CN112707072A

CN112707072A - Mobile multi-unmanned-aerial-vehicle automatic intelligent warehouse entry and exit system and warehouse entry and exit method

Info

Publication number: CN112707072A
Application number: CN202010270834.XA
Authority: CN
Inventors: 高超; 姜海波; 潘志新; 王红星; 黄郑; 陈玉权; 孟嘉; 杨晟
Original assignee: Shenzhen Multi Wing Electrical Intelligence Technology Co ltd; State Grid Jiangsu Electric Power Co Ltd; Jiangsu Fangtian Power Technology Co Ltd
Current assignee: Shenzhen Multi Wing Electrical Intelligence Technology Co ltd; State Grid Jiangsu Electric Power Co Ltd; Jiangsu Fangtian Power Technology Co Ltd; Jiangsu Frontier Electric Power Technology Co Ltd
Priority date: 2020-04-08
Filing date: 2020-04-08
Publication date: 2021-04-27
Anticipated expiration: 2040-04-08
Also published as: CN112707072B

Abstract

The invention relates to a mobile multi-unmanned-aerial-vehicle automatic intelligent warehouse entry and exit system and a warehouse entry and exit method, wherein the system comprises a lifting well frame and a three-dimensional warehouse frame, a lifting type capturing and flying platform is arranged in the lifting well frame, an warehouse entry and exit manipulator system is fixedly arranged on the upper surface of the lifting type capturing and flying platform, and two sides of the lifting type capturing and flying platform are respectively in transmission connection with a lifting system; a plurality of layers of unmanned aerial vehicle shutdown plates are fixedly installed in the three-dimensional hangar framework from top to bottom in sequence, and an unmanned aerial vehicle fixing device is arranged on the upper surface of each unmanned aerial vehicle shutdown plate; the system can be laid on a mobile platform, a storage hangar is provided for multiple unmanned aerial vehicles, the flying of the multiple unmanned aerial vehicles and the recovery of the multiple unmanned aerial vehicles can be automatically managed, further, the automatic warehousing and ex-warehousing system for the unmanned aerial vehicles can also provide a shutdown platform in a horizontal state for the unmanned aerial vehicles in the recovery and flying processes, and even if the mobile platform is in an inclined state, the unmanned aerial vehicles can also safely take off and land on the horizontal shutdown platform.

Description

Mobile multi-unmanned-aerial-vehicle automatic intelligent warehouse entry and exit system and warehouse entry and exit method

Technical Field

The invention relates to the technical field of unmanned aerial vehicle automatic management, in particular to a mobile multi-unmanned aerial vehicle automatic intelligent warehouse entry and exit system and a warehouse entry and exit method.

Background

In recent years, the length of an overhead transmission line of a national power grid 110kV or more reaches 129 kilometers, and the traditional manual automatic management has the defects of low automatic management efficiency, unstable automatic management quality, high danger, high labor intensity and the like. The power transmission line inspection team of the national grid company has a severe situation of coexistence of total shortage and structural shortage, the shortage rate of overhead line inspection personnel is 47%, the storage of power transmission inspection personnel is seriously insufficient, the problem of 'gear failure' is prominent, and the contradiction between continuous increase of equipment scale and relative shortage of automatic management personnel is increasingly prominent. In addition, the traditional manual inspection operation is difficult to meet the operation and maintenance requirements of the power grid, is restricted by various factors such as terrain conditions, environmental factors, personnel quality and the like, has the problems of difficult automatic management, incomplete inspection range, low automatic management efficiency and the like, and is difficult to adapt to the lean management of equipment and the high-quality development requirements of the power grid.

With the rapid development of advanced technologies such as big data, cloud computing, internet of things, mobile internet, artificial intelligence and the like, the cooperative intelligent automatic management mode of the unmanned aerial vehicle for the power transmission line needs to be explored and practiced urgently, the change of the operation inspection management mode is promoted, and the comprehensive promotion of the management and control force of the equipment state and the operation inspection management penetrating power is realized. The national grid company actively responds to the new generation artificial intelligence development planning issued by the State Council, and provides the artificial intelligence special planning of the national grid company, and an overhead transmission line collaborative three-dimensional intelligent operation and inspection mode is constructed in each unit of a company system, so that the automatic management benefit, efficiency and quality are comprehensively improved, the operation and maintenance cost is greatly reduced, the operation and inspection mode conversion and the industry upgrade are promoted, the intelligent operation and inspection is realized, and the method is a necessary way for constructing and developing the intelligent grid.

Unmanned aerial vehicle automated management belongs to industry technical front edge in the electric power system field, covers techniques such as unmanned aerial vehicle, artificial intelligence, robot, automation, information communication, is the high new technology of multidisciplinary cross fusion. In recent years, unmanned aerial vehicle automated management has become an important automated management means of transmission line, and automated management benefit and quality are obviously improved compared with traditional manual automated management.

Unmanned aerial vehicle automated management has become the important automated management means of transmission line, and automated management benefit and quality are showing than traditional manual automated management and are improving. But unmanned aerial vehicle automated management still mainly relies on artifical manually operation unmanned aerial vehicle to accomplish at present stage, has some outstanding problems: firstly, the automatic management effect is restricted by factors such as skill level of operators, operation experience, labor, environmental mutation and the like, automatic management resources are not optimally configured, and application benefits are not fully exerted; secondly, the requirement of minimum safety distance of tower-winding automatic management operation is not mastered, the requirements on operation technical conditions of task equipment under different environments, the operation response performance of an automatic management system and the like are not clear, the formulation of an automatic management safety strategy is influenced, and the planning of an automatic management path is limited; thirdly, various technologies including principles of visible light vision, millimeter wave radar, ultrasonic distance measurement and the like are not suitable for the small rotor unmanned aerial vehicle, and the unmanned aerial vehicle lacks an effective obstacle avoidance technology when being automatically managed near a tower line, so that safety accidents such as tower collision, line collision, crash and the like are easily caused, and certain operation safety risks exist; fourthly, a high-precision autonomous positioning and visual navigation tracking technology is lacked, the problem of the focal length of a lens field of an unmanned aerial vehicle is solved, and the efficiency of manually driving a nacelle to search a tower and an equipment target is low. Fifthly, the problems of low autonomous level, low fault identification precision, short endurance mileage and the like of the line patrol unmanned aerial vehicle seriously restrict the popularization and application of the unmanned aerial vehicle. In addition, the unmanned aerial vehicle has high professional threshold for operation, high requirements on flight operation quality and skill, and is difficult to ensure sufficient flyers.

In the practical application of unmanned aerial vehicle transmission line automated management, some power grid companies in China carry out relevant pilot research works. In 2015, the welfare network develops the application of a large unmanned aerial vehicle system based on the internet of things in power grid inspection, disaster prevention and reduction, and multiple technologies such as beyond-the-horizon measurement and control, high-precision three-dimensional program control flight, ultra-low altitude autonomous obstacle avoidance, dynamic high-definition shooting and the like are preliminarily realized. In 2018, a full-autonomous refined automatic management technology of the unmanned aerial vehicle is developed by a Shandong power grid, the technology comprises the functions of flight trajectory planning, task load photographing control, image autonomous naming filing, defect autonomous intelligent identification and the like, and the conversion from manual control to autonomous flight of the automatic management of the single unmanned aerial vehicle is realized. In 2018, a totally autonomous intelligent automatic management system for a nest unmanned aerial vehicle is developed in the north of the hope, and autonomous intelligent automatic management and intelligent self-maintenance of a single unmanned aerial vehicle are realized. Compared with the domestic field, the unmanned aerial vehicle power transmission line automatic management system is rarely applied in foreign countries. In 2018, European utility companies began exploring the possibility of remotely controlling drones to search for grid damage, and many European companies tested drones, but most European power companies still used helicopter patrol to check the running state of grid equipment at the present stage. Advanced countries such as the united states and japan report fewer reports in the automated management of unmanned aerial vehicle power transmission lines. From the above situation, the application of the unmanned aerial vehicle automatic management in the foreign power grid is in the starting stage, while some application achievements are obtained in China, but research and development and application in the aspects of multi-unmanned aerial vehicle cluster cooperation, mobile unmanned aerial vehicle automatic management systems, complete information interaction systems (in butt joint with the relevant management systems of power grid companies) and the like are still in blank states, and development of corresponding technical countermeasures is urgently needed.

Retrieve and fly the field with letting in unmanned aerial vehicle's automation, prior art includes that china utility model 201821403919.5 an unmanned aerial vehicle discrepancy bank management system discloses an unmanned aerial vehicle discrepancy bank management system, including unmanned aerial vehicle, the RFID electronic tags, the RFID read write line, warehouse and server, the RFID electronic tags sets up on unmanned aerial vehicle, the RFID read write line sets up on the door frame in warehouse, and form the antenna array through beam forming in the warehouse region, the RFID read write line passes through signal connection with the server, the RFID read write line is used for discerning the RFID tag on the unmanned aerial vehicle through monitoring area, be used for registering information transfer for the server, the server system judges that unmanned aerial vehicle puts in storage or goes out of storage. However, the technology is only limited to automatically recording the information of the unmanned aerial vehicle entering and exiting the warehouse, and the actual mechanical problem of the unmanned aerial vehicle entering and exiting the warehouse is not solved.

The existing unmanned aerial vehicle recovery storage has many defects and defects, the unmanned aerial vehicle is often required to be positioned and remotely controlled, the unmanned aerial vehicle is manually adjusted to a proper posture and then is fixed and stored, time and labor are consumed, the efficiency is low, and the difficulty of recovery storage and ex-storage flying is increased particularly on a rugged road surface or a fast moving carrier.

