Unmanned aerial vehicle receiving system and method of landing unmanned aerial vehicle

Abstract

The present application relates to a drone receiving system (100) comprising a receiving device (200) for receiving a drone (300), the receiving device (200) being designed to be arranged on a structure (400) formed almost vertically, and a drone (300), the drone (300) comprising a holding mechanism (310), wherein the holding mechanism (310) is designed to arrange the drone (300) on the receiving device (200). The present application also relates to a method for landing (100) a drone (300) using a drone receiving system (100) according to one of the preceding embodiments, the method having the following steps: placing the holding mechanism (310) of the drone (300) on a target surface (230) while the drone is in a horizontal flight state; converting a locking unit (210) from an unlocked position to a locked position; and pivoting the drone (300) from the horizontal flight state to a vertical position on the structure (400) formed almost vertically.

Description

Technical Field

[0001] This application relates to a drone receiving system, which includes a receiving device for receiving a drone. Furthermore, this application also relates to a method for landing a drone. Background Technology

[0002] Patent application US 2019 / 233107 A1 relates to a vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV), and more particularly to a VTOL flight platform having interchangeable and detachable hulls. The UAV includes a left main wing and a right main wing, a left forewing and a right forewing, a main body disposed between the left and right main wings, a left linear support connecting the left main wing and the left forewing, and a right linear support connecting the right main wing and the right forewing. The left linear support includes a first lift propeller, a second lift propeller, a third lift propeller, and a left vertical stabilizer; the right linear support includes a fourth lift propeller, a fifth lift propeller, a sixth lift propeller, and a right vertical stabilizer. The UAV includes at least one propeller, a cargo bay, and a passenger cabin, the cargo bay and passenger cabin being interchangeable and detachably connected to the flight platform.

[0003] The drone uses different types of landing gear for takeoff and landing. For example, the patent application discloses foldable outriggers that can be retracted into the left and right linear supports during flight.

[0004] The known drawback of existing technologies is that the takeoff and landing of such aerial drones requires dedicated security infrastructure areas. These infrastructure areas are typically located far from buildings or on the rooftops of buildings. Therefore, at least the retrieval and loading of cargo transported by such aerial drones becomes more difficult. This is particularly disadvantageous when transporting time-sensitive emergency supplies or emergency medical supplies, as the cargo must be transported to a secure takeoff area before being loaded onto the aerial drone at the takeoff location, and must be retrieved from a secure landing area after landing at the destination. Summary of the Invention

[0005] The purpose of this application is to provide a drone receiving system belonging to the aforementioned technical field, which at least partially overcomes the deficiencies of the prior art. Specifically, the purpose of this application is to provide a drone receiving system capable of efficiently loading and unloading cargo from aerial drones.

[0006] The solution to the above-mentioned objective in this application is defined by the features of claim 1. This application includes a drone receiving system comprising a receiving device for receiving a drone, wherein the receiving device is configured to be arranged on a structure of a generally vertical configuration. Furthermore, the drone receiving system includes a drone, the drone including a holding mechanism, wherein the holding mechanism is configured to position the drone on the receiving device.

[0007] The resulting technical effects include, for example, that drones can be directly deployed on basic vertical structures. For instance, drones can land directly at facade openings, such as loading docks or windows. Therefore, drones can be directly accessed and placed on the vertical structure. This particularly benefits by eliminating the need for secure infrastructure areas for the positioning or landing of such drones. These secure infrastructure areas are typically located away from buildings or on the roof of buildings, thus allowing for direct access to goods transported by such drones, for example, through loading docks or corresponding windows on the vertical facade. This significantly saves time, especially when transporting time-sensitive or urgent medical supplies.

[0008] In other words, drones can land on vertical structures to deliver time-sensitive emergency supplies directly to loading docks of buildings (such as hospitals), allowing for very quick and simple pickup. The loading process also offers advantages when drones are deployed at loading docks.

