AUTOMATIC DRONE POSITIONING SYSTEM

Description

[0001] The present invention relates generally to a system for automatically positioning a drone on a landing / take-off site for the purpose of loading and unloading a drone, refueling a drone, charging the battery of a drone, cargo exchange, payload exchange, etc.

[0002] Furthermore, the present invention relates to a system for transporting various goods from a point of origin (sender) to a remote destination (receiver) using a drone in combination with at least one stationary transport system and at least one system for automatically positioning a drone at a landing / take-off site.

[0003] The term "goods" refers to packages, parcels, containers, shipments, laboratory samples, blood products, medication packages, pneumatic tube containers, accumulators, functional payloads, etc., that are suitable in terms of shape and weight to be transported by a drone. For simplicity, the term "shipment" will be used below.

[0004] The present invention is preferably implemented using unmanned aerial vehicles (UAVs). An unmanned aerial vehicle (UAV) is defined as an aircraft that can be operated and navigated autonomously without an onboard crew, either by a computer or remotely from the ground. The UAV's position can be roughly determined using a Global Positioning System (GPS), a Global Navigation Satellite System (GNSS), Galileo, etc. Additionally or alternatively, control and position determination are also possible using one or more cameras mounted on the UAV, or other onboard and / or ground-based sensor devices, such as vision systems, radar, radio beacons, lights, etc. However, all of these methods only provide a relatively imprecise position determination and thus only allow for a relatively imprecise landing of the UAV at a landing / takeoff site.Smaller UAVs are typically powered by battery-operated electric motors, while larger UAVs can also be powered by an internal combustion engine. The payload capacity of smaller UAVs is up to approximately 10 kg. Larger UAVs are capable of transporting heavier loads. In German, unmanned aerial vehicles are also referred to as drones, which is why the term "drone" will be used below to refer to all types of unmanned aerial vehicles (especially vertical take-off and landing aircraft, helicopters, VTOL aircraft, etc.).

[0005] The use of drones for various tasks has been steadily increasing for years. A key factor in this is that the operating costs of drones are significantly lower compared to manned aircraft or helicopters. Increasing automation of drone systems also allows them to be operated by less qualified personnel, resulting in further cost savings.

[0006] Most drones are still used according to the principle of "one aircraft - one operator." This is also due to the fact that the operation of drones on the ground, e.g., changing or charging batteries, refueling, unloading or loading the drone with a shipment (cargo), and securing the drone after the mission, is currently carried out by labor-intensive manual work.

[0007] However, this limits the use of drones, particularly in remote locations where no person can perform the work. Similarly, the need for additional personnel for these handling tasks leads to increased costs per flight, making the use of drones uneconomical in certain areas.

[0008] Launching a drone generally doesn't pose any particular technical challenges, as the drone can simply take off from its current position at the landing / takeoff site. However, landing presents a problem: the combination of inaccurate position tracking and limitations in precise drone control often leads to significant positional errors at the landing / takeoff site. In other words, a pinpoint landing is ultimately impossible. To address this problem, various passive systems have been proposed, such as those using a funnel-like mechanism to physically guide and position the drone during the final leg of its landing approach. However, such systems are limited in size (making them more suitable for small drones) and require a high degree of basic landing accuracy.Active systems are also possible, where, for example, linear actuators can be used to "push" the drone into the desired position after landing using several moving axes. However, even here, problems arise regarding the exact alignment of the drone, which can lead to the drone having an incorrect orientation after landing, for example, relative to a power charging port or a loading / unloading station, requiring manual realignment. The necessary area or size of the systems described above is determined by the desired local precision of the landing, which can also depend on the weather, especially the wind. It is obvious that the costs increase disproportionately to the size of the positioning system, which eventually makes the existing systems uneconomical.

[0009] Conventional positioning systems typically require extensive mechanical installations, motors, and associated controls, which are relatively prone to failure. A further disadvantage of existing solutions is that they demand high precision during landing to minimize the footprint of the mechanical positioning systems. Methods for precise positioning (e.g., RTK, GPS, radio tracking (deck finder), image processing) are also expensive and sometimes quite unreliable.

[0010] Furthermore, systems are known, particularly in the field of research, that use mobile platforms (e.g., on the roof of a car) or robotic systems to land (capture) drones. However, these systems require very complex control and are not considered sufficiently robust for widespread use.

[0011] EP 3 680 181 A1 concerns systems and procedures for point takeoff and point landing (PTOL) of unmanned aerial vehicles on a limited landing area associated with a landing body.