Disclosure of Invention

The invention aims to solve the technical problem of providing a mobile multi-unmanned-aerial-vehicle automatic intelligent warehousing-in and warehousing-out system and a warehousing-in and warehousing-out method, wherein the unmanned-aerial-vehicle automatic warehousing-in and warehousing-out system can be arranged on a mobile platform, provides a storage machine warehouse for multiple unmanned aerial vehicles, and can automatically manage flying of the multiple unmanned aerial vehicles and recovery of the multiple unmanned aerial vehicles.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

automatic intelligent warehouse entry and exit system of portable many unmanned aerial vehicle, its characterized in that: the multi-machine-position three-dimensional hangar comprises a lifting well frame and a three-dimensional hangar frame, wherein a lifting type capturing and flying platform is arranged in the lifting well frame, an in-out garage mechanical arm system is fixedly arranged on the upper surface of the lifting type capturing and flying platform, and two sides of the lifting type capturing and flying platform are respectively in transmission connection with the lifting system;

a plurality of layers of unmanned aerial vehicle shutdown plates are fixedly installed in the three-dimensional hangar frame from top to bottom in sequence, and an unmanned aerial vehicle fixing device is arranged on the upper surface of each unmanned aerial vehicle shutdown plate;

the lifting type capturing and flying platform is used for parking an unmanned aerial vehicle which enters or leaves a warehouse; the unmanned aerial vehicle fixing device is used for fixing the unmanned aerial vehicle parked on the upper surface of the unmanned aerial vehicle parking plate; the lifting system is used for driving the lifting type capturing and flying platform to reciprocate in the vertical direction, and the lifting system is also used for driving the lifting type capturing and flying platform to incline to the horizontal state when the lifting well frame inclines; the warehouse entry and exit manipulator system is used for adjusting the posture of the warehouse entry unmanned aerial vehicle and sending the unmanned aerial vehicle with the adjusted posture to the upper surface of the unmanned aerial vehicle stopping plate through the lifting type capturing and flying platform, and the warehouse entry and exit manipulator system is also used for sending the unmanned aerial vehicle on the upper surface of the unmanned aerial vehicle stopping plate to the lifting type capturing and flying platform.

The lift type capturing and flying platform is of a horizontal plate-shaped structure, the warehouse-in and warehouse-out mechanical arm system comprises a telescopic device and an attitude adjusting system, the attitude adjusting system comprises a centering system and an inclination angle adjusting system, the centering system is used for arranging an unmanned aerial vehicle which is located on the surface of the lift type capturing and flying platform in a preset position on the surface of the lift type capturing and flying platform, the inclination angle adjusting system is used for adjusting the inclination direction and the inclination angle of the lift type capturing and flying platform, and the inclination angle adjusting system is in transmission connection with the lift system.

The telescopic device comprises a left longitudinal translation bracket and a right longitudinal translation bracket which are arranged on two sides of the upper surface of the lifting type catching and flying platform, the left longitudinal translation bracket and the right longitudinal translation bracket are internally provided with a front-back translation screw rod, a front-back translation linear guide rail and a front-back translation screw rod nut seat, the front and back translation screw rod nut seats are in threaded connection with the front and back translation screw rods, two ends of the mechanical arm transverse translation bracket are respectively and fixedly connected with the two groups of front and back translation screw rod nut seats, the two ends of the mechanical arm transverse translation bracket are respectively connected with the two groups of front and back translation linear guide rails in a sliding way, one end fixed mounting of front and back translation lead screw have centering synchronous pulley, connect through centering synchronous belt drive between the centering synchronous pulley of two adjacent front and back translation lead screws, centering synchronous belt still with around translation motor drive be connected.

The centering system comprises a multi-degree-of-freedom grabbing left mechanical arm and a multi-degree-of-freedom grabbing right mechanical arm, the tail end of the multi-degree-of-freedom grabbing left mechanical arm is fixedly connected with an upper rack mounting plate through a connecting plate, an upper rack is fixedly mounted on the lower surface of the upper rack mounting plate, and two ends of the upper rack mounting plate are connected with a centering guide rail in a sliding mode through a multi-degree-of-freedom grabbing left mechanical arm sliding block; the tail end of the multi-degree-of-freedom grabbing right mechanical arm is fixedly connected with a lower rack mounting plate through a connecting plate, a lower rack is fixedly mounted on the upper surface of the lower rack mounting plate, and two ends of the lower rack mounting plate are connected with a centering guide rail in a sliding mode through a multi-degree-of-freedom grabbing right mechanical arm sliding block; the centering guide rail is fixedly connected with the mechanical arm transverse translation bracket; the upper rack and the lower rack are parallel to each other, the upper rack and the lower rack are in meshing transmission with the centering gear, the upper rack and the lower rack are respectively arranged on the upper side and the lower side of the central shaft of the centering gear, and the centering gear is in transmission connection with an output shaft of the centering motor.

The multi-degree-of-freedom grabbing left mechanical arm and the multi-degree-of-freedom grabbing right mechanical arm are identical in structure and symmetrically arranged, and respectively comprise a gripper synchronous driving wheel and a gripper synchronous driven wheel, the gripper synchronous driving wheel and the gripper synchronous driven wheel are respectively arranged at two ends of the multi-degree-of-freedom grabbing mechanical arm, the gripper synchronous driving wheel is in transmission connection with an output shaft of a gripper movement motor, the gripper synchronous driving wheel is in transmission connection with the gripper synchronous driven wheel through a gripper synchronous belt, the gripper synchronous driving wheel and the gripper synchronous driven wheel are divided into an upper gripper synchronous belt section and a lower gripper synchronous belt section through a plane where a central shaft of the driven wheel is located, the upper gripper synchronous belt section is fixedly connected with a rear gripper through a rear gripper synchronous belt fixing block, and the lower gripper.

The inclination angle adjusting system comprises a movable supporting seat and a fixed supporting seat which are respectively and fixedly arranged on two sides of the bottom surface of the lifting type catching and releasing platform, a first fixed seat is fixedly arranged on the top end surface of the movable supporting seat, the top end of the first fixed seat is rotatably connected with a first connecting block through a first rotating shaft, the top surface of the first connecting block is slidably connected with a linear guide rail through a linear guide rail sliding block, the linear guide rail is fixedly arranged on the bottom surface of the lifting type catching and releasing platform, a second fixed seat is fixedly arranged on the top end surface of the fixed supporting seat, the top end of the second fixed seat is rotatably connected with a second connecting block through a second rotating shaft, and the second connecting block is fixedly arranged on the bottom surface of the lifting type; the extension direction of the linear guide rail is vertical to the extension direction of the central shaft of the first rotating shaft, and the central shaft of the first rotating shaft is parallel to the central shaft of the second rotating shaft; the movable supporting seat and the fixed supporting seat are in transmission connection with a lifting system, and the lifting system is used for respectively and independently driving the movable supporting seat and the fixed supporting seat to move in the vertical direction.

The lifting system comprises a first lifting device and a second lifting device, each lifting device comprises a lifting lead screw, a lifting synchronous belt and a lifting motor which are vertically arranged, the lifting lead screw is fixedly arranged on the side wall of the lifting well frame, one end of the lifting lead screw is connected with the output shaft of the lifting motor through the lifting synchronous belt, the lifting lead screw is in threaded connection with a lifting bolt seat, the lifting bolt seat is in threaded connection with the lifting lead screw in the first lifting device and is fixedly connected with a movable supporting seat, and the lifting bolt seat is in threaded connection with the lifting lead screw in the second lifting device and is fixedly connected with the fixed supporting seat.

Unmanned aerial vehicle shuts down the board upper surface and is provided with fixed stopper and unmanned aerial vehicle locking device, fixed stopper be located and keep away from lift well frame one side, fixed stopper be used for providing the stroke terminal point and carry out spacing fixed to unmanned aerial vehicle one side to the stroke that unmanned aerial vehicle stopped down the board, unmanned aerial vehicle locking device be used for carrying on spacing fixedly by the spacing fixed unmanned aerial vehicle opposite side of fixed stopper.

The fixed limiter comprises a limiting push plate fixedly mounted on the upper surface of the unmanned aerial vehicle shutdown plate, a rack limiting groove is formed in one side, facing the lifting well frame, of the limiting push plate, and a touch sensor is fixedly mounted at the bottom of the rack limiting groove; unmanned aerial vehicle locking device include the spring bolt, the spring bolt setting in the recess on unmanned aerial vehicle shut down plate surface, the spring bolt pass through axis of rotation and recess lateral wall rotatable coupling, the axis of rotation be connected with rotation motor drive.

