CN110700669B - Accurate recovery unmanned aerial vehicle hangar that guards on - Google Patents

Abstract

The invention relates to a hangar of an unmanned aerial vehicle for precise recovery on duty. There is a meteorological data collection device. The UAV hangar includes a plurality of parking rooms, which are composed of a fixed parking apron, a mobile parking apron and a parking room door. The multi-function limiter installed on the fixed parking apron The installed multi-function limiter II is used for the automatic alignment operation after the UAV has landed. The image recognition camera and laser locator installed on the mobile apron provide the UAV with a precise landing position. The bottom control room has built-in integrated control device, communicator, environmental controller, hangar power supply unit. The UAV hangar can provide accurate positioning for the landing of multiple UAVs and achieve accurate recovery; after the UAVs land, they are automatically charged, and the UAVs can take off and land automatically.

Description

Precise recovery of on-duty drone hangars

technical field

The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an unmanned aerial vehicle hangar for precise recovery on duty.

Background technique

In recent years, with the rapid development of my country's drone industry, the number of consumer-grade and industrial-grade drones is increasing day by day, and their applications have penetrated into various fields. The pace of facility development is too slow. At present, most of the tasks performed by consumer drones and industrial drones on the market are completed with the participation of operators. The fully autonomous take-off and landing flight and storage tasks are not perfect, especially after the recovery of the drones. Automatic charging tasks. At the same time, when drones perform tasks in the wild, the external environment is harsh, and the problems of endurance and take-off and landing when performing tasks at long distances are gradually becoming prominent.

SUMMARY OF THE INVENTION

Aiming at the deficiencies of the prior art, the present invention provides a hangar for accurately recovering the unmanned aerial vehicle on duty, which can provide accurate positioning for the landing of multiple unmanned aerial vehicles, automatically charge the unmanned aerial vehicles after they land, and realize no Man-machine automatic take-off and landing.

To achieve the above object, the present invention adopts the following technical solutions:

An accurate recovery and duty drone hangar is composed of a top solar panel cover, outer doorposts of the hangar, left and right sliding doors, multiple parking rooms, and a bottom control room. The top solar panel cover is installed with a meteorological data collection. The UAV hangar includes a plurality of parking rooms, the parking room is composed of a fixed parking apron, a mobile parking apron and a parking room door, and the parking room door constitutes the front and rear side doors of the UAV hangar, and passes through the outer door of the hangar. The high-strength hinge on the column is connected to the UAV hangar, the fixed apron is connected to the bottom of the parking room door by bolts, the multi-function limiter is installed on the fixed apron, and the multi-function limiter is installed on the mobile apron. Positioner 2, the first multi-function limiter is equipped with an automatic charger, which can automatically charge the drone. The charging method is contact charging; the other two sides of the drone hangar are the left and right sliding doors, and the bottom of the door A sliding motor is installed; the bottom control room has a built-in integrated controller, communicator, environmental controller, and hangar power supply device. The hangar power supply device provides power for the integrated controller, communicator, and environmental controller. The integrated controller is controlled by signal lines. Environmental controllers, communicators, hangar power supply units and automatic chargers.

The shutdown room can be arranged in single layer or multi-layer according to actual needs. Every two layers of shutdown room are separated by a hangar partition board. Each layer can be placed with four independent shutdown rooms. Each shutdown room works independently and The number of hangars can be adjusted according to actual needs; each hangar can take off and land at most 2 drones at the same time, that is, the number of drones that can take off and land at the same time in the drone hangar is twice the total number of hangars. one part.

The hangar rooms on every two floors are connected by a central door post of the hangar and two outer door posts of the hangar. The doorpost rotating motor, its power line and signal line are also built in the outside doorpost of the hangar, and electrically connected with the integrated controller; spring relays and backup are installed on the bottom surface of the partition plate and the top solar panel cover in the hangar Charger, the spare charger is equipped with positive and negative electrode pieces connected to the spare charger power receiving piece on the top of the drone on the next layer to charge the drone. The charging method is contact charging, which is the backup charging method of the machine library. .