[0012] US 3,139,249 A describes an energy absorber unit designed to transfer the energy generated by a decelerating object (for example, an aircraft) to a fluid-like energy absorber. The fluid within the absorber is transferred in a high-speed flow pattern, thereby working against itself through a constant reversal of the fluid flow to absorb energy. The unit further describes an energy absorber with a tether for catching aircraft and a simple recovery unit for returning the absorber to its original position after each capture.

[0013] US 2020 / 062421 A1 concerns a procedure for landing a tethered aircraft, comprising the steps of: approaching a ground location with the aircraft, thereby shortening the free length of the tether between the aircraft and the ground location to the free length the tether reaches a predetermined value; further approaching the ground location with the aircraft, thereby maintaining the free length of the tether at the predetermined value; holding the tether to form a loop, the loop being stretched and tightened by the moving aircraft; and damping the tightening of the loop to decelerate the aircraft until it comes to a stop on the ground.Furthermore described is a take-off and landing system for a tethered aircraft, comprising a runway for the aircraft, a winch for the towline and a restraint system for forming a loop the towline between the winch and the aircraft approaching the runway, wherein the restraint system has a damping device for damping a tightening of the loop caused by the movement of the aircraft during approach and landing in order to slow down the aircraft.

[0014] Koji AO Suzuki et al.: "Automatic Battery Replacement System for UAVs: Analysis and Design", JOURNAL OF INTELLIGENT AND ROBOTIC SYSTEMS; THEORY AND APPLICATIONS - (INCORPORATING MECHATRONIC SYSTEMS ENGINEERING), KLUWER ACADEMIC PUBLISHERS, DO, Vol. 65, Nos. 1-4, September 9, 2011, pp. 563-586, XP019989902, ISSN: 1573-0409, DOI: 10.1007 / S10846-011-9616-Y, refers to future unmanned aerial systems (UAS) that are expected to be nearly autonomous and consist of heterogeneous unmanned aerial vehicles (UAVs). A model for evaluating the coverage of a given UAS is proposed. Furthermore, various solutions for different modules of an automatic battery replacement system for UAVs are described. Furthermore, a ground station capable of replacing the batteries of a UAV is proposed.

[0015] US Patent 2014 / 291442 A1 relates to an aircraft harpoon device for securing an aircraft to a landing pad grid, wherein the aircraft comprises a chassis with a support surface to hold the aircraft in contact with the ground. The harpoon device further comprises a locking element arranged on the support surface and an elastic actuating device capable of extending the locking element beyond the support surface in an unloaded state, and which, in a loaded state, is compressed by the weight of the aircraft upon contact with the ground, so that the locking element retracts and the support surface comes into contact with the ground.

[0016] US Patent 3,392,940 A relates to a device for automatically anchoring or securing a drone or other helicopter to the surface on which it lands. The improved anchoring device comprises a drum assembly, a first cable system extending from a first fixed point on the drum assembly along one edge of the landing surface back to a second fixed point on the drum assembly, a second cable system extending from a third fixed point on the drum assembly along the opposite edge of the landing surface back to a fourth fixed point on the drum assembly, a device for controlling the rotation of the drum assembly, and a device for keeping sections of the cables parallel along opposite sides of the landing surface until a predetermined amount of tension is applied to the cables.

[0017] WO 2015 / 195175 A2 discloses a system for facilitating the automated landing and takeoff of an autonomous or pilot-controlled hovering aircraft with a cooperative undercarriage at a stationary or mobile landing site and an automated storage system used in conjunction with the landing and takeoff mechanism, which stores and operates a variety of UAVs. The system is characterized primarily by the fact that the landing mechanism is adjustable across six axes (roll, pitch, yaw, x, y, and z) and aligns itself with the aircraft in flight, catches it, and decelerates the vehicle according to its inertia limits. The aircraft and the catch mechanism are equipped with a transmitter and receiver to coordinate vehicle priority, as well as the distance and angles between the landing mechanism and the aircraft.The landing and takeoff system has means for real-time tracking of the UAV's position and orientation. The landing mechanism will essentially be aligned with the aircraft's base.

[0018] WO 2019 / 232753 A1 relates to a base station for an unmanned aerial vehicle (UAV), comprising a base, a positioning assembly, and a propulsion unit, wherein the base is equipped with a landing area and the UAV can land in the landing area. The positioning assembly comprises at least two positioning elements, and these at least two positioning elements include a first positioning element and a second positioning element. The first and second positioning elements are movable within the landing area, and the propulsion unit is used to drive at least one of the first and second positioning elements.If the drive unit drives at least one of the first and second positioning elements, the at least two positioning elements in the landing area move relative to each other, so that the at least two positioning elements are able to limit the unmanned aircraft to a preset position of the landing site and thus the positioning of the unmanned aircraft.

