The connecting plate serves as the base plate of the frame, connecting the connecting frames on the left and right sides, providing structural support and an installation platform.

[0045] The lateral lead screw centering module is used to center the UAV along the X-axis. The lateral lead screw centering module 100 includes two centering rods 160 and two centering rod movable mounting modules, which are respectively installed on the left and right edges of the overall centering module frame 300. Each set of centering rod movable mounting modules includes a dual-axis motor, a lead screw, and a lead screw nut assembly 120. The lead screw is driven by the dual-axis motor, and the lead screw nut assembly 120 is mounted on the lead screw. The two ends of the centering rod 160 are connected to two opposite lead screw nut assemblies 120 in the two centering rod movable mounting modules. The dual-axis motor drives the lead screw, which in turn drives the two centering rods 160 to move towards or away from each other, thus pushing the UAV along the horizontal direction (X-axis). By cooperating with the two sets of centering rod movable mounting modules to drive the two centering rods 160, the centering and positioning function of the UAV in the X-axis is achieved.

[0046] In one embodiment of this utility model, please refer to Figure 3 Each set of centering rod movable installation modules includes two lead screws 150, a dual-axis motor fixing and output assembly 140, two lead screw bearing assemblies 110, two lead screw nut assemblies 120, and a motor adapter plate assembly 130. The motor adapter plate assembly 130 is detachably connected to the centering module overall frame 300 by bolts. The dual-axis motor fixing and output assembly 140 is mounted on the motor adapter plate assembly 130 and includes the dual-axis motor. One end of each of the two lead screws 150 is connected to the two output ends of the dual-axis motor to drive the lead screws 150 to rotate, and the other end is supported by the lead screw bearing assembly 110. The surfaces of the two lead screws 150 respectively mesh with the lead screw nut assembly 120. The two centering rods 160 are arranged in parallel, and their two ends are respectively connected to the two lead screw nut assemblies 120 arranged opposite to the two centering rod movable installation modules. The lateral lead screw centering module 100 can convert the rotational motion of the motor into the linear motion of the nut, drive the lead screw nut assembly 120 to move, and then directly contact and move the UAV through the centering rod 160 to perform the centering task in the X direction.

[0047] Each set of centering rod movable installation modules is connected to the centering module overall frame 300 through fasteners (such as bolts) on the motor adapter plate assembly 130, forming a modular installation structure that facilitates disassembly and maintenance.

[0048] The spatial relationship between the centering rod 160 and the top detachable landing plate 210 is as follows: The top detachable landing plate 210 serves as the landing surface for the drone and is located on top of the turntable module 200. Its surface is flat to support rotation and QR code guidance. The contact surface of the centering rod 160 is higher than the plane of the top detachable landing plate 210 (in one embodiment of this utility model, the height difference between the two is approximately 30mm) to avoid direct contact with the top detachable landing plate 210, while also avoiding the rotating upper cover plate 234 of the turntable module 200 and acting directly on the upper part of the drone's legs.

[0049] In one embodiment of this utility model, both lead screws 150 are Tr8×2 trapezoidal lead screws, 200mm long, and made of stainless steel.

[0050] In one embodiment of this utility model, the motor adapter plate assembly 130 includes a frame adapter plate and a motor adapter plate. The frame adapter plate is connected to the overall frame 300 of the centering module by bolts to provide a stable motor mounting platform. The frame adapter plate is provided with standard holes for mounting the motor. The motor adapter plate is detachably connected to the frame adapter plate, and the dual-axis motor is fixed on the motor adapter plate. The motor adapter plate is provided with elongated bolt holes. By adjusting the elongated bolt holes on the motor adapter plate, the deviation between the motor output shaft and the lead screw 150 axis is eliminated, ensuring that the motor output shaft and the lead screw 150 axis are precisely aligned, avoiding uneven force on the coupling, and improving the centering accuracy of the lateral lead screw centering module 100.