A constant temperature module is installed on the outer wall of the central column of the hangar.

The fixed apron is a hollow structure composed of a fixed apron upper cover plate and a fixed apron bottom plate, wherein the upper part of the fixed apron upper cover plate away from the parking room door is rounded to obtain an inclined fillet, which is convenient for no When the man-machine is recovered, it is not blocked. The two sides are respectively equipped with lead screw guide grooves, which are used to install the small lead screw motor and lead screw to drive the forward and backward movement of the multi-function limiter one. The surface of the multi-function limiter one is arranged with The pressure sensor is electrically connected with the integrated controller; the bottom plate of the fixed apron is an "L"-shaped plate, and a lead screw motor and a lead screw are installed at the center and the edges of the vertical part, which are used for telescopic movement of the apron; the The lead screw motor is electrically connected with the integrated controller.

The mobile apron is a hollow structure composed of a mobile apron bottom plate and a mobile apron upper cover. The interior is used to place a laser locator, an image recognition camera, a power line and a signal line. Corresponding openings; a sealed lead screw guide groove is set along the front and rear directions in the middle of the bottom plate of the mobile apron, which is matched with the lead screw at the center of the fixed apron; there are gear guide grooves on both sides of the upper cover of the mobile apron, and there are gear guide grooves in the gear guide groove. The rack constitutes a moving channel. The two sides of the bottom of the multi-function limiter are respectively provided with a gear motor and a gear driven by the gear motor, which cooperate with the rack and are used to drive the movement of the multi-function limiter II. The gear motor and the integrated control electrical connection.

The usage of the above-mentioned precise recovery drone hangar is as follows:

(1) UAV precise recovery and automatic charging process

When the drone is about to land, the flight control starts the automatic landing procedure, selects the hangar with the closest distance and establishes a real-time communication local area network between the two. , the parking room starts to move, exposing the mobile apron to the outside, when the four image recognition points of the drone are evenly distributed around the center of the mobile apron, the communicator transmits the command to the drone, and the drone Accurately landed to the center position, then moved the apron and retracted, and corrected and charged the drone through the multi-function limiter 1 and the multi-function limiter 2. The parking room and the left and right sliding doors were returned to their original positions. Precise recycling of human and machine;

(2) UAV take-off process

When the drone is about to take off, the integrated controller transmits the command to the hangar where the drone that can take off is located, the left and right sliding doors are opened, and the hangar starts. When the drone moves to the outside of the hangar, the integrated controller The command to allow take-off is transmitted to the drone through the communicator, and the drone's flight control starts the drone after receiving the command. After the drone takes off, the parking room and the left and right sliding doors return to their original positions, and the hangar enters the standby state. .

The beneficial effects of the present invention are:

1. The present invention solves the problems of low landing precision and difficulty in hangar recovery at the current stage through the two-way positioning mode in which the drone locates the parking room and the parking room locates the drone, and realizes the landing of the drone to the stop. The central location of the ping ensures that the hangar automatically recovers and recharges the drone.

2. The present invention can provide a single-layer or multi-layer hangar according to actual needs. The hangar can take off and land half of the drones in its own parking room at the same time, make full use of the limited space, and provide a platform for the swarm activities of drones. kind of platform.

3. In the present invention, a central doorpost of the hangar and two outer doorposts of the hangar are used to connect each two-story hangar through the hangar connector, so as to realize the quick connection and disassembly between the hangars on each floor, which is convenient for arranging multiple hangars. Tier hangars provide favorable conditions.

4. The present invention divides each floor of the hangar into 4 parking rooms, all around are movable structures, and the rotating motor of the doorpost drives the parking rooms to rotate, providing a wide space for the take-off and landing of the UAV.

5. Each parking room of the present invention is provided with a fixed parking apron and a mobile parking apron, and the mobile parking apron can freely expand and contract within the limited range of the fixed parking apron, providing an optional wide platform for the take-off and landing of the UAV; The doorpost rotating motor drives the parking room to rotate, realizing a wide take-off and landing space of the hangar centered on the outer doorpost of the hangar.