[0019] It is therefore an object of the present invention to further develop the prior art solutions for positioning drones on a landing / launch site in such a way as to overcome the disadvantages of the prior art. In particular, it is an object of the present invention to provide solutions that aim to automate the landing of drones on a landing / launch site as well as the precise positioning and alignment of drones on the landing / launch site. A further object of the present invention is to provide a system for the automatic positioning and alignment of a drone on a landing / launch site, with the aid of which the loading / unloading of a drone, the refueling of a drone, or the charging of a drone's battery is significantly reduced, which is structurally simple, can be implemented inexpensively, and is insensitive to interference.

[0020] The above tasks are solved by a system for automatically positioning a drone on a landing / take-off site, having the features of claim 1. An alternative solution for solving the same tasks is defined in claim 14. Advantageous and preferred alternatives and further developments are specified in the dependent and subordinate claims.

[0021] According to the invention, a system for automatically positioning a drone is proposed, by means of which the drone, after landing somewhere within a specific landing area on a take-off / landing site, is automatically and precisely moved to a predetermined position and is also automatically correctly oriented. Preferably, after landing on the landing area of ​​the take-off / landing site, the positioning system according to the invention automatically and precisely positions and aligns the drone relative to, for example, the loading / unloading station of a transport system or a device for refueling the drone or for charging or replacing the drone's batteries.Once the drone is correctly oriented and in the desired predetermined position, it can be easily coupled with other facilities, such as a loading / unloading station, drone refueling facilities, drone battery charging facilities, battery replacement facilities, etc., without the need for personnel.

[0022] One aspect of the present invention relates to the automatic loading and unloading of a drone at a landing / launch site, preferably one or more loading / unloading stations of a transport system are provided at the landing / launch site. The loading / unloading stations are connected to the transport system and are further configured to be functionally coupled to a drone when the drone is positioned at the predetermined location adjacent to the loading / unloading station. This enables the transfer of a shipment from the drone, which is automatically and precisely positioned and aligned at the loading / unloading station, to the transport system via the loading / unloading station (unloading), and vice versa.

[0023] A preferred transport system could, for example, include a well-known pneumatic tube system, in which transport containers (pneumatic tube boxes) are moved through the tubes of the pneumatic tube system using air pressure. However, other transport systems can also be used, such as rail systems, belt conveyors, roller conveyors, etc.

[0024] The present invention thus enables the improved logistical integration of a drone with one or more transport systems. The positioning system according to the invention allows a shipment to be transported from a sender at the point of origin via a first transport system to a first loading / unloading station, where the shipment is automatically loaded into a drone that is precisely and correctly aligned with that loading / unloading station by the positioning system. The drone is then detached from the loading / unloading station, and the shipment is transported with the drone to the destination, where the drone lands at a designated landing / takeoff site and is preferably automatically and precisely coupled to a corresponding loading / unloading station using a further positioning system.Here, the drone can be automatically unloaded and the shipment then transported to the recipient via a second transport system.

[0025] The destination could be, for example, a parcel locker, where the shipment is picked up from the sender by drone and unloaded at a parcel locker equipped with a positioning system and an unloading station. The positioning system and unloading station could, for example, be located on the roof of the parcel locker. The locker could be equipped with an internal transport system to deliver the shipments to the corresponding mailboxes (recipients).

[0026] Preferably, drones can be used to connect several stationary pneumatic tube systems or similar transport systems. With the aid of these transport systems (and the connected loading / unloading stations) in conjunction with the positioning systems according to the invention, a significant simplification of the use of drones for transport tasks is achieved, since the transport of a shipment from sender to recipient is essentially fully automated. A key advantage of the present invention is therefore that existing stationary pneumatic tube systems (e.g., a pneumatic tube system serving several locations of a clinic and a laboratory) can be connected using drones with the proposed concept, whereby the drones can be easily, automatically, and precisely coupled to the loading / unloading stations of the pneumatic tube systems using the positioning system according to the invention, thus enabling the drones to be automatically loaded and unloaded.

