Accessing power and data communications for unmanned aerial vehicles from overhead power lines

Abstract

The present invention relates to a docking and charging station for unmanned aerial vehicles (UAVs), the docking and charging station comprising a housing configured to be fastened to an above ground structure providing a ground clearance below the housing, the docking and charging station comprising a power supply unit, a communication module and a docking port for receiving and docking a UAV. Also provided is a UAV configured to be docked in the provided docking and charging station.

Description

Technical Field

[0001] This invention relates to devices and systems enabling unmanned aerial vehicles (UAVs) to dock and charge at docking stations, which can be located on overhead power lines or other grounded structures. The system provides power and data communication transmission to the UAVs on the overhead power lines utilizing electricity from the power lines through electro-inductive power harvesting. Background Technology

[0002] Monitoring and proper maintenance of overhead power lines in power transmission and distribution networks are crucial for the safe operation of these networks. Environmental factors, such as those causing premature aging of critical components of the power line structure, can lead to unexpected power outages, costing grid operators and their customers thousands or even millions of dollars per outage. Furthermore, vegetation and other obstructions near power lines can cause outages and, if left unattended, can even ignite wildfires.

[0003] Power access is the biggest limiting factor for improving the monitoring and surveillance of overhead power lines. These lines span vast distances, often traversing remote areas lacking other infrastructure. Although power lines transmit electricity, direct use is often impossible because their voltage is far higher than that of ordinary electrical equipment without expensive and large transformers. While less costly, alternatives include installing diesel generators, wind turbines, solar panels, and / or batteries to power the monitoring equipment, or using extra-long cables, typically buried underground, to connect to the appropriate voltage level of the nearest substation.

[0004] Operators of overhead power lines have discovered the use of drones (UAVs) in inspecting power grid infrastructure. Drones used for monitoring are typically equipped with high-resolution cameras and thermal imaging sensors that can scan power structures to look for damaged masts, stolen bolts, rust, or other types of corrosion. Furthermore, thermal imaging sensors can detect damage in insulator chains, conductor damage caused by lightning strikes, problems related to birds nesting in or on towers, and more.

[0005] The main drawback of using drones to inspect power line structures and conductors is that the entire inspection process requires professional service personnel to escort and operate the drones, often traversing harsh and remote terrain. The drone's batteries must be charged regularly or replaced with fully charged ones. Therefore, when using manually operated drones, inspecting power line infrastructure stretching for tens or even hundreds of kilometers requires a significant amount of manpower and can take days or even weeks to complete.

[0006] A novel approach involves using power harvesting devices mounted on the conductors of overhead power lines. WO 2019 / 030781 discloses a power harvesting and monitoring device that uses one or more current transformers and associated rectifier and power conditioning circuitry to generate a DC power output from the electromagnetic field produced by the alternating current flowing through the phase conductors of a high-voltage power line. Summary of the Invention

[0007] The invention relates in a first aspect to a device configured to be located on an overhead power line having an external power connection for supplying power to third-party electrical equipment and devices, such as, in particular, unmanned aerial vehicles (UAVs), commonly referred to as drones (these two terms are used interchangeably herein). The power supply can be permanent, for example for monitoring equipment and devices, or temporary, for example for charging drones attached to the device. The device can also provide networking and data communication services to the equipment, for example by enabling data to be sent and received from the docked drone and updating control commands to be sent to the drone, such as new flight navigation plans, or by using wireless communication between the device and third-party equipment (e.g., flying drones, mobile phones, or battery-powered Internet of Things (IoT) objects). Finally, the device provides data processing for the third-party equipment, thereby eliminating the need for the equipment to perform such power-intensive operations, thus saving power that the device could use for other operations.

[0008] This document provides a system including a drone docking and charging station (also referred to herein as a DDC station). The DDC station includes a housing configured to be secured to a ground structure, a power unit, a communication module, and a docking port disposed below the housing. The ground structure provides ground clearance below the housing for receiving and docking with a configured UAV and docking unit, wherein the docking port on the UAV and the docking unit provide electrical connections for charging the docked UAV.

[0009] In some embodiments, the DDC is arranged to be clamped to a horizontal portion of a structure, such as a lamppost or mast structure, and the power supply unit can obtain power from an external power source. More preferably, the DDC is arranged to be clamped to a conductor of an overhead power line, wherein the DDC includes a power harvesting portion for harvesting power from an electromagnetic field surrounding the conductor.

[0010] The DDC station is equipped with charging units, preferably those that allow for rapid charging of docked drones. Rapid charging refers to charging faster than that generated simultaneously through power harvesting, typically achieved using supercapacitors that can load and rapidly unload energy—a technique known in the art.

[0011] The docking port of the DCC station is arranged to securely receive and firmly fasten mating UAVs (i.e., UAVs including docking or anchoring devices as further described herein for mating with the docking port). Preferably, the docking port includes guiding and securing portions for controllably docking, securing, storing / parking, and releasing the UAV. The guiding portion may, for example, include a funnel-shaped structure. The guiding and securing portion preferably also includes a clamping or gripping mechanism for securing the UAV's docking and charging units to the DCC station.

[0012] In some embodiments, the docking port is configured as a unit to be fastened and secured to the main housing of the DDC station; in other embodiments, the docking port is an integral part of the DDC station housing.

[0013] As described in more detail below, in some embodiments, the DDC station may advantageously include one or more of an infrared serial transceiver, a LiDAR sensor, a real-time dynamic RTK base station, and one or more high-resolution cameras; these devices and components can assist in precise navigation from the UAV to the UAV docking unit.

[0014] In another aspect, the present invention provides a system for providing docking, charging and / or data communication with a UAV, the system comprising a DDC station as described above and one or more UAVs arranged to cooperate and dock with the DDC station.

[0015] The UAV of the system of the present invention includes a docking unit for securely engaging and docking with a docking port of a DDC station. Preferably, the docking unit of the UAV includes a docking probe and a connector or anchor having a mating structure with the docking port. The docking unit may be an integral part of the UAV's fuselage or housing, or optionally may be arranged as a detachable unit that can be securely fixed and connected to the UAV. Preferably, the docking unit probe is configured such that it can be positioned in a stationary mode or a flight mode during the flight of the UAV, as well as a docking mode for docking. Thus, for example, in a stationary mode, the probe can be positioned substantially horizontally, for example, folded by a hinge mechanism, and in a docking mode, the probe can be erected in a substantially vertical position.

