CN114408200A

CN114408200A - Unmanned aerial vehicle supply system

Info

Publication number: CN114408200A
Application number: CN202210109824.7A
Authority: CN
Inventors: 谭舸; 王晴; 刘彦辉
Original assignee: Guangdong Haoyun Technology Co Ltd
Current assignee: Guangdong Haoyun Technology Co Ltd
Priority date: 2022-01-28
Filing date: 2022-01-28
Publication date: 2022-04-29

Abstract

The invention relates to the technical field of agricultural machinery, in particular to an unmanned aerial vehicle supply system, which comprises a mobile supply platform; the unmanned aerial vehicle positioning and correcting mechanism is arranged on the mobile supply platform and used for positioning the unmanned aerial vehicle; the pesticide filling mechanism is arranged on the mobile supply platform, is positioned on one side of the unmanned aerial vehicle positioning and correcting mechanism, and is used for filling pesticide to the unmanned aerial vehicle; the unmanned aerial vehicle battery charging module is arranged on the mobile supply platform and used for charging a battery to be replaced; and the manipulator assembly is arranged on the movable supply platform and used for replacing the battery which is charged in the unmanned aerial vehicle battery charging module into the unmanned aerial vehicle. The unmanned aerial vehicle supply system can realize unmanned automatic supply of pesticide and batteries, and the movable supply mode can adapt to more complicated and wider operation environment, and the supply efficiency is higher and more flexible.

Description

Unmanned aerial vehicle supply system

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to an unmanned aerial vehicle supply system.

Background

The traditional agricultural plant protection unmanned aerial vehicle is mainly supplemented by manpower, the dosage of the manual supplement is difficult to control accurately, the situation that the plant protection unmanned aerial vehicle flies in the air due to insufficient dosage or has residual pesticide to land due to excessive dosage is easily caused, and the operation efficiency of the plant protection unmanned aerial vehicle is greatly reduced; secondly, the frequency of pesticide supply and battery replacement of the plant protection unmanned aerial vehicle is very high (the plant protection unmanned aerial vehicle on the market generally needs to be supplied once every 10 minutes in the continuous operation process), the labor intensity of manual supply operation is high, the pesticide volatility is strong, and the plant protection unmanned aerial vehicle in the environment is extremely harmful to human bodies for a long time; moreover, a large amount of plant protection unmanned aerial vehicles need to be used in large-scale plant protection operation, corresponding plant protection unmanned aerial vehicle backup batteries and backup pesticide amounts are also very difficult to transport greatly, and each plant protection unmanned aerial vehicle at least needs to arrange one person to supply the plant protection unmanned aerial vehicle, and the labor cost of the supply is extremely high.

Disclosure of Invention

The invention aims to provide an unmanned aerial vehicle supply system, which can realize unmanned automatic supply of pesticides and batteries, and the movable supply mode can adapt to more complicated and wider operation environment, and the supply efficiency is higher and more flexible.

Based on this, the invention provides an unmanned aerial vehicle replenishment system comprising:

moving the replenishment platform;

the unmanned aerial vehicle positioning and correcting mechanism is arranged on the mobile supply platform and used for positioning the unmanned aerial vehicle;

the pesticide filling mechanism is arranged on the movable supply platform in a lifting manner, is positioned on one side of the unmanned aerial vehicle positioning and correcting mechanism, and is used for filling pesticide into the unmanned aerial vehicle on the unmanned aerial vehicle positioning and correcting mechanism;

the unmanned aerial vehicle battery charging module is arranged on the mobile replenishment platform and used for charging a battery to be replaced, and the unmanned aerial vehicle battery charging module comprises a rechargeable battery cabin capable of being filled with water so that the battery can be soaked in water for charging;

and the manipulator assembly is arranged on the movable supply platform and used for replacing the battery which is charged in the unmanned aerial vehicle battery charging module into the unmanned aerial vehicle.

The unmanned aerial vehicle replenishing system further comprises an electric tractor, wherein the electric tractor is connected with the movable replenishing platform and is used for driving the movable replenishing platform to advance.

As above unmanned aerial vehicle replenishment system, electric tractor has and is used for the drive power supply that electric tractor marchd, unmanned aerial vehicle battery charging module with drive power supply electric connection, so that drive power supply does unmanned aerial vehicle battery charging module provides the electric energy.

The unmanned aerial vehicle replenishing system comprises an unmanned aerial vehicle positioning correction mechanism, a correction mechanism and a correction driving unit, wherein the unmanned aerial vehicle positioning correction mechanism comprises an apron, a first correction plate, a second correction plate and a correction driving unit;

the first correction plate and/or the second correction plate are/is slidably arranged on the parking apron, so that the first correction plate and the second correction plate can move relatively close to or away from each other;

the first correcting plate is provided with a first correcting groove, and the second correcting plate is provided with a second correcting groove opposite to the first correcting groove;

the correction driving unit is connected with the first correction plate and/or the second correction plate so as to drive the first correction plate and the second correction plate to move relatively.

As above unmanned aerial vehicle replenishing system, first correction groove is equipped with two, second correction groove also be equipped with two and with first correction groove just sets up.

As above unmanned aerial vehicle replenishment system, pesticide filling mechanism includes: the pesticide filling device comprises a base, a filling support, a pesticide filling head, a lifting device, a transverse pushing unit, a pesticide supply device and a pesticide conveying pipeline;

the pesticide filling head is arranged on the filling support in a transversely movable manner, the transverse pushing unit is connected with the pesticide filling head to drive the pesticide filling head to transversely move, the pesticide supply device is connected with the pesticide filling head through the pesticide conveying pipeline to supply pesticide, and the lifting device is arranged on the base and connected with the filling support and used for driving the pesticide filling head on the filling support to ascend or descend;

the lifting device comprises a scissor-type support and a lifting driving unit connected with the scissor-type support, the lower end of the scissor-type support is connected with the base, the upper end of the scissor-type support is connected with the filling support, and the lifting driving unit is used for driving the scissor-type support to extend upwards or compress downwards.

As above unmanned aerial vehicle replenishing system, cut fork support including being the articulated first connecting rod of cutting the fork and second connecting rod, the lower extreme slidable of first connecting rod just rotationally connects on the base, the upper end of first connecting rod articulates on filling the support, the lower extreme of second connecting rod articulates on the base, the upper end slidable of second connecting rod just rotationally connects on filling the support.

The unmanned aerial vehicle replenishing system as described above, the pesticide supply device includes: the medicine cabin frame, the first main medicine cabin, the second main medicine cabin, the auxiliary medicine cabin, the first medicine cabin supply pipeline, the second medicine cabin supply pipeline, the first valve and the second valve;

first main medicine cabin, the main medicine cabin of second and vice medicine cabin locate on the medicine cabin frame, vice medicine cabin with first main medicine cabin passes through first medicine cabin supply line intercommunication, vice medicine cabin with the main medicine cabin of second passes through second medicine cabin supply line intercommunication, first valve is located in order to control on the first medicine cabin supply line the break-make of first medicine cabin supply line, the second valve is located in order to control on the second medicine cabin supply line the break-make of second medicine cabin supply line.

According to the unmanned aerial vehicle replenishing system, the unmanned aerial vehicle battery charging module further comprises a water tank, a water circulation pipeline and a water cooling device;

the rechargeable battery cabin, the water tank and the water cooling device are communicated through the water circulation pipeline, so that the water cooling device cools water in the water tank and then transmits the water to the rechargeable battery cabin, and the water in the rechargeable battery cabin is transmitted to the water tank for cooling; and a battery placing opening for placing a battery is formed above the rechargeable battery cabin.

As above unmanned aerial vehicle replenishment system, unmanned aerial vehicle battery module of charging still includes the transfer water cabin, the transfer water cabin with the rechargeable battery cabin is linked together, just transfer water cabin bottom be equipped with the outlet of water tank intercommunication, water in the rechargeable battery cabin passes through the outlet flow direction the water tank.

