GB2583418A - Unmanned-aerial-vehicle hangar - Google Patents

Abstract

Provided is an unmanned-aerial-vehicle hangar, comprising a controller, an apron (4), and an automatic charging device controlled by said controller; said automatic charging device comprises a pair of clamping and pressing assemblies (5); each of said clamping and pressing assemblies comprises a plurality of clamping claws (51) for clamping and pressing the horizontal rod or support foot of the landing gear of the unmanned aerial vehicle; a travel mechanism for driving said clamping claws (51) to move; an actuator (8) for driving said travel mechanism to move and thus cause the clamping claws (51) to move between a clamping and pressing charge position and a release position; and a charging electrode fixedly arranged on the clamping claw (51). The unmanned-aerial-vehicle hangar provides landing assistance to the unmanned aerial vehicle, while also conducting high-speed and safe automatic wired charging of the vehicle.

Description

Specification

Drone parking garage

Field of the Invention

The present invention relates to an unmanned aerial vehicle landing assistance device, in particular, which relates to an unmanned aerial vehicle parking garage with an automatic charging device.

Background

Unmanned aircraft, or unmanned aerial vehicles, are operated by radio remote control equipment and self-provided program control devices. Due to their low cost, good efficiency, low risk, strong survivability, and mobility has the advantages of good performance, etc, and is widely used in the high-altitude shooting, and has a strong application prospect in the field of express delivery.

Drones are usually powered by batteries mounted on them, due to the limited weight of the batteries that can be mounted, and the power consumption continues to increase with the increase of auxiliary equipment, resulting in a short single voyage and limiting its application prospects and development.

To extend the endurance of the drone, the patent document with publication number CN106368478A discloses an unattended distributed drone charging hangar, which comprises a hangar protection box, apron, sliding covered solar panel, battery pack, GPS / Beidou positioning communication unit, control unit, and wireless charging unit. The battery pack is electrically connected to the solar panel to charge it. The wireless charging unit is electrically connected to the battery pack and controlled by the control unit which charges the drones docked on the parking garage.

This patent document can effectively extend the endurance of the drone by setting up the drone charging hangar in a distributed manner, but it uses wireless charging. Compared with wired charging, not only is the charging efficiency lower, but also the cost of charging equipment on the high side.

SUMMARY OF THE INVENTION

The present invention provides a Drone parking garage, which provides landing assistance for the drone and can automatically be wired charging.

The technical solution of the present invention is as follows: an unmanned aircraft parking garage, including a tarmac, a controller, and an automatic charging device controlled by the controller. The automatic charging device comprises a pair of clamping components, which comprise clamping Several jaws on the lateral rod or supporting feet of the UAV landing gear, the walking mechanism that drives the movement of the jaws, and the movement of the walking mechanism to move the jaws between the pressurized charging position and releases between his brake moving and charging electrode fixed on the jawan.

in the working process, as the actuator drives the jaws to the clamping and charging position, the jaws are pressed on the UAV landing gear lateral rod or support the foot which are installed on the landing gear through the charging electrode with the open electrode on the battery contacts to charge the drone, at the same time, the two landing gears are pressed from opposite directions by a pair of claws, so that the drone is held on the apron during the charging process, effectively ensuring the charging process,the continuity, stability, and anti-knock effectively prevented the UAV from sliding on the apron due to external vibration to ensure its safety after landing; After charging is completed, the actuator drives the jaws to the release position, UAV can continue to fly and extend its endurance.

In a preferred embodiment, the walking mechanism comprises two mutually parallel lateral support rods disposed on opposite sides of the apron, and two mutually parallel longitudinal guide rods disposed on other opposite sides of the apron respectively and followed a plurality of sliders which are in contact with two longitudinal guide rods on both sides and slide along the longitudinal guide rods, wherein the two ends of each lateral support rod are fixedly connected to one of the sliders; The claws are arranged in groups on the two lateral support rods.

When the drone is landed on the apron, the actuator pushes the lateral support rod to push the drone to the center of the apron in the lateral position, and then controls the claw to push the drone to the longitudinal position of the center of the landing gear is clamped and pressed, thereby increasing the fault tolerance of the UAV landing position deviation, further ensuring that the charging process can be carried out normally.

In another preferred embodiment, the walking mechanism comprises a longitudinal guide rail and a pair of slides that can slide along the longitudinal guide rail, which are arranged in a direction in which the charging position directed toward the release position, and several The claws respectively arranged on the pair of sliding seats; the notch is also provided with slots for the claws to slide through.

In a preferred embodiment, a sealing zipper is fixed between the two sides of each of the notches, when the claws are retracted from the pressure charging position to the release position, which is closed Synchronously, and when the claw enters the charging and charging position from the release position, the sealing zipper being opened the notch synchronously to prevent the drone from falling when the position is set, the landing gear being embedded in the slot, which effectively ensures that the movement path of the claw will not be blocked during the subsequent charging process, and also ensures that the drone can take off normally after landing.

In a preferred embodiment, the jaw has a fixed portion, whose sealing zipper is fixedly connected to the fixed portion of the jaw so that the zipper and the jaw move Synchronously.

In a preferred embodiment, the walking mechanism is further provided with an elastic buffer mechanism, which mainly comprises: a rear seat fixedly disposed at the rear of the sliding seat and arranged along the direction of the longitudinal rail,an optical axis fixed at one end on the rear seat, a linear flange bearing provided in the middle of the sliding seat and sliding sleeved on the optical axis, an elastic mechanism with adjustable pretension, the adjustable preload A tension elastic mechanism is provided between the linear flange bearing and the rear seat. The adjustable preload elastic mechanism can adjust the amount of compression to change the preload of the jaws in the longitudinal direction, which facilitates the formation of buffer pressure and buffer displacement when the jaws press the landing gear of the drone, effectively ensuring the tightness of the clamping pressure and Avoid squeezing and crushing the drone landing gear or claws.

in a preferred embodiment, the walking mechanism is also provided with a fixed seat, which is fixedly connected with the linear flange bearing, and the claw is a quick-release type that is detachably installed on the fixed seat is connected to the charging head so that the charging electrode can be replaced when it deteriorates in a preferred embodiment, the adjustable preload elastic mechanism comprises a compression spring pressed between the rear seat and the linear flange bearing, and for adjusting the linear flange bearing and the tie rod with a compressible spacing threshold between the rear seats is described.

In yet another preferred embodiment, the walking mechanism comprises a pair of X-axis direction pushrods and a pair of Y-axis direction push rods provided on the apron, the pair of X-axis direction pushrods the two pushrods are relatively arranged and move synchronously. The two push rods of the pair of Y-axis direction pushrods are relatively arranged and move synchronously. Driven by the transmission mechanism to achieve movement, the plurality of jaws is respectively provided on the two push rods of the pair of X-axis direction push rods or the pair of Y-axis direction pushrods.

