A docking system for drones and their nests

Abstract

This invention discloses a docking system for a drone and its nest, relating to the field of unmanned aerial vehicle (UAV) technology. The system includes: a drone comprising a body with a first docking mechanism on its top and wings spaced apart on one side of the first docking mechanism, capable of driving the body to vertically ascend and descend and adjust its attitude; a nest comprising a second docking mechanism suspended outside the main structure of the nest; a detection mechanism mounted on the body; and a locking mechanism mounted on the first and / or second docking mechanisms. This system addresses the problems of existing vertical take-off and landing (VTOL) UAVs, such as being severely restricted by terrain during landing, having high standby power consumption, and being susceptible to ground environmental interference. It enables the UAV to dock upside down using the suspended second docking mechanism and the first docking mechanism on the top of the body, allowing it to complete its docking without needing to find flat ground.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a docking system for UAVs and their nests. Background Technology

[0002] Traditional vertical takeoff and landing (VTOL) drones typically rely on flat ground for landing and loitering. In actual operations, ideal landing sites are often limited, and complex ground environments (such as water accumulation, weeds, or rocks) can easily damage the high-speed rotating rotors and fuselage structure. Furthermore, when drones are loitering on the ground, they are not only susceptible to interference from the ground effect during takeoff and landing, but their field of view is also often limited by terrain or obstructions, making it difficult to respond to potential physical safety threats on the ground.

[0003] To extend the operational time and improve the survivability of drones, most existing improvement solutions focus on increasing the mechanical complexity of the landing gear to adapt to uneven terrain, or on building dedicated take-off and landing platforms and protective hangars. However, complex landing gear significantly increases the weight of the fuselage and disrupts the aerodynamic layout, reducing flight efficiency; while dedicated take-off and landing platforms have poor deployment flexibility, and drones exposed to the ground still face significant protection challenges in adverse weather conditions. Summary of the Invention

[0004] The purpose of this invention is to provide a docking system for unmanned aerial vehicles (UAVs) and their nests, in order to solve the problems of existing vertical take-off and landing UAVs being greatly restricted by terrain when landing on the ground, having high standby power consumption, and being easily affected by ground environment interference. This system enables UAVs to achieve inverted docking and docking by using a second docking mechanism suspended in the air and a first docking mechanism on the top of the aircraft, so that they can complete the landing without finding a flat ground.

[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides a docking system for unmanned aerial vehicles (UAVs) and their nests, comprising: The drone includes a body, a first docking mechanism on the top of the body, and wings on the body. The wings are spaced apart on one side of the first docking mechanism and are at least capable of driving the body to vertically ascend and descend and adjust its attitude. The nest includes a second docking mechanism, which is suspended outside the main structure of the nest and is used to dock with the first docking mechanism. A detection mechanism, disposed on the body, is used for alignment of the first docking mechanism and the second docking mechanism during docking; and, A locking mechanism is provided on the first docking mechanism and / or the second docking mechanism, and is used to lock the first docking mechanism and the second docking mechanism together after they are docked.

[0006] Optionally, the locking mechanism includes a claw and a slot, the claw being movably mounted on the first docking mechanism and the slot being mounted on the second docking mechanism; the first docking mechanism is provided with a first driving mechanism for driving the claw to move, the first driving mechanism being used to drive the claw to engage in the slot after the first docking mechanism and the second docking mechanism are docked, thereby completing the locking between the first docking mechanism and the second docking mechanism.

[0007] Optionally, the first docking mechanism is provided with a trigger, which is electrically connected to the first driving mechanism. When the first docking mechanism and the second docking mechanism are docked, the trigger is triggered, and the first driving mechanism drives the claw to engage in the slot.

[0008] Optionally, the first docking mechanism includes a slot, and the second docking mechanism includes a pin, the pin being inserted into the slot; the claw is disposed on the slot and is located near the opening of the slot; the slot is disposed on the pin and is located near the main structure of the housing.

[0009] Optionally, the pin has prongs, and the pin has wires inside that are electrically connected to the two prongs, and the wires are connected to a power supply; the slot has conductive contacts that are electrically connected to the battery assembly on the drone; when the pin is inserted into the slot, the prongs contact the conductive contacts to charge the battery assembly.

[0010] Optionally, a cover plate is movably provided at the slot opening of the slot, the cover plate is used to cover the slot, and a second drive mechanism is provided on the body, the second drive mechanism is used to drive the cover plate to open or close.