According to the unmanned aerial vehicle replenishing system, the bottom of the transfer water cabin is vertically provided with the overflow pipe, the lower end of the overflow pipe is communicated with the water tank, the upper end of the overflow pipe is provided with the overflow port, and the height of the overflow port is lower than that of the rechargeable battery cabin, so that water in the rechargeable battery cabin flows back to the water tank from the overflow port.

As above unmanned aerial vehicle replenishing system, the manipulator subassembly includes manipulator body and battery clamping jaw, the battery clamping jaw is located on the manipulator body.

According to the unmanned aerial vehicle replenishing system, the battery clamping jaw comprises a clamping jaw base, and a grabbing device and a battery compartment unlocking device which are arranged on the clamping jaw base;

the battery compartment unlocking device is used for pressing a compartment locking key on the battery to unlock the battery from the battery compartment;

the grabbing device is used for grabbing a battery and comprises a first inserting tongue, a second inserting tongue and a tongue inserting driving assembly, the first inserting tongue and the second inserting tongue are respectively arranged to extend in the opposite directions, and the tongue inserting driving assembly is connected with the first inserting tongue and the second inserting tongue so as to drive the first inserting tongue and the second inserting tongue to be relatively far away from or close to each other.

The unmanned aerial vehicle replenishing system further comprises a visual identification device and a laser ranging device, wherein the visual identification device and the laser ranging device are arranged on the clamping jaw base;

the visual recognition device is used for acquiring position information of the unmanned aerial vehicle battery cabin and the rechargeable battery cabin, and the laser ranging device is used for acquiring distance information from the gripping device to the unmanned aerial vehicle battery cabin or the rechargeable battery cabin in real time; the grasping device can move according to the position information and the distance information.

As above unmanned aerial vehicle replenishing system, battery compartment unlocking device includes roof pressure piece and unblock drive unit, the roof pressure piece stretches out towards clamping jaw base below, unblock drive unit with the roof pressure piece is connected for the drive the roof pressure piece removes towards the direction of the battery that grabbing device snatched.

The embodiment of the invention has the following beneficial effects:

this unmanned aerial vehicle replenishing system can realize the unmanned automatic replenishment of pesticide and battery, and its mobilizable replenishment mode can adapt to more complicated wider operating environment, and the replenishment efficiency is higher and more nimble. And can follow unmanned aerial vehicle motion to nearer position and concentrate the supply again according to unmanned aerial vehicle's operation orbit, reduce the empty time of flying.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle replenishment system provided by an embodiment of the present invention.

Fig. 2 is a schematic structural view of the electric tractor of fig. 1 hidden behind the electric tractor.

Fig. 3 is a schematic structural diagram of the unmanned aerial vehicle, the mobile replenishment platform, the unmanned aerial vehicle positioning and correcting mechanism, the pesticide filling mechanism and the unmanned aerial vehicle battery charging module in fig. 1, wherein the pesticide filling mechanism is in a descending state, and the unmanned aerial vehicle battery charging module is in a closed state by the hatch cover.

Fig. 4 is an enlarged view of a portion a of fig. 3.

Fig. 5 is a top view of fig. 3, with the drone not shown.

Fig. 6 is a schematic view showing an assembled structure of the first correction plate and the apron of fig. 3.

Fig. 7 is a schematic view of the drone structure of fig. 1.

FIG. 8 is a schematic diagram of the landing gear positioning aid of FIG. 7.

Fig. 9 is an exploded view of fig. 8.

FIG. 10 is another schematic illustration of a landing gear positioning aid according to an embodiment of the invention.

Fig. 11 is a front view of fig. 3 with the pesticide filling mechanism in a raised state and just feeding the drone.

Fig. 12 is a schematic structural view of the pesticide filling mechanism in fig. 11, wherein the pesticide delivery pipe is not shown.

Fig. 13 is a schematic structural diagram of the pesticide supply device of fig. 1, wherein two groups of tarmac, unmanned aerial vehicle positioning correction mechanism, pesticide filling mechanism and unmanned aerial vehicle are also shown.

Fig. 14 is a partial structural schematic view of fig. 13.

Fig. 15 is a schematic structural diagram of the unmanned aerial vehicle battery automatic replacement module of fig. 1.

Fig. 16 is an enlarged view of a portion B of fig. 15.

Fig. 17 is the drone battery charging system of fig. 1.

Fig. 18 is a top view of fig. 17.

Figure 19 is a schematic diagram of the construction of the canopy drive unit of figure 1.

Fig. 20 is a schematic diagram of the automatic battery replacement module of the drone of fig. 1.

Fig. 21 is a schematic view of the robot assembly of fig. 1 when it is grasping a battery.

Fig. 22 is a schematic view of the battery jaws of fig. 21 grasping a battery, with the protective cover not shown.

Fig. 23 is a front view of fig. 22.

Fig. 24 is a left side view of fig. 22.

Fig. 25 is an enlarged view of a portion C of fig. 24.

Fig. 26 is a schematic diagram of the structure of the battery jaw of fig. 22.

Fig. 27 is a schematic structural view of the battery holder of fig. 22.

Fig. 28 is a schematic diagram of a cyclical operating scenario of the drone replenishment system of fig. 1.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 28, an embodiment of the present invention provides an unmanned aerial vehicle replenishment system, including: remove supply platform 100, electric tractor 200, unmanned aerial vehicle location correction mechanism 1, pesticide filling mechanism 2, unmanned aerial vehicle battery charging module 3, manipulator subassembly 4. Wherein, the electric tractor 200 is connected with the mobile replenishment platform 100 and is used for driving the mobile replenishment platform 100 to advance. This unmanned aerial vehicle replenishing system can realize the unmanned automatic replenishment of pesticide and battery, and its mobilizable replenishment mode can adapt to more complicated wider operating environment, and the replenishment efficiency is higher and more nimble. And can follow unmanned aerial vehicle motion to nearer position and concentrate the supply again according to unmanned aerial vehicle's operation orbit, reduce the empty time of flying.

The following explains the parts of the unmanned aerial vehicle supply system:

1. unmanned aerial vehicle fixes a position correction mechanism

Referring particularly to fig. 3 to 6, the unmanned aerial vehicle positioning correction mechanism 1 is disposed on the mobile replenishment platform 100, and is used for positioning the unmanned aerial vehicle 300. The unmanned aerial vehicle positioning correction mechanism includes an apron 10, a first correction plate 11, a second correction plate 12, and a correction drive unit (not shown).

Wherein, the apron 10 is arranged on the mobile supply platform 100; the first correction plate 11 and/or the second correction plate 12 are slidably provided on the apron 10 so that the first correction plate 11 and the second correction plate 12 can be relatively close to or far from each other; the first correcting plate 11 is provided with a first correcting groove 110, and the second correcting plate 12 is provided with a second correcting groove 120 opposite to the first correcting groove 110; the correction drive unit is connected with the first correction plate 11 and/or the second correction plate 12 to drive the first correction plate 11 and the second correction plate 12 to move relatively.

This unmanned aerial vehicle fixes a position correction mechanism 1 and corrects board 12 through setting up first correction board 11 and the second of relative motion and fix a position unmanned aerial vehicle 300, first correction board 11 and the 12 relative motion's of second in-process, can guide unmanned aerial vehicle undercarriage location auxiliary device before, the back is corrected the stabilizer blade and is slided into corresponding first, two correct in the groove in order to realize unmanned aerial vehicle's location and correct, can effectively correct the positioning deviation that the GPS location exists, make unmanned aerial vehicle's landing position more accurate, be favorable to realizing unmanned supply. Moreover, the unmanned aerial vehicle 300 correcting device is simple in structure, few in correcting action, capable of rapidly positioning and correcting the unmanned aerial vehicle 300, beneficial to reducing the time for supplying the unmanned aerial vehicle 300, and capable of improving the operation efficiency and the operation frequency of the unmanned aerial vehicle 300.

