CN112878772B

CN112878772B - Unmanned aerial vehicle hangar

Info

Publication number: CN112878772B
Application number: CN201911203810.6A
Authority: CN
Inventors: 崔鹏; 龚玉帅; 周文钰; 陈思瀚; 孙恒盛
Original assignee: Beijing Airlango Technology Co ltd
Current assignee: Beijing Airlango Technology Co ltd
Priority date: 2019-11-29
Filing date: 2019-11-29
Publication date: 2022-06-21
Anticipated expiration: 2039-11-29
Also published as: CN112878772A

Abstract

The present disclosure relates to an unmanned aerial vehicle hangar, including: a first platform (1) for parking a flying and/or landing drone (4); the second platform (2) is used for storing the unmanned aerial vehicle, and a height difference is formed between the parking surface of the first platform and the parking surface of the second platform (2); the transfer mechanism (3) comprises a transfer platform (31) and a transfer device (32), and the transfer device is movably arranged on the transfer platform; the transfer controller is connected with the transfer mechanism and used for controlling the transfer platform to move along the height direction so as to enable the transfer platform to be in butt joint with the first platform or the second platform and controlling the transfer device to move the unmanned aerial vehicle between the first platform and the transfer platform and between the transfer platform and the second platform. Through above-mentioned technical scheme, unmanned aerial vehicle hangar can realize unmanned aerial vehicle at first platform and with the second platform between the automatic transportation, improve unmanned aerial vehicle's transportation efficiency.

Description

Unmanned aerial vehicle hangar

Technical Field

The utility model relates to an unmanned aerial vehicle storage device technical field specifically relates to an unmanned aerial vehicle hangar.

Background

An unmanned plane, namely an unmanned plane, is an unmanned plane operated by an electric remote control device and a self-contained journey control device, and is widely applied to aerial photography, surveying and mapping, disaster rescue, express transportation and the like due to the advantages of small volume, low manufacturing cost, convenience in use and the like.

In the prior art, in order to facilitate takeoff and landing of the unmanned aerial vehicle, a takeoff platform and a landing platform for assisting the unmanned aerial vehicle in takeoff and landing are generally set. The main functions of the take-off platform and the landing platform are used for parking the unmanned aerial vehicle to be landed or about to take off, and when the unmanned aerial vehicle needs to store the landed unmanned aerial vehicle, an operator is generally required to transport the unmanned aerial vehicle from the landing platform to a parking platform or a parking bin for storing the unmanned aerial vehicle; when needing to use unmanned aerial vehicle, then need operating personnel to take out unmanned aerial vehicle from shutting down the platform or shutting down the storehouse, then place again on the platform of taking off. The transfer process of the unmanned aerial vehicle from the take-off platform and the landing platform to the stop platform or the stop bin is very inconvenient.

Disclosure of Invention

The utility model aims at providing an unmanned aerial vehicle hangar, this unmanned aerial vehicle hangar can realize unmanned aerial vehicle and descend the platform and/or take off the platform and shut down the automatic transportation between the platform, improve unmanned aerial vehicle's transportation efficiency.

In order to achieve the above object, the present disclosure provides an unmanned aerial vehicle hangar, including:

the first platform is used for parking the unmanned aerial vehicle for taking off and/or landing;

the second platform is used for storing the unmanned aerial vehicle, and a height difference is formed between the parking surface of the first platform and the parking surface of the second platform;

the transfer mechanism comprises a transfer platform and a transfer device, and the transfer device is movably arranged on the transfer platform;

and the transfer controller is connected with the transfer mechanism and used for controlling the transfer platform to move along the height direction of the unmanned aerial vehicle hangar so as to enable the transfer platform to be in butt joint with the first platform or the second platform and controlling the transfer device to enable the unmanned aerial vehicle to move between the first platform and the transfer platform and between the transfer platform and the second platform.

Optionally, the transfer device comprises a first drive device for driving the engagement member to extend or retract relative to the transfer platform, and an engagement member for engaging with or disengaging from the drone, the first drive device being capable of driving the drone to move through the engagement member when the engagement member is engaged with the drone.

Optionally, the joint includes a rotating rod and a stopper portion disposed on the rotating rod, and the transfer device further includes a second driving device for driving the rotating rod to rotate around an axis thereof, so that the joint has an engaged state in which the stopper portion is stopped on the drone and a disengaged state; in the separated state, the stopping portion is separated from the unmanned aerial vehicle, and the joint piece can avoid the unmanned aerial vehicle in the moving process of the joint piece.

Optionally, the transfer controller is connected to the first driving device, the second driving device, and a platform driving device for driving the transfer platform;

the transfer controller is used for controlling the first driving device to drive the joint piece to extend relative to the transfer platform after controlling the platform driving device to drive the transfer platform to move to be in butt joint with a target platform, and controlling the first driving device to drive the joint piece to retract into the transfer platform after controlling the second driving device to drive the stop part on the rotating rod to stop on the unmanned aerial vehicle on the target platform so as to move the unmanned aerial vehicle onto the transfer platform; and/or the presence of a gas in the gas,

the transfer controller is used for controlling the second driving device to drive the stopping part on the rotating rod to stop the unmanned aerial vehicle on the transfer platform after controlling the platform driving device to drive the transfer platform to move to be in butt joint with a target platform, controlling the first driving device to drive the joint part to extend relative to the transfer platform so as to move the unmanned aerial vehicle to the target platform, and controlling the first driving device to drive the joint part to retract into the transfer platform after controlling the second driving device to drive the stopping part on the rotating rod to be separated from the unmanned aerial vehicle on the target platform;

wherein the target platform is the first platform or the second platform.

Optionally, the transfer device further includes a guide rail and a slider slidably connected to the guide rail, one end of the rotating rod away from the stopping portion is rotatably connected to the slider, and the first driving device is configured to drive the slider to slide along the guide rail.

Optionally, the first platform includes a landing platform and a takeoff platform that are oppositely arranged in a first direction perpendicular to a height direction of the unmanned aerial vehicle hangar, the second platform includes a first shutdown platform and a second shutdown platform that are oppositely arranged in the first direction, the first shutdown platform is located below the landing platform, the second shutdown platform is located below the takeoff platform, and the transfer mechanism is located between the landing platform and the takeoff platform and between the first shutdown platform and the second shutdown platform;

the fastener includes the edge first fastener and the second fastener that the second direction of unmanned aerial vehicle hangar was arranged, the second direction perpendicular to first direction with direction of height, first fastener is used for transporting the platform with between the landing platform and transport the platform with remove between the first parking platform, the second fastener is used for transporting the platform with between the take-off platform and transport the platform with remove between the second parking platform.

Optionally, the unmanned aerial vehicle hangar still includes the mechanism of reforming, the mechanism of reforming be used for with unmanned aerial vehicle on the first platform removes to predetermineeing the position, the mechanism of reforming is including being located the first piece of reforming of the relative both sides of first platform and every first piece of reforming go up two relative second pieces that set up, first piece of reforming is followed the first direction extension of unmanned aerial vehicle hangar just sets up to can follow the second direction of unmanned aerial vehicle hangar removes, the second piece of reforming sets up to can follow the first direction removes, first direction with the second direction is perpendicular, just first direction and second direction all perpendicular to the direction of height.

Optionally, the restoring mechanism further includes two supporting plates oppositely disposed along the first direction, the two supporting plates are located at two opposite sides of the first platform and extend along the second direction, two ends of the first restoring member are movably supported on the supporting plates, and the first platform is configured to be movable relative to the supporting plates.

Optionally, the unmanned aerial vehicle hangar still includes arm and battery compartment, the transport platform can move to opposite with the arm, the arm is used for taking out the battery of unmanned aerial vehicle on the transport platform, and is used for taking out and installing the battery in the battery compartment on the unmanned aerial vehicle on the transport platform.

Optionally, a plurality of charging cavities for accommodating and charging the battery of the unmanned aerial vehicle are arranged in the battery compartment;

the unmanned aerial vehicle hangar also comprises a battery replacement controller, wherein the battery replacement controller is used for controlling the mechanical arm to place the battery of the unmanned aerial vehicle into an idle charging cavity in the battery cabin after the mechanical arm is controlled to take out the battery of the unmanned aerial vehicle on the transfer platform;

the battery replacement controller is used for determining a target charging cavity in the battery compartment, wherein the target charging cavity is any charging cavity which charges the battery of the unmanned aerial vehicle to be more than a preset electric quantity in the battery compartment; controlling the mechanical arm to take out the battery in the target charging cavity; and controlling the mechanical arm to install the taken battery on the unmanned aerial vehicle on the transfer platform.

