Parking platform, unmanned aerial vehicle base station, unmanned aerial vehicle landing method and system

Abstract

An unmanned aerial vehicle base station includes: a housing, a parking platform, and a radio frequency identification antenna; wherein the parking platform and the housing cooperate to form a relatively closed base station cavity, and the radio frequency identification antenna is used to authenticate the unmanned aerial vehicle before the unmanned aerial vehicle lands in the parking area of ​​the parking platform. A landing method and system for an unmanned aerial vehicle of the unmanned aerial vehicle base station are also provided.

Description

[0001] Parent case information:

[0002] Application date: 2018-07-25 Application number: 201780007812.0

[0003] Invention name: Parking platform, unmanned aerial vehicle base station, unmanned aerial vehicle landing method and system Technical Field

[0004] The embodiments of the present invention belong to the technical field of unmanned aerial vehicles, and in particular, relate to a parking platform and an unmanned aerial vehicle base station using the parking platform, as well as a corresponding unmanned aerial vehicle landing method and system. Background Art

[0005] Small unmanned aerial vehicles (UAVs) have limited battery life, generally between 10 and 30 minutes. Each time the battery runs out, they need to be replaced or recharged before they can continue flying, making them unable to perform fully automated remote operations.

[0006] The existing solution to achieve automatic remote operation of unmanned aerial vehicles is to configure charging stations for the unmanned aerial vehicles, so that the unmanned aerial vehicles can be automatically charged through the charging stations. After the power is replenished, the unmanned aerial vehicles can automatically operate according to the pre-planned routes. The power replenishment methods of unmanned aerial vehicles mainly include battery replacement, contact charging and contactless charging.

[0007] The battery replacement method requires the charging station to be equipped with a robotic arm, and the UAV must be able to accurately position itself on the parking platform. This places high demands on the software and hardware of the UAV and the charging station, and requires the complexity of the equipment to be increased to improve the precision of operation and positioning accuracy.

[0008] Contactless charging mainly refers to wireless charging. The UAV remains in hover while charging. While requiring the UAV to have high positioning accuracy, the existing wireless charging solutions have high hardware requirements for the device and low charging efficiency.

[0009] Contact charging uses the charging contacts of the UAV to contact the charging plate to achieve charging. However, the existing contact charging solution has the problem of low positioning accuracy of the UAV, resulting in an excessively large charging plate area.

[0010] In summary, there is an urgent need for a platform with simple structure and precise positioning for unmanned aerial vehicles to land. Summary of the invention

[0011] In order to solve the above problems, an embodiment of the present invention provides a parking platform with simple structure and precise positioning, and also provides an unmanned aerial vehicle base station using the parking platform, and a corresponding unmanned aerial vehicle landing method and system.

[0012] On the one hand, the present invention provides an unmanned aerial vehicle base station, comprising: a shell, a parking platform, and a radio frequency identification antenna; wherein the parking platform and the shell cooperate to form a relatively closed base station cavity, and the radio frequency identification antenna is used to authenticate the identity of the unmanned aerial vehicle before the unmanned aerial vehicle lands in the parking area of ​​the parking platform.

[0013] On the other hand, the present invention also provides a landing system for an unmanned aerial vehicle, comprising an unmanned aerial vehicle and the unmanned aerial vehicle base station as described above.

[0014] On the other hand, the present invention also provides a landing method for an unmanned aerial vehicle, comprising: an unmanned aerial vehicle base station sends base station location information to an unmanned aerial vehicle through a remote control device; the unmanned aerial vehicle flies to above a parking platform of the unmanned aerial vehicle base station according to the location information; the unmanned aerial vehicle base station authenticates the identity of the unmanned aerial vehicle through a radio frequency identification antenna; after the identity authentication is passed, the unmanned aerial vehicle lands on the parking platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic diagram of the structure of an unmanned aerial vehicle base station provided by an embodiment of the present invention;

[0017] Figure 2 A schematic diagram of the structure of an unmanned aerial vehicle landing on a base station provided by an embodiment of the present invention;

[0018] Figure 3 A schematic diagram of the structure of a parking area provided in an embodiment of the present invention;

[0019] Figure 4 Another structural schematic diagram of an unmanned aerial vehicle base station provided by an embodiment of the present invention;

[0020] Figure 5 A flowchart of a landing method for an unmanned aerial vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make those skilled in the art better understand the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described below. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0022] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0023] An embodiment of the present invention provides a parking platform for an unmanned aerial vehicle, comprising a parking area, a guide portion adjacent to the parking area, and a positioning point arranged in the parking area; wherein the guide portion surrounds the parking area to limit the size of the parking area, and the guide portion comprises a guide surface facing the parking area, which is used to enable the unmanned aerial vehicle to slide along the guide surface into the parking area when landing on the guide portion, and at the same time position the unmanned aerial vehicle at the positioning point.

[0024] The parking platform provided by the present invention can land the unmanned aerial vehicle through the cooperation of the guide part, so as to realize the positioning of the unmanned aerial vehicle in the parking area. The structure is simple, and the accurate landing and positioning of the unmanned aerial vehicle on the parking platform can be realized without the need of a high-precision mechanical arm or a positioning and navigation module. On the one hand, the equipment cost and complexity of the parking platform are reduced, and on the other hand, the accuracy requirements for the navigation and positioning equipment of the unmanned aerial vehicle are reduced. The parking platform has strong versatility and a wider range of applications.