[0027] The positioning system according to the invention can also be used to automatically and precisely couple a drone to a suitable device, such as the loading / unloading station of a transport system, a device for refueling the drone or charging the drone's battery, etc., located at a landing / takeoff site. This is done for purposes such as exchanging or charging the drone's batteries, refueling the drone, transferring a data transfer from one drone to another, etc. As described above, the drone lands on a landing surface at a landing / takeoff site and is "captured" by the positioning system according to the invention and moved or pushed into a predetermined position relative to the corresponding device with the desired orientation.In addition to the precise position, the correct alignment of the drone is also important so that, for example, a loading / unloading device of the loading / unloading station can be directly coupled with, for example, the loading hatch of the drone, or a charging plug or a fuel filling nozzle can be directly connected to the corresponding charging port or to the tank opening of the drone.

[0028] Preferred embodiments of the positioning system according to the invention operate with one or more rope loops as a capture mechanism. If a drone lands on the loading area of ​​the landing / takeoff site within a rope loop, and this rope loop is tightened, the drone is automatically and precisely pulled to a predetermined position at or adjacent to a loading / unloading station or one of the devices described above, and is thereby correctly oriented. Preferably, only a single actuator (e.g., a winch) is required for the actual retrieval of the rope loop. In preferred embodiments, the orientation of the drone on the ground (i.e., on the landing area of ​​the landing / takeoff site) immediately after landing is arbitrary, thus enabling simplified, efficient landing procedures, e.g., oriented to the wind.The drone is correctly aligned on the landing surface using the positioning system according to the invention. To return the positioning system to its initial position after the drone has been launched, a return system is used, which can be implemented differently from the actual positioning system. For example, additional winches or other mechanical systems can be used to implement the return system.

[0029] The drone's movement and automatic positioning functions are enabled by different drone landing gear designs. Two types of landing gear are used: "rope-passing" and "rope-catching," as described in detail below.

[0030] Furthermore, systems with multiple or differently moving ropes or rope loops, or with movable catch rods, can be used if the geometry or the design requires it.

[0031] If a sufficiently smooth and level landing surface (e.g., a helicopter landing pad) is available, the installation of the system according to the invention can be carried out very quickly and easily, as only a few components need to be installed. This makes it possible to use the system according to the invention in a mobile and temporary manner, which was hardly possible with previous solutions. A smooth landing surface can also be achieved by laying down panels or sheets.

[0032] Furthermore, the smaller number of components and their simpler design result in greater robustness against environmental influences. Therefore, no elaborate protection against environmental influences is required.

[0033] The present invention and its various aspects will now be described with reference to exemplary embodiments and the figures, based on which exemplary configurations of the system according to the invention for automatically positioning a drone on a landing / takeoff site, a return system, and further aspects of the invention will be explained. However, the present invention is not limited to these embodiments. For example, the various aspects of the invention can also be implemented with other types of devices that are to be associated in some way with a drone that has landed on a landing / takeoff site.

[0034] They show: Figures 1a-1d Schematic representations of the general functioning of the system according to the invention for positioning a drone that has landed on a landing / take-off site; Figures 2a-2cSchematic representations of an alternative mode of operation of the system according to the invention for positioning a drone that has landed on a landing / take-off site; Figures 3a and 3b schematic representations of exemplary sliding landing gear of a drone, wherein Figure 3a a "rope-gripping" variant and Figure 3b shows a "rope-permeable" variant; Figures 3c and 3d schematic representations of exemplary rolling landing gear of a drone, wherein Figure 3c the "rope-gripping" variant and 3D figure the "rope-permeable" variant shows; Figure 3e a schematic representation of an exemplary rolling stand for a drone; Figure 4 a schematic representation of an alternative design of a stand equipped with a roller; Figures 5a-5d Preferred embodiments of a rope loop system of the positioning system of the present invention with "return function"; Figures 6a-6cfurther preferred embodiments of the positioning system of the present invention; Figures 7a-7c further alternative embodiments of the positioning system of the present invention; Figures 8a and 8b Schematic representations of further aspects for positioning and aligning a drone near the final predetermined position of the drone; Figures 9a and 9b Schematic representations of further aspects for retrieving and deploying a rope loop of the positioning system; Figure 9c schematic representations of further aspects of using winches to move the drone to the starting position; Figures 10a and 10b Schematic representations of a device for "parking" one or more drones; Figure 11 an exemplary implementation of the positioning system on the roof of a parcel packing station; Figures 12a and 12b Exemplary devices for protecting a drone at the final predetermined position of the drone or the entire system; and Figure 13 a schematic representation of a transport system in which the positioning system according to the invention is used.