[0016] Subsequently, the docking unit should provide a secure anchoring connection and electrical connection between the UAV and the DCC station for charging and data transmission.

[0017] The UAV docking unit is preferably located on top of the UAV (its body or housing) and typically includes an extension that extends upward to connect to the docking port of the DDC station.

[0018] In some embodiments, the UAV docking unit is provided as a docking and connection equipment (DCE), which is strapped or otherwise mounted or secured to the UAV. This enables a UAV equipped with a DCE and requiring battery charging to locate the nearest DDC station and dock from below the DDC station using a dedicated docking mechanism that docks the DCE and a UAV mounted in a suitable position below the DDC station. The docking mechanism secures the DCE and the UAV mounted below the DDC station into place for battery charging, data transmission, etc.

[0019] Such docking and connection equipment (DCE) is provided as a separate part of the invention. Part of the invention also includes UAVs with externally mounted DCEs or integral DCEs, as described herein.

[0020] When a DDC station is clamped to the conductor of a high-voltage power line, it can collect all the necessary power using the electromagnetic field around the alternating conductor. As described above, in some embodiments, the DDC station can be mounted on a lamppost or other structure, and in these embodiments, the DDC can be connected to a conventional power supply output, such as 120VAC or 230VAC.

[0021] DCEs can be mounted on most types of drones. A DCE can be permanently attached to the back of the drone in question, or temporarily attached using appropriate fastening equipment. In one embodiment, a rein is provided that is fastened to the underside of the drone body in a manner similar to a saddle being mounted on a horse's back. A lightweight but accommodating foam intermediate layer, formed to fit snugly to the shape of the drone body, can be positioned between the drone and the attached DCE, whether the DCE is permanently or temporarily attached to the drone using appropriate wiring harnesses. In some embodiments, the electronic and mechanical components of the DCE can be integrated into the drone itself, such as a dedicated inspection drone or a drone used for package delivery.

[0022] As described above, in some embodiments, the DDC station can be clamped onto the conductor of a high-voltage power line and draw power from the electromagnetic field surrounding the AC carrying conductor. The collected power is used to power equipment within the DDC station and also to charge external devices, such as UAVs, which have suitable mating fittings for docking and electrically connecting to the DDC station.

[0023] In some embodiments, the docking port at the bottom of the DDC station includes a conical funnel. The docking port will also include a fastening and locking mechanism for securing and fixing the UAV to the dock, which may include, for example, a rotating hemispherical locking mechanism with a cutter. The rotating hemispherical locking mechanism is located at the upper and narrow ends of the funnel and rotates in a semi-circle around the hemispherical top of the docking probe of the DCE (if present). When the hemispherical locking mechanism of the DDC station rotates in a semi-circle around the hemispherical top of the docking probe of the DCE and locks it firmly in place, the electrode carrying the charging current is pressed down to the center of the hemispherical top of the docking probe and connects to a mating electrode that connects the charging current to the DCE and from there to the battery charging port of the UAV.

[0024] In some embodiments, a stepper motor in the DDC station rotates a hemispherical locking mechanism to lock the docking probe of the DCE into place during the charging process, and rotates it back after the charging process is complete to release the DCE and the drone. As the hemispherical locking mechanism rotates about the hemispherical top of the docking probe of the DCE, the cleavage in the hemispherical mechanism is wider at the edge of the sphere but narrows near the docking probe rod.

[0025] In some embodiments, the docking and connection equipment (DCE) includes specially designed electronic circuitry that controls all DCE functions and at least some communication between the DDC station and the drone attached thereto. The housing of the DCE is preferably made of a lightweight and robust material, such as carbon fiber. The housing preferably has electrical shielding properties that prevent interruption and malfunction of control and navigation electronics due to high-voltage spikes and discharges occurring when the drone approaches or contacts the conductor clamped to the high-voltage power line of the DDC station and is released from the DDC station. The docking probe, made of conductive material or including an internal conductor, is located on top of the drone or its DCE and serves two functions: securely docking and attaching the drone to the DDC station and connecting the charging current of the DDC station to the drone's battery charging port via the DCE. The drone reports the voltage level (3.7V-7.4V-11.1V-14.8V-18.5V-22.2V, etc.) and charge rate profile of its battery pack directly or via the DCE to the DDC station. When the drone is in flight, the docking probe is lowered to a horizontal position to minimize its impact on the drone's flight capabilities.

[0026] In some embodiments, depending on the weight of the fully loaded drone attached to the DCE, the number of docking probes on each DCE can be one, two, or four. For lighter types of drones, such as those with a full load of less than 10 kg, one docking probe is sufficient. For heavier drones, two or four docking probes can be used. An electric motor (e.g., a stepper motor) can be arranged to be responsible for erecting the docking probe in the docking position and appropriately lowering it to a stationary or flight position. Furthermore, the docking probe can be extended (telescopic).

[0027] In some embodiments, the docking probe is made of a lightweight yet robust conductive material, such as carbon fiber, capable of withstanding considerable weight and mechanical stress. In some embodiments, the hemispherical cup at the end of the docking probe serves two purposes. First, it ensures the drone is securely attached to the docking port of the DDC station when the DDC station's bowl-shaped locking mechanism locks around the hemispherical cup on the docking probe. The other purpose is to connect charging current from the DDC station to the DCE. The DCE then connects the charging current to the drone via a separate cable.

[0028] In some embodiments, there are two or more (e.g., four) serial infrared transceivers on the DCE, such as one in or near each corner. The infrared transceivers communicate with a corresponding transceiver at the bottom of the DDC station to enable the DCE and its attached drone to accurately guide the final distance before connecting to the DDC station. Preferably, the infrared transceivers maintain a narrow field of view to ensure that the transceivers must be within line of sight of each other; that is, the DCE docking probe must be positioned almost directly below the center of the DDC station to find the method of entering the docking funnel and charging port of the DDC station. Each infrared transceiver may have its own identification code to facilitate drone guidance, i.e., the correct azimuth, position, and altitude relative to the DDC station as the drone approaches, so that the docking probe lands directly in the docking funnel and below the DDC station, correctly positioned and oriented. Infrared transceivers can also be used for data communication between DDC stations and DCE equipment, particularly when electrostatic discharge and interruption noise occur when the docking probe of the DCE equipment contacts the docking funnel of the DDC station or when the DCE equipment is released from the DDC station (not docked). This is especially useful when electrostatic noise interrupts radio communication and prevents WiFi, Bluetooth, wireless personal area networks or other radio-based communications from functioning properly.