In a preferred embodiment, an alignment guide device is set in an intermediate position of the apron. The alignment guide can be selected from two-dimensional code labels, optical targets, U-shaped indicator lights, and so on. By adding the alignment guide device, it can effectively ensure the accurate landing of the drone.

In a preferred embodiment, the alignment guide device comprises a U-shaped indicator and a square indicator, a circular indicator, and a triangular indicator located in the area surrounded by the U-shaped indicator in a preferred embodiment, the alignment guide device is a QR code.

In a preferred embodiment, the alignment guide device comprises a circular outline and the I-shaped logo provided in the circular outline.

In a preferred embodiment, the clamping jaws are installed with a snap-in position detection switch, which may be selected from a micro switch, a photoelectric detection switch and so on. While ensuring that the card is pressed in place to bring the charging electrode into contact with the electrode on the landing gear, we should avoid crushing the landing gear.

In a preferred embodiment, a plurality of voltage detection pins is fixed on the jaws, the voltage detection pins and the charging electrode together form a feedback detection charging structure with voltage compensation of more than four wires.

In a preferred embodiment, the charging electrode is a conductive fiber cloth or mesh metal electrode attached to the clamping surface of the claw. Use conductive fiber cloth or mesh metal structure as the charging electrode, which is convenient for it to press contact with the electrode provided on the lateral bar or support foot on the landing gear to ensure the contact effect during charging; besides, use conductive fiber cloth as the charging electrode It can make full use of its certain flexibility to make it contact with the electrode installed on the landing gear more fully, and further improve the contact effect of the charging process.

In a preferred embodiment, the apron is provided by an NFC / RFID card reader at its parking space; the outer wall of the unmanned aerial vehicle garage is equipped with a wind sensor, a light sensor, and a rain sensor. It is used for the hangar to detect the night environment to provide lighting or detect severe weather conditions and interrupt the mission of the drone.

In a preferred embodiment, the UAV parking garage comprises more than two layers of storage units, the top storage unit is the top storage unit, each storage unit comprises a support frame, a protective shell and installed in The apron and the automatic charging device in the protective shell; The library unit located below the top library unit further comprises a push-pull drawer structure installed in the protective case, the push-pull drawer structure comprises a push-pull plate and an actuation that drives the slide plate to slide along a lateral rail Device, the apron, and the clamping assembly are installed on the push-pull plate. Setting up storage units with more than two floors is convenient for setting the number of storage units so that the actual number of drones to be stopped, and improving the land-use efficiency. The push-pull drawer structure is convenient for the storage unit under the top storage unit to receive or release the drone and cooperates with the push-pull board through the clamping component to ensure that the push-pull board is in the process of pushing or pulling the drone into the protective cover of the storage unit stability and security.

In a preferred embodiment, the parking apron is a hollow structure, and the parking apron and the sliding plate are supported by a plurality of support plates to form an overhead layer structure with ventilation on both sides; the sliding drawer The structure has several side plates, and the side plates are provided with a plurality of through-holes.

The above structure can reduce the impact of airflow rebound on the drone taking off or landing, so that it can accurately land into the preset area, so that the charging electrode on the claw can be more accurate and It can be better pressed onto the charging electrode on the landing gear, effectively ensuring the charging process.

In a preferred embodiment, the push-pull directions of the push-pull plates of the adjacent two-layer library unit are opposite or orthogonal. To avoid the problem of mutual interference when the two drones are docked on the adjacent two-level apron, the number of drones that can be landed simultaneously in the parking garage is increased.

In a preferred embodiment, the protective shell comprises a top plate, a bottom plate, a rear panel, two side panels, the push-pull drawer structure of the push-pull plate hinged with a front panel, the push-pull drawer structure is provided an actuator that rotates the front panel between a closed position and a tilted position about a hinge axis. Flatten the front panel when the drone is taking off or landing to reduce the impact of air bounce on the drone landing.

In a preferred embodiment, the UAV parking garage also comprises a temperature control module, a power supply module, a communication module, and a positioning module, wherein the controller and temperature control module, power supply module, a communication module, positioning module are Electrical connection.

In a preferred embodiment, the jaw is further provided with a temperature measuring element, the controller has a memory and a processor, during operation, the processor of the controller is based on the temperature measuring element For temperature detection data, execute the computer program stored in the controller memory to achieve the following steps: During charging, if it is detected that the temperature of the claw is higher than a set first temperature threshold, the actuator is controlled to drive the claw to release the lateral direction of the drone landing gear The rod or the supporting foot, and move to the charging and charging position again for charging, and repeat the steps of releasing and recharging and charging until the temperature of the claw is lower than the first temperature threshold; If it is detected that the temperature of the claw exceeds a set second temperature threshold value for more than two consecutive charging processes, a reminder to replace the electrode is sent. The temperature measuring element can be a thermocouple, NTC, etc. Another specific solution is that the top plate of the top storage unit of the UAV parking garage is a push-pull cover plate, and the UAV parking garage is provided with a lifting mechanism that pushes the parking apron out of its protective shell. This structure can reduce the impact of the rebound airflow on the stability of the drone when the drone takes off or land so that it can accurately land in the preset area, so that the charging electrode on the jaw can be more accurate and better to press onto the charging electrode on the landing gear, which effectively ensuring the charging process.

Compared with existing technology, the beneficial effects of the present invention are as follows: First, the drone parking garage of the present invention uses a contact-type fast charging mechanism, which can provide automatic wired charging for the drone while providing landing assistance; Second, the drone parking garage of the present invention can control the precise landing of the drone; Third, the UAV parking garage of the present invention can perform rapid charging at high speed and safely under harsh outdoor conditions.

Of course, any product implementing the present invention does not necessarily need to simultaneously achieve all the advantages described above.

