TWM651388U - Unmanned aerial vehicle autonomous operation system - Google Patents

Abstract

The present invention relates to an unmanned aerial vehicle autonomous operation system, comprising: an operation cabinet; an unmanned aerial vehicle transportation module configured inside the operation cabinet and comprising a mobile parking platform for parking an unmanned aerial vehicle, a conveyance module and an autonomous guided terrain vehicle; and a master computer configured inside the operation cabinet to determine whether the unmanned aerial vehicle is permitted to perform a flight mission according to a flight operation rule based on a meteorological condition, and command the conveyance module to transfer the unmanned aerial vehicle from the mobile parking platform to the autonomous guided terrain vehicle for the autonomous guided terrain vehicle to carry the unmanned aerial vehicle to a landing site.

Description

Unmanned aerial vehicle autonomous operation system

This creation is about an autonomous operating system for unmanned aerial vehicles, especially an autonomous operating system for unmanned aerial vehicles based on system integration.

In recent years, due to the rapid advancement of electronic hardware, sensors and computing capabilities, Unmanned Aerial Vehicles (UAV), which are highly dependent on electronic controllers, sensors and algorithms, can fly more stably, further and have the ability to Richer autonomous functions can replace humans in areas that are inaccessible or highly dangerous, and have the ability to perform complex and difficult flight missions, becoming an extremely powerful productivity tool. Various factors have triggered the booming development of drone technology in recent years.

Most of the unmanned aerial vehicles were first developed by the military and used to perform military tasks, such as reconnaissance and attack. However, the tasks performed by unmanned aerial vehicles now include photography, delivery, inspection, measurement, field investigation, meteorological observation, and scientific research. , These application needs not only expand the application scope of drones, but also directly drive the progress of drone technology. To meet these application needs, many enterprises and start-up companies have invested a lot of money and manpower in the research and development of drone technology. It has contributed to many drone open source technologies, as well as the enhancement and development of underlying technologies such as drone hardware, controllers and algorithms.

But generally speaking, the research and development of these unmanned aerial vehicle technologies is mostly Focusing on various underlying individual technologies of drones but lacking system integration, the main problem is that system integration requires the integration of software, hardware, components, and network communication technologies from different sources, which itself is a large-scale project that is highly complex and full of uncertainty. Not only does the plan not have a standardized solution to provide guidance, especially for unmanned aerial systems, the integrated system must also ensure that it is safe and reliable under all conditions, which further increases the difficulty of unmanned aerial system integration. But with the rapid commercialization of drone applications, the need for system integration will only increase dramatically.

Due to professional reasons, in view of the lack of system integration of conventional drone technology, the creator finally conceived this case "Unmanned Aerial Vehicle Autonomous Operation System" after careful attempts and research, and a spirit of perseverance to overcome the above shortcomings. The following is this creation A brief description.

This creation is about an autonomous operating system for unmanned aerial vehicles, especially an autonomous operating system for unmanned aerial vehicles based on system integration.

Based on this, this creation proposes an autonomous operating system for unmanned aerial vehicles, including: an operating cabin, which includes a cabin space and a take-off and landing port connected to a take-off and landing point located outside the operating cabin; an unmanned aerial vehicle transport model The group is configured in the cabin space and includes a parking platform mobile module that provides parking for multiple unmanned aerial vehicles, a transmission module and an automatic guidance ground mobile vehicle; an extravehicular weather monitoring module, which is attached to the outside of the operating cabin. Sensing multiple meteorological conditions of the atmospheric environment; and a main control computer, which is configured inside the cabin space to: receive the meteorological conditions and determine whether to allow the unmanned aerial vehicle to perform the flight mission in accordance with the flight operation rules; and if allowed The flight mission controls the transfer module to transfer the first unmanned aerial vehicle among the unmanned aerial vehicles from the parking platform mobile module to the automatically guided ground mobile vehicle, and then the automatic guided ground mobile vehicle Transfer the first unmanned aerial vehicle to the take-off and landing point.

Preferably, the autonomous operating system of the unmanned aerial vehicle also includes one of the following: the operating cabin, which includes a bulkhead structure and a cabin roof structure, and the bulkhead structure and the cabin roof structure include high-penetration electromagnetic waves. Material; battery replacement module, which is disposed close to the mobile module of the parking platform and includes a charging cabin and a swapping mechanism. The swapping mechanism is configured to align with the unmanned vehicles parked on the mobile module of the parking platform. The battery holder of the aircraft vehicle unloads the first battery module carried from the battery holder, transfers the first battery module to the charging compartment, and takes out the second battery module from the charging compartment and loads it into the battery seat; the cabin environment conditioning module is configured in the cabin space and includes a dehumidification module, a ventilation module and an air filter. The dehumidification module is configured to perform a full-time dehumidification operation in the cabin space, The ventilation module is configured to provide a negative pressure environment for the cabin space, and the air filter is configured to actively filter the air entering the cabin space; the unmanned aerial vehicle maintenance module is configured close to the parking platform mobile module position, and includes an air compressor and an air nozzle that outputs air jets to the unmanned aerial vehicles parked on the parking platform mobile module to remove liquid attached to the unmanned aerial vehicles. material or solid matter; an air curtain mechanism, which is disposed close to the take-off and landing port, and when the hatch that closes the take-off and landing port is opened, a continuous airflow is generated to form an air curtain covering the take-off and landing port to block incoming air. The air of the atmospheric environment enters the cabin space; and a safety monitoring module is attached to the outside of the operating cabin and includes one of at least one surveillance camera and at least one motion sensor.

The above creative content is intended to provide a simplified summary of the disclosure content to enable readers to have a basic understanding of the disclosure content. This creative content is not a complete description of the disclosure content, and is not intended to point out important/key elements or key elements of the embodiments of the present invention. Define the scope of this creation.