Optionally, the unmanned aerial vehicle hangar further comprises a housing, the first platform, the second platform and the transfer mechanism are all located in the housing, an opening for the unmanned aerial vehicle to pass through is formed in the housing, the opening is arranged opposite to the first platform, the unmanned aerial vehicle hangar further comprises a cover plate movably arranged on the housing, the cover plate has an open position and a closed position, and in the open position, the cover plate exposes the opening; in the closed position, the cover covers the opening.

Optionally, the first platform includes a landing platform, the opening includes a first opening opposite to the landing platform, the cover plate includes a first cover plate for exposing or covering the first opening, the unmanned aerial vehicle hangar further includes a first cover plate driving device for driving the first cover plate to move, and a first cover plate control device connected to the first cover plate driving device, the first cover plate control device is configured to control the first cover plate driving device to drive the first cover plate to expose the landing platform when a landing request instruction of the unmanned aerial vehicle is obtained; and/or the presence of a gas in the gas,

the unmanned aerial vehicle hangar comprises a first platform, an opening, a second cover plate and a second cover plate control device, wherein the first platform comprises a take-off platform, the opening comprises a second opening opposite to the take-off platform, the second cover plate comprises a second cover plate used for exposing or covering the second opening, the unmanned aerial vehicle hangar further comprises a second cover plate driving device used for driving the second cover plate to move, and the second cover plate control device is connected with the second cover plate driving device and is used for controlling the second cover plate driving device to drive the second cover plate to expose the take-off platform when a request take-off instruction of the unmanned aerial vehicle is acquired.

Optionally, a first graphic code is arranged on the first cover plate or the shell, the first graphic code records a communication address of the first cover plate control device, and the command for requesting landing is sent to the first cover plate control device according to the communication address after the unmanned aerial vehicle obtains the communication address by scanning the first graphic code; or,

and a second graphic code is arranged on the first cover plate or the shell, the second graphic code records coordinate position information of the landing platform, and the second graphic code is used for scanning by the unmanned aerial vehicle to acquire the coordinate position information of the landing platform and landing according to the coordinate position information.

Optionally, the first platform is used for parking the unmanned aerial vehicle taking off, a pressure sensor for measuring the pressure of the unmanned aerial vehicle on the first platform is arranged below the first platform, and the unmanned aerial vehicle hangar further comprises a flying controller;

the flying controller is used for determining a weight value of the unmanned aerial vehicle according to the pressure value detected by the pressure sensor, and sending a takeoff instruction to the unmanned aerial vehicle when the weight value is within a preset weight range, wherein the takeoff instruction is used for instructing the unmanned aerial vehicle to take off or not;

the flying controller is used for determining the gravity center position of the unmanned aerial vehicle by using a weighing method according to pressure values detected by at least three pressure sensors, and sending a takeoff instruction to the unmanned aerial vehicle for indicating the unmanned aerial vehicle to take off when the gravity center position is within a preset gravity center position range, wherein the at least three pressure sensors are arranged in a non-collinear manner.

Through above-mentioned technical scheme, be provided with the platform and/or the landing platform (being first platform) that take off and/or the unmanned aerial vehicle that lands that are used for parking in the unmanned aerial vehicle hangar that this disclosure provided and be used for depositing the shut down platform (being the second platform) of unmanned aerial vehicle, can satisfy unmanned aerial vehicle's take off and/or land, and the storage demand.

Moreover, as the transfer mechanism for transferring the unmanned aerial vehicle is further arranged in the unmanned aerial vehicle hangar, when the unmanned aerial vehicle needs to be moved from the first platform to the second platform for storage, the transfer platform can be firstly butted with the first platform, the unmanned aerial vehicle is moved from the first platform to the transfer platform through the transfer device which is movably arranged, then the transfer platform is butted with the second platform, and the unmanned aerial vehicle is moved from the transfer platform to the second platform through the transfer device, so that the transfer of the unmanned aerial vehicle from the first platform to the second platform is realized through the transfer mechanism; when unmanned aerial vehicle need remove to first platform from the second platform and take off, can make earlier transport platform and second platform butt joint to remove unmanned aerial vehicle to transporting the platform from the second platform through transfer device on, make transport platform and first platform butt joint again, and remove unmanned aerial vehicle to first platform from transporting the platform through transfer device on, thereby realize unmanned aerial vehicle from the second platform to the transportation of first platform through transport mechanism. That is to say, just can realize the transportation with unmanned aerial vehicle between first platform and second platform through transport mechanism for unmanned aerial vehicle's transportation process is more convenient, simple, transports efficiently, need not operating personnel and carries unmanned aerial vehicle between first platform and second platform manually.

Because there is the difference in height between the plane of shutting down of first platform and the plane of shutting down of second platform, the volume of unmanned aerial vehicle hangar can be reduced as far as possible in this kind of setting, the use of the unmanned aerial vehicle hangar of being convenient for, installation or carry. The second platform can also be a plurality of for one, and when the second platform was a plurality of, a plurality of second platforms can be followed the direction of height interval and set up to make the unmanned aerial vehicle hangar can accomodate a plurality of unmanned aerial vehicles in its direction of height, improve the unmanned aerial vehicle's that the unmanned aerial vehicle hangar can deposit quantity.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is an exploded view of a drone hangar provided by an exemplary embodiment of the present disclosure, wherein the housing of the drone hangar is not shown;

FIG. 2 is a perspective view of a transfer mechanism provided in an exemplary embodiment of the present disclosure;

fig. 3 is a perspective view of a transfer mechanism and a first shutdown or landing platform of the transfer mechanism provided in an exemplary embodiment of the present disclosure, wherein the first engagement member is in engagement with the drone;

fig. 4 is a perspective view of a transfer mechanism and a second shutdown or take-off platform of the transfer mechanism provided by an exemplary embodiment of the present disclosure, wherein the second engagement member is in engagement with the drone;

FIG. 5 is a perspective view of a first engagement member provided in accordance with an exemplary embodiment of the present disclosure, wherein the first engagement member is in a disengaged condition;

FIG. 6 is a perspective view of a first engagement member provided in accordance with an exemplary embodiment of the present disclosure, wherein the first engagement member is in an engaged state;

FIG. 7 is a perspective view of a second engagement member provided in accordance with an exemplary embodiment of the present disclosure, wherein the second engagement member is in a disengaged condition;

FIG. 8 is a perspective view of a second engagement member provided in accordance with an exemplary embodiment of the present disclosure, wherein the second engagement member is in an engaged state;

FIG. 9 is a perspective view of a righting mechanism provided in an exemplary embodiment of the present disclosure;

fig. 10 is a perspective view of a righting mechanism provided by an exemplary embodiment of the present disclosure, wherein a drone has been moved to a preset position by the righting mechanism;

fig. 11 is a schematic diagram of a battery of a drone on a robotic gripping transport platform provided by an exemplary embodiment of the present disclosure;

FIG. 12 is a perspective view of a robotic arm provided in accordance with an exemplary embodiment of the present disclosure;

FIG. 13 is an exploded view of a housing and cover plate provided by an exemplary embodiment of the present disclosure;

fig. 14 is a schematic diagram of a position of a pressure sensor on a first platform provided in an exemplary embodiment of the present disclosure.

Description of the reference numerals

1-a first platform; 11-a landing platform; 12-a takeoff platform; 2-a second platform; 21-a first shutdown platform; 22-a second shutdown platform; 3-a transfer mechanism; 31-a transport platform; 32-a transfer device; 321-a joint; 321 a-a first engagement member; 321 b-a second engagement member; 3211-rotating rod; 3212-a stopper; 322-a guide rail; 323-a slide block; 4-unmanned aerial vehicle; 5-a righting mechanism; 51-first righting element; 52-second righting element; 53-a support plate; 6, a mechanical arm; 61-a first drive mechanism; 62-a second drive mechanism; 63-a rotation mechanism; 64-a manipulator; 7-a battery compartment; 71-a charging chamber; 8-a shell; 81-opening; 811-a first opening; 812-a second opening; 82-a cover plate; 821-a first cover plate; 822-a second cover plate; 9-a pressure sensor; a1 — first direction; a2 — second direction; a 3-height direction.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, without being explained to the contrary, the use of the directional words such as "up and down" is defined based on the up and down direction in the normal use state of the drone hangar; further, "inner and outer" generally refer to the inner and outer sides of the corresponding structural profile; terms such as "first" and "second" are used merely to distinguish one element from another, and are not sequential or significant.

