Unmanned aerial vehicle recovery device and system

Abstract

The present disclosure relates to a kind of unmanned plane recycling device and system, and relates to unmanned plane technical field.A kind of unmanned plane recycling device, including recycling module and shell, recycling module is used to carry unmanned plane, shell is set in the outer periphery of multiple recycling modules to integrate multiple recycling modules together;Wherein, recycling module has adjusting unit, for adjusting the height of recycling module, to make at least part of recycling module be in different height levels.The present application provides a kind of unmanned plane recycling device and system, reduce the space it occupies, so that it can be in the environment of space limited, realize efficient, high-density unmanned plane cluster recycling.

Description

Technical Field

[0001] This disclosure applies to the field of unmanned aerial vehicles (UAVs), and particularly relates to a UAV recovery device and system. Background Technology

[0002] Currently, drones typically land precisely at pre-designed parking positions within the recovery capsule during recovery. To ensure safety and prevent collisions or interference between drones during simultaneous recovery due to positioning errors or airflow disturbances, a certain safety distance must be maintained between each drone. However, this spaced layout results in a relatively dispersed arrangement of the recovery capsules, requiring more space and hindering high-density drone swarm recovery in space-constrained environments (such as ship decks, mobile platforms, or urban landing sites). Utility Model Content

[0003] The purpose of this application is to provide a drone recovery device and system that reduces the space occupied by the device, enabling efficient and high-density drone swarm recovery in space-constrained environments.

[0004] To address the aforementioned technical problems, this application provides the following technical solutions: The first aspect of this application provides a drone recovery device, comprising: The recovery module is used to carry the drone; A housing is fitted around the periphery of multiple recycling modules to integrate the multiple recycling modules together; At least some of the recycling modules have an adjustment unit for adjusting the height of the recycling modules so that at least some of the recycling modules are at different height levels.

[0005] In some modified embodiments of the first aspect of this application, the recycling module includes: The main body, with its top end used to support the drone, has an adjustment unit located at its bottom end so that at least part of the top end of the main body is at different height levels.

[0006] In some modified embodiments of the first aspect of this application, the adjustment unit is a pad block, which is detachably connected to the bottom of the main body to adjust the installation height of the main body; Alternatively, the adjustment unit can be a drive structure connected to the main body, capable of driving the main body to move vertically to adjust the installation height of the main body.

[0007] In some modified embodiments of the first aspect of this application, a receiving hole is provided at the top of the main body for accommodating at least part of the drone.

[0008] In some modified embodiments of the first aspect of this application, a charging device is provided on the inner wall of the receiving hole for charging the drone.

[0009] In some modified embodiments of the first aspect of this application, a first guide portion is provided on the side wall of the receiving hole to guide the drone into the receiving hole and align its charging components with the charging device to complete the charging connection.

[0010] Some modified embodiments of the first aspect of this application also include: The cover plate is located on the top of the housing and has multiple through holes corresponding to multiple recycling modules.

[0011] Some modified embodiments of the first aspect of this application also include: A robotic arm, positioned on top of the cover, is used to grab the drone and place it on the recovery module.

[0012] In some modified embodiments of the first aspect of this application, when the adjustment unit is a pad, a water leakage hole is provided at the bottom of the main body, and a water inlet hole is provided at the top of the pad. The position of the water inlet hole corresponds to the water leakage hole. A receiving space is provided inside the pad, and water in the main body enters the receiving space through the water leakage hole and the water inlet hole. Alternatively, when the adjustment unit is a drive structure, a drain hole is provided at the bottom of the main body. The drain hole is staggered with the drive structure. A water collection space is provided at the bottom of the shell. A drain outlet is provided at the bottom of the shell. A valve is provided at the drain outlet. Water in the main body enters the water collection space through the drain hole and can be discharged through the drain outlet.

[0013] A second aspect of this application provides a drone recovery system, comprising: The aforementioned drone recovery device; The drone is equipped with a second guide section, which works in conjunction with the first guide section of the recovery module to enable the drone to move vertically.

[0014] Compared to existing technologies, the drone recovery device provided in the first aspect of this application adjusts the height of the recovery modules by setting an adjustment unit in its recovery modules, so that at least some recovery modules are at different height levels, thereby allowing the drone's frame and wing parts to be staggered in the vertical direction; and by integrating multiple recovery modules together through a shell, the space occupied by the drone recovery device is reduced, enabling it to achieve high-density drone swarm recovery in space-constrained environments (such as ship decks, mobile platforms, or urban take-off and landing points). Attached Figure Description

[0015] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this application are illustrated by way of example and not limitation, with the same or corresponding reference numerals denoteing the same or corresponding parts, wherein: Figure 1 A schematic diagram of a drone recovery system is shown. Figure 2 A schematic diagram of a drone recovery device is shown. Figure 3 A schematic diagram of a drone recovery device is shown.

[0016] Explanation of icon numbers: 1. Recycling module; 11. Receiving hole; 12. Adjustment unit; 13. Charging device; 14. First guide part; 15. Main body; 2. Shell; 3. UAV; 31. Charging component; 32. Second guide part; 4. Cover plate; 41. Through hole; 5. Robotic arm. Detailed Implementation

[0017] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0018] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure pertains.