[0025] Based on the above-mentioned parking platform, an embodiment of the present invention also provides an unmanned aerial vehicle base station, including a shell, a remote control device, and the above-mentioned parking platform, the parking platform and the shell cooperate to form a relatively closed base station inner cavity, when the unmanned aerial vehicle needs to land on the parking platform, the remote control device sends the location information of the base station to the unmanned aerial vehicle, so as to enable the unmanned aerial vehicle to fly above the parking platform according to the location information, land on the guide part, slide along the guide surface of the guide part to the parking area, and complete the positioning at the positioning point.

[0026] Based on the above-mentioned unmanned aerial vehicle base station, an embodiment of the present invention also provides a landing system for an unmanned aerial vehicle, including an unmanned aerial vehicle and an unmanned aerial vehicle base station, the unmanned aerial vehicle base station including a remote control device and a parking platform, wherein the unmanned aerial vehicle base station sends the location information of the base station to the unmanned aerial vehicle through the remote control device, and the unmanned aerial vehicle flies to the top of the parking platform according to the location information, and further lands on the guide part of the parking platform, slides along the guide surface of the guide part to the parking area of ​​the parking platform, and completes positioning at the positioning points set in the parking area.

[0027] The landing system of the unmanned aerial vehicle, the embodiment of the present invention also provides a landing method of the unmanned aerial vehicle, comprising:

[0028] The UAV base station sends the base station location information to the UAV via the remote control device;

[0029] The unmanned aerial vehicle flies to above the parking platform of the unmanned aerial vehicle base station according to the position information;

[0030] The unmanned aerial vehicle lands on the guide portion of the parking platform, slides along the guide surface of the guide portion to the parking area of ​​the parking platform, and simultaneously completes positioning at the positioning points set in the parking area.

[0031] Some specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] Please also read Figure 1 and Figure 2 The unmanned aerial vehicle base station 10 provided in an embodiment of the present invention includes a shell 100, a remote control device (not shown in the figure) and a parking platform 200, wherein the shell 100 can be a semi-enclosed structure, and the parking platform 200 and the shell 100 cooperate to form a relatively closed base station cavity. In this embodiment, the remote control device can be installed in the base station cavity, or installed separately outside the base station and connected to the base station by wire.

[0033] Furthermore, the parking platform 200 includes a parking area 210, a guide portion 220 adjacent to the parking area 210, and a positioning point 230 arranged in the parking area 210; wherein, the guide portion 220 surrounds the parking area 210 to limit the size of the parking area 210, and the guide portion 220 includes a guide surface 221 facing the parking area 210. When the unmanned aerial vehicle 20 needs to land on the parking platform 200, the remote control device sends the position information of the unmanned aerial vehicle base station 10 to the unmanned aerial vehicle 20, so as to enable the unmanned aerial vehicle 20 to fly above the parking platform 200 according to the position information, and land on the guide portion 220, slide along the guide surface 221 of the guide portion 220 to the parking area 210, and complete the positioning at the positioning point 230. In some embodiments, the parking platform 200 may include two or more parking areas 210, the guide portion 220 limits the size of the overall parking area 210, isolation members (not shown in the figure) are arranged between adjacent parking areas 210, and each parking area 210 is provided with the positioning point 230.

[0034] Furthermore, a charging position 231 is provided on the positioning point 230, and the charging position 231 is used to electrically contact the tripod of the unmanned aerial vehicle 20 so as to electrically connect the unmanned aerial vehicle base station 10 with the unmanned aerial vehicle 20, and pairs of metal contacts are set on the charging position 231, wherein the paired metal contacts are respectively connected to different electrodes of the charging power supply.

[0035] In other embodiments, the parking platform 200 includes positioning points 230 arranged in pairs, each positioning point 230 is provided with a charging position 231, and each charging position 231 is provided with a metal contact, and the metal contacts on the positioning points 230 arranged in pairs are respectively connected to different electrodes of the charging power supply, that is, the metal contact on one of the positioning points 230 is connected to the positive pole of the charging power supply, and the metal contact on the other positioning point 230 is connected to the negative pole of the charging power supply.

[0036] Optionally, the metal contacts set on the charging position 231 described in the aforementioned embodiment may include charging metal contacts and data transmission metal contacts. While the unmanned aerial vehicle 20 is charged through the charging metal contacts, it can also realize wired communication with the base station through the data transmission metal contacts to perform different types of data interaction, such as upgrading the flight control system of the unmanned aerial vehicle 20.

[0037] Optionally, a limiting portion 232 is further provided on the aforementioned positioning point 230, and the limiting portion 232 can cooperate with the bottom of the tripod of the unmanned aerial vehicle 20 to limit the movement of the unmanned aerial vehicle 20 on the plane. For example, the limiting portion 232 is a limiting groove, and the tripod of the unmanned aerial vehicle 20 is provided with a protrusion. When the unmanned aerial vehicle 20 lands on the guide portion 220 and slides along the guide surface 221 to the parking area 210, the charging contact of the unmanned aerial vehicle 20 is positioned at the positioning point 230, and the protrusion at the bottom of the tripod of the unmanned aerial vehicle 20 is just positioned in the limiting groove, so that the unmanned aerial vehicle 20 The traveler 20 cannot translate or rotate within the plane where the parking area 210 is located; because the unmanned aerial vehicle 20 can slide down to the parking area 210 under the action of the guide portion 220 to complete precise positioning, even when the metal contact area on the charging position 231 is small, the tripod of the unmanned aerial vehicle 20 can accurately contact the metal contact on the charging position 231, thereby realizing the electrical connection between the unmanned aerial vehicle 20 and the unmanned aerial vehicle base station 10, and then realizing the charging of the unmanned aerial vehicle 20; in a specific embodiment, the charging position 231 is located in the limiting portion 232, and can also be located on one side of the limiting portion 232.