10: Unmanned aerial vehicle autonomous operation system

70: Temporary take-off and landing point

80: Extravehicular weather monitoring module

90:Operating engine room

91:bulkhead

92:Cabin roof

93:Front hatch

94:Rear hatch

95:Taking off and landing port

96: hatch

97: Three-dimensional rain cover

100: Ground base station

110:Unmanned aerial vehicle transport module

111: Stop platform mobile module

112: Shutdown platform

113:Teleport module

114:Double wishbone

115: Automatic guidance of ground mobile vehicles

116: Lifting and landing platform

117: Inclined surface

120: Cabin environment adjustment module

121:Dehumidification module

122: Ventilation module

123:Air filter

130: Battery replacement module

131:Charging cabin

132:Exchange mechanism

140: Unmanned aerial vehicle maintenance module

141:Air compressor

142:Air nozzle

150: Air curtain mechanism

160:Control console

161:Workbench

162:Keyboard, screen and mouse

170: Ground wireless communication module

180: Ground GNSS module

190: Ground high-precision positioning module

210:Inertial measurement unit

220:Microcontroller unit

230: Electronic transmission module

240:Power module

250:The first battery module

260: and micro sensor modules

270: Airborne wireless communication module

280: Airborne GNSS module

290: Airborne high-precision positioning module

300: Main control computer

400:Cloud operating platform

401: Cabin environment management program component

402: Take-off and landing decision program components

403: Mission planning program component

404:Battery management program component

501: In-cabin transportation system

502: Unmanned aerial vehicle system

503: Extravehicular atmosphere monitoring system

504: Cabin environment adjustment system

505: Power exchange system and other systems

600:Mission area

601:Flight route

Figure 1 shows a schematic diagram of the system integration architecture of the autonomous operating system of the unmanned aerial vehicle included in this creation;

Figure 2 shows a schematic structural diagram of the operating engine room included in this creation;

Figure 3 shows a top-down perspective view of the hardware equipment configuration of the cabin space of the operating cabin included in this creation;

Figure 4 shows a front perspective schematic diagram of the hardware equipment configuration of the cabin space of the operating cabin included in this creation;

Figure 5 shows a rear perspective schematic diagram of the hardware equipment configuration of the cabin space of the operating cabin included in this creation;

Figure 6 shows the schematic diagram of the program component architecture included in this creative cloud operating platform;

Figure 7 shows the architectural block diagram of the control system included in the autonomous operating system of the unmanned aerial vehicle of this creation; and

Figure 8 shows a schematic diagram of the joint deployment of multiple ground base stations included in the autonomous operating system of the unmanned aerial vehicle of this creation.

This invention can be fully understood by the following examples, so that people skilled in the art can complete it. However, the implementation of this invention is not limited to its implementation type by the following implementation examples; the drawings of this invention are not Limitations on size, dimensions and scale are not included, and the size, dimensions and scale of the actual implementation of this creation cannot be limited by the diagram of this creation.

The word "preferably" used in this article is non-exclusive and should be understood as "preferably but not limited to". Any steps described or recorded in any specification or claim may be performed in any order. rows, without being limited to the order stated in the claims, the scope of this creation should be determined only by the appended claims and their equivalents, and should not be determined by the embodiments of the implementation examples; the term "comprising" and its variations are used herein When appearing in the description and claims, it is an open-ended term that does not have a restrictive meaning and does not exclude other features or steps.

Figure 1 shows a schematic diagram of the system integration architecture of the unmanned aerial vehicle autonomous operating system included in this creation; the unmanned aerial vehicle autonomous operating system 10 proposed in this creation integrates multiple unmanned aerial vehicles 200, ground base stations 100, and operating cabins 90 , a variety of ground equipment, a cloud operating platform and related program components installed inside the operating cabin 90. The unmanned aerial vehicle 200 is equipped with high-end flight controllers and communication equipment.

The unmanned aerial vehicle 200 uses a flight controller as the control core. The flight controller includes an inertial measurement unit (IMU) 210 composed of a gyroscope, an accelerometer and a magnetometer for detecting the flight attitude of the unmanned aerial vehicle. The high computing power microcontroller unit (MCU) 220 that corrects the flight angle and controls the aircraft body level, the airborne high-precision positioning module 290 that enables the unmanned aerial vehicle to obtain coordinate information in real time and the real-time dynamic carrier phase difference (RTK) technology, and the aircraft Equipped with Global Satellite Navigation System (GNSS) module 280, RTK technology can improve positioning accuracy to centimeter level.

The airborne GNSS module 280 is used to receive the second GNSS satellite signal, and the airborne high-precision positioning module 290 is used to receive the first GNSS satellite signal and the second GNSS satellite signal, and implement RTK technology based on the first GNSS satellite. The signal and the second GNSS satellite signal calculate the real-time position coordinates of the airborne high-precision positioning module 290 in the three-dimensional space of the earth's atmosphere to determine the real-time position of the unmanned aerial vehicle 200 . The airborne wireless communication module 270 that determines the flight distance of the unmanned aerial vehicle 200 uses a low-power high-frequency LoRa wireless communication module to obtain a long-distance communication distance capability of more than 10km.

Each unmanned aerial vehicle 200 includes an electronic transmission module 230, a power module 240, a first battery module 250 and a micro sensor module 260. The micro sensor module 260 includes but is not limited to: air pressure sensing. sensor, humidity sensor, temperature sensor, wind direction sensor, wind speed sensor, precipitation sensor, PM2.5 sensor, fine suspended particle concentration sensor, coarse suspended particle concentration sensor, Sulfur dioxide concentration sensor, carbon dioxide concentration sensor, ozone (O ₃ ) concentration sensor, carbon monoxide concentration sensor, illumination sensor, volatile organic compound (VOC) concentration sensor and nitrogen dioxide concentration sensor These sensors perform intensive sensing of the surrounding environment according to a preset sampling frequency, such as but not limited to 1 time per second.

The ground base station 100 and ground equipment include an operating cabin 90 and an extravehicular weather monitoring module 80. The cabin space inside the operating cabin 90 is used to store the unmanned aerial vehicle 200 and various electronic control hardware equipment, and is configured with a number of devices including but not limited to multiple Unmanned aerial vehicle 200, main control computer 300, unmanned aerial vehicle transport module 110, cabin environment adjustment module 120, battery replacement module 130, unmanned aerial vehicle maintenance module 140, air curtain mechanism 150, control console (console) 160, ground wireless communication module 170, ground GNSS module 180, and ground high-precision positioning module 190 and other hardware equipment.

Through the built-in integrated cloud operating platform, the main control computer 300 of the ground base station 100 can not only perform basic automatic navigation, route planning, normal autonomous flight mission scheduling and emergency avoidance processing functions, but also real-time monitoring of unmanned flights. The vehicle and battery status are intelligently allocated to the appropriate battery according to its mission range to extend the battery life. The unmanned aerial vehicle flight execution interface, various monitoring information, real-time return images or current coordinates, altitude and attitude information, and other information For example, weather data will also be displayed on the display screen.

