CN112278307A - Unmanned aerial vehicle positioning, clamping and charging mechanism, control method and hangar - Google Patents

Abstract

The invention belongs to the field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle positioning, clamping and charging mechanism, which comprises: the guide positioning block is arranged at the bottom of the unmanned aerial vehicle and is provided with a power receiving contact piece electrically connected to the unmanned aerial vehicle; the guide positioning part is provided with a guide positioning groove, and the guide positioning block can be matched with the guide positioning groove for positioning; the clamping mechanism is arranged on the guide positioning part, and a charging needle is arranged on the clamping mechanism; when the guide positioning block is positioned in cooperation with the guide positioning groove, the clamping mechanism is configured to clamp the guide positioning block, and the charging pin contacts the corresponding power receiving contact piece. The invention also discloses a control method of the positioning, clamping and charging mechanism of the unmanned aerial vehicle and a hangar. The invention can realize the accurate landing of the unmanned aerial vehicle, avoid the deviation after the unmanned aerial vehicle lands, and prevent the unmanned aerial vehicle or equipment from being damaged. Moreover, the charging position is accurate in alignment, the unmanned aerial vehicle can be rapidly charged or the battery replacement operation is blocked, and the efficiency is improved.

Description

Unmanned aerial vehicle positioning, clamping and charging mechanism, control method and hangar

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle positioning, clamping and charging mechanism, a control method and a hangar.

Background

An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by radio remote control devices and program control devices, or is operated autonomously, either completely or intermittently, by an onboard computer. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle is matched with the industry for application, and is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and developed countries actively expand industrial application and develop unmanned aerial vehicle technology.

In the aspect of unmanned aerial vehicle ground service, unmanned aerial vehicle automatic hangar has appeared at present, after unmanned aerial vehicle descends to the platform, the platform need descend in with unmanned aerial vehicle income hangar, because unmanned aerial vehicle has the descending deviation, and unmanned aerial vehicle's wing area is very big, if the platform directly descends, then the wing very easily touches the peripheral structure of hangar, causes unmanned aerial vehicle or equipment to damage. In addition, the position and the angle change of the unmanned aerial vehicle after landing are uncertain, and the subsequent charging or battery replacement operation requires the unmanned aerial vehicle to be positioned at a certain accurate position, so that when the unmanned aerial vehicle has landing deviation, the unmanned aerial vehicle can be blocked in charging or battery replacement operation, and the efficiency is reduced.

Disclosure of Invention

The invention aims to provide an unmanned aerial vehicle positioning, clamping and charging mechanism, a control method and a hangar, and aims to solve the problem that the unmanned aerial vehicle has landing deviation.

In order to achieve the purpose, the invention adopts the following technical scheme:

an unmanned aerial vehicle location clamping charging mechanism, includes:

the guiding and positioning block is arranged at the bottom of the unmanned aerial vehicle, and a power receiving contact piece electrically connected to the unmanned aerial vehicle is arranged on the guiding and positioning block;

the guide positioning part is provided with a guide positioning groove, and the guide positioning block can be matched with the guide positioning groove for positioning;

the clamping mechanism is arranged on the guide positioning part, and a charging needle is arranged on the clamping mechanism; when the guide positioning block is positioned in cooperation with the guide positioning groove, the clamping mechanism is configured to clamp the guide positioning block, and the charging pin contacts the corresponding power receiving contact piece.

Preferably, the clamping mechanism comprises a driving part mounted on the guide positioning part, the driving part drives the two jaw assemblies which can move relatively and the end parts of the two jaw assemblies penetrate through the guide positioning part, and the charging pins are arranged at the end parts of the two jaw assemblies.

Preferably, the clamping jaw assembly comprises a clamping arm, a connecting rod and a clamping block, wherein the middle part of the clamping arm is rotatably connected to the guide positioning part, the connecting rod is connected to one end of the clamping arm, the clamping block is fixedly arranged on the connecting rod, the charging needle is arranged on the connecting rod, and the driving part can drive the two clamping arms to rotate relatively so as to drive the two clamping blocks to clamp or loosen.

Preferably, the clamping mechanism further comprises a guide groove block with a waist-shaped groove, the guide groove block is connected to the output end of the driving piece, one end of the clamping arm is provided with a roller, and the roller rolls in the waist-shaped groove.

