CN113552900B - Unmanned aerial vehicle intelligence hangar - Google Patents

Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and provides an intelligent hangar for unmanned aerial vehicles, including a remote control server, an unmanned aerial vehicle storage compartment and a plurality of intelligent universal vehicles equipped with parking platforms. Determine the target intelligent universal vehicle among all intelligent universal vehicles, and control the target intelligent universal vehicle to move to the first preset position, so that the unmanned aerial vehicle lands on the parking platform of the target intelligent universal vehicle, and controls whether it is loaded or not The target intelligent universal vehicle of the man-machine is moved to the UAV storage compartment; when the drone takes off, the target intelligent universal vehicle that controls the loaded drone moves to the second preset position, so that the drone takes off, Realize the automatic warehousing and automatic warehousing of UAVs, and the whole process does not require manual participation, and the degree of intelligence is high.

Description

An intelligent hangar for drones

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an intelligent hangar for unmanned aerial vehicles.

Background technique

UAVs have the advantages of low cost, strong survivability, and good maneuverability, and are widely used in consumer, industrial, and military markets. At present, UAVs often land on the parking platform, and then the operator will move the UAV from the parking platform to the hangar for storing the UAV; The UAV is taken out from the hangar and then placed on the take-off platform, so there is the problem of inconvenient transfer.

Contents of the invention

The technical problem to be solved by the present invention is to provide an intelligent hangar for unmanned aerial vehicles in view of the deficiencies in the prior art.

The technical scheme of a kind of unmanned aerial vehicle intelligent hangar of the present invention is as follows:

Including remote control server, drone storage compartment and multiple smart universal vehicles with parking platforms;

The remote control server is used for: when the unmanned aerial vehicle lands, according to the current position information and the current state of each smart universal vehicle, determine the target intelligent universal vehicle from all the intelligent universal vehicles, and control the target intelligent universal vehicle. The universal vehicle moves to a first preset position, so that the drone lands on the parking platform of the target intelligent universal vehicle;

The remote control server is also used to: control the target intelligent universal vehicle carrying the drone to move to the storage cabin of the drone;

The remote control server is also used for: when receiving the take-off prompt information sent by the drone, control the target intelligent universal vehicle loaded with the drone to move to a second preset position, so that the drone The man-machine takes off.

The beneficial effect of a kind of unmanned aerial vehicle intelligent hangar of the present invention is as follows:

When the unmanned aerial vehicle lands, determine the target intelligent universal vehicle from all intelligent universal vehicles, and control the target intelligent universal vehicle to move to the first preset position, so that the drone lands to the stop of the target intelligent universal vehicle platform, and control the target intelligent universal vehicle carrying the drone to move to the storage cabin of the drone; when the drone takes off, control the target intelligent universal vehicle loaded with the drone to move to the second preset Set the position to make the drone take off, realize the automatic storage and automatic storage of the drone, and the whole process does not require manual participation, and the degree of intelligence is high.

On the basis of the above-mentioned solution, the smart hangar for a drone of the present invention can also be improved as follows.

Further, each smart universal vehicle is equipped with a wireless charging device for charging the drone, and each wireless charging device is also connected to an automatic plug-in component, and multiple charging piles are provided in the storage compartment of the drone. , the remote control server is also used to: control the connection or separation between the wireless charging device on each smart universal car and the corresponding charging pile through the automatic plug-in component on each smart universal car.

The beneficial effect of adopting the above further scheme is: when the UAV needs to be charged, the connection between the wireless charging device and the corresponding charging pile is automatically realized through the automatic plug-in component, and the charging of the UAV is realized through the wireless charging device. When the drone is fully charged, it will automatically separate and stop charging, so as to realize the intelligent charging management of the drone.

Further, a camera device is also included, and the camera device is used to: take pictures of the storage cabin of the drone according to a preset frequency within a preset time period, and send all the pictures taken to the remote control server;

The remote control server is also used to: calculate the similarity between each photo and the pre-stored photo of the UAV storage compartment, and send a reminder when any similarity is less than a preset similarity threshold.