Figure 2 shows a schematic structural diagram of the operating cabin included in this creation; the operating cabin 90 included in the unmanned aerial vehicle autonomous operating system 10 adopts a normally closed cabin design. According to the design, the main frame of the cabin is made of aluminum. The bulkhead 91 and the cabin roof 92 are made of fiberglass partitions or PVC plates sandwiched with insulation cotton to form composite bulkheads. The gaps are then filled with, for example, but not limited to, silicone resin. It not only makes the operating cabin 90 waterproof, waterproof, moisture-proof, dustproof, heat-insulating and weather-resistant, but also has high electromagnetic wave penetration, does not form an electromagnetic wave shielding effect, and allows various wireless radio frequency signals including GPS satellite signals, GNSS satellite signals, wireless Radio frequency signals and even geomagnetic signals directly penetrate into the cabin space, increasing the gain intensity of various radio frequency signals, increasing the geomagnetic signal intensity for the compass system, and improving communication links and data links. With high quality, it can establish a good wireless communication environment for unmanned aerial vehicle systems that highly rely on wireless radio frequency communications without erecting external antennas.

The operation cabin 90 is provided with a front hatch 93, a rear hatch 94 and a landing port 95 on the bulkhead 91. A hatch 96 is provided above the landing port 95 to open or close the landing port 95. The hatch 96 is preferred. For example, but not limited to, an electric cabin door, the take-off and landing port 95 is connected to a temporary take-off and landing point 70 located outside the operating cabin 90 . In this embodiment, the take-off and landing opening 95 is provided on the bulkhead 91 on the side of the operating cabin 90, and a three-dimensional rain shield 97 is also provided at the take-off and landing opening 95. When the unmanned aerial vehicle 200 takes off and lands on a rainy day, even if the cabin When the door 96 is open, rainwater will not enter the cabin space from the landing port 95, making the operating cabin 90 rainproof.

The operating cabin 90 is attached with a set of extravehicular weather monitoring modules 80 on the cabin roof 92. The extravehicular weather monitoring module 80 is preferably a small meteorological tower with built-in components such as but not limited to: air pressure sensors to detect air pressure, Humidity sensor to detect humidity, temperature sensor to detect temperature, wind direction sensor to detect wind direction, wind speed sensor to detect wind speed or precipitation sensor to detect precipitation, outdoor weather monitoring The module 80 is mainly used to sense the meteorological conditions of the atmospheric environment outside the operating cabin 90, and report the sensed meteorological conditions to the take-off and landing decisions in the cloud operating platform through the main control computer 300. Program components.

Preferably, the operating cabin 90 also has the following characteristics: (1) Appearance dimensions: 2212mm×2132mm×1255mm (length, width and height); (2) Operating environment temperature: -35℃~50℃; (3) Waterproof level: IP55; (4) Maximum allowable landing wind speed: 10m/s.

Figures 3 to 5 show a schematic diagram of the hardware equipment configuration of the cabin space of the operating nacelle included in this creation; Figure 3 shows a top perspective schematic diagram of the hardware equipment configuration of the operating nacelle space included in this creation; Figure 4 Figure 5 shows a front perspective schematic diagram of the hardware equipment configuration of the operating nacelle and its cabin space included in this invention; Figure 5 shows a rear perspective schematic diagram of the hardware equipment configuration of the operating nacelle and its cabin space included in this invention; the cabin space of the operating nacelle 90 Used for storage and configuration including but not limited to main control computer 300, multiple unmanned aerial vehicles 200, unmanned aerial vehicle transportation module 110, cabin environment adjustment module 120, power replacement module 130, unmanned aerial vehicle maintenance Hardware equipment such as module 140, air curtain mechanism 150, control console 160, ground wireless communication module 170, ground GNSS module 180, and ground high-precision positioning module 190.

In this embodiment, the unmanned aerial vehicle transport module 110 includes a parking platform mobile module 111, a transmission module 113 and an automatic guided ground mobile vehicle 115. The parking platform mobile module 111 includes a multi-layer parking platform 112, each parking platform 112 can be used to park a single unmanned aerial vehicle 200. The parking platform mobile module 111 is preferably also equipped with, for example but not limited to: a motor and a moving mechanism including an X-axis, Y-axis or Z-axis slide rail, which can drive the parking platform. 112 moves forward and backward in the horizontal direction, or up and down in the vertical direction.

The transmission module 113 preferably includes a set of double fork arms 114, and is configured with, for example, but not limited to, a motor and a moving mechanism including an X-axis, Y-axis or Z-axis slide rail, which can drive the double fork arms 114 to move forward and backward in the horizontal direction. Or move up and down in the vertical direction to automatically guide the ground mobile vehicle 115 Jia is an AGV all-terrain transport vehicle.

When the unmanned aerial vehicle 200 is not performing a flight mission, the parking platform 112 returns and stays in the preparation position. The unmanned aerial vehicle 200 is parked on the parking platform 112 and performs various maintenance operations in the preparation position, including but not limited to battery replacement. work, charging work and maintenance work, etc.

When the unmanned aerial vehicle 200 needs to perform a flight mission and enters the take-off preparation operation, the main control computer 300 instructs the unmanned aerial vehicle transport module 110 to start the vehicle transfer operation, and controls the parking platform moving module 111 to drive the parking platform 112 to level. Move, transfer the unmanned aerial vehicle 200 from the preparation position to the first transfer point, and dock with the transmission module 113.

When the main control computer 300 confirms that the unmanned aerial vehicle 200 has arrived at the first transfer point, the main control computer 300 commands the transmission module 113 to move horizontally, catches the unmanned aerial vehicle 200 with the double fork arms 114, and then controls the parking platform 112 Return to the preparation position, the double wishbone 114 transports the unmanned aerial vehicle 200 downward, transfers the unmanned aerial vehicle 200 to the second transfer point, and docks with the automatic guidance ground mobile vehicle 115, and then moves the unmanned aerial vehicle 200 Place it on the take-off and landing platform 116 of the automatic guided ground mobile vehicle 115.

After the main control computer 300 confirms that the automatic guidance ground mobile vehicle 115 successfully receives the unmanned aerial vehicle 200, the main control computer 300 directs the automatic unmanned aerial vehicle 200 to move to the temporary take-off and landing point 70 by remote control, and moves the unmanned aerial vehicle 200 to the temporary take-off and landing point 70. The vehicle 200 is transported to the temporary take-off and landing point 70 outside the operating cabin 90 , and the unmanned aerial vehicle 200 is commanded to fly on the take-off and landing platform 116 . The temporary take-off and landing point 70 is not a fixed position. The temporary take-off and landing point 70 is given by the user. Different temporary take-off and landing points 70 can be given for each flight mission.

Then, the main control computer 300 instructs the unmanned aerial vehicle 200 to prepare and execute the flight. During the take-off operation, the unmanned aerial vehicle 200 takes off from the automatic guidance ground mobile vehicle 115 take-off and landing platform 116. After the take-off operation is completed, the main control computer 300 commands the automatic guidance ground mobile vehicle 115 to return to the location. The second transfer point inside the work cabin 90.