Unmanned aerial vehicle warehouse entry and exit method is characterized in that: the upper surface of the lifting type catching and releasing platform is provided with a centering mark, a limit sensor is arranged in the same plane of each layer of unmanned aerial vehicle stopping plate, an inclination angle sensor is fixedly installed on the unmanned aerial vehicle stopping plate, first pressure sensors are respectively arranged on the contact surfaces of the multi-degree-of-freedom grabbing left mechanical arm and the multi-degree-of-freedom grabbing right mechanical arm and the unmanned aerial vehicle, second pressure sensors are respectively arranged on the contact surfaces of the front gripper and the rear gripper and the unmanned aerial vehicle, and the lifting type catching and releasing platform is fixedly provided with the inclination angle sensor; the unmanned aerial vehicle warehouse entry and exit method comprises an unmanned aerial vehicle warehouse entry method and an unmanned aerial vehicle warehouse exit method, and the unmanned aerial vehicle warehouse entry method specifically comprises the following steps:

step 1.1, initiating an unmanned aerial vehicle warehousing instruction, and synchronously lifting a first lifting device and a second lifting device to drive a lifting type capturing and flying platform to reach a preset height;

step 1.2, acquiring inclination angle data of the lifting type capturing and flying platform by an inclination angle sensor positioned on the lifting type capturing and flying platform;

step 1.3, the first lifting device and the second lifting device are lifted independently respectively, the lifting type capturing and releasing platform is adjusted to be in a horizontal state, and the inclination angle of the lifting type capturing and releasing platform, which is acquired by an inclination angle sensor on the lifting type capturing and releasing platform, is 0;

step 1.4, the unmanned aerial vehicle to be put in storage lands by taking the centering mark as a target point, and the unmanned aerial vehicle lands on the upper surface of the lifting type capturing and flying platform and is shut down when power is off;

step 1.5, adjusting the posture of the unmanned aerial vehicle;

step 1.5.1, starting a centering motor, driving an upper rack and a lower rack to move relatively by the centering motor through a centering gear, further driving a multi-degree-of-freedom grabbing left mechanical arm and a multi-degree-of-freedom grabbing right mechanical arm to move relatively, stopping the centering motor when pressure values acquired by first pressure sensors on the multi-degree-of-freedom grabbing left mechanical arm and the multi-degree-of-freedom grabbing right mechanical arm exceed preset values, and centering an unmanned aerial vehicle in the X-axis direction of the upper surface of a lifting type capturing and flying platform;

step 1.5.2, starting up two groups of gripper motion motors, driving a front gripper and a rear gripper to move relatively through gripper synchronous belts by the gripper motion motors, stopping the two groups of gripper motion motors when pressure values are acquired by second pressure sensors on the front gripper and the rear gripper, and centering the unmanned aerial vehicle in the Y-axis direction on the upper surface of the lifting type capturing and releasing platform;

step 1.6, the first lifting device and the second lifting device are respectively lifted independently, and the inclination angle of the lifting type capturing and flying platform is controlled and adjusted to be the same as the inclination angle data measured by an inclination angle sensor on the unmanned aerial vehicle stop board;

step 1.7, the first lifting device and the second lifting device synchronously lift to drive the lifting type capturing and flying platform to be aligned with the vacancy unmanned aerial vehicle stopping plate, and the feedback of alignment signals is realized through limit sensors in the same plane of the vacancy unmanned aerial vehicle stopping plate;

step 1.8, starting a front translation motor and a rear translation motor, driving a multi-degree-of-freedom grabbing left mechanical arm and a multi-degree-of-freedom grabbing right mechanical arm to synchronously extend out, and driving an unmanned aerial vehicle to move into a vacancy unmanned aerial vehicle stopping plate;

step 1.9, moving one side edge of the unmanned aerial vehicle to and embedding into a rack limiting groove, and stopping a front translation motor and a rear translation motor when touching a touch sensor at the bottom of the rack limiting groove;

step 1.10, a rotating motor drives a lock tongue to turn upwards through a rotating shaft, the lock tongue presses the edge of the other side of the unmanned aerial vehicle tightly, and the rotating motor stops;

step 1.11, resetting; the two groups of grippers move the motors to reversely rotate when starting up, and the centering motors reversely rotate when starting up, so that the two groups of front grippers and the two groups of rear grippers reset, and the multi-degree-of-freedom grabbing left mechanical arm and the multi-degree-of-freedom grabbing right mechanical arm reset in the X-axis direction; the front translation motor and the rear translation motor are started to rotate reversely to drive the multi-degree-of-freedom grabbing left mechanical arm and the multi-degree-of-freedom grabbing right mechanical arm to reset in the Y-axis direction;

and step 1.12, moving the lifting type capturing and flying platform to a starting position under the synchronous control of the first lifting device and the second lifting device.

The method for the unmanned aerial vehicle to leave the warehouse comprises the following specific steps:

step 2.1, initiating an unmanned aerial vehicle warehouse-out instruction, enabling a first lifting device and a second lifting device to lift independently, controlling and adjusting the inclination angle of a lifting type capturing and flying platform to be the same as the data of the inclination angle measured by an inclination angle sensor on an unmanned aerial vehicle parking plate, and enabling the lifting type capturing and flying platform to be parallel to the unmanned aerial vehicle parking plate;

2.2, the first lifting device and the second lifting device synchronously lift to drive the lifting type capturing and flying platform to be aligned with the target unmanned aerial vehicle stop board, and the feedback of alignment signals is realized through a limit sensor in the same plane of the target unmanned aerial vehicle stop board;

step 2.3, starting a front and back translation motor, driving a multi-degree-of-freedom grabbing left mechanical arm and a multi-degree-of-freedom grabbing right mechanical arm to synchronously extend to the two sides of the target unmanned aerial vehicle, and stopping the front and back translation motor;

step 2.4, starting a centering motor, driving an upper rack and a lower rack to move relatively by the centering motor through a centering gear, further driving a multi-degree-of-freedom grabbing left mechanical arm and a multi-degree-of-freedom grabbing right mechanical arm to move relatively, stopping the centering motor when pressure values acquired by first pressure sensors on the multi-degree-of-freedom grabbing left mechanical arm and the multi-degree-of-freedom grabbing right mechanical arm exceed preset values, and fixing the unmanned aerial vehicle in the X-axis direction by the multi-degree-of-freedom grabbing left mechanical arm and the multi-degree-of;

2.5, starting up two groups of gripper motion motors, driving the front gripper and the rear gripper to move relatively through gripper synchronous belts by the gripper motion motors, and stopping the two groups of gripper motion motors when pressure values are acquired by second pressure sensors on the front gripper and the rear gripper, wherein the unmanned aerial vehicle is fixed in the Y-axis direction;

step 2.6, the rotating motor drives the lock tongue to turn downwards through the rotating shaft, the lock tongue is separated from the edge of the other side of the unmanned aerial vehicle, and the rotating motor is stopped;

step 2.7, starting up and reversely rotating the front and rear translation motors to drive the unmanned aerial vehicle to separate from the unmanned aerial vehicle stop plate, and stopping the front and rear translation motors when the unmanned aerial vehicle moves to the centering mark point;

2.8, synchronously lifting the first lifting device and the second lifting device to drive the lifting type capturing and flying platform to reach a preset height;

step 2.9, acquiring inclination angle data of the lifting type capturing and flying platform by an inclination angle sensor positioned on the lifting type capturing and flying platform;

step 2.10, the first lifting device and the second lifting device are lifted independently respectively, the lifting type capturing and releasing platform is adjusted to be in a horizontal state, and the inclination angle of the lifting type capturing and releasing platform, which is acquired by an inclination angle sensor on the lifting type capturing and releasing platform, is 0;

2.11, starting up a motor to reversely rotate two groups of grippers, starting up a centering motor to reversely rotate, resetting two groups of front grippers and rear grippers, and resetting the multi-degree-of-freedom grabbing left mechanical arm and the multi-degree-of-freedom grabbing right mechanical arm in the X-axis direction; the front translation motor and the rear translation motor are started to rotate reversely to drive the multi-degree-of-freedom grabbing left mechanical arm and the multi-degree-of-freedom grabbing right mechanical arm to reset in the Y-axis direction;

and 2.12, taking off the unmanned aerial vehicle on the upper surface of the lifting type capturing and flying platform in the horizontal state.

The mobile multi-unmanned-aerial-vehicle automatic intelligent warehouse entry and exit system and the warehouse entry and exit method have the beneficial effects that:

firstly, the automatic intelligent warehouse entry and exit system and the warehouse entry and exit method for multiple unmanned aerial vehicles solve the technical problem of high-efficiency automatic self-help warehouse entry and exit of multiple unmanned aerial vehicles in vehicles or other carriers, through the mutual matching of the attitude adjusting system, the in-out warehouse mechanical arm system, the unmanned aerial vehicle locking device, the lifting type capturing and flying platform and the multi-station three-dimensional hangar, the operations of automatic capturing, attitude adjusting, feeding into the hangar, three-dimensional storage and the like of the unmanned aerial vehicle are well realized, the unmanned aerial vehicle can be stopped on the lifting type capturing and flying platform in any attitude without the limitation of terrain and weather conditions, the precise adjustment of the preset position of the unmanned aerial vehicle in and out of the warehouse is realized through the in and out warehouse manipulator system and the attitude adjustment system, unmanned aerial vehicle that can realize arbitrary gesture descending also can be regular to preset position automatically, realizes unmanned operation completely, promotes the availability factor greatly. Furthermore, the system and the method meet the requirement that the lifting type capturing and flying platform can keep the unmanned aerial vehicle horizontal all the time when the unmanned aerial vehicle vertically takes off and lands under the condition that various carriers are on rugged terrain or any uneven working condition.

And secondly, the technical problem that multiple unmanned aerial vehicles cannot be efficiently and quickly put in and out of a warehouse at present is solved. Unmanned aerial vehicle is got and is put and position adjustment can be accomplished in the space that can be very little, comes automatic realization unmanned aerial vehicle's intelligence warehouse entry operation through the multiunit sensor.

Third, this kind of automatic intelligent warehouse entry system of portable many unmanned aerial vehicle has greatly improved automated management operation autonomy, automation and intelligent level, makes unmanned aerial vehicle automated management operation security higher, efficiency is higher, the popularization nature is stronger, alleviates fortune and examines personnel intensity of labour, reduces fortune dimension cost by a wide margin.

Fourth, automatic intelligent warehouse entry and exit system of portable many unmanned aerial vehicle has greatly improved automated management operation autonomy, automation and intelligent level, makes unmanned aerial vehicle automated management operation security higher, efficiency is higher, the popularization nature is stronger, alleviates fortune and examines personnel intensity of labour, reduces fortune dimension cost by a wide margin.

Fifthly, the deviation in position still can be produced under the drive of inertia in the twinkling of an eye of unmanned aerial vehicle motor outage when descending, leads to unmanned aerial vehicle to use the centering sign to descend as the target point, but can produce unpredictable deviation in the twinkling of an eye of descending outage, and it is fixed that the centering system carries out attitude adjustment to unmanned aerial vehicle realization centering this moment, provides the basis for subsequent warehousing operation.