6. Each parking room of the present invention is equipped with a multi-function limiter 1 and a multi-function limiter 2, and an automatic charger and a pressure sensor are installed on them, which have the functions of restricting the shaking of the drone, pushing and pulling the drone to move, To ensure the automatic charging function of the drone, multiple functions are integrated into one, saving the use space inside the hangar.

7. An image recognition camera and a laser locator are installed inside the mobile parking apron of the present invention, which ensures that the drone can land accurately.

8. The solar panel is installed on the top of the hangar of the present invention, and a constant temperature module is installed inside, so as to realize the long-term field operation of the hangar in a suitable storage environment, and the meteorological data acquisition device on the top can provide meteorological data for the automatic take-off of the drone .

9. The hangar of the present invention ensures the normal operation of each device inside the hangar by customizing the integrated controller, and has strong fault-tolerant performance at the same time.

Description of drawings

Fig. 1 is the external structure schematic diagram of the present invention;

Fig. 2 is the internal structure schematic diagram of the present invention;

Fig. 3 is the structural schematic diagram of the shutdown chamber in the present invention;

4 is a schematic diagram of the internal structure of the shutdown chamber in the present invention;

Figure 5 is a schematic diagram of the landing gear of the UAV;

Figure 6 is a bottom view of the UAV landing gear;

in,

1 Hangar, 11 Top solar panel cover, 12 Hangar middle partition, 13 Spring relay, 14 Spare charger, 141 Spare charger negative, 142 Spare charger positive, 15 Meteorological data collection device, 16 Shutdown room door, 161 bolt connection holes; 2 parking bays; 3 mobile parking pads, 31 gear guide grooves, 32 multi-function limiters 2, 33 mobile parking pad floor plates, 34 image recognition cameras, 341 image recognition identification points, 35 laser locators, 36 Sealed screw guide groove, 37 mobile apron upper cover, 371 image recognition camera port, 372 laser locator port; 4 fixed apron, 41 fixed apron upper cover, 42 fixed apron bottom plate, 421 screw motor installation Box, 43 lead screw guide groove, 44 multifunctional limiter one, 441 pressure sensor, 442 automatic charger, 443 lead screw guide hole, 45 lead screw motor, 46 lead screw, 47 spare charger power receiving sheet, 48 charging Power receiver sheet, 49 pressure sensor sheet; 5 bottom control room, 51 integrated controller, 52 communicator, 53 hangar power supply unit, 54 environmental controller; 6 left and right sliding doors, 61 gears, 62 gear motors, 63 teeth bars; 7 hangar connectors; 8 hangar central doorposts, 81 thermostatic modules; 9 hangar outer doorposts, 91 doorpost rotary motors.

Detailed ways

In order to better explain the present invention and facilitate understanding, the technical solutions and effects of the present invention will be described in detail below with reference to the accompanying drawings and through specific embodiments.

Example 1

As shown in Figure 1-6, a hangar for precision recovery of drones on duty consists of a top solar panel cover 11, outside doorposts 9 of the hangar, left and right sliding doors 6, multiple parking rooms 2, and a bottom control room 5 composition, the top solar panel cover 11 is installed with a meteorological data acquisition device 15;

The UAV hangar 1 includes a plurality of shutdown rooms 2, which can be arranged into single-layer or multi-layer according to actual needs. The parking lot 2, each parking room 2 works independently and the number of the parking room 2 can be adjusted according to the actual demand; the parking room 2 on each floor can take off and land at most two drones at the same time, that is, the unmanned aerial vehicle. The number of drones that take off and land at the same time in warehouse 1 is one-half of the total number of parking rooms; The front and rear side doors of the man-machine hangar 2 are connected to the UAV hangar 1 through the high-strength hinges on the outside door post 9 of the hangar. In this embodiment, a total of eight parking rooms 2 are set up on two floors, and at most four UAVs can take off at the same time each time.