When the unmanned aerial vehicle 200 completes its flight mission or needs to return home, after the landing preparation operation begins, the main control computer 300 remotely directs the ground mobile vehicle 115 to automatically guide the ground mobile vehicle 115 to move from the second transfer point to the temporary take-off and landing point 70, waiting for the unmanned aircraft. The flying vehicle 200 returns to perform the landing operation. During the landing operation, the main control computer 300 directs the unmanned flying vehicle 200 to land on the take-off and landing platform 116. After the unmanned flying vehicle 200 completes the landing operation, the main control computer 300 directs automatic guidance. The ground mobile vehicle 115 transports the unmanned aerial vehicle 200 to the second transfer point.

A take-off and landing platform 116 is provided on the automatically guided ground mobile vehicle 115 to provide the unmanned aerial vehicle 200 with take-off and landing. It is preferably a shallow tapered circular dish with an inclined structure at the edge. The geometric shape of the platform 116 is not limited to a circular disc. The inclined surface 117 at the edge of the take-off and landing platform 116 has the function of simply correcting the deviation of the unmanned aerial vehicle 200 from the temporary take-off and landing point 70 during the landing operation. When the unmanned aerial vehicle 200 When 200 encounters, but is not limited to, crosswind during the landing operation and deviates from the center point of the take-off and landing platform 116, at this time, the inclined surface 117 on the shallow tapered edge can play the role of blocking the landing gear of the unmanned aerial vehicle 200. The forced landing gear slides into the take-off and landing platform 116 along the inclined surface 117 to guide the unmanned aerial vehicle 200 to overcome the offset and land smoothly.

The alignment between the unmanned aerial vehicle 200 and the automatically guided ground mobile vehicle 115 may be accomplished by applying, for example, but not limited to: laser alignment technology, image recognition alignment technology, alignment mark recognition alignment technology, or GPS positioning technology.

Then, the main control computer 300 directs the transmission module 113 to transport the unmanned aerial vehicle 200 from the second transfer point to the first transfer point, and then puts it back on the parking platform 112. The main control computer 300 then The command and shutdown platform mobile module 111 drives the shutdown platform 112 to transport the unmanned aerial vehicle 200 from the first transfer point back to the preparation position, so that the unmanned aerial vehicle 200 can perform maintenance operations at the preparation position.

Since the ground base station 100 needs to be deployed in various outdoor areas with different environmental conditions, covering areas such as but not limited to urban areas, suburbs, mountainous areas, flat areas, rivers or seasides, the temperature, humidity, air pressure or wind speed of these areas, etc. Each is different, so the operating cabin 90 needs to be equipped with at least one set of cabin environment adjustment modules 120 to regulate the internal environment of the cabin space at all times to cope with changes in external environmental conditions, as well as deployment and task execution in different outdoor areas.

In this embodiment, the cabin environment adjustment module 120 preferably includes a dehumidification module 121, a ventilation module 122 and an air filter 123. The dehumidification module 121 is preferably a set of ceiling-mounted dehumidifiers installed in the cabin. The top of the space, and perform full-time dehumidification operations to keep the cabin space dry at all times to facilitate system stability and battery storage; the ventilation module 122 is preferably a negative pressure ventilation fan used to remove the air in the cabin space Emitted to the external atmospheric environment; the air filter 123 is preferably, for example but not limited to, a PM2.5 air purifier, which can actively filter out suspended particles, dust and coarse and fine particles carried by the external air when the ambient air enters the cabin space. , keeping the cabin space clean.

Through the operation of the cabin environment adjustment module 120, this invention enables the cabin space to have the three-proof functions of waterproofing, moisture-proof, and dust-proof, and can adjust the temperature of the cabin space, so that the temperature difference between the interior of the cabin space and the external atmospheric environment can be adjusted. Maintain it at an appropriate level so that the unmanned aerial vehicle 200 and its internal crew parts and electronic devices can adapt to the temperature outside the cabin, and to avoid excessive temperature differences between the unmanned aerial vehicle 200 body and its internal electronic devices and the external atmospheric environment that may cause malfunctions and disadvantages. The unmanned aerial vehicle 200 performs a flight mission.

In this embodiment, the battery swap module 130 includes a charging compartment 131 and a swap mechanism 132. The swap mechanism 132 is preferably located near the parking platform mobile module 111. The swap mechanism 132 Preferably, it includes a worm mechanism or a clamp. Under the control and command of the main control computer 300, it can move and align the battery holder on the belly of the unmanned aerial vehicle 200 in the preparation position. From the battery holder of the unmanned aerial vehicle 200 Unload the carried first battery module 250, transfer the unloaded first battery module 250 back to the charging cabin 131 for charging, and then take out the second battery module 250 from the charging cabin 132 before the unmanned aerial vehicle 200 is ready to perform a flight mission. The battery module is loaded into the battery holder of the unmanned aerial vehicle 200.

The power exchange mechanism used in this invention is the most efficient solution compared to the charging mechanism. In a certain embodiment, the exchange mechanism 132 is preferably a high-precision robotic arm that can quickly and accurately align the unmanned aerial vehicle 200 For the battery holder, remove the first battery module 250 from the unmanned aerial vehicle 200, place it in the charging cabin 131 for charging, and then take out the fully charged second battery module from the charging cabin 131 and assemble it on the unmanned aerial vehicle 200. , the entire battery replacement process can be completed in a few minutes, and the unmanned aerial vehicle 200 can perform flight missions again in a very short time without waiting for charging.

In one embodiment, the high-precision robotic arm used in the replacement mechanism 132 is designed to be lightweight and miniaturized, and can complete battery replacement with the optimal movement path and movement time. The built-in intelligent algorithm can automatically avoid duplication. Grab to avoid damage to the drone if the grab fails.

In this embodiment, the unmanned aerial vehicle maintenance module 140 preferably includes an air compressor 141 and an air nozzle 142. The position of the air nozzle 142 is preferably arranged near the parking platform mobile module 111. The air nozzle 142 is preferably an The mobile nozzle driven by, for example but not limited to, a robotic arm moves according to the programmed trajectory under the control of the main control computer 300. The air nozzle 142 receives the pressurized air output by the air compressor 141 and sprays it to the preparation position. The unmanned aerial vehicle 200 removes water and dust from the unmanned aerial vehicle 200 by blowing off rainwater, water droplets, dust and other impurities stuck to the fuselage, and provides functions such as cleaning, cooling, and keeping dry, and in rainy days, Air nozzle 142 It can specifically target the important electronic devices on the unmanned aerial vehicle 200, including but not limited to the flight controller, MCU, IMU, motherboard and motor, etc., and quickly dry these important electronic devices to avoid the failure of these important electronic devices. Affecting the flight of the unmanned aerial vehicle 200.