Sixthly, the centering system not only can adjust the unmanned aerial vehicle gesture when retrieving unmanned aerial vehicle, can also fix unmanned aerial vehicle at the unmanned aerial vehicle warehouse entry and the in-process of leaving warehouse, prevents that it breaks away from the centering position in the motion process and causes unmanned aerial vehicle damage.

Drawings

Fig. 1 is a schematic structural diagram of the mobile multi-unmanned-aerial-vehicle automatic intelligent warehousing and warehousing system.

Fig. 2 is a schematic structural diagram of a multi-station three-dimensional hangar in the mobile multi-unmanned-aerial-vehicle automatic intelligent warehousing and ex-warehousing system.

Fig. 3 is a schematic diagram of unmanned aerial vehicle warehousing in the mobile multi-unmanned aerial vehicle automatic intelligent warehousing-in-and-out system.

Fig. 4 is a schematic diagram of unmanned aerial vehicle warehouse-out in the mobile multi-unmanned aerial vehicle automatic intelligent warehouse-in and warehouse-out system.

Fig. 5 is a schematic structural diagram of a fixed stopper in the mobile multi-unmanned-aerial-vehicle automatic intelligent warehousing and ex-warehousing system.

Fig. 6 is a schematic structural diagram of a locking device of the unmanned aerial vehicle in the mobile multi-unmanned aerial vehicle automatic intelligent warehousing and ex-warehousing system.

Fig. 7 is a schematic view of the horizontal state of the lifting type capturing and flying platform in the mobile multi-unmanned-aerial-vehicle automatic intelligent warehouse entry system.

Fig. 8 is a schematic view of a non-horizontal state of the lifting type capturing and flying platform in the mobile multi-unmanned-aerial-vehicle automatic intelligent warehouse entry and exit system.

Fig. 9 is a schematic structural diagram of a movable support seat in the mobile multi-unmanned-aerial-vehicle automatic intelligent warehousing system.

Fig. 10 is a schematic structural diagram of a fixed support seat in the mobile multi-unmanned-aerial-vehicle automatic intelligent warehousing and ex-warehousing system.

Fig. 11 is a schematic structural diagram of an in-out manipulator system in the mobile multi-unmanned-aerial-vehicle automated intelligent in-out warehouse system of the present invention.

Fig. 12 is a schematic diagram of a partial structure of an in-out manipulator system in the mobile multi-unmanned-aerial-vehicle automated intelligent in-out system of the present invention.

Fig. 13 is a structural schematic diagram of a multi-degree-of-freedom grabbing left mechanical arm in the mobile multi-unmanned-aerial-vehicle automatic intelligent warehousing and ex-warehousing system.

Fig. 14 is a schematic view of a connection structure of an in-out robot system and a lifting type capturing and flying platform in the mobile multi-unmanned-aerial-vehicle automatic intelligent in-out system.

The specification reference numbers: 6. a multi-machine-position three-dimensional machine library; 60. an unmanned aerial vehicle locking device; 61. fixing a limiter; 62. unmanned plane shutdown board; 63. a lifting screw rod; 64. lifting a synchronous belt; 65. a lifting motor; 66. a hoistway frame; 67. a three-dimensional hangar frame; 68. a limit sensor; 601. a non-slip mat; 602. a latch bolt; 603. a rotating shaft; 604. a push rod; 605. a slider; 610. a touch sensor; 611. a rack limiting groove; 612. a limiting push plate; 7. a lifting type capturing and flying platform; 8. an in-out warehouse manipulator system, 80 and a mechanical arm transverse translation bracket; 81. a left longitudinal translation carriage; 82. a right longitudinal translation support; 83. the multi-degree-of-freedom grabbing left mechanical arm; 84. the right mechanical arm is grabbed by multiple degrees of freedom; 802. centering the guide rail; 803. a centering gear; 804. centering the motor; 805. a front and rear translation motor; 806. a front and rear translation motor bracket; 807. the right mechanical arm sliding block is grabbed by multiple degrees of freedom; 808. grabbing a left mechanical arm sliding block by multiple degrees of freedom; 809. an upper rack mounting plate; 810. an upper rack; 811. a lower rack mounting plate; 812. a lower rack; 813. the screw rod nut seat is translated back and forth; 814. a front-to-back translation linear guide; 815. a screw rod is translated back and forth; 816. centering a synchronous belt pulley; 817. centering the synchronous belt; 830. a connecting plate; 831. a reinforcing plate; 832. A gripper guide rail; 833. a gripper motion motor; 834. the gripper synchronous driving wheel; 835. a gripper synchronous belt; 836. a rear hand grip; 837. a front hand grip; 838. a front gripper synchronous belt fixing block; 839. the rear gripper synchronous belt fixing block; 8340. the gripper is synchronous with the driven wheel; 8341. a gripper motion motor fixing plate; 8342. the gripper synchronous driven wheel fixing plate; 9. an attitude adjusting system 90, a linear guide rail; 91. a linear guide slider; 92. a first connection block; 93. a movable support seat; 94. fixing the supporting seat; 95. a first rotating shaft; 96. a first fixed seat; 97. a second connecting block; 98. a second rotating shaft; 99. a second fixed seat.

Detailed Description

Because unmanned aerial vehicle's used repeatedly attribute, unmanned aerial vehicle need can take in the unmanned aerial vehicle storehouse after the work is finished, and in unmanned aerial vehicle's use, unmanned aerial vehicle retrieves the gesture because outage atress in the twinkling of an eye is different, and the gesture when falling into the air park is also all inequality, and the different recovery gesture of unmanned aerial vehicle has increaseed the degree of difficulty that unmanned aerial vehicle retrieved to the unmanned aerial vehicle storehouse. The multi-drone stereo hangar is further described below with reference to the drawings of the specification and specific preferred embodiments.

As shown in fig. 1, the automatic intelligent warehouse entry and exit system of mobile multi-unmanned aerial vehicle is characterized in that: the multi-machine-position three-dimensional hangar 6 comprises a lifting well frame 66 and a three-dimensional hangar frame 67, wherein a lifting type capturing and flying platform 7 is arranged in the lifting well frame 66, an in-out garage mechanical arm system 8 is fixedly arranged on the upper surface of the lifting type capturing and flying platform 7, and two sides of the lifting type capturing and flying platform 7 are respectively in transmission connection with the lifting system;

as shown in fig. 2, a plurality of layers of unmanned plane parking plates 62 are fixedly installed in the three-dimensional hangar frame 67 from top to bottom in sequence, and an unmanned plane fixing device is arranged on the upper surface of each unmanned plane parking plate 62;

the lifting type capturing and flying platform 7 is used for parking an unmanned aerial vehicle which enters or leaves a warehouse; the unmanned aerial vehicle fixing device is used for fixing the unmanned aerial vehicle parked on the upper surface of the unmanned aerial vehicle parking plate 62; the lifting system is used for driving the lifting type capturing and flying platform 7 to reciprocate in the vertical direction, and the lifting system is also used for driving the lifting type capturing and flying platform 7 to incline to the horizontal state when the lifting well frame 66 inclines; the warehouse entry and exit manipulator system 8 is used for adjusting the posture of the warehouse entry unmanned aerial vehicle and sending the unmanned aerial vehicle with the adjusted posture to the upper surface of the unmanned aerial vehicle parking plate 62 through the lifting type capturing and flying platform 7, and the warehouse entry and exit manipulator system 8 is also used for sending the unmanned aerial vehicle on the upper surface of the unmanned aerial vehicle parking plate 62 to the lifting type capturing and flying platform 7.

In this embodiment, the platform 7 of flying is caught to over-and-under type is the horizontal plate column structure, the warehouse entry manipulator system 8 include telescoping device and attitude control system 9, attitude control system 9 include centering system and inclination adjustment system, centering system be used for arranging the unmanned aerial vehicle that is located the platform 7 surface of flying is caught to over-and-under type in the over-and-under type and fly the preset position on platform 7 surface is put to the platform of flying is caught to the over-and-under type, inclination adjustment system be used for transferring the slope direction and the inclination that platform 7 was put to flying is caught to the over-and-under type, inclination adjustment system be connected with the operating system transmission.

Further, as shown in fig. 11 and 14, the telescopic device includes a left longitudinal translation bracket 81 and a right longitudinal translation bracket 82 which are disposed at two sides of the upper surface of the lifting type capturing and flying platform 7, a front-back translation screw 815, a front-back translation linear guide 814 and a front-back translation screw nut seat 813 are disposed in each of the left longitudinal translation bracket 81 and the right longitudinal translation bracket 82, the front-back translation screw nut seat 813 is in threaded connection with the front-back translation screw 815, two ends of the mechanical arm transverse translation bracket 80 are respectively fixedly connected with the two sets of front-back translation screw nut seats 813, two ends of the mechanical arm transverse translation bracket 80 are further respectively in sliding connection with the two sets of front-back translation linear guide 814, a centering synchronous pulley 816 is fixedly mounted at one end of the front-back translation screw 815, and the centering synchronous pulleys 816 of the two adjacent front-back translation screws 815 are in transmission connection through a centering synchronous, the centering synchronous belt 817 is also in transmission connection with the front and rear translation motor 805.

The front and rear translation screw rods 815 and the front and rear translation linear guide rails 814 in the left longitudinal translation bracket 81 and the front and rear translation screw rods 815 and the front and rear translation linear guide rails 814 in the right longitudinal translation bracket 82 are parallel to each other, at this time, the two sets of front and rear translation linear guide rails 814 can play a role in supporting and guiding the movement of the mechanical arm transverse translation bracket 80, the front and rear translation motor 805 drives the two sets of front and rear translation screw rods 815 to synchronously rotate through the centering synchronous belt 817, so that the two ends of the mechanical arm transverse translation bracket 80 are kept to move at the same speed, and the operation stability of the mechanical arm transverse translation; the front-rear translation motor 805 is installed in the robot arm lateral translation support 80 through the front-rear translation motor support 806, and the front-rear translation motor 805 operates as a power source in synchronization with the robot arm lateral translation support 80.