Preferably, the ends of the clamping arms of the two clamping jaw assemblies, which are not connected with the connecting rods, are hinged, and the hinged shafts of the two clamping arms are connected with the output end of the driving piece.

Preferably, the clamping arm is in a V-shaped structure, and the turning position of the V-shaped structure is rotatably connected to the guide positioning part through a shaft.

Preferably, the lifting mechanism further comprises a lifting mechanism, and an output end of the lifting mechanism is connected to the guide positioning part in a driving mode.

Preferably, the guiding and positioning part is provided with an image mark, and the unmanned aerial vehicle can detect the image mark and land on the image mark.

The invention also provides a control method of the positioning, clamping and charging mechanism of the unmanned aerial vehicle, which comprises the following steps:

detecting an image identifier at a guiding and positioning part through an unmanned aerial vehicle, and controlling the unmanned aerial vehicle to be arranged right above the guiding and positioning part according to the image identifier;

controlling the unmanned aerial vehicle to land to enable the guide positioning block to be matched and positioned with the guide positioning groove of the guide positioning part;

when the guide positioning block is matched and positioned with the guide positioning groove, the clamping mechanism is controlled to clamp the guide positioning block, and the charging needle is in contact with the corresponding power receiving contact piece to charge.

The invention provides a hangar which comprises the unmanned aerial vehicle positioning, clamping and charging mechanism.

The invention has the beneficial effects that:

the invention can realize the accurate landing of the unmanned aerial vehicle, avoid the deviation generated after the unmanned aerial vehicle lands, and further prevent the unmanned aerial vehicle or equipment from being damaged. When pressing from both sides tight direction locating piece through clamping mechanism, the needle electricity that charges receives the electric contact piece, and the position of charging is accurate to the counterpoint, can realize fast that unmanned aerial vehicle charges or trades battery operation to be obstructed, raises the efficiency.

Drawings

Fig. 1 is a schematic perspective view of the positioning, clamping and charging mechanism of the unmanned aerial vehicle according to the present invention;

fig. 2 is a schematic structural diagram of a guiding and positioning part of the positioning, clamping and charging mechanism of the unmanned aerial vehicle;

FIG. 3 is a schematic structural view of a clamping mechanism of the positioning, clamping and charging mechanism of the unmanned aerial vehicle

FIG. 4 is a schematic structural view of the hangar of the present invention with a positioning, clamping and charging mechanism for the UAV;

fig. 5 is a schematic structural view of the hangar provided with a plurality of positioning, clamping and charging mechanisms for unmanned aerial vehicles.

In the figure:

1. guiding a positioning block; 2. a power receiving contact piece; 3. a guiding and positioning part; 31. a guide positioning groove; 32. a body; 321. a through hole; 4. a clamping mechanism; 41. a drive member; 42. a clamp arm; 421. a shaft; 43. a connecting rod; 44. a clamping block; 45. a guide groove block; 451. a waist-shaped groove; 46. a roller; 5. a charging pin; 6. a lifting mechanism; 7. an unmanned aerial vehicle; 10. positioning, clamping and charging mechanisms of the unmanned aerial vehicle; 20. a mobile hatch.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The invention provides an unmanned aerial vehicle positioning, clamping and chargingmechanism 10, as shown in fig. 1, the unmanned aerial vehicle positioning, clamping and chargingmechanism 10 comprises aguide positioning block 1, a power receivingcontact piece 2, aguide positioning part 3, aclamping mechanism 4, a chargingpin 5 and alifting mechanism 6, wherein:

above-mentionedguide positioning piece 1 installs in unmannedaerial vehicle 7's bottom, and it descends along with unmannedaerial vehicle 7 jointly. Be equipped with on two relative lateral walls of thisguide positioning piece 1 and receiveelectric contact piece 2, this receiveelectric contact piece 2 electricity and connect in unmannedaerial vehicle 7's charging system for connect the electricity in order to charge unmannedaerial vehicle 7.

In this embodiment, above-mentioned thisguide positioning piece 1 adopts the aviation aluminium material to make, through the aviation aluminium material forguide positioning piece 1 is lighter-weighted more, can not cause too big influence (if weigh or continue a journey aspect) to unmannedaerial vehicle 7.

In the present embodiment, the guiding andpositioning block 1 is an inverted frustum structure, and may also be an inverted structure having a circular arc sidewall.