In a certain embodiment, the unmanned aerial vehicle maintenance module 140 may also be a set of fan units that blow airflow toward the unmanned aerial vehicle 200 in the preparation position to provide cleaning and cooling for the unmanned aerial vehicle 200 , keep dry and other effects.

In this embodiment, the air curtain mechanism 150 is preferably a set of cross-flow fans, which are arranged above the landing port 95 and blow continuous airflow downward when the hatch 96 is opened to form a line of air covering the landing port 95 The curtain blocks the air from the external atmospheric environment from entering the cabin space.

In this embodiment, the control console 160 and the main control computer 300 are arranged on the rear side of the operating cabin 90 and close to the rear hatch 94. The control console 160 integrates the input and output devices and human-machine interface of the main control computer 300, including but Not limited to keyboard, screen, and mouse (KVM) 162, centrally provided for user operations. The console 160 includes at least one workbench 161 to place the keyboard, screen and mouse 162 of the main control computer 300. The user can centrally operate the keyboard, screen and mouse 162 through the console 160 to operate the main control computer 300, including but not limited to: It is not limited to setting the main control computer 300, inputting instructions to the main control computer 300, etc., and receiving information output by the main control computer 300 through the console 160.

The cabin space inside the operating cabin 90 is also equipped with a ground wireless communication module 170 to establish two-way communication with the airborne wireless communication module 270 on the unmanned aerial vehicle 200. The ground wireless communication module 170 is preferably a low-power Use long-distance communication protocols, such as but not limited to LoRa communication protocol or Sub-1G communication protocol. The cabin space inside the operating cabin 90 is also equipped with a ground GNSS module 180, such as but not limited to a GNSS module, in order to receive GNSS satellite positioning signals. The cabin space inside the working cabin 90 is also equipped with a ground high-precision positioning module 190, such as but not limited to The RTK module receives the GNSS satellite positioning signal and sends it to the airborne high-precision positioning module on the unmanned aerial vehicle 200 . Due to the high electromagnetic wave permeability of the operating cabin 90, there is no need to set up additional external antennas for these radio frequency communication modules.

A safety monitoring module is also provided outside the operating cabin 90, including, for example, but not limited to, multiple surveillance cameras and multiple motion sensors, which are attached to the bulkhead 91 and installed outside the operating cabin 90 for protection. The valuable equipment inside the work cabin 90.

Figure 6 shows a schematic diagram of the program component architecture included in the cloud operating platform of this invention; the cloud operating platform 400 is built using PaaS technology, and the back-end application of the cloud operating platform 400 is set up on a remote cloud server and browsed through the web The browser is used as a front-end application. The user only needs to operate the keyboard, screen and mouse 162 of the console 160 to access and operate the web browser running on the host computer 300 to access the cloud server. The back-end application includes multiple program components executable by the processor. These program components include but are not limited to: cabin environment management program component 401, take-off and landing decision-making program component 402, and flight mission planning program component. 403 and battery management program component 404, etc.

After execution, the takeoff and landing decision program component 402 will receive the meteorological conditions sensed by the extravehicular weather monitoring module 80, including but not limited to parameters such as air pressure, humidity, temperature, wind direction, wind speed, and precipitation, and then substitute these meteorological conditions into Preset flight operation rules are used to determine whether the current atmospheric environment is suitable for the unmanned aerial vehicle 200 to take off to perform the flight mission.

For example, a better flight operation rule is that when weather conditions such as wind speed, precipitation, dense fog, etc. exceed a certain threshold, the flight mission is suspended, and the flight mission is resumed only when the weather conditions fall below the threshold. Flight operation rules prohibit the unmanned aerial vehicle 200 from performing flight missions when the atmospheric environment is such as heavy rain, strong wind, frost, dense fog, etc.

After the flight mission planning program component 402 allows the unmanned aerial vehicle 200 to perform the flight mission, the main control computer 300 will send a control signal to the unmanned aerial vehicle transportation module 110 to instruct the unmanned aerial vehicle transportation module. Group 110 performs vehicle transfer operations to move the unmanned aerial vehicle 200 from the preparation position to the temporary take-off and landing point 70 .

In this embodiment, the main control computer 300 will arrange multiple unmanned aerial vehicles 200 to perform flight missions based on flight operation rules through the execution of the take-off and landing decision program component 402 and the flight mission planning program component 403; for example, the main control computer The preferred arrangement of 300 is, for example, but not limited to, 2 unmanned aerial vehicles 200. Each time interval is 1 hour, the vertical observation mission of the atmospheric boundary layer is continuously performed in a cycle, with a vertical lift of 3 kilometers, and sampling of micro sensors. The frequency is set to once per second. According to the flight operation rules, it is set that when wind speed, precipitation, dense fog and other meteorological conditions exceed the threshold, the vertical observation mission of the atmospheric boundary layer is suspended, and the mission execution is resumed when the meteorological conditions are lower than the threshold. If conditions such as heavy rain, strong wind, frost, dense fog, etc. are encountered, the execution of the vertical observation mission of the atmospheric boundary layer will be suspended and the mission execution will be resumed when the meteorological conditions are below the threshold.

After the battery management program component 404 is executed, it will execute a special smart battery management algorithm to detect and diagnose whether the battery performance, battery capacity, working voltage and aging degree of the plurality of battery modules placed in the charging bay meet the working standards. , and automatically mark and deactivate battery modules that do not meet working standards, and evenly distribute and adjust the frequency of use of each battery module.

Even if the unmanned aerial vehicle is protected by the safe return mode throughout the flight, which ensures that the unmanned aerial vehicle has enough power to return before the voltage declines, but even if the unmanned aerial vehicle has entered the safe return mode, it still has to face many disadvantages. Due to certain meteorological risk factors, such as sudden crosswinds, strong winds or downdrafts, the actual power consumption of unmanned aerial vehicles is often higher than expected. Each set of battery modules must have sufficient redundancy. capacity (redundancy) to ensure For the successful completion of each flight mission, the battery management program component 404 will specifically detect and determine the degree of voltage decline of each battery module. Once it is discovered that a battery module has aged to the point that it cannot provide sufficient redundant capacity, it will immediately Warning replacement.

