Patent ID: 12195213

In the figure:1. baffle driving motor2. synchronous belt3. optical axis bearing seat4. optical axis fixed seat5. big synchronous wheel6. small synchronous wheel7. forward Y-axis driving piece8. reverse Y-axis driving piece9. baffle10. optical axis11. upper rotating ring12. upper rotating ring groove13. ring rotating motor14. ring lifting rod15. module linear guide rail16. electric mechanical claw17. battery compartment18. lifting rod of battery compartment19. solar panel turnover motor20. solar panel21. solar panel support22. solar panel support driving motor23. battery24. solar panel top cover25. electric gripper and its module26. annular lifting platform27. liftable battery compartment28. battery29. electric baffle device.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

The invention is described in detail below in conjunction with the drawings and embodiments.

When the UAV is about to land, the solar panels on the top of the base station open and the annular lifting platform rises to a predetermined height; after the UAV lands on the annular lifting platform, the annular lifting platform descends to the predetermined position, the upper rotating ring rotates, the baffles gradually moves from both sides to the middle, contact with the UAV tripod, and gradually push the UAV to the predetermined position; after the UAV reaches the predetermined position, the baffles return to both sides, and the annular lifting platform continues to descend to the height required for battery replacement; the electric mechanical claw moves to the predetermined position, and the annular lifting platform rises until the electric mechanical claw contacts the UAV battery; the electric mechanical claw contracts to grasp the battery, and the annular lifting platform descends to separate the battery from the UAV; the gripper moves to the position above the corresponding battery compartment which then rises, and the electric mechanical claw puts the battery into the battery compartment; then the battery compartment descends, the electric mechanical claw moves to the position above the new battery, the battery compartment rises, the gripper grabs the new battery, and the battery compartment descends; the electric mechanical claw moves to the position above the UAV, the annular lifting platform rises, and the annular lifting platform descends after the battery is loaded into the UAV; and the electric mechanical claw returns, the annular lifting platform rises to the take-off height of the UAV, and the UAV takes off.

The base station for battery replacement with automatic UAV take-off and landing is shown inFIG.7.

Step 1: before the UAV lands, the solar panel turnover motors and the solar panel support driving motor return the solar panels; then, the solar panel turnover motors drive the solar panels to turn over 180 degrees to fully open; the ring lifting rod pushes the annular lifting platform to be flat with the upper edge of the base station, so that the UAV can land;

Step 2: after the UAV lands on the annular lifting platform, the platform descends to a height that makes the UAV's tripod be flat with the baffles; then, the ring rotating motor drives the upper rotating ring to rotate, and the baffle driving motor drives the baffles to move slowly to the annular lifting platform; when the UAV tripod contacts the baffles, with the rotation of the upper rotating ring and the gradual advancement of the baffles, the baffle with large radian gradually adjusts the position of the UAV; the edge arc of the baffle moving to the predetermined position adjusts the UAV to the ideal position to facilitate the subsequent battery replacement; and after adjustment, the baffles return to the original positions, and then the UAV position is ready;

Step 3: the annular lifting platform descends to the height required for battery replacement, and then the electric mechanical claw moves to the position above the UAV; the annular lifting platform rises to the predetermined position of the UAV battery, and stops rising within the height range of the electric mechanical claw, and the electric mechanical claw contracts to grasp the UAV battery; the annular lifting platform descends to separate the battery from the UAV; the electric mechanical claw moves to the position above the empty battery compartment, and then the lifting rod of the battery compartment pushes the battery compartment to rise until the battery is fully put into the compartment, the electric mechanical claw releases the battery, the replaced battery is charged in the battery compartment for the next task, and then the battery compartment drops; when the battery compartment descends to a height that does not affect the movement of the electric mechanical claw, the electric mechanical claw moves to the position above the charged battery; then the battery compartment rises again to the height for the electric mechanical claw to grasp the battery, the electric mechanical claw grasps the battery, and then the battery compartment descends to the original position; the electric claw moves to the position above the UAV, the annular lifting platform rises until reaching the UAV predetermined position where the new battery enters, and the electric mechanical claw releases the battery; after the new battery is in place, the annular lifting platform descends to a height that does not affect the movement of the electric mechanical claw, so that the electric mechanical claw can return to origin; and after the electric mechanical claw returns, the annular lifting platform rises to the height flat with the upper edge of the base station frame, and the UAV can take off. So far, the automatic battery replacement is completed;