As shown in fig. 1 to 14, the present disclosure provides an unmanned aerial vehicle hangar including a first platform 1, a second platform 2, and a transfer mechanism 3. Wherein, first platform 1 is used for parking take-off and/or descending unmanned aerial vehicle 4, and second platform 2 is used for depositing unmanned aerial vehicle 4, and transport mechanism 3 can set up to dock with first platform 1 or second platform 2 including transporting platform 31 and transfer device 32, transports platform 31, and transfer device 32 sets up on transporting platform 31 movably to can remove unmanned aerial vehicle 4 between first platform 1 and transport platform 31, and transport platform 31 and second platform 2. That is, when the transfer platform 31 is docked with the first platform 1, the transfer device 32 may move the drone 4 from the first platform 1 to the transfer platform 31, or, move the drone 4 from the transfer platform 31 to the first platform 1; when the transfer platform 31 is docked with the second platform 2, the transfer device 32 may move the drone 4 from the second platform 2 to the transfer platform 31, or, move the drone 4 from the transfer platform 31 to the second platform 2.

Here, the first platform 1 may be a landing platform 11 for landing the unmanned aerial vehicle 4, or a takeoff platform 12 for takeoff of the unmanned aerial vehicle 4, or a takeoff and landing platform capable of takeoff and landing the unmanned aerial vehicle 4. For the case that the first platform 1 is a take-off and landing platform, the take-off and landing platform may be an integrated type or a split type, and the disclosure does not limit this. Furthermore, the second platform 2 should be understood as a parking platform for storing the drone 4 that temporarily does not need to take off.

Through above-mentioned technical scheme, be provided with the take-off platform 12 and/or the landing platform 11 (being first platform 1) that are used for parking the unmanned aerial vehicle 4 that takes off and/or land in the unmanned aerial vehicle hangar that this disclosure provided and be used for depositing the platform that stops (being second platform 2) of unmanned aerial vehicle 4, can satisfy the take-off and/or land and the storage demand of unmanned aerial vehicle 4.

Moreover, because the transfer mechanism 3 for transferring the unmanned aerial vehicle 4 is further arranged in the unmanned aerial vehicle hangar, when the unmanned aerial vehicle 4 needs to be moved from the first platform 1 to the second platform 2 for storage, the transfer platform 31 can be firstly butted with the first platform 1, the unmanned aerial vehicle 4 is moved from the first platform 1 to the transfer platform 31 through the transfer device 32 which is movably arranged, then the transfer platform 31 is butted with the second platform 2, and the unmanned aerial vehicle 4 is moved from the transfer platform 31 to the second platform 2 through the transfer device 32, so that the transfer of the unmanned aerial vehicle 4 from the first platform 1 to the second platform 2 is realized through the transfer mechanism 3; when unmanned aerial vehicle 4 need remove to first platform 1 from second platform 2 and take off, can make earlier transport platform 31 and the butt joint of second platform 2 to remove unmanned aerial vehicle 4 to transport platform 31 from second platform 2 through transfer device 32 on, make transport platform 31 and the butt joint of first platform 1 again, and remove unmanned aerial vehicle 4 to first platform 1 from transport platform 31 through transfer device 32 on, thereby realize unmanned aerial vehicle 4 from the transportation of second platform 2 to first platform 1's transportation through transport mechanism 3. That is to say, just can realize the transportation with unmanned aerial vehicle 4 between first platform 1 and second platform 2 through transport mechanism 3 for unmanned aerial vehicle 4's transportation process is more convenient, simple, transports efficiently, need not operating personnel and manually carry unmanned aerial vehicle 4 between first platform 1 and second platform 2.

The second platform 2 may be located at any suitable position outside the first platform 1, for example, the parking surface of the second platform 2 and the parking surface of the first platform 1 may be located at the same horizontal plane, and the transfer platform 31 may be configured to be capable of moving in a horizontal direction to interface with the first platform 1 or the second platform 2.

Alternatively, as shown in fig. 1, in an exemplary embodiment provided by the present disclosure, the parking surface of the first platform 1 and the parking surface of the second platform 2 have a height difference therebetween, the transfer platform 31 may be configured to be movable along the height direction A3 of the drone depot, that is, the first platform 1 and the second platform 2 are arranged along the height direction A3 of the drone depot, and the transfer mechanism 3 may implement the transfer of the drone 4 in the height direction A3, and because of the height difference between the parking surface of the first platform 1 and the parking surface of the second platform 2, such configuration can reduce the volume of the drone depot as much as possible, thereby facilitating the use, installation, or carrying of the drone depot. The second platform 2 can also be a plurality of for one, when the second platform 2 is a plurality of, and direction of height A3 interval sets up can be followed to a plurality of second platforms 2 to make the unmanned aerial vehicle hangar accomodate a plurality of unmanned aerial vehicle 4 on its direction of height A3, improve the unmanned aerial vehicle 4's that the unmanned aerial vehicle hangar can be deposited quantity.

In order to enable the transfer mechanism 3 to automatically move the unmanned aerial vehicle 4 between the first platform 1 and the transfer platform 31, and between the second platform 2 and the transfer platform 31, taking an example of an embodiment in which a height difference exists between a parking surface of the first platform 1 and a parking surface of the second platform 2, the unmanned aerial vehicle hangar may further include a transfer controller, the transfer controller is configured to control the transfer platform 31 to move along a height direction a3 of the unmanned aerial vehicle hangar, so that the transfer platform 31 is in butt joint with the first platform 1 or the second platform 2, and control the transfer device 32 to move the unmanned aerial vehicle 4 between the first platform 1 and the transfer platform 31, and between the transfer platform 31 and the second platform 2, thereby implementing automatic transfer of the unmanned aerial vehicle 4, and making a transfer process of the unmanned aerial vehicle 4 between the first platform 1 and the second platform 2 more convenient.

Alternatively, in order to drive the above-mentioned transfer platform 31 to move in the height direction a3, the transfer mechanism 3 may further include a platform driving device for driving the transfer platform 31 to move up and down. As an implementation manner, the platform driving device may be a hydraulic cylinder or a pneumatic cylinder, and a piston rod of the hydraulic cylinder or a piston rod of the pneumatic cylinder is connected to the transfer platform 31, so that the piston rod is driven to move up and down by the volume change of hydraulic oil in the hydraulic cylinder or the volume change of gas in the pneumatic cylinder, thereby driving the transfer platform 31 to move up and down.

As another embodiment, the platform driving device may include a motor, a screw rod and a nut, an output shaft of the motor is connected to the screw rod, the screw rod extends along the height direction A3, the nut is sleeved on the screw rod and forms a screw-nut pair with the screw rod, and the transferring platform 31 is connected to the nut, so that when the output shaft of the motor rotates, the screw rod may be driven to rotate, thereby moving the nut along the axial direction of the screw rod, and further driving the transferring platform 31 to move along the height direction A3.

As another embodiment, the platform driving device may include a motor, a plurality of belt pulleys and a belt, the plurality of belt pulleys are disposed at intervals along the height direction A3, the belt pulleys are disposed around the belt pulleys, the transferring platform 31 is connected to the belt, and the motor is configured to drive the belt pulleys to rotate, so as to drive the belt to move up and down along the height direction A3, and further drive the transferring platform 31 to move along the height direction A3.

Furthermore, the transfer device 32 may implement the movement of the drone 4 between the first platform 1 and the transfer platform 31 and between the transfer platform 31 and the second platform 2 through various embodiments, and the following description will be made specifically for an example of the transfer device 32.

In one embodiment, the transfer device 32 may comprise a first drive for driving the gripper to extend or retract relative to the transfer platform 31 and a gripper for releasably gripping the drone 4. Optionally, the transfer device 32 may further comprise a second driving device for driving the gripper to rotate, so that the position of the gripper can be adjusted according to the position of the drone 4.