As shown in fig. 11 and 12, the centering system includes a multi-degree-of-freedom grabbing left mechanical arm 83 and a multi-degree-of-freedom grabbing right mechanical arm 84, the tail end of the multi-degree-of-freedom grabbing left mechanical arm 83 is fixedly connected with an upper rack mounting plate 809 through a connecting plate 830, an upper rack 810 is fixedly mounted on the lower surface of the upper rack mounting plate 809, and two ends of the upper rack mounting plate 809 are slidably connected with a centering guide rail 802 through a multi-degree-of-freedom grabbing left mechanical arm slider 808; the tail end of the multi-degree-of-freedom grabbing right mechanical arm 84 is fixedly connected with a lower rack mounting plate 811 through a connecting plate 830, a lower rack 812 is fixedly mounted on the upper surface of the lower rack mounting plate 811, and two ends of the lower rack mounting plate 811 are slidably connected with a centering guide rail 802 through a multi-degree-of-freedom grabbing right mechanical arm sliding block 807; the centering guide rail 802 is fixedly connected with the mechanical arm transverse translation bracket 80; the upper rack 810 and the lower rack 812 are parallel to each other, the upper rack 810 and the lower rack 812 are in meshing transmission with the centering gear 803, the upper rack 810 and the lower rack 812 are respectively arranged on the upper side and the lower side of the central shaft of the centering gear 803, and the centering gear 803 is in transmission connection with the output shaft of the centering motor 804.

The upper rack mounting plate 809, the upper rack 810, the lower rack mounting plate 811 and the lower rack 812 are parallel to each other in the centering system, the upper rack 810 and the lower rack 812 are respectively distributed on two sides of the centering gear 803, so that the relative movement or the relative movement of the upper rack 810 and the lower rack 812 can be controlled by controlling the centering gear 803 to rotate forwards or backwards, two centering guide rails 802 are arranged and are respectively parallel to the upper rack mounting plate 809 and the lower rack mounting plate 811, and the centering guide rails 802 can provide support and guide for the upper rack mounting plate 809 and the lower rack mounting plate 811. The moving directions of the upper rack 810 and the lower rack 812 are respectively parallel to the extending directions of the upper rack 810 and the lower rack 812, and both the upper rack 810 and the lower rack 812 are perpendicular to the front-rear translation screw 815.

As shown in fig. 11 and 13, the multi-degree-of-freedom grabbing left mechanical arm 83 and the multi-degree-of-freedom grabbing right mechanical arm 84 are identical in structure and symmetrically arranged, and both include a grabbing hand synchronous driving wheel 834 and a grabbing hand synchronous driven wheel 8340, the gripper synchronous driving wheel 834 and the gripper synchronous driven wheel 8340 are respectively arranged at two ends of the multi-degree-of-freedom gripping mechanical arm, the gripper synchronous driving wheel 834 is in transmission connection with an output shaft of a gripper motion motor 833, the gripper synchronous driving wheel 834 and the gripper synchronous driven wheel 8340 are in transmission connection through a gripper synchronous belt 835, the plane of the central axes of the gripper synchronous driving wheel 834 and the gripper synchronous driven wheel 8340 divides the gripper synchronous belt 835 into an upper gripper synchronous belt segment and a lower gripper synchronous belt segment, the upper section of the gripper synchronous belt is fixedly connected with the rear gripper 836 through a rear gripper synchronous belt fixing block 839, the lower section of the hand grip synchronous belt is fixedly connected with the front hand grip 837 through the front hand grip synchronous belt fixing block 838.

The connecting plate 830 improves the strength of the joint of the mechanical arm and the rack mounting plate through the reinforcing plate 831, the gripper moving motor 833 is fixedly connected with the mechanical arm through the gripper moving motor fixing plate 8341, the gripper synchronous driving wheel 834 is fixedly installed on one side of the gripper moving motor fixing plate 8341 and takes the gripper moving motor fixing plate 8341 as a supporting device, and similarly, the gripper synchronous driven wheel 8340 is fixedly installed at the other end of the mechanical arm through the gripper synchronous driven wheel fixing plate 8342. The bottom ends of the rear gripper synchronous belt fixing block 839 and the front gripper synchronous belt fixing block 838 are slidably connected with the gripper guide rail 832, the gripper guide rail 832 provides guiding and supporting functions for the displacement of the rear gripper synchronous belt fixing block 839 and the front gripper synchronous belt fixing block 838, and at the moment, the gripper synchronous belt 835 transmits power in the horizontal direction, so that the defect of limited supporting force of synchronous belt transmission is overcome. Due to the fact that the heights of the upper section of the gripper synchronous belt and the lower section of the gripper synchronous belt are different, the rear gripper synchronous belt fixing block 839 and the front gripper synchronous belt fixing block 838 need adaptive heights, and it is guaranteed that small slits are formed in the bottom end faces of the front gripper 837 and the rear gripper 836 and the upper surface of the lifting type capturing and flying platform 7. This configuration also allows for control of the front 837 and rear 836 grippers on the same gripper synchronization belt to move in opposite directions or relative to each other as the gripper motion motor 833 rotates in either a forward or reverse direction. The moving direction of the front hand grip 837 and the rear hand grip 836 is parallel to the moving direction of the front-back translation screw rod nut seat 813 and opposite to the moving direction of the upper rack 810 and the lower rack 812, so that the front hand grip 837 and the rear hand grip 836 can realize the centering of the unmanned aerial vehicle in the Y-axis direction, and the movement of the upper rack 810 and the lower rack 812 can drive the multi-degree-of-freedom grabbing left mechanical arm 83 and the multi-degree-of-freedom grabbing right mechanical arm 84 to realize the centering of the unmanned aerial vehicle in the X-axis direction.

As shown in fig. 7, 8, 9 and 10, the inclination angle adjusting system includes a movable supporting seat 93 and a fixed supporting seat 94 respectively fixedly installed at two sides of the bottom surface of the lifting type capturing and releasing platform 7, a first fixed seat 96 is fixedly installed at the top end surface of the movable supporting seat 93, the top end of the first fixed seat 96 is rotatably connected with a first connecting block 92 through a first rotating shaft 95, the top surface of the first connecting block 92 is slidably connected with a linear guide 90 through a linear guide slider 91, the linear guide 90 is fixedly installed at the bottom surface of the lifting type capturing and releasing platform 7, a second fixed seat 99 is fixedly installed at the top end surface of the fixed supporting seat 94, the top end of the second fixed seat 99 is rotatably connected with a second connecting block 97 through a second rotating shaft 98, and the second connecting block 97 is fixedly installed at the bottom surface of the lifting type capturing and releasing platform 7; the extension direction of the linear guide 90 is perpendicular to the extension direction of the central axis of the first rotating shaft 95, and the central axis of the first rotating shaft 95 is parallel to the central axis of the second rotating shaft 98; the movable supporting seat 93 and the fixed supporting seat 94 are in transmission connection with a lifting system, and the lifting system is used for respectively and independently driving the movable supporting seat 93 and the fixed supporting seat 94 to move in the vertical direction.

The independent lifting motion of the movable supporting seat 93 and the fixed supporting seat 94 at the two sides of the lifting type capturing and flying platform 7 can respectively control the heights of the two sides of the lifting type capturing and flying platform 7, so as to control the inclination angle of the lifting type capturing and flying platform 7, generally, the connecting direction of the movable supporting seat 93 and the fixed supporting seat 94 is parallel to the advancing direction of the carrier, at the moment, if the carrier is stopped on a slope to cause inclination, the heights of the movable supporting seat 93 and the fixed supporting seat 94 can be respectively adjusted, and the leveling of the lifting type capturing and flying platform 7 is realized. Further, when the lifting type capturing and flying platform 7 is inclined, since the distance between the movable support seat 93 and the fixed support seat 94 in the horizontal direction is not changed, the length of the side between the position of the connection point between the movable support seat 93 and the lifting type capturing and flying platform 7 and the position of the connection point between the fixed support seat 94 and the lifting type capturing and flying platform 7 is long, and therefore, the linear guide 90 needs to be arranged for adjusting the position of the connection point between the movable support seat 93 and the lifting type capturing and flying platform 7.

Fig. 1 also discloses a lifting system structure, the lifting system comprises a first lifting device and a second lifting device, each lifting device comprises a lifting screw 63, a lifting synchronous belt 64 and a lifting motor 65 which are vertically arranged, the lifting screw 63 is fixedly arranged on the side wall of the lifting shaft frame 66, one end of the lifting screw 63 is in transmission connection with an output shaft of the lifting motor 65 through the lifting synchronous belt 64, the lifting screw 63 is in threaded connection with a lifting bolt seat, the lifting bolt seat in threaded connection with the lifting screw 63 in the first lifting device is fixedly connected with a movable supporting seat 93, and the lifting bolt seat in threaded connection with the lifting screw 63 in the second lifting device is fixedly connected with a fixed supporting seat 94.

As shown in fig. 2, unmanned aerial vehicle parking board 62 upper surface is provided with fixed stopper 61 and unmanned aerial vehicle locking device 60, fixed stopper 61 be located and keep away from shaft frame 66 one side, fixed stopper 61 be used for providing the stroke terminal point and carry out spacing fixed to unmanned aerial vehicle one side to the stroke that unmanned aerial vehicle parked into unmanned aerial vehicle parking board 62, unmanned aerial vehicle locking device 60 be used for carrying out spacing fixed by fixed stopper 61 spacing fixed unmanned aerial vehicle opposite side.