[0011] Optionally, the wing includes a fixed wing, a rotor arm, and a rotor. The fixed wings are symmetrically mounted on both sides of the head of the aircraft body. The rotating arm is rotatably mounted on the fixed wings. The rotation plane of the rotating arm is parallel to the extension direction of the aircraft body. The fixed wings are provided with a third drive mechanism to drive the rotating arm to rotate. The rotor is rotatably mounted at the end of the rotating arm. The rotating arm is provided with a fourth drive mechanism to drive the rotor to rotate. When the aircraft is vertically ascending or descending, the rotation axis of the rotor extends in the vertical direction; when the aircraft is cruising, the rotation axis of the rotor extends in the horizontal direction.

[0012] Optionally, the trailing edge of the fixed wing is provided with an aileron.

[0013] Optionally, lifting rudders are symmetrically installed on both sides of the tail of the aircraft.

[0014] Optionally, the nest includes a column and a canopy. The column is installed on the ground and extends vertically. The canopy is located at the top of the column, and the second docking mechanism is located on the bottom wall of the canopy.

[0015] The present invention achieves the following technical effects compared to the prior art: The drone-nest docking system disclosed in this invention suspends a second docking mechanism beneath the nest's canopy, allowing the drone to dock upside down, approaching the nest from below and completing the docking. This upside-down docking method eliminates the need for the drone to find flat ground for landing; it can utilize overhead facilities such as streetlights, high-voltage power line towers, trees, and building cantilever structures, completely solving the problem of landing in complex terrains such as mountains, water surfaces, and jungles. Simultaneously, the drone's location beneath the nest's canopy provides excellent protection from rain and snow, effectively avoiding ground flooding, mud, animal damage, and human interference, extending the lifespan of electronic components. Zero-energy standby is achieved through physical mounting, eliminating the need for motor output to maintain hovering, greatly expanding the drone's all-weather operational capabilities in complex conditions. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of a drone and its nest docking system in an example disclosed in this invention; Figure 2 This is a schematic diagram of the overall structure of the nest in one example disclosed in this invention; Figure 3 This is a schematic diagram of the structure of a drone during cruise in one example of the present invention; Figure 4 This is a schematic diagram of the structure of a drone taking off and landing vertically in one example of the present invention. Figure 5 This is a schematic diagram of the structure of the first docking mechanism in an example disclosed in this invention; Figure 6 This is a schematic diagram of the structure of the second docking mechanism in an example disclosed in this invention; wherein Figure 6 (1) is a front view of the second docking mechanism. Figure 6 (2) is a side view of the second docking mechanism. Figure 6 (3) A top view of the second docking mechanism; Among them, 1-rotor, 2-rotor arm, 3-fixed wing, 4-cover plate, 5-first docking mechanism, 6-body, 7-elevator rudder, 8-aileron, 9-second docking mechanism, 10-canopy, 11-column, 12-UAV, 13-claw, 14-plug. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The purpose of this invention is to provide a docking system for unmanned aerial vehicles (UAVs) and their nests, in order to solve the problems of existing vertical take-off and landing UAVs being greatly restricted by terrain when landing on the ground, having high standby power consumption, and being easily affected by ground environment interference. This system enables UAVs to achieve inverted docking and docking by using a second docking mechanism suspended in the air and a first docking mechanism on the top of the aircraft, so that they can complete the landing without finding a flat ground.

[0020] The purpose of this invention is to solve the problems of conventional vertical take-off and landing drones, such as limited landing in complex terrain environments, high standby power consumption, difficulty in avoiding ground interference, and low survival rate in severe weather. It provides a tilt-rotor drone and its nest system with inverted roosting function, which enables the drone to use overhead facilities for inverted parking, realizing the integration of storage, protection and automatic charging.

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1 to 6As shown, this invention provides a docking system for a drone and its nest, including a drone, a nest, a detection mechanism, and a locking mechanism. The drone includes a body with a first docking mechanism on its top. The body has wings spaced apart on one side of the first docking mechanism and capable of driving the body vertical takeoff and landing and attitude adjustment. As a preferred example, the drone disclosed in this invention is a tiltrotor aircraft, combining the vertical takeoff and landing capabilities and hovering ability of a multi-rotor with the high-speed cruise characteristics of a fixed-wing drone. The nest includes a second docking mechanism, suspended outside the main structure of the nest, for docking with the first docking mechanism. As a preferred example, the nest includes a pillar and a canopy. The pillar is installed on the ground and extends vertically, the canopy is located at the top of the pillar, and the second docking mechanism is located on the bottom wall of the canopy. The detection mechanism is located on the body and is used to align the first and second docking mechanisms during docking. The locking mechanism is located on the first and / or second docking mechanisms and is used to lock them together after docking. As a preferred example, the locking mechanism is a locking mechanism that activates upon receiving a trigger signal to securely lock the drone under the nest.