In another embodiment, the transfer device 32 may include a first driving device for driving the engaging member 321 to extend or retract relative to the transfer platform 31, and an engaging member 321 for engaging with or disengaging from the drone 4, wherein when the engaging member 321 is engaged with the drone 4, the first driving device is capable of driving the drone 4 to move through the engaging member 321, thereby dragging the drone 4 into the transfer platform 31 or pushing out the transfer platform 31. Here, the moving direction of the joint 321 may be a first direction a1 perpendicular to the height direction A3 of the unmanned aerial vehicle hangar, that is, the joint 321 is moved in a horizontal direction, and when the transfer platform 31 is docked with the first platform 1 or the second platform 2, the transfer platform 31 is opposite to the first platform 1 or the second platform 2 in the first direction a 1.

Alternatively, the first driving device may be a telescopic rod, a hydraulic cylinder, a pneumatic cylinder, a linear motor, or the like, which can drive the engaging member 321 to extend or retract relative to the transferring platform 31. Alternatively, the first driving device may include a motor and a screw-nut mechanism, and the motor drives one of the screw and the nut of the screw-nut mechanism to rotate to move the other of the screw and the nut along the axial direction thereof, so as to drive the engaging member 321 to move.

Here, the engagement member 321 may be selectively engaged or disengaged with the drone 4 through various embodiments. For example, the engaging member 321 may be an electromagnet, and the unmanned aerial vehicle 4 may be made of a magnetic material or the unmanned aerial vehicle 4 may be covered with a magnetic material, so that when the electromagnet is powered on, the electromagnet may attract the unmanned aerial vehicle 4 by magnetic attraction generated by the electromagnet, thereby achieving engagement with the unmanned aerial vehicle 4; when the electro-magnet outage, the electro-magnet breaks away from with unmanned aerial vehicle 4.

In another embodiment, referring to fig. 2 to 8, the engaging element 321 may include a rotating rod 3211 and a stopping portion 3212 disposed on the rotating rod 3211, and the transfer device 32 may further include a second driving device, where the second driving device is configured to drive the rotating rod 3211 to rotate around an axis thereof, so that the engaging element 321 has an engaged state and a disengaged state, and in the engaged state (as shown in fig. 3 and 4), the stopping portion 3212 stops on the unmanned aerial vehicle 4, so that the unmanned aerial vehicle 4 can be dragged into the transfer platform 31 or pushed out of the transfer platform 31 by the engaging element 321 under the driving of the first driving device; in the disengaged state, the stopper portion 3212 is disengaged from the drone 4, and the engaging member 321 can avoid the drone 4 in the moving process thereof, i.e., does not mechanically interfere with the drone 4. Alternatively, the second driving device may be a motor, and an output shaft of the motor is used for connecting with the rotating rod 3211.

Alternatively, the stopper portion 3212 may be a stopper piece (as shown in fig. 5 to 8) formed on the rotating lever 3211, and in the engaged state, the stopper piece rotates to a position where it can contact the drone 4 and abut against the drone 4. Or, the stopping portion 3212 may also be a stopping groove formed on the rotating rod 3211 and having a U-shaped cross section, and in the engaged state, the stopping groove may be fastened to the unmanned aerial vehicle 4, for example, may be fastened to a leg of the unmanned aerial vehicle 4.

Alternatively, as shown in fig. 5 to 8, in order to ensure that the engaging piece 321 can be engaged with the drone 4, the stopping portion 3212 may be multiple, and multiple stopping portions 3212 are provided at intervals along the axial direction of the rotating rod 3211, so that the stopping portion 3212 can stop at different positions of the drone 4.

Optionally, in order to enable the rotating rod 3211 to move smoothly, as shown in fig. 5 to 8, the transfer device 32 may further include a guide rail 322 and a slider 323 slidably connected to the guide rail 322, where one end of the rotating rod 3211 away from the stopper 3212 is rotatably connected to the slider 323, the first driving device is configured to drive the slider 323 to slide along the guide rail 322, and the guide rail 322 guides the moving process of the rotating rod 3211 to prevent the rotating rod 3211 from shifting during the moving process. For embodiments in which the second drive means is a motor, the motor may be mounted on the slider 323.

Alternatively, in order to prevent the drone 4 from yawing, shifting or rotating during the moving process, as shown in fig. 2, the engaging members 321 may be multiple, and the multiple engaging members 321 are arranged at intervals along the second direction a2 of the drone library, where the second direction a2 is perpendicular to the first direction a1 and the height direction A3.

In order to enable the engaging member 321 to automatically engage with or disengage from the drone 4, and the drone 4 to automatically move from the first platform 1 or the second platform 2 to the transfer platform 31, or from the transfer platform 31 to the first platform 1 or the second platform 2, in one embodiment provided by the present disclosure, the transfer controller may be connected to the first driving device, the second driving device, and the platform driving device;

the transfer controller is used for controlling the first driving device to drive the engaging piece 321 to extend relative to the transfer platform 31 after controlling the platform driving device to drive the transfer platform 31 to move to be in butt joint with the target platform, and controlling the first driving device to drive the engaging piece 321 to retract into the transfer platform 31 after controlling the second driving device to drive the stopping portion 3212 on the rotating rod 3211 to stop on the unmanned aerial vehicle 4 on the target platform, so as to move the unmanned aerial vehicle 4 to the transfer platform 31; and/or the presence of a gas in the gas,

the transfer controller is used for controlling the second driving device to drive the transfer platform 3212 on the rotating rod 3211 to stop the unmanned aerial vehicle 4 on the transfer platform 31 and controlling the first driving device to drive the joint 321 to extend out relative to the transfer platform 31 after the control platform driving device drives the transfer platform 31 to move to be in butt joint with the target platform, and controlling the first driving device to drive the joint 321 to retract into the transfer platform 31 after controlling the stop portion 3212 on the rotating rod 3211 to be separated from the unmanned aerial vehicle 4 on the target platform; wherein, the target platform is a first platform 1 or a second platform 2.

Furthermore, as mentioned above, the first platform 1 may be a platform for parking the unmanned aerial vehicle 4 for takeoff and landing, so that the unmanned aerial vehicle hangar is provided with the function of assisting the unmanned aerial vehicle 4 in takeoff and landing at the same time. In an exemplary embodiment provided by the present disclosure, the first platform 1 includes a landing platform 11 and a takeoff platform 12 oppositely disposed along a first direction a1 perpendicular to a height direction A3 of the unmanned aerial vehicle hangar, the second platform 2 includes a first stopping platform 21 and a second stopping platform 22 oppositely disposed along a first direction a1, the first stopping platform 21 is located below the landing platform 11, the second stopping platform 22 is located below the takeoff platform 12, and the transfer mechanism 3 is located between the landing platform 11 and the takeoff platform 12 and between the first stopping platform 21 and the second stopping platform 22. Because first platform 1 includes takeoff platform 12 and landing platform 11 to make the unmanned aerial vehicle hangar that this disclosure provided can supply to treat unmanned aerial vehicle 4 that lands simultaneously, and supply to treat 4 take-off of unmanned aerial vehicle. And, take-off platform 12 and descending platform 11 below are provided with first shut down platform 21 and second and shut down platform 22 respectively for the space of taking-off platform 12 and descending platform 11 below can obtain rational utilization, improves the unmanned aerial vehicle 4's that the unmanned aerial vehicle hangar can deposit quantity. Here, the first parking platform 21 and the second parking platform 22 may be both plural, and the plural first parking platforms 21 and the plural second parking platforms 22 are arranged at intervals in the height direction a 3.

In the above exemplary embodiment, since the transfer mechanism 3 is located between the landing platform 11 and the takeoff platform 12, and between the first stopping platform 21 and the second stopping platform 22, the transfer device 32 can move the unmanned aerial vehicle 4 on the landing platform 12 and the landing platform 11, and the first stopping platform 21 and the second stopping platform 22 located on both sides thereof onto the transfer platform 31, and can move the unmanned aerial vehicle 4 on the transfer platform 31 onto the landing platform 12 and the landing platform 11, and the first stopping platform 21 and the second stopping platform 22 located on both sides thereof.

In order to avoid mechanical interference of the engaging members 321 with the first and

landing platforms

21, 11, or with the second and

takeoff platforms

22, 12 when extended or retracted relative to the transfer platform 31, the engaging members 321 may optionally include first and second engaging

members

321a, 321b arranged along a second direction a2 of the drone depot, the second direction a2 being perpendicular to the first direction a1 and the height direction A3, the first engaging members 321a being adapted to move between the transfer platform 31 and the landing platform 11, and between the transfer platform 31 and the first landing platform 21, and the second engaging members 321b being adapted to move between the transfer platform 31 and the takeoff platform 12, and between the transfer platform 31 and the second landing platform 22.