The hangar 1 is connected by a hangar central doorpost 8 and two hangar outer doorposts 9 through hangar connectors 7, and each hangar outer doorpost 9 is embedded with two doorposts inside. The rotary motor 91, its power supply and signal lines are also built into the door post 9 outside the hangar. A spring relay 13 and a backup charger 14 are installed on the bottom surface of the partition plate 12 and the top solar panel cover 11 in the hangar, and the backup charger 14 is equipped with positive and negative electrode sheets to connect to the backup charger on the top of the drone on the next layer. The power receiving sheet 47 charges the drone, and the charging method is contact charging, which is the backup charging method of the machine library 1 .

The fixed apron 4 is connected to it by bolts through the bolt connection holes 161 at the bottom of the parking room door 16. The fixed apron 4 is a hollow structure composed of a fixed apron upper cover 41 and a fixed apron bottom plate 42, wherein the fixed apron is The upper part of the upper cover plate 41 away from the parking room door 16 is rounded to obtain a sloping fillet, which is convenient for the unobstructed recovery of the drone. The fixed parking apron 4 is equipped with a multi-function limiter 1 44, which is fixed for parking. The two sides of the upper cover plate 41 are respectively provided with lead screw guide grooves 43. The lead screw guide grooves 43 are used to install the lead screw motor 45 and the lead screw 46, and drive the multi-function limiter one 44 to move forward and backward. The pressure sensor 441, the automatic charger 442, the pressure sensor 441 measures the pressure value through the pressure sensor sheet 49 on the landing gear of the drone, and the contact between the automatic charger 442 and the charger power receiving sheet 48 on the landing gear of the drone can be UAV charging, as shown in Figure 3, in order to facilitate identification, the parking room door 16 and the multi-function limiter 1 44 are disassembled from the fixed apron 4 and displayed separately; the fixed apron bottom plate 42 is an L-shaped plate , a lead screw motor 45 and a lead screw 46 are installed at the center of the vertical part and at the edges on both sides, for telescopic movement of the parking pad 3 . In this embodiment, the pressure sensor adopts the membrane pressure sensor probe + HX711 module.

The mobile apron 3 is a hollow structure composed of the mobile apron bottom plate 33 and the mobile apron upper cover 37, and the interior is used to place the laser locator 35, the image recognition camera 34 and the power lines and signal lines, and the mobile apron upper cover 37. There are corresponding image recognition camera ports 371 and laser locator ports 372, and a multi-functional stopper 2 32 is installed on the mobile apron 3; the middle of the mobile apron bottom plate 33 is provided with a sealed lead screw guide groove 36 along the front and rear directions. , which is matched with the lead screw 46 at the center of the fixed apron 4; there are gear guide grooves 31 on both sides of the upper cover plate 37 of the mobile apron, and a rack 63 is arranged in the gear guide groove 31 to form a moving channel, and a multi-function limiter A gear motor 62 is respectively provided on both sides of the bottom of the second 32 to connect a gear 61 and cooperate with the rack 63 to drive the movement of the second multi-function limiter 32; the above-mentioned screw motor 45 passes through the first multi-function limiter 44. The opened screw guide hole 443 is installed in the screw motor mounting box 421 .

The other two sides of the UAV hangar 1 are the left and right sliding doors 6. A sliding motor is installed under the door to drive the opening and closing of the left and right sliding doors 6. The left and right sliding doors 6 on each side have two doors. One slides to the side of the other door when opening or closing.

The bottom control room 5 has a built-in integrated controller 51, a communicator 52, an environmental controller 54, and a hangar power supply device 53. The hangar power supply device 53 leads out positive and negative power lines to connect to the integrated controller 51, the communicator 52, and the environmental controller 54. , the integrated controller 51 leads a signal line to connect the environmental controller 54, the communicator 52 and the hangar power supply device 53; 54. The pressure sensor 441 and the automatic charger 442 are electrically connected. In this embodiment, the integrated controller 51 adopts a customized integrated controller of Schneider Electric based on Modicon M251, the communicator 52 adopts an industrial-grade C20 dual serial port radio, and the environmental controller 54 adopts Jieli temperature control.