Step 4: after the UAV takes off, the annular lifting platform returns to origin; the solar panel motors drive the solar panels to turn over to normal working positions; then the solar panel turnover motors and the solar panel support driving motor return the solar panels to the efficient working state;

Due to the long working process of the base station, the whole process is divided into a UAV landing process, a UAV position adjustment process, an automatic battery replacement process, a UAV release and system reset process.

The flow chart of the base station for battery replacement with automatic UAV take-off and landing is shown inFIGS.8ato8d:

The UAV landing process is shown inFIG.8a. When there is no UAV taking off or landing, the solar panels work normally and supply power to the batteries. When the UAV is ready to land, the solar panel turnover motors and the solar panel support driving motor drive the solar panels to return; the solar panel turnover motors drive the solar panels to fully open; the ring lifting rod extends and the annular lifting platform rises; and when the annular lifting platform rises to the position flat with the upper edge of the base station frame, the rising process ends, and the UAV can land on the platform.

The UAV position adjustment process is shown inFIG.8b: after the UAV lands on the annular lifting platform, the ring lifting rod shortens and the platform descends to the height of the baffles; the ring lifting rod stops shortening, the baffle driving motor drives the two baffles to approach the annular lifting platform at the same time, and the ring rotating motor on the annular lifting platform drives the upper rotating ring to rotate; and when the baffles move close to the annular lifting platform, the ring rotating motor stops working and the upper rotating ring stops rotating. At the same time, the baffle driving motor reverses and drives the baffles to return. Then the UAV position adjustment process ends.

The automatic battery replacement process is shown inFIG.8c: the annular lifting platform descends to the height for UAV battery replacement, the electric mechanical claw starts to move to the position above the UAV battery compartment; the annular lifting platform rises to the height where the UAV battery can be grasped by the electric mechanical claw, the electric mechanical claw grasps the battery, and then the ring telescopic rods shorten to drive the annular lifting platform to descend; after the annular lifting platform descends to the position where the battery is completely separated from the UAV, the electric mechanical claw moves to the position above the lifting battery compartment with the grabbed battery, and the lifting rod of the battery compartment extends to raise the battery compartment; the battery completely enters the battery compartment, the electric mechanical claw releases the battery, and the lifting rod of the battery compartment shortens; the battery compartment descends to a predetermined height, the electric mechanical claw moves to the position above the new battery, the lifting rod of the battery compartment extends, and the battery compartment rises again; the battery compartment rises until the new battery can be grasped by the electric mechanical claw, and the electric mechanical claw grabs the new battery; the lifting rod of the battery compartment shortens and the battery compartment descends to the original position; the electric mechanical claw moves to the position above the UAV battery compartment; after the electric mechanical claw is in place, the ring telescopic rods extend to drive the ring lifting platform to rise; the battery completely enters the battery compartment, the electric mechanical claw releases the battery, and the ring telescopic rods shorten; and the annular lifting platform descends to a predetermined height, the electric mechanical claw returns, and the automatic battery replacement process ends.

The UAV release and system reset process is shown inFIG.8d: the ring telescopic rods extend to drive the annular lifting platform to rise; after the annular lifting platform rises to the position flat with the upper edge of the base station frame, the UAV can take off; after the UAV takes off, the ring telescopic rods shorten to drive the annular lifting platform to return; the solar panel turnover motors drive the solar panels to return; and the solar panel turnover motors and the solar panel support driving motor start to restore the solar panels to their normal working state.