In this embodiment, can set up the metallic channel (not shown in the figure) inguide positioning piece 1, connect in this metallic channel is arranged in to the wire of receivingcontact piece 2, and the other end of this wire is connected in unmannedaerial vehicle 7's charging system. Further, can set up the bayonet joint (not shown in the figure) of connecting in above-mentioned wire onguide positioning piece 1, this bayonet joint can peg graft in unmannedaerial vehicle 7's the mouth that charges.

Referring to fig. 2, theguide positioning portion 3 includes a main body 32 and aguide positioning groove 31 opened on the main body 32, and the shape and structure of theguide positioning groove 31 match with the shape and structure of theguide positioning block 1, that is, theguide positioning groove 31 is an inverted cone-shaped structure or a groove-shaped structure with a circular arc side wall.

Theguide positioning slot 31 is used for being matched and positioned with theguide positioning block 1, and optionally, theguide positioning slot 31 has a guide slope (when theguide positioning slot 31 is of an inverted conical structure) or a guide arc surface (when theguide positioning slot 31 is of a groove-shaped structure with a circular arc side wall), and theguide positioning block 1 can enter theguide positioning slot 31 through the guide slope or the guide arc surface. Through above-mentioned directionconstant head tank 31 anddirection locating piece 1, when can making unmannedaerial vehicle 7 descend, get into directionconstant head tank 31 bydirection locating piece 1, and the guide effect through direction inclined plane or direction cambered surface direction, make the accurate entering directionconstant head tank 31 ofdirection locating piece 1, just also make 7 accurate descending of unmanned aerial vehicle, in this embodiment, accurate descending indicates, after unmannedaerial vehicle 7 descends, the position of receiving thecontact piece 2 on thedirection locating piece 1 is in all the time and predetermines the position, should predetermine the position for receiving thecontact piece 2 and fill the position that electric connection of electric pile or charger.

In the present embodiment, a sensor (not shown) is further disposed in theguide positioning slot 31, and the sensor is used for detecting whether theguide positioning block 1 is completely disposed in theguide positioning slot 31, and optionally, the sensor may be a pressure sensor, or other sensors such as an infrared sensor. Whether the guide positioning blocks 1 are all arranged in theguide positioning grooves 31 or not is determined through the sensors, and then whether the landing positions and angles of the unmannedaerial vehicles 7 are accurate or not can be determined.

Referring to fig. 1 and 3, theclamping mechanism 4 includes a drivingelement 41 and a jaw assembly, the drivingelement 41 is installed at one side of the guiding andpositioning portion 3, the drivingelement 41 may be an air cylinder or other mechanism (such as a linear motor) capable of achieving linear motion, the drivingelement 41 can drive the two jaw assemblies to move relatively to achieve clamping or releasing of the guiding andpositioning block 1, chargingpins 5 are provided on the two jaw assemblies, and the two chargingpins 5 are respectively connected to positive and negative poles of a charging pile or a charger. When two clamping jaw components press from both sides tightdirection locating piece 1, two chargingpins 5 contact respectively rather than receivingcontact piece 2 that is in the homonymy, fill electric pile or charger this moment and can charge to unmannedaerial vehicle 7 through chargingpin 5 and receivingcontact piece 2.

In this embodiment, as a preferable scheme, as shown in fig. 3, the clamping jaw assembly includes a clampingarm 42 rotatably connected to theguide positioning portion 3 at a middle portion, a connectingrod 43 connected to one end of the clampingarm 42, and aclamping block 44 fixedly arranged on the connectingrod 43, and the drivingmember 41 can drive the two clampingarms 42 to rotate relatively, so that the connectingrod 43 and the clampingblock 44 thereon rotate to clamp or unclamp the two clamping blocks 44. When theactuator 41 drives the two clampingarms 42 towards each other, the two clampingblocks 44 also move towards each other and finally clamp theguide positioning block 1. In this embodiment, throughholes 321 may be formed on both sides of the body 32 of theguide positioning block 1, and the clampingblock 44 may pass through the throughholes 321 to clamp theguide positioning block 1.