[0009] A substantially vertical structure in the sense of this application can be, for example, a building facade. "Substantially vertical" means a facade with a roof slope of, for example, a maximum of 30° or 45°, or possibly a maximum of 60°. The roof slope should be understood as the angle formed by the roof relative to the horizontal plane.

[0010] In this application, "drone deployed on a vertical structure" means that the drone lands directly on and is deployed on the vertical structure from its flight state. Correspondingly, the drone can be directly deactivated from this deployment state and transition to flight mode. In other words, the drone receiving system of this application can both land on and take off from the vertical structure.

[0011] According to an advantageous embodiment, the receiving device includes a target area for positioning the holding mechanism, wherein the target area is configured to be nearly parallel and aligned with the vertical structure. The resulting technical effect is, for example, that the presence of the target area clearly defines the location of the drone's holding mechanism within the receiving device, ensuring that the drone's holding mechanism is positioned correctly. In other words, the drone must approach the receiving device with sufficient precision to land, allowing the holding mechanism to directly contact the target area, thereby positioning the drone on the receiving device.

[0012] According to an advantageous embodiment, the receiving device includes a locking unit for locking the holding mechanism. The resulting technical effect is, for example, that the drone is fixed at a predetermined position within the target area. Once locking is complete, sufficient and safe direct contact with the drone is possible. This particularly brings the technical effect that goods transported by the drone can be directly accessed through loading / unloading ports or corresponding windows on the vertical facade.

[0013] According to a preferred embodiment, the locking unit is configured to switch between an unlocked position and a locked position. The resulting technical effect is, for example, the ability to switch in a controlled manner between a safe loading / unloading mode and a take-off / landing mode.

[0014] According to a further preferred embodiment, the locking unit includes a first clamping element and a second clamping element, wherein the first clamping element and the second clamping element are configured to be movable relative to each other. The resulting technical effect is, for example, that the locking unit is designed in a very simple manner. Therefore, the locking unit is less prone to failure, thus its function is highly reliable.

[0015] According to a particularly preferred embodiment, the transition between the unlocked and locked positions of the first and second clamping elements can be performed within a locking plane configured parallel to the target area. The resulting technical effects include: locking the retaining mechanism can be performed in a particularly simple manner. The retaining mechanism is pressed against the target area, thereby ensuring precise alignment of the retaining mechanism along its longitudinal axis. Because the first and second clamping elements can move within the locking plane and therefore can be transferred laterally along the longitudinal axis of the retaining mechanism for locking, locking and unlocking the retaining mechanism is particularly convenient. The risk of the locking unit jamming or becoming stuck is low.

[0016] Alternatively, the transition between the unlocked and locked positions of the first and second clamping elements can be achieved through rotational movement between them. This rotational movement can, for example, occur within a locking plane configured parallel to the target region. Alternatively, it can be configured orthogonal to the target region.

[0017] To prevent the clamping elements from jamming with the holding mechanism and to ensure precise positioning of the UAV on the receiving device, the first clamping element includes a first clamping profile, and the second clamping element includes a second clamping profile, wherein the clamping profiles include an angle α between them. For example, the angle α is less than 5°. According to a further particular embodiment, the angle α is greater than 5° and less than 10°. According to other embodiments, the angle α is greater than 10°.

[0018] The tilt angle α is defined by the angle formed by the longitudinal axes of the first clamping profile and the second clamping profile.

[0019] According to a further preferred embodiment, the receiving device is configured to pivot about a horizontal axis Q. In this case, the receiving device is attached to a vertical structure. Therefore, pivoting about the horizontal axis Q should be understood as pivoting relative to the vertical structure itself. For example, the target area is configured to pivot relative to the receiving device about a hinge including a rotation axis, wherein the rotation axis coincides with the horizontal axis Q. The resulting technical effects are, for example: first, the drone's holding mechanism can act on the target area and lock it with a locking unit while in flight; second, by pivoting the target area about the horizontal axis Q, the drone can be aligned almost parallel to the vertical structure. In this almost parallel state with the vertical structure, the drone can be directly positioned at facade openings, such as loading docks or windows. Thus, when the drone lands and is positioned on the vertical structure, there is direct access for picking up and placing the drone.