[0029] This invention provides apparatus, methods, and systems for providing access to power and / or network / data communications in locations with overhead power lines. Power and data communications can be provided to equipment used for monitoring environmental conditions, such as weather, vegetation growth, fire and vegetation event detection, line strikes, lightning strikes, sparks, and forest fires. The solutions provided herein can be used in remote areas where access to electricity is the biggest limiting factor for improving monitoring and surveillance of areas around overhead transmission lines and power grids. Therefore, power lines are the only infrastructure in these areas, and this apparatus and system enable power and data communications. The equipment can also be used for monitoring operations (e.g., vehicle traffic or CCTV) or providing wireless data communications for drones, mobile phones, and IoT objects. This invention also provides systems for acquiring and analyzing data on the equipment or for sending raw data and / or processed results back to third-party equipment or remote operating platforms.

[0030] In some embodiments, the power harvesting section of the UAV docking station proposed herein employs power harvesting and regulation techniques, wherein one or more current transformer units have their own short-circuit shunts, rectifier circuits, and smoothing capacitors, and are connected in parallel to a common power output. In some embodiments, the power harvesting section includes multiple current transformer units connected in parallel. The power harvesting section of the monitoring equipment further operates using a shunt method that completely short-circuits the secondary winding of each current transformer when not needed, terminating power harvesting for that transformer section and minimizing magnetic current and interference in the current transformer core. Furthermore, a common load is connected in parallel to the DC power output connection of each rectifier of the current transformer unit, providing a power harvesting system with cold regulation, making it feasible to provide a charging station on an overhead power line. The common load of the power harvesting system may include auxiliary equipment of the device, as well as charging units or power storage devices.

[0031] In some embodiments, the system of the present invention provides a docking station for unmanned aerial vehicles (UAVs), wherein the UAV can be securely stored and charged at the docking station on an overhead power line. The docking station collects and stores power from the power line and can guide the UAV using visual and / or wireless communication for accuracy of the landing and docking process. The docking station may also include means for receiving data acquired by the UAV and communicating that data to a remote platform. The data acquired by the UAV can be used to observe and communicate real-time environmental data or events. Furthermore, consistent and accurate data reflecting environmental conditions and events (e.g., forest fires) are collected by the system of the present invention and can be used to predict these events, for example, by means of machine learning (ML) and artificial intelligence (AI). In addition, the docking station can provide the UAV with data updates, such as updated flight paths, i.e., the results of data processing in the device or the results relayed from a remote operating platform.

[0032] In some embodiments, the docking station of the present invention does not require an external power source because it is autonomously powered by a power harvesting section that collects electrical energy from the electromagnetic field surrounding the phase lines. The exterior of the docking station can be designed to prevent corona discharge and withstand harsh weather conditions. This includes the selection of materials for the docking station housing, the formation of the parts constituting the housing, and the selection of materials for securing the docking station to the power lines.

[0033] In some embodiments, the system of the present invention provides data processing services to third-party equipment (e.g., but not limited to drones). Such services can be provided for a single connected third-party device, for example, for image processing from the drone's camera to analyze vegetation growth or for fire detection. Such services can also be provided for multiple unrelated or related third-party devices, such as a group of drones sending data for processing on the device and resulting in, for example, updated flight paths being sent back to each drone.

[0034] One or more of the following embodiments, individually or in combination, help to address the problem of providing a power output terminal and data communication device suitable for clamping onto a phase line of a high-voltage power line: a) a connection / docking structure attached to the housing or physical part of the docking and charging station to secure the drone when it is powered for operation or charging on the drone, and the connection / docking structure is mounted on an overhead power line; b) a power collection section in the docking and charging station having multiple current transformer units whose DC connections are connected in parallel to a common load; c) means for communication between the docking and charging station and the drone to ensure safe docking to the docking and charging station; and d) means for data communication between the docking and charging station and the drone. Attached Figure Description

[0035] Figure 1 An embodiment of a docking and charging station with a docking port for docking a UAV is shown, installed on a phase line of an overhead power line. A UAV with a docking probe for mating with the docking port is also shown.

[0036] Figure 2 The communication equipment on the docking and charging station is shown.

[0037] Figure 3 A UAV according to the invention is shown, having a docking probe in docking mode (A) and stationary / flying mode (B).

[0038] Figure 4 The image shows a UAV approaching (A) and docking (B) at a docking and charging station.

[0039] Figure 5 The docking and charging station installed on the light pole is shown.

[0040] Figure 6 This shows the shielding in the mast structure used to park UAVs.

[0041] Figure 7 The alignment of the UAV with the docking station is shown using multiple infrared serial transceivers.

[0042] Figure 8 This shows a portion of the communication protocol with data commands and response messages from the UAV to the docking and charging station.

[0043] Figure 9 A portion of the communication protocol is shown, which includes data commands and response messages sent from docking and charging stations to UAVs or DCEs.

[0044] Figure 10 An example data string showing the data load transmitted between the UAV and the docking and charging stations is shown. Detailed Implementation

[0045] One or more objects of the present invention are particularly addressed by the features defined in the independent claims. The dependent claims relate to preferred embodiments of the invention. Further additional and / or alternative aspects will be discussed below.

[0046] Therefore, at least one of the preferred objectives of the present invention is achieved by a system for providing docking, charging, and / or data communication with a UAV (unmanned aerial vehicle). The system includes i) at least one docking and charging station, which further includes: a) a housing, b) a power supply unit, and c) a communication module, and ii) one or more UAVs. The housing of the at least one docking and charging station also includes a docking and charging unit, preferably disposed below the housing, for controllably receiving, charging, and releasing one or more UAVs. Furthermore, the one or more UAVs include a docking and connection unit for connecting to the docking and charging unit, said UAV docking and connection unit being disposed on the top surface of the one or more UAVs.

[0047] In this context, the terms "overhead power line," "phase line," "power transmission line," and "conductor" refer to a wire conductor intended to transmit power at high or low voltage levels as an overhead power line. The operating voltage range of overhead power transmission lines can range from low-voltage lines below 1000 volts to ultra-high-voltage overhead lines with voltage levels above 800 kilovolts.