As shown in fig. 5 and 6, the fixed stopper 61 includes a limit push plate 612 fixedly mounted on the upper surface of the unmanned aerial vehicle parking plate 62, a frame limit groove 611 is formed on one side of the limit push plate 612 facing the shaft frame 66, and a touch sensor 610 is fixedly mounted on the bottom of the frame limit groove 611; unmanned aerial vehicle locking device 60 include spring bolt 602, spring bolt 602 set up in the recess on unmanned aerial vehicle shut down board 62 surface, spring bolt 602 pass through axis of rotation 603 and recess lateral wall rotatable coupling, axis of rotation 603 be connected with the transmission of rotation motor.

The contact surface of spring bolt 602 and unmanned aerial vehicle has still pasted and has covered non slipping spur 601, and the back and push rod 604 one end that unmanned aerial vehicle was kept away from to spring bolt 602 rotate to be connected, and the push rod 604 other end rotates with sliding block 605 to be connected, sliding block 605 inlay in the spout in unmanned aerial vehicle parking board 62 recess, sliding block 605 and spout sliding connection, the extending direction of spout is parallel with the reversal direction of spring bolt 602, the stroke terminal of sliding block 605 has been confirmed at the both ends of spout, has also confirmed the motion range that spring bolt 602 overturned.

Unmanned aerial vehicle warehouse entry and exit method is characterized in that: the upper surface of the lifting type catching and releasing platform 7 is provided with a centering mark, a limit sensor 68 is arranged in the same plane of each layer of unmanned aerial vehicle stopping plate 62, an inclination angle sensor is fixedly installed on the unmanned aerial vehicle stopping plate 62, first pressure sensors are respectively arranged on the contact surfaces of the multi-degree-of-freedom grabbing left mechanical arm 83, the multi-degree-of-freedom grabbing right mechanical arm 84 and the unmanned aerial vehicle, second pressure sensors are respectively arranged on the contact surfaces of the front gripper 837, the rear gripper 836 and the unmanned aerial vehicle, and the lifting type catching and releasing platform 7 is fixedly provided with the inclination angle sensor; the unmanned aerial vehicle warehouse entry and exit method comprises an unmanned aerial vehicle warehouse entry method and an unmanned aerial vehicle warehouse exit method, and the unmanned aerial vehicle warehouse entry method specifically comprises the following steps:

step 1.1, initiating an unmanned aerial vehicle warehousing instruction, synchronously lifting a first lifting device and a second lifting device, and driving a lifting type capturing and flying platform 7 to reach a preset height;

step 1.2, acquiring inclination angle data of the lifting type capturing and flying platform 7 by an inclination angle sensor positioned on the lifting type capturing and flying platform 7;

step 1.3, the first lifting device and the second lifting device are lifted independently respectively, the lifting type capturing and flying platform 7 is adjusted to be in a horizontal state, and the inclination angle of the lifting type capturing and flying platform 7 acquired by an inclination angle sensor on the lifting type capturing and flying platform 7 is 0;

step 1.4, the unmanned aerial vehicle to be put in storage lands with the centering mark as a target point, and the unmanned aerial vehicle lands on the upper surface of the lifting type capturing and flying platform 7 and is shut down when power is off;

step 1.5, adjusting the posture of the unmanned aerial vehicle;

step 1.5.1, starting a centering motor 804, driving an upper rack 810 and a lower rack 812 to move relatively by the centering motor 804 through a centering gear 803, further driving a multi-degree-of-freedom grabbing left mechanical arm 83 and a multi-degree-of-freedom grabbing right mechanical arm 84 to move relatively, stopping the centering motor 804 when pressure values acquired by first pressure sensors on the multi-degree-of-freedom grabbing left mechanical arm 83 and the multi-degree-of-freedom grabbing right mechanical arm 84 exceed preset values, and centering the unmanned aerial vehicle in the X-axis direction of the upper surface of the lifting type capturing and flying platform 7;

step 1.5.2, starting the two groups of gripper motion motors 833, driving the front gripper 837 and the rear gripper 836 to move relatively by the gripper motion motors 833 through the gripper synchronous belts 835, stopping the two groups of gripper motion motors 833 when pressure values are acquired by second pressure sensors on the front gripper 837 and the rear gripper 836, and centering the unmanned aerial vehicle in the Y-axis direction on the upper surface of the lifting type capturing and releasing platform 7;

step 1.6, the first lifting device and the second lifting device respectively lift independently, and the inclination angle of the lifting type capturing and flying-off platform 7 is controlled and adjusted to be the same as the inclination angle data measured by the inclination angle sensor on the unmanned aerial vehicle stopping board 62;

step 1.7, the first lifting device and the second lifting device synchronously lift to drive the lifting type capturing and flying platform 7 to be aligned with the vacancy unmanned aerial vehicle stopping plate 62, and the feedback of alignment signals is realized through a limit sensor 68 in the same plane of the vacancy unmanned aerial vehicle stopping plate 62;

step 1.8, starting a front-back translation motor 805, driving a multi-degree-of-freedom grabbing left mechanical arm 83 and a multi-degree-of-freedom grabbing right mechanical arm 84 to synchronously extend out, and driving an unmanned aerial vehicle to move into a vacant unmanned aerial vehicle stopping plate 62;

step 1.9, moving one side edge of the unmanned aerial vehicle to and embedding into the rack limiting groove 611, and stopping the front and rear translation motors 805 when touching the touch sensor 610 at the bottom of the rack limiting groove 611;

step 1.10, a rotating motor drives a lock tongue 602 to turn upwards through a rotating shaft 603, the lock tongue 602 presses the edge of the other side of the unmanned aerial vehicle, and the rotating motor stops;

step 1.11, resetting; the two groups of gripper motion motors 833 are started to rotate reversely, and the centering motor 804 is started to rotate reversely, so that the two groups of front grippers 837 and the rear gripper 836 are reset, and the multi-degree-of-freedom gripping left mechanical arm 83 and the multi-degree-of-freedom gripping right mechanical arm 84 are reset in the X-axis direction; the front and rear translation motor 805 is started up and reversely rotates to drive the multi-degree-of-freedom grabbing left mechanical arm 83 and the multi-degree-of-freedom grabbing right mechanical arm 84 to reset in the Y-axis direction;

and 1.12, moving the lifting type capturing and flying platform 7 to a starting position under the synchronous control of the first lifting device and the second lifting device.

step 2.1, initiating an unmanned aerial vehicle warehouse-out instruction, enabling a first lifting device and a second lifting device to lift independently, controlling and adjusting the inclination angle of the lifting type capturing and flying-off platform 7 to be the same as the data of the inclination angle measured by an inclination angle sensor on the unmanned aerial vehicle parking plate 62, and enabling the lifting type capturing and flying-off platform 7 to be parallel to the unmanned aerial vehicle parking plate 62;

2.2, the first lifting device and the second lifting device synchronously lift to drive the lifting type capturing and flying platform 7 to be aligned with the target unmanned aerial vehicle stopping plate 62, and the feedback of alignment signals is realized through a limit sensor 68 in the same plane of the target unmanned aerial vehicle stopping plate 62;

step 2.3, starting the front and back translation motor 805 to drive the multi-degree-of-freedom grabbing left mechanical arm 83 and the multi-degree-of-freedom grabbing right mechanical arm 84 to synchronously extend to the two sides of the target unmanned aerial vehicle, and stopping the front and back translation motor 805;

step 2.4, starting the centering motor 804, driving the upper rack 810 and the lower rack 812 to move relatively by the centering motor 804 through the centering gear 803, further driving the multi-degree-of-freedom grabbing left mechanical arm 83 and the multi-degree-of-freedom grabbing right mechanical arm 84 to move relatively, when pressure values acquired by the first pressure sensors on the multi-degree-of-freedom grabbing left mechanical arm 83 and the multi-degree-of-freedom grabbing right mechanical arm 84 exceed preset values, stopping the centering motor 804, and fixing the unmanned aerial vehicle in the X-axis direction by the multi-degree-of-freedom grabbing left mechanical arm 83 and the multi-degree;

step 2.5, starting the two groups of gripper motion motors 833, driving the front gripper 837 and the rear gripper 836 to move relatively by the gripper motion motors 833 through the gripper synchronous belts 835, and stopping the two groups of gripper motion motors 833 when pressure values are acquired by the second pressure sensors on the front gripper 837 and the rear gripper 836, wherein the unmanned aerial vehicle is fixed in the Y-axis direction;

step 2.6, the rotating motor drives the lock tongue 602 to turn downwards through the rotating shaft 603, the lock tongue 602 is separated from the edge of the other side of the unmanned aerial vehicle, and the rotating motor stops;

step 2.7, starting up and reversely rotating the front and rear translation motors 805 to drive the unmanned aerial vehicle to separate from the unmanned aerial vehicle stop plate 62, and stopping the front and rear translation motors 805 when the unmanned aerial vehicle moves to the centering mark point;

2.8, synchronously lifting the first lifting device and the second lifting device to drive the lifting type capturing and flying platform 7 to reach a preset height;

step 2.9, acquiring inclination angle data of the lifting type capturing and flying platform 7 by an inclination angle sensor positioned on the lifting type capturing and flying platform 7;

step 2.10, the first lifting device and the second lifting device are lifted independently respectively, the lifting type capturing and flying platform 7 is adjusted to be in a horizontal state, and the inclination angle of the lifting type capturing and flying platform 7 acquired by an inclination angle sensor on the lifting type capturing and flying platform 7 is 0;

step 2.11, starting the two groups of gripper motion motors 833 to rotate reversely, starting the centering motor 804 to rotate reversely, so that the two groups of front grippers 837 and rear grippers 836 reset, and the multi-degree-of-freedom gripping left mechanical arm 83 and the multi-degree-of-freedom gripping right mechanical arm 84 reset in the X-axis direction; the front and rear translation motor 805 is started up and reversely rotates to drive the multi-degree-of-freedom grabbing left mechanical arm 83 and the multi-degree-of-freedom grabbing right mechanical arm 84 to reset in the Y-axis direction;

and 2.12, taking off the unmanned aerial vehicle from the upper surface of the lifting type capturing and flying platform 7 in the horizontal state.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.