In one embodiment, the number of the first correction grooves 110 is two, and the number of the second correction grooves 120 is two and is opposite to the first correction grooves 110. Of course, there may be one first correction slot 110 and one second correction slot 120, or one and two

second correction slots

110 and 120 to form a triangular limit structure. More specifically, the first correction groove 110 and the second correction groove 120 are both V-shaped grooves. Simple structure and easy processing. Preferably, the groove bottom of the V-shaped groove is arc-shaped to match with the cylindrical support legs (i.e. the front straightening support leg 513 and the rear straightening support leg 523 mentioned below) of the landing gear positioning auxiliary device of the unmanned aerial vehicle, and the arc-shaped groove bottom is in surface contact with the periphery of the cylindrical support legs, so that the limiting is more stable and reliable.

Be equipped with spacing hole 103 of undercut on air park 10 for supply unmanned aerial vehicle's undercarriage location auxiliary device to fall into in order to inject unmanned aerial vehicle's position after arriving preset position, further inject unmanned aerial vehicle in the position of horizontal direction, fix a position more accurately and reliably.

Accordingly, the first correcting plate 11 includes a base plate 111 and a correcting adjusting plate 112, the base plate 111 is provided with a plurality of optional connection parts 1111, one end of the correcting adjusting plate 112 is detachably connected to the optional connection parts 1111, so that the correcting adjusting plate 112 and the base plate 111 form a V-shaped first correcting groove 110, and the correcting adjusting plate 112 is connected with the optional connection parts 1111 at different positions to adjust the position of the first correcting groove 110; the second correcting plate 12 and the first correcting plate 11 are arranged in a mirror symmetry mode.

Further, the optional connection portion 1111 is a round hole, the correction adjusting plate 112 is provided with a correction long hole 1121, and the correction adjusting plate 112 and the optional connection portion 1111 are connected by passing through the correction long hole 1121 and the round hole through a bolt and locking with a nut. The compatibility of the assembly size is enhanced by the matching of the round hole and the long hole, and the processing difficulty is reduced.

The correction driving unit comprises a first correction driving unit and a second correction driving unit, a first slideway 101 and a second slideway 102 are arranged on the apron 10, the first correction driving unit is arranged below the apron 10, the output end of the first correction driving unit penetrates through the first slideway 101 to be connected with the first correction plate 11, the second correction driving unit is arranged below the apron 10, and the output end of the second correction driving unit penetrates through the second slideway 102 to be connected with the second correction plate 12. The lower end of the first correcting plate 11 may be connected to the first correcting driving unit through a first slide 101, and the lower end of the second correcting plate 12 may be connected to the second correcting driving unit through a second slide 102.

1.1 undercarriage positioning aid

Undercarriage location auxiliary device and this unmanned aerial vehicle location aligning gear 1 looks adaptation can assist unmanned aerial vehicle to reach more accurate reliable location effect. Specifically, the undercarriage positioning assistance device is mounted on the undercarriage below the drone.

The landing gear positioning auxiliary device can adopt the following two structures:

one construction of a landing gear positioning aid is shown in figures 8 and 9, the landing gear positioning aid comprising: a front support assembly 51, a rear support assembly 52, and a wide-pitch linkage assembly 53.

A front support assembly 51, including a front support main body 511, a front body connector 512 disposed at two ends of the front support main body 511, and a front straightening leg 513 disposed at a lower end of the front support main body 511 or the front body connector 512; the rear support assembly 52 comprises a rear support main body 521, rear machine body connecting pieces 522 arranged at two ends of the rear support main body 521, and rear straightening legs 523 arranged at the lower ends of the rear support main body 521 or the rear machine body connecting pieces 522; and the wide-distance connecting assembly 53 has one end connected with the front support assembly 51 and the other end connected with the rear support assembly 52.

This undercarriage location auxiliary device and unmanned aerial vehicle location correction mechanism looks adaptation, even make unmanned aerial vehicle location correction mechanism realize fixing a position the correction to unmanned aerial vehicle through the position of correcting before, the back correction stabilizer blade of falling a frame location auxiliary device, effectively correct the positioning deviation that the GPS location exists for unmanned aerial vehicle's descending position is more accurate.

Further, the front body connector 512 is detachably connected to the front support main body 511, the rear body connector 522 is detachably connected to the rear support main body 521, and the wide-distance connecting assembly 53 is detachably connected to the front support assembly 51 and the rear support assembly 52, respectively.

Specifically, the wide connection assembly 53 includes a connection base 531, a first pressing plate 532, and a first guide post 533, one end of the connection base 531 is provided with a first guide groove 5311, one end of the first guide post 533 is connected with the front support body 511, and the first pressing plate 532 is fitted on the connection base 531 to press the other end of the first guide post 533 in the first guide groove 5311. The distance between the front support assembly 51 and the rear support assembly 52 is adjusted by controlling the depth of the first guide column 533 protruding into the first guide groove 5311. Can compatible different width specification's unmanned aerial vehicle undercarriage.

More preferably, the wide connection assembly 53 further includes a second pressing plate 534 and a second guide post 535, the connection base 531 is provided with a second guide groove 5312 at an end far from the first guide groove 5311, one end of the second guide post 535 is connected with the rear support body 521, and the second pressing plate 534 is fitted on the connection base 531 to press the other end of the second guide post 535 in the second guide groove 5312. The distance between the front support assembly 51 and the rear support assembly 52 is adjusted by controlling the depth to which the second guide post 535 protrudes into the second guide groove 5312. Can further compatible different width specification's unmanned aerial vehicle undercarriage.

The front support body 511 includes a front support base 5111, a third pressing plate 5112, and a third guide column 5113, one end of the front support base 5111 is provided with a third guide groove 511a, one end of the third guide column 5113 is connected to a front body coupling member 512, and the third pressing plate 5112 is fitted on the front support base 5111 to press the other end of the third guide column 5113 into the third guide groove 511 a. The distance between the front support base 5111 and the front body coupler 512 is adjusted by controlling the depth of the third guide post 5113 extending into the third guide groove 511 a. Can compatible unmanned aerial vehicle undercarriage of different length specifications. The rear support body 521 may be configured as the front support body 511.

To make the adjustment range larger and easier to manufacture, the connection structure of the two front body connectors 512 and the front support base 5111 is mirror-symmetrical. The rear support assembly 52 and the front support assembly 51 are mirror images.

In order to make the connection more reliable and stable, the first guiding column 533 has at least two branches and is arranged side by side. Of course, other guiding columns with the same structure can be arranged in the same way.

This undercarriage location auxiliary device and unmanned aerial vehicle location aligning gear 1 can be according to unmanned aerial vehicle 300's type adjustment size and operating position, and is stronger to the compatibility of the unmanned aerial vehicle of different specification models.

Further, the front straightening legs 513 are provided at two ends of the lower end of the front supporting body 511, and the rear straightening legs 523 are provided at two ends of the lower end of the rear supporting body 521. Preferably, the front straightening leg 513 is provided with a first annular limiting groove 5131 having a V-shaped cross section along the peripheral side, and the rear straightening leg 523 is provided with a second annular limiting groove 5231 having a V-shaped cross section along the peripheral side. When the unmanned aerial vehicle 300 is positioned by relative movement of the first correction plate 11 and the second correction plate 12 of the unmanned aerial vehicle positioning correction mechanism 1, the first correction plate 11 is clamped into the first annular limiting groove 5131, and the second correction plate 12 is clamped into the second annular limiting groove 5231, so that the positioning of the unmanned aerial vehicle 300 is more accurate, and the limitation of the upper direction and the lower direction of the unmanned aerial vehicle is further realized.

Preferably, universal balls (not shown) are mounted on the bottom of both the front orthotic leg 513 and the rear orthotic leg 523. In the positioning process of the unmanned aerial vehicle 300, the universal ball rolls on the parking apron 10, so that the unmanned aerial vehicle 300 can be prevented from scratching the surface of the parking apron 10.

The front body connecting member 512 includes an upper clamping body 5121, a lower clamping body 5122 and an adjusting shim 5123, a clamping hole 5120 for clamping on the unmanned aerial vehicle 300 is formed between the upper clamping body 5121 and the lower clamping body 5122, the adjusting shim 5123 is disposed between the upper clamping body 5121 and the lower clamping body 5122 and is located on one side of the clamping hole 5120 to adjust the aperture of the clamping hole 5120, and the upper clamping body 5121 and the lower clamping body 5122 are connected by a fastener.