Brief Description of Drawings

FIGURE. 1 shows a perspective view of Embodiment 1 of the present invention; FIGURE 2 shows a perspective view of the library unit with the drone parked in Embodiment 1 of the present invention after the shell plate is omitted; FIGURE 3 shows a perspective view of a push-pull drawer structure in Embodiment 1 of the present invention; FIGURE 4 shows a perspective view of a push-pull drawer mechanism in which a drone is stuck in Embodiment 1 of the present invention; FIGURE 5 shows a schematic structural diagram of a bottom library unit in Embodiment 2 of the present invention; FIGURE 6 shows a schematic diagram of the backside structure of the bottom library unit in Embodiment 2 of the present invention; FIGURE 7 shows a schematic structural diagram of a drawer structure in Embodiment 2 of the present invention; FIGURE 8 shows a schematic structural view of a clamping component in Embodiment 2 of the present invention; FIGURE 9 shows a schematic structural diagram of a top library unit in Embodiment 3 of the present invention; FIGURE 10 shows a schematic perspective view of a three-dimensional structure of an apron and a walking mechanism according to Embodiment 4 of the present invention; FIGURE 11 shows a three-dimensional schematic view of the front view of the apron and the walking mechanism according to Embodiment 4 of the present invention; FIGURE 12 shows a perspective view of the back structure of the apron and the walking mechanism according to Embodiment 4 of the present invention; FIGURE 13 shows a front view of the back structure of the apron and the walking mechanism according to Embodiment 4 of the present invention; FIGURE 14 shows a three-dimensional structural schematic diagram of the X-axis direction push rod and the pawl, stepper motor and screw rod provided on the apron and the walking mechanism of Embodiment 4 of the present invention; FIGURE 15 shows a schematic diagram of the structure state of the apron and the walking mechanism of embodiment 4 of the present invention after the drone is docked; FIGURE 16 shows a schematic view of the structure state of the landing pad and the walking mechanism of Embodiment 4 of the present invention after the drone is parked, and its jaws fix the landing gear of the drone; In the figure: 1-first library unit; 11-support frame; 12-side panel; 13-side panel; 21-second library unit; 22-third library unit; 23-fourth library unit; 24-top library Unit; 241-top plate; 3-push-pull plate; 31-fixed rod; 4, 4'-tarmac; 5-pressing assembly; 51, 51'-jaw; 52-transverse support rod; 53-longitudinal guide rod; 54-slider; 511-wedge surface; 61-guide rod; 62-guide rod; 63-push-pull actuator; 64-slider; 7-alignment guide device; 71-U-type indicator light; 72-square indication Lights; 73-round indicator lights; 74-triangle indicator lights; 8-actuators; 0 1-dron es; 011-landing gear; 012-transverse poles; 32-push-pull plates; 33-side plates; 34-front Panel; 35-LED light strip; 36-actuator; 91-operation status warning light; 94-power output socket and air switch; 95-waterproof industrial plug; 97-advance and retreat 2-position button and emergency stop switch; 92, 93 -Push rod; 41-Slot; 42-Two-dimensional code; 81-Longitudinal guide; 82-Voltage detection needle; 83-Adjustable pretension spring mechanism; 84-Slide; 85-Optical axis; 86-Jaw Fixing part on 51 '; 87-cartoon; 88-; 89-flange bearing; 98-fixing seat; 96-sensor; [0062] la-apron; 2a-a pair of X-axis direction push rods; 21a, 22a-two X-axis direction push rods; 3a-a pair of Y-axis direction push rods; 31a, 32a-two Y-axis direction push rods Rod; 4a-jaw; 41a-jaw chuck; 411a-jaw chucked clamping surface; 51a-first pulley; 52a-second pulley; 53a-third pulley; 54a-Four pulleys; 6a-transmission belt; 7a-power source; 8a-long axis; 9a-slider; 10a-timing belt; 11 a-connecting member; 13a-structural reinforcement; 14a-screw; 141a, 142a-threaded; 15 a-Dron e.

detailed description

The present invention will be further described below in conjunction with embodiments and accompanying drawings.

Embodiment 1 A drone parking garage provided by this embodiment comprises a controller, a number of library units, a temperature control module, a power supply module, a communication module, and a positioning module, wherein the controller.the library unit, temperature control module, Power module, communication module, positioning module are electrically connected respectively.

Specifically, referring to FIG. 1, a drone parking garage provided by this embodiment comprises five storage units, which are respectively a first storage unit 1, a second storage unit 21, a third storage unit 22, the fourth library unit 23, and the top library unit 24, wherein adjacent two-layer library units are detachably fixedly connected by a fixing member. The description of the number of library units provided in this embodiment is only exemplary. In actual use, a library unit with a different number of layers from this embodiment may be configured according to the number of drones to be docked.

In this embodiment, the top plate 241 of the top library unit 24 is a solar panel driven by a linear motor along a slide rail, so the top library unit 24 can not only open and close the library unit, but also generate electrical energy.

In this embodiment, the first library unit 1 at the bottom is used as an example to describe the structure of the library unit. which refers to FIG 1. The first library unit 1 comprises a support frame 11, a protective shell, and a push-pull drawer structure installed in the protective shell. The support frame 11 is a rectangular parallelepiped frame, and the protective shell comprises the side panel 12, the side panel 13, and the diagram shown in FIG. A bottom plate, a top plate and two other side plates respectively opposite to the side plate 12 and the side plate 13, not shown in the figure, the push-pull drawer structure is provided with a parking apron, and the parking apron is provided with a charging structure For the top library unit 24, when the drone needs to be released, the top plate is pushed out and retracted after the drone takes off, and when the drone needs to land, the top plate is pushed out and retracted after the drone has landed.

For each remaining library unit, when the drone needs to be released, the push-pull drawer structure is pushed out and retracted after the drone takes off, and when the drone needs to land, the push-pull drawer structure is pushed out and put on the drone retract after landing.

The controller controls all the storage units at the same time and sets the drawing direction of each storage unit in a different direction. In this embodiment, the exit directions of the push-pull drawer structures of the lower four storage units are different, which allows more than four drones to take off and land at the same time.

In this embodiment, The controller is the control center of the UAV parking garage, which collects the working status information of each component through an internal electronic circuit, generates control commands, and controls the various actuators to cooperate to achieve the function of the UAV parking garage. The controller comprises a memory and a processor.

The power supply module comprises a cable, a power supply, a relay, an indicator light, and a power supply interface, wherein, The cable is arranged along the support frame of the library unit to avoid interference with the mobile mechanism of the library unit; the cable is connected to the output pole of the power supply. Preferably, the cable is a flexible spring-type cable, and the flexible spring-type cable is used to transmit electrical energy to each UAV parking space; The power supply is a DC power supply, an AC power supply connected through a charging platform interface, or a main body solar power supply provided on the library unit, and an internal power conversion device to provide the power system required for drone charging; The relay directly controls the output of the power supply interface voltage; The indicator light is used to detect the working state of the power supply interface.

The temperature control module comprises a temperature detection sensor and a constant temperature module, wherein the temperature detection sensor is used to detect the temperature in the library unit, and the constant temperature module can be optionally equipped with an internal/external micro air conditioner to provide a suitable temperature Humidity environment. For example, starting the air conditioner to preheat the drone when the ambient temperature is below 10 ° C, and cooling the drone when the ambient temperature is above 30 ° C. The communication module is used to communicate with a drone intelligent dispatch management platform. The communication module sends charging reservation information. In addition, the communication module also uploads in real time the working state parameters of the UAV shutdown library, including power supply parameters, whether the charging electrode is in normal contact, and whether the protection device is normal, and other key parameters to the UAV intelligent dispatch management platform The positioning module is used to obtain the location information of the UAV parking garage, and send this information to the UAV intelligent dispatch management platform through the communication module to provide a reference for the UAV.

Please refer to FIGS. 2 to 3 in combination. In this embodiment, the structure of the library unit is described by taking the library unit 1 at the bottom as an example. The library unit 1 comprises a support frame 11, a protective shell composed of side plates 12 and side plates 13, and a push-pull drawer structure installed in the protective shell. The push-pull drawer structure comprises a push-pull plate 3, a parking apron 4, A pair of clamping members 5, and a push-pull actuator 63 that drives the push-pull plate 3 to slide along the guide rods 61, 62. The clamping component 5 is used as an embodiment of the above charging structure.