Claims

1. Automatic intelligent warehouse entry and exit system of portable many unmanned aerial vehicle, its characterized in that: the multi-machine-position three-dimensional hangar comprises a multi-machine-position three-dimensional hangar (6), wherein the multi-machine-position three-dimensional hangar (6) comprises a lifting well frame (66) and a three-dimensional hangar frame (67), a lifting type capturing and flying platform (7) is arranged in the lifting well frame (66), an ex-warehouse and in-warehouse manipulator system (8) is fixedly installed on the upper surface of the lifting type capturing and flying platform (7), and two sides of the lifting type capturing and flying platform (7) are respectively in transmission connection with a lifting system;

a plurality of layers of unmanned plane parking plates (62) are fixedly installed in the three-dimensional hangar frame (67) from top to bottom in sequence, and an unmanned plane fixing device is arranged on the upper surface of each unmanned plane parking plate (62);

the lifting type capturing and flying platform (7) is used for parking an unmanned aerial vehicle which enters or leaves a warehouse; the unmanned aerial vehicle fixing device is used for fixing the unmanned aerial vehicle parked on the upper surface of the unmanned aerial vehicle parking plate (62); the lifting system is used for driving the lifting type capturing and flying platform (7) to reciprocate in the vertical direction, and the lifting system is also used for driving the lifting type capturing and flying platform (7) to incline to the horizontal state when the lifting well frame (66) inclines; and the warehouse entry and exit manipulator system (8) is used for adjusting the posture of the warehouse entry unmanned aerial vehicle and sending the unmanned aerial vehicle with the adjusted posture to the upper surface of the unmanned aerial vehicle parking plate (62) by the lifting type capturing and flying platform (7), and the warehouse entry and exit manipulator system (8) is also used for sending the unmanned aerial vehicle on the upper surface of the unmanned aerial vehicle parking plate (62) to the lifting type capturing and flying platform (7).

2. The mobile multi-drone automated intelligent warehousing system of claim 1, wherein: the lift type capturing and flying platform (7) is of a horizontal plate-shaped structure, the warehouse-in and warehouse-out manipulator system (8) comprises a telescopic device and an attitude adjusting system (9), the attitude adjusting system (9) comprises a centering system and an inclination angle adjusting system, the centering system is used for arranging an unmanned aerial vehicle which is positioned on the surface of the lift type capturing and flying platform (7) in a preset position on the surface of the lift type capturing and flying platform (7), the inclination angle adjusting system is used for adjusting the lifting type capturing direction of inclination and the inclination angle of the flying platform (7), and the inclination angle adjusting system is in transmission connection with the lifting system.

3. The mobile multi-drone automated intelligent warehousing system of claim 2, wherein: the telescopic device comprises a left longitudinal translation support (81) and a right longitudinal translation support (82) which are arranged on two sides of the upper surface of a lifting type capturing and flying platform (7), wherein a front translation lead screw (815), a front translation linear guide rail (814), a rear translation lead screw nut seat (813) and a front translation lead screw nut seat (813) are arranged in the left longitudinal translation support (81) and the right longitudinal translation support (82), the front translation lead screw nut seat (813) and the rear translation lead screw (815) are in threaded connection, two ends of a mechanical arm transverse translation support (80) are respectively fixedly connected with two groups of front translation lead screw nut seats (813) and two groups of rear translation lead screw nut seats (813), two ends of the mechanical arm transverse translation support (80) are respectively in sliding connection with the two groups of front translation linear guide rails (814), a centering synchronous belt wheel (816) is fixedly arranged at one end of the front translation lead screw (815) and one end of the rear translation lead screw (80), and middle synchronous belt wheels (816 The centering synchronous belt (817) is also in transmission connection with the front and back translation motor (805).

4. The mobile multi-drone automated intelligent warehousing system of claim 3, wherein: the centering system comprises a multi-degree-of-freedom grabbing left mechanical arm (83) and a multi-degree-of-freedom grabbing right mechanical arm (84), the tail end of the multi-degree-of-freedom grabbing left mechanical arm (83) is fixedly connected with an upper rack mounting plate (809) through a connecting plate (830), an upper rack (810) is fixedly mounted on the lower surface of the upper rack mounting plate (809), and two ends of the upper rack mounting plate (809) are slidably connected with a centering guide rail (802) through a multi-degree-of-freedom grabbing left mechanical arm sliding block (808); the tail end of the multi-degree-of-freedom grabbing right mechanical arm (84) is fixedly connected with a lower rack mounting plate (811) through a connecting plate (830), a lower rack (812) is fixedly mounted on the upper surface of the lower rack mounting plate (811), and two ends of the lower rack mounting plate (811) are slidably connected with a centering guide rail (802) through a multi-degree-of-freedom grabbing right mechanical arm sliding block (807); the centering guide rail (802) is fixedly connected with the mechanical arm transverse translation bracket (80); the centering mechanism is characterized in that the upper rack (810) and the lower rack (812) are parallel to each other, the upper rack (810) and the lower rack (812) are in meshing transmission with the centering gear (803), the upper rack (810) and the lower rack (812) are respectively arranged on the upper side and the lower side of a central shaft of the centering gear (803), and the centering gear (803) is in transmission connection with an output shaft of the centering motor (804).

5. The mobile multi-drone automated intelligent warehousing system of claim 4, wherein: the multi-degree-of-freedom grabbing left mechanical arm (83) and the multi-degree-of-freedom grabbing right mechanical arm (84) are identical in structure and symmetrically arranged, and respectively comprise a grabbing hand synchronous driving wheel (834) and a grabbing hand synchronous driven wheel (8340), the grabbing hand synchronous driving wheel (834) and the grabbing hand synchronous driven wheel (8340) are respectively arranged at two ends of the multi-degree-of-freedom grabbing mechanical arm, the grabbing hand synchronous driving wheel (834) is in transmission connection with an output shaft of a grabbing hand movement motor (833), the grabbing hand synchronous driving wheel (834) and the grabbing hand synchronous driven wheel (8340) are in transmission connection through a grabbing hand synchronous belt (835), the grabbing hand synchronous belt (835) is divided into a grabbing hand synchronous belt upper section and a grabbing hand synchronous belt lower section by the plane where a central shaft of the grabbing hand synchronous driving wheel (834) and the grabbing hand synchronous driven wheel (8340) is located, the grabbing synchronous belt upper section, the lower section of the gripper synchronous belt is fixedly connected with a front gripper (837) through a front gripper synchronous belt fixing block (838).

6. The mobile multi-drone automated intelligent warehousing system of claim 2, wherein: the inclination angle adjusting system comprises a movable supporting seat (93) and a fixed supporting seat (94) which are respectively and fixedly arranged on two sides of the bottom surface of the lifting type catching flying platform (7), a first fixed seat (96) is fixedly arranged on the top end surface of the movable supporting seat (93), the top end of the first fixed seat (96) is rotatably connected with the first connecting block (92) through a first rotating shaft (95), the top surface of the first connecting block (92) is connected with the linear guide rail (90) in a sliding way through a linear guide rail sliding block (91), the linear guide rail (90) is fixedly arranged on the bottom surface of the lifting type catching flying platform (7), a second fixed seat (99) is fixedly arranged on the top end surface of the fixed supporting seat (94), the top end of the second fixed seat (99) is rotatably connected with a second connecting block (97) through a second rotating shaft (98), the second connecting block (97) is fixedly arranged on the bottom surface of the lifting type catching and flying platform (7); the extension direction of the linear guide rail (90) is vertical to the extension direction of the central shaft of the first rotating shaft (95), and the central shaft of the first rotating shaft (95) is parallel to the central shaft of the second rotating shaft (98); the movable supporting seat (93) and the fixed supporting seat (94) are in transmission connection with a lifting system, and the lifting system is used for respectively and independently driving the movable supporting seat (93) and the fixed supporting seat (94) to move in the vertical direction.

7. The mobile multi-drone automated intelligent warehousing system of claim 6, wherein: the lifting system comprises a first lifting device and a second lifting device, each lifting device comprises a lifting lead screw (63), a lifting synchronous belt (64) and a lifting motor (65) which are vertically arranged, the lifting lead screws (63) are fixedly installed on the side wall of a lifting well frame (66), one end of each lifting lead screw (63) is connected with an output shaft of the lifting motor (65) through the lifting synchronous belt (64), the lifting lead screws (63) are in threaded connection with lifting bolt seats, the lifting bolt seats of the lifting lead screws (63) in the first lifting device are fixedly connected with a movable supporting seat (93), and the lifting bolt seats of the lifting lead screws (63) in the second lifting device are fixedly connected with a fixed supporting seat (94).

8. The mobile multi-drone automated intelligent warehousing system of claim 7, wherein: unmanned aerial vehicle board (62) upper surface be provided with fixed stopper (61) and unmanned aerial vehicle locking device (60), fixed stopper (61) be located and keep away from shaft frame (66) one side, fixed stopper (61) be used for providing the stroke terminal point and carry out spacing fixed to unmanned aerial vehicle one side to the stroke that unmanned aerial vehicle stopped board (62) that stops, unmanned aerial vehicle locking device (60) be used for carrying on spacing fixed by fixed stopper (61) spacing fixed unmanned aerial vehicle opposite side.