In this embodiment, the charging pins 5 are disposed on the connectingrod 43, and when the drivingmember 41 drives the two clampingblocks 44 to clamp the guiding andpositioning block 1, the two chargingpins 5 are also driven and finally contact the power receivingcontact piece 2. That is to say, this application has realized the clamp ofdirection locating piece 1 on the one hand, namely to the location of unmannedaerial vehicle 7 throughclamping mechanism 4; on the other hand presss from both sides tightguide positioning piece 1 in, has realized in step charging to unmannedaerial vehicle 7, and when two press from both sides tightguide positioning piece 1 oftight piece 44 clamp moreover, two contact poweredcontact pieces 2 thatcharge 5 accurate need not like the general charging mouth position of adjusting unmannedaerial vehicle 7 of prior art for charge efficiency has obtained the improvement.

In this embodiment, the clampingarm 42 is further formed in a V-shaped structure, and the turning position of the V-shaped structure is rotatably connected to the guiding andpositioning portion 3 through ashaft 421. Correspondingly, theclamping mechanism 4 further comprises aguide groove block 45 with a waist-shapedgroove 451, aroller 46 is installed at one end of the clampingarm 42, which is not connected with the connectingrod 43, and theroller 46 can roll in the waist-shapedgroove 451, the drivingmember 41 is drivingly connected with theguide groove block 45 and can drive theguide groove block 45 to move up and down, when the drivingmember 41 drives theguide groove block 45 to move down, the two clamping blocks 44 are close to each other through the rolling of theroller 46 in the waist-shapedgroove 451 and the rotation of the clampingarm 42 around theshaft 421, so as to clamp theguide positioning block 1; when the drivingmember 41 drives theguide slot block 45 to move upwards, the two clamping blocks 44 are separated from each other by the rolling of theroller 46 in the waist-shapedslot 451 and the rotation of the clampingarm 42 around theshaft 421, and the clamping of theguide positioning block 1 is released.

As another preferable scheme of this embodiment, this embodiment may also be configured without theguide groove block 45 and theroller 46, and the ends of the clampingarms 42 of the two clamping jaw assemblies, which are not connected with the connectingrod 43, are directly hinged, and the hinged shafts of the two clampingarms 42 are connected to the output end of the drivingmember 41. The articulated shaft is driven to move downwards by the drivingpiece 41, so that the two clamping blocks 44 are close to each other, and theguide positioning block 1 is clamped; the hinge shaft is driven to move upwards by the drivingpiece 41, so that the two clamping blocks 44 are close to each other, and theguide positioning block 1 is released.

In this embodiment, the chargingpin 5 is sleeved with a spring, which can ensure the flexible contact between the chargingpin 5 and the power receivingcontact piece 2, and prevent thecharging pin 5 or the power receivingcontact piece 2 from being damaged. Specifically, a hole is formed in thelink 43, the chargingpin 5 is inserted into the hole, and an end of the non-charging end (i.e., the end not in contact with the power receiving contact piece 2) of the chargingpin 5 is provided with an annular protrusion (not shown), which has a diameter larger than that of the hole, so that the chargingpin 5 does not separate from thelink 43. A step is provided at the end of the chargingpin 5 where the annular protrusion is not provided, and one end of the spring abuts against the step of the chargingpin 5 and the other end abuts against thelink 43. When the contact ofneedle 5 and the receivingcontact piece 2 charges, the spring can realize the buffering to chargingneedle 5, and then avoids chargingneedle 5 or receivingcontact piece 2 impaired.

In this embodiment, as shown in fig. 1, the output end of thelifting mechanism 6 is connected to the bottom of the guiding andpositioning portion 3 in a driving manner, and the lifting mechanism can drive the guiding andpositioning portion 3 to lift, so as to achieve the purpose that the unmannedaerial vehicle 7 enters and exits the hangar. Thelifting mechanism 6 may be a cylinder, or may be another mechanism (such as a linear motor) capable of realizing linear motion.

In this embodiment, an image identifier (not shown in the figure) may be provided at the guiding andpositioning portion 3, and the unmannedaerial vehicle 7 may detect the image identifier and land at the image identifier. Specifically, unmannedaerial vehicle 7 acquires the real-time position ofdirection location portion 3 according to the GPS positional information ofdirection location portion 3, and GPS position accuracy is 1 ~ 5m, reachs the overhead back ofdirection location portion 3, and unmannedaerial vehicle 7 adopts down-looking camera to detect image identification (if can be H shape beacon), confirms the position ofdirection location portion 3 in real time through constantly taking the photo, follows position location mark is "H" shape, combines the image recognition result, controls 7 horizontal migration of unmanned aerial vehicle, until "H" mark is located the image centre of dead center, controls 7 horizontal rotation of unmanned aerial vehicle, thereby makes unmannedaerial vehicle 7 can accurate decline to in the directionconstant head tank 31 ofdirection location portion 3 through continuous adjustment. And the image identification adopts a target identification deep learning algorithm such as yolo or fastR-CNN, and the like, but is not limited to the two methods, the position of the image identification is obtained, and the pixel position of the center of the image identification is calculated.