The methods of using the precision recovery drone hangar are as follows:

(1) UAV precise recovery and automatic charging process

The drone needs to land in the process of landing, and the drone flight control starts the automatic landing program. The program first automatically searches for the nearby idle accurate recovery drone hangars in the communication link network, selects the nearest hangar 1, and sends the communication The command establishes a real-time communication local area network between the two. At this time, hangar 1 starts an internal hangar 2. First, hangar 1 transmits the coordinates of the hangar to the UAV flight control in real time, and then hangs 2 itself starts to act. , a door of the left and right sliding doors 6 of the hangar 1 moves to the other side under the driving of the sliding motor, and the door post rotating motor 91 drives the parking room door 16 to rotate at an angle greater than ninety degrees and less than one hundred and eighty degrees, After that, the lead screw motor 45 in the fixed apron 4 is started, and the lead screw 46 is driven to push the mobile apron 3 to the limit of movement. Turn on the switches of the image recognition camera 34 and the laser locator 35 to locate the image recognition mark 341 on the landing gear of the UAV, make the position difference between the algorithm judgments through the integrated controller 51, and transmit the instruction to the doorpost to rotate The motor 91 and the screw motor 45 on the fixed apron 4, the door post rotation motor 91 and the lead screw motor 45 act to make the position of the fixed apron 4 adjust between 45-180 degrees, and the moving apron 3 in itself Make adjustments within the range of the movable length until it is determined that the four image recognition identification points 341 are evenly distributed around the center of the mobile apron 3, the communicator 52 transmits the command to the drone, and the drone continues to land until fall to the center position;

When the drone lands on the mobile apron 3, the switches of the laser locator 35 and the image recognition camera 34 are turned off, and the gear motor 62 on the second multi-function limiter 32 is activated, which drives the second multi-function limiter 32 to push The drone moves inward, and at the same time, the screw motor 45 inside the fixed apron 4 is activated, which drives the moving apron 3 to move inward, and the drone also moves inward. 4. The screw motor 45 on the side, the screw motor 45 drives the multi-function limiter 1 44 to move to the outside, and the moving apron 3 moves to its own retraction limit and then stops, the multi-function limiter 1 44 and the multi-function limiter The second 32 stops when it moves to the value set by the program, which ensures that the drone is located in the center of the fixed apron after the mobile apron shrinks, so as to facilitate the charging of the backup charger 14; at this time, the pressure sensor 441 is activated to detect more The pressure between the functional limiter 1 44 and the multifunctional limiter 2 32 and the landing gear of the drone. The two judge whether they are within the set pressure range according to the measured pressure value. The pressure range value is an experimental measurement. If it is not within the set pressure range, the integrated controller 51 continues to adjust the position of the multi-function limiter 1 44 and the multi-function limiter 2 32 until the set pressure is reached. When the pressure range is reached, it means that the automatic charger 442 has been completely attached to the automatic power receiving sheet 48 on the landing gear of the drone, and the electricity can be turned on, and the integrated controller 51 starts the automatic charger 442. Charge the drone; when the mobile apron 3 moves to its own limit, the doorpost rotating motor 91 is activated to drive the fixed apron 4 to rotate into the interior of the hangar 1, and then the left and right sliding doors 6 slide to the original position. Complete the landing process of the drone;

(2) UAV take-off process

When the drone is about to take off, the integrated controller 51 first detects which drone in the parking lot is in the standby state and the battery is sufficient to meet the take-off requirements, and then transmits the command to the parking room 2, the parking room 2 starts, and slides left and right. One door 6 is opened and slides to the other door under the drive of the sliding motor. The door post rotating motor 91 rotates the fixed apron 4 and the mobile apron 3 by 90 degrees and then stops. , The multi-function limiter 2 32 is activated at the same time, and the UAV is moved to the mobile apron 3. At this time, the UAV has reached the outside of the hangar 1, and the integrated controller 51 transmits the prepared command through the communicator 52. For the drone, the drone's flight control will start the drone after receiving the command. After the drone takes off, the mobile parking pad 3, the multi-function limiter 1 44, and the multi-function limiter 2 32 will start at the same time, and the mobile stop After the pad 3 moves to its own limit, it stops moving, the multi-function limiter 1 44 moves to the innermost side of the fixed apron 4, the multi-function limiter 2 32 moves to the outermost side of the mobile apron 3, and then the doorpost rotates the motor 91 Start, rotate the parking room 2 into the hangar 1, and slide the left and right sliding doors 6 to the original position from the other side to block the hangar 1. At this time, the take-off process of the drone is completed, and then the hangar 1 enters the standby state. .