9. The mobile multi-drone automated intelligent warehousing system of claim 8, wherein: the fixed limiting device (61) comprises a limiting push plate (612) fixedly mounted on the upper surface of the unmanned aerial vehicle stopping plate (62), a rack limiting groove (611) is formed in one side, facing the elevator shaft frame (66), of the limiting push plate (612), and a touch sensor (610) is fixedly mounted at the bottom of the rack limiting groove (611); unmanned aerial vehicle locking device (60) include spring bolt (602), spring bolt (602) set up in the recess on unmanned aerial vehicle shut down board (62) surface, spring bolt (602) pass through axis of rotation (603) and recess lateral wall rotatable coupling, axis of rotation (603) be connected with rotation motor drive.

10. The unmanned aerial vehicle warehouse entry and exit method using the mobile multi-unmanned aerial vehicle automatic intelligent warehouse entry and exit system according to claim 9, wherein: the upper surface of the lifting type capturing and releasing platform (7) is provided with a centering mark, a limit sensor (68) is arranged in the same plane of each layer of unmanned aerial vehicle parking plate (62), an inclination angle sensor is fixedly installed on the unmanned aerial vehicle parking plate (62), the contact surfaces of the multi-degree-of-freedom grabbing left mechanical arm (83), the multi-degree-of-freedom grabbing right mechanical arm (84) and the unmanned aerial vehicle are respectively provided with a first pressure sensor, the contact surfaces of the front gripper (837), the rear gripper (836) and the unmanned aerial vehicle are respectively provided with a second pressure sensor, and the lifting type capturing and releasing platform (7) is fixedly provided with the inclination angle sensor; the unmanned aerial vehicle warehouse entry and exit method comprises an unmanned aerial vehicle warehouse entry method and an unmanned aerial vehicle warehouse exit method, and the unmanned aerial vehicle warehouse entry method specifically comprises the following steps:

step 1.1, initiating an unmanned aerial vehicle warehousing instruction, synchronously lifting a first lifting device and a second lifting device, and driving a lifting type capturing and flying platform (7) to reach a preset height;

step 1.2, acquiring inclination angle data of the lifting type capturing and flying platform (7) by an inclination angle sensor positioned on the lifting type capturing and flying platform (7);

step 1.3, the first lifting device and the second lifting device are lifted independently respectively, the lifting type capturing and flying platform (7) is adjusted to be in a horizontal state, and the inclination angle of the lifting type capturing and flying platform (7) acquired by an inclination angle sensor on the lifting type capturing and flying platform (7) is 0;

step 1.4, the unmanned aerial vehicle to be put in storage lands with the centering mark as a target point, and the unmanned aerial vehicle lands on the upper surface of the lifting type capturing and flying platform (7) and is shut down when power is off;

step 1.5, adjusting the posture of the unmanned aerial vehicle;

step 1.5.1, starting a centering motor (804), driving an upper rack (810) and a lower rack (812) to move relatively by the centering motor (804) through a centering gear (803), further driving a multi-freedom-degree grabbing left mechanical arm (83) and a multi-freedom-degree grabbing right mechanical arm (84) to move relatively, stopping the centering motor (804) when pressure values acquired by first pressure sensors on the multi-freedom-degree grabbing left mechanical arm (83) and the multi-freedom-degree grabbing right mechanical arm (84) exceed preset values, and centering the unmanned aerial vehicle in the X-axis direction of the upper surface of a lifting type capturing and flying platform (7);

step 1.5.2, starting two groups of gripper motion motors (833), driving a front gripper (837) and a rear gripper (836) to move relatively by the gripper motion motors (833) through a gripper synchronous belt (835), stopping the two groups of gripper motion motors (833) when pressure values are acquired by second pressure sensors on the front gripper (837) and the rear gripper (836), and centering the unmanned aerial vehicle in the Y-axis direction of the upper surface of the lifting type capturing and releasing platform (7);

step 1.6, the first lifting device and the second lifting device are respectively lifted independently, and the inclination angle of the lifting type capturing and flying-off platform (7) is controlled and adjusted to be the same as the data of the inclination angle measured by an inclination angle sensor on an unmanned aerial vehicle stopping board (62);

step 1.7, the first lifting device and the second lifting device synchronously lift to drive the lifting type capturing and flying platform (7) to align with the vacancy unmanned aerial vehicle stopping plate (62), and the feedback of an alignment signal is realized through a limit sensor (68) in the same plane of the vacancy unmanned aerial vehicle stopping plate (62);

step 1.8, starting a front-back translation motor (805), driving a multi-freedom-degree grabbing left mechanical arm (83) and a multi-freedom-degree grabbing right mechanical arm (84) to synchronously extend out, and driving an unmanned aerial vehicle to move into a vacancy unmanned aerial vehicle stopping plate (62);

step 1.9, moving one side edge of the unmanned aerial vehicle to and embedding into a rack limiting groove (611), and stopping a front and back translation motor (805) when touching a touch sensor (610) at the bottom of the rack limiting groove (611);

step 1.10, a rotating motor drives a lock tongue (602) to turn upwards through a rotating shaft (603), the lock tongue (602) presses the edge of the other side of the unmanned aerial vehicle, and the rotating motor stops;

step 1.11, resetting; the two groups of gripper motion motors (833) are started to rotate reversely, and the centering motor (804) is started to rotate reversely, so that the two groups of front grippers (837) and rear grippers (836) reset, and the multi-degree-of-freedom gripping left mechanical arm (83) and the multi-degree-of-freedom gripping right mechanical arm (84) reset in the X-axis direction; the front and back translation motor (805) is started up and reversely rotates to drive the multi-degree-of-freedom grabbing left mechanical arm (83) and the multi-degree-of-freedom grabbing right mechanical arm (84) to reset in the Y-axis direction;

and 1.12, moving the lifting type capturing and flying platform (7) to a starting point position under the synchronous control of the first lifting device and the second lifting device.

11. The unmanned aerial vehicle warehousing method of claim 10, wherein: the method for the unmanned aerial vehicle to leave the warehouse comprises the following specific steps:

step 2.1, initiating an unmanned aerial vehicle warehouse-out instruction, enabling a first lifting device and a second lifting device to lift independently, controlling and adjusting the inclination angle of a lifting type capturing and flying platform (7) to be the same as the data of the inclination angle measured by an inclination angle sensor on an unmanned aerial vehicle parking plate (62), and enabling the lifting type capturing and flying platform (7) to be parallel to the unmanned aerial vehicle parking plate (62);

2.2, the first lifting device and the second lifting device synchronously lift to drive the lifting type capturing and flying platform (7) to be aligned with the target unmanned aerial vehicle parking plate (62), and the feedback of an alignment signal is realized through a limit sensor (68) in the same plane of the target unmanned aerial vehicle parking plate (62);

step 2.3, starting a front and back translation motor (805), driving a multi-degree-of-freedom grabbing left mechanical arm (83) and a multi-degree-of-freedom grabbing right mechanical arm (84) to synchronously extend to the two sides of the target unmanned aerial vehicle, and stopping the front and back translation motor (805);

step 2.4, starting a centering motor (804), driving an upper rack (810) and a lower rack (812) to move relatively by the centering motor (804) through a centering gear (803), further driving a multi-degree-of-freedom grabbing left mechanical arm (83) and a multi-degree-of-freedom grabbing right mechanical arm (84) to move relatively, stopping the centering motor (804) when pressure values acquired by first pressure sensors on the multi-degree-of-freedom grabbing left mechanical arm (83) and the multi-degree-of-freedom grabbing right mechanical arm (84) both exceed preset values, and fixing the unmanned aerial vehicle in the X-axis direction by the multi-degree-of-freedom grabbing left mechanical arm (83) and the multi-degree-of-freedom grabbing;

step 2.5, starting the two groups of gripper motion motors (833), driving a front gripper (837) and a rear gripper (836) to move relatively by the gripper motion motors (833) through a gripper synchronous belt (835), and stopping the two groups of gripper motion motors (833) when pressure values are acquired by second pressure sensors on the front gripper (837) and the rear gripper (836), wherein the unmanned aerial vehicle is fixed in the Y-axis direction;

step 2.6, the rotating motor drives the lock tongue (602) to turn downwards through the rotating shaft (603), the lock tongue (602) is separated from the edge of the other side of the unmanned aerial vehicle, and the rotating motor stops;

step 2.7, starting up and reversely rotating the front and rear translation motors (805) to drive the unmanned aerial vehicle to separate from the unmanned aerial vehicle stop board (62), and stopping the front and rear translation motors (805) when the unmanned aerial vehicle moves to the centering mark point;

2.8, synchronously lifting the first lifting device and the second lifting device to drive the lifting type capturing and flying platform (7) to reach a preset height;

step 2.9, acquiring inclination angle data of the lifting type capturing and flying platform (7) by an inclination angle sensor positioned on the lifting type capturing and flying platform (7);

step 2.10, the first lifting device and the second lifting device are lifted independently respectively, the lifting type capturing and flying platform (7) is adjusted to be in a horizontal state, and the inclination angle of the lifting type capturing and flying platform (7) acquired by an inclination angle sensor on the lifting type capturing and flying platform (7) is 0;

2.11, starting the two groups of gripper motion motors (833) to rotate reversely, starting the centering motor (804) to rotate reversely, resetting the two groups of front grippers (837) and rear grippers (836) and resetting the multi-degree-of-freedom gripping left mechanical arm (83) and the multi-degree-of-freedom gripping right mechanical arm (84) in the X-axis direction; the front and back translation motor (805) is started up and reversely rotates to drive the multi-degree-of-freedom grabbing left mechanical arm (83) and the multi-degree-of-freedom grabbing right mechanical arm (84) to reset in the Y-axis direction;

and 2.12, taking off the unmanned aerial vehicle on the upper surface of the lifting type capturing and flying platform (7) in the horizontal state.