[0020] According to a further advantageous embodiment, the drone's holding mechanism includes a hinged element. Unlike the aforementioned embodiments, the target area does not need to be configured to pivot relative to the receiving device about a horizontal axis Q, thus enabling a mechanically simpler solution. Therefore, similar to the aforementioned embodiments, the following technical effects are achieved: First, the drone's holding mechanism can act on the target area and be locked by a locking unit while in flight; second, by pivoting the hinged element of the holding mechanism, the drone can be aligned almost parallel to the vertical structure. In this almost parallel state with the vertical structure, the drone can be directly positioned at an opening in the facade, such as a loading dock or window. Therefore, in this embodiment, when the drone lands and is positioned on the vertical structure, there is direct access for picking up and placing the drone.

[0021] According to a particularly preferred embodiment, the drone's holding mechanism includes a spherical element. Preferably, the spherical element is arranged at the end of the holding mechanism away from the drone, so that when the drone approaches the target area, the spherical element directly contacts the target area. When the locking unit locks, the first clamping element and the second clamping element switch from the unlocked position to the locked position, thereby the clamping elements encircle the spherical element. Thus, similar to the aforementioned embodiment, the following technical effects are achieved: First, the drone's holding mechanism can act on the target area and be locked by the locking unit while in flight; second, by pivoting around the spherical element of the holding mechanism, the drone can be almost parallel to the vertical structure. In the state of being almost parallel to the vertical structure, the drone can be directly positioned at the facade opening, such as a loading port or window. Therefore, in this embodiment, when the drone lands and is placed on the vertical structure, there is also the possibility of directly picking up and placing the drone.

[0022] The spherical element has an important dual function. The first function is to provide a locking body that engages with the locking unit or with the first and second clamping elements when transitioning from the unlocked position to the locked position. The second function is to provide a hinge that allows the drone to pivot nearly parallel to the vertical structure. Therefore, this embodiment is particularly simple to manufacture and can operate with virtually no interference.

[0023] According to a particularly preferred embodiment, the transverse axis Q extends through the geometric center of the spherical element. The resulting technical effect is, for example, that the receiving device can pivot independently of the UAV's position.

[0024] To improve the locking effect of the locking unit on the spherical element when it transitions from the unlocked position to the locked position, the retaining mechanism includes a tapered section arranged adjacent to the spherical element. Preferably, the length of the tapered section in the longitudinal extension direction of the retaining mechanism corresponds to at least twice the diameter of the spherical element. The resulting technical effect is, for example, that the pivoting of the retaining mechanism about the spherical element is not affected by the locking clamping element of the locking unit.

[0025] According to a further particularly preferred embodiment, the locking unit is configured in the locking position such that the first clamping profile and the second clamping profile are embedded in the tapered segment of the retaining mechanism and fix the spherical element.

[0026] According to a further embodiment, the retaining element includes a contact area configured to exchange data and / or current with the target area. Preferably, both the target area and the contact area of ​​the retaining element are made of a conductive material. For example, the contact area is part of the surface of a spherical element, thereby establishing direct contact between the retaining mechanism and the target area. The resulting technical effect is, for example, that reliable communication between the UAV and the target area becomes possible. Furthermore, signals can be transmitted via direct data exchange between the UAV and the target area, which activate the locking unit and trigger the clamping element to switch from an unlocked position to a locked position.

[0027] According to a particularly advantageous embodiment, the drone includes a spring-damping system configured to cushion the impact of the retaining mechanism on the target area. The resulting technical effect is, for example, that the drone does not bounce back from the target area after impact, and the impact is buffered. This prevents damage and enables a reliable landing process.