[0019] Currently, drones typically land precisely at pre-designed parking positions within the recovery capsule during recovery. To ensure safety and prevent collisions or interference between drones during simultaneous recovery due to positioning errors or airflow disturbances, a certain safety distance must be maintained between each drone. However, this spaced layout results in a relatively dispersed arrangement of the recovery capsules, requiring more space and hindering high-density drone swarm recovery in space-constrained environments (such as ship decks, mobile platforms, or urban landing sites).

[0020] To address the aforementioned technical problems, this application provides a drone recovery device and system that reduces the space occupied by the device, enabling efficient and high-density drone swarm recovery in space-constrained environments.

[0021] like Figure 1 , Figure 2 and Figure 3 As shown, a drone recovery device includes a recovery module 1 and a housing 2. The recovery module 1 is used to carry a drone 3. The housing 2 is fitted around the periphery of multiple recovery modules 1 to integrate the multiple recovery modules 1 together. At least some of the recovery modules 1 have an adjustment unit 12 for adjusting the height of the recovery module 1 so that at least some of the recovery modules 1 are at different height levels.

[0022] The recovery module 1 is a structured unit capable of independently supporting and securing at least one drone 3. It can be configured with functional components for drone 3 landing guidance, position locking, and altitude adjustment. The recovery module 1 can support one or more drones 3 during the recovery process, guiding and positioning the drones 3 to land precisely at a preset location, and securing or locking the drones 3 to prevent slippage or overturning. The recovery module 1 can change its vertical height position via the adjustment unit 12, thus forming a multi-layered layout with other recovery modules 1. The recovery module 1 can be a single-position module, recovering only one drone 3 at a time; it has a simple structure, high positioning accuracy, and is suitable for high-value drones 3 and precision operation models. The recovery module 1 can also be a multi-position module, with multiple small parking spaces (such as a honeycomb arrangement) within a single module, suitable for micro or nano-drones 3.

[0023] The recovery module 1 can be a mechanical snap-fit ​​structure, automatically locking the landing gear via telescopic pins, grippers, or a flap mechanism, ensuring reliable fixation and strong wind resistance. Alternatively, the recovery module 1 can be an electromagnetic adsorption structure, using an electromagnet to adhere to the metal parts on the bottom of the drone 3, offering contactless and fast response, suitable for lightweight drones 3. The recovery module 1 can also be a vacuum adsorption structure, using a negative pressure suction cup to adhere to the bottom surface of the drone 3, suitable for models with smooth bottoms, and featuring a compact structure. The recovery module 1 can also be a guide groove with self-weight positioning, for example, using a V-shaped or conical guide groove, allowing the drone 3 to slide into position under its own weight, resulting in low cost and eliminating the need for an active actuator. For example, the recovery module 1 may include a support platform and a positioning and fixing mechanism mounted thereon; the positioning and fixing mechanism is selected from at least one of mechanical snap-fit, electromagnetic adsorption device, vacuum suction cup, or guide groove.

[0024] The recovery module 1 can integrate a wireless charging coil, communication antenna, status sensors (such as temperature, humidity, and vibration sensors), and a fault self-diagnosis module. The recovery module 1 can also have a built-in battery compartment and robotic arm 5, supporting automatic battery replacement and enabling rapid redeployment. The adjustment unit 12 of the recovery module 1, in conjunction with sensors and a control system, can automatically optimize the parking altitude based on the drone model 3 or ambient wind speed.

[0025] The adjustment unit 12 refers to a mechanical or mechatronic device installed on or connected to the recovery module 1, used to change the vertical height of the recovery module 1 relative to a reference plane (such as the base of the housing 2 or the ground). It can switch the recovery module 1 between multiple preset height levels; supports static deployment (one-time height adjustment before recovery) or dynamic adjustment (real-time avoidance or optimization during recovery); in some embodiments, the adjustment unit 12 can cooperate with the control system to automatically adjust the height according to the type of UAV 3, recovery sequence, or environmental conditions; in some embodiments, the adjustment unit 12 can have self-locking or stable support capabilities after adjustment to ensure the safe parking of the UAV 3. The adjustment unit 12 can be a discrete hierarchical structure, supporting only a limited number of fixed heights (such as high, medium, and low levels), positioned by limit switches or mechanical stops.