[0051] In one embodiment of this utility model, the dual-axis motor fixing and output assembly 140 includes the dual-axis motor 140 and two couplings. The dual-axis motor 140 is fixed to the overall frame 300 of the centering module via a motor adapter plate assembly 130. One end of the lead screw 150 is connected to the output end of the dual-axis motor 140 via a coupling, and the other end is supported by a lead screw bearing assembly 110. A lead screw nut assembly 120 is mounted on the lead screw 150 and fixedly connected to the centering rod 160. When the dual-axis motor rotates, the lead screw 150 drives the lead screw nut assembly 120 to move horizontally, thereby driving the centering rod 160 to achieve the centering function.

[0052] In one embodiment of this utility model, the dual-axis motor 140 is a type 57 stepper motor with a rated current of 1.2A and a torque of 0.45 N·m. This stepper motor has two output shafts, one at each end, and they rotate coaxially. Each output shaft is connected to a lead screw 150 via a 5mm to 8mm flexible coupling. The two lead screws 150 employ a forward and reverse thread design. By setting up dual output shafts and connecting two forward and reverse thread lead screws, when the dual-axis motor 140 rotates, the centering rods 160 on both sides can move synchronously towards or away from the center, achieving symmetrical centering action. Compared with a single-output-shaft, single-lead screw solution, this design can improve positioning accuracy and stability, and avoid deviations or uneven force caused by unilateral drive.

[0053] In one embodiment of this utility model, the lead screw bearing assembly 110 is bolted to the side of the centering module integral frame 300 for connecting the lead screw 150. The lead screw bearing assembly 110 includes a lead screw bearing housing and a lead screw bearing housing adapter. The lead screw bearing adapter is an aluminum alloy machined part installed between the lead screw bearing housing and the connecting frame of the centering module integral frame 300, and fixed to the centering module integral frame 300 by two M4 bolts, used to compensate for a distance between the lead screw bearing housing and the side connecting frame of the centering module integral frame 300. The lead screw bearing assembly 110 contains an angular contact bearing for supporting the axial and radial loads of the lead screw 150, ensuring smooth rotation of the lead screw. The outer ring of the bearing is fixed, while the inner ring is connected to the end of the lead screw 150, allowing the lead screw 150 to rotate freely.

[0054] In one embodiment of this utility model, the lead screw and nut assembly 120 includes a lead screw and nut seat, a T-shaped lead screw and nut disposed on the lead screw and nut seat, and an adapter for connecting the centering rod 160. Preferably, the adapter is made of PETG plastic.

[0055] The turntable module 200 is one of the core components of the entire platform. It is mounted on the centering module's overall frame 300. Specifically, the top detachable landing plate 210 of the turntable module 200 is bolted to the centering module's overall frame 300. The top of the turntable module 200 provides a landing platform for the UAV, allowing for 360° rotation via internal turntable bearings, which can adjust the UAV's orientation as needed.

[0056] Please see Figure 6 and Figure 7 The turntable module 200 includes a top detachable landing plate 210, an intermediate bearing and fixing assembly 220, an internal turntable bearing connection and rotation assembly 230, and a turntable motor output and fixing assembly 240.

[0057] The top removable landing plate 210 serves as the landing surface for the drone.

[0058] The intermediate bearing and fixing assembly 220 includes a turntable bearing outer ring fixing plate 222 and a turntable bearing outer ring 221. The turntable bearing outer ring fixing plate 222 is fixedly mounted on the lower surface of the top detachable landing plate 210 by multiple bolts to ensure the stability of the entire rotation system. The turntable bearing outer ring 221 is fixed on the turntable bearing outer ring fixing plate 222 and does not rotate with the turntable, providing rotational support. The turntable bearing outer ring fixing plate 222 is provided with appropriate reinforcement to improve rigidity.

[0059] The two sides of the top detachable landing plate 210 are detachably connected to the two connecting frames of the centering module overall frame 100, and the outer ring of the turntable bearing is fixed to the top detachable landing plate 210 through the intermediate bearing and the fixing assembly 220.