[0048] In this context, the terms "operation platform" and "remote data platform" refer to a remote centralized software and data platform, or operation and management system, for receiving data from docking electronic devices (such as drones and drone docking and charging stations) that are clamped to the conductors of overhead power lines.

[0049] In this context, the terms “docking and charging station,” “drone docking and charging station (DDC),” and “device” refer to an apparatus having power and communication equipment, wherein the apparatus is arranged for drones to fly and dock beneath the hull of the device.

[0050] In this context, the terms “docking and connection unit” and “docking and connection equipment (DCE)” refer to connection devices that can be mounted on or designed as part of a drone, wherein a portion of the connection device can be erected and connected to a mating structure for drone docking and charging stations.

[0051] All the embodiments listed below relate to the apparatus, system, and method of the present invention.

[0052] In an embodiment of the invention, the system further includes a remote data platform for receiving data acquired by the drone and sending it to at least one docking and charging station.

[0053] In embodiments of the present invention, the docking and charging station further includes a power storage device and a power output terminal for connecting to the drone.

[0054] In an embodiment of the present invention, the power storage device is a supercapacitor energy storage device for helping to quickly charge a drone.

[0055] In embodiments of the present invention, the data communication module communicates wirelessly or via a wired connection with one or more drones.

[0056] In embodiments of the present invention, wireless communication includes one or more of the following: mobile networks, satellite networks, Wi-Fi, Bluetooth or narrowband IoT, light guiding devices, sound guiding devices or visual devices (e.g., tags or QR code identification tags), 3GPP-based cellular networks (e.g., GSM, UMTS, LTE, LTE-M, EC-GSM-IoT and 5G-NR), wireless local area networks including IEEE 802.11, wireless personal area networks including IEEE 802.15 (e.g., Bluetooth, ZigBee, Z-Wave, LoRa), RFID, optical communication including visual illumination and lasers, sound communication, and visual communication (e.g., tags and QR codes).

[0057] In embodiments of the present invention, the external device is selected from, but is not limited to, the following devices: camera, sensor, drone, computer, mobile phone, Internet of Things (IoT) object, aircraft, satellite, broadband mobile network cell, Global Positioning System (GPS) and other data transceiver devices.

[0058] In an embodiment of the invention, the docking and charging station includes a docking and charging section for controllably securing, storing, charging, and releasing a drone from the docking and charging station.

[0059] In embodiments of the present invention, the docking and charging station further includes means for collecting, storing, processing, and transmitting data received from the drone to a remote data platform, as well as means for transmitting data from the remote data platform to the drone.

[0060] In embodiments of the present invention, the docking and charging station and / or remote data platform further includes a data processing device for processing data received from the drone.

[0061] In embodiments of the present invention, data processing includes performing operations on data to transform or classify information, including but not limited to averaging data sequences over a specified time period, frequency analysis transformation, calculation of conductor states including slapping, gaps, tension, temperature, and current, conductor vibration analysis including line slapping and galloping, identification of line icing conditions and ice loads, detection of fire events on and around power lines (including sparks, flames, and wildfires), detection of vegetation and wildlife contact, detection of power grid fault events and their locations, and image and video processing. Data processing also refers to any transformation or classification of information unrelated to power lines and power grids.

[0062] In embodiments of the present invention, data processing includes image analysis of image data for single images, multiple images, and / or HD video data provided by the UAV.

[0063] In embodiments of the present invention, the system includes one or more drones for acquiring data on power lines and mast structures in and / or around the power grid.

[0064] In embodiments of the invention, image data is fed through machine learning (ML) and artificial intelligence (AI) processes to provide real-time reporting, predictions, and future optimizations, and to improve the accuracy of data-related events.

[0065] In embodiments of the invention, data processing is used to locate the position of objects or events occurring on or near power lines, such as, but not limited to, line fault events, fires, and line icing.

[0066] In an embodiment of the invention, the power output terminal in the housing of the docking and charging station forms a docking socket for releasably securing the drone to the housing of the docking and charging station.

[0067] In embodiments of the invention, the docking and charging portion is adapted to be releasably attached to the housing of the device, and wherein the docking and charging portion is designed to be mounted on the underside or topside of the housing of the device and to form the docking portion of the drone to be docked and charged.

[0068] In an embodiment of the present invention, the docking and charging section further includes a power socket connected to the power output terminal.

[0069] In an embodiment of the present invention, the device further includes a power output terminal for supplying power to or charging the drone.

[0070] In embodiments of the present invention, the device further includes a power storage device.

[0071] In an embodiment of the present invention, the power storage device is a supercapacitor energy storage device.

[0072] In embodiments of the present invention, the power output terminal is also a docking socket for releasably securing an external device to the housing during data transmission and / or charging.

[0073] In embodiments of the invention, charging is facilitated by attaching separate docking and charging stations to the housing of the device before or after installation on the overhead power line. This means that the docking port and associated components can be arranged in an additional section for secure attachment to a power collection station that can be attached to the overhead power line. However, the docking port can also be an integral part of the workstation.

[0074] In embodiments of the invention, the docking and charging station includes means for controllably attaching, storing, charging, and releasing external devices (e.g., particularly UAVs) from the device.

[0075] In embodiments of the present invention, the data transceiver unit includes electronic equipment for sending and receiving communications / data using standard network protocols, such as, but not limited to, 3GPP-based cellular networks (e.g., GSM, UMTS, LTE, NB-IoT, LTE-M, EC-GSM-IoT, and 5G-NR), wireless local area networks including IEEE 802.11, wireless personal area networks including IEEE 802.15 (e.g., Bluetooth, ZigBee, Z-Wave, LoRa), Ethernet including IEEE 802.3, or other wired serial protocols (e.g., RS232, RS485, I2C, SPI, Modbus).

[0076] In embodiments of the present invention, the device (data transceiver unit) further includes means for collecting data obtained from the drone and sending it to a remote data platform, for storing, processing and analyzing the data from the drone.

[0077] In embodiments of the present invention, the apparatus further includes means for processing data from an external device (e.g., a UAV) and sending the results back to the external device.

[0078] In embodiments of the present invention, the docking and charging station further includes means for sending data and / or processed data from the device to a remote IT platform, and for receiving data to be relayed to the drone from the remote IT platform.