[0023] The detection mechanism includes a positioning module and a visual recognition module. The positioning module guides the drone to the vicinity of the nest, while the visual recognition module guides the precise alignment of the first and second docking mechanisms. As a preferred example, the positioning module is an RTK positioning module, the visual recognition module is a camera or infrared sensor, and a visual tag is placed near the second docking mechanism of the nest. After the RTK positioning guides the drone to the vicinity of the nest, the camera recognizes the visual tag, guiding the slot and pin to complete the final insertion.

[0024] The drone-nest docking system disclosed in this invention suspends a second docking mechanism beneath the nest's canopy, allowing the drone to dock upside down, approaching the nest from below and completing the docking. This upside-down docking method eliminates the need for the drone to find flat ground for landing; it can utilize overhead facilities such as streetlights, high-voltage power line towers, trees, and building cantilever structures, completely solving the problem of landing in complex terrains such as mountains, water surfaces, and jungles. Simultaneously, the drone's location beneath the nest's canopy provides excellent protection from rain and snow, effectively avoiding ground flooding, mud, animal damage, and human interference, extending the lifespan of electronic components. Zero-energy standby is achieved through physical mounting, eliminating the need for motor output to maintain hovering, greatly expanding the drone's all-weather operational capabilities in complex conditions.

[0025] Based on the above embodiments, the locking mechanism includes a claw and a slot; the claw is movably mounted on the first docking mechanism, and the slot is mounted on the second docking mechanism. The first docking mechanism is provided with a first drive mechanism that drives the claw to move. This first drive mechanism is used to drive the claw to engage in the slot after the first and second docking mechanisms have docked, thus completing the locking between the two mechanisms. Through this mechanical locking method of the claw and slot, the UAV can be securely suspended below the nest after docking, and will not fall off even in windy weather or under slight disturbance. The mechanical locking is reliable and does not require continuous power to maintain the locked state.

[0026] To ensure that the first drive mechanism can promptly engage the claw in the slot, in one embodiment, the first docking mechanism is equipped with a trigger element, which is electrically connected to the first drive mechanism. When the first and second docking mechanisms dock, the trigger element is activated, and the first drive mechanism drives the claw to engage in the slot. As a preferred example, the trigger element is a touch switch or a proximity sensor. When the touch switch is pressed or the proximity sensor detects a docking completion signal, the first drive mechanism drives the claw to move, and the claw tightly grips the slot. The electrical linkage between the trigger element and the first drive mechanism automates the docking and locking process. The UAV only needs to complete the docking action, and locking is automatically triggered, eliminating the need for manual remote control or ground command intervention, thus improving the system's reliability and ease of operation.

[0027] The first docking mechanism includes a slot, and the second docking mechanism includes a pin, which engages with the slot. A latch is positioned on the slot, near the slot's opening. A slot is positioned on the pin, near the main body of the housing. As a preferred example, the pin has a diameter of 64mm and a length of 210mm, and the locking pin has a diameter of 20mm.

[0028] The pin has prongs, and inside the pin are wires that are electrically connected to the two prongs and to a power supply. The slot has conductive contacts that are electrically connected to the battery assembly on the drone. When the pin is inserted into the slot, the prongs contact the conductive contacts to charge the battery assembly.

[0029] A cover plate is movably installed at the slot opening to cover the slot. A second drive mechanism is provided on the fuselage to drive the cover plate to open or close. As a preferred example, the cover plate is a docking interface cover, which closes in level flight to protect the slot and opens during docking to expose the slot.

[0030] As can be seen, through the insertion and connection of the pin and slot, the drone achieves electrical connection simultaneously with mechanical docking, eliminating the need for additional charging steps. This contact charging method allows the drone to automatically charge on the pod, enabling on-site monitoring and intermittent monitoring capabilities for weeks or even months. The cover protects the slot when the drone is in level flight, preventing dust and rain from entering and maintaining the cleanliness and reliability of the electrical contacts. After locking, the drone shuts down its motors and enters a low-power sleep mode, achieving zero-energy standby.