[0026] The adjustment unit 12 can be fully integrated into the recovery module 1, resulting in a clean appearance and saving external space. Alternatively, the adjustment unit 12 can be an externally supported structure, with the adjustment mechanism located below or to the side of the module body 15, such as a column-type lifting frame, facilitating maintenance. The adjustment unit 12 can also be a modular, quick-change structure; for example, it can connect to the recovery module 1 using a standard interface, supporting rapid replacement or upgrades. The adjustment unit 12 can also be a continuously adjustable structure, allowing for arbitrary height settings within a certain range, typically using encoders or displacement sensors for closed-loop control. The adjustment unit 12 can also be a synchronized, linked structure, where the adjustment units 12 of multiple recovery modules 1 are controlled by the same drive source, achieving overall lifting or coordinated group lifting. The adjustment unit 12 can be a manually adjustable structure, manually adjusted via knobs, handles, or tools (suitable for low-frequency use). The adjustment unit 12 can also be semi-automatic, with a button triggering a preset height, and the motor automatically completing the lifting. The adjustment unit 12 can also be fully automatic, linked with a central control system, automatically deciding and executing height adjustments based on parameters such as drone weight and wind speed. For example, the adjustment unit 12 may include a drive mechanism and a transmission mechanism for moving the recovery module 1 vertically; the drive mechanism may be any one of an electric push rod, a hydraulic cylinder, a pneumatic cylinder, a linear motor, or a screw motor; the transmission mechanism may include a lead screw and nut pair, a gear and rack pair, a scissor linkage mechanism, or a slide rail and slider assembly, etc. The adjustment unit 12 may be configured to respond to a control signal to position the recovery module 1 at an altitude level that matches the drone 3 to be recovered.

[0027] like Figure 2 As shown, during use, adjacent recovery modules 1 can be set to different heights and staggered by adjusting unit 12; when parking drones 3, drones 3 are first parked on the lower recovery module 1, and then the remaining drones 3 are parked on the higher recovery module 1, thereby avoiding interference between drones 3.

[0028] The shell 2 refers to the external frame or enclosure surrounding multiple recovery modules 1, used to integrate and encapsulate these modules into a single structural unit. It connects multiple recovery modules 1 (and their adjustment units 12) to form a unified mechanical whole, limiting the horizontal projection range of the recovery modules 1 for a compact layout; it resists external environmental influences such as wind, rain, salt spray, sandstorms, and electromagnetic interference; and it prevents drone rotor injuries, foreign object intrusion, or interference between modules. In some embodiments, the shell 2 may also embed sensors, communication antennas, power interfaces, heat dissipation channels, or guidance markers. The shell 2 can be an open structure, with only a skeleton or fence structure and no enclosed panels, suitable for temporary land deployments and ventilation-priority scenarios. The shell 2 can be a semi-enclosed structure, with partially enclosed side walls (such as grilles or louvers) and an open top or bottom, balancing protection and heat dissipation, suitable for urban take-off and landing sites. The shell 2 can also be a fully enclosed structure, sealed on all six sides, with an IP54 or higher protection rating, suitable for harsh environments such as shipborne, desert, and rainforest environments.

[0029] The housing 2 can be a monolithic box-shaped structure with modules embedded in internal compartments; it can also be a modular assembly structure, assembled from standard panels or units, supporting rapid assembly and disassembly. The housing 2 can also be a telescopic or folding structure, retracting along its height or width and unfolding for use. In some embodiments, the housing 2 can integrate a power distribution unit, a wireless charging backplane, a battery compartment, or a solar panel. In some embodiments, the housing 2 can also be equipped with air ducts, fans, liquid cooling pipes, or a phase change material layer for heat dissipation. The housing 2 can be rectangular or cubic, with neatly arranged modules, high internal space utilization, and easy standardization and stacking. The housing 2 can also be a polygonal prism (such as a hexagon), balancing space efficiency and streamlined design, allowing for tight honeycomb splicing and suitable for cluster deployment. The housing 2 can also be a biomimetic or streamlined structure, such as a teardrop or wing shape, with extremely low wind resistance, suitable for high-speed mobile platforms. The housing 2 can also be a conical or tower-shaped structure, wide at the bottom and narrow at the top, with a stable center of gravity, strong visual guidance, and good anti-tipping properties. For example, on mobile platforms such as ships or vehicles, a low rectangular design with rounded corners can be used to balance stability, space efficiency, and wind resistance.

[0030] Compared to existing technologies, the drone recovery device provided in the first aspect of this application adjusts the height of the recovery module 1 by setting an adjustment unit 12 in its recovery module 1, so that at least some of the recovery modules 1 are at different height levels, thereby allowing the frame and wing parts of the drone 3 to be staggered in the vertical direction; and by integrating multiple recovery modules 1 together through the shell 2, the space occupied by the drone recovery device is reduced, enabling it to achieve high-density drone 3 cluster recovery in space-constrained environments (such as ship decks, mobile platforms or urban take-off and landing points).

[0031] like Figure 2 and Figure 3 As shown, in some modified embodiments of this application, the recovery module 1 includes a main body 15, the top of the main body 15 is used to carry the drone 3, and the adjustment unit 12 is disposed at the bottom of the main body 15 so that at least part of the top of the main body 15 is located at different height levels.

[0032] The main body 15 is the structural core of the recovery module 1, providing mechanical support and functional integration. The drone 3 is directly docked on the upper surface or in the groove at the top of the main body 15, which serves as the functional working surface. The adjustment unit 12 is located below the main body 15, forming a bottom-lifting top-loading structure. By extending and retracting the adjustment unit 12, the bearing surfaces (tops) of different recovery modules 1 are at different heights, achieving vertical spatial layering. With the lifting mechanism below and the drone 3 above, the overall stability is good; the main body 15 can be designed to a uniform specification, with height changes achieved only through the bottom adjustment unit 12, facilitating standardization.