Note that, in order to achieve standardization, the rear body connector 522 has the same structure as the front body connector 512.

Another configuration of the landing gear positioning aid is shown in fig. 10, which differs from the configuration of the first landing gear positioning aid by: the wide-range connection assembly 53 comprises at least one wide-range connecting rod 5301, a plurality of front assembly holes 5101 are formed in the front support assembly 51, rear assembly holes 5201 are formed in the rear support assembly 52, one end of the wide-range connecting rod 5301 is connected with the front assembly holes 5101, and the other end of the wide-range connecting rod 5301 is connected with the rear assembly holes 5201. Although the undercarriage positioning auxiliary device with the structure can not adjust the width distance, the undercarriage positioning auxiliary device can be specially used, the manufacture is simpler and more convenient, and the cost is lower.

The positioning process of the unmanned aerial vehicle positioning correction mechanism 1 is explained as follows:

the unmanned aerial vehicle replenishing system stops in the flight range of the unmanned aerial vehicle 300 along the operation route of the unmanned aerial vehicle 300 under the traction of the electric tractor 200, after the single operation of the unmanned aerial vehicle 300 is completed, the unmanned aerial vehicle descends in a preset position range on the parking apron 10 under the action of GPS positioning navigation, the preset position range is between the first correction plate 11 and the second correction plate 12, and in the process that the first correction plate 11 and the second correction plate 12 are relatively close to each other, the front correction support leg 513 and the rear correction support leg 523 of the landing gear positioning auxiliary device on the unmanned aerial vehicle 300 are guided to slide into the corresponding V-shaped correction grooves to realize positioning correction, namely the front correction support leg 513 slides into the groove bottom of the first correction groove 110, and the rear correction support leg 523 slides into the groove bottom of the second correction groove 120. For example, when the first correction plate 11 approaches the second correction plate 12, because the first correction groove 110 of the first correction plate 11 is V-shaped, the first correction plate 11 can guide the front correction support leg 513 to slide along the edge of the first correction groove 110 to the groove bottom of the first correction groove 110 and move to the preset position along with the first correction plate 11, the front correction support leg 513 falls into the limiting hole 103 to further limit, and the front correction support leg 513 drives the unmanned aerial vehicle to realize positioning correction of the landing position in the moving process.

2. Pesticide filling mechanism

Especially, referring to fig. 3, 11, and 12, the pesticide filling mechanism 2 is liftably disposed on the mobile replenishment platform (100) and located on one side of the unmanned aerial vehicle positioning correction mechanism 1, and is used for filling the unmanned aerial vehicle 300 with pesticide.

The pesticide filling mechanism 2 includes: the device comprises a base 22, a filling support 21, a pesticide filling head 23, a lifting device 24, a transverse pushing unit 25, a pesticide supply device and a pesticide conveying pipeline 27.

The pesticide filling head 23 is arranged on the filling bracket 21 in a transversely movable manner, the transverse pushing unit 25 is connected with the pesticide filling head 23 to drive the pesticide filling head 23 to move transversely, and the pesticide supply device is connected with the pesticide filling head 23 through a pesticide conveying pipeline 27 to supply pesticide. The lifting device 24 is arranged on the base 22 and connected with the filling support 21, and is used for driving the pesticide filling head 23 on the filling support 21 to ascend or descend.

This pesticide filling mechanism can realize the lift of pesticide filling head through its elevating gear, when not having unmanned aerial vehicle to supply, pesticide filling mechanism can descend to and remove supply platform parallel and level to cooperation unmanned aerial vehicle's accuracy descends, has avoided bellied pesticide filling mechanism to cause the influence to unmanned aerial vehicle's lift.

The lifting device 24 comprises a scissor bracket 241 and a lifting driving unit 242 connected with the scissor bracket 241, the lower end of the scissor bracket 241 is connected with the base 22, the upper end of the scissor bracket 241 is connected with the filling bracket 21, and the lifting driving unit 242 is used for driving the scissor bracket 241 to extend upwards or compress downwards so as to drive the pesticide filling head 23 to ascend or descend. The pesticide conveying pipeline 27 is a corrosion-resistant chemical exhaust and suction pipe, mounting flanges are mounted at two ends of the pesticide conveying pipeline, and the mounting flanges are locked with each other to ensure that liquid is not leaked. This pesticide filling mechanism 2 can make pesticide filling head 23 go up and down more fast through the elevating gear 24 of cutting the fork, has further shortened unmanned aerial vehicle's replenishment cycle.

Specifically, the scissor-type bracket 241 includes a first connecting rod 2411 and a second connecting rod 2412 hinged in a scissor-type manner, an upper end of the first connecting rod 2411 is hinged on the filling bracket 21, a lower end of the first connecting rod 2411 is slidably and rotatably connected to the base 22, a lower end of the second connecting rod 2412 is hinged on the base 22, and an upper end of the second connecting rod 2412 is slidably and rotatably connected to the filling bracket 21.

Correspondingly, the filling support 21 is provided with a third slide way 211, and the upper end of the second connecting rod 2412 is rotatably arranged in the third slide way 211 through a bearing and can slide along the third slide way 211; the base 22 is provided with a fourth sliding channel 212, and the lower end of the first link 2411 is rotatably disposed in the fourth sliding channel 212 through a bearing and can slide along the fourth sliding channel 212.

Preferably, the lifting driving unit 242 is an air cylinder disposed on the base 22 and connected to the lower end of the first link 2411, and the lifting driving unit 242 drives the lower end of the first link 2411 to slide along the fourth slide 212. Only one air cylinder is matched with the scissor-type support 241, the structure is simple, parallel lifting is achieved, and the movement is reliable.

Preferably, the pesticide delivery pipe 27 is a hose with a drag chain 271 sleeved on the outer periphery at a section close to the pesticide filling head 23. The drag chain 271 can protect the pesticide conveying pipeline 27, and can prevent the pesticide conveying pipeline 27 from interfering with other parts due to the movement amplitude of the pesticide conveying pipeline 27 when the pesticide filling head 23 moves.

In this embodiment, the pesticide filling mechanism further includes a pesticide pump 274, and the pesticide pump 274 is disposed on the pesticide conveying pipeline 27 and located between the pesticide supply device and the pesticide filling head 23, and is used for providing power to convey pesticide to the pesticide filling head 23.

Further, the pesticide filling mechanism further comprises a flow sensor 273, wherein the flow sensor 273 is arranged on the pesticide conveying pipeline 27 and located between the pesticide supply device and the pesticide filling head 23, and is used for detecting the pesticide filling amount of the pesticide filling head 23 and conveniently controlling the pesticide filling amount within a proper range. The pesticide filling mechanism further comprises a filter 272, and the filter 272 is arranged on the pesticide conveying pipeline 27 and is used for filtering impurities of the pesticide before entering the pesticide filling head 23.

2.1 pesticide supply device

Referring particularly to fig. 13 to 16, the pesticide supply apparatus includes: a capsule frame 61, a first main capsule 62, a second main capsule 63, an auxiliary capsule 64, a first capsule supply pipe 65, a second capsule supply pipe 66, a first valve 67 and a second valve 68; the first main medicine cabin 62, the second main medicine cabin 63 and the auxiliary medicine cabin 64 are arranged on the medicine cabin frame 61, the auxiliary medicine cabin 64 is communicated with the first main medicine cabin 62 through a first medicine cabin supply pipeline 65, the auxiliary medicine cabin 64 is communicated with the second main medicine cabin 63 through a second medicine cabin supply pipeline 66, the first valve 67 is arranged on the first medicine cabin supply pipeline 65 to control the on-off of the first medicine cabin supply pipeline 65, and the second valve 68 is arranged on the second medicine cabin supply pipeline 66 to control the on-off of the second medicine cabin supply pipeline 66.