[0031] Furthermore, the wing includes a fixed wing, a rotor arm, and a rotor; the fixed wing is symmetrically mounted on both sides of the nose of the fuselage, the rotor arm is rotatably mounted on the fixed wing, the plane of rotation of the rotor arm is parallel to the extension direction of the fuselage, the fixed wing is provided with a third drive mechanism for driving the rotor arm to rotate, the rotor arm is rotatably mounted at its end, and the rotor arm is provided with a fourth drive mechanism for driving the rotor to rotate. As a preferred example, the aircraft wingspan (distance between the axes of the two motors) is 690 mm, and the fuselage length is 554 mm.

[0032] During vertical takeoff and landing, the rotor arm rotates upwards, extending the rotor's axis of rotation vertically. The rotor arm drives the rotor to rotate, providing vertical lift with thrust directed downwards. In VTOL mode, the rotor arm rotates inwards and backwards, producing yaw and pitch motions, while roll is generated by the difference in rotational speed between the left and right rotors. During cruise, the rotor arm gradually reverses forward to a horizontal position, extending the rotor's axis of rotation horizontally. At this point, the rotor provides forward thrust, the fixed wings generate lift, and the UAV enters fixed-wing cruise mode.

[0033] Through the tilting mechanism of the rotor arm, the UAV achieves seamless switching between vertical takeoff and landing (VTOL) and fixed-wing cruise flight modes. During the departure and return phases, the UAV adopts VTOL flight mode, which can complete takeoff and landing in confined spaces or without runways. During the mission cruise phase, it switches to fixed-wing mode, utilizing wing lift to achieve efficient long-range flight, significantly extending the range and mission radius.

[0034] Based on the above implementation method, the trailing edge of the fixed wing is equipped with ailerons. The ailerons are used to assist roll control in fixed-wing cruise mode, generating roll torque through differential deflection of the left and right ailerons. As the main roll control surface of the fixed-wing UAV, the ailerons provide precise roll attitude control after the UAV switches to fixed-wing cruise mode. Combined with the roll control generated by the difference in rotational speed between the left and right rotors in vertical take-off and landing mode, the UAV has good lateral maneuverability in both flight modes.

[0035] Based on the above implementation, elevators are symmetrically mounted on both sides of the tail section of the aircraft. The elevators are used to assist pitch and yaw control in fixed-wing cruise mode. The elevators function as both an elevator and a rudder. In fixed-wing cruise mode, symmetrical deflection of the elevators provides pitch torque, and differential deflection provides yaw torque, enabling the UAV to have complete attitude control capabilities during cruise. In vertical takeoff and landing (VTOL) mode, pitch and yaw control are generated by the forward and backward rotation of the rotor arms, complementing the control methods in fixed-wing mode and ensuring good maneuverability and stability throughout the entire flight envelope.

[0036] Furthermore, the drone's nest includes a pillar and a canopy. The pillar is installed on the ground and extends vertically, while the canopy is located at the top of the pillar. A second docking mechanism is located on the bottom wall of the canopy. As a preferred example, the nest is 4m high, the canopy measures 4000mm × 4000mm, the lower surface of the canopy is 3m above the ground, and the diameter of the pillar's base is 1000mm. The second docking mechanism is spaced 3000mm × 3000mm apart on the bottom wall of the canopy. The canopy provides rain and snow protection for the drone, protecting it from severe weather and extending the lifespan of its electronic components. The pillar supports the canopy and docking mechanism to a certain height, keeping the drone away from the ground and avoiding water damage, mud, animal damage, and human interference. Zero-energy standby is achieved through physical mounting, eliminating the need for motor output to maintain hovering, and contact charging is performed using the nest, enabling the drone to perform fixed-point monitoring and intermittent surveillance for weeks or even months.

[0037] To facilitate understanding of the present invention, the workflow of the above-mentioned docking system will be described in detail below, in conjunction with a specific scenario: Takeoff phase: After the battery is fully charged or after receiving a command, the drone activates its system. The motors rotate to generate lift and establish attitude stability. The locking mechanism unlocks and releases, and the drone flies downwards a certain distance, detaching from the pod.

[0038] Level flight transition phase: After the drone reaches a certain altitude and speed, the rotor arms gradually reverse forward to a horizontal position. At this time, the rotor provides forward thrust, the wings generate lift, and the drone enters fixed-wing cruise mode to perform long-range patrol or transport missions.

[0039] Return and Hovering Phase: After completing the mission, the drone flies to the vicinity of the nest. The rotor arms rotate upwards again to a vertical position, the drone decelerates and switches to multi-rotor mode. RTK positioning or visual tags are used to identify the second docking mechanism under the nest canopy.