[0038] In some other embodiments, a limiting portion 232 may be provided in the parking area 210 adjacent to the positioning point 230, see Figure 3 The positioning point 230 includes a plurality of charging positions 231 circumferentially arranged around the limiting portion 232 , so that when the UAV 20 lands in the parking area 210 at different orientations, the tripod of the UAV 20 can all contact the metal contacts of the charging position 231 .

[0039] In other embodiments, the positioning point 230 is also provided with a movable cover (not shown in the figure), or a movable cover is only provided at the charging position 231 of the positioning point 230. The movable cover automatically opens when the unmanned aerial vehicle 20 lands or is charging, and automatically closes after the unmanned aerial vehicle 20 is charged or takes off to protect the exposed metal contacts. The movable cover can be set to a flip form or a push-pull form.

[0040] Further, the guide portion 220 may include a plurality of guide surfaces 221 facing the parking area 210, and each guide surface 221 may be a plane or a curved surface inclined relative to the parking area 210, so as to form a depression above the parking area 210, and the depression is used to accommodate the UAV 20. The shape and size of the parking area 210 are defined by the guide portion 220 surrounding the parking area 210, for example, the guide portion 220 of the parking area 210 includes four first guide surfaces 2210 of the same shape and size and four second guide surfaces 2211 of the same shape and size, the four first guide surfaces 2210 are connected to the corresponding edges of the parking area 210, and each of the four second guide surfaces 2211 is connected between two corresponding adjacent first guide surfaces 2210, so as to define a rectangular area, which is the parking area 210. Generally, the shape and size of the parking area 210 match the shape and size of the tripod of the UAV 20. In some embodiments, the guide portion 220 may be a guide plate or a guide stage.

[0041] Re-read Figure 2 The UAV base station 10 further includes a protective component 300 mounted on the housing 100. Specifically, the protective component 300 is located above the parking platform 200. The protective component 300 cooperates with the parking area 210 and the guide portion 220 to form a receiving chamber for the UAV 20. The protective component 300 is used to protect the parking platform 200 and the UAV 20 that lands on the parking platform 200. In this embodiment, the protective component 300 can achieve dustproof, waterproof, high temperature and sun protection effects, forming a safe storage environment that effectively protects the UAV 20 when operating outdoors for a long time.

[0042] Further, see Figure 4 The protection assembly 300 includes a driving member 310 and a protection door 320. The driving member 310 drives the protection door 320 to open or close relative to the housing 100. The protection door 320 can be a single-open or double-open flat door, or a box-shaped or hemispherical special-shaped door. The special-shaped door can also be set to a single-open or double-open form. As an optional solution, a transparent window can be set on the protection door 320. In some other optional solutions, the protection assembly 300 also includes a sealing ring set on the protection door 320, and the sealing ring can be a rubber ring.

[0043] In some embodiments, the driving member 310 may be a lifting cylinder, and a piston rod of the lifting cylinder is fixedly connected to the protective door 320 to drive the protective door 320 to move in a vertical direction to complete the opening and closing of the protective door 320.

[0044] In some other embodiments, the protection assembly 300 further includes a connection assembly 330 , and the connection assembly 330 connects the protection door 320 and the housing 100 .

[0045] As an alternative, refer to Figure 4 The connecting assembly 330 is an external hinge structure, specifically including a first connecting portion 331, a second connecting portion 332 and a rotating shaft 333, wherein the first connecting portion 331 and the second connecting portion 332 are respectively connected to the outer surface of the protective door 320 and the shell 100, and the rotating shaft 333 is connected to the driving member 310, and the first connecting portion 331 and the second connecting portion 332 are rotatably connected through the rotating shaft 333; the connecting surface of the first connecting portion 331 and the second connecting portion 332 adopts a large-area connecting surface, and the first connecting portion 331 and the second connecting portion 332 are respectively fixed on the outer surface of the protective door 320 and the shell 100 by screws or rivets, and the rotating shaft 333 is fixedly connected to the first connecting portion 331, and the rotating shaft 333 is installed on the bearing seat provided on the second connecting portion 332 through a bearing, and the rotating shaft 333 is driven to rotate by the driving member 310, thereby driving the first connecting portion 331 and the protective door 320 to move as a whole. , realizing the opening and closing of the protective door 320; in this embodiment, the protective component 300 includes a plurality of connecting components 330, the rotating shafts 333 of the plurality of connecting components 330 are coaxial, and the rotating shaft 333 of one of the connecting components 330 is connected to the driving member 310. In this embodiment, the connecting component 330 is adjustable to ensure the coaxiality of the rotating shafts of the plurality of connecting components 330; because the connecting component 330 adopts an external hinge structure, it can be unfolded at a larger angle, so that the opening and closing range of the protective door 320 is larger, and at the same time, an external hinge mechanism is adopted, when the protective door 320 is closed, the protective door 320 and the shell 100 are completely closed to form a relatively sealed unmanned aerial vehicle 20 storage chamber, which is beneficial to dustproof and waterproof, etc. At the same time, the first connecting part 331 and the second connecting part 332 adopt a large-area connecting surface, which can increase the stability of the protective door 320 and the ability of side wind resistance and impact resistance, and ensure that the protective door 320 can be safely opened and closed in windy weather.