[0035] As in Figures 1a-1dAs shown, a drone 1 has landed on landing / launch site 2. The landing / launch site, or landing area for the drone, can theoretically have any size and shape, although its size depends on the size of the drone used and external factors. For example, the landing area must be larger in generally unfavorable weather conditions, as precise landing of the drone is not possible in strong winds. If a drone has a diameter of 100 cm, for instance, the landing area should be at least 10 m², preferably 50 m², and even more preferably 100 m². If a larger drone is used, the landing area should be correspondingly larger. The landing area can, in principle, have any shape, but preferably a substantially rectangular, polygonal, or substantially round shape.

[0036] In one example configuration, the drone 1 has three landing gear legs 3 and 4. Depending on the size and type of drone, a different number or type of landing gear leg may be used.

[0037] As in Figure 1a As shown, a rope loop 5 is laid out on the landing / launch site 2. In the initial position (not shown), the rope loop extends essentially along the outer boundaries of the landing area of ​​the landing / launch site 2 and preferably encloses substantially the entire landing area. Consequently, the landing area is defined by the rope loop 5, which is laid out by devices described below. The size of the landing area can therefore be varied depending on the size of the drone and external conditions (e.g., wind). Consequently, when the drone 1 lands on the landing area of ​​the landing / launch site 2, all landing legs of the drone are located within the landing area enclosed by the rope loop.

[0038] As in Figures 1a and 1b As shown, the rope loop 5, one or both ends of which are connected to a rope winch 6 and can be pulled in by it, is slowly tightened (in Figure 1a (the rope loop 5 is already slightly retracted). The winch 6 is preferably located substantially at the outer edge of the landing area. The rope loop 5 and the winch 6 together form a kind of catch mechanism. The two rear landing gear legs 3 of the drone 1 are preferably designed such that the rope loop 5, when retracted, is positioned under these two landing gear legs (see Figures 3b and 3d ) slips through. The front support foot 4 (see Figures 3a and 3cThe drone's front landing gear 4, however, is designed to capture the rope loop 5. The rope loop engages with the front landing gear 4, causing the drone to swivel slightly and be pulled towards the winch 6 as the rope loop is tightened further. This process is described in Figures 1c and 1d depicted.

[0039] As in Figure 1bAs further shown, the winch 6 is connected, for example, to the loading / unloading station 7 of a transport system (not shown in detail). The winch is preferably integrated with the loading / unloading station. The winch 6 is preferably equipped with a guide element 8, which is designed to position and align the drone 1 even more precisely as the drone approaches the winch by engaging with corresponding devices provided on the drone. For example, the guide element 8 can be a rod that engages with a guide track or guide tube in or on the drone. Alternatively or additionally, the guide element can also have guide tracks or guide channels provided and designed on the landing surface to engage, for example, with the front landing gear of the drone, as explained in more detail below. As in Figure 1dAs shown, the drone is in the correct predetermined position and orientation relative to the winch 6 and the loading / unloading station 7, enabling it to be loaded with a shipment supplied via the transport system or unloaded. The shipment is removed from the drone by means of an associated device and transported via the transport system to its destination. The guide element 8 can also be a tube designed and dimensioned to, for example, load or unload a pneumatic tube system into or out of the drone. Alternatively, the winch 6 can be connected to a refueling system, in which case the guide element 8 can simultaneously serve as a fuel filling tube. Another alternative is that the winch 6 can be equipped with a battery charging station, in which case a charging current connector can be provided on the guide element 8.

[0040] As explained above and in Figures 1c and 1d As shown, the drone is pivoted by approximately 45° with the aid of the tightening rope loop 5, which engages with the drone's front landing gear 4, and pulled into an almost correct alignment with the loading / unloading station 7. As the drone approaches the winch 6 further, its alignment relative to the loading / unloading station 7 can be further corrected by the guidance device 8 increasingly engaging with the drone's associated guidance systems.

[0041] After the drone has been loaded or unloaded with a cargo, refueled, or its batteries charged or replaced via the loading / unloading station 7, the guidance device 8 can be disengaged from the drone's associated guidance systems and / or the drone can be pushed back towards the center of the landing area of ​​the take-off / landing site using a sliding mechanism (not shown) or a winch (described in more detail below) in order to take off again. It is obvious that the guidance device 8 (in combination with, for example, a fuel filler tube or a charging current supply) can also be located in a different position, depending on the location of the refueling port or charging socket on the drone.In any case, the guidance system 8 intervenes with appropriate devices on the drone to correct the position and orientation of the drone - if necessary.