[0028] According to a further aspect of this application, the above-mentioned objective is achieved by the features of claim 13. According to this aspect, this application includes a drone landing method employing a drone receiving system according to any of the foregoing embodiments. The method includes the steps of: while the drone is in horizontal flight, applying the drone's holding mechanism to a target area; switching the locking unit from an unlocked position to a locked position; and pivoting the drone from a horizontal flight state to a vertical position on a nearly vertically configured structure.

[0029] Alternatively, this application may also be defined as a method of arranging a drone on a substantially vertical structure using a drone receiving system according to any of the foregoing embodiments. The method includes the following steps: when the drone is in horizontal flight, applying the drone's holding mechanism to a target area; switching the locking unit from an unlocked position to a locked position; and pivoting the drone from horizontal flight to a vertical position on a nearly vertically configured structure.

[0030] The method according to this application achieves technical effects equivalent to those achieved in independent claim 1. Specifically, for example, it achieves the following technical effects: the drone can land directly on or be positioned on a vertical structure. For example, the drone can be directly positioned at an opening in the facade, such as a loading dock or window. This allows for direct contact with the drone when it lands and is positioned on the vertical structure. This brings particularly the following technical effect: it eliminates the need for a secure infrastructure area for the positioning or landing of such drones. These secure infrastructure areas are typically located away from the building or on the flat roof of the building, thus allowing direct access to the cargo transported by the drone through the loading dock or corresponding window on the vertical facade. This significantly saves time, especially in the case of transporting time-sensitive emergency supplies or emergency medical supplies.

[0031] In other words, by landing on vertical structures, drones can deliver time-sensitive emergency supplies directly to the loading docks of buildings (such as hospitals), allowing for very quick and simple pickup. The loading process also offers advantages when drones are deployed at loading docks.

[0032] Furthermore, the method according to this application has the following particular advantages: it is carried out in a particularly simple and efficient manner. On the one hand, it can be achieved in a very short time. On the other hand, since the drone is fixed in a locked state, there is no risk of accident or injury, thus ensuring high safety for the user. Such risks could be caused, for example, by weather conditions such as wind or by control malfunctions of the drone itself.

[0033] According to an advantageous embodiment, when the locking unit transitions from the unlocked position to the locked position, the first and second clamping profiles engage with the tapered segment of the retaining mechanism, thereby securing the spherical element. The resulting technical effects include, for example, that locking the retaining mechanism is particularly simple and less susceptible to interference. The clamping profiles can be more easily engaged with the tapered segment, thus reliably securing the retaining mechanism. Furthermore, it offers the advantage that the spherical element of the retaining mechanism simultaneously predetermines the rotation center on the vertical structure during the drone's pivoting. The engagement of the locking unit with the tapered segment also simplifies the drone's rotation, as the clamping profiles simultaneously act as supports for the spherical element.

[0034] According to an advantageous implementation, when the drone pivots from a horizontal flight position to a vertical position, it rotates around a spherical element. The resulting technical effect is, for example, that goods transported by the drone can be directly loaded and unloaded through loading / unloading ports or corresponding windows on the vertical facade. This significantly saves time, especially in the case of transporting time-sensitive or urgent medical supplies.

[0035] Further advantageous embodiments and feature combinations of this application are derived from the following detailed description and all claims. Attached Figure Description

[0036] The aforementioned exemplary features can be combined with each other within the scope of this application, which is technically reasonable and applicable. Other features, advantages, and implementation methods of this application are described in the following exemplary embodiments and with reference to the accompanying drawings.

[0037] The accompanying drawings, used to illustrate exemplary embodiments, are shown below.