[0033] The main body 15 can be a rigid platform made of aluminum alloy, carbon fiber, or engineering plastic, with anti-slip textures, positioning grooves, or electromagnetic adsorption areas at the top. Adjustment units 12 can be fixed to the bottom of the main body 15 via flanges, bolt assemblies, or quick-connect interfaces to ensure reliable force transmission. Each adjustment unit 12 can be controlled independently or linked in a preset combination (e.g., odd-numbered positions rise, even-numbered positions fall). Limit blocks can be provided at the bottom of the main body 15 or on the inner wall of the housing 2 to prevent over-raising or over-lowering. A hollow channel is provided inside the main body 15 to house power and signal cables, preventing tangling during raising and lowering.

[0034] like Figure 3 As shown, in some modified embodiments of this application, the adjustment unit 12 is a pad block, which is detachably connected to the bottom of the main body 15 to adjust the installation height of the main body 15.

[0035] The adjustment unit 12 is a pad, which is a passive, static mechanical component with no motor or control system, ensuring high reliability. The pad can be mass-produced from metal, engineering plastics, or composite materials; no power supply is required on-site, and it can be replaced by hand or with simple tools. In some embodiments, the pad can be non-permanently connected to the bottom of the main body 15 using bolts, clips, pins, or magnetic attraction. In some embodiments, the overall height of the main body 15 can be changed by replacing pads of different thicknesses or stacking multiple layers of pads. In some embodiments, the top bearing surfaces of multiple recycling modules 1 can be at different height levels, achieving vertical spatial layering.

[0036] The pads can be made of aluminum alloy, which is lightweight and high-strength, suitable for shipboard applications; they can also be made of engineering plastics, which are insulating and corrosion-resistant, suitable for urban environments; and they can also be made of rubber composite pads, which have both height adjustment and vibration damping functions. The pads are equipped with coded markings (such as color, indentations, and labels) to facilitate manual or visual system identification of thickness. A limiting boss can be provided at the bottom of the main body 15 to prevent the pads from sliding laterally.

[0037] The pad can be placed directly on the bottom of the main body 15 to adjust the installation height of the main body 15, or it can be connected to the main body 15 using a connecting structure. For example, the bottom end of the main body 15 is provided with a threaded hole, and the corresponding position of the pad is provided with a through hole to realize a bolt connection; elastic claws can also be provided on the edge of the pad to cooperate with the slot of the base of the main body 15; the pad can also have a built-in permanent magnet, and the bottom end of the main body 15 is made of magnetic material (suitable for lightweight UAVs 3) to realize a magnetic connection.

[0038] In some modified embodiments of this application, the adjustment unit 12 is a driving structure connected to the main body 15, which can drive the main body 15 to move in the vertical direction to adjust the installation height of the main body 15.

[0039] The drive structure refers to an electromechanical actuator connected to the main body 15 of the recovery module 1, capable of actively outputting mechanical motion or force to drive the main body 15 to move along the vertical direction (Z-axis), thereby dynamically adjusting its installation height. Unlike static pads, the drive structure relies on external energy (electricity, hydraulics, pneumatics, etc.) to generate motion; the motion is constrained to linear displacement along the vertical direction (which may include minor guiding degrees of freedom); in some embodiments, the drive structure can achieve precise adjustment of start / stop, speed, and position through control signals (such as from a central dispatch system); in some embodiments, the drive structure can stably support the main body 15 and the payload of the UAV 3 at the target height, and possesses self-locking or braking capabilities.

[0040] The drive structure can be electric, consisting of a motor (stepper / servo / DC) and a transmission mechanism (lead screw, rack and pinion, synchronous belt, etc.). It offers high control precision, fast response, clean operation, and easy integration, making it suitable for intelligent recycling stations, urban logistics, and laboratory environments. The drive structure can also be hydraulic, consisting of a hydraulic pump and hydraulic cylinder. It uses liquid pressure to drive a piston, providing high output force, good rigidity, and impact resistance, making it suitable for shipborne heavy unmanned aerial vehicles (UAVs) and military platforms. Finally, the drive structure can be pneumatic, consisting of an air compressor and cylinder. It uses compressed air for driving, offering simple structure, low cost, and rapid action, but with lower positioning accuracy, requiring an air source, and generating significant noise.

[0041] The drive structure can be fully embedded inside the main body 15 or the housing 2, resulting in a neat appearance; the main body 15 can slide along the external vertical guide rail, with the drive unit located at the bottom or top; each recycling module 1 is independently equipped with a drive structure, allowing for flexible control; the drive structure can be a centralized drive structure, where a single drive source drives multiple modules through a transmission shaft, synchronous belt, etc. (low cost but poor flexibility).

[0042] like Figure 2 and Figure 3 As shown, in some modified embodiments of this application, the top of the main body 15 is provided with a receiving hole 11 for accommodating at least a portion of the drone 3.

[0043] The receiving hole 11 refers to a recessed structure (which can be a through hole or a blind hole) formed on the top surface of the main body 15 of the recovery module 1. Its internal space is configured to receive and at least partially enclose the bottom structure of the UAV 3 (such as landing gear legs, lower fuselage, positioning pins, battery compartment, or dedicated docking structure), thereby preventing the UAV 3 from lateral displacement due to wind disturbance, inertia, or vibration during parking, guiding the UAV 3 to automatically align with the preset parking position at the end of landing, reducing the interference of rotor airflow on adjacent modules, and reducing the risk of overturning. In some embodiments, charging contacts, data interfaces, locking mechanisms, or sensors can be integrated into the hole.