Figure 7 reveals the system architecture block diagram of the control system included in the autonomous operating system of the unmanned aerial vehicle of the present invention; the autonomous operating system 10 of the unmanned aerial vehicle of the present invention also covers at least five main control systems. These control systems are, for example, but not Limited to: cabin transportation system 501, unmanned aerial vehicle system 502, extravehicular atmospheric monitoring system 503, cabin environment adjustment system 504, and power replacement system 505. The unmanned aerial vehicle autonomous operating system 10 uses the cloud operating platform 400 executed on the main control computer 300 as the control center to control and command the in-vehicle transportation system 501 and the unmanned aerial vehicle through wireless communication transmission or wired communication transmission. Specifically, it includes systems 502, extravehicular atmosphere monitoring system 503, cabin environment adjustment system 504, and power exchange system 505.

Figure 8 shows a schematic diagram of the joint deployment of multiple ground base stations included in the autonomous operating system of the unmanned aerial vehicle of this invention; in this embodiment, the autonomous operating system 10 of the unmanned aerial vehicle preferably includes multiple ground base stations 100 for joint deployment in Within the mission area 600, preferably, the ground base stations 100 can adopt a regular grid form, a square grid form, a rectangular grid form, an irregular form or a random distribution form, and are jointly deployed in the mission area 600. Multiple The ground base stations 100 conduct horizontal communication and coordination with each other to jointly perform a specific task, such as but not limited to being deployed in a large city to jointly perform air quality observation tasks or traffic flow monitoring tasks, etc. Each unmanned aerial vehicle 200 dispatched by each ground base station 100 can have its own flight action line 601, such as but not limited to fixed-point vertical lift, checkerboard movement, linear movement, geometric movement, or movement according to a programmed trajectory. etc.

After all ground base stations 100 are deployed and the user completes all settings Afterwards, under the control of the main control computer 300, the entire unmanned aerial vehicle autonomous operation system 10, including all core ground base stations 100 and its internal electronic control equipment and all unmanned aerial vehicles 200, can be operated without manual intervention. Under this condition, it operates independently and dispatches 200 unmanned aerial vehicles to perform flight missions in cycles until the flight plan is completed.

The cloud operating platform 400 included in this creation integrates at least the following functions: (1) Control the movement of various mechanical structures of the platform, such as the movement of robotic arms, lifting and lowering of cabin platforms, opening and closing of cabin doors or internal unmanned vehicle transportation, etc., and monitoring the internal conditions of the cabin. (2) Real-time two-way communication with unmanned vehicles, allowing users to write trajectories, control and manage automatically scheduled flight missions through its user interface, while providing a variety of real-time flight data for users to monitor the status of unmanned vehicles. (3) Intelligent battery charging, monitoring battery health status, evaluating battery service life, reasonably arranging battery usage sequence according to its tasks, and providing relevant data. (4) Real-time monitoring of the surrounding weather conditions to assess the risks of unmanned vehicle takeoff and landing. For example, when the ambient wind speed or rainfall reaches conditions that endanger the normal operation of the flight mission, the flight mission will be automatically delayed or canceled and relevant notifications will be sent simultaneously.

The unmanned aerial vehicle autonomous operation system 10 proposed in this creation at least integrates the following systems: (1) Power management system: The power management system mainly has battery balancing charging, overcharge protection, battery status monitoring and reasonable battery allocation scheduling. and other functions. (2) Battery replacement system: The battery replacement system mainly controls high-precision mechanical movements such as clamps and slide rails to ensure that there will be no errors in the movement path of the clamp when the battery is replaced. (3) Monitoring system: The monitoring system mainly monitors the internal conditions of the operating cabin, including changes in temperature and humidity, and drives devices such as air conditioners or fans to maintain a constant temperature and dryness inside the cabin. It also collects the surrounding conditions observed by the integrated weather monitor. weather conditions. (4) Unmanned vehicle mission planning system: The mission planning system mainly includes unmanned vehicle route planning, normal autonomous flight schedule and emergency situation handling, as well as assessment and adjustment based on weather information from the monitoring system. For example, when the ambient wind exceeds a few levels, the system will delay or cancel the flight mission. (5) Back-end data processing system: The back-end data processing system mainly processes the data from micro-sensors through QAQC to generate relevant meteorological parameters required for weather analysis and judgment, and transmits them back to the cloud server or the address designated by the Meteorological Bureau.

The unmanned aerial vehicle autonomous operation system 10 proposed in this creation also has the following characteristics: (1) An unmanned aerial vehicle with a centimeter-level positioning and identification system; (2) An unmanned aerial vehicle with mechanical structures such as charging or battery replacement; (3) An unmanned aerial vehicle with The airborne vehicle has the function of automatically replacing batteries; (4) It has an automatic scheduling and planning system for flight missions; (5) It has a battery status monitoring and management system to provide the real-time status of the battery; (6) It has a weather monitoring system to collect data around the platform Meteorological information to assist in judging take-off conditions; (7) It has functions such as constant temperature and drying inside the cabin; (8) It has functions such as windproof, rainproof, and high and low temperature resistance; (9) It has a drone landing platform and a cabin that can be opened and closed for storage Door; (10) Supports all-weather operations, and can also be used for drones to perform flight missions in rainy days.

The above embodiments of this invention can be arbitrarily combined or replaced with each other, thereby deriving more implementation forms, but they do not deviate from the scope of protection intended by this invention. We further provide more implementation examples of this invention as follows:

Embodiment 1: An autonomous operating system for unmanned aerial vehicles, including: an operating cabin, which includes a cabin space and a take-off and landing port connected to a take-off and landing point located outside the operating cabin; an unmanned aerial vehicle transportation module, It is configured in the cabin space and includes a parking platform mobile module that provides parking for multiple unmanned aerial vehicles, a transmission module and an automatic guidance ground mobile vehicle; an extravehicular weather monitoring module, which is attached to the outside of the operating cabin to sense the atmosphere Multiple meteorological conditions of the environment; and a main control computer, which is configured inside the cabin space to: receive the meteorological conditions and determine whether to allow the unmanned aerial vehicle to perform the flight mission in accordance with the flight operation rules; and if permitted The flight mission controls the transfer module to transfer the first unmanned aerial vehicle among the unmanned aerial vehicles from the parking platform mobile module to the automatically guided ground mobile vehicle, and then the automatic guided ground mobile vehicle Transfer the first unmanned aerial vehicle to the take-off and landing point.