[0038] Figure 1A According to an embodiment of this application, a drone is described in relation to an impact on a target area. Figure 1B According to Figure 1A The drone, in which the locking unit switches from the unlocked position to the locked position; Figure 1C According to Figure 1A The drone, in which the locking unit is in the locked position; Figure 1D According to Figure 1A The drone, in which the drone is pivoted to the vertical face; Figure 2 According to an embodiment of this application, a drone in flight state; Figure 3A According to other embodiments of this application, a drone is positioned where it is locked by a locking unit and pivoted to a vertical plane; Figure 3B According to Figure 3A Another view of the drone; Figure 4A The locking unit is in the unlocked position; Figure 4B The locking unit is in the locked position; and Figure 5 According to other embodiments of this application, this is a view from the loading / unloading port of a drone that is locked by a locking unit and pivoted to a vertical plane. Detailed Implementation

[0039] Figure 1 illustrates a drone 300 impacting a target area 230 according to an embodiment of this application. The target area 230 is part of a receiving device 200 for receiving the drone 300 onto a vertical structure 400. The vertical structure 400 may be, for example, a building facade, or a sloping roof or other sloping surface. The receiving device 200 includes the target area 230, which is configured to be nearly parallel to the vertical structure 400. The orientation of the target area 230 is crucial in that it can directly control the drone 300 in flight. In other words, the target area 230 should be nearly orthogonally aligned with a flight plane that is nearly horizontally aligned with the drone 300. In addition to the target area 230, the receiving device 200 also includes a locking unit 210 for locking a holding mechanism 310 for locking the drone 300.

[0040] The locking unit 210 is used to lock and fix the drone 300 to the receiving device 200, and then to the vertical structure 400. The locking unit 210 is configured to switch between an unlocked position and a locked position, wherein the locking unit 210 includes a first clamping element 212 and a second clamping element 214. Figure 1A A first target region 230A and a second target region 230B are shown, wherein target regions 230A and 230B are respectively associated with a first clamping element 212 and a second clamping element 214. In both the first target region 230A and the second target region 230B, the first clamping element 212 and the second clamping element 214 are movable relative to each other to switch the locking unit 210 between an unlocked position and a locked position. During the switching between the unlocked and locked positions, the first clamping element 212 and the second clamping element 214 translate on a locking plane arranged parallel to the target region 230.

[0041] The drone 300 includes a rod-shaped holding mechanism 310 configured to engage with the locking unit 210 at its free end facing away from the drone 300. In other words, as the drone 300 flies toward the receiving device 200, the free end of the holding mechanism 310 impacts the target area 230.

[0042] Figure 1A A drone 300 is shown, having a first holding mechanism 310A and a second holding mechanism 310B. The first holding mechanism 310A is used to cooperate with a first target area 230A, and the second holding mechanism 310B is used to cooperate with a second target area 230B. A first clamping element 212 and a second clamping element 214 of the first target area 230A are used to lock the first holding mechanism 310A. A first clamping element 212 and a second clamping element 214 of the second target area 230B are used to lock the second holding mechanism 310B.

[0043] Figure 1B Showing according to Figure 1A The drone 300 includes a locking unit 210 that transitions from an unlocked position to a locked position. The first holding mechanism 310A of the drone 300 remains in contact with the first target area 230A, and the second holding mechanism 310B is in contact with the second target area 230B. A first clamping element 212 and a second clamping element 214 of the first target area 230A are used to lock the first holding mechanism 310A and transition from the unlocked position to the locked position. Similarly, the first clamping element 212 and the second clamping element 214 of the second target area 230B are used to lock the second holding mechanism 310B and also transition from the unlocked position to the locked position.

[0044] Figure 1C Showing according to Figure 1A The drone 300 has a locking unit 210 in a locked position. The first holding mechanism 310A of the drone 300 is locked by a first clamping element 212 and a second clamping element 214 in a first target area 230A. The second holding mechanism 310B of the drone 300 is locked by a first clamping element 212 and a second clamping element 214 in a second target area 230B. Overall, the drone 300 is securely locked to the receiving device 200 and, consequently, to the vertical structure 400.