[0046] As an optional solution, the connecting assembly 330 includes a guide rail (not shown in the figure) and a sliding seat (not shown in the figure), the guide rail is fixedly connected to the protective door 320 and one of the shells 100, the sliding seat is fixedly connected to the protective door 320 and the other of the shells 100, and the driving member 310 is connected to the sliding seat.

[0047] Furthermore, in another embodiment, the guide portion 220 described in the aforementioned embodiment includes a plurality of guide surfaces 221 facing the parking area 210, and a first ventilation portion 2212 is provided on part or all of the guide surfaces 221. The unmanned aerial vehicle 20 may cause the battery to heat up due to charging or the fuselage to heat up due to operation at high temperature. In these cases, when the unmanned aerial vehicle 20 lands in the parking area 210 of the parking platform 200, air can be supplied through the first ventilation portion 2212 provided on the guide surface 221 to cool down the fuselage or battery of the unmanned aerial vehicle 20; in other embodiments, a guide fan (not shown in the figure) is provided on the side of the guide portion 220 away from the parking area 210, and the size of the blades of the guide fan is adapted to the size of the first ventilation portion 2212 provided on the guide surface 221; as an optional embodiment, the first ventilation portion 2212 is a mesh vent or a grid vent.

[0048] Further, the parking area 210 is provided with a second ventilation part 211. As an optional embodiment, the second ventilation part 211 provided in the parking area 210 includes a plurality of orderly arranged through holes, and these through holes can be arranged around the positioning point 230. Of course, the second ventilation part 211 provided in the parking area 210 can also be a mesh vent or a grid vent. Optionally, a guide fan can also be installed at the back of the parking area 210.

[0049] Furthermore, the UAV base station 10 is correspondingly provided with a temperature regulating device (not shown in the figure), which may be a fan or an air conditioner, and the temperature regulating device may regulate the temperature inside the base station. When the UAV 20 lands on the parking platform 200 and the protective door 320 of the protective assembly 300 arranged above the parking platform 200 is closed, the above-mentioned base station inner cavity, the first ventilation part 2212 and the second ventilation part 211, and the receiving cavity together constitute a circulating air flow channel. Under the action of the guide fan, the cold air blown out by the temperature regulating device of the UAV base station 10 flows in the air flow channel, and the cooling air blown out by the temperature regulating device of the UAV base station 10 flows in the air flow channel. Figure 1 The black hollow arrows in the figure indicate the direction of air flow. Specifically, under the action of the guide fan, the cold air output by the temperature adjustment device enters the receiving chamber from the inner cavity of the base station through the first ventilation part 2212. The hot air after cooling the unmanned aerial vehicle 20 then returns from the receiving chamber through the second ventilation part 211 to the inner cavity of the base station to be cooled by the temperature adjustment device. This cycle can effectively reduce the body or battery temperature of the unmanned aerial vehicle 20. Of course, in a low-temperature environment, the temperature adjustment device of the unmanned aerial vehicle base station 10 can also blow warm air to flow in the air flow channel to increase the body temperature of the unmanned aerial vehicle 20.

[0050] In other embodiments, the remote control device includes a radio frequency identification antenna (not shown in the figure), which is arranged below the positioning point 230 and is used to authenticate the identity of the unmanned aerial vehicle 20 that needs to land.

[0051] Furthermore, the unmanned aerial vehicle base station 10 is also provided with an environmental monitoring device (not shown in the figure), and the environmental data information collected by the environmental monitoring device is transmitted to the background server through the remote control device, wherein the environmental data information includes temperature information, humidity information, light intensity information, rainfall information, wind speed information, etc. The flight of the unmanned aerial vehicle 20 needs to meet certain flight conditions. For example, the temperature range of the outdoor working of the unmanned aerial vehicle 20 is -20℃ to 45℃, and the wind speed range of the outdoor working is 0m / s to 12m / s. When the temperature or wind speed exceeds the working range, or in rainy weather, it is not conducive to the flight of the unmanned aerial vehicle 20. Therefore, by collecting environmental data information and judging whether environmental data information such as temperature information, humidity information, light intensity information, rainfall information, wind speed information, etc. are within the normal range, if any one item exceeds the normal range, it is considered that the environmental data information is abnormal. At this time, it is necessary to control the unmanned aerial vehicle 20 to return or stop the unmanned aerial vehicle 20 from taking off as soon as possible to ensure that the unmanned aerial vehicle 20 performs flight missions under suitable environmental conditions and to ensure the safety and reliability of the unmanned aerial vehicle 20 when it is stored or working outdoors for a long time.

[0052] Furthermore, the UAV base station 10 is also provided with a display device (not shown in the figure) for displaying the status information of the UAV base station 10, the environmental data information collected by the environmental monitoring device, and the status information of the UAV 20, which can make it more convenient for ground staff to maintain the equipment and instruments of the base station. In other embodiments, for the convenience of maintenance, an operating door 110 is provided on the housing 100 for debugging the components inside the housing 100.

[0053] Furthermore, the UAV base station 10 is also provided with a backup power supply (not shown in the figure). When the external power supply of the UAV base station 10 is unstable or interrupted, the UAV base station 10 automatically switches to the backup power supply to ensure that the UAV 20 can continue to establish a connection with the UAV base station 10, automatically continue to perform operating operations and return safely, and prevent accidents or operation interruptions caused by the loss of remote control information by the UAV 20 due to unstable or interrupted power supply of the UAV base station 10; Optionally, the backup power supply is a battery, which can be charged by a solar panel or by a power supply outside the UAV base station 10; In some embodiments, when the UAV base station 10 switches to the backup power supply and the power of the backup power supply drops to a certain range, the UAV base station 10 will send a return command to the UAV 20 to ensure that the UAV 20 returns safely and lands on the parking platform 200 of the UAV base station 10 before the backup power supply is insufficient.