Example 2

This embodiment is exactly the same as the structure and setting of the hangar of the drone on duty for precise recovery of the embodiment 1, and the difference lies in the way of charging the drone. When the automatic charger 442 on the multi-function limiter 1 44 is detected by the integrated controller 51 to be abnormal and cannot charge the drone normally, the hangar 1 uses the backup charging method to charge the drone. A spring relay 13 and a backup charger 14 are installed on the separator 12 and the bottom surface 11 of the top solar panel cover. The backup charger negative electrode 141 and the backup charger positive electrode 142 installed on the backup charger 14 are connected to the backup charger on the top of the drone The power receiving sheet 47 charges the drone, and the charging method is contact charging. When the drone lands smoothly and the moving apron 3 moves to its own limit, the doorpost rotating motor 91 is activated to drive the fixed apron 4 to rotate into the interior of the hangar 1, and then the left and right sliding doors 6 slide to the original position. The spring relay 13 is activated, and the telescopic length of the spring relay 13 is greater than the length to the power receiving board on the top of the drone, that is, after touching the charging board on the top of the drone, it will continue to move down a distance of 3 cm to ensure backup charging. The positive electrode 142 of the charger is in contact with the standby charger receiving point piece 47 on the top of the drone and is energized. After the contact is good, the integrated controller 51 starts the hangar power supply device 53 to charge the drone. In this embodiment, other working principles other than this charging method are the same as those in Embodiment 1.

Example 3

The difference between this embodiment and Embodiment 1 is that, on the basis of Embodiment 1, a constant temperature module 81 is also installed on the outer wall of the central door post 8 of the hangar. In this embodiment, the constant temperature module 81 selects a hangar miniature air conditioner which is improved on the basis of the TCL air-conditioning fan cooler. When the drone is accurately recovered into the hangar 1 and the hangar 1 is completely closed, the environmental controller 54 inside the hangar 1 is activated to detect the environmental index inside the hangar 1, and at the same time transmit the detected data to the integrated controller 51. The integrated controller 51 compares the current data with the properly stored temperature value of the core components inside the drone, and determines whether the hangar constant temperature module 81 needs to be activated. When temperature adjustment is required, the integrated controller 51 activates the constant temperature module 81 to appropriately store the temperature value of the internal core components of the UAV to process the internal environment of the hangar. In this embodiment, other working principles except the setting of the constant temperature module 81 are the same as those in the first embodiment.

Claims (5)