[0045] Figure 1D Showing according to Figure 1A The drone 300 is pivoted to a vertical facade 400. In this position, the drone 300 is in a loading / unloading position. For example, the drone can be positioned directly at an opening in the facade, such as a window, allowing for direct access to the drone 300. This offers advantages such as the ability to directly access and place goods transported by the drone 300 through a corresponding window (not shown) on the vertical facade 400.

[0046] Figure 2The illustration shows a drone 300 in flight according to an embodiment of this application. The drone 300 includes a holding mechanism 310 in the form of a first holding mechanism 310A and a second holding mechanism 310B. Both holding mechanisms 310A and 310B are rod-shaped and configured to engage with the locking unit 210 at their free ends away from the drone 300. Furthermore, the free ends away from the drone 300 include a hinge element 312. After the drone 300 is locked onto the receiving device 200, the hinge element 312 allows the drone 300 to pivot to a vertical plane 400 via the hinge element 312, thereby reaching a loading / unloading position.

[0047] Figure 3A This illustration shows a drone 300, according to another embodiment of this application, locked by locking unit 210 and pivoted to vertical facade 400. The first holding mechanism 310A of the drone 300 is locked by a first clamping element 212 and a second clamping element 214 of target area 230. The second holding mechanism 310B of the drone 300 is locked by other first clamping elements 212 and other second clamping elements 214 of target area 230. The drone 300 is securely locked to receiving device 200 and, consequently, to vertical structure 400.

[0048] The holding mechanism 310 of the drone 300 includes a spherical element 314, which is located at the free end of the holding mechanisms 310A and 310B away from the drone 300. A tapered segment 316 is located on the holding mechanisms 310A and 310B adjacent to the spherical element 314.

[0049] When the drone 300 approaches, the spherical element 314 comes into direct contact with the target area 230, and the locking unit 210 locks the drone by switching the first clamping element 212 and the second clamping element 214 from the unlocked position to the locked position. The clamping elements 212 and 214 encircle the spherical element 314. Subsequently, the drone 300 can pivot around the spherical element 314 to achieve near-parallel alignment with the vertical structure 400. In this near-parallel state with the vertical structure 400, the drone 300 can be directly positioned at facade openings, such as loading docks or windows.

[0050] The spherical element 314 has an important dual function. The first function is to provide a locking mechanism that engages with the locking unit 210 or with the first clamping element 212 and the second clamping element 214 when transitioning from the unlocked position to the locked position. The second function is to provide a hinge that allows the drone 300 to pivot to be nearly parallel to the vertical structure 400.

[0051] The tapered segment 316 of the retaining mechanism 310 plays an important role in the pivoting of the drone 300. The locking unit 210 or the first clamping profile 213 and the second clamping profile 215 are embedded in the tapered segment 316 of the retaining mechanism 310 in such a way that, on the one hand, the spherical element 314 is secured, and on the other hand, the drone 300 can pivot onto the vertical structure.

[0052] Figure 3B Showing according to Figure 3A Another view of the drone.

[0053] Figure 4A The locking unit 210 is shown in the unlocked position. The locking unit 210 is configured to switch between the unlocked and locked positions, and includes a first clamping element 212 and a second clamping element 214. Figure 4A A first target region 230A and a second target region 230B are shown, wherein each target region 230A and 230B is associated with a first clamping element 212 and a second clamping element 214. In both the first target region 230A and the second target region 230B, the first clamping element 212 and the second clamping element 214 are movable relative to each other to switch the locking unit 210 between an unlocked position and a locked position. During the transition between the unlocked and locked positions, the first clamping element 212 and the second clamping element 214 translate toward or away from each other on a locking plane arranged parallel to the target region 230. The first clamping element 212 includes a first clamping profile 213, and the second clamping element 214 includes a second clamping profile 215. The first clamping profile 213 and the second clamping profile 215 directly engage with the spherical element 314 of the holding mechanism 310 and are embedded in the tapered segment 316.