[0079] In an embodiment of the invention, all energy-requiring components of the device are powered solely by the power harvesting unit.

[0080] In embodiments of the present invention, the power harvesting unit further includes i) a power harvesting section, ii) a control and monitoring section, and iii) a power output section.

[0081] In an embodiment of the present invention, the power harvesting section includes i) at least one current transformer unit, ii) a DC / DC regulation module, and iii) a charging control section.

[0082] In embodiments of the invention, the power harvesting section includes one or more current transformer units, wherein each current transformer unit includes: i) a core configured to be located around a primary line; ii) a secondary winding arranged around each of at least one core, wherein each secondary winding has a first end and a second end; iii) a rectifier configured to convert alternating current to direct current, wherein the rectifier includes two AC connections for alternating current and two DC connections for direct current, wherein the first end and the second end of the secondary winding are connected to the AC connections of the rectifier; and iv) a current shunt arranged and configured to completely short-circuit the ends of the secondary winding, wherein a common load is connected to the DC connection of the current transformer unit, and wherein the DC connection of the rectifier of the current transformer unit is connected in parallel to a common DC power supply output.

[0083] In embodiments of the invention, the power harvesting section includes multiple current transformer units. In such embodiments, rectifiers connected to the load are connected in parallel, and for each current shunt, a shunt controller unit controls the state of the respective shunt unit. Furthermore, each shunt controller unit includes a voltage level state input and is configured to control the state of the respective shunt unit based on the voltage level state input, wherein each voltage level state input is based on the voltage across the load, and wherein each shunt controller unit may include a clock input, wherein each controller unit is configured to change the state of its respective shunt unit only based on the clock input. Additionally, in such embodiments, the system further includes a zero-crossing detection element for detecting the zero-crossing state of the sensed current and a system control unit, wherein the system control unit is configured to generate a voltage level state input for each shunt controller unit based on the voltage across the load.

[0084] In embodiments of the present invention, each rectifier includes a plurality of metal-oxide-semiconductor field-effect transistors (MOSFETs), for example, at least four MOSFETs.

[0085] In embodiments of the present invention, each current shunt includes a plurality of MOSFETs, for example at least two MOSFETs.

[0086] In embodiments of the present invention, the power output of each of one or more current transformer units can be independently connected to a common power output.

[0087] In embodiments of the present invention, the current transformer unit is independently switched on or off based on the power required for the public power output.

[0088] In embodiments of the invention, the device further includes a connector and a clamping mechanism for external devices (e.g., drones).

[0089] In embodiments of the invention, the device further includes a heater to keep the components of the unit and sensor within their optimal recommended operating temperature range.

[0090] In embodiments of the invention, the device further includes a cooling mechanism and air ventilation to keep the components of the unit and sensor within their optimal operating temperature range, such as cooling fans for the central processing unit (CPU) and DC / DC power module.

[0091] In embodiments of the present invention, the device further includes an antenna for wireless communication, mobile networks, satellite networks, Wi-Fi, Bluetooth, and Global Positioning System (GPS).

[0092] In embodiments of the present invention, the control and monitoring section further includes i) at least one main controller, ii) a power management controller, and iii) a measurement and data acquisition module.

[0093] In embodiments of the present invention, the output section further includes a power output for one or more sensing or measuring devices and a wireless communication module.

[0094] In embodiments of the present invention, the operating platform is a software and data platform.

[0095] In embodiments of the invention, the drone docking and charging station includes telecommunications equipment, such as a mobile router (or other available radio access network) using an LTE connection, to connect to the outside world for the operation and maintenance of the DDC station and for transmitting data from the drone to the control center.

[0096] In embodiments of the present invention, the drone docking and charging station includes Wi-Fi wireless communication equipment capable of Ethernet communication with external devices (such as DCE equipment and drones) and other devices in the surrounding environment.

[0097] In embodiments of the present invention, the drone docking and charging station includes wireless communication equipment based on the IEEE 802.15 standard (e.g., Bluetooth, ZigBee, Z-wave, LoRa), which enables wireless communication with external devices (e.g., DCE devices and drones) and other devices in the surrounding environment.

[0098] In embodiments of the present invention, the drone docking and charging station includes LoRa wireless communication equipment, which is capable of wireless communication with external devices (such as DCE, drones) and other devices in the surrounding environment.

[0099] In an embodiment of the invention, the drone docking and charging station includes a serial infrared transceiver that enables wireless (infrared) communication between the DDC station and the drone or its DCE, and is used to guide the DCE and the drone in the final stage of docking and connecting to the DDC station.

[0100] In an embodiment of the invention, the drone docking and charging station includes a LiDAR transceiver for accurately measuring the distance between the DDC station and the DCE, and for guiding the DCE during the final stage of docking and connecting to the DDC station.

[0101] In an embodiment of the invention, the drone docking and charging station includes a high-resolution camera that reads the QR code on the back of the DCE and is used to guide the DCE during the final stage of docking and connecting to the DDC station.

[0102] In embodiments of the present invention, the drone docking and charging station includes an RTK base station for improving the accuracy of GNSS-based drone positioning devices (such as GPS or other types) used as RTK detectors.

[0103] In an embodiment of the present invention, the drone docking equipment includes a Wi-Fi wireless communication device that is capable of Ethernet communication with the DDC station and the drone.

[0104] In embodiments of the present invention, the drone docking equipment includes a wireless communication device based on the IEEE 802.15 standard (e.g., Bluetooth, ZigBee, Z-wave, LoRa), which is capable of wireless communication with external devices (e.g., DCE equipment and drones) and other devices in the surrounding environment.

[0105] In embodiments of the present invention, the drone docking equipment includes a LoRa wireless communication device, which is capable of wireless communication with external devices (such as DCE equipment and drones) and other devices in the surrounding environment.

[0106] In an embodiment of the invention, the UAV docking equipment includes a serial infrared transceiver that enables wireless (infrared) communication between the DDC station and the DCE, and is used to guide the DCE and the UAV to the final stage of docking and connecting to the DDC station.

[0107] In embodiments of the present invention, the UAV docking equipment includes wired serial communication device protocols (e.g., but not limited to RS232, RS485, I...). 2 (C and SPI) are used for communication between the DCE and the flight control unit of the attached UAV.

[0108] In an embodiment of the present invention, the drone docking equipment includes an ambient light detector.