[0054] Compared with the existing UAV base station 10, the UAV base station 10 provided by the above embodiment has at least the following advantages:

[0055] (1) The parking platform 200 of the UAV base station 10 has a simple structure and can realize accurate landing and positioning of the UAV 20 on the parking platform 200 without the need for a high-precision mechanical arm or a positioning and navigation module. On the one hand, the equipment cost and complexity of the parking platform 200 are reduced, and on the other hand, the accuracy requirements for the navigation and positioning equipment of the UAV 20 are reduced. The platform has strong versatility and a wider range of applications.

[0056] (2) When the UAV 20 lands on the parking platform 200, the UAV 20 can be automatically charged on the parking platform 200. Due to the high-precision positioning, the area of ​​the metal contact of the charging position 231 can be very small, which can effectively avoid the safety hazards caused by large-area exposed metal contacts;

[0057] (3) When the unmanned aerial vehicle 20 is automatically charged, the battery of the unmanned aerial vehicle 20 can be effectively cooled to improve safety;

[0058] (4) When the UAV 20 lands on the parking platform 200 for storage or charging, the UAV 20 is protected by the protective component 300, which can effectively prevent water, dust, high temperature and exposure, etc., to ensure the safety and reliability of the UAV 20 when it is stored outdoors for a long time;

[0059] (5) By collecting environmental data information, it is possible to ensure that the UAV 20 automatically performs operations under suitable environmental conditions, thereby ensuring the safety of the UAV 20.

[0060] (6) By providing a backup battery for the base station, the base station can avoid losing contact with the UAV 20 due to unstable power supply or power outage, thereby ensuring that the UAV 20 can continue to perform operations and return safely.

[0061] Based on the UAV base station 10 provided in the above embodiment, the present invention also provides a landing system for an UAV. Figure 2 The landing system of the unmanned aerial vehicle 20 includes an unmanned aerial vehicle 20 and an unmanned aerial vehicle base station 10, wherein the unmanned aerial vehicle base station 10 includes a remote control device and a parking platform 200, wherein the unmanned aerial vehicle base station 10 sends the location information of the base station to the unmanned aerial vehicle 20 through the remote control device, and the unmanned aerial vehicle 20 flies to the top of the parking platform 200 according to the location information, and further lands on the guide part 220 of the parking platform 200, slides along the guide surface 221 of the guide part 220 to the parking area 210 of the parking platform 200, and completes the positioning at the positioning point 230 set in the parking area 210. In this embodiment, the unmanned aerial vehicle 20 is equipped with an RTK (Real-time kinematic) positioning module, and the unmanned aerial vehicle 20 receives and processes the location information through the RTK positioning module to obtain accurate positioning information.

[0062] Furthermore, the parking platform 200 includes a parking area 210, a guide portion 220 adjacent to the parking area 210, and a positioning point 230 arranged in the parking area 210; wherein, the guide portion 220 surrounds the parking area 210 to limit the size of the parking area 210, and the guide portion 220 includes a guide surface 221 facing the parking area 210. When the unmanned aerial vehicle 20 needs to land on the parking platform 200, the remote control device sends the position information of the unmanned aerial vehicle base station 10 to the unmanned aerial vehicle 20, so as to enable the unmanned aerial vehicle 20 to fly above the parking platform 200 according to the position information, and land on the guide portion 220, slide along the guide surface 221 of the guide portion 220 to the parking area 210, and complete the positioning at the positioning point 230. When the UAV 20 flies above the parking platform 200 according to the position information, the projection of the tripod of the UAV 20 on the parking platform 200 is located in the area where the guide portion 220 is located and / or in the parking area 210 .

[0063] In some embodiments, the parking platform 200 may include two or more parking areas 210, the guide portion 220 limits the size of the overall parking area 210, isolation members (not shown in the figure) are arranged between adjacent parking areas 210, and each parking area 210 is provided with the positioning point 230.

[0064] Furthermore, a charging position 231 is provided on the positioning point 230 . After the UAV 20 is positioned at the positioning point 230 , the charging position 231 is in electrical contact with the tripod of the UAV 20 , thereby realizing the electrical connection between the UAV base station 10 and the UAV 20 .

[0065] In some embodiments, a pair of metal contacts is disposed on the charging position 231 , wherein the pair of metal contacts is respectively connected to different electrodes of a charging power source.

[0066] In other embodiments, the parking platform 200 includes positioning points 230 arranged in pairs, each positioning point 230 is provided with a charging position 231, and each charging position 231 is provided with a metal contact, and the metal contacts on the positioning points 230 arranged in pairs are respectively connected to different electrodes of the charging power supply, that is, the metal contact on one of the positioning points 230 is connected to the positive pole of the charging power supply, and the metal contact on the other positioning point 230 is connected to the negative pole of the charging power supply.

[0067] Optionally, the metal contacts set on the charging position 231 described in the aforementioned embodiment may include charging metal contacts and data transmission metal contacts. While the unmanned aerial vehicle 20 is charged through the charging metal contacts, it can also realize wired communication with the base station through the data transmission metal contacts to perform different types of data interaction, such as upgrading the flight control system of the unmanned aerial vehicle 20.