[0040] Inverted docking phase: The drone adjusts its attitude and slowly approaches the second docking mechanism from below. Using a camera or infrared sensor on the top of the drone, it precisely aligns the center axis of the docking interface cover with the second docking mechanism. The drone climbs vertically upwards, the docking interface cover opens, and the pin of the second docking mechanism inserts into the slot of the first docking mechanism.

[0041] Locking and charging phase: When the touch switch or proximity sensor is triggered, the claws lock tightly in the slot, simultaneously completing the circuit connection between the pins and conductive contacts. After confirming a secure mechanical lock, the drone shuts off its motors, enters a low-power sleep mode, and begins charging.

[0042] The above workflow achieves a fully automated closed-loop operation from takeoff, cruise, return, docking, to charging. The drone can complete the entire mission cycle without human intervention, greatly enhancing its autonomous operation capabilities and practical value. By using an inverted roosting method for storage and charging, the drone can achieve long-term operational readiness and efficient recharging without consuming flight power, significantly improving the all-weather operational capabilities of tiltrotor drones under complex conditions.

[0043] Any adaptive changes made according to actual needs are within the scope of protection of this invention.

[0044] It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0045] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A docking system for unmanned aerial vehicles (UAVs) and their nests, characterized in that, include: The drone includes a body, a first docking mechanism on the top of the body, and wings on the body. The wings are spaced apart on one side of the first docking mechanism and are at least capable of driving the body to vertically ascend and descend and adjust its attitude. The nest includes a second docking mechanism, which is suspended outside the main structure of the nest and is used to dock with the first docking mechanism. A detection mechanism, disposed on the body, is used for alignment of the first docking mechanism and the second docking mechanism during docking; and, A locking mechanism is provided on the first docking mechanism and / or the second docking mechanism, and is used to lock the first docking mechanism and the second docking mechanism together after they are docked.

2. The UAV and drone docking system according to claim 1, characterized in that, The locking mechanism includes a claw and a slot. The claw is movably mounted on the first docking mechanism, and the slot is mounted on the second docking mechanism. The first docking mechanism is provided with a first driving mechanism for driving the claw to move. The first driving mechanism is used to drive the claw to engage in the slot after the first docking mechanism and the second docking mechanism are docked, thereby completing the locking between the first docking mechanism and the second docking mechanism.

3. The drone and nest docking system according to claim 2, characterized in that, The first docking mechanism is equipped with a trigger, which is electrically connected to the first driving mechanism. When the first docking mechanism and the second docking mechanism are docked, the trigger is triggered, and the first driving mechanism drives the claw to engage in the slot.

4. The drone and nest docking system according to claim 2, characterized in that, The first docking mechanism includes a slot, and the second docking mechanism includes a pin, which is engaged with the slot; the claw is disposed on the slot and is located near the opening of the slot; the slot is disposed on the pin and is located near the main structure of the housing.

5. The drone and nest docking system according to claim 4, characterized in that, The pin has pins, and the pin has wires inside that are electrically connected to the two pins and connected to a power supply. The slot has conductive contacts that are electrically connected to the battery assembly on the drone. When the pin is inserted into the slot, the pins contact the conductive contacts to charge the battery assembly.

6. The drone and nest docking system according to claim 4, characterized in that, A cover plate is movably provided at the slot opening of the slot, the cover plate is used to cover the slot, and a second drive mechanism is provided on the body, the second drive mechanism is used to drive the cover plate to open or close.

7. The drone and nest docking system according to claim 1, characterized in that, The wing includes a fixed wing, a rotor arm, and a rotor. The fixed wings are symmetrically mounted on both sides of the head of the aircraft body. The rotating arm is rotatably mounted on the fixed wings. The rotation plane of the rotating arm is parallel to the extension direction of the aircraft body. The fixed wings are provided with a third drive mechanism to drive the rotating arm to rotate. The rotor is rotatably mounted at the end of the rotating arm. The rotating arm is provided with a fourth drive mechanism to drive the rotor to rotate. When the aircraft is vertically ascending or descending, the rotation axis of the rotor extends in the vertical direction; when the aircraft is cruising, the rotation axis of the rotor extends in the horizontal direction.

8. The drone and nest docking system according to claim 7, characterized in that, The fixed wing has an aileron at its trailing edge.

9. The drone and nest docking system according to claim 8, characterized in that, The tail section of the aircraft is symmetrically equipped with elevator rudders on both sides.

10. The UAV and drone docking system according to claim 1, characterized in that, The nest includes a column and a canopy. The column is installed on the ground and extends vertically. The canopy is located at the top of the column. The second docking mechanism is located on the bottom wall of the canopy.

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