[0060] The internal turntable bearing connection and rotation assembly 230 includes a synchronous belt pulley end cover plate 231, a first synchronous belt idler pulley 232, a central transition shaft 233 for the synchronous belt idler pulley, and a rotating upper cover plate 234. The synchronous pulley end cover plate 231 is fixed below the inner ring of the turntable bearing and connected by four M5 bolts, forming part of the synchronous belt drive system for easy assembly and disassembly. The synchronous belt idler pulley 232 is mounted on the central transition shaft 233 and is used to adjust the tension of the synchronous belt to ensure reliable transmission. The central transition shaft 233 is fixedly connected to the inner ring of the turntable bearing and rotates together with the inner ring of the turntable bearing. The central transition shaft 233 connects the first synchronous belt idler pulley 232 and the rotating upper cover plate 234, providing support for the first synchronous belt idler pulley 232. The rotating top cover 234 is located above the outer ring fixing plate 222 of the turntable bearing. The top of the intermediate belt idler pulley's central adapter shaft 233 passes through the outer ring fixing plate 222 and connects to the rotating top cover 234. A circular mounting hole is provided in the middle of the top detachable landing plate 210, and the rotating top cover 234 rotates within the mounting hole. The top detachable landing plate 210 and the rotating top cover 234 are located on the same plane.

[0061] In one or both of the present invention, the top detachable landing plate 210 is detachably connected to the aluminum alloy profile of the centralization module overall frame 300 by bolts. The top detachable landing plate 210 serves as the landing surface for the UAV and is detachable for maintenance.

[0062] The turntable motor output and mounting assembly 240 provides rotational power and includes a turntable motor 241, a motor mount 242, a first drive synchronous pulley 243, and a turntable synchronous belt 244. The turntable motor 241 and motor mount 242 are located on top of the top removable landing plate 210. The output end of the turntable motor 241 passes downwards through the top removable landing plate 210 and connects to the first drive synchronous pulley 243. The first drive synchronous pulley 243 is connected to the first synchronous belt idler pulley 232 via the turntable synchronous belt 244. The rotational motion of the turntable motor 241 is transmitted to the internal turntable bearing connection and rotating assembly 230 via the turntable synchronous belt 244, thereby driving the rotating upper cover 234 to rotate, thus achieving precise rotational positioning of the rotating upper cover 234.

[0063] In one embodiment of the present invention, the motor mount 242 is fixed to one corner of the top removable landing plate 210 by four M5 bolts.

[0064] ArUco QR codes can be arranged on the surface of the detachable top landing plate 210 as needed, allowing the drone to scan them using its onboard camera or tripod camera. The ArUco QR code encoding includes the coordinates and orientation information (e.g., planar coordinates and azimuth) of the center position of the detachable top landing plate 210 (in one embodiment of this invention, it is actually the center of the rotating top cover 234). The drone parses the QR code using a real-time image processing algorithm, and combined with the viewpoint of the onboard camera, can calculate the drone's attitude (including position and orientation) relative to the QR code. By comparing the calculated attitude with the preset attitude of the center of the detachable top landing plate 210, the drone can calculate the attitude deviation (angle error) and position deviation (horizontal and vertical offset) relative to the center of the detachable top landing plate 210, and then adjust the flight control parameters (pitch, yaw, and displacement) so that the drone can land at the center position of the detachable top landing plate 210 even under wind conditions.

[0065] In one embodiment of this utility model, the top detachable landing plate 210 is made of existing lightweight high-strength composite materials such as glass fiber lightweight high-strength composite material, with dimensions of 400mm × 400mm; the turntable bearing outer ring fixing plate 222 is made of glass fiber material; the synchronous pulley end cover plate 231 is made of aluminum alloy; the rotating upper cover plate 234 is made of aluminum alloy (diameter 450mm, thickness 8mm); the turntable motor is a 42 stepper motor with a rated current of 1.2A and a torque of 0.45N•m; the synchronous belt is an HTD5M synchronous belt. In other embodiments, other materials and dimensions may also be used.

[0066] The central synchronous belt centering module 400 is mounted on the centering module frame 300 and is connected to the bottom connecting plate of the centering module frame 300 by bolts. The central synchronous belt centering module 400, driven by the synchronous belt, achieves centering and positioning of the UAV in the forward / backward direction (Y direction). The central synchronous belt centering module 400 and the lateral lead screw centering module 100 are arranged orthogonally to each other, forming a cross-shaped centering system to jointly ensure the accurate positioning of the UAV.