Embodiment 2: The unmanned aerial vehicle autonomous operation system as described in Embodiment 1 further includes one of the following: the operation cabin, which includes a bulkhead structure and a cabin roof structure, and the bulkhead structure and the cabin roof structure include Electromagnetic wave high-penetration material; a battery replacement module, which is configured close to the parking platform mobile module and includes a charging cabin and a swapping mechanism. The swapping mechanism is configured to be aligned and parked on the parking platform mobile module. The battery holder of the unmanned aerial vehicle, unloads the first battery module carried from the battery holder, transfers the first battery module to the charging cabin, and takes out the second battery module assembly from the charging cabin Load the battery holder; the cabin environment conditioning module is configured in the cabin space and includes a dehumidification module, a ventilation module and an air filter. The dehumidification module is configured to perform full-time operation in the cabin space. For dehumidification operations, the ventilation module is configured to provide a negative pressure environment for the cabin space, and the air filter is configured to actively filter the air entering the cabin space; the unmanned aerial vehicle maintenance module is configured close to the shutdown The position of the platform moving module includes an air compressor and an air nozzle. The air nozzle outputs air jets to the unmanned aerial vehicles parked on the parking platform moving module to remove the air jets attached to the unmanned aerial vehicles. Liquid substances or solid substances on the equipment; an air curtain mechanism, which is arranged close to the landing port and generates continuous air flow to form an air curtain covering the landing port when the hatch that closes the landing port is opened. , to prevent air from the atmospheric environment from entering the cabin space; and a safety monitoring module, which is attached to the outside of the operating cabin and includes one of at least one surveillance camera and at least one motion sensor.

Embodiment 3: The unmanned aerial vehicle autonomous operating system as described in Embodiment 1 also includes one of the following: a ground wireless communication module that implements a low-power long-distance communication protocol to communicate with The airborne wireless communication modules included in these unmanned aerial vehicles establish two-way communication; the ground global satellite navigation system module receives the first GNSS satellite signal; and the ground high-precision positioning module receives the first GNSS satellite signal. And sent to the airborne high-precision positioning module included in these unmanned aerial vehicles.

Embodiment 4: The unmanned aerial vehicle autonomous operating system as described in Embodiment 3, wherein each of the unmanned aerial vehicles further includes one of the following: the airborne wireless communication module, which executes the low-power long-term distance communication protocol to establish the two-way communication with the ground wireless communication module; the airborne global satellite navigation system module, which receives the second GNSS satellite signal; the airborne high-precision positioning module, which receives the first GNSS satellite signal and the second GNSS satellite signal, and perform real-time dynamic differential positioning technology to calculate the real-time position coordinates of the airborne high-precision positioning module in three-dimensional space based on the first GNSS satellite signal and the second GNSS satellite signal; and One of the flight controller module, the attitude sensing module, the micro sensor module and the first battery module.

Embodiment 5: The autonomous operating system of the unmanned aerial vehicle as described in Embodiment 2 or 3 further includes one of the following: the main control computer configured to communicate with the unmanned aerial vehicle, the unmanned aerial vehicle The transportation module, the extravehicular weather monitoring module, the indoor environment adjustment module, the power exchange module, the unmanned aerial vehicle maintenance module, the air curtain mechanism, the ground wireless communication module, and the ground global satellite One of the navigation system module, the ground high-precision positioning module and the safety monitoring module; and a control console, which includes a human-machine interface of the main control computer to provide users with the ability to operate the main control through the human-machine interface. computer.

Embodiment 6: The unmanned aerial vehicle autonomous operating system as described in Embodiment 1, wherein the main control computer can execute a web browser to provide users with access to and use of the cloud operating platform by operating the web browser. The cloud operating platform is configured to execute: takeoff and landing decision programming components To receive the meteorological conditions and accordingly determine whether the unmanned aerial vehicle is allowed to perform the flight mission in accordance with the flight operation rules; the flight mission planning program component is to control the transmission module to transmit the third flight mission when the flight mission is permitted. An unmanned aerial vehicle is transferred from the parking platform mobile module to the automatically guided ground mobile vehicle, and then the automatic guided ground mobile vehicle transfers the first unmanned aerial vehicle to the take-off and landing point; and a battery management program The component executes a smart battery management algorithm to detect whether the battery performance, battery capacity and aging degree of the battery modules placed in the charging bay meet the working standards, and automatically marks and deactivates battery modules that do not meet the working standards. , and evenly distribute and adjust the frequency of use of each such battery module.

Embodiment 7: The unmanned aerial vehicle autonomous operating system as described in Embodiment 4, wherein the micro sensor module includes an air pressure sensor, a humidity sensor, a temperature sensor, a wind direction sensor, and a wind speed sensor. Sensor, precipitation sensor, PM2.5 sensor, fine suspended particulate concentration sensor, coarse suspended particulate concentration sensor, sulfur dioxide concentration sensor, carbon dioxide concentration sensor, ozone concentration sensor, One of the carbon monoxide concentration sensor, illumination sensor, volatile organic compound concentration sensor and nitrogen dioxide concentration sensor, and performs sensing according to the set sampling frequency.

Embodiment 8: The unmanned aerial vehicle autonomous operation system as described in Embodiment 1, wherein the extravehicular weather monitoring module further includes one of the following: an air pressure sensor to detect air pressure; a humidity sensor to detect Humidity; temperature sensor to detect temperature; wind direction sensor to detect wind direction; wind speed sensor to detect wind speed; and precipitation sensor to detect precipitation.

Embodiment 9: The unmanned aerial vehicle autonomous operation system as described in Embodiment 1, wherein the meteorological conditions include one of air pressure, humidity, temperature, wind direction, wind speed and precipitation.

Embodiment 10: The autonomous operating system for unmanned aerial vehicles as described in Embodiment 1, The unmanned aerial vehicle transportation module, the parking platform moving module and the transmission module respectively include one of X-axis slide rail, Y-axis slide rail and Z-axis slide rail.

The various embodiments of this invention can be arbitrarily combined or replaced with each other to derive more implementation forms, but they do not deviate from the scope of protection intended by this invention. The scope of protection of this invention is defined by the patent scope of this invention. The recorder shall prevail.