Among them, the apron 4 and the clamping assembly 5 are installed on the push-pull plate 3, so that the push-pull plate 3 can be pushed out or pulled into the protective shell.

The apron 4 is provided with an alignment guide device 7, the alignment guide device 7 comprises a U-shaped indicator 71 and a square indicator 72, a circular indicator 73, and a square indicator 72 located in the area surrounded by the U-shaped indicator 71 Triangle indicator 74. The alignment guide 7 is installed in the middle of the parking place of the apron 4.

The clamping assembly 5 comprises a running mechanism, a jaw 51, and an actuator 8. among them, the walking mechanism comprises two mutually parallel lateral support rods 52, two mutually parallel longitudinal guide rods 53 and a slider 54 slidable along the longitudinal guide rods 53, wherein, The two ends of each lateral support rod 52 are fixedly connected to one of the sliders 54 so that the lateral support rod 52 can slide along the longitudinal guide rod 53; The cross-section of the lateral support rod 52 is a semi-circular structure, and the jaw 51 is provided with a semi-circular fixed through-hole cooperating with the lateral support rod 52, each lateral support rod 52 is fixed with three jaws 51; longitudinal guide rod 53 constitutes a longitudinal rail in this embodiment, and the claw 51 is fixedly connected to the slider 54 through the lateral support rod 52.

The two lateral support rods 52 of the walking mechanism can push the drone whose landing position is deviated to the center in the process of facing each other. During the pushing process, the offset angle of the UAV's nose can also be corrected at the same time (in the case of a small offset, less than plus or minus 45 degrees), that is, the positioning effect is achieved.

The claw 51 is a wedge-shaped claw with a wedge-shaped surface 511, and a conductive fiber cloth and a micro switch are attached to the wedge-shaped surface 511 of the wedge-shaped claw. The conductive fiber cloth is used as a charging electrode, and the wedge-shaped surface is used as Card pressure surface. in addition, a mesh metal electrode attached to the wedge-shaped pressing surface can be used as the charging electrode instead of the conductive fiber cloth. The charging electrode of the UAV parking garage of the invention can be matched with the charging ports of various models, with good compatible in various models, and good versatility.

A group of three claws 51 fixed on the same lateral support bar 52 is composed of a set of claws with a positive charging electrode fixed, and three groups of claws fixed on the other set of lateral support bars are fixed with a negative charging electrode.

In this embodiment, space under the apron 4 is connected to the positive and negative poles of the power supply through a flexible spring cable, leading the power supply to the drone parking position and electrically connected to the charging electrode provided on the claw 51.

The brake 8 comprises a screw nut mechanism and a drive motor, and the drive motor is connected to the screw of the screw drive and nut mechanism. The nut in the screw nut mechanism is fixedly connected to a jaw 51 located at an intermediate position so as to be pushed the middle jaw 51, and at the same time, the two jaws 51 on the side are driven by the lateral support rod 52 to move or move away from the positive guide 7 on the apron 4, that is, to the parking position of the apron 4 The push-pull plate 3 is sliding connected to the guide rods 61, 62 through a plurality of sliders 64 fixed to the push-pull plate 3.

The push-pull actuator 63 comprises a screw-nut mechanism and a drive motor, the drive motor is connected to the screw drive and nut mechanism, the nut in the screw nut mechanism is fixedly connected to the bottom surface of the push-pull plate 3, so as to 3 and the apron 4 installed thereon, the clamping component 5 and so on together to push or push the protective cover of the library unit.

One of the side plates along the push-pull direction of the push-pull plate in the protective case of the library unit is fixedly connected with the fixing rod 31 on the push-pull plate 3 so that it can move with the push-pull plate 3, and the other plates of the protective shell are fixed on the support Frame 11.

In the working process of the UAV parking garage of the present invention, it is usually operated in conjunction with the UAV intelligent dispatch management platform and multiple UAVs, and the unmanned intelligent dispatch management platform cooperatively controls multiple unmanned vehicles. Aircraft and multiple UAV shutdown libraries to control the UAV's fixed-point cruise, mission execution, and return home shutdown, charging, and other functions.

The working process of the drone parking garage part of this embodiment is as follows: The controller of the UAV parking garage receives the takeoff and landing instructions of the drone through the communication module or receives the commands from the intelligent dispatch management platform of the drone to control the takeoff and landing instructions of the drone to control the opening or closing of the assigned library unit At the same time, the controller can also control the opening or closing of the assigned charging hangar by detecting whether the drone has arrived; After detecting the arrival of the drone, the controller controls the jaws to fix the drone and close the protective cover of the library unit. After closing, the corresponding charging function is performed according to whether the drone needs to be charged; in this process, If the temperature detection sensor detects that the temperature in the library unit is too low or too high, it will send a signal to the controller, the controller will turn on the temperature control module to adjust the temperature to a suitable temperature; at the same time the controller can also receive no The temperature regulation instruction of the man-machine intelligent dispatch management platform controls the temperature of the unmanned aircraft parking garage or a certain library unit to reach the specified range, and always keeps the drone in a suitable temperature range.

In addition, the controller of the drone parking garage can also collect the collected temperature information, the charging status of the drone, the location status of the drone parking garage, and/or the drone located therein, etc. Status information and temperature information of the UAV parking garage, whether the drone in the UAV parking garage can run and other status information, and send this information to the UAV intelligent dispatch management platform for storage and feedback to the user.

Moreover, the controller of the UAV parking garage can also send status information such as whether the parking garage can receive the drone and the temperature of the parking garage to the drone, so that it can perform emergency functions, such as landing to emergency work point.

In addition to the specific workflow mentioned in the above description, the work content between the UAV intelligent dispatch management platform and the controller, the controller and the UAV, the controller, and the hangar library unit also comprises other the functions are not listed here one by one.

This embodiment also provides a drone working system, including a number of the above-mentioned drone parking garage, a number of drones and a drone intelligent scheduling management platform, the drone parking garage, the unmanned The machine and the UAV intelligent dispatch management platform are respectively provided with wireless communication devices, and the UAV intelligent dispatch management platform is respectively connected with each UAV parking garage and each UAV wireless communication.

Please refer to FIG. 2, in this embodiment, the UAV 01 is a rotary-wing UAV, which is controlled by a remote control matched with it. The UAV 01 is mainly composed of a flight control system, a communication system, a positioning system, a power system, and a battery. Among them, the positioning system is a GPS and similar satellite positioning unit and a visual positioning system. Within the range of positioning, and then landed on the apron through the visual positioning system to charge. UAV 01 can receive the command of the UAV intelligent dispatch management platform and use the command to cruise to any point within a certain range (that is, the UAV cruise range).