Through finding the pixel position of image identification central point in the image, then solve the pixel distance of image identification central point pixel position apart from the x of image center pixel position and y direction, convert pixel distance to unmannedaerial vehicle 7 coordinate system from the image coordinate system again, and combine actual height to convert pixel distance into actual horizontal distance, transmit for unmannedaerial vehicle 7, 7 horizontal alignment image identification central point of real time control unmanned aerial vehicle position descends, ensure to fall into the directionconstant head tank 31 with the accurate orientation of the 1 of the direction locating piece on unmannedaerial vehicle 7.

According to the positioning, clamping and chargingmechanism 10 for the unmanned aerial vehicle, the unmannedaerial vehicle 7 can land accurately, deviation generated after the unmanned aerial vehicle lands is avoided, and further the unmannedaerial vehicle 7 or equipment can be prevented from being damaged. When pressing from both sides tightdirection locating piece 1 throughclamping mechanism 4, 5 electricity links of needle of charging acceptelectric contact piece 2, and the position of charging is accurate to the counterpoint, can realize fast that unmannedaerial vehicle 7 charges or trades battery operation to be obstructed, raises the efficiency.

The invention also provides a control method of the positioning, clamping and charging mechanism of the unmanned aerial vehicle, which comprises the following steps:

s10, detecting the image identification at the guiding andpositioning part 3 through the unmannedaerial vehicle 7, and controlling the unmannedaerial vehicle 7 to be arranged right above the guiding andpositioning part 3 according to the image identification.

In the specific step, the detection of the image identifier can refer to the above content, and after the unmannedaerial vehicle 7 determines the coordinates of the image identifier, the controller can control the unmannedaerial vehicle 7 to move and finally move to the position right above the guiding andpositioning part 3.

S20, controlling the unmannedaerial vehicle 7 to land, and enabling theguide positioning block 1 and theguide positioning groove 31 of theguide positioning part 3 to be matched and positioned.

Control unmannedaerial vehicle 7 to descend promptly, descend to in theguide positioning groove 31 untilguide positioning piece 1 to senseguide positioning piece 1 back by the sensor in theguide positioning groove 31, stop unmannedaerial vehicle 7.

And S30, when theguide positioning block 1 is matched and positioned with theguide positioning groove 31, controlling theclamping mechanism 4 to clamp theguide positioning block 1, and enabling the chargingpin 5 to contact the corresponding power receivingcontact piece 2 for charging.

In this step, theguide positioning block 1 is clamped by the clampingblock 44 of theclamping mechanism 4, and the chargingpin 5 is simultaneously brought into contact with the power receivingcontact piece 2, so that the unmannedaerial vehicle 7 can be charged.

The invention provides a hangar which comprises amovable cabin door 20 and an unmanned aerial vehicle positioning, clamping and chargingmechanism 10, wherein the unmanned aerial vehicle positioning, clamping and chargingmechanism 10 is arranged in the space of the hangar, when an unmannedaerial vehicle 7 is to land, themovable cabin door 20 is opened, at the moment, alifting mechanism 6 of the unmanned aerial vehicle positioning, clamping and chargingmechanism 10 drives aguide positioning part 3 and aclamping mechanism 4 to ascend, and then the unmannedaerial vehicle 7 enters aguide positioning groove 31 through aguide positioning block 1 to finish the landing. After unmannedaerial vehicle 7 descends, elevatingsystem 6 descends and gets into the hangar inside, andportable hatch door 20 is closed.