The beneficial effect of adopting the above further scheme is: when the similarity between any photo and the pre-stored photo of the UAV storage cabin is less than the preset similarity threshold, it indicates that there may be an abnormal situation in the UAV storage cabin, For example, someone steals the drone or destroys the equipment in the drone storage cabin. At this time, by sending out a reminder, the management personnel can be notified in time for follow-up disposal.

Further, it also includes a weather information collection device, the weather information collection device is used to collect the weather information stored outside the cabin of the UAV and send it to the remote control server;

The remote control server is also used for: judging whether the landing condition of the drone is met according to the weather information, and if not, sending a reminder that the drone cannot be landed.

The beneficial effect of adopting the above-mentioned further scheme is: the remote control server judges whether the landing condition of the unmanned aerial vehicle is met according to the meteorological information collected by the meteorological information acquisition device, if not, then sends a reminder that the unmanned aerial vehicle cannot be landed, so that no one can The drone adjusts its flight route in time and lands in other smart hangars for drones.

Further, it also includes an environmental data collection device, the environmental data collection device is used to collect the environmental data in the storage cabin of the drone, and send it to the remote control server;

The remote control service is also used for: judging whether there is an abnormality according to the environmental data, and if so, issuing an abnormality reminder.

The beneficial effect of adopting the above-mentioned further scheme is: the remote control server judges whether there is any abnormality according to the environmental data in the UAV storage cabin collected by the environmental data acquisition device, such as excessive humidity or excessive temperature, etc., by sending out an abnormal reminder, it can be timely Notify management personnel for follow-up disposal.

Further, it also includes a display screen and a sound signal collection device, and the sound signal collection device is used to: when the maintenance personnel perform maintenance, collect the voice of the maintenance personnel and send it to the remote control server;

The remote control server is also used for:

performing speech recognition on the sound to obtain text information corresponding to the sound;

Performing semantic analysis on the text information to obtain maintenance questions asked by the maintenance personnel;

A solution corresponding to the maintenance problem is obtained and displayed on the display screen.

Further, a fixing device for fixing the smart universal vehicle is also provided on the ground of the UAV storage compartment.

Further, the parking platform of each smart universal vehicle is provided with a pattern mark for making the UAV land and align.

Description of drawings

Fig. 1 is one of structural representations of a kind of unmanned aerial vehicle intelligent hangar of the embodiment of the present invention;

Fig. 2 is the second schematic diagram of the structure of a UAV intelligent hangar according to the embodiment of the present invention.

Detailed ways

As shown in Fig. 1, a kind of unmanned aerial vehicle intelligent hangar of the embodiment of the present invention includes remote control server 100, unmanned aerial vehicle storage compartment and a plurality of intelligent universal vehicles that are provided with parking platforms;

The remote control server 100 is used for: when the unmanned aerial vehicle lands, according to the current position information and the current state of each smart universal vehicle, determine the target smart universal vehicle from all the smart universal vehicles, and control the target The smart universal vehicle moves to a first preset position, so that the drone lands on the parking platform of the target smart universal vehicle;

The remote control server 100 is also used to: control the target intelligent universal vehicle carrying the drone to move to the storage cabin of the drone;

The remote control server 100 is also used for: when receiving the take-off prompt information sent by the drone, control the target intelligent universal vehicle loaded with the drone to move to a second preset position, so that the The drone takes off.

Among them, the UAV storage compartment can be understood as: a UAV smart hangar of the present application includes a plurality of storage compartments, including a UAV storage compartment for storing UAVs, and a storage compartment for parking smart UAVs. The intelligent universal car storage compartment for the car, and the maintenance tool storage compartment for storing maintenance tools, that is, a kind of unmanned aerial vehicle intelligent hangar of the present application is provided with storage compartments that play different roles. The compartments are isolated from each other, and each storage compartment is equipped with a door to facilitate the entry and exit of personnel and intelligent universal vehicles.

The UAV storage compartment can also be understood as the current existing hangar, where multiple smart universal vehicles with parking platforms are placed, and all the smart universal vehicles are controlled through the remote control server 100 , forming a kind of unmanned aerial vehicle intelligent hangar of the present application.