Please refer to FIG. 4, an open electrode is fixed on the lateral rod 012 of the landing gear 011 of the drone 01. The open electrode is a conductive fiber cloth-embedded on the lateral rod 012, which is matched with the conductive fiber cloth fixed on the wedge-shaped surface of the jaw 51 of the pressing assembly 5 of the push-pull plate 3. In this embodiment, the voltage detection probe provided on the charging claw of the drone parking garage is used for voltage detection to prevent the reverse current from occurring when the drone does not land correctly. At the same time, the drone rack The cable used to lead out the battery electrode in the drone body and connect to the electrode on the landing gear has a protection circuit connected in series, which has an overcurrent protection fuse function to prevent an accidental short circuit from damaging the drone and the automatic charging platform.

When the drone is landing on the apron 4, the image of the alignment guide device installed in the middle of the parking place of the apron is collected by the airborne camera of the drone 01, and then performed by the image recognition function of the drone Identify and refer to the positioning data generated by the UAV gyroscope for UAV positioning and alignment.

[0109] In addition, low-divergence LED light beads are embedded in the identification of the indicator light of the guiding device to facilitate the camera of the drone to collect images in a low-illuminance environment.

In addition, in this embodiment, a tag identification device (for example, an NFC / RFID card reader) is provided on the drone parking space of the apron 4 for reading the electronic tag information of the drone Identity verification. After successful verification, the drone can be charged.

The working process of the unmanned aerial vehicle working system of this embodiment is as follows: the unmanned aerial vehicle sends out a charging request according to the parameters of the onboard BMS (BATTERY MANAGEMENT SYSTEM, battery management system); the dispatch management platform obtains The location, parking space occupancy status and other working status information of the drone and the parking garage are matched with a reasonable charging parking garage, and the cruise is guided to the corresponding position; when the drone cruises to the vicinity of the parking garage, it will land through the alignment guide device set on the parking space of the parking garage, and after identity verification, it will start automatic charging. When charging is complete, the drone takes off and leaves the parking lot.

A specific example of the working process of the drone working system of this embodiment is as follows: (1) According to the parameters of the airborne BMS, the drone sends out a charging request in time; The drone intelligent dispatch management platform obtains the location of the drone and the drone parking garage within the jurisdiction, the parking space occupation status of the drone parking garage, and other working status information, and according to the drone charging request sends charging reservation information to the communication module of the drone parking garage, matches the drone with a reasonable drone parking garage, and directs it to cruise to the corresponding location; When the drone parking library receives the drone landing instruction, the automatic charging device receives a response, and the controller will designate a vacant library unit to be pushed out of the apron, for example, to control the top library unit to open the top plate 241 or other library units to be pushed down Ping 4; (2) The drone cruises to the top of the automatic charging device of the corresponding drone parking garage according to the positioning and navigation system, begins to fall slowly, and continuously aligns the guidance device according to the drone parking garage during the landing process 7 Make posture adjustments and correct landing; (3) After the drone is stably docked on the tarmac 4 of the parking garage, the tag recognition device that is in communication with the controller at this time starts to scan the tag at the bottom of the drone for identity verification. At the same time, the top plate 241 or the apron 4 is retracted, and at the same time, the controller sends a command to control the actuator 8 to push the jaw 51 to move to the middle until the card presses the lateral bar 012 of the drone landing gear, thereby fixing the drone, and The charging electrode of the jaw 51 is brought into contact with the open electrode of the lateral rod 012 of the drone landing gear, and the microswitch arranged on the jaw 51 is used to feedback whether it is fastened in place while avoiding damage to the landing gear. ; (4) After the jaw 51 grasps the drone, the relay of the power module is closed, the indicator light of the power module is lit, the current is sent to charge the drone battery, and at the same time, the dispatch management platform is notified through the communication module, The corresponding parking position of the UAV parking garage is being charged; After the drone battery is full, the relay of the power module is turned off, its indicator light is off, and the drone intelligent dispatch management platform is notified through the communication module that the corresponding drone battery is fully charged, and the parking garage receives no one When the aircraft is ready to take off, push the top plate 241 or exit the apron 4, the two sets of jaws move to both sides, releasing the UAV landing gear, that is, the actuator 8 pushes the jaws 51 to move between the charging and releasing positions, The drone is ready to fly; (5) After the drone leaves the parking space and continues to fly away from the parking garage, the top plate 241 or the parking apron 4 is closed, and the library unit is in a standby state. The man-machine intelligent dispatch management platform updates the local UAV parking space occupation information.

For the above-mentioned unmanned aerial vehicle working system, the working area of the entire system can be divided into three sections: a flight area, a parking garage working area, and a service area among them, The flight zone is the workplace of the drone. The drone flies in the workplace and measures the target environment through the equipment carried on the body, collects the corresponding data, and sends the collected target information to the UAV intelligent dispatch management platform. The cloud or you can also send your own status information to the cloud or system controller of the UAV intelligent dispatch management platform to complete the information exchange; The parking garage work area is the location of the parking garage, which is usually equipped with parking garage units, controllers, remote controllers, and other equipment. These three can be integrated or separated according to needs, and the three can be wired or wirelessly realize the exchange of information. The controller is the core part of the system. The controller obtains external commands to the hangar, such as the commands for taking off and landing the drone, the temperature control sent by the cloud, etc., and parses these commands to the slave control of the corresponding library unit. After sending the corresponding command, the slave controller can control the actuator, temperature control module, and charging equipment to execute the execution action after obtaining the analysis command. The slave controller can also send the collected hangar status information to the controller, such as shutdown Whether the library unit is closed or opened, whether it is charging, the status of the drone, the temperature status and other series of status information, the controller can send this information to the cloud of the UAV intelligent dispatch management platform, or it can directly analyze the data. Afterward, it is fed back to the drone and the user according to the analysis results, for example, to control the flight of the drone and execute other states; The service area is an area where data is analyzed and processed in the data set, and also an area for human-computer interaction. The system controller of the cloud business system in the service area obtains a large amount of data, and after a detailed analysis of these data, the final result is fed back to the user. After the user obtains this information, the user can issue various instructions and send it to no one through the cloud The system controller of the machine or UAV parking garage realizes the function of remote monitoring.

Example 2

As an explanation of Embodiment 2 of the present invention, only the differences between this embodiment and the above Embodiment 1 will be described below.

The protective shell comprises a top plate, a bottom plate, a front panel, a rear panel, and two side panels.

Please refer to FIG. 5 and FIG. 7, the apron 4 'of this embodiment is a hollow plate structure, which is supported by a plurality of support plates between the sliding plate 32 to form an air-permeable overhead layer structure on both sides; the drawer structure is provided The two sides of the board 33 are provided with two rows of through holes and LED light strips 35 for lighting in the dark environment. The front panel 34 and the push-pull board 32 provided in the drawer structure are hinged by a hinge, and the front panel is pushed by an actuator 36 34 rotates around the hinge axis of the hinge to control the front panel 34 to switch between the tiled position and the upright position. By arranging through holes in the apron 4 'and the side plates 33, and placing the front panel 34 in a flat state during the landing and landing of the drone, it can effectively reduce the rebound of the downwash airflow of the rotor and improve the flight of the drone. stability.