[0068] Optionally, a limiting portion 232 is further provided on the aforementioned positioning point 230, and the limiting portion 232 can cooperate with the bottom of the tripod of the unmanned aerial vehicle 20 to limit the movement of the unmanned aerial vehicle 20 on the plane. For example, the limiting portion 232 is a limiting groove, and the tripod of the unmanned aerial vehicle 20 is provided with a protrusion. When the unmanned aerial vehicle 20 lands on the guide portion 220 and slides along the guide surface 221 to the parking area 210, the charging contact of the unmanned aerial vehicle 20 is positioned at the positioning point 230, and the protrusion at the bottom of the tripod of the unmanned aerial vehicle 20 is just positioned in the limiting groove, so that the unmanned aerial vehicle 20 The traveler 20 cannot translate or rotate within the plane where the parking area 210 is located; because the unmanned aerial vehicle 20 can slide down to the parking area 210 under the action of the guide portion 220 to complete precise positioning, even when the metal contact area on the charging position 231 is small, the tripod of the unmanned aerial vehicle 20 can accurately contact the metal contact on the charging position 231, thereby realizing point connection between the unmanned aerial vehicle 20 and the unmanned aerial vehicle base station 10, and then realizing charging of the unmanned aerial vehicle 20; in a specific embodiment, the charging position 231 is located in the limiting portion 232, and can also be located on one side of the limiting portion 232.

[0069] In some other embodiments, a limiting portion 232 may be provided in the parking area 210 adjacent to the positioning point 230, see Figure 3 The positioning point 230 includes a plurality of charging positions 231 circumferentially arranged around the limiting portion 232 , so that when the UAV 20 lands in the parking area 210 at different orientations, the tripod of the UAV 20 can all contact the metal contacts of the charging position 231 .

[0070] In other embodiments, the positioning point 230 is also provided with a movable cover (not shown in the figure), or a movable cover is only provided at the charging position 231 of the positioning point 230. The movable cover automatically opens when the unmanned aerial vehicle 20 lands or is charging, and automatically closes after the unmanned aerial vehicle 20 is charged or takes off to protect the exposed metal contacts. The movable cover can be set to a flip form or a push-pull form.

[0071] In some embodiments, the guide portion 220 may include a plurality of guide surfaces 221 facing the parking area 210, and each guide surface 221 may be a plane or a curved surface inclined relative to the parking area 210, thereby forming a depression above the parking area 210, and the depression is used to accommodate the UAV 20. The shape and size of the parking area 210 are defined by the guide portion 220 surrounding the parking area 210, for example, the guide portion 220 of the parking area 210 includes four first guide surfaces 2210 of the same shape and size and four second guide surfaces 2211 of the same shape and size, the four first guide surfaces 2210 are connected to the corresponding edges of the parking area 210, and each of the four second guide surfaces 2211 is connected between two corresponding adjacent first guide surfaces 2210, thereby defining a rectangular area, which is the parking area 210. Generally, the shape and size of the parking area 210 match the shape and size of the tripod of the UAV 20. In some embodiments, the guide portion 220 may be a guide plate or a guide stage.

[0072] Furthermore, the UAV base station 10 further includes a protective component 300, which is used to protect the parking platform 200 and the UAV 20 landed on the parking platform 200. The protective component 300 is located above the parking platform 200, and the protective component 300 cooperates with the parking platform 200 to form a receiving cavity for the UAV 20. The protective component 300 is used to protect the parking platform 200 and the UAV 20 landed on the parking platform 200. In this embodiment, the protective component 300 can achieve dustproof, waterproof, high temperature and sun protection effects, and form a safe storage environment that effectively protects the UAV 20 during long-term outdoor operations.

[0073] In some embodiments, the protection assembly 300 includes a driving member 310 and a protection door 320. The protection assembly 300 opens the protection door 320 through the driving member 310 before the UAV 20 lands on the parking platform 200, and closes the protection door 320 through the driving member 310 after the UAV 20 lands on the parking platform 200. The protection door 320 can be a single-open or double-open flat door, or a box-shaped or hemispherical special-shaped door, which can also be set to a single-open or double-open form; as an optional solution, a transparent window can be set on the protection door 320. In other optional solutions, the protection assembly 300 also includes a sealing ring set on the protection door 320, and the sealing ring can be a rubber ring.

[0074] In some embodiments, the driving member 310 may be a lifting cylinder, and a piston rod of the lifting cylinder is fixedly connected to the protective door 320 to drive the protective door 320 to move in a vertical direction to complete the opening and closing of the protective door 320.

[0075] In some other embodiments, the protection assembly 300 further includes a connection assembly 330 , and the connection assembly 330 connects the protection door 320 and the housing 100 .