[0044] The receiving hole 11 can be a circular hole with a smooth inner wall and good symmetry, suitable for rotary-wing UAVs 3 (especially quadcopters and hexacopters), with a cylindrical landing gear or a central positioning post at the bottom; the receiving hole 11 can also be a square or rectangular hole, with guide bevels at the four corners, for UAVs 3 with a cross or rectangular landing gear layout; the receiving hole 11 can also be a polygonal hole (such as a hexagon), which has both guiding and anti-rotation functions, suitable for precision operation UAVs 3 that need to prevent the fuselage from rotating; the receiving hole 11 can also be an irregularly shaped matching hole, with the outline perfectly matching the bottom of a specific model, suitable for special models (such as logistics UAVs 3, military customized platforms); the receiving hole 11 can also be a conical guide hole, larger at the top and smaller at the bottom, with a flared inlet to improve tolerance, suitable for scenarios with limited positioning accuracy.

[0045] The receiving hole 11 can be a shallow blind hole with a shallow depth (less than the landing gear height), which does not penetrate the main body 15 and is only used for positioning. It has high structural strength and is easy to process. The receiving hole 11 can also be a deep blind hole with a depth close to or equal to the landing gear height to provide lateral restraint and stronger wind resistance.

[0046] like Figure 3 As shown, in some modified embodiments of this application, a charging device 13 is provided on the inner wall of the receiving hole 11 for charging the drone 3.

[0047] The charging device 13 is embedded in the inner wall of the receiving hole 11 (rather than the surface or bottom of the main body 15), making full use of the lateral contact surface of the drone 3 after it is partially housed; avoiding the need for an additional charging area on the top of the main body 15, maintaining a compact layout; the hole wall provides mechanical restraint for the drone 3 while completing the electrical connection, reducing poor contact; the receiving hole 11 can form a semi-enclosed cavity, protecting the charging interface from wind, rain, and dust erosion. After the drone 3 lands and is embedded in the receiving hole 11, the receiving end on its fuselage or landing gear automatically aligns with the power supply end on the hole wall and establishes an electrical connection; in a vertical multi-layer layout, each recovery position can be charged independently, supporting rapid redeployment of the cluster.

[0048] The charging device 13 can be a wired contact charging structure, with metal contacts (springs, pins, conductive rings) embedded in the hole wall, which are pressed together with the corresponding contacts of the drone 3, resulting in high efficiency, low cost, and mature technology. Alternatively, the charging device 13 can be a wireless inductive charging structure, with a transmitting coil embedded in the hole wall and a receiving coil at the bottom of the drone 3, transmitting energy through electromagnetic induction without physical contact, providing good waterproof and dustproof performance. The charging device 13 can also be a capacitive coupling charging structure, utilizing the electrodes between the hole wall and the drone 3 to form a capacitive path for energy transmission. In some embodiments, contacts or charging modules can be provided in multiple directions to adapt to drones 3 landing in different orientations.

[0049] In some modified embodiments of this application, a first guide portion 14 is provided on the side wall of the receiving hole 11 to guide the drone 3 into the receiving hole 11 and align its charging component 31 with the charging device 13 to complete the charging connection.

[0050] The first guide portion 14 is a guide structure formed on the side wall of the receiving hole 11. Its surface profile is configured to guide and position the landing trajectory of the UAV 3 through contact engagement during the process of the UAV 3 entering the receiving hole 11, so that its charging component 31 is aligned with the charging device 13. This ensures that the charging component 31 (such as contacts, coils, interfaces) on the UAV 3 is precisely aligned with the charging device 13 in the receiving hole 11, achieving a reliable electrical connection. The first guide portion 14 can be a slope, with an outwardly expanding conical slope (flare) on the upper part of the side wall, providing a large tolerance inlet, suitable for most rotary-wing UAVs 3 and situations where contacts or charging modules are provided in multiple directions; the first guide portion 14 can also be a curved surface, using a smoothly transitioned arc or hyperboloid surface to reduce impact and protect the landing gear of the UAV 3, suitable for precision equipment; the first guide portion 14 can also be a rib or guide rail structure, for example, 1 to 3 ribs can be provided along the axial direction to cooperate with the groove of the UAV 3 to achieve anti-rotation and guidance, suitable for models that need to be fixed in orientation. The guide section can be embedded with a permanent magnet or electromagnet to attract the metal parts of the UAV 3 and actively guide them, improving the success rate of capture during high-speed descent. For example, the inlet of the receiving hole 11 can be a conical slope (first-stage coarse guidance), with an elastic silicone ring in the middle (second-stage buffer), and a permanent magnet or electromagnet at the bottom (third-stage fine positioning).