Please refer to FIG. 7, in this embodiment, the two-dimensional code 42 provided on the apron 4 'is used as the alignment guide device, in addition, there is also provided with an NFC / RFID card reader for reading the device The identity authentication information contained in the electronic tag on the drone.

Please refer to FIG. 6, a running state warning light 91, a waterproof industrial plug 95, a power output socket, and an air switch 94, a two-position push-button, and an emergency stop switch 97 are installed on the sidewall of the library unit.

Please refer to FIG. 7 and FIG. 8, there is a notch 41 on the apron 4 'for the claw 51' to slide through, in order to reduce the influence of the notch 41 on the drone landing process, the notch 41 A sealing zipper (not shown in the figure) for opening and closing it is provided on the top, and the two cloth strips of the sealing zipper are fixed on the two side walls of the notch 41 by bonding or the like, and the side is connected to the apron 4 The upper surface of the 'is aligned horizontally, the sliding part of the sealing zipper is fixedly connected to the fixing portion 86 on the claw 51' and is pulled or pushed by it so that when the claw 51 is withdrawn from the pressure charging position to the release position, the notch 41 is closed and opened when the card is pressed.

During use, the claw 51 'will adjust the position of the drone that landed on the apron 4', but it is adjusted in the longitudinal direction so that the drone can be charged at a preset position, On both sides of the parking space, there are push rods 92 and 93 arranged longitudinally, and both ends of the two can slide along lateral rails (not shown) through sliders so that the pushrods 92 and 93 can be pushed by an actuator You can adjust the displacement of the UAV in the lateral direction by sliding along the horizontal rail. The pushrods 92 and 93, the lateral guide rails and the slide blocks cooperating with them constitute a position correction mechanism in this embodiment.

Please refer to FIG. 8, in this embodiment, a voltage detection pin 82 is fixed on the claw 51 ', which is used to detect the polarity of the battery on the drone, so as to prevent reverse current from occurring when the charging electrode is reversed Appears when the drone does not land properly. The two voltage detection pins 82 are electrically connected to the conductive electrode provided on the landing gear of the drone, and the conductive electrode is electrically connected to the voltage detection pin of the drone battery, that is, it feeds back the battery voltage on the drone during the charging process In order to make remote voltage compensation for the drone battery, together with two charging electrodes to form a four-wire feedback detection charging structure with voltage compensation in this embodiment, of course, they can also be set to The feedback detection charging structure with voltage compensation is more than five lines.

Referring to FIG. 8, a mounting groove for mounting the cradle 87 is opened on the base of the claw 51 ', and a thermocouple is installed on the cradle 87. The thermocouple is used to charge the claw 51 during charging Monitor temperature changes.

As shown in FIG. 8, the mounting unit of the claw 51 ' comprises a sliding seat 84 slidable along the longitudinal rail 81, an optical axis 85, a linear flange bearing 88, an adjustable preload spring mechanism 83, and a rear seat 89 and fixed seat 98, in which: The rear seat 89 is fixed on the sliding seat 84, and two optical axes 85 are arranged along with the longitudinal guide 81 and one end is fixed on the rear seat 89, that is, the length direction of the optical axis 85 is arranged along the direction in which the charging position points to the release position It is fixed on the rear seat 89, the linear flange bearing 88 can be slidably fitted on the optical axis 85 along the optical axis 85, and the fixed seat 98 is fixedly connected to the two linear flange bearings 88, that is, the fixed seat 98 can be along the optical axis 85 is slidably mounted on the optical axis 85, and the claw 51 'is a quick-release type falcon charging head that is detachably mounted on the fixing base 98 so that the charging electrode can be replaced when it ages.

The adjustable preload spring mechanism 83 is provided between the fixed seat 98 and the rear seat 89, and the preload force of the jaw 51 'in the longitudinal direction can be changed by adjusting the compression amount of the spring pressed between the two. It is convenient for them to form buffer pressure and buffer displacement when clamping the UAV landing gear, effectively ensuring the tightness of the clamping pressure and avoiding the occurrence of hard squeezing and damaging the UAV landing gear or the claw 51 '. The spring mechanism 83 comprises a compression spring pressed between the rear seat 89 and the fixed seat 98, and a tension rod for adjusting a compressible spacing threshold between the fixed seat 98 and the rear seat 89.

During operation, the processor of the controller executes the computer program stored in the memory of the controller based on the temperature detection data of the thermocouple on the Cato 87 to realize the following steps: (1) During the charging process, if it is detected that the temperature of the claw 51 'is higher than the first temperature threshold, the actuator is controlled to drive the claw 51' to release the landing gear of the drone, and move to the pressure again Charge at the charging position, and repeat the releasing step and the re-clamping charging step until the temperature of the claw 51 'is lower than the first temperature threshold.

By detecting the temperature change of the claw 51 'during the charging process, it is judged whether the charging contact of the claw 51' is good, so as to ensure the safety of the charging process.

(2) If it is detected that the temperature of the claw 51 'exceeds the second temperature threshold for more than two consecutive charging processes, a reminder to replace the electrode is sent.

The electrode will continue to aging as the use time increases, resulting in its resistance becoming larger, that is, its calorific value during charging will be higher than that of the new electrode so that its aging can be monitored by temperature monitoring to Remind to replace the charging electrode.

Among them, the first temperature threshold is higher than the second temperature threshold, the specific value needs to be detected and determined according to the actual situation.

Example 3

As an explanation of Embodiment 3 of the present invention, only the differences from Embodiment 1 described above will be described below.

Please refer to FIG. 9, a sensor 96 is fixed on the outer wall of the library unit, the sensor 96 integrates a wind sensor, a light sensor and a rain sensor to detect the environmental conditions around the parking garage and send the detection data To the processor of the controller, the processor judges whether the current environmental state is suitable for the drone docking according to the relevant detection data, and feeds back the judgment result to the drone or the drone intelligent dispatch management platform through the communication module. In this embodiment, sensor 96 is mounted on the push-pull cover 241.

Below the apron 4 of the top library unit 24, a lifting mechanism for pushing it out of the protective shell in the vertical direction is installed. In this embodiment, the lifting mechanism is selected as a jack.

In this embodiment, the communication module of the UAV parking garage maybe 3G, 4G, WIFI, or other similar wireless communication modules, used to receive the scheduling control commands and upload unmanned of the UAV intelligent scheduling management platform The status of the machine parking garage.