[0076] As an alternative, refer to Figure 4 The connecting assembly 330 is an external hinge structure, specifically including a first connecting portion 331, a second connecting portion 332 and a rotating shaft 333, wherein the first connecting portion 331 and the second connecting portion 332 are respectively connected to the outer surface of the protective door 320 and the shell 100, and the rotating shaft 333 is connected to the driving member 310, and the first connecting portion 331 and the second connecting portion 332 are rotatably connected through the rotating shaft 333; the connecting surface of the first connecting portion 331 and the second connecting portion 332 adopts a large-area connecting surface, and the first connecting portion 331 and the second connecting portion 332 are respectively fixed on the outer surface of the protective door 320 and the shell 100 by screws or rivets, and the rotating shaft 333 is fixedly connected to the first connecting portion 331, and the rotating shaft 333 is installed on the bearing seat provided on the second connecting portion 332 through a bearing, and the rotating shaft 333 is driven to rotate by the driving member 310, thereby driving the first connecting portion 331 and the protective door 320 to move as a whole. , realizing the opening and closing of the protective door 320; in this embodiment, the protective component 300 includes a plurality of connecting components 330, the rotating shafts 333 of the plurality of connecting components 330 are coaxial, and the rotating shaft 333 of one of the connecting components 330 is connected to the driving member 310. In this embodiment, the connecting component 330 is adjustable to ensure the coaxiality of the rotating shafts of the plurality of connecting components 330; because the connecting component 330 adopts an external hinge structure, it can be unfolded at a larger angle, so that the opening and closing range of the protective door 320 is larger, and at the same time, an external hinge mechanism is adopted, when the protective door 320 is closed, the protective door 320 and the shell 100 are completely closed to form a relatively sealed unmanned aerial vehicle 20 storage chamber, which is beneficial to dustproof and waterproof, etc. At the same time, the first connecting part 331 and the second connecting part 332 adopt a large-area connecting surface, which can increase the stability of the protective door 320 and the ability of side wind resistance and impact resistance, and ensure that the protective door 320 can be safely opened and closed in windy weather.

[0077] As an optional solution, the connecting assembly 330 includes a guide rail (not shown in the figure) and a sliding seat (not shown in the figure), the guide rail is fixedly connected to the protective door 320 and one of the shells 100, the sliding seat is fixedly connected to the protective door 320 and the other of the shells 100, and the driving member 310 is connected to the sliding seat.

[0078] Furthermore, the UAV base station 10 is equipped with a radio frequency identification antenna, which is arranged below the positioning point 230. Before the UAV 20 lands on the parking platform 200, the UAV base station 10 authenticates the identity of the UAV 20 through the radio frequency identification antenna.

[0079] Furthermore, the unmanned aerial vehicle base station 10 is also provided with an environmental monitoring device, and the environmental data information collected by the environmental monitoring device is transmitted to the background server through the remote control device, and when the background server determines that the environmental data information is abnormal, the unmanned aerial vehicle base station 10 sends a return command to the unmanned aerial vehicle 20 through the remote control device. Specifically, the environmental data information collected by the environmental monitoring device is transmitted to the background server through the remote control device, wherein the environmental data information includes temperature information, humidity information, light intensity information, rainfall information, wind speed information, etc. The flight of the unmanned aerial vehicle 20 needs to meet certain flight conditions. For example, the temperature range of the outdoor working of the unmanned aerial vehicle 20 is -20℃ to 45℃, and the wind speed range of the outdoor working is 0m / s to 12m / s. When the temperature or wind speed exceeds the working range, or in rainy weather, it is not conducive to the flight of the unmanned aerial vehicle 20. Therefore, by collecting environmental data information and judging whether environmental data information such as temperature information, humidity information, light intensity information, rainfall information, wind speed information, etc. are within the normal range, if any one item exceeds the normal range, it is considered that the environmental data information is abnormal. At this time, it is necessary to control the unmanned aerial vehicle 20 to return or stop the unmanned aerial vehicle 20 from taking off as soon as possible to ensure that the unmanned aerial vehicle 20 performs flight missions under suitable environmental conditions and to ensure the safety and reliability of the unmanned aerial vehicle 20 when it is stored or working outdoors for a long time.

[0080] Furthermore, the UAV base station 10 is also provided with a temperature regulating device. After the UAV 20 lands on the parking platform 200, the UAV base station 10 starts the temperature regulating device to regulate the temperature inside the base station. Optionally, the guide portion 220 of the unmanned aerial vehicle base station 10 includes a plurality of guide surfaces 221 facing the parking area 210, and a first ventilation portion 2212 is provided on part or all of the guide surfaces 221. The unmanned aerial vehicle 20 may heat up its battery due to charging or its fuselage may heat up due to operation at high temperature. In these cases, when the unmanned aerial vehicle 20 lands in the parking area 210 of the parking platform 200, air can be supplied through the first ventilation portion 2212 provided on the guide surface 221 to cool down the fuselage or battery of the unmanned aerial vehicle 20; in other embodiments, a guide fan (not shown in the figure) is provided on the side of the guide portion 220 facing away from the parking area 210, and the size of the blades of the guide fan is adapted to the size of the first ventilation portion 2212 provided on the guide surface 221; as an optional embodiment, the first ventilation portion 2212 is a mesh vent or a grid vent.

[0081] Further, the parking area 210 is provided with a second ventilation part 211. As an optional embodiment, the second ventilation part 211 provided in the parking area 210 includes a plurality of orderly arranged through holes, and these through holes can be arranged around the positioning point 230. Of course, the second ventilation part 211 provided in the parking area 210 can also be a mesh vent or a grid vent. Optionally, a guide fan can also be installed at the back of the parking area 210.

[0082] When the UAV 20 lands on the parking platform 200 and the protective door 320 of the protective assembly 300 disposed above the parking platform 200 is closed, the base station inner cavity, the first ventilation part 2212, the second ventilation part 211, and the receiving cavity together form a circulating air flow channel. Under the action of the guide fan, the cold air blown out by the temperature adjustment device of the UAV base station 10 flows in the air flow channel. Figure 1 The black hollow arrows in the figure indicate the direction of air flow. Specifically, under the action of the guide fan, the cold air output by the temperature adjustment device enters the receiving chamber from the inner cavity of the base station through the first ventilation part 2212. The hot air after cooling the unmanned aerial vehicle 20 then returns from the receiving chamber through the second ventilation part 211 to the inner cavity of the base station to be cooled by the temperature adjustment device. This cycle can effectively reduce the body or battery temperature of the unmanned aerial vehicle 20. Of course, in a low-temperature environment, the temperature adjustment device of the unmanned aerial vehicle base station 10 can also blow warm air to flow in the air flow channel to increase the body temperature of the unmanned aerial vehicle 20.