This pesticide feeding device provides two at least pesticide supply points, can carry out the pesticide simultaneously for two unmanned aerial vehicle and supply. This pesticide feeding device for unmanned aerial vehicle is through setting up first main medicine cabin 62 of vice medicine cabin 64 cooperation and the main medicine cabin 63 of second, first main medicine cabin 62 and the main pesticide supply of the main charge of second cabin 63 large capacity, a main medicine cabin is responsible for a replenishment point, every main medicine cabin is connected with pesticide filling mechanism 2 through pesticide pipeline 27 respectively, consequently, can carry out the pesticide replenishment simultaneously for two unmanned aerial vehicles, replenishment pesticide when vice medicine cabin 64 is mainly responsible for the overload operation, also can supply the medicine in the medicine cabin of first main medicine cabin 62 and the main medicine cabin 63 medicine of second for less than the medicine when losing balance. Consequently, this pesticide feeding device for unmanned aerial vehicle not only can support high density, unmanned aerial vehicle pesticide replenishment operation of large capacity, supplies the medicine for the capsule of less medicine when first main medicine cabin 62 and second main medicine cabin 63 supply medicine unbalance simultaneously, guarantees that a plurality of supply points supply medicine and stabilizes averagely, provides the basis for the unmanned operation of high density replenishment.

Further, the sub-chamber 64 mainly functions as an auxiliary supply, and the volume of the sub-chamber 64 is smaller than the volume of the first main chamber 62 and the second main chamber 63, respectively, for the sake of compact layout. On the other hand, in order to make the pesticide in the sub-chamber 64 be replenished to the main chamber by the action of gravity, the sub-chamber 64 is provided above the first main chamber 62 and the second main chamber 63.

Correspondingly, in order to enable the pesticide in the auxiliary pesticide cabin 64 to smoothly flow to the first main pesticide cabin 62 and the second main pesticide cabin 63 without external power supply, an auxiliary pesticide cabin outlet which is respectively communicated with the first pesticide cabin supply pipeline 65 and the second pesticide cabin supply pipeline 66 is arranged on the inner bottom surface of the auxiliary pesticide cabin 64, and the inner bottom surface of the auxiliary pesticide cabin 64 inclines downwards towards the auxiliary pesticide cabin outlet.

The auxiliary medicine chamber 64, the first main medicine chamber 62 and the second main medicine chamber 63 are all provided with a ventilation cover 610 for balancing air pressure during medicine feeding and discharging. So as to balance the air pressure in the pesticide adding and releasing process and ensure that the work is smoother.

The auxiliary medicine chamber 64, the first main medicine chamber 62 and the second main medicine chamber 63 are all provided with a liquid level sensor 620 which respectively detects the liquid level in each chamber so as to supplement the pesticide in time.

Preferably, the auxiliary chamber 64, the first main chamber 62 and the second main chamber 63 are provided with a reinforcing frame and a breakwater. So as to strengthen the strength of each medicine cabin, reduce the shaking of the medicine cabins in the transportation process and generate larger inertia force.

Preferably, the first valve 67 and the second valve 68 are pneumatic ball valves controlled by solenoid valves.

In this embodiment, the top of the auxiliary medicine compartment 64 is provided with a medicine feeding opening 641, a medicine compartment cover 36 for closing the medicine feeding opening 641, and a medicine compartment cover driving unit 37 connected to the medicine compartment cover 36 for driving the medicine compartment cover 36 to open and close the medicine feeding opening 641.

The pesticide replenishing process of the pesticide filling mechanism 2 is explained as follows:

unmanned aerial vehicle location correction mechanism 1 restricts behind predetermined position to unmanned aerial vehicle 300, elevating gear 24 rises pesticide filling head 23, violently push away unit 25 and insert pesticide filling head 23 into unmanned aerial vehicle 300's capsule, pesticide pump 274 starts to take out the pesticide from first main capsule 62 or second main capsule 63, the pesticide filters through filter 272 through pesticide pipeline 27, fill into unmanned aerial vehicle 300's capsule after flow sensor 273 measurement, after flow adds the flow sensor 273 setting value, stop the operation of pesticide pump 274, pesticide filling head 23 withdrawal and decline, unmanned aerial vehicle accomplishes the pesticide and mends.

Further, in this embodiment, the pesticide supply device stores pesticide in cooperation with a plurality of pesticide chambers, and the supply and storage process is described as follows:

after the unmanned aerial vehicle replenishing system navigates back to the appropriate position of the fixed maintenance workstation and parks, the auxiliary medicine cabin 64 is opened and is fed with pesticide, after the level sensors 620 of the first main medicine cabin 62 and the second main medicine cabin 63 detect that the set liquid level is reached, the first valve 67 of the first medicine cabin replenishing pipeline 65, the second valve 68 of the second medicine cabin replenishing pipeline 66 is correspondingly closed, the auxiliary medicine cabin 64 is continuously filled, until the auxiliary medicine cabin 64 is filled, the replenishing pipeline is closed by the maintenance workstation, and the pesticide replenishing storage of the pesticide supply device is completed.

3. Unmanned aerial vehicle battery charging module

The unmanned aerial vehicle battery charging module 3 is arranged on the mobile replenishment platform 100 and is used for charging a battery to be replaced, and the unmanned aerial vehicle battery charging module 3 at least comprises a rechargeable battery cabin 31 capable of being filled with water so that the battery 400 can be soaked in water for charging; the electric tractor 200 is provided with a driving power supply for driving the electric tractor 200 to advance, a charging circuit 310 is arranged on the charging battery cabin 31 of the unmanned aerial vehicle battery charging module, and the charging circuit 310 is electrically connected with the transformer 202, the inverter 203 and the driving power supply in sequence so that the driving power supply supplies power for the charging circuit 310. Preferably, the driving power supply adopts a high-capacity high-voltage lithium battery. The power that carries through electric tractor self charges for the unmanned aerial vehicle battery, changes the traditional diesel generator electricity generation that adopts, has solved the outdoor electricity generation cost height that charges of unmanned aerial vehicle, pollutes big problem.

With particular reference to fig. 17-19, the drone battery charging module includes a rechargeable battery compartment 31, a water tank 32, a water circulation line 33, and a water cooling device 34; the rechargeable battery compartment 31, the water tank 32 and the water cooling device 34 are communicated through a water circulation pipeline 33, so that the water cooling device 34 cools the water in the water tank 32 and then transmits the cooled water to the rechargeable battery compartment 31, and the water in the rechargeable battery compartment 31 is transmitted to the water tank 32 for cooling; a battery placing opening 311 is formed above the rechargeable battery compartment 31 for placing the battery 400 so that the battery 400 can be soaked in the water in the rechargeable battery compartment 31 for charging. Of course, in order to prevent water in the rechargeable battery compartment 31 from entering the battery 400, the battery 400 has a waterproof effect at least in a portion immersed in water, wherein one of the waterproof means is to apply a waterproof coating to the outer periphery. On the other hand, in order to ensure that the rechargeable battery compartment 31 itself does not leak, so as to ensure the normal operation of the machine, the periphery of the rechargeable battery compartment 31 can be coated with a waterproof coating.

This unmanned aerial vehicle battery charging module 3 charges through soaking battery 400 in cold water, and the heat that battery 400 produced in the charging process can directly be walked by the water in rechargeable battery cabin 31, has realized the forced water-cooling heat dissipation to the battery, and heat radiating area is wider, and the radiating rate is faster, has promoted charge efficiency, and then improves unmanned aerial vehicle's the efficiency of flying again. The battery test result shows that the battery capacity can be charged to 95% from 30% within 11min, and the charging effect is obviously enhanced compared with the conventional air cooling and water cooling modes.

The unmanned aerial vehicle battery charging module further comprises a transit water cabin 35, the transit water cabin 35 is communicated with the rechargeable battery cabin 31, a water outlet 351 communicated with the water tank 32 is formed in the bottom of the transit water cabin 35, and water in the rechargeable battery cabin 31 flows to the water tank 32 through the water outlet 351. Allowing for more flexible control of the water level in the rechargeable battery compartment 31.