Example 4

Please refer to FIGS. 10-16, this embodiment provides a drone calibration and clamping mechanism for a drone parking garage, which mainly comprises a pair of X-axis directions provided on the apron la The push rod 2a and a pair of Y-axis push rods 3a, the two pushrods (pushrod 21a, pushrod 22a) of the pair of X-axis push rods 2a are oppositely arranged and move synchronously. The two push rods (pushrod 31a, pushrod 32a) of the axial push rod 3a are relatively arranged and move synchronously. The pair of X-axis push rods 2a and the pair of Y-axis push rods 3a pass through the power and transmission mechanism Drive to achieve movement, two push rods (pushrod 21a, pushrod 22a) of the pair of X-axis direction push rods 2a are respectively provided with two claws 4a, each of the claws 4a comprises a chuck 41a, Each chuck 41a has an arc-shaped clamping surface 411a, and a charging electrode is provided on each arc-shaped clamping surface.

In other alternative embodiments, a pair of Y-axis direction push rods 3a may also be provided with claws, the number of claws may be other than two, in addition, maybe set to only a part of claw The charging electrode is provided on the upper part, and the remaining part is not provided with a charging electrode.

In this embodiment, the power and transmission mechanism of the pair of X-axis direction push rods 2a comprises two sets of pulleys, two transmission belts 6a, and a power source 7a. The two sets of pulleys are respectively provided on the apron la The opposite sides of the apron, the sides of the apron are the sides perpendicular to the pushrod 2a in the X-axis direction, and the two ends of each pushrod in the X-axis direction are respectively fixed on both sides of the apron 1a and the end portions of the two X-axis direction pushrods on the same side are respectively arranged on the upper half and the lower half of the side transmission belt. The first group of pulleys comprises a first pulley 51a and a second pulley 52a. The second group of pulleys comprises a third pulley 53a and a fourth pulley 54a. The power source 7a drives the first pulley 51a, the first pulley 51a drives the second pulley 52a to rotate through a transmission belt 6a, the second pulley 52a drives the third pulley 53a to rotate through a long shaft 8a, and the third pulley 53a drives the fourth pulley 54a through another transmission belt 6a. In this embodiment, the two X-axis direction pushrods use the same power source 7a and realize the synchronous movement through the above-mentioned combined transmission structure of the pulley, the transmission belt, and the long shaft. The first, second, third, and fourth of the first pulley, the second pulley, the third pulley, and the fourth pulley named above are only used for distinction and have no limiting meaning.

In other embodiments, the power and transmission mechanism of the pair of X-axis direction push rods may further comprise more than one power source, that is, each X-axis direction push rod is provided with a power source, and each X-axis direction In the transmission mechanism of the push rod, other numbers of belt pulleys and other numbers of transmission belts sleeved on each belt pulley can be provided according to needs and actual conditions.

In this embodiment, the power and transmission mechanism of the pair of Y-axis direction push rods 3a comprises two screws 14a, four sliders 9a, and a power source 7a. The two screws 14a are set to stop The opposite sides of the apron la, the side of the apron la is the side perpendicular to the Y-axis direction push rod 3a, and the two ends of each Y-axis direction push rod 3a are respectively fixed on both sides On the slider; each screw 14a is provided with two sections of threads with opposite thread directions (thread section 141a, thread section 142a), the power source 7a drives the first screw 14a, and the first screw 14a The rotation then drives the two sliders 9a mounted thereon to move toward or away from each other. The ends of the shafts of the first screw 14a and the second screw 14a are transmitted through the timing belt 10a, and then The first screw 14a drives the second screw 14a to rotate, and then the two sliders 9a on the second screw 14a move toward or away from each other. The same power source 7a is used for the two Y-axis direction pushrods, and the synchronous movement of the two Y-axis direction push rods is realized through the combined transmission structure of the screw rod, the slider, and the timing belt.

In other embodiments, the power and transmission mechanism of the pair of Y-axis direction push rods may further comprise more than one power source, that is, each Y-axis direction push rod is provided with a power source, the number of screw rods and The number of sliders on the screw can be deformed and replaced as needed.

In this embodiment, both ends of the X-axis direction push rod 2a are fixedly provided with a power source 7a and a screw rod 14a through a plurality of connectors lla, and at the same time, are provided on the X-axis direction push rod 2a The claw 4a is in contact with or connected to some of the connecting pieces lla. The screw 14a is provided with a threaded section. When the power source 7a drives the screw 14a to rotate, it is in contact with or connected to the claw 4a. The connecting pieces 11 a can slide along the screw rod 14a, thereby driving the claw 4a to move along the X-axis direction push rod 2a. This structure enables the two jaws 4a at both ends to advance from both sides to the middle, thereby gripping the landing gear of the drone.

In this embodiment, an elastic element (not shown) is further installed behind the claw 4a, specifically a spring, and a microswitch is triggered when the elastic element is compressed to a predetermined deformation amount, thereby causing The power source 7a that drives the push claw 4a to advance along with the X-axis direction pusher 2a stops. The elastic element and the microswitch structure ensure the contact force between the claw 4a and the electrode on the landing gear of the drone.

In this embodiment, the plurality of power sources 7a are all stepper motors.

In other modified implementations, the synchronous belt structure of the above embodiment can be replaced with a chain drive, the specific structure can be replaced by those skilled in the art based on existing technical knowledge, and will not be detailed and expanded here.

Please refer to FIG. 10 and FIG. 11, this embodiment also provides a drone parking garage, which comprises a tarmac, and is provided with any of the above-mentioned drone normalization and clamping mechanism.

In this embodiment, the central portion of the apron la is provided with an alignment guide mark, the alignment guide mark comprises a circular outline mark and an I-shaped mark located within the circular outline mark.

In this embodiment, a plurality of structural reinforcements 13a is provided on the back of the apron la.

in this embodiment, the structural reinforcement 13a is rod-shaped, and is two mutually parallel reinforcement rods, the two ends of each reinforcement rod are respectively connected to the two long sides of the apron l a.

In other embodiments, the shape, number, and relative positional relationship of the structural reinforcements can also be deformed on the basis of the above structure, or other reinforcement structure commonly used in the art can be used. The illustration of this embodiment and the above description does not limit the shape, number, and relative positional relationship of structural reinforcements.

Referring to FIG. 15, when the drone 15a is parked on the apron I a, two X-axis direction push rods 21a, 22a and two Y-axis direction push rods 31a, 32a advance toward the intermediate position of the apron la, and push it on the landing gear of the drone 15a, please refer to FIG. 7, and at the same time, the curved clamping surface 411a connecting the claws 4a provided on the two X-axis push rods 21a, 22a is against the drone The vertical pole of the landing gear, and the charging electrode provided on the curved clamping surface 411a cooperates with the corresponding charging structure provided on the vertical pole of the landing gear of the drone to charge the drone 15a.

The embodiment provides a UAV normalization and clamping mechanism can be used to push the UAV landing on the tarmac, a pair of pushrods in the X-axis direction and a pair of pushrods in the Y-axis direction It realizes automatic correction (Tic-Tac-Toe correction) and ensures the synchronization of the movement of the two pushers in a set of pushers. At the same time, it also uses a charging jaw that vertically clamps the feet of the UAV, which is Compared with the horizontal clamping, another clamping method was successfully implemented.