[0109] In embodiments of the invention, at least one docking and charging device and one or more UAVs further include multiple infrared serial transceivers for high-precision two-way air navigation and a UAV docking funnel for final approach to the UAV docking unit.

[0110] In embodiments of the invention, multiple infrared serial transceivers communicate using a unique bidirectional communication protocol that communicates the exact location of the UAV docking unit beneath the docking and charging device. Therefore, in an exemplary embodiment, the infrared serial transceiver A of the UAV docking unit must be perfectly matched with the infrared serial transceiver A of the docking and charging device (DDC) to ensure proper alignment and positioning of the UAV. This also applies to infrared serial transceivers B, C, and D, each having a corresponding transceiver on the DDC. Figure 7 As shown.

[0111] In embodiments of the present invention, the infrared serial transceiver communication data includes a unique identifier for each of a plurality of infrared serial transceivers (e.g., two or three or preferably at least four), such as one in or near each corner of the bottom of the docking and charging device, and one on each corner of the top of the drone docking unit or corresponding to the top of the drone itself.

[0112] In embodiments of the present invention, the positioning data includes not only the transmission data from the serial infrared transceiver, but also the high-precision measurement data from the LiDAR transceiver in the docking and charging device, thereby allowing the distance between the docking and charging device and the UAV docking unit to be measured with centimeter accuracy before docking.

[0113] In an embodiment of the invention, when ambient electrostatic discharge and other high-frequency interference can interfere with the normal operation of other wireless communication devices that are sensitive to electrostatics and electromagnetic interference, the serial infrared transceiver takes over all data communication between the docking and charging device and the UAV docking unit.

[0114] It should be noted that the aforementioned aspects and novel use of the paired infrared transceivers for precise alignment of UAVs for docking and landing can also be applied in other configurations. Thus, in one embodiment, the docking and charging station may have an upward-facing docking port and an upward-facing infrared transceiver for a UAV with a suitable docking mechanism to land and dock from above, and a downward-facing infrared transceiver communicating with the station's transceiver, so the UAV will have to properly mate with the transceiver before it is precisely aligned for landing (essentially as described above), except that the UAV lands from above onto the upward-facing docking port.

[0115] The invention will be more fully understood from the following detailed description and accompanying drawings, which are given by way of example only and are not intended to limit the invention, and wherein:

[0116] Figure 1 The main components of the system of the present invention are outlined, providing a device for charging and / or data communication with a drone. The figure shows a drone docking and charging station (DDC) 1 clamped to a phase wire 10 of an overhead power line. The drone docking and charging station 1 includes a housing 2 and a docking and charging unit 3 beneath the housing. Figure 1 In the illustrated embodiment, the docking and charging unit 3 is arranged within the bottom surface of the housing 2, wherein the docking and charging unit 3 is divided into a guiding portion 4 and a fixing portion 5, for controlled docking, fixing, storage / parking, and release of the drone from the docking and charging device. The figure also shows a drone 6 having a docking and connection unit (DCE) 7 attached to the drone, wherein the docking and connection unit 7 includes a docking probe 8 and a connection portion 9, the docking probe 8 and the connection portion 9 having a mating structure to engage with the fixing portion 5 of the docking and charging unit 3. The docking and connection unit 7 is attached to the drone via a tether 11, such that the docking and connection unit 7 is located on the top surface of the drone for docking below the drone docking and charging station 1 according to the present invention.

[0117] Figure 2 The arrangement of communication equipment on the UAV docking and charging station 1 of this invention is shown. Figure 2In A, four infrared serial transceivers 12 are indicated around the docking and charging unit 3 on the bottom surface of the housing 2 of the docking and charging station 1. These transceivers communicate with compatible or cooperating infrared serial transceivers on the UAV (not shown) or its associated DCE to achieve high-precision aerial navigation during the final docking distance from the UAV to the UAV docking unit 3 of the docking and charging station 1. Furthermore, the docking and charging station 1 also includes a LiDAR transceiver 13 indicated in the bottom surface of the docking and charging station housing 2 to provide long-range and local measurements for high-precision aerial navigation during the final travel distance of the UAV to the docking and charging station 1. Additionally, a high-resolution camera 14 is shown on the bottom surface of the docking and charging station 1 for reading the QR code (not shown) on the top surface of the UAV to achieve high-precision aerial navigation during the final travel and docking distance of the UAV to the docking and charging unit 3 of the DCE.

[0118] exist Figure 2 In section B, an RTK base station 15 is shown on the top surface of the docking and charging station housing 2, used to improve the docking accuracy of GNSS-based UAVs, including RTK detector equipment. Additionally, a mobile communication antenna 16 and additional antennas 17 for communication standards, such as, but not limited to, Wi-Fi, Bluetooth, and Zigbee, are shown on the top surface of the docking and charging station housing 2.

[0119] Figure 3 A three-dimensional top view of a flying drone is shown, with the docking probe 8 in an upright docking position (A) and a horizontally moving position (B). The drone 6 in this configuration has a docking and connection unit 7 attached to the top surface of the drone housing. The figure shows a flying drone with the upright docking probe 8. Four infrared serial transceivers 12 are indicated near the corners of the top surface of the docking and connection unit 7 for communication with compatible or cooperating infrared serial transceivers in the docking and charging station 1 (not shown) to enable high-precision aerial navigation within the final docking distance between the drone and the drone docking unit 3 of the docking and charging station 1. A QR code 40 is shown on the top surface of the docking and connection unit 7 for identification by a high-resolution camera on the bottom surface of the docking and charging station housing 2 (not shown) to enable high-precision aerial navigation within the final travel and docking distance of the drone to the docking and charging unit 3.

[0120] Figure 4 This shows UAV 6 approaching UAV docking station 1 ( Figure 4 A), wherein the docking probe 8 is in a vertical docking position, and the hemispherical connecting part 9 is located at the end of the docking probe. Figure 4 In section B, the drone 6 is safely seated in the drone docking station 1, where the mating clamping part 5 of the drone docking unit 3 holds the hemispherical connecting part 9 at the end of the docking probe 8.

[0121] Figure 5 An embodiment of the invention is shown, wherein a drone docking station 1 is clamped to a light pole 19, and a drone 6 approaches the docking station 1 from below to dock with the docking station from below.

[0122] exist Figure 6 An embodiment is shown in which the drone 6 is parked in a shelter 20, which is fixed in the mast structure 21 of the power grid. The shelter helps to protect the drone during long parking periods or in extreme weather conditions.