[0083] Based on the UAV base station 10 and the UAV landing system provided in the above embodiments, the present invention also provides a UAV landing method, see Figure 5 , the method comprising:

[0084] S101. The unmanned aerial vehicle base station 10 sends base station location information to the unmanned aerial vehicle 20 through a remote control device; optionally, before S101, the unmanned aerial vehicle base station 10 collects environmental data information through an environmental monitoring device, and sends a return command to the unmanned aerial vehicle 20 when the environmental data information is abnormal, wherein the environmental data information includes one or more of the following: temperature information, humidity information, light intensity information, rainfall information and wind speed information.

[0085] S102, the UAV 20 flies to above the parking platform 200 of the UAV base station 10 according to the position information; specifically, the projection of the tripod of the UAV 20 on the parking platform 200 is located in the area where the guide part 220 is located and / or in the parking area 210.

[0086] S103, the unmanned aerial vehicle 20 lands on the guide portion 220 of the parking platform 200, slides along the guide surface 221 of the guide portion 220 to the parking area 210 of the parking platform 200, and simultaneously completes positioning at the positioning point 230 set in the parking area 210.

[0087] Furthermore, before step S102, the method further includes:

[0088] The UAV base station 10 opens the protective door 320 of the protective component 300 located above the parking platform 200 ; correspondingly, after step S103 , the UAV base station 10 closes the protective door 320 of the protective component 300 located above the parking platform 200 .

[0089] Furthermore, after step S103 , the method further includes: the UAV base station 10 charges the UAV 20 via the charging position 231 set on the positioning point 230 .

[0090] Furthermore, after step S103 , the method further includes: the unmanned aerial vehicle base station 10 turns on a temperature regulating device.

[0091] The structure and function of the hardware equipment involved in the landing method of the unmanned aerial vehicle provided in the embodiment of the present invention can refer to the relevant technical content in the aforementioned embodiment, and will not be repeated here.

[0092] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. The preferred embodiments of the present invention are given in the accompanying drawings, but they do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific embodiments, or to perform equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of the present invention, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

Claims

1. An unmanned aerial vehicle base station, characterized in that: include: A shell, a parking platform, and a temperature regulating device; wherein the parking platform and the shell cooperate to form a relatively closed base station cavity, the parking platform includes a parking area and a guide portion, the guide portion includes a plurality of guide surfaces facing the parking area, so that when the unmanned aerial vehicle lands on the guide portion, it slides along the guide surface into the parking area, a first ventilation portion is provided on part or all of the guide surface, and the temperature regulating device is connected to the first ventilation portion.

2. The unmanned aerial vehicle base station according to claim 1, characterized in that: A positioning point is arranged in the parking area.

3. The unmanned aerial vehicle base station according to claim 1, characterized in that: The unmanned aerial vehicle base station is also provided with an environment monitoring device and a remote control device, and the environment data information collected by the environment monitoring device is transmitted to the background server through the remote control device.

4. The unmanned aerial vehicle base station according to claim 3, characterized in that: The environmental data information includes one or more of the following: temperature information, humidity information, light intensity information, rainfall information and wind speed information.

5. The unmanned aerial vehicle base station according to claim 3 or 4, characterized in that: When the background server determines that the environmental data information is abnormal, the unmanned aerial vehicle base station sends a return instruction to the unmanned aerial vehicle through the remote control device.

6. The unmanned aerial vehicle base station according to claim 1, characterized in that: A second ventilation part is arranged in the parking area.

7. The unmanned aerial vehicle base station according to claim 6, characterized in that: The unmanned aerial vehicle base station is further provided with a plurality of air guide fans, and at least part of the air guide fans are arranged on a side of the first ventilation portion away from the parking area.

8. The unmanned aerial vehicle base station according to any one of claims 6 or 7, characterized in that: The UAV base station further comprises a protection component, which is located above the parking platform and cooperates with the parking platform to form a receiving chamber for the UAV.

9. The unmanned aerial vehicle base station according to claim 8, characterized in that: The base station inner cavity, the receiving cavity, the first ventilation part and the second ventilation part together form a circulating air flow channel.

10. The unmanned aerial vehicle base station according to claim 9, characterized in that: The cold air blown out by the temperature regulating device enters the receiving cavity from the inner cavity of the base station via the first ventilation part to cool the unmanned aerial vehicle, and the hot air after cooling the unmanned aerial vehicle returns to the inner cavity of the base station from the second ventilation part and is cooled by the temperature regulating device.

11. A landing system for an unmanned aerial vehicle, characterized in that: It comprises an unmanned aerial vehicle and an unmanned aerial vehicle base station as described in any one of claims 1-10.

12. A method for landing an unmanned aerial vehicle, characterized in that: include: The unmanned aerial vehicle receives and processes the position information sent by the unmanned aerial vehicle base station through its own RTK positioning module to obtain accurate positioning information; as well as The unmanned aerial vehicle flies to above the parking platform of the unmanned aerial vehicle base station according to the position information, and further lands on the guide part of the parking platform, and slides along the guide surface of the guide part to the parking area of ​​the parking platform.

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