The technical features in the above embodiments 1-4 can be combined and replaced as needed. The technical features of all the embodiments are not limited to use in this embodiment, but can also be used in other embodiments. In the same or similar scene.

The above embodiments are only to illustrate the technical concept and features of the present invention, and its purpose is to enable those familiar with the technology to understand the content of the present invention and implement it accordingly, and caimot limit the scope of protection of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention. Claim

Claims (23)

1. A drone parking garage, comprising a tarmac, and further comprising a controller and an automatic charging device controlled by the controller; wherein the automatic charging device comprises a pair of clamping components, and the clamping components comprise a plurality of clamping jaws that clamp the lateral rods or supporting feet of the UAV landing gear, a walking mechanism that drive the movement of the clamping jaws, an actuator that drives the walking the mechanism moves so that to make the jaw move between the pressurized charging position and the release position, and a charging electrode fixed on the jaw.

2. The drone parking garage of claim I wherein: the walking mechanism comprises two mutually parallel lateral support rods disposed on opposite sides of the apron, two mutually parallel longitudinal guide rods respectively disposed on the other opposite sides of the apron, and several sliders contacting the longitudinal guide rods and sliding along the longitudinal guide rods, which comprise the two ends of each lateral support rod fixedly connected to one of the sliders respectively; A plurality of the claws is arranged on two lateral support rods in groups.

3. The drone parking garage of claim 1, wherein: the walking mechanism comprises a longitudinal guide rail and a pair of sliding seats slidable along the longitudinal guide rail, the longitudinal guide rails are arranged in a direction in which the charging and charging position is directed to the release position, and a plurality of the claws are respectively provided on the pair of sliding guides On the seat; there is also a notch on the apron for the jaw to slide through.

1. The drone parking garage of claim 3, wherein: a sealing zipper is fixed between the two sides of each of the notches. When the claws are retracted from the pressure charging position to the releasing position, the sealing zipper closes the notch synchronously, while the claw advances from the release position to the pressure charging position, the sealing zipper simultaneously opens the slot.

5. The drone parking garage of claim 4, wherein: the jaw has a fixing part, and the sliding part of the sealing zipper is fixedly connected with the fixing part on the jaw.

6. The drone parking garage of claim 3, wherein: the walking mechanism is also installed with an elastic buffer mechanism. The elastic buffer mechanism mainly comprises: a rear-seat fixedly arranged at the rear of the slide base, an optical axis arranged in the direction of the longitudinal rail and one end fixed on the rear seat, installed at the middle of the slide base and sliding set on the linear flange bearings on the described optical axis and an elastic mechanism with adjustable preload, the elastic mechanism with adjustable preload is installed between the linear flange bearing and the rear seat.

7. The drone parking garage of claim 6, wherein: the walking mechanism is also provided with a fixed seat, which fixedly connected with the linear flange bearing, and the claw is a quick-release type falcon charging head detachably installed on the fixed seat.

8. The drone parking garage of claim 6, wherein: the adjustable preload elastic mechanism comprises a compression spring pressed between the rear seat and the linear flange bearing, and a threshold for adjusting the compressible distance between the linear flange bearing and the rear seat Lever

9. The drone parking garage of claim 1, wherein: the walking mechanism comprises a pair of X-axis direction pushrods and a pair of Y-axis direction push rods provided on the parking apron. The two push rods of the pair of Y-axis direction pushrods are relatively arranged and move synchronously. The pair of X-axis direction pushrods and the pair of Y-axis direction pushrods are moved by power and transmission mechanism to achieve the pair of X-axis direction push rods or the pair of Y-axis direction pushrods are respectively provided with the plurality of claws.

10. The drone parking garage of claim 1, wherein: an alignment guide device is set in the middle of the apron.

11. The drone parking garage of claim 10, wherein: the alignment guide device comprises a U-shaped indicator light, a square indicator light, a round indicator light, and a triangle indicator light located in an area surrounded by the U-shaped indicator light.

12. The drone parking garage of claim 10, wherein: the alignment guide device is a QR code.

13. The drone parking garage of claim 10, wherein: the alignment guide device comprises a circular outline and an I-shaped sign set in the circular outline

14. The drone parking garage of claim 1, wherein: The clamping claw is equipped with a detection switch for clamping in place.

15. The drone parking garage of claim 1, wherein: a plurality of voltage detection pins is fixed on the jaws, and the voltage detection pins and the charging electrode together form a feedback detection charging structure with voltage compensation of more than four wires.

16. The drone parking garage of claim 1, wherein: the charging electrode is a conductive fiber cloth or meshes metal electrode attached to the clamping surface of the claw.

17. The drone parking garage of claim 1, wherein: The apron is equipped with NFC / RFID card readers at its parking spaces; A wind sensor, a light sensor, and a rain sensor are installed on the outer wall of the UAV parking garage.

18. The drone parking garage of claim 1, wherein: the UAV parking garage comprises more than two levels of storage units, located in the top storage unit. Each storage unit comprises a support frame, a protective shell, and the parking apron installed in the protective shell and the automatic charging device; The storage unit located below the top storage unit also comprises a push-pull drawer structure installed in the protective case, the push-pull drawer structure described before including a push-pull plate and an actuator that drives the push-pull plate to slide along a lateral rail,the apron and the clamping assembly installed on the push-pull board.

19. The drone parking garage of claim 18, wherein: the apron has a hollow structure, the apron and the sliding plate are supported by a plurality of support plates to form an overhead layer structure with ventilation on both sides; There are multiple through holes on the board.

20. The drone parking garage of claim 18, wherein: the push-pull directions of the push-pull plates of adjacent two-layer library units are opposite or orthogonal.

21. The drone parking garage of claim 18, wherein: the protective shell comprises a top plate, a bottom plate, a rear panel, and two side plates. The push-pull structure of the push-pull drawer is hinged to a front panel and rotates between position and tile position.

22. The drone parking garage of claim 1, wherein: it also comprises a temperature control module, a power supply module, a communication module, and a positioning module, wherein the controller is electrically connected to the temperature control module, the power supply module, the communication module, and the positioning module, respectively.

23. The drone parking garage of claim 1, wherein: the jaw is provided with a temperature measurement element, and the controller has a memory and a processor. During operation, the processor of the controller performs storage stored in the control based on temperature detection data of the temperature measurement element Computer program in the memory of the device to achieve the following steps: During the charging process, if it is detected that the temperature of the claw is higher than a set first temperature threshold, the actuator is controlled to drive the claw to release the lateral lever or support of the drone landing gear Feet, and move to the pressure charging position again to charge, repeat the release step and re-pressure charging step until the temperature of the claw is lower than the first temperature threshold; If it is detected that the temperature of the claw exceeds a set second temperature threshold for more than two consecutive charging processes, a reminder to replace the electrode is sent.