[0051] The charging device 13 can be positioned at a predetermined location within the receiving hole 11. Using a rib or guide rail structure, the groove of the drone 3 is manually aligned with the rib or guide rail structure, ensuring that the charging portion of the drone 3 is oriented in a fixed direction to engage with the charging device 13 at the predetermined location. In some embodiments, the charging component 31 of the drone 3 (such as charging contacts or coils) can be arranged at the axis of symmetry or a fixed radius on the bottom of the drone 3, ensuring engagement at any rotation angle. The charging device 13 (such as charging contacts or coils) can be evenly distributed circumferentially along the wall of the receiving hole 11, or can employ a ring electrode to adapt to any orientation after guidance.

[0052] In some modified embodiments of this application, a cover plate 4 is also included. The cover plate 4 is disposed on the top of the housing 2 and has multiple through holes corresponding to multiple recycling modules 1.

[0053] The cover plate 4 refers to a detachable or movable covering structure installed at the top opening of the housing 2. It is used to partially cover the upper part of the housing 2 to prevent personnel from accidentally touching internal moving parts (such as the retraction module 1 during lifting). It also serves as a carrier for installing devices such as sensors, communication antennas, visual markers, and solar panels. The cover plate 4 can integrate solar panels to power the internal charging device 13 or control system.

[0054] The correspondence between the through hole 41 and the recovery module 1 means that each through hole is aligned with the landing or receiving area of ​​the drone 3 of the recovery module 1 in the horizontal projection; the through hole 41 provides a vertical entry and exit channel for the drone 3, enabling it to pass through the cover plate 4 and land accurately in the receiving hole 11 of the recovery module 1 below; the cover plate 4 still maintains overall coverage, and except for the through hole 41, the rest of the area is closed, taking into account both protection and functionality, thereby achieving partial openness and overall protection: preventing foreign objects, rainwater, and personnel from accidentally entering non-working areas.

[0055] The through-hole 41 can be circular for good symmetry, suitable for rotary-wing UAVs 3, especially quadcopters or hexacopters; the through-hole 41 can also be square or rectangular to match the landing gear layout, and can be equipped with guide angles for customized or fixed-wing VTOL UAVs 3. The through-hole can also be polygonal (such as hexagonal), combining guidance and anti-rotation functions, suitable for high-density arrangement of swarm micro UAVs 3; the through-hole can also be an irregularly shaped matching hole, with an outline completely consistent with the bottom of a specific model, suitable for dedicated mission UAVs 3 (such as logistics box integrated type). The through-hole can be a straight cylindrical structure, simple to open, and low in cost; the through-hole can also be a flared or tapered flared structure, enlarging the entrance and improving landing tolerance. The through-hole can also have a guide ramp, with ramps or ball bearings on the inner wall to assist the UAV 3 in automatic centering; the through-hole can also have a sealing lip or flexible sleeve, with rubber or silicone rings on the hole edge for dust and water protection, while allowing the UAV 3 to pass through. The through-holes can be normally open, always open, and have the simplest structure. Alternatively, they can be independently closable, each equipped with a miniature flip cover, sliding cover, or louver, opening only when the UAV lands (energy-saving, high protection). The through-holes can also have a linked opening and closing structure, with multiple through-holes controlled by the same drive mechanism, opening in groups according to the recovery task.

[0056] In some modified embodiments of this application, a robotic arm 5 is also included, which is disposed on top of the cover plate 4 for grabbing the drone 3 and placing the drone 3 on the recycling module 1.

[0057] The robotic arm 5 is mounted on top of the cover plate 4 (i.e., the uppermost layer of the recycling device), providing a top-down view and coverage of the entire recycling area. It actively grasps drones 3 in the air or hovering and precisely places them into the designated support surface or receiving hole 11 of the recycling module 1, reducing the requirements for the drones 3's autonomous landing capabilities. The robotic arm 5 can be a simple three-degree-of-freedom robotic arm, consisting of a rotating base, a pitch arm, and a telescopic gripper, suitable for fixed platforms and scenarios with concentrated recycling areas. Alternatively, the robotic arm 5 can be a six-degree-of-freedom multi-joint robotic arm, similar to an industrial robot, capable of flexible obstacle avoidance and suitable for high-density, multi-layered recycling bins.

[0058] The end of the robotic arm 5 can be a gripper structure, with mechanical fingers gripping the landing gear or fuselage, suitable for medium to large-sized drones 3 with robust landing gear structures; the end of the robotic arm 5 can also be a suction cup structure, which vacuum-adsorbs smooth surfaces of the fuselage, suitable for logistics or inspection drones 3 with flat surfaces; the end of the robotic arm 5 can also be an electromagnetic adsorption structure, which adsorbs metal parts (such as battery compartments), suitable for drones 3 with preset magnetic adsorption points to return to a preset hovering area above the recovery device (low precision requirement, ±0.5m is sufficient).

[0059] During use, the sensing system (such as a top camera and radar) identifies the position, attitude, and status of the drone 3; the robotic arm 5 plans its path, and the end effector moves to the gripping position to grasp the drone 3 (with a buffering action to absorb kinetic energy), then moves it above the target recovery module 1 and precisely lowers it according to the module height (set by the adjustment unit 12). After confirming that it is in place, the controller initiates charging / locking; the robotic arm 5 resets, ready for the next recovery. The robotic arm 5 can be linked with the through holes of the cover plate 4: only the through hole above the target module is open, while the others are closed for safety.