[0123] Figure 7 One embodiment is shown in the four panels, in which multiple infrared serial transceivers are arranged in four pairs for alignment with a drone for docking.

[0124] Panel A: The UAV is approaching the docking and charging station. The serial infrared transceiver on the UAV (or the associated docking and charging anchor unit attached to the UAV (DCE)) begins transmitting air navigation signals to locate the cooperating serial infrared transceiver on the docking and charging station (DDC).

[0125] Panel B: A data communication signal from the DCE serial infrared transceiver 22a was detected at the serial infrared transceiver 12c on the DDC station. This is an incorrect position, therefore the UAV continues air navigation prior to docking to correct its position below the DDC station. Because the DDC station has detected the DCE serial infrared transceiver signal, it activates the LiDAR transceiver 23 and begins measuring the distance between the DDC station and the DCE at millimeter resolution.

[0126] Panel C: The UAV (or associated DCE) on the drone continues its aerial navigation prior to docking to reach the correct location below the DDC station.

[0127] Panel D: All four serial infrared transceivers on the UAV (or DCE) are now aligned and communicating with the mating transceivers on the DDC station, thus ensuring the UAV is correctly aligned and positioned directly below the center of the DDC station. Therefore, with the aid of LiDAR transceiver 23, the UAV can navigate upwards to the docking funnel (guide funnel) and enter the docking port of the DDC station.

[0128] Example 1 - Serial Infrared Communication Protocol for Unmanned Aerial Vehicles

[0129] In the example, the DCE equipment has four serial infrared transceivers under its top cover, one at each corner. These transceivers communicate with the same transceivers at the four corners of the bottom of the DDC station, allowing the DCE equipment and its connected drone to be precisely guided to the final meter before docking with the DDC station. The transceivers maintain a narrow field of view to ensure they are within line of sight of their counterparts on either side, ensuring the DCE equipment's docking probe is directly below the center of the DDC station, thus finding its way into the docking funnel and docking port. Each transceiver has its own identification code to guide the drone, indicating the correct azimuth heading, the precise location and altitude below the DDC station's docking funnel, and the final few meters to the charging station. This ensures the docking probe is directly secured in the docking funnel below the DDC station.

[0130] The docking probe, made of conductive material and located on top of the DCE equipment, serves two functions: i) securely docking and attaching the drone to the DDC station, and ii) connecting the charging current from the DDC station to the drone's battery charging port via the DCE equipment. The drone reports the required voltage levels (3.7V-7.4V-11.1V-14.8V-18.5V-22.2V, etc.) and charging rate curves to the DDC station directly or via the DCE equipment, aided by wired serial communication, to ensure correct voltage and current levels during the charging process.

[0131] Figures 8 to 10 The working principle of the serial communication protocol shown is as follows:

[0132] The serial infrared transceiver connects to the microcontroller in the communication equipment (DDC and DCE) via a standard UART interface. The maximum transmission distance between two serial infrared transceivers is 8 meters. The bit rate ranges from 9.6 kbit / s to 115.2 kbit / s. Figure 8 This paper outlines the communication protocol from drone to charging station, which consists of a limited set of data commands and responses sent from the drone or DCE equipment to the DDC station. Figure 9 The protocol used for communication from a charging station to a drone illustrates a limited set of data commands and response messages sent from the DDC station to the DCE or the drone.

[0133] The serial infrared transceiver's air-guided functionality and data communication are based on a proprietary communication protocol designed by the inventors. Below are some examples among the many examples of data requests and command strings used in this application. These examples are not limiting and improvements can be made in different embodiments of the invention, if applicable. Figure 8The communication protocol used for communication from drone to charging station is outlined, showing a limited set of data commands and response messages sent from the drone or DCE to the DDC station. Figure 9 A communication protocol for communication from a charging station to a drone is shown, illustrating a limited set of data commands and response messages sent from the DDC station to the DCE or the drone. Figure 10 Examples of serial infrared transceiver strings are shown in air navigation mode and service request mode. Examples are indicated as data strings showing the data payload transmitted between the DCE (drone) and DDC station during docking (in air navigation mode) and during charging (in service request mode).

[0134] As used herein (including in the claims), unless the context otherwise indicates, the singular form of inclusion herein shall be understood to include the plural form as well, and vice versa. Therefore, it should be noted that unless the context expressly specifies otherwise, the singular forms “an,” “a,” and “the” as used herein include the plural form.

[0135] Throughout the specification and claims, the terms “comprising,” “including,” “having,” and “containing,” and variations thereof, shall be understood to mean “including but not limited to,” and are not intended to exclude other components.

[0136] The invention also covers precise terms, features, values, and ranges, etc., if such terms, features, values, and ranges are used in conjunction with terms such as about, probably, generally, substantially, substantially, at least, etc. (i.e., "about 3" should also include exactly 3 or "substantially constant" should also include exactly constant).

[0137] It should be understood that the term "at least one" means "one or more," and therefore includes two embodiments having one or more components. Furthermore, dependent claims referencing an independent claim describing a feature as "at least one" have the same meaning, regardless of whether the feature is referred to as "the" or "at least one."

[0138] The use of exemplary language, such as “for example,” “e.g.,” “for instance,” etc., is merely for the purpose of better illustrating the invention and does not imply any limitation on the scope of the invention unless required to be so. Unless the context clearly indicates otherwise, any steps described in the specification may be performed in any order or simultaneously.

[0139] All features and / or steps disclosed in the specification can be combined in any combination, except for combinations in which at least some of these features and / or steps are mutually exclusive. In particular, preferred features of the invention apply to all aspects of the invention and can be used in any combination.

Claims

1. A docking and charging station for unmanned aerial vehicles (UAVs), comprising: A housing configured to clamp onto the conductor of an overhead power line. A power harvesting unit for harvesting electricity from an electromagnetic field surrounding the conductor. A power supply unit that receives power from the power collection unit. Communication module, and A docking port, located below the housing, is provided for receiving and docking a docking and charging unit extending upward from the unmanned aerial vehicle (UAV). The docking port and the docking and charging unit provide an electrical connection for charging the docked UAV. The power collection unit includes multiple current transformer units, each current transformer unit having its own short-circuit shunt, rectifier circuit and smoothing capacitor, and is connected in parallel to a common power supply output, wherein the secondary winding of each current transformer is configured to short-circuit the shunt when not needed, and wherein the DC power output of each rectifier of the current transformer unit is connected in parallel.