That is, the first engaging member 321a is configured to move toward a direction approaching the landing platform 11 or the first stopping platform 21, or a direction approaching the transfer platform 31, and the second engaging member 321b is configured to move toward a direction approaching the takeoff platform 12 or the second stopping platform 22, or a direction approaching the transfer platform 31, so that during the movement of the first engaging member 321a, the first engaging member 321a can be prevented from mechanically interfering with the takeoff platform 12 or the second stopping platform 22, and during the movement of the second engaging member 321b, the second engaging member 321b can be prevented from mechanically interfering with the landing platform 11 or the first stopping platform 21. Also, since the first engaging member 321a and the second engaging member 321b are arranged in the second direction a2, that is, the first engaging member 321a and the second engaging member 321b are opposed in the second direction a2, so that the first engaging member 321a and the second engaging member 321b do not interfere with each other during movement.

In an exemplary embodiment provided by the present disclosure, as shown in fig. 2, the first engaging member 321a is plural, the plural first engaging members 321a are oppositely disposed along the second direction a2, the plural second engaging members 321b are plural, and the plural second engaging members 321b are oppositely disposed along the second direction a 2. The stopping portion 3212 of the first engaging member 321a and the stopping portion 3212 of the second engaging member 321b may both form a stopping piece, as shown in fig. 3, when the unmanned aerial vehicle 4 on the first parking platform 21 or the landing platform 11 needs to be moved onto the transfer platform 31, the first engaging member 321a is first in a separated state as shown in fig. 5 and extends out relative to the transfer platform 31, after the first engaging member 321a moves to the bottom of the unmanned aerial vehicle 4, the rotating rod 3211 rotates to make the engaging member 321 in an engaged state as shown in fig. 6, so that the stopping portion 3212 stops and abuts against a leg of the unmanned aerial vehicle 4 (as shown in fig. 3), and after the stopping portion 3212 stops on the unmanned aerial vehicle 4, the engaging member 321 retracts relative to the transfer platform 31 to drag the unmanned aerial vehicle 4 onto the transfer platform 31. The process of the first engaging member 321a pushing the unmanned aerial vehicle 4 on the transfer platform 31 into the first stop platform 21 is similar to the process of the first engaging member 321a pulling the unmanned aerial vehicle 4 on the first stop platform 21 or the landing platform 11 into the transfer platform 31, which is not described herein any more, and it should be noted that when the first engaging member 321a pulls the unmanned aerial vehicle 4 on the first stop platform 21 or the landing platform 11 into the transfer platform 31, the stopping portion 3212 of the first engaging member 321a stops at one side of the unmanned aerial vehicle 4 far away from the transfer platform 31, and when the first engaging member 321a pushes the unmanned aerial vehicle 4 on the transfer platform 31 into the first stop platform 21, the stopping portion 3212 of the first engaging member 321a stops at one side of the unmanned aerial vehicle 4 close to the transfer platform 31.

As shown in fig. 4, when the unmanned aerial vehicle 4 on the transfer platform 31 needs to be pushed into the second parking platform 22 or the takeoff platform 12, the second engaging member 321b is in the engaging position shown in fig. 8 and abuts against the unmanned aerial vehicle 4, so that the unmanned aerial vehicle 4 is pushed to move in the process of extending the second engaging member 321b relative to the transfer platform 31. When the drone 4 is pushed into the second parking platform 22 or the takeoff platform 12, the rotating rod 3211 rotates so that the second engagement member 321b is in the disengaged state as shown in fig. 7 and the second engagement member 321b is retracted relative to the transfer platform 31. The process of the second joint 321b dragging the drone 4 on the second parking platform 22 into the transfer platform 31 is similar to the process of the second joint 321b pushing the drone 4 on the transfer platform 31 into the second parking platform 22 or the takeoff platform 12, which is not described herein again, and it should be noted that when the second joint 321b drags the drone 4 on the second parking platform 22 into the transfer platform 31, the stopper portion 3212 of the second joint 321b is stopped at the side of the drone 4 far from the transfer platform 31, and when the second joint 321b pushes the drone 4 on the transfer platform 31 into the second parking platform 22 or the takeoff platform 12, the stopper portion 3212 of the second joint 321b is stopped at the side of the drone 4 close to the transfer platform 31.

Furthermore, as shown in fig. 1, 9 and 10, the unmanned aerial vehicle hangar may further include a righting mechanism 5, where the righting mechanism 5 is configured to move the unmanned aerial vehicle 4 on the first platform 1 to a preset position, so that the transfer device 32 moves the unmanned aerial vehicle 4 on the first platform 1. Wherein, the mechanism 5 of reforming can include the first piece 51 that reforms that is located the relative both sides of first platform 1, and two relative second piece 52 that reforms that set up on every first piece 51 of reforming, first piece 51 of reforming extends and sets up to can follow the second direction A2 removal of unmanned aerial vehicle hangar along the first direction A1 of unmanned aerial vehicle hangar, second piece 52 of reforming sets up to can follow first direction A1 and removes, first direction A1 is perpendicular with second direction A2, and first direction A1 and second direction A2 all are perpendicular to direction of height A3. As shown in fig. 9 and 10, after the unmanned aerial vehicle 4 is parked on the first platform 1, the two first righting members 51 are close to each other, the two second righting members 52 on each first righting member 51 are close to each other, during the movement of the first righting members 51 and the second righting members 52, the first righting members 51 and the second righting members 52 push the unmanned aerial vehicle 4, and finally the unmanned aerial vehicle 4 is clamped between the first righting members 51 and the second righting members 52, and the unmanned aerial vehicle 4 is pushed to a preset position by the first righting members 51 and the second righting members 52. The predetermined position may be any position on the first stage 1, for example, the center of the first stage 1.

Here, the first restoring member 51 may be moved through various embodiments. For example, the first righting element 51 may be connected to a telescopic rod, a piston rod of a hydraulic cylinder or a piston rod of a pneumatic cylinder to achieve a movement in the second direction a 2. Alternatively, the centering mechanism 5 may further include a first motor, a plurality of pulleys and a belt, the plurality of pulleys are arranged at intervals along the second direction a2, the first motor is used for driving the pulleys to rotate, the belt is wound on the pulleys, one of the two first centering members 51 is connected to an upper layer of the belt, and the other of the two first centering members 51 is connected to a lower layer of the belt, so that the two first centering members 51 can approach or move away from each other during the rotation of the belt.

The second centering member 52 may also be moved in the first direction a1 on the first centering member 51 by various embodiments. For example, in one embodiment, the pushing mechanism may further include a second motor and a screw rod, the second motor is mounted on the first centering members 51, the screw rod extends along the first direction a1, the second motor is configured to drive the screw rod to rotate, the two second centering members 52 on each first centering member 51 are sleeved on the corresponding screw rod and form a screw rod nut pair with the screw rod, and the spiral directions of the internal threads of the two second centering members 52 on each first centering member 51 are opposite, so that when the second motor drives the screw rod to rotate, the two second centering members 52 on each first centering member 51 can approach or move away from each other along the axial direction of the screw rod. Alternatively, the second restoring member 52 can be driven to move by a telescopic rod, a piston rod of a hydraulic cylinder or a piston rod of a pneumatic cylinder.

Alternatively, the righting mechanism 5 may further include two support plates 53 oppositely disposed in the first direction a1, the two support plates 53 being located on opposite sides of the first platform 1 and extending in the second direction a2, both ends of the first righting element 51 being movably supported on the support plates 53, the first platform 1 being disposed to be movable relative to the support plates 53. That is, during the movement of the first platform 1, the first righting element 51, the second righting element 52 and the support plate 53 do not move along with the movement of the first platform 1, and the first platform 1 can be separated from the first righting element 51, the second righting element 52 and the support plate 53, so as to avoid the first righting element 51 and the second righting element 52 from mechanically interfering with the transfer device 32 during the movement of the unmanned aerial vehicle 4 on the first platform 1 by the transfer device 32. Here, the first platform 1 may be arranged to move in the height direction a3 and/or the horizontal direction of the unmanned airplane garage.