Wherein, the quantity of intelligent universal vehicles can be determined according to the actual situation such as the hangar area of a kind of unmanned aerial vehicle intelligent hangar of the present application, such as 10, 20 or 30, etc., and each intelligent universal vehicle can be distinguished by numbering. Universal vehicles, for example, set the number of the first intelligent universal vehicle to 1, set the number of the second intelligent universal vehicle to 2, set the number of the third intelligent universal vehicle to 3 and so on.

Among them, the specific structure of the intelligent universal vehicle equipped with a parking platform is:

1) An intelligent navigation control system is installed on the universal vehicle to form an intelligent universal vehicle. The intelligent navigation control system is used to control the movement of the intelligent universal vehicle to the corresponding position according to the movement instructions sent by the remote control server 100. Install the parking platform to the car, the parking platform can be made of non-metal plate, and the area of the parking platform can be set according to the actual situation;

2) Adopt the existing intelligent universal vehicle on the market at present, and install the shutdown platform on the existing intelligent universal vehicle.

Among them, the process of determining the target smart universal vehicle is:

S1. When the drone is about to land, send a landing prompt message to the remote control server 100. The landing prompt message includes information such as the model of the drone, the device identification number, and the expected landing time;

S2. After receiving the landing prompt information, the remote control server 100 acquires the current position information and current status of each smart universal vehicle;

Among them, a GPS locator or Beidou locator can be installed on each smart universal vehicle to determine the current position information of each intelligent universal vehicle. At this time, the current position information of each intelligent universal vehicle is the longitude and latitude The absolute position information for representation, or generate a two-dimensional model on the ground of a UAV intelligent hangar of the present application, and determine the current position information of each intelligent universal vehicle according to the two-dimensional model. At this time, each The current position information of an intelligent universal vehicle is the relative position information relative to a kind of unmanned aerial vehicle intelligent hangar of the present application;

Among them, the current state includes: loaded state and no-load state. Taking the first smart universal vehicle as an example, when a drone lands on the first smart universal vehicle, the current state of the first intelligent universal vehicle The state is a loaded state. When no drone is landed on the first intelligent universal vehicle, the current state of the first intelligent universal vehicle is an empty load state;

S3. Determine the target smart universal vehicle, specifically: firstly, exclude the smart universal vehicle whose current state is in the loaded state; then, obtain the time taken for each of the remaining smart universal vehicles to move to the first preset position, and set The smart universal vehicle that takes the shortest time is determined as the target smart universal vehicle;

Wherein, the process of calculating the time-consuming process for each remaining smart universal vehicle to move to the first preset position includes: first referring to the specific implementation of the guidance route of shared bicycles or using the two-dimensional model to calculate the time for each smart universal vehicle Move the car to the path of the first preset position, and then obtain the time-consuming time for each of the remaining smart universal vehicles to move to the first preset position according to the preset speed, wherein the preset speed includes the speed on the straight road and the speed on the Speeds for different turning radii.

Then, the remote control server 100 controls the target smart universal vehicle to move to a first preset position, so that the drone lands on the parking platform of the target smart universal vehicle, wherein the first preset position can be set to Can be located inside or outside of a kind of UAV smart hangar of the present application, when the first preset position is located inside a kind of UAV smart hangar of the present application, for example, such as the When the external wind speed is too high, the unmanned aerial vehicle can fly into the interior of the unmanned aerial vehicle intelligent hangar through the door of a kind of unmanned aerial vehicle intelligent hangar of the present application, and then completes the landing, compared with that in the unmanned aerial vehicle intelligent hangar The external landing is safer, wherein, the specific position of the first preset position can be determined according to the actual situation.

Then, the remote control server 100 controls the target smart universal vehicle carrying the drone to move to the storage cabin of the drone, for example, when the second smart universal vehicle is the target smart universal vehicle, Now the unmanned aerial vehicle lands on the second intelligent universal vehicle, and the remote control server 100 controls the target intelligent universal vehicle, that is, the second intelligent universal vehicle to move to the storage cabin of the unmanned aerial vehicle;

When the remote control server 100 receives the take-off prompt information sent by the drone, it controls the target smart universal vehicle loaded with the drone, that is, the second smart universal vehicle, to move to a second preset position, so that all The UAV takes off, wherein the take-off prompt information includes information such as the model of the UAV, the device identification number, and the expected take-off time. When the remote control server 100 receives multiple take-off prompt information, it can Confirm the unmanned aerial vehicle to be taken off with the equipment identification number, and then confirm the target smart universal vehicle corresponding to the unmanned aerial vehicle to be taken off.