[0060] In some modified embodiments of this application, the robotic arm 5 is equipped with a camera module for collecting image information of the area where the drone 3 is located, and determining the current position and attitude of the drone 3 based on the image information, so as to assist the robotic arm 5 in accurately grasping the drone 3.

[0061] The camera module is directly mounted on the robotic arm 5 (such as the wrist, near the end effector, or at the joint), and dynamically adjusts the viewing angle as the robotic arm 5 moves. It can acquire the three-dimensional position (x, y, z) of the drone 3 in space in real time, identify its attitude angles (pitch, yaw, roll), provide high-precision visual feedback for path planning and grasping actions, realize hand-eye coordination, improve the accuracy of near-end operation, and overcome the problems of limited field of view and insufficient accuracy at long distances of fixed cameras.

[0062] The camera module can be configured to acquire image information of the area where the drone 3 is located, and determine the current position and attitude of the drone 3 based on the image information to generate grasping commands for controlling the movement of the robotic arm 5. The camera module can be a binocular camera or an RGB-D camera (depth color camera). The current position and attitude include the coordinates of the drone 3 in three-dimensional space and its pitch, yaw, and roll angles. The camera module is rigidly connected to the end effector of the robotic arm 5, and the image coordinate system is associated with the coordinate system of the robotic arm 5 through hand-eye calibration parameters.

[0063] For example, an RGB-D camera can be mounted on the wrist of robotic arm 5. When drone 3 hovers above the recovery device, robotic arm 5 first moves to a rough position, then activates the camera to acquire point cloud and color images. The system uses a deep learning model to identify the three-dimensional coordinates of drone 3's landing gear and uses the PnP (Perspective-n-Point) algorithm to calculate its 6-DOF pose. The controller then adjusts the opening and closing angle of the gripper and the approach trajectory accordingly to ensure reliable grasping even with an attitude deviation of ±10°.

[0064] In some modified embodiments of this application, when the adjustment unit is a pad, a water leakage hole is provided at the bottom of the main body, and a water inlet hole is provided at the top of the pad. The position of the water inlet hole corresponds to the water leakage hole. A receiving space is provided inside the pad, and water in the main body enters the receiving space through the water leakage hole and the water inlet hole.

[0065] Drone recovery devices are typically deployed in open environments (such as ship decks, rooftops, and the wilderness), making them susceptible to rain, sea spray, condensation, and cleaning washes. Furthermore, some seaplanes may leave small amounts of water during recovery, potentially leading to water ingress. If water enters the main body and cannot drain, it can cause electrical short circuits (especially with charging devices and sensors), corrosion of metal components, jamming of drive structures (such as lead screws and guide rails), microbial growth, or structural damage due to ice expansion. This solution utilizes a removable pad as a height adjustment unit, designed as an integrated drainage container. This creates a directional drainage path: main body → drain hole → pad inlet → internal water storage chamber, achieving water isolation and temporary storage, preventing direct discharge to the ground or equipment base. Additionally, for easy disassembly, the pad can be made of lightweight material. Storing water within the lightweight pad also lowers the overall center of gravity of the device, improving its stability.

[0066] A drain hole is located at the bottom of the main body (on the surface in contact with the pad) to drain water accumulated inside the main body. The pad is detachably connected to the bottom of the main body and serves both height adjustment and drainage collection functions. A water inlet is located on the top surface of the pad, aligned with the drain hole, to receive water flow from the main body. The accommodating space is a hollow cavity inside the pad, temporarily storing drainage and preventing overflow. In some embodiments, a drain hole can be provided at the bottom of the pad to facilitate drainage. The drain holes of the bottommost pad can be interconnected, and a main drain hole is provided at the bottom of the housing to facilitate rapid drainage of stored water.

[0067] In some modified embodiments of this application, when the adjustment unit is a drive structure, a drain hole is provided at the bottom of the main body, the drain hole is staggered with the drive structure, a water collection space is provided at the bottom of the shell, a drain outlet is provided at the bottom of the shell, and a valve is provided at the drain outlet. Water in the main body enters the water collection space through the drain hole and can be discharged through the drain outlet.

[0068] The drain hole is located at the bottom of the main body, avoiding the installation area of ​​the drive structure, so that the water accumulated inside the main body can be discharged to the lower part of the shell.

[0069] The water collection space is formed in a recessed area or cofferdam structure at the bottom of the shell and around the drive structure, which collects water flowing out from the main body's drain holes. The drain outlet is located at the lowest point of the shell bottom, serving as the outlet for the water collection space. A valve (manual, electric, or float type) is installed at the drain outlet to control the timing of drainage and prevent backflow of external liquids.

[0070] During use, water in the drone flows to the bottom of the main body under gravity. The water then flows out of the main body through drainage holes that are offset from the drive structure, and falls into the water collection area at the bottom of the shell (usually arranged around the drive structure). Under normal conditions, the valve is closed to prevent seawater and sand from flowing back in. When the water level is detected to be too high (or during scheduled maintenance), the valve opens, and the accumulated water is discharged through the drain outlet. After drainage is completed, the valve closes to maintain a dry internal environment. By offsetting the drainage holes from the drive structure and setting up a water collection space with valves at the bottom of the shell, this application effectively solves the internal drainage problem of dynamically adjustable recovery devices while ensuring the normal operation of the drive structure. This significantly improves the reliability and service life of the recovery device in high-humidity and high-salt environments such as oceans and rainforests, as well as when recovering seaplanes.