Unmanned aerial vehicle all is an aircraft with the battery as power, after unmanned aerial vehicle flies for a period, need charge so that unmanned aerial vehicle can continue to fly to the battery on the unmanned aerial vehicle. In the prior art, the stop platform or the stop cabin is usually provided with a claw which is connected with the unmanned aerial vehicle in an opening mode, the claw is used as a contact electrode to charge the unmanned aerial vehicle, and the charging speed of the mode is slower. When a large current is used for charging, heat is generated seriously at the contact electrode, and a fire is easily caused.

To this end, as shown in fig. 11 and 12, the unmanned aerial vehicle hangar provided by the present disclosure further includes a mechanical arm 6 and a battery compartment 7, wherein the mechanical arm 6 is used for taking out the battery of the unmanned aerial vehicle 4 on the transfer platform 31 and for taking out and installing the battery in the battery compartment 7 on the unmanned aerial vehicle 4 on the transfer platform 31. Compared with the prior art, the unmanned aerial vehicle hangar that this disclosure provided adopts the mode of changing to the battery on unmanned aerial vehicle 4 to make unmanned aerial vehicle 4 can continue to fly, before unmanned aerial vehicle 4 takes off, can directly change the battery of unmanned aerial vehicle 4 that the electric quantity is lower through arm 6, and efficiency is higher, and unmanned aerial vehicle 4 need not to wait for its battery to charge and takes off again after accomplishing.

For embodiments in which the transfer platform 31 is movable in the height direction a3, the robotic arm 6 and the battery compartment 7 may be disposed at the bottom of the unmanned aerial vehicle hangar, and the transfer platform 31 may be disposed so as to be movable opposite to the robotic arm 6.

Optionally, as shown in fig. 11, a plurality of charging cavities 71 for accommodating the battery of the drone 4 and charging the battery of the drone 4 are provided in the battery compartment 7. Charging chamber 71 charges to holding the battery in its inside, when unmanned aerial vehicle 4 need change the battery, arm 6 can take out the battery on unmanned aerial vehicle 4 earlier, selects again from a plurality of charging chambers 71 and has charged unmanned aerial vehicle 4's battery to the charging chamber 71 more than presetting the electric quantity to install the battery in this charging chamber 71 on unmanned aerial vehicle 4, thereby realize the quick replacement of unmanned aerial vehicle 4's battery.

Optionally, in order to realize the automatic replacement of the battery on the drone 4 by the mechanical arm 6, the drone library further includes a battery replacement controller, configured to control the mechanical arm 6 to place the battery of the drone 4 into the idle charging cavity 71 in the battery compartment 7 and/or after the mechanical arm 6 is controlled to take out the battery of the drone 4 on the transfer platform 31; the battery replacement controller is used for determining a target charging cavity 71 in the battery compartment 7, wherein the target charging cavity 71 is any charging cavity 71 which charges the battery of the unmanned aerial vehicle 4 to be more than a preset electric quantity in the battery compartment 7; controlling the mechanical arm 6 to take out the battery in the target charging cavity 71; the robot arm 6 is controlled to mount the taken-out battery on the unmanned aerial vehicle 4 on the transfer platform 31.

In an exemplary embodiment provided by the present disclosure, as shown in fig. 12, the robot arm 6 includes a first driving mechanism 61, a second driving mechanism 62, a rotating mechanism 63, and a robot arm 64, the robot arm 64 is used for releasably grasping a battery of the drone 4 or a battery in the battery compartment 7, the robot arm 64 is installed on the first driving mechanism 61, the first driving mechanism 61 is installed on the second driving mechanism 62, the second driving mechanism 62 is installed on the rotating mechanism 63, one of the first driving mechanism 61 and the second driving mechanism 62 is used for driving the robot arm 64 to move along a height direction A3 of the drone library, the other is used for driving the robot arm 64 to move along a horizontal direction of the drone library, the rotating mechanism 63 is used for driving the second driving mechanism 62 to rotate with the height direction A3 as an axis, thereby improve the flexibility of manipulator 64, make manipulator 64 can press from both sides the battery of getting on unmanned aerial vehicle 4 or the battery in the battery compartment 7.

Alternatively, the first drive mechanism 61 may be a first motor and a first lead screw-nut mechanism that can convert the rotational motion of the first motor into a linear motion to drive the robot arm 64 to move in the height direction a3 or the horizontal direction. The second drive mechanism 62 may be a second motor and a second lead screw-nut mechanism that can convert the rotational motion of the second motor into a linear motion to drive the manipulator 64 to move in the height direction a3 or the horizontal direction. The rotating mechanism 63 may be a rotating motor, and an output shaft of the rotating motor is connected to the second driving mechanism 62, so as to drive the second driving mechanism 62 to rotate, and further drive the first driving mechanism 61 and the manipulator 64 to rotate. The manipulator 64 may comprise two grippers, a steering engine and a slider-crank unit, the two grippers being hinged to each other by a pin, the output shaft of the steering engine being connected to the crank of the slider-crank unit, the slider 323 of the slider-crank 323 mechanism being connected to the pin to drive the pin to move so that the two grippers approach or move away from each other to releasably grip the battery on the drone 4 or the battery in the battery compartment 7.

For the embodiment that the robot arm 6 includes the first driving mechanism 61, the second driving mechanism 62 and the rotating mechanism 63, and the battery compartment 7 is provided with a plurality of charging cavities 71, the first driving mechanism 61, the second driving mechanism 62 and the rotating mechanism 63 may be connected to a battery replacing controller, and the battery replacing controller is configured to control the first driving mechanism 61, the second driving mechanism 62 and the rotating mechanism 63 to drive the robot arm 64 to take out the battery of the drone 4 on the transfer platform 31, and then control the first driving mechanism 61, the second driving mechanism 62 and the rotating mechanism 63 to drive the robot arm 64 to place the battery of the drone 4 into an idle charging cavity 71 in the battery compartment 7, and/or;

the battery replacement controller is used for determining a target charging cavity 71 in the battery compartment 7, wherein the target charging cavity 71 is any charging cavity 71 which charges the battery of the unmanned aerial vehicle 4 to be more than a preset electric quantity in the battery compartment 7; controlling the first driving mechanism 61, the second driving mechanism 62 and the rotating mechanism 63 to drive the manipulator 64 to take out the battery in the target charging cavity 71; and controlling the first driving mechanism 61, the second driving mechanism 62 and the rotating mechanism 63 to drive the manipulator 64 to mount the taken-out battery on the unmanned aerial vehicle 4 on the transfer platform 31.

In addition, in order to facilitate carrying and installation of the unmanned aerial vehicle hangar and protect the unmanned aerial vehicle 4 on the first platform 1 and the second platform 2 as much as possible, as shown in fig. 13, the unmanned aerial vehicle hangar may further include a housing 8, the first platform 1, the second platform 2 and the transfer mechanism 3 are all located in the housing 8, an opening 81 for the unmanned aerial vehicle 4 to pass through is formed on the housing 8, the opening 81 is disposed opposite to the first platform 1, the unmanned aerial vehicle hangar further includes a cover plate 82 movably disposed on the housing 8, the cover plate 82 has an open position and a closed position, in the open position, the cover plate 82 exposes the opening 81, so that the first platform 1 is exposed; in the closed position, the cover 82 covers the opening 81. When unmanned aerial vehicle 4 need descend or take off, apron 82 can be in the open position to make unmanned aerial vehicle 4 can stop to put on first platform 1 or fly out the unmanned aerial vehicle hangar from opening 81, when unmanned aerial vehicle 4 stop to put on first platform 1 back or unmanned aerial vehicle 4 flies out the unmanned aerial vehicle hangar back, apron 82 can be in the closed position.

Alternatively, the first platform 1, the second platform 2, and the opening 81 may be arranged in the height direction A3 of the drone 4 library, the first platform 1 may be located between the opening 81 and the second platform 2, and the first platform 1 is provided to be movable in the height direction A3 of the drone library. Like this, when unmanned aerial vehicle 4 need descend or take off, first platform 1 can move towards the direction that is close to opening 81, and after unmanned aerial vehicle 4 has landed on first platform 1 or has flown out the unmanned aerial vehicle hangar from opening 81 after, first platform 1 can move towards the direction of keeping away from opening 81 to in dock with transportation platform 31.