Wherein, the second preset position can be set to be located inside or outside of a kind of UAV smart hangar of the present application, when the second preset position is located inside a kind of UAV smart hangar of the present application, for example , if the wind speed outside the drone smart hangar is too high, the drone takes off at the second preset position inside the drone smart hangar, and then flies out through the door It is safer to take off outside the hangar, wherein the specific location of the second preset location can be determined according to the actual situation.

When the unmanned aerial vehicle lands, determine the target intelligent universal vehicle from all intelligent universal vehicles, and control the target intelligent universal vehicle to move to the first preset position, so that the drone lands to the stop of the target intelligent universal vehicle platform, and control the target intelligent universal vehicle carrying the drone to move to the storage cabin of the drone; when the drone takes off, control the target intelligent universal vehicle loaded with the drone to move to the second preset Set the position to make the drone take off, realize the automatic storage and automatic storage of the drone, and the whole process does not require manual participation, and the degree of intelligence is high.

Preferably, in the above technical solution, each smart universal vehicle is provided with a wireless charging device for charging the drone, and each wireless charging device is also respectively connected to an automatic plug-in component, and the drone stores There are multiple charging piles in the cabin, and the remote control server 100 is also used to: control the connection between the wireless charging device on each smart universal vehicle and the corresponding charging pile through the automatic plug-in component on each smart universal vehicle. connection or separation.

Among them, the automatic plug-in component can use the existing automatic plug-in component on the market, for example, the automatic plug-in charging device disclosed by the application number "CN201620380960.X", then: when the drone needs to be charged, the automatic plug-in The connection component automatically realizes the connection between the wireless charging device and the corresponding charging pile, and realizes the charging of the drone through the wireless charging device. When the drone is fully charged, it will automatically separate and stop charging, thereby realizing the intelligence of the drone. Optimized charging management. Preferably, as shown in FIG. 2 , in the above technical solution, a camera device 110 is also included, and the camera device 110 is used to: within a preset time period, take photos of the unmanned aerial vehicles in the storage cabin according to a preset frequency. photos, and send all the photos taken to the remote control server 100; wherein, the preset frequency can be set to 20 or 30 per minute, etc., which can be confirmed according to the actual situation, and the preset time period can be determined according to the actual situation. The situation is determined, for example, when there are maintenance personnel in the UAV smart hangar for inspection, there is no need to take pictures during the inspection period.

The remote control server 100 is also used to: calculate the similarity between each photo and the pre-stored photo of the UAV storage compartment, and send a reminder when any similarity is less than the preset similarity threshold;

Wherein, when there is no abnormality in the UAV storage cabin, the photo taken by the camera device 110 is used as a pre-stored photo of the UAV storage cabin, so as to carry out abnormal analysis;

Among them, the similarity can be cosine similarity or Euclidean distance, etc., and the similarity can also be calculated by means of mean hash, histogram matching and perceptual hash, then:

When the similarity between any photo and the pre-stored photo of the UAV storage compartment is less than the preset similarity threshold, it indicates that there may be an abnormal situation in the UAV storage compartment, such as someone stealing the UAV or destroying the UAV. The equipment in the human-machine storage cabin can be notified in time by issuing a reminder at this time for subsequent disposal.