[0067] Please see Figure 1 , Figure 3 and Figure 4 The central synchronous belt centering module 400 includes a bottom connecting plate 410, an idler wheel and fixed shaft assembly 420 located on the bottom connecting plate 410, a centering synchronous belt, a single-sided centering structure and charging module assembly 430 for the two synchronous belts, two centering push rods 431, a motor fixing and synchronous wheel assembly 440, a slider rail assembly 450, and a limiting assembly 460. The central synchronous belt centering module 400 converts the horizontal movement of the centering synchronous belt into the horizontal positioning of the centering push rods and provides charging and data transmission functions.

[0068] The bottom connecting plate 410 is fixed to the connecting plate at the bottom of the centering module overall frame 300 by M4 bolts and locating pins, serving as the mounting base for all sub-components and ensuring overall rigidity and alignment accuracy.

[0069] The motor mounting and synchronizing pulley assembly 440 and the idler pulley and fixed shaft assembly 420 are located on both sides of the bottom connecting plate 410, respectively. The motor mounting and synchronizing pulley assembly 440 includes a drive motor, a motor mounting base, and a second active synchronizing pulley. The drive motor is fixed to one side of the bottom connecting plate 410 by the motor mounting base, and the second active synchronizing pulley is located at the output end of the drive motor.

[0070] The idler pulley and fixed shaft assembly 420 includes a second synchronous belt idler pulley, an idler pulley connector, and an L-shaped fixing member. The L-shaped fixing member is bolted to the other side of the bottom connecting plate 410. The second synchronous belt idler pulley is mounted on the L-shaped fixing member via the idler pulley connector. The second driving synchronous pulley and the second synchronous belt idler pulley are driven by a centering synchronous belt. The centering synchronous belt is tensioned by the idler pulley and fixed shaft assembly 420 and driven by the motor fixed to the synchronous pulley assembly 440, which provides power to the centering synchronous belt. The idler pulley and fixed shaft assembly 420 and the motor fixed to the synchronous pulley assembly 440 work together to adjust the tension of the centering synchronous belt, forming a closed transmission circuit.

[0071] In one embodiment of this utility model, an adjustment groove is provided on the L-shaped fixing member. The second driving synchronizing pulley adopts the HTD5M specification.

[0072] The motor fixing and synchronous pulley assembly 440 drives the synchronous belt single-sided centering structure and charging module assembly 430 to move along the Y direction through the centering synchronous belt. The drive motor communicates in real time with the drive board and the control and power management system module 600 to achieve precise control.

[0073] The synchronous belt single-sided centering structure and charging module assembly 430 includes a top protective shell and a bottom connecting frame 432, a charging adapter plate 433, a vertical connecting assembly 434, and a slider and belt connecting assembly 435. The centering push rod 431 has an anodized surface and can directly contact the drone, guiding the drone to move towards the center during contact. The charging adapter plate 433 is equipped with a PogoPin spring contact, a power connector, and a signal connector.

[0074] The slider rail assembly 450 is mounted on the bottom connecting plate 410. The slider and belt connecting assembly 435 is connected to the centering synchronous belt and slides along the slider rail assembly 450 under the drive of the centering synchronous belt. The slider in the slider rail assembly 450 is connected to the bottom of the vertical connecting assembly 434, and the top of the vertical connecting assembly 434 is connected to the centering push rod 431. The centering push rod 431 is located above the top detachable landing plate 210 and moves along the Y-axis under the drive of the centering synchronous belt. After the drone lands, it can contact the upper part of the drone's feet and push the drone to center along the Y-axis to the center of the top detachable landing plate 210 (deviation <1mm). The top protective shell and bottom connecting frame 432 are set on the centering push rod 431, and the charging adapter plate 433 is fixed to the top protective shell and bottom connecting frame 432.