[0042] Figures 2a-2c Figure 1 shows a slightly modified solution in which a drone has landed on the landing area of ​​landing / launch site 2. The drone 1 has three landing gear legs 3 and 4, which can have different configurations. As shown in Figure 2 Figure 2a As shown, a rope loop 5 is laid out on the landing / launch site 2. In its initial position, the rope loop extends substantially along the outer boundaries of the landing area of ​​the landing / launch site 2 and preferably encloses substantially the entire area of ​​the landing / launch site. As explained above, the landing area is defined by the fully deployed rope loop. When the drone lands on the landing area, all three landing legs of the drone are within the area enclosed by the rope loop.

[0043] If, as in Figures 2b and 2c As shown, when the rope loop 5, whose ends are connected to a winch 6, is pulled in by the winch, the rope loop 5 slips under the front support leg 4 and engages with the rear support legs 3, so that as the rope loop continues to tighten, the drone is slightly swiveled and pulled towards the winch 6. In contrast to the solution from Figures 1a-1d , in which the drone's nose is pulled towards the winch 6 or the loading / unloading station 7, the solution from Figures 2a-2cThe drone's tail is pulled towards the winch 6 or the loading / unloading station 7. This option can be selected if the drone 1 needs to be loaded / unloaded or refueled from the rear. It is obvious that other configurations are also possible; the only important thing is that at least one of the landing legs is designed to engage with the rope sling 5 when it is tightened. Preferably, the drone should roughly control its orientation upon landing (i.e., the drone's tail should be at an angle of less than 90° to the winch immediately after landing).

[0044] As in Figures 2a-2cAs shown, the winch 6 is also connected here, for example, to a loading / unloading station 7, which is equipped with a guide device 8 designed to allow intervention with associated guide devices on or in the drone. With this solution as well, after the drone has been loaded or unloaded with a cargo, it can be pushed back towards the center of the landing / launch area using a sliding device or a retrieval winch in order to take off again.

[0045] Figures 3a-3e show different designs of the feet 3, 4 of the in Figures 1a-1d and 2a-2c depicted drone. As in Figure 3a As shown, the base is provided in its lower area with a taper 10, which is designed to engage with the rope loop 5 of the positioning system when the rope loop is pulled in, whereas the in Figure 3bThe stand shown is rounded at its lower end 11, so that when the drone has landed on the landing surface, the rope loop can slide under the stand when the rope loop is retracted. The designs of the Figures 3c and 3d differ from those of the Figures 3a-3b only by the fact that the feet are provided with a roller or a roller element 12 on their underside. The one in Figure 3eThe landing gear shown is a universally applicable drone landing gear designed to allow the rope loop to be engaged in one configuration and, in a second configuration, to allow the rope loop to slide under the rounded underside. For this purpose, the landing gear is equipped with fold-out gripping elements 13. In the first configuration, the gripping elements 13 are folded downwards, and in the second configuration, they are folded upwards. It is evident that other devices could be used instead of the fold-out gripping elements, such as a vertically sliding sleeve with an outwardly projecting flange at its lower end. Alternatively, the drone could be equipped with one or more gripping arms that can be activated (e.g., extended downwards) after the drone has landed in order to engage the tightening rope loop.Furthermore, the force of the rope loop can be used when engaging the drone's rope-gripping landing gear to trigger processes such as releasing a braking device on the drone.

[0046] In Figure 4 An alternative embodiment of a stand equipped with a roller 12 is shown, which has gripping means 14 that can engage with the rope loop of the positioning system. The gripping means 14 can be removed so that, in this configuration, the rope loop can slide under the roller. Alternatively, the gripping means can also be pushed vertically upwards.

[0047] Figures 5a-5d shown are preferred embodiments of the rope loop system, and in particular of the rope loop return system, of the drone positioning system of the present invention.

[0048] When executing from Figure 5aThree or four winches 6, 6a (preferably one winch at each corner of the landing / launch area 2) are provided, with two or three winches 6a being used to "spread out" the rope loop 5 or return it to its initial position, so that the edges of the spread rope loop 5 preferably run approximately along the outer boundaries of the landing / launch area 2, thus defining the landing area. The winch 6 is used to reel in the rope loop 5 in order to pull a drone that has landed on the landing area towards that winch 6 and position or align it precisely. The ropes 5a of the winches 6a for spreading out or returning the rope loop 5 are preferably slidably connected to the rope loop 5 via rings. As shown in the figure below... Figure 5aObviously, the rope loop 5 is deployed by the winches 6a (retrieval winches) essentially pulling their respective ropes 5a completely in. In doing so, the rope of the winch 6 (haul-in winch) is released. For the retrieval process, this procedure is reversed; that is, the retrieval winches 6a (actively or passively) release their ropes 5a, while the haul-in winch 6 pulls in the rope loop 5, thus performing the positioning process described above. Releasing the rope can be achieved by controlling the winches or by additional methods, such as a coupling mechanism. The haul-in winch 6 can, for example, be equipped with a loading / unloading station and / or a device for charging the drone's batteries.