93:Front hatch

94:Rear hatch

97: Three-dimensional rain cover

110:Unmanned aerial vehicle transport module

111: Stop platform mobile module

112: Shutdown platform

113:Teleport module

114:Double wishbone

115: Automatic guidance of ground mobile vehicles

116: Lifting and landing platform

117: Inclined surface

120: Cabin environment adjustment module

121:Dehumidification module

122: Ventilation module

123:Air filter

130: Battery replacement module

131:Charging cabin

132:Exchange mechanism

140: Unmanned aerial vehicle maintenance module

141:Air compressor

142:Air nozzle

150: Air curtain mechanism

200:Unmanned aerial vehicle

Claims (10)

An autonomous operating system for unmanned aerial vehicles, including: An operating cabin, which includes a cabin space and a landing port connected to a landing point located outside the operating cabin; An unmanned aerial vehicle transportation module, which is configured in the cabin space and includes a parking platform mobile module that provides parking for a plurality of unmanned aerial vehicles, a transmission module and an automatically guided ground mobile vehicle; An extravehicular weather monitoring module, which is attached to the outside of the operating cabin to sense multiple weather conditions in an atmospheric environment; and A main control computer, which is configured inside the cabin space to: Receive the meteorological conditions and accordingly determine whether to permit the unmanned aerial vehicle to perform a flight mission in accordance with a flight operation rule; and If the flight mission is permitted, the transfer module is controlled to transfer one of the first unmanned aerial vehicles from the parking platform mobile module to the automatically guided ground mobile vehicle, and then the automatically guided ground mobile vehicle The mobile vehicle transfers the first unmanned aerial vehicle to the take-off and landing point. The autonomous operating system for unmanned aerial vehicles as described in request item 1 also includes one of the following: The operating engine room includes a bulkhead structure and a cabin roof structure, and the bulkhead structure and the cabin roof structure include an electromagnetic wave high-penetration material; A power exchange module is disposed close to the mobile module of the parking platform and includes a charging compartment and a swapping mechanism. The swapping mechanism is configured to align with the mobile modules parked on the parking platform. A battery holder for an unmanned aerial vehicle, from which a first battery carried is unloaded A battery module, which transfers the first battery module to the charging cabin, and takes out a second battery module from the charging cabin and loads it into the battery holder; an in-cabin environment adjustment module, which is arranged in the cabin The space also includes a dehumidification module, a ventilation module and an air filter. The dehumidification module is configured to perform a full-time dehumidification operation for the cabin space. The ventilation module is configured for the cabin space. Providing a negative pressure environment, the air filter is configured to actively filter the air entering the cabin space; an unmanned aerial vehicle maintenance module is configured close to the parking platform mobile module and includes an air compressor and An air nozzle that outputs air jets to the unmanned aerial vehicles parked on the parking platform mobile module to remove liquid substances or solid substances attached to the unmanned aerial vehicles; an air curtain mechanism , it is arranged close to the landing port, and when a hatch that closes the landing port is opened, a continuous airflow is generated to form an air curtain covering the landing port to block the air from the atmospheric environment. Air enters the cabin space; and a safety monitoring module is attached to the outside of the operating cabin and includes one of at least one surveillance camera and at least one motion sensor. The autonomous operating system of unmanned aerial vehicles as described in claim 2 also includes one of the following: a ground wireless communication module that implements a low-power long-distance communication protocol to communicate with a device included in the unmanned aerial vehicles. The airborne wireless communication module establishes two-way communication; a ground global satellite navigation system module receives a first GNSS satellite signal; and a ground high-precision positioning module receives the first GNSS satellite signal and sends it to the and other unmanned aerial vehicles include an airborne high-precision positioning module. As for the unmanned aerial vehicle autonomous operating system described in claim 3, each of the unmanned aerial vehicles further includes one of the following: the airborne wireless communication module, which executes the low-power long-distance communication protocol to The two-way communication is established with the ground wireless communication module; an airborne global satellite navigation system module receives a second GNSS satellite signal; the airborne high-precision positioning module receives the first GNSS satellite signal and the second GNSS satellite signal, and perform a real-time dynamic differential positioning technology to resolve a real-time position coordinate of the airborne high-precision positioning module in three-dimensional space based on the first GNSS satellite signal and the second GNSS satellite signal; and One of a flight controller module, an attitude sensing module, a micro sensor module and the first battery module. The autonomous operating system of the unmanned aerial vehicle as described in claim 4 also includes one of the following: the main control computer configured to communicate with the unmanned aerial vehicle, the unmanned aerial vehicle transport module, the cabin The external weather monitoring module, the cabin environment adjustment module, the power exchange module, the unmanned aerial vehicle maintenance module, the air curtain mechanism, the ground wireless communication module, the ground global satellite navigation system module, the One of the ground high-precision positioning module and the safety monitoring module; and a control console, which includes a human-machine interface of the main control computer to provide a user to operate the main control computer through the human-machine interface. The unmanned aerial vehicle autonomous operating system as described in claim 2, wherein the main control computer can execute a browser to provide a user to access and use a cloud operating platform by operating the browser, and the cloud operating platform is Configure to execute: A landing decision-making program component to receive the weather conditions and accordingly determine whether the unmanned aerial vehicle is allowed to perform the flight mission in accordance with the flight operation rules; a flight mission planning program component to control the flight mission when the flight mission is permitted The transfer module transfers the first unmanned aerial vehicle from the parking platform mobile module to the automatically guided ground mobile vehicle, and then the automatically guided ground mobile vehicle transfers the first unmanned aerial vehicle to the take-off and landing and a battery management program component to execute a smart battery management algorithm to detect whether a battery performance, a battery capacity and an aging degree of a plurality of battery modules placed in the charging bay meet a working standard, and automatically mark and deactivate battery modules that do not meet the working standards, and evenly distribute and adjust the frequency of use of each such battery module. The autonomous operating system for unmanned aerial vehicles as described in claim 4, wherein the micro sensor module includes an air pressure sensor, a humidity sensor, a temperature sensor, a wind direction sensor, a Wind speed sensor, a precipitation sensor, a PM2.5 sensor, a fine suspended particulate concentration sensor, a coarse suspended particulate concentration sensor, a sulfur dioxide concentration sensor, and a carbon dioxide concentration sensor , one of an ozone concentration sensor, a carbon monoxide concentration sensor, an illuminance sensor, a volatile organic compound concentration sensor and a nitrogen dioxide concentration sensor, and perform the sampling according to the set sampling frequency sensing. The unmanned aerial vehicle autonomous operation system as described in claim 1, wherein the extravehicular weather monitoring module further includes one of the following: an air pressure sensor to detect an air pressure; a humidity sensor to detect an air pressure. Humidity; a temperature sensor to detect a temperature; A wind direction sensor is used to detect a wind direction; a wind speed sensor is used to detect a wind speed; and a precipitation amount sensor is used to detect a precipitation amount. The unmanned aerial vehicle autonomous operation system as described in claim 1, wherein the meteorological condition includes one of air pressure, humidity, temperature, wind direction, wind speed and precipitation. The unmanned aerial vehicle autonomous operating system as described in claim 1, wherein the unmanned aerial vehicle transportation module, the parking platform moving module and the transmission module respectively include an X-axis slide rail, a Y-axis slide rail and One of the Z-axis slide rails.

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