2. The docking and charging station according to claim 1, which is powered solely by the power collection unit.

3. The docking and charging station according to claim 1, comprising a charging unit for fast charging the unmanned aerial vehicle (UAV), which is powered by the power harvesting unit.

4. The docking and charging station according to any one of claims 1 to 3 further includes a power storage device powered by the power collection unit.

5. The docking and charging station according to claim 4, wherein, The power storage device includes a supercapacitor energy storage device for rapidly charging the unmanned aerial vehicle (UAV).

6. The docking and charging station according to claim 1, wherein, The docking port includes a guidance and securing section for controllably docking, securing, storing / parking, and releasing the unmanned aerial vehicle (UAV).

7. The docking and charging station according to claim 6, wherein, The guiding and securing portion includes a conical or funnel-shaped structure located on the bottom surface of the housing for receiving the docking and charging unit of the unmanned aerial vehicle (UAV).

8. The docking and charging station according to claim 6, wherein, The guiding and securing portion includes a clamping or gripping mechanism for securing the docking and charging unit of the unmanned aerial vehicle (UAV) to the docking and charging station.

9. The docking and charging station according to claim 1, wherein, The docking port is adapted to be releasably attached to the housing, and wherein the docking port is configured to be secured to the housing and provides a docking socket for releasably securing the unmanned aerial vehicle (UAV) to the housing.

10. The docking and charging station according to claim 1, comprising one or more of the following: - Infrared serial transceiver, - LiDAR sensor, - Real-time dynamic RTK base stations, and - High-resolution camera, Used to navigate the unmanned aerial vehicle (UAV) to the docking and charging station.

11. A system for providing docking, charging, and data communication with an unmanned aerial vehicle (UAV), the system comprising: - At least one docking and charging station according to any one of claims 1 to 10, - One or more unmanned aerial vehicles (UAVs), and Each of the one or more said unmanned aerial vehicles (UAVs) includes a docking and charging unit configured to cooperate with a docking port of the docking and charging station, and the docking and charging unit is disposed on the top of each said unmanned aerial vehicle (UAV).

12. The system according to claim 11, wherein, At least one of the docking and charging stations and one or more of the unmanned aerial vehicles (UAVs) include a plurality of infrared serial transceivers for high-precision two-way air navigation to and from the docking and charging station and the UAVs, wherein the plurality of infrared serial transceivers communicate using a two-way communication protocol to determine the exact position of the UAVs relative to the docking and charging unit.

13. The system according to claim 11, wherein, The docking and charging unit on the unmanned aerial vehicle (UAV) includes a docking probe and a connector or anchor, the docking probe and connector or anchor having a mating structure with the docking port on the docking and charging station.

14. The system according to claim 13, wherein, The docking and charging unit is arranged inside the shell of the unmanned aerial vehicle (UAV), wherein the docking probe and connector or anchor extend upward from the shell of the UAV.

15. The system according to claim 13, wherein, The docking and charging unit is detachably attached to the exterior of the unmanned aerial vehicle (UAV), and the docking and charging unit includes electrical connections for charging and data transmission.

16. The system according to claim 13, wherein, The docking probe is configured to be stationary or in flight mode during the flight of the unmanned aerial vehicle (UAV), as well as in a vertical docking mode for docking, parking, and release.

17. The system according to claim 16, wherein, The docking probe includes a rod configured to be in a horizontal position substantially aligned with the top surface in a stationary or flight mode, and to be erected to a substantially upright position in the docking mode.

18. The system according to any one of claims 12 to 17, wherein, At least one of the docking and charging stations also includes a LiDAR transceiver for distance and position measurement, for high-precision aerial navigation of the unmanned aerial vehicle (UAV) at the final distance to the docking port.

19. The system according to claim 12, wherein, The at least one docking and charging station also includes a high-resolution camera for reading QR codes on one or more of the UAVs or the docking and charging unit for high-precision aerial navigation of the UAVs to the final distance to the docking port.

20. The system according to claim 12, wherein, At least one of the docking and charging stations also includes a real-time dynamic RTK base station for improving flight navigation and docking accuracy, and the unmanned aerial vehicle (UAV) is based on the Global Navigation Satellite System (GNSS) and also includes a real-time dynamic RTK rover device.

21. The system according to claim 12, wherein, At least one of the docking and charging stations also includes a data processing device for processing data received from the UAV.

22. The system according to claim 21, wherein, The data processing is used to locate the position of an object located on or near the power line, or to locate the position of an event occurring on or near the power line.

23. The system according to claim 12, wherein, The communication module includes a transceiver device for communicating with one or more of the unmanned aerial vehicles (UAVs).

24. The system according to claim 12, wherein, The docking and charging station communicates wirelessly or via a wired connection with one or more of the said unmanned aerial vehicles (UAVs).

25. The system according to claim 24, wherein, The wireless communication includes one or more of the following: mobile network, satellite network, Wi-Fi, Bluetooth or narrowband Internet of Things (IoT), light guiding device, sound guiding device or visual device, 3GPP-based cellular network, wireless local area network including IEEE 802.11, wireless personal area network including IEEE 802.15, radio frequency identification (RFID), optical communication including visual illumination and laser, sound communication, and visual communication.

26. The system according to claim 12, wherein, The system also includes a remote data platform for receiving data acquired by one or more of the unmanned aerial vehicles (UAVs) and for sending data to one or more of the unmanned aerial vehicles (UAVs).

27. The system according to claim 26, wherein, The docking and charging station also includes means for collecting, storing, processing, and transmitting data received from one or more of the unmanned aerial vehicles (UAVs) to the remote data platform, as well as means for transmitting data from the remote data platform to one or more of the unmanned aerial vehicles (UAVs).

28. The system according to claim 12, wherein, The system also includes one or more wireless network mesh devices for transmitting data from one or more of the docking and charging stations and / or relaying data to locations providing mobile coverage or other telecommunications devices for communicating with remote platforms.

29. The system according to claim 28, wherein, The one or more wireless network mesh devices include power and communication modules.

30. The system according to claim 29, wherein, The power source is a power collection section used to generate electricity through the magnetic induction of current transmitted through the phase line.

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