Preferably, as shown in Figure 2, in the above technical solution, a weather information collection device 120 is also included, and the weather information collection device 120 is used to collect the weather information stored outside the cabin of the drone and send it to the Remote control server 100; Wherein, meteorological information collecting device 120 comprises anemometer and rain and snow monitoring device etc., meteorological information comprises: the wind speed value and wind direction collected by anemometer, and, by the rainfall and the snowfall that rain and snow monitoring device monitors start time, duration and end time, etc.;

The remote control server 100 is also used to: according to the weather information, judge whether the landing condition of the drone is met, if not, send a reminder that the drone cannot be landed, specifically:

1) For example, if the monitored wind speed value exceeds the maximum wind speed value that can make the UAV land normally, it is determined that the landing condition of the UAV is not met, and a reminder that the UAV cannot be landed is issued;

2) For example, if the monitored rainfall exceeds the maximum rainfall that can make the UAV land normally, if the monitored rainfall is: 50-100mm of rainfall in 24 hours, and it reaches a heavy rain at this time, it is determined that it does not meet the requirements of unmanned aircraft. The landing conditions of the drone, and a reminder that the drone cannot be landed;

3) If the monitored wind speed value does not exceed the maximum wind speed value that can make the UAV land normally, the monitored rainfall does not exceed the maximum rainfall that can make the UAV land normally, and all other data in the meteorological information conform to If the drone lands normally, it is determined that the drone can be landed.

That is to say, the remote control server 100 judges whether the landing condition of the drone is met according to the weather information collected by the weather information collection device 120, and if not, then sends a reminder that the drone cannot be landed, so that the drone can be adjusted in time. Flight route, landing to other UAV smart hangars.

In another embodiment, the remote control server 100 is also used to: judge whether the take-off conditions of the UAV are met according to the weather information, and if not, issue a reminder that the UAV cannot take off, specifically refer to the above The elaboration on "judging whether it meets the landing conditions of the UAV" will not be repeated here.

Preferably, as shown in Figure 2, in the above technical solution, an environmental data collection device 130 is also included, and the environmental data collection device 130 is used to collect the environmental data in the storage cabin of the drone and send it to the Described remote control server 100, wherein, environment data acquisition device 130 comprises humidity sensor and temperature sensor etc., and environment data comprises the humidity value that is collected by humidity sensor, and the temperature value that is collected by temperature sensor;

The remote control service is also used to: judge whether there is an abnormality according to the environmental data, and if so, send an abnormal reminder, for example, when the humidity is too high, send an abnormal reminder of the high humidity, and an unmanned The smart hangar is also equipped with an air conditioner or dehumidifier, and the remote control service is also used to turn on the air conditioner or dehumidifier for dehumidification;

The remote control server 100 judges whether there is any abnormality according to the environmental data in the UAV storage cabin collected by the environmental data collection device 130, such as excessive humidity or high temperature, etc., and can notify the management personnel in time to carry out follow-up disposal by sending out abnormal reminders.

Preferably, as shown in FIG. 2 , in the above technical solution, a display screen and a sound signal collection device 140 are also included, and the sound signal collection device 140 is used to: when the maintenance personnel perform maintenance, collect the information of the maintenance personnel. sound, and send it to the remote control server 100; wherein, the sound signal acquisition device is specifically a microphone or the like;

The remote control server 100 is also used for:

performing speech recognition on the sound to obtain text information corresponding to the sound;

Performing semantic analysis on the text information to obtain maintenance questions asked by the maintenance personnel;

Obtaining the solution corresponding to the maintenance problem, specifically obtaining the solution corresponding to the maintenance problem from a preset database, the preset database includes multiple maintenance problems, and a solution corresponding to each maintenance problem, and displays them in the on the above-mentioned display screen, so that maintenance personnel can perform maintenance.

Preferably, in the above technical solution, a fixing device for fixing the smart universal vehicle is also provided on the ground of the UAV storage compartment, wherein the fixing device specifically has the following structure:

1) Fix the iron sheet at the bottom of the smart universal vehicle by means of thread fixing, set a protruding straight rod on the ground of the UAV storage cabin, and set an electromagnet on the top of the straight rod, and pass between the electromagnet and the iron Suction, to achieve the fixation of the smart universal car, when the smart universal car needs to move, disconnect the power supply of the electromagnet, so as to facilitate the movement of the smart universal car;

2) The fixing device can be a groove set on the ground of the UAV storage compartment and adapted to the wheels of the smart universal vehicle. Through the clamping between the wheels of the smart universal vehicle and the groove, the The fixation of the steering wheel, when the smart universal steering wheel needs to move, just fix the wheels and drive out of the groove.