[0049] When executing from Figure 5bOnly one winch 6 (preferably at one corner of the landing / launch area) is provided, with attachment points 5b for rubber bands 5c located near or in line with the other corners of the landing / launch area. The other ends of these rubber bands are slidably connected to the rope loop 5, preferably by means of rings. The rubber bands, which are preferably located at the (three) corners of the landing / launch area where the winch 6 (haul-in winch) is not located, cause the rope loop to "spread out" so that the edges of the spread-out rope loop run approximately along the outer boundaries of the landing / launch area, thus defining the landing area. Instead of rubber bands, other elastic elements can also be used, such as passively retracting elements (e.g., springs or spring-loaded winches).The winch 6 can be used to reel in the rope loop in order to pull a drone that has landed on the landing / take-off area to this winch 6 and to position or align it precisely. This winch can be equipped, for example, with a loading / unloading station and / or with a device for charging the drone's batteries.

[0050] When executing from Figure 5cA winch 6b (preferably located at one corner of the landing / launch area) is provided, with pull ropes 17 attached to each of the rope loops. These pull ropes are connected to the winch 6b (retrieval winch) via pulleys 18 located near the other corners of the landing / launch area. This connection can be made directly for each pull rope 17 or via a common guide rope. By operating the winch 6b, the rope loop 5 can be "extended" so that the edges of the extended rope loop run approximately along the outer boundaries of the landing / launch area. If several pull ropes 17 are directly connected to the winch 6b, the drums of the winch can be of different sizes for each pull rope 17 to compensate for the different lengths of the pull ropes 17.A further winch 6 (haul-in winch) can be used to haul in the rope loop in order to pull a drone that has landed on the landing / take-off area to this winch and to position or align it precisely there. This winch 6 can, for example, be equipped with a loading / unloading station and / or with a device for charging the drone's batteries.

[0051] When executing from Figure 5dA winch 6 (preferably located at a corner of the landing / launch area) is provided, with a ring track 19 encircling the landing / launch area. This track is equipped with three or more pulleys 20 that can be mechanically moved along the ring track 19. By moving the pulleys 20 to the corners of the ring track 19, the rope loop can be "spread out" so that the edges of the spread rope loop run approximately along the outer boundaries of the landing / launch area. As explained above, both the landing / launch area and the actual landing surface can have any shape, making it clear that the number of pulleys depends on the size and shape of the landing / launch area and the landing surface, respectively. The winch 6 can be used to reel in the rope loop 5 in order to pull a drone that has landed on the landing surface of the landing / launch area to the winch and precisely position it there.to align precisely. This winch can, for example, be equipped with a loading / unloading station and / or with a device for charging the drone's batteries.

[0052] Figures 6a-6c show further preferred embodiments of the drone positioning system of the present invention.

[0053] In Figure 6a Two winches 6 are used, arranged at two adjacent corners of the landing / launch area and each equipped with a rope loop 5. The winches 6 and the associated rope loops 5 are designed to move a drone with correct orientation into a precise position. Similar to the embodiments from Figures 1a to 1d , is also in the design in Figure 6aA guidance device 8 is provided to enable even more precise alignment of the drone (this guidance device can also be equipped with facilities for refueling or charging the drone's battery). The drone's landing gear has already been described with reference to the preceding figures. The rope loops can be removed after the drone has taken off by methods as described with reference to Figures 5a to 5d They were described, and are returned to their original position.

[0054] In Figures 6b and 6cAn alternative configuration for the automatic positioning of a drone is shown. In this configuration, the landing / launch area is surrounded by two separate, partially overlapping ring paths 21, 22 such that, for example, three of the four edges of the landing / launch area are enclosed by at least one of the ring paths. Different configurations of the ring paths are possible for other landing / launch area shapes. The only important factor is that a substantial portion of the perimeter of the landing / launch area is enclosed by one or both of the ring paths. A movable element 23 is provided on each of the two ring paths 21, 22, which can be moved along the respective ring path 21, 22. Each of the two elements 23 is connected to an associated cable 24, with the other end of each cable 24 being connected to an associated winch 6. As shown in Figures 6b and 6cAs shown, the cables 24 can be repositioned by moving the elements 23 in combination with corresponding operation of the winches 6 in order to engage with a desired landing gear of the drone and thus pull the landed drone to a desired position (e.g., between the two winches) and align or position it precisely. A loading / unloading station and / or a device for charging the drone's batteries can be provided between the two winches.