In this embodiment, the hangar may be a single-machine structure (shown in fig. 4), that is, only one positioning, clamping and chargingmechanism 10 for the unmanned aerial vehicle is installed in the hangar, and the hangar is convenient to transport. Above-mentioned hangar can also be many machine version structures (shown in fig. 5), and a plurality of unmanned aerial vehicle locationclamp charging mechanism 10 are installed to this hangar promptly, and it can implement incessant operation, perhaps to a plurality of target task parallel processing, also can launch other unmannedaerial vehicle 7 or unmanned aerial vehicle locationclamp charging mechanism 10 and carry out the operation when certain unmannedaerial vehicle 7 or unmanned aerial vehicle locationclamp charging mechanism 10 goes out the accident.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. The utility model provides an unmanned aerial vehicle location presss from both sides tight mechanism of charging which characterized in that includes:

the unmanned aerial vehicle is characterized by comprising a guide positioning block (1) which is arranged at the bottom of an unmanned aerial vehicle (7), wherein a power receiving contact piece (2) electrically connected to the unmanned aerial vehicle (7) is arranged on the guide positioning block (1);

the guide positioning part (3) is provided with a guide positioning groove (31), and the guide positioning block (1) can be matched with the guide positioning groove (31) for positioning;

the clamping mechanism (4) is arranged on the guide positioning part (3), and a charging needle (5) is arranged on the clamping mechanism (4); when the guide positioning block (1) is positioned in cooperation with the guide positioning groove (31), the clamping mechanism (4) is configured to clamp the guide positioning block (1), and the charging pin (5) contacts the corresponding power receiving contact piece (2).

2. The unmanned aerial vehicle positioning and clamping charging mechanism as claimed in claim 1, wherein the clamping mechanism (4) comprises a driving member (41) mounted on the guiding and positioning portion (3), two clamping jaw assemblies which can move relatively and the ends of which penetrate through the guiding and positioning portion (3) are driven by the driving member (41), and the ends of the two clamping jaw assemblies are provided with the charging pins (5).

3. The unmanned aerial vehicle positioning and clamping charging mechanism as claimed in claim 2, wherein the clamping jaw assembly comprises a clamping arm (42) rotatably connected to the guiding and positioning portion (3) at a middle portion, a connecting rod (43) connected to one end of the clamping arm (42), and a clamping block (44) fixedly arranged on the connecting rod (43), the charging needle (5) is arranged on the connecting rod (43), and the driving member (41) can drive the two clamping arms (42) to rotate relatively so as to drive the two clamping blocks (44) to clamp or release.

4. The unmanned aerial vehicle positioning and clamping charging mechanism as claimed in claim 3, wherein the clamping mechanism (4) further comprises a guide groove block (45) having a waist-shaped groove (451), the guide groove block (45) is connected to the output end of the driving member (41), a roller (46) is installed at one end of the clamping arm (42), and the roller (46) rolls in the waist-shaped groove (451).

5. The unmanned aerial vehicle positioning, clamping and charging mechanism as claimed in claim 3, wherein the ends of the clamping arms (42) of the two clamping jaw assemblies, which are not connected with the connecting rod (43), are hinged, and the hinged shafts of the two clamping arms (42) are connected with the output end of the driving member (41).

6. The unmanned aerial vehicle positioning, clamping and charging mechanism as claimed in claim 4 or 5, wherein the clamping arm (42) is in a V-shaped structure, and the turning position of the V-shaped structure is rotatably connected to the guiding and positioning part (3) through a shaft (421).

7. The unmanned aerial vehicle positioning, clamping and charging mechanism of claim 1, further comprising a lifting mechanism (6), wherein an output end of the lifting mechanism (6) is in driving connection with the guiding and positioning portion (3).

8. The unmanned aerial vehicle positioning, clamping and charging mechanism of claim 1, wherein an image mark is arranged at the guiding and positioning portion (3), and the unmanned aerial vehicle (7) can detect the image mark and land at the image mark.

9. A method for controlling the positioning, clamping and charging mechanism of the unmanned aerial vehicle according to any one of claims 1 to 8, comprising:

detecting an image identifier at the position of the guiding and positioning part (3) through an unmanned aerial vehicle (7), and controlling the unmanned aerial vehicle (7) to be arranged right above the guiding and positioning part (3) according to the image identifier;

controlling the unmanned aerial vehicle (7) to land to enable the guide positioning block (1) to be matched and positioned with the guide positioning groove (31) of the guide positioning part (3);

guide orientation piece (1) with when direction constant head tank (31) cooperation location, control clamping mechanism (4) press from both sides tightly guide orientation piece (1), just needle (5) that charges contact and correspond receive electric contact piece (2), charge.

10. An hangar, characterized in that, comprises the unmanned aerial vehicle positioning, clamping and charging mechanism of any one of claims 1 to 8.

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