The charging battery compartment 31 is provided with a plurality of compartments, and the transit water compartment 35 and the plurality of charging battery compartments 31 are formed by separating a mother compartment. When the rechargeable battery compartment 31 charges the batteries, at least one rechargeable battery compartment 31 is kept in an idle state, and the battery 400 is used for being loaded into and taken out of the unmanned aerial vehicle battery compartment when the batteries in the unmanned aerial vehicle battery compartment and the rechargeable battery compartment 31 are exchanged.

Further, an overflow pipe 350 is vertically arranged at the bottom of the transfer water tank 35, the lower end of the overflow pipe 350 is communicated with the water tank 32, an overflow port 352 is arranged at the upper end of the overflow pipe 350, and the height of the overflow port 352 is lower than that of the rechargeable battery compartment 31, so that water in the rechargeable battery compartment 31 flows back to the water tank 32 from the overflow port 352. The overflow port 352 can adjust the water level within a certain range, and preferably, the water level can be kept at the highest water level under the safe condition, so as to ensure better heat dissipation efficiency and solve the problem of slow charging speed caused by slow heat dissipation of the rechargeable battery to the maximum extent.

The height of the rechargeable battery compartment 31 is lower than that of the battery charging interface of the battery 400, so that the water level of the rechargeable battery compartment 31 is always lower than that of the battery charging interface 401. Effectively preventing the battery charging interface 401 from short circuit when meeting water.

Furthermore, a valve is arranged on the water circulation pipeline 33 and is positioned below the transit water cabin 35 and used for controlling the on-off of the water circulation pipeline 33.

The water circulation pipeline 33 in this embodiment includes a water supply section 331 located in the rechargeable battery compartment 31, and the water supply section 331 is provided with a water outlet hole communicated with the rechargeable battery compartment 31.

The unmanned aerial vehicle battery charging module further comprises a cover frame 38, a cover 36 and a cover driving unit 37, the cover frame 38 is arranged above the rechargeable battery compartment 31, the cover 36 is arranged on the cover frame 38 in a transversely sliding mode, the cover driving unit 37 is fixed on the cover frame 38, and the output end of the cover driving unit 37 is connected with the cover 36 to drive the cover 36 to slide so as to open or close the rechargeable battery compartment 31. The hatch 36 has the functions of preventing dust and mud from entering, reducing circulating water evaporation and the like.

The working principle of the unmanned aerial vehicle battery charging module 3 is explained as follows:

the unmanned aerial vehicle replenishing system stops at a preset position corresponding to the operation route of the unmanned aerial vehicle 300, the unmanned aerial vehicle 300 returns to the air and lands on the parking apron 10 of the mobile replenishing platform 100 after operation, after the unmanned aerial vehicle 300 is corrected by the unmanned aerial vehicle positioning correction mechanism 1, the manipulator assembly 4 takes down the insufficient battery on the unmanned aerial vehicle 300, and puts the insufficient battery into the empty rechargeable battery cabin 31 from the battery placing opening 311 for charging; then, the manipulator assembly 4 pulls out a full-charge battery from another rechargeable battery compartment 31 and inserts the full-charge battery into the battery compartment of the unmanned aerial vehicle, the rechargeable battery compartments 31 are arranged in parallel, and the full-charge battery needs to be sequentially inserted and pulled out from one side, so that the charging time of each battery is ensured.

The forced water cooling process of the unmanned aerial vehicle battery charging module 3 is as follows:

the circulating water is filled in the stainless steel water tank 32, after various parameters of the water cooling device 34 are adjusted, the water cooling device 34 is started, the water cooling device 34 with the water pump continuously pumps the circulating water, the pumped circulating water is cooled under the action of a refrigerant of the water cooling device 34, and the circulating water is uniformly supplied to each rechargeable battery compartment 31 through the water circulating pipeline 33; in addition, the water cooling device 34 continuously pumps the circulating water from the water tank 32 to cool the circulating water during operation, and the temperature of the circulating water is controlled to be relatively low.

It should be noted that, when the unmanned aerial vehicle replenishing system moves, the valve of the water outlet 351 needs to be opened in advance, and the cooling water of the rechargeable battery compartment 31 is discharged, so that the water level in the rechargeable battery compartment 31 reaches the safe water level which cannot be influenced by the movement, and the water is prevented from spilling out in the moving process to influence the safe operation of the machine. After the movement of the unmanned replenishment system stops, a valve below the transit water cabin 35 is closed, the water outlet 351 stops draining water, the water cooling device 34 replenishes water quickly, the water level in the rechargeable battery cabin 31 rises quickly to the highest water level and is drained from the overflow port 352, and the water level is guaranteed to be level but cannot exceed the safe water level of the battery.

4. Manipulator assembly

Manipulator assembly 4 is located on removing supply platform 100 for in changing the battery that has charged among the unmanned aerial vehicle battery charging module 3 to unmanned aerial vehicle 300.

Referring particularly to fig. 21 to 27, the robot assembly includes a robot body 42 and a battery chuck 41, the battery chuck 41 is provided on the robot body 42, and the robot body 42 moves the battery chuck 41 according to the position information of the visual recognition device 414 and the distance information of the laser ranging device.

The battery clamping jaw is used for replacing a charged battery of the rechargeable battery compartment 31 into the unmanned aerial vehicle battery compartment 301, and comprises a clamping jaw base 411, and a gripping device 412 and a battery compartment unlocking device which are arranged on the clamping jaw base 411; the battery compartment unlocking device is used for pressing a compartment locking key on the battery 400 (referring to a power-lack battery in the battery compartment of the unmanned aerial vehicle and a sufficient battery in the charging battery compartment) so as to unlock the battery 400 from the battery compartment (referring to the corresponding battery compartment of the unmanned aerial vehicle and the charging battery compartment); the grasping device 412 is configured to grasp the battery 400, and the grasping device 412 includes a first tab 4122, a second tab 4123, and a tab driving assembly, the first tab 4122 and the second tab 4123 being respectively configured to extend in opposite directions, the tab driving assembly being coupled to the first tab 4122 and the second tab 4123 to drive the first tab 4122 and the second tab 4123 relatively away from or toward each other.

When the first inserting tongue 4122 and the second inserting tongue 4123 are relatively far away from each other, the first inserting tongue 4122 extends into the first inserting groove 4331 of the battery fixing frame 43, and the second inserting tongue 4123 extends into the second inserting groove 4332, so that the battery 400 can be suspended below the battery clamping jaw when the battery clamping jaw is lifted, and therefore the battery 400 can be grabbed. The grabbing operation of the battery is reliable and quick.

Further, the grasping apparatus 412 further includes a guide rail 4121, and the first and

second insertion tongues

4122 and 4123 are slidably disposed on the guide rail 4121.

In this embodiment, the tongue driving assembly includes a first grabbing cylinder 4124 and a second grabbing cylinder 4125, the first grabbing cylinder 4124 is connected with the first tongue 4122, and the second grabbing cylinder 4125 is connected with the second tongue 4123.

As another specific embodiment, the battery clamping jaw further comprises a visual recognition device 414 and a laser ranging device, and the visual recognition device 414 and the laser ranging device are arranged on the clamping jaw base 411; the visual recognition device 414 is used for acquiring the position information of the unmanned aerial vehicle battery cabin 301 and the rechargeable battery cabin 31, and the laser ranging device is used for acquiring the distance information from the gripping device 412 to the unmanned aerial vehicle battery cabin 301 or the rechargeable battery cabin 31 in real time; the gripper 412 is movable based on the position information and the distance information. The visual recognition plate on the frame body 431 can simply and accurately recognize the position of the battery 400 in cooperation with the visual recognition device 414.

The battery 400 is provided with a spring bayonet, when the battery 400 is placed into the rechargeable battery compartment 31 or the unmanned aerial vehicle battery compartment 301, the rechargeable battery compartment 31 or the unmanned aerial vehicle battery compartment 301 can be locked with the spring bayonet, and the battery can be unlocked and pulled out only by pressing the unlocking button 402 on the upper part of the outer side of the battery 400. The battery compartment unlocking device includes a pressing block 4131 and an unlocking driving unit, the pressing block 4131 extends towards the lower part of the clamping jaw base 411, and the unlocking driving unit is connected with the pressing block 4131 and is used for driving the pressing block 4131 to press towards the battery 400, namely pressing the unlocking button 402.