[0071] A drone recovery system includes the aforementioned drone recovery device and a drone 3. The drone 3 is provided with a second guide section 32, which cooperates with the first guide section 14 of the recovery module 1 to move the drone 3 in a vertical direction.

[0072] The first guide portion 14 is located on the side wall of the receiving hole 11 of the recovery module 1 (such as a slope, rib, groove, etc.); the second guide portion 32 is located on the bottom of the UAV 3 (such as the outer edge of the landing gear, a dedicated guide post, an annular boss, etc.); the two make physical contact and guide each other when the UAV 3 enters the receiving hole 11, forcing it to center along the vertical axis. This achieves passive self-alignment without flight control intervention, ensuring precise connection of charging contacts or coils. In some embodiments, it can also suppress lateral displacement and rotation, improving parking stability.

[0073] The first guide section 14 and the second guide section 32 can be fitted with a conical-cylindrical surface. The upper part of the receiving hole 11 is a conical inclined surface, and the landing gear has a cylindrical outer wall. It automatically centers, has a simple structure, and is the most commonly used. The first guide section 14 and the second guide section 32 can also be fitted with a rib-groove joint. The hole wall has 1 to 3 axial ribs, and the corresponding position of the landing gear has a groove. It serves both as a guide and an anti-rotation mechanism, suitable for aircraft that require a fixed orientation. The first guide section 14 and the second guide section 32 can also be fitted with a spherical-socket joint. The bottom of the hole has a spherical socket, and the bottom of the UAV 3 has a spherical head, which allows for small angular deviations and is suitable for shipborne swaying scenarios. The first guide section 14 and the second guide section 32 can also be magnetically assisted in guidance. The hole wall is embedded with a permanent magnet array, and the UAV 3 has a ferromagnetic ring or magnet for active attraction and guidance, improving the success rate of capture.

[0074] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A drone recovery device, characterized in that, include: The recovery module (1) is used to carry the drone (3); A housing (2) is fitted around the periphery of the plurality of recycling modules (1) to integrate the plurality of recycling modules (1) together; At least some of the recycling modules (1) have an adjustment unit (12) for adjusting the height of the recycling modules (1) so that at least some of the recycling modules (1) are at different height levels.

2. The drone recovery device according to claim 1, characterized in that, The recycling module (1) includes: The main body (15) has a top end for carrying the drone (3), and the adjustment unit (12) is disposed at the bottom end of the main body (15) so that at least part of the top end of the main body (15) is located at different height levels.

3. The drone recovery device according to claim 2, characterized in that, The adjustment unit (12) is a pad, which is detachably connected to the bottom of the main body (15) to adjust the installation height of the main body (15); Alternatively, the adjustment unit (12) is a driving structure connected to the main body (15) and can drive the main body (15) to move in the vertical direction to adjust the installation height of the main body (15).

4. The drone recovery device according to claim 2, characterized in that, The top of the main body (15) is provided with a receiving hole (11) for accommodating at least part of the drone (3).

5. The drone recovery device according to claim 4, characterized in that, The inner wall of the receiving hole (11) is provided with a charging device (13) for charging the drone (3).

6. The drone recovery device according to claim 5, characterized in that, A first guide (14) is provided on the side wall of the receiving hole (11) to guide the drone (3) into the receiving hole (11) and align its charging component (31) with the charging device (13) to complete the charging connection.

7. The drone recovery device according to claim 1, characterized in that, Also includes: A cover plate (4) is disposed on the top of the housing (2) and the cover plate (4) is provided with a plurality of through holes (41) corresponding to a plurality of the recycling modules (1).

8. The drone recovery device according to claim 7, characterized in that, Also includes: A robotic arm (5) is positioned on top of the cover plate (4) for grabbing the drone (3) and placing the drone (3) on the recycling module (1).

9. The drone recovery device according to claim 3, characterized in that, When the adjustment unit (12) is a pad, the bottom of the main body (15) is provided with a water leakage hole, the top of the pad is provided with a water inlet hole, the position of the water inlet hole corresponds to the water leakage hole, the pad is provided with a accommodating space inside, and the water in the main body (15) enters the accommodating space through the water leakage hole and the water inlet hole; Alternatively, when the adjustment unit (12) is a drive structure, a drain hole is provided at the bottom of the main body (15), the drain hole is misaligned with the drive structure, a water collection space is provided at the bottom of the housing, a drain outlet is provided at the bottom of the housing, and a valve is provided at the drain outlet. Water in the main body enters the water collection space through the drain hole and can be discharged through the drain outlet.

10. A drone recovery system, characterized in that, include: The drone recovery device as described in any one of claims 1-9; The drone (3) is provided with a second guide (32), which cooperates with the first guide (14) of the recovery module (1) to make the drone (3) move in the vertical direction.

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