[0054] Figure 4B Showing according to Figure 4B The locking unit 210 is in the locked position. The first clamping element 212 includes a first clamping profile 213, and the second clamping element 214 includes a second clamping profile 215. The clamping profiles 213 and 215 include an angle α between them to prevent jamming between the clamping elements 212 and 214 and the holding mechanism 310, and to ensure accurate positioning of the drone 300 on the receiving device 200. During the transition of the clamping elements 212 and 214 from the unlocked position to the locked position, the holding mechanism 310 of the drone 300 slides down along the inclined clamping profiles 213 and 215.

[0055] Figure 5 The image shows a drone 300, viewed from the loading port 410, in a position where it is locked by the locking unit 210 and pivoted to the vertical face 400, according to other embodiments of this application.

Claims

1. A drone receiving system (100), comprising: A receiving device (200) for receiving a drone (300), wherein the receiving device (200) is configured to be arranged on a structure (400) of a generally vertical configuration; and The drone (300) includes a holding mechanism (310) configured to position the drone (300) on the receiving device (200).

2. The UAV receiving system (100) according to claim 1, wherein, The receiving device (200) includes a target area (230) for positioning the holding mechanism (310), wherein the target area (230) is configured to be nearly parallel to the vertical structure (400).

3. The UAV receiving system (100) according to claim 1 or 2, wherein, The receiving device (200) includes a locking unit (210) for locking the holding mechanism (310).

4. The UAV receiving system (100) according to claim 3, wherein, The locking unit (210) is configured to switch between an unlocked position and a locked position.

5. The UAV receiving system (100) according to claim 3 or 4, wherein, The locking unit (210) includes a first clamping element (212) and a second clamping element (214), wherein the first clamping element (212) and the second clamping element (214) are configured to move relative to each other.

6. The UAV receiving system (100) according to claim 5, wherein, The transition between the first clamping element (212) and the second clamping element (214) in the unlocked position and the locked position can be performed in a locking plane, wherein the locking plane is configured to be parallel to the target area (230).

7. The UAV receiving system (100) according to claim 5 or 6, wherein, The first clamping element (212) includes a first clamping profile (213), and the second clamping element (214) includes a second clamping profile (215), wherein the clamping profiles (214, 215) include an angle (α) between them.

8. The unmanned aerial vehicle (UAV) receiving system (100) according to any one of the preceding claims, wherein, The receiving device (200) is configured to pivot about a horizontal axis (Q).

9. The UAV receiving system (100) according to any one of claims 1-7, wherein, The holding mechanism (310) of the drone (300) includes a hinge element (312).

10. The UAV receiving system (100) according to any one of claims 1-7, wherein, The holding mechanism (310) of the drone (300) includes a spherical element (314).

11. The UAV receiving system (100) according to claim 10, wherein, The retaining mechanism (310) includes a tapered section (316) arranged adjacent to the spherical element (314).

12. The UAV receiving system (100) according to claim 11, wherein, The locking unit (210) is configured in the locked position such that the first clamping profile (213) and the second clamping profile (215) are embedded in the tapered segment (316) of the retaining mechanism (310) and the spherical element (314) is fixed.

13. A method for landing a drone (300) using a drone receiving system (100) according to any one of claims 1-12, comprising the following steps: - When the UAV (300) is in a horizontal flight state, the holding mechanism (310) of the UAV is applied to the target area (230); - Change the locking unit (210) from the unlocked position to the locked position; as well as - Pivot the drone (300) from a horizontal flight state to a vertical position on a nearly vertically configured structure (400).

14. The method according to claim 13, wherein, When the locking unit (210) is switched from the unlocked position to the locked position, the first clamping profile (213) and the second clamping profile (215) are engaged with the tapered segment (316) of the retaining mechanism (310), thereby fixing the spherical element (314).

15. The method according to claim 13 or 14, wherein, When the UAV (300) pivots from a horizontal flight state to a vertical position, the UAV (300) rotates around the spherical element (314).

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