The visual recognition device 414 of this embodiment includes a camera holder, a monocular camera, a lens and a light source, the camera holder extends outwards from one side of the clamping jaw base 411, the monocular camera is disposed on the camera holder, and the lens and the light source are disposed on the monocular camera.

The battery clamping jaw further comprises a charging starting device arranged on the clamping jaw base 411, the charging starting device comprises a top pressing head 4161 and a top pressing head driving unit, and the top pressing head driving unit is connected with the top pressing head 4161 and is used for driving the top pressing head 4161 to press a charging starting key at the top of the battery 400 downwards so as to start charging the battery 400.

The battery clamping jaw further comprises a battery pack positioning device 417 arranged on the clamping jaw base 411, wherein the battery pack positioning device 417 comprises a positioning pin 4171 and a positioning pin driving unit 4172, and the positioning pin driving unit 4172 is connected with the positioning pin 4171 to drive the positioning pin 4171 to extend towards the battery direction. Specifically, the positioning pins 4171 are inserted into the positioning guide holes 435 of the frame body 431 to lock the battery 400.

It should be noted that when the battery 400 is grabbed, the positioning pin 4171 is not inserted into the positioning guide hole 435, and a certain moving space exists between the battery 400 and the battery clamping jaw 41, so that the battery 400 is in a suspended state when being grabbed, and it is ensured that the battery 400 can have a certain swing space relative to the battery clamping jaw in the grabbing process, thereby realizing flexible grabbing; after the battery 400 is completely grabbed from the battery compartment, the positioning pin 4171 is inserted into the positioning guide hole 435, no moving space exists between the battery 400 and the battery clamping jaw 41, the battery 400 and the battery clamping jaw are completely locked, and therefore the battery 400 can be placed more accurately.

The battery jaw also includes an air blast cleaning device 418 provided on the jaw base 411 for blowing off dust from the battery 400.

The battery clamping jaw 41 is provided with a battery compartment unlocking device, a charging starting device, a battery pack positioning device 417 and an air blowing cleaning device 418, so that more multifunctional automatic operation can be realized, and a foundation is provided for unmanned operation.

In addition, the outer periphery of the clamping jaw base 411 is further provided with a protective cover 4110 for providing protection for the internal electric elements.

The process of the manipulator assembly 4 for controlling the battery clamping jaw to replace the battery is explained as follows:

after the single operation of the unmanned aerial vehicle is completed, the unmanned aerial vehicle returns to the ground and lands on the apron of the unmanned aerial vehicle replenishing system to wait for replenishing, the visual recognition device 414 on the battery clamping jaw 41 recognizes the position of the insufficient battery of the unmanned aerial vehicle 300, the manipulator body 42 moves the battery clamping jaw 41 to the unmanned aerial vehicle battery compartment of the unmanned aerial vehicle 300 and grabs the insufficient battery through the grabbing device 412 according to the image information of the visual recognition device 414 and the height distance information of the laser ranging device, the battery compartment unlocking device presses the unlocking button on the insufficient battery to slowly pull out the battery in the unmanned aerial vehicle 300, the insufficient battery is hung and pulled out, the flexible grabbing of the battery is realized, then the positioning pin 4171 of the battery pack positioning device 417 extends into the positioning guide hole 435 of the battery fixing frame 43 to lock the insufficient battery, the accurate locking of the battery is realized, the damage to the battery is reduced by flexibly replacing the battery, and the service life of the battery is prolonged, in the idle rechargeable battery cabin 31 of unmanned aerial vehicle battery charging module 3 was put into with the battery to manipulator body 42, the start device's that charges roof pressure head 4161 pressed down the on & off switch that charges at battery top to begin to charge, then manipulator body 42 snatchs sufficient electric battery from another rechargeable battery cabin 31 and installs the unmanned aerial vehicle battery cabin of unmanned aerial vehicle 300 in, snatchs the process and snatchs the principle that insufficient electric battery was the same from unmanned aerial vehicle battery cabin 301. In this embodiment, the driving unit may be an air cylinder, a linear motor, a servo motor, a ball screw, or the like, as needed.

For better understanding of the technical solution of this embodiment, the working principle of this unmanned aerial vehicle replenishment system is further explained as follows:

plant protection unmanned aerial vehicle supply process:

after 300 single operations of unmanned aerial vehicle are accomplished, return to the air and land on unmanned aerial vehicle positioning correction mechanism 1 and wait for the supply, the automatic module of changing of unmanned aerial vehicle battery begins the action this moment, and whether vision recognition device 414 analysis unmanned aerial vehicle 300's descending position satisfies the correction and requires to judge whether unmanned aerial vehicle carries on RTK landing error and is less than or equal to 200mm, can correct in this error range, is greater than this error range and then needs unmanned aerial vehicle to fly again and land. Satisfy and correct the unmanned aerial vehicle location correctional agency 1 after the requirement and begin to correct unmanned aerial vehicle 300's position. After the correction is completed, the pesticide filling mechanism 2 rises and pushes the pesticide filling head 23 horizontally to align the pesticide filling port of the unmanned aerial vehicle 300 to start adding the pesticide, meanwhile, the automatic module replacement of the unmanned aerial vehicle battery starts to act, the visual recognition device 414 takes a picture and determines the position of the battery 400 of the unmanned aerial vehicle 300 and feeds back the position information to the control system, the control system controls the manipulator assembly 4 to move to the position of the battery 400 on the unmanned aerial vehicle 300, the battery clamping jaw 41 of the control manipulator assembly 4 flexibly extracts the battery 400 from the unmanned aerial vehicle 300 and puts the battery into the rechargeable battery compartment 31 for charging, and then the full-charge battery is grabbed from the other rechargeable battery compartment 31 and installed in the unmanned aerial vehicle 300. When the pesticide is supplied and the pesticide is stopped, the pesticide filling mechanism 2 is lowered and reset. After the whole supply operation flow is completed, the unmanned aerial vehicle 300 is loosened by the unmanned aerial vehicle positioning correction mechanism 1, and the unmanned aerial vehicle 300 continues plant protection operation from new takeoff.

Further, the cyclic operation scenario of the plant protection unmanned aerial vehicle can be planned as follows:

referring to as shown in fig. 28, four plant protection unmanned aerial vehicles of unilateral cooperate the operation, four unmanned aerial vehicles divide into A, B two sets of two of every group, and unmanned aerial vehicle replenishing system can trade the electricity to two unmanned aerial vehicles simultaneously and change dressings the operation, and two unmanned aerial vehicles are no longer than 2min at the time of unmanned aerial vehicle replenishing system supply, and unmanned aerial vehicle interval time of taking off is 1min, and unmanned aerial vehicle replenishing system stop is one side of the crossing department of two unmanned aerial vehicle operation ranges. At first stop, two unmanned aerial vehicles of A group take off, unmanned aerial vehicle replenishing system moves to second stop after taking off, two unmanned aerial vehicles of B group take off this moment, unmanned aerial vehicle replenishing system waits at second stop that two unmanned aerial vehicles of A group return and begin the replenishment, remove the third stop again, this moment, two unmanned aerial vehicle replenishment of A group accomplish take off again, unmanned aerial vehicle replenishing system waits at this third stop that two unmanned aerial vehicles of B group return the back, remove next stop again, realize the circulation operation in proper order.

It should be understood that the terms "first", "second", etc. are used herein to describe various information, but the information should not be limited to these terms, which are only used to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention. Furthermore, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

The foregoing is directed to the preferred embodiment of the present invention, and it is understood that various changes and modifications may be made by one skilled in the art without departing from the spirit of the invention, and it is intended that such changes and modifications be considered as within the scope of the invention.