[0075] In one embodiment of this utility model, the centering push rod 431 is connected to the screw holes on the outside of the top protective shell and the bottom connecting frame 432. The charging adapter plate 433 on the top of the centering push rod 431 is aligned with the support foot to provide precise positioning for subsequent charging and data transmission.

[0076] The top protective shell and the bottom connecting frame 432 are fixed to the vertical connecting component 434. The top of the vertical connecting component 434 passes through the reserved slot on the top detachable landing plate 210. The top and bottom of the vertical connecting component 434 are respectively connected to the centering push rod 431 and the slider rail assembly 450. The centering push rod 431 is located above the top detachable landing plate 210. The slider and belt connecting assembly 435 is connected and fixed to the centering timing belt through a clamp, and is connected to the slider in the slider rail assembly 450.

[0077] The slider-rail assembly 450 includes a stainless steel linear rail and a slider slidably mounted on the linear rail, providing linear guidance for the synchronous belt single-sided centering structure and charging module assembly 430, ensuring that the centering structure moves along a straight trajectory and reducing the impact of lateral deviation.

[0078] Limiting components 460 are used to limit the movement range of the slider to ensure centering accuracy. Limiting components 460 are installed at both ends of the slider-rail assembly 450. Each limiting component 460 includes a limit switch, a mechanical stop, and a limit switch adapter. The limit switch and the mechanical stop are connected via the limit switch adapter, and the limit switch is connected to the control and power management system module 600 via a signal line. The mechanical stop and the limit switch adapter limit the slider's movement range while also fixing the limit switch.

[0079] In one embodiment of this utility model, the bottom connecting plate 410 is made of fiberglass material, the synchronous belt idler wheel is made of aluminum alloy and CNC machined; the centering push rod 431 is made of aluminum alloy plate; the top protective shell and bottom connecting frame 432 are made of antistatic ABS material to protect the charging contacts; the charging adapter board 433 is a double-layer PCB with double-layer PCB 3oz copper foil, supporting charging and data transmission, integrating charging and data transmission functions, and the contacts are pogo pins with a diameter of 2.5mm and a contact resistance of <5mΩ; the vertical connecting component 434 is a 3mm thick FR4 fiberglass board; the slider and belt connecting component 435 is a PA12-CF 3D printed part; and the limit switch is an Omron limit switch EE-SX671.

[0080] The frame charging contact module 500 is fixed to the front or rear side of the centralization module's overall frame 300, and is used to charge the battery of the control and power management system module 600 and support data transmission. In one embodiment of this utility model, the frame charging contact module 500 is fixed to the reserved mounting holes on the front or rear side of the centralization module's overall frame 300 by four M5 bolts, forming a modular structure that facilitates disassembly and maintenance.

[0081] The frame charging contact module 500 is used to realize the charging and data exchange functions of the UAV, including a PCB charging connector and a data transmission interface. This contact charging design allows the charging platform to be deployed as a whole module within structures such as mobile platforms and airport elevators.

[0082] The frame charging contact module 500 includes a PCB board with two exposed copper areas (each measuring 30mm × 20mm, 35μm thick, and gold-plated) on its surface. These areas serve as charging contacts that connect to external power contacts (such as spring contacts in mobile platforms or airport elevators), supporting 14.8V / 10A current transmission. The copper areas are connected to the PCB charging connector (XT60 connector, rated current 30A) on the PCB board via highly conductive copper foil (impedance <0.01Ω). The PCB charging connector transmits current to the 12V+ battery (14.8V, 5000mAh) of the control and power management system module 600 via a 2-wire power cable (16AWG, 200mm long).

[0083] The PCB board is also equipped with a signal connector (2.54mm header, 4-pin, UART interface, 115200bps), which connects to the main control board or communication module of the control and power management system module 600 via a signal cable (24AWG, 200mm in length) to support the transmission of status data (battery power, charging status) and control commands.

[0084] The control and power management system module 600 is connected to each functional module via wiring harnesses, providing unified control over the working status of the entire platform, while also providing power and communication interfaces to the outside world.