In specific implementation, the first platform 1 may include a landing platform 11, the opening 81 includes a first opening 811 opposite to the landing platform 11, the cover plate 82 includes a first cover plate 821 for exposing or covering the first opening 811, the hangar of the drone further includes a first cover plate 821 driving device for driving the first cover plate 821 to move, and a first cover plate 821 control device connected to the first cover plate 821 driving device, the first cover plate 821 control device is configured to, when a landing request instruction of the drone 4 is obtained, control the first cover plate 821 driving device to drive the first cover plate 821 to expose the landing platform 11, so as to realize automatic opening of the first cover plate 821, and enable the drone 4 to land on the landing platform 11; and/or the presence of a gas in the gas,

first platform 1 includes takeoff platform 12, opening 81 includes second opening 812 relative with takeoff platform 12, apron 82 is including being used for exposing or hiding second opening 812's second apron 822, the unmanned aerial vehicle hangar is still including being used for driving second apron 822 the second apron 822 drive arrangement that removes, and the second apron 822 controlling means who is connected with second apron 822 drive arrangement, second apron 822 controlling means is used for when obtaining unmanned aerial vehicle 4's request takeoff instruction, control second apron 822 drive arrangement drive second apron 822 exposes takeoff platform 12, in order to realize the automation of second apron 822 and open, be convenient for unmanned aerial vehicle 4 flies out of the unmanned aerial vehicle hangar.

In an implementation, a first graphic code may be provided on the first cover plate 821 or the housing 8, where the first graphic code records a communication address of the control device of the first cover plate 821, and the first graphic code may be a two-dimensional code, for example, and the request landing instruction may be that the unmanned aerial vehicle 4 obtains the communication address by scanning the first graphic code and then sends the communication address to the control device of the first cover plate 821, so that when the unmanned aerial vehicle 4 lands, the first cover plate 821 is automatically opened to expose the landing platform 11. And above-mentioned request take-off instruction is that unmanned aerial vehicle 4 transports to send for second apron 822 controlling means before taking-off platform 12 from second platform 2, for example, unmanned aerial vehicle 4 is when receiving the take-off instruction that the user issued, request unmanned aerial vehicle hangar's transport platform 31 to remove unmanned aerial vehicle 4 to take-off platform 12 from second platform 2, and send the request to take-off instruction to second apron 822 controlling means simultaneously, expose take-off platform 12 with control second apron 822 drive second apron 822, make second apron 822 open before unmanned aerial vehicle 4 is shifted out second platform 2, guaranteed that unmanned aerial vehicle 4 can be transported to take-off platform 12 smoothly.

Alternatively, the driving device for the first cover plate 821 and the driving device for the second cover plate 822 may be a telescopic rod, a linear motor, or the like capable of driving the cover plate 82 to move.

In order to facilitate unmanned aerial vehicle 4 location unmanned aerial vehicle hangar's position to guide unmanned aerial vehicle 4 to descend, can be provided with the marker that supplies the unmanned aerial vehicle 4 discernment of descending on casing 8 and the apron 82. As an implementation, the marker may be a light emitting module, and when the drone 4 shoots the light emitting module through the camera, the position of the light emitting module in the image may be determined based on an image recognition technology, and through the position of the light emitting module in the image and the camera shooting parameters of the drone 4 camera, a displacement vector between the drone 4 and the light emitting module may be determined, and the displacement vector is used for the drone 4 to accurately land at the position of the drone hangar.

Alternatively, the tag may be a graphic code. For example, in one embodiment, a second graphic code is provided on the first cover plate 821 or the housing 8, the second graphic code records coordinate position information of the landing platform 11, and the second graphic code is used for the unmanned aerial vehicle 4 to scan to obtain the coordinate position information of the landing platform 11 and land according to the coordinate position information.

This coordinate position information can be the coordinate position information of landing platform 11 in the geodetic coordinate system, and unmanned aerial vehicle 4 can calculate the displacement vector that obtains unmanned aerial vehicle 4 to landing platform 11 through the coordinate position information of self in the geodetic coordinate system and the coordinate position information of landing platform 11, and this displacement vector is used for unmanned aerial vehicle 4 accuracy to fall the position in unmanned aerial vehicle hangar.

In a possible implementation manner, in combination with the first graphic code described in the above method embodiment, the first graphic code and the second graphic code may be the same graphic code, and the same graphic code simultaneously records the coordinate position information of the landing platform 11 and the communication address of the control device of the first cover plate 821.

In addition, for carrying out the detection of focus or weight to unmanned aerial vehicle 4 about to take off, guarantee that unmanned aerial vehicle 4 can normally take off, in the exemplary embodiment that this disclosure provided, as shown in fig. 14, first platform 1 is used for parking unmanned aerial vehicle 4 who takes off, is provided with the pressure sensor 9 that is used for measuring unmanned aerial vehicle 4 to the pressure of first platform 1 on the lower surface of first platform 1, and pressure sensor 9 is three at least, and three pressure sensor 9 is the setting of collineation not.

Wherein the pressure sensor 9 is used for the weight and/or the centre of gravity of the drone 4 on the takeoff platform 12 to determine whether the weight of the takeoff drone 4 is overweight and/or whether the centre of gravity is excessively offset. Wherein, to the measurement of focus, can be through the weight value that at least three sensor that the collineation set up respectively detected to and the mutual position relation of at least three sensor, measure the focus that obtains unmanned aerial vehicle 4 through weighing method.

In particular implementation, the unmanned aerial vehicle hangar may include a takeoff controller connected to the pressure sensor 9; the flying controller is used for determining a weight value of the unmanned aerial vehicle 4 according to the pressure value detected by the pressure sensor 9, sending a flying instruction to the unmanned aerial vehicle 4 to instruct the unmanned aerial vehicle 4 to take off when the weight value is within a preset weight range, and refusing to send a flying control instruction to the unmanned aerial vehicle 4 when the weight value is not within the preset weight range, so that the unmanned aerial vehicle 4 is prevented from being lifted off under the condition of overweight, and the flight safety of the unmanned aerial vehicle 4 is ensured;

or, the takeoff controller is configured to determine the gravity center position of the unmanned aerial vehicle 4 by using a weighing method according to the pressure values detected by the at least three pressure sensors 9, send a takeoff instruction to the unmanned aerial vehicle 4 when the gravity center position is within a preset gravity center position range, and instruct the unmanned aerial vehicle 4 to take off, and when the gravity center position is not within the preset gravity center position range, the takeoff controller may refuse to send a takeoff control instruction to the unmanned aerial vehicle 4, so that the unmanned aerial vehicle 4 with excessive gravity center position deviation is prevented from taking off, and flight safety of the unmanned aerial vehicle 4 is ensured.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. An unmanned aerial vehicle hangar, comprising:

a first platform (1) for parking a flying and/or landing drone (4);

a second platform (2) for storing the drone (4), the plane of stoppage of the first platform (1) having a height difference with the plane of stoppage of the second platform (2);

the transfer mechanism (3) comprises a transfer platform (31) and a transfer device (32), wherein the transfer device (32) is movably arranged on the transfer platform (31);

a transfer controller connected to the transfer mechanism for controlling the transfer platform (31) to move in a height direction (A3) of the UAV hangar to dock the transfer platform (31) with the first platform (1) or the second platform (2) and to control the transfer device (32) to move the UAV (4) between the first platform (1) and the transfer platform (31) and between the transfer platform (31) and the second platform (2);

wherein the transfer device (32) comprises a first driving device, a second driving device and a joint part (321), the first driving device is used for driving the joint part (321) to extend or retract relative to the transfer platform (31), the joint part (321) comprises a rotating rod (3211) and a stopping part (3212) arranged on the rotating rod (3211), the second driving device is used for driving the rotating rod (3211) to rotate around the axis thereof, so that the joint part (321) has an engaged state and a separated state, in the engaged state, the stopping part (3212) stops on the unmanned aerial vehicle (4), so that the first driving device can drive the unmanned aerial vehicle (4) to move through the joint part (321); in the disengaged state, the stop portion (3212) is disengaged from the drone (4), and the engagement member (321) is able to avoid the drone (4) during its movement.