Claims

1. Unmanned aerial vehicle replenishment system, its characterized in that includes:

a mobile replenishment platform (100);

the unmanned aerial vehicle positioning and correcting mechanism (1) is arranged on the mobile supply platform (100) and is used for positioning the unmanned aerial vehicle (300);

the pesticide filling mechanism (2) is arranged on the movable supply platform (100) in a lifting manner, is positioned on one side of the unmanned aerial vehicle positioning and correcting mechanism (1), and is used for filling pesticide into the unmanned aerial vehicle (300) on the unmanned aerial vehicle positioning and correcting mechanism (1);

the unmanned aerial vehicle battery charging module (3) is arranged on the mobile replenishment platform (100) and used for charging a battery to be replaced, and the unmanned aerial vehicle battery charging module (3) comprises a rechargeable battery cabin (31) capable of being filled with water so that the battery (400) can be soaked in water for charging;

manipulator subassembly (4), locate remove supply platform (100) on, be used for with the battery that has charged in unmanned aerial vehicle battery charging module (3) is changed to unmanned aerial vehicle (300) in.

2. The unmanned aerial vehicle replenishment system of claim 1, further comprising an electric tractor (200), the electric tractor (200) being connected to the mobile replenishment platform (100) for propelling the mobile replenishment platform (100).

3. The unmanned aerial vehicle replenishment system of claim 2, wherein the electric tractor (200) has a drive power source for driving the electric tractor (200) to travel, the unmanned aerial vehicle battery charging module (3) being electrically connected to the drive power source such that the drive power source provides electrical energy to the unmanned aerial vehicle battery charging module (3).

4. The unmanned aerial vehicle replenishment system of claim 1, wherein the unmanned aerial vehicle positioning correction mechanism comprises a tarmac (10), a first correction plate (11), a second correction plate (12), and a correction drive unit;

the first correction plate (11) and/or the second correction plate (12) are slidably provided on the apron (10) so that the first correction plate (11) and the second correction plate (12) can relatively approach or separate from each other;

a first correction groove (110) is formed in the first correction plate (11), and a second correction groove (120) opposite to the first correction groove (110) is formed in the second correction plate (12);

the correction drive unit is connected with the first correction plate (11) and/or the second correction plate (12) to drive the first correction plate (11) and the second correction plate (12) to move relatively.

5. The unmanned aerial vehicle replenishment system of claim 4, wherein there are two first correction slots (110) and two second correction slots (120) are provided and are disposed directly opposite the first correction slots (110).

6. The unmanned aerial vehicle replenishment system of claim 1, wherein the pesticide filling mechanism comprises: the pesticide filling device comprises a base (22), a filling support (21), a pesticide filling head (23), a lifting device (24), a transverse pushing unit (25), a pesticide supply device and a pesticide conveying pipeline (27);

the pesticide filling head (23) is arranged on the filling support (21) in a transversely movable manner, the transverse pushing unit (25) is connected with the pesticide filling head (23) to drive the pesticide filling head (23) to transversely move, the pesticide supply device is connected with the pesticide filling head (23) through the pesticide conveying pipeline (27) to supply pesticide, and the lifting device (24) is arranged on the base (22) and connected with the filling support (21) and used for driving the pesticide filling head (23) on the filling support (21) to ascend or descend;

the lifting device (24) comprises a scissor type support (241) and a lifting driving unit (242) connected with the scissor type support (241), the lower end of the scissor type support (241) is connected with the base (22), the upper end of the scissor type support (241) is connected with the filling support (21), and the lifting driving unit (242) is used for driving the scissor type support (241) to extend upwards or compress downwards.

7. An unmanned aerial vehicle replenishment system according to claim 6 wherein the scissor bracket (241) comprises a first link (2411) and a second link (2412) in scissor-type articulation, the lower end of the first link (2411) being slidably and rotatably connected to the base (22), the upper end of the first link (2411) being articulated to the filling bracket (21), the lower end of the second link (2412) being articulated to the base (22), the upper end of the second link (2412) being slidably and rotatably connected to the filling bracket (21).

8. The unmanned aerial vehicle replenishment system of claim 6, wherein the pesticide supply device comprises: the medicine cabin comprises a medicine cabin frame (61), a first main medicine cabin (62), a second main medicine cabin (63), an auxiliary medicine cabin (64), a first medicine cabin supply pipeline (65), a second medicine cabin supply pipeline (66), a first valve (67) and a second valve (68);

first main medicine cabin (62), the main medicine cabin of second (63) and vice medicine cabin (64) are located on medicine cabin frame (61), vice medicine cabin (64) with first main medicine cabin (62) pass through first medicine cabin supply line (65) intercommunication, vice medicine cabin (64) with second main medicine cabin (63) pass through second medicine cabin supply line (66) intercommunication, first valve (67) are located on first medicine cabin supply line (65) in order to control the break-make of first medicine cabin supply line (65), second valve (68) are located on second medicine cabin supply line (66) in order to control the break-make of second medicine cabin supply line (66).

9. The drone replenishment system of claim 1, wherein the drone battery charging module further includes a water tank (32), a water circulation line (33), and a water cooling device (34);

the rechargeable battery cabin (31), the water tank (32) and the water cooling device (34) are communicated through the water circulation pipeline (33), so that the water cooling device (34) cools water in the water tank (32) and then transmits the water to the rechargeable battery cabin (31), and the water in the rechargeable battery cabin (31) is transmitted to the water tank (32) for cooling; a battery placing opening (311) for placing a battery (400) is formed above the rechargeable battery compartment (31).

10. The unmanned aerial vehicle replenishment system of claim 9, wherein the unmanned aerial vehicle battery charging module further comprises a transit water tank (35), the transit water tank (35) is in communication with the rechargeable battery compartment (31), and a drain opening (351) is formed in the bottom of the transit water tank (35) and is in communication with the water tank (32), and water in the rechargeable battery compartment (31) flows to the water tank (32) through the drain opening (351).

11. The unmanned aerial vehicle replenishment system of claim 10, wherein an overflow pipe (350) is vertically arranged at the bottom of the transfer water tank (35), the lower end of the overflow pipe (350) is communicated with the water tank (32), the upper end of the overflow pipe (350) is provided with an overflow port (352), and the height of the overflow port (352) is lower than that of the rechargeable battery compartment (31), so that water in the rechargeable battery compartment (31) flows back to the water tank (32) from the overflow port (352).

12. The unmanned aerial vehicle replenishment system of claim 1, wherein the robot assembly comprises a robot body (42) and a battery clamp jaw (41), the battery clamp jaw (41) being provided on the robot body (42).

13. The unmanned aerial vehicle replenishment system of claim 12, wherein the battery clamp jaw comprises a clamp jaw base (411) and a grasping device (412) and a battery compartment unlocking device provided on the clamp jaw base (411);

the battery compartment unlocking device is used for pressing a compartment locking key on the battery (400) to unlock the battery (400) from the battery compartment;

the grabbing device (412) is used for grabbing a battery (400), the grabbing device (412) comprises a first inserting tongue (4122), a second inserting tongue (4123) and a tongue driving assembly, the first inserting tongue (4122) and the second inserting tongue (4123) respectively extend in opposite directions, and the tongue driving assembly is connected with the first inserting tongue (4122) and the second inserting tongue (4123) so as to drive the first inserting tongue (4122) and the second inserting tongue (4123) to move away from or close to each other relatively.

14. The unmanned aerial vehicle replenishment system of claim 13, further comprising a visual recognition device (414) and a laser ranging device, the visual recognition device (414) and laser ranging device being provided on the jaw base (411);

the visual recognition device (414) is used for acquiring the position information of the unmanned aerial vehicle battery cabin (301) and the rechargeable battery cabin (31), and the laser ranging device is used for acquiring the distance information from the gripping device (412) to the unmanned aerial vehicle battery cabin (301) or the rechargeable battery cabin (31) in real time; the grasping means (412) is movable according to the position information and the distance information.

15. The drone replenishment system according to claim 13, characterised in that the battery compartment unlocking device comprises a top pressure block (4131) projecting below the jaw base (411) and an unlocking drive unit connected to the top pressure block (4131) for driving the top pressure block (4131) to move in the direction of the battery (400) gripped by the gripping device (412).