[0085] The control and power management system module 600 coordinates the operation of various functional modules on the platform and provides stable power and communication support. It is installed at the bottom of the overall frame 300 of the centralization module. The control and power management system module 600 includes a housing, which integrates the main control board, communication module, motor controller, 12V+ battery, 7.4V battery, and step-down voltage regulator module. The control and power management system module 600 connects to each functional module via shielded wiring harnesses (24AWG).

[0086] The working principle of the control and power management system module 600 is as follows: The main control board analyzes the ArUco QR code signal on the top detachable landing plate 210. After confirming the drone's landing, it drives the lateral lead screw centering module 100 (dual-axis motor) and the central synchronous belt centering module 400 (drive motor in the motor fixing and synchronous wheel assembly 440) through the motor controller to complete the centering in the X and Y directions (deviation <1mm), and controls the turntable module 200 (42 stepper motor) to adjust the drone's orientation (accuracy ±0.5°). The communication module communicates with the drone airport or mission center via WiFi to transmit control commands and status data. The platform uses two batteries to meet different voltage requirements: a 12V+ battery (14.8V, 5000mAh, regulated to 12V) powers the dual-axis motor, the drive motor in the motor fixing and synchronous wheel assembly 440, and the turntable motor, providing high-power drive; a 7.4V battery (2000mAh, regulated to 5V) powers the main control board and communication module, ensuring the stable operation of low-power electronic components. Two batteries are used for separate power supply to optimize power management and improve system efficiency and reliability. A stable power supply (12V and 5V) is provided through a buck regulator module, and external power is supplied through the PCB charging connector of the frame charging contact module 500. The control and power management system module 600 provides a DC 12V power output interface (maximum 10A) and communication interfaces (WiFi and USB-C) to support integration with external systems.

[0087] In one embodiment of this utility model, the main control board uses an Arduino Mega2560, the communication module uses an ESP32-S3 WiFi, and the motor controller uses a DM430. The housing adopts an IP67 sealed design, is made of aluminum alloy, and is 2mm thick.

[0088] Drone parking and take-off process

[0089] 1. Initial positioning and landing

[0090] The drone identifies the ArUco QR code located on the detachable top landing plate 210 using its onboard camera or tripod camera. The QR code contains the position coordinates and orientation information of the center of the detachable top landing plate 210. The drone calculates its own attitude using image processing algorithms and adjusts its flight parameters (pitch, yaw, and displacement) to land precisely in the center area of ​​the detachable top landing plate 210 on the turntable module 200. (However, guided by visual algorithms, landing errors are inevitable due to wind interference. Subsequent centering is to ensure that the drone's position and attitude return to a known state, and to clamp the drone for subsequent charging.) The position deviation is less than 1 cm, and the orientation deviation is less than ±1°.

[0091] 2. Triggered by return to center

[0092] After the UAV makes contact with the top detachable landing plate 210, the control and power management system module 600 detects the landing signal (based on QR code positioning confirmation or mechanical contact), triggering the lateral lead screw centering module 100 and the central synchronous belt centering module 400 to start, and enter the centering process in the X and Y directions.

[0093] 3. Centering in the X direction

[0094] When the lateral lead screw centering module 100 is activated, the left and right sets of lateral lead screw centering modules 100 drive the lead screw 150 through the dual-axis motor, and move the centering rod 160 to push the drone along the horizontal direction (X-axis) to adjust the horizontal deviation to less than 1mm.

[0095] 4. Y-direction centering

[0096] The central synchronous belt centering module 400 takes over the control, and the drive motor (42 stepper motor) in the synchronous pulley assembly 440 drives the centering push rod 431 in the single-sided centering structure and charging module assembly 430 of the central synchronous belt through the centering synchronous belt, moving it along the front-back direction (Y-axis) to adjust the Y-axis deviation of the UAV to less than 1mm. The centering push rod 431 ensures smooth and accurate pushing.

[0097] 5. Charging and Data Transmission

[0098] Once the alignment is complete, the charging adapter board 433 is precisely aligned with the drone's feet, automatically activating the charging connection and data transmission interface to achieve efficient power replenishment and mission data exchange.