Preferably, in the above technical solution, the parking platform of each smart universal vehicle is provided with a pattern mark for making the UAV land and align. In order to facilitate the POS positioning and orientation system carried by the UAV to recognize the pattern mark, and then adjust the posture of the UAV itself, it is more convenient for the UAV to land on the parking platform accurately according to the predetermined posture, which is more intelligent.

In the present invention, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (7)

1. An unmanned aerial vehicle intelligent hangar is characterized by comprising a remote control server, an unmanned aerial vehicle storage cabin and a plurality of intelligent universal vehicles provided with shutdown platforms;

the remote control server is configured to: when the unmanned aerial vehicle lands, determining a target intelligent universal vehicle from all intelligent universal vehicles according to the current position information and the current state of each intelligent universal vehicle, and controlling the target intelligent universal vehicle to move to a first preset position so that the unmanned aerial vehicle lands on a shutdown platform of the target intelligent universal vehicle;

the remote control server is further configured to: controlling the target intelligent universal vehicle loaded with the unmanned aerial vehicle to move into the unmanned aerial vehicle storage cabin;

the remote control server is further configured to: when takeoff prompt information sent by the unmanned aerial vehicle is received, controlling a target intelligent universal vehicle loaded with the unmanned aerial vehicle to move to a second preset position so that the unmanned aerial vehicle takes off;

further comprising an image pickup device for: in a preset time period, shooting pictures in the storage cabin of the unmanned aerial vehicle according to a preset frequency, and sending all the shot pictures to the remote control server;

the remote control server is further configured to: and calculating the similarity between each photo and the pre-stored photo in the storage cabin of the unmanned aerial vehicle, and sending out a prompt when any similarity is smaller than a preset similarity threshold value.

2. The unmanned aerial vehicle intelligent hangar of claim 1, wherein each intelligent universal vehicle is further provided with a wireless charging device for charging the unmanned aerial vehicle, each wireless charging device is further connected with an automatic plug-in assembly, the unmanned aerial vehicle storage cabin is provided with a plurality of charging piles, and the remote control server is further configured to: the automatic plug-in assembly on each intelligent universal vehicle controls the connection or separation between the wireless charging device on each intelligent universal vehicle and the corresponding charging pile.

3. The unmanned aerial vehicle intelligent hangar of claim 1, further comprising a meteorological information acquisition device, wherein the meteorological information acquisition device is used for acquiring meteorological information of the unmanned aerial vehicle outside the storage cabin and sending the meteorological information to the remote control server;

the remote control server is further configured to: and judging whether the landing conditions of the unmanned aerial vehicle are met or not according to the meteorological information, and if not, sending a prompt that the unmanned aerial vehicle cannot be landed.

4. The unmanned aerial vehicle intelligent hangar of claim 1, further comprising an environmental data acquisition device, wherein the environmental data acquisition device is used for acquiring environmental data in the unmanned aerial vehicle storage cabin and sending the environmental data to the remote control server;

the remote control service is further to: and judging whether the environment data is abnormal or not according to the environment data, and if so, sending an abnormal prompt.

5. The unmanned aerial vehicle smart hangar of claim 1, further comprising a display screen and a sound signal collection device, the sound signal collection device being configured to: when a maintenance worker maintains, collecting the sound of the maintenance worker, and sending the sound to the remote control server;

the remote control server is further configured to:

carrying out voice recognition on the voice to obtain character information corresponding to the voice;

performing semantic analysis on the text information to obtain a maintenance question asked by the maintenance personnel;

and acquiring a solution corresponding to the maintenance problem, and displaying the solution on the display screen.

6. An intelligent unmanned aerial vehicle hangar according to any one of claims 1 to 5, wherein a fixing device for fixing an intelligent universal vehicle is further arranged on the ground of the unmanned aerial vehicle storage cabin.

7. The intelligent unmanned aerial vehicle hangar of any one of claims 1 to 5, wherein the parking platform of each intelligent universal vehicle is provided with pattern marks for landing and aligning the unmanned aerial vehicle.

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