1. An unmanned aerial vehicle hangar for precise recovery on duty is characterized in that: it is composed of a top solar panel cover, an outer door post of the hangar, left and right sliding doors, a plurality of parking rooms, and a bottom control room, and the top solar panel cover is composed of A meteorological data acquisition device is installed on the drone; the UAV hangar includes a plurality of parking rooms, the parking room is composed of a fixed parking apron, a mobile parking apron and a parking room door, and the parking room door constitutes the front and rear side doors of the UAV hangar , It is connected to the UAV hangar through the high-strength hinge on the outer door post of the hangar, and the fixed apron is connected to the bottom of the hangar door through bolts. A multi-functional limiter is installed on the fixed apron. There is a second multi-function limiter installed on the upper, and an automatic charger is installed on the first multi-function limiter, which can automatically charge the drone. The charging method is contact charging; the other two sides of the drone hangar are There are sliding doors on the left and right sides, and a sliding motor is installed under the door; the bottom control room has a built-in integrated controller, communicator, environmental controller, and hangar power supply device. The hangar power supply device provides power for the integrated controller, communicator, and environmental controller. The controller controls the environmental controller, the communicator, the hangar power supply device and the automatic charger through the signal line; The shutdown rooms can be arranged into single-layer or multi-layer according to the actual needs. Every two layers of shutdown rooms are separated by a hangar partition board. Each layer can be placed with four independent shutdown rooms. Two drones can take off and land at the same time, that is, the number of drones that take off and land at the same time in the drone hangar is one-half of the total number of hangars; The hangar rooms on every two floors are connected by a central door post of the hangar and two outer door posts of the hangar. The doorpost rotating motor, its power line and signal line are also built in the outside doorpost of the hangar, and electrically connected with the integrated controller; The fixed apron is a hollow structure composed of a fixed apron upper cover plate and a fixed apron bottom plate, wherein the upper part of the fixed apron upper cover plate away from the parking room door is rounded to obtain an inclined fillet, which is convenient for no When the man-machine is recovered, it is not blocked. The two sides are respectively equipped with lead screw guide grooves, which are used to install the small lead screw motor and lead screw to drive the forward and backward movement of the multi-function limiter one. The surface of the multi-function limiter one is arranged with The pressure sensor is electrically connected with the integrated controller; the bottom plate of the fixed apron is an "L"-shaped plate, and a lead screw motor and a lead screw are installed at the center and the edges of the vertical part, which are used for telescopic movement of the apron; the The screw motor is electrically connected with the integrated controller; The mobile apron is a hollow structure composed of a mobile apron bottom plate and a mobile apron upper cover. The interior is used to place a laser locator, an image recognition camera, a power line and a signal line. Corresponding openings; a sealed lead screw guide groove is set along the front and rear directions in the middle of the bottom plate of the mobile apron, which is matched with the lead screw at the center of the fixed apron; there are gear guide grooves on both sides of the upper cover of the mobile apron, and there are gear guide grooves in the gear guide groove. The rack constitutes a moving channel. The two sides of the bottom of the multi-function limiter are respectively provided with a gear motor and a gear driven by the gear motor, which cooperate with the rack and are used to drive the movement of the multi-function limiter II. The gear motor and the integrated control electrical connection. 2 . The precision recovery drone hangar of claim 1 , wherein each shutdown room works independently and the number of shutdown rooms can be adjusted according to actual needs. 3 . 3. The precise recovery drone hangar on duty according to claim 2, characterized in that: a spring relay and a backup charger are installed on the bottom surface of the partition plate and the top solar panel cover in the hangar, and the backup charger is installed on the There are positive and negative electrode pieces connected to the spare charger power receiving piece on the top of the next layer of the drone to charge the drone. The charging method is contact charging, which is the backup charging method of the machine library. 4 . The precise recovery drone hangar on duty according to claim 1 , wherein a constant temperature module is installed on the outer wall of the central door post of the hangar. 5 . 5. The method of using the precise recovery drone hangar on duty as claimed in any one of claims 1 to 4 is as follows: (1) UAV precise recovery and automatic charging process When the drone is about to land, the flight control starts the automatic landing procedure, selects the hangar with the closest distance and establishes a real-time communication local area network between the two. , the parking room starts to move, exposing the mobile apron to the outside, when the four image recognition points of the drone are evenly distributed around the center of the mobile apron, the communicator transmits the command to the drone, and the drone Accurately landed to the center position, then moved the apron and retracted, and corrected and charged the drone through the multi-function limiter 1 and the multi-function limiter 2. The parking room and the left and right sliding doors were returned to their original positions. Precise recycling of human and machine; (2) UAV take-off process When the drone is about to take off, the integrated controller transmits the command to the hangar where the drone that can take off is located, the left and right sliding doors are opened, and the hangar starts. When the drone moves to the outside of the hangar, the integrated controller The command to allow take-off is transmitted to the drone through the communicator, and the drone's flight control starts the drone after receiving the command. After the drone takes off, the parking room and the left and right sliding doors return to their original positions, and the hangar enters the standby state. .

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