[0099] 6. Orientation adjustment

[0100] Depending on mission requirements (such as optimizing takeoff wind direction or monitoring angle), the turntable motor output and fixing component 240 of the turntable module 200 drives the internal turntable bearing connection and rotation component 230 through the turntable synchronous belt 244, thereby driving the rotating top cover 234 to rotate and adjust the UAV orientation to the optimal position with a rotation accuracy of ±0.5°.

[0101] 7. Takeoff preparation

[0102] The centering mechanism (lateral lead screw centering module 100 and central synchronous belt centering module 400) removes the centering rod 160 and centering push rod 431, and adjusts to the optimal takeoff direction via the turntable module 200. The UAV starts its rotor or propulsion system to complete takeoff.

[0103] The modular automatic parking and charging platform for unmanned aerial vehicles (UAVs) provided in the foregoing embodiments of this utility model features modularity and mobility: the platform can be connected to the installation location using standard aluminum alloy profiles, T-nuts, and bolts (M5 and M6 specifications), allowing for assembly or disassembly within 5 minutes. It can be separated from the UAV airport as an independent parking pad or moved within the airport via conveyor belts and lifting mechanisms, significantly improving deployment flexibility and space utilization. It also features dynamic rotation: the turntable module 200 is driven by a turntable motor via a turntable synchronous belt, supporting 360° rotation. This allows the UAV to adjust its attitude after landing to optimize centering or adjust its takeoff direction according to wind direction and mission requirements, overcoming the shortcomings in orientation adjustment found in existing technologies such as CN119611847A.

[0104] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined in the present invention may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A modular unmanned aerial vehicle automatic parking and charging platform, characterized in that, The centering module integral frame, a lateral screw centering module, a central synchronous belt centering module, a rotary disc module, a frame charging contact module and a control and power management system module are arranged on the centering module integral frame. The rotary disc module comprises a detachable top landing plate and a rotary upper cover plate. The lateral screw centering module is used for centering the unmanned aerial vehicle in the X direction. The central synchronous belt centering module is used for centering the unmanned aerial vehicle in the Y direction. The frame charging contact module is provided with a charging connector and a data transmission interface. The control and power management system module is used for controlling the working state of the platform and providing power supply and communication interface.

2. The modular drone automatic parking and charging platform of claim 1, wherein, The rotary disc module further comprises a rotary disc motor, a first driving synchronous wheel, a rotary disc synchronous belt, a first synchronous belt idler and a synchronous belt idler middle transfer shaft.

3. The modular drone automatic parking and charging platform of claim 2, wherein, The rotary disc module further comprises an intermediate bearing and a fixing assembly.

4. The modular drone automatic parking and charging platform of claim 1, wherein, The lateral screw centering module comprises two centering rods arranged above the detachable top landing plate and movable.

5. The modular drone auto-parking and charging platform of claim 4, wherein, The lateral screw centering module further comprises two centering rod moving and installing modules.

6. The modular drone automatic parking and charging platform of claim 1, wherein, The central synchronous belt centering module comprises two centering push rods arranged above the detachable top landing plate and movable.

7. The modular drone automatic parking and charging platform of claim 6, wherein, The central synchronous belt centering module is arranged at the bottom of the centering module integral frame and further comprises a driving motor, a second driving synchronous wheel, a second synchronous belt idler, a centering synchronous belt and two synchronous belt single-side centering structures and charging module assemblies. The two centering push rods are respectively connected to the top of the two synchronous belt single-side centering structures and charging module assemblies.

8. The modular drone auto-parking and charging platform of claim 7, wherein, The central synchronous belt centering module further comprises a slider rail assembly, and the two synchronous belt single-side centering structures and the bottom of the charging module assembly are slidably arranged on the slider rail assembly.

9. The modular drone automatic parking and charging platform of claim 1, wherein, The frame charging contact module comprises a PCB board, and the PCB board is provided with a PCB charging connector, a signal connector and a charging contact for contacting with an external power supply contact.

10. The modular drone automatic parking and charging platform of any of claims 1-9, wherein, The control and power management system module comprises a shell and a main control board, a communication module, a motor controller and a battery arranged in the shell.

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