2. The unmanned hangar of claim 1, wherein the transfer controller is coupled to the first drive, the second drive, and a platform drive for driving the transfer platform;

the transfer controller is used for controlling the first driving device to drive the joint (321) to extend relative to a transfer platform (31) after controlling the platform driving device to drive the transfer platform (31) to move to be in butt joint with a target platform, and controlling the first driving device to drive the joint (321) to retract into the transfer platform (31) after controlling the second driving device to drive a stopping part (3212) on the rotating rod (3211) to stop on a unmanned aerial vehicle (4) on the target platform, so as to move the unmanned aerial vehicle (4) to the transfer platform (31); and/or the presence of a gas in the gas,

the transfer controller is used for controlling the second driving device to drive the stop portion (3212) on the rotating rod (3211) to stop on the unmanned aerial vehicle (4) on the transfer platform (31) after controlling the platform driving device to drive the transfer platform (31) to move to be in butt joint with a target platform, controlling the first driving device to drive the joint member (321) to extend relative to the transfer platform (31) so as to move the unmanned aerial vehicle (4) onto the target platform, and controlling the first driving device to drive the joint member (321) to retract into the transfer platform (31) after controlling the second driving device to drive the stop portion (3212) on the rotating rod (3211) to disengage from the unmanned aerial vehicle (4) on the target platform;

wherein the target platform is the first platform (1) or the second platform (2).

3. The unmanned hangar of claim 1, wherein the transfer device (32) further comprises a guide rail and a slider (323) slidably connected to the guide rail (322), wherein one end of the rotating rod (3211) remote from the stopper (3212) is rotatably connected to the slider (323), and the first driving device is configured to drive the slider (323) to slide along the guide rail (322).

4. The unmanned aerial vehicle hangar of any of claims 1 to 3, wherein the first platform (1) comprises a landing platform (11) and a takeoff platform (12) disposed opposite in a first direction (A1) perpendicular to a height direction (A3) of the unmanned aerial vehicle hangar, the second platform (2) comprises a first stopping platform (21) and a second stopping platform (22) disposed opposite in the first direction (A1), the first stopping platform (21) is located below the landing platform (11), the second stopping platform (22) is located below the takeoff platform (12), the transfer mechanism (3) is located between the landing platform (11) and the takeoff platform (12) and between the first stopping platform (21) and the second stopping platform (22);

the joint (321) includes along first joint (321a) and second joint (321b) that unmanned aerial vehicle hangar's second direction (A2) arranged, second direction (A2) perpendicular to first direction (A1) with direction of height (A3), first joint (321a) are used for transit platform (31) with between landing platform (11) and transit platform (31) with move between first shut-down platform (21), second joint (321b) are used for transit platform (31) with between take-off platform (12) and transit platform (31) with move between second shut-down platform (22).

5. The unmanned hangar of claim 1, further comprising a righting mechanism (5), the righting mechanism (5) is used for moving the unmanned aerial vehicle (4) on the first platform (1) to a preset position, the righting mechanism (5) comprises first righting elements (51) positioned on two opposite sides of the first platform (1) and two opposite second righting elements (52) arranged on each first righting element (51), the first righting element (51) extending in a first direction (A1) of the drone hangar and being arranged to be movable in a second direction (A2) of the drone hangar, the second return piece (52) being arranged to be movable in the first direction (A1), the first direction (A1) being perpendicular to the second direction (A2), and the first direction (a1) and the second direction (a2) are both perpendicular to the height direction (A3).

6. Unmanned hangar according to claim 5, characterized in that the righting mechanism (5) further comprises two support plates (53) oppositely disposed along the first direction (A1), the two support plates (53) being located on opposite sides of the first platform (1) and extending along the second direction (A2), both ends of the first righting member (51) being movably supported on the support plates (53), the first platform (1) being disposed so as to be movable relative to the support plates (53).

7. The drone hangar according to claim 1, further comprising a robotic arm (6) and a battery compartment (7), the transfer platform (31) being movable opposite the robotic arm (6), the robotic arm (6) being for taking out batteries of the drone (4) on the transfer platform (31) and for taking out and mounting batteries in the battery compartment (7) onto the drone (4) on the transfer platform (31).

8. The unmanned aerial vehicle hangar of claim 7, wherein a plurality of charging chambers (71) are provided in the battery compartment (7) for receiving and charging batteries of the unmanned aerial vehicles (4);

the unmanned aerial vehicle hangar further comprises a battery replacement controller, and the battery replacement controller is used for controlling the mechanical arm (6) to place the battery of the unmanned aerial vehicle (4) into an idle charging cavity in the battery compartment (7) and/or after controlling the mechanical arm (6) to take out the battery of the unmanned aerial vehicle (4) on the transfer platform (31);

the battery replacement controller is used for determining a target charging cavity in the battery compartment (7), wherein the target charging cavity is any charging cavity (71) in the battery compartment (7) which charges the battery of the unmanned aerial vehicle (4) to be more than a preset electric quantity; controlling the mechanical arm (6) to take out the battery in the target charging cavity; and controlling the mechanical arm (6) to install the taken battery on the unmanned aerial vehicle (4) on the transfer platform (31).

9. The unmanned aerial vehicle hangar of claim 1, further comprising a housing (8), wherein the first platform (1), the second platform (2), and the transfer mechanism (3) are all located within the housing (8), wherein an opening (81) for the unmanned aerial vehicle (4) to pass through is formed in the housing (8), wherein the opening (81) is disposed opposite the first platform (1), and wherein the unmanned aerial vehicle hangar further comprises a cover plate (82) movably disposed on the housing (8), wherein the cover plate (82) has an open position and a closed position, and wherein the cover plate (82) exposes the opening (81); in the closed position, the cover plate (82) covers the opening (81).

10. The UAV hangar according to claim 9, wherein the first platform (1) comprises a landing platform (11), the opening (81) comprises a first opening (811) opposite to the landing platform (11), the cover plate (82) comprises a first cover plate (821) for exposing or covering the first opening (811), the UAV hangar further comprises a first cover plate driving device for driving the first cover plate (821) to move, and a first cover plate control device connected with the first cover plate driving device, and the first cover plate control device is used for controlling the first cover plate driving device to drive the first cover plate (821) to expose the landing platform (11) when a landing request command of the UAV (4) is acquired; and/or the presence of a gas in the gas,

the unmanned aerial vehicle hangar is characterized in that the first platform (1) comprises a takeoff platform (12), the opening (81) comprises a second opening (812) opposite to the takeoff platform (12), the cover plate comprises a second cover plate (822) used for exposing or covering the second opening (812), the unmanned aerial vehicle hangar further comprises a second cover plate driving device used for driving the second cover plate (822) to move and a second cover plate control device connected with the second cover plate driving device, and the second cover plate control device is used for controlling the second cover plate driving device to drive the second cover plate (822) to expose the takeoff platform (12) when a takeoff instruction of an unmanned aerial vehicle (4) is acquired.

11. The unmanned aerial vehicle hangar of claim 10, wherein a first graphic code is provided on the first cover plate (821) or the housing (8), the first graphic code records a communication address of the first cover plate control device, and the command requesting landing is sent to the first cover plate control device according to the communication address after the unmanned aerial vehicle (4) obtains the communication address by scanning the first graphic code; or,

the first cover plate (821) or the shell (8) is provided with a second graphic code, the second graphic code records coordinate position information of the landing platform (11), and the second graphic code is used for scanning by the unmanned aerial vehicle (4) to acquire the coordinate position information of the landing platform (11) and landing according to the coordinate position information.

12. The unmanned aerial vehicle hangar of claim 1, wherein the first platform (1) is used for parking the unmanned aerial vehicle (4) for takeoff, a pressure sensor (9) for measuring the pressure of the unmanned aerial vehicle (4) on the first platform (1) is arranged below the first platform (1), and the unmanned aerial vehicle hangar further comprises a takeoff controller;

the flying controller is used for determining a weight value of the unmanned aerial vehicle (4) according to the pressure value detected by the pressure sensor (9), and sending a flying instruction to the unmanned aerial vehicle (4) when the weight value is within a preset weight range, wherein the flying instruction is used for instructing the unmanned aerial vehicle (4) to fly off or not;

the flying controller is used for determining the gravity center position of the unmanned aerial vehicle (4) by using a weighing method according to pressure values detected by the at least three pressure sensors (9), sending a flying instruction to the unmanned aerial vehicle (4) when the gravity center position is within a preset gravity center position range, and indicating the unmanned aerial vehicle (4) to take off, wherein the at least three pressure sensors (9) are arranged in a non-collinear mode.