[0055] In the Figures 7a to 7c The designs shown are alternatives to a rope loop. Figures 7a and 7bPositioning is achieved by two independently moving capture elements 25a and 25b, which are preferably designed as straight elements. These elements can be implemented by cables (drive from both sides - not shown) or by rigid elements, such as tubes or rods. The elements 25a and 25b are moved by means of carriages 26a and 26b, which are preferably guided on associated rails 27a and 27b, respectively. After a landing at any point on the landing surface of the take-off / landing site (see Figure 7a ) positioned in the upper left corner by elements 25a and 25b, where a loading / unloading station (not shown) can be provided.

[0056] In Figure 7c Positioning is achieved by a combination of capture elements 25 as described above and guide elements 25', 25". This moves the drone into the upper middle position.

[0057] As in Figure 8a As shown, additional elements for guiding the landing legs can be used on the landing surface of the take-off / landing area, particularly in the area of ​​the winch 6 for fine positioning when retrieving the drone and for guiding it when "pushing" the drone back into the take-off position, if this occurs. For example, it is possible to provide various guidance elements in the form of walls 28, channels 29, and guide elements 30. These guidance devices can be used as an alternative or in addition to the one shown in Figures 1a-1d and 2a-2b The guidance equipment shown in section 8 is provided. As shown in Figure 8bAs shown (see right-hand figure), in this context the landing feet can be equipped with additional elements 31a that interact with guide elements 30 provided on the landing surface of the take-off / landing site, thus enabling functions such as raising the landing foot or connecting the drone's landing foot to a sensor or power connector 31b to charge the drone's battery. Areas with different surface properties 2, such as varying friction properties, can also be used to influence the drone's movement.

[0058] As an expanded version of the previously mentioned version, particularly with reference to Figures 1a-1d and Figures 2a-2cThe positioning system described allows the drone to be repositioned back to its starting position (i.e., pulling the drone away from the retrieval winch 6 or the loading / unloading station 7) using retrieval winches and associated rope loops. For this purpose, one or more of the drone's landing legs are required, which allow the rope to pass through during retrieval (see Figures 3b and 3d ) with a higher notch or taper 10a. When retrieving the drone, as in Figure 9a shown, the rope loop 5 is pulled in by means of a rope winch 6 (haul-in winch) (in Figure 9a (from left to right) and slides under the rounded end 11 of the stand. The stand is positioned against a guide element 30a, which is beveled on both edges. During the drone's retrieval process ( Figure 9bThe rope loop is pulled in the opposite direction by another winch (retrieval winch - not shown). Here, the rope loop slides from right to left over the guide element 30a and engages with the notch 10a. If the rope loop 5 is now pulled further to the left, the drone is pulled "backwards" towards its launch position on the landing / takeoff area, where the drone can then take off. Catching the rope in the notch 10a can also be achieved by an additional element on the drone that does not touch the ground. Alternatively, an additional component can be attached to the drone that does not touch the ground and therefore does not interact with the retrieval rope 5a. This component is preferably located on the drone itself (see component 30b in the left-hand illustration). Figure 9c ) or on a stand (see component 30d in the middle illustration of Figure 9c). This component 30a / 30d is designed to be connected to a preferably V-shaped element 30c, preferably mounted on a retraction cable 5a (see left and middle figure of Figure 9c to intervene when the rope 5a is pulled in. A top view of a preferred embodiment of this element 30e is shown in the right-hand figure of Figure 9c As shown, this element 30c or 30e, which is attached to the retraction cable 5a, engages with component 30b or 30d when the cable 5a is retracted, thereby significantly improving the positioning of the drone in the launch position. It is obvious that coordinated control of all cable winches is required for the above processes. Preferably, the control described with reference to Figure 9c described solution in combination with the guide elements which are in Figures 8a and 8b shown.

[0059] To keep several drones ready or ready for use, a device 32 for parking drones 1 can be provided in the area of ​​a winch or loading / unloading station. With the help of the device 32, one or more drones can be taken down from the landing / launch site 2 and parked, and of course also placed back down at the landing / launch site. The device can be designed as a rotating parking device (see Figure 10a ) and / or in the form of a vertical bearing (see Figure 10b ) be carried out. How best to do this in Figure 10b As shown, the drones are held by a type of support rod 34. This support rod 34 can be seen in the Figures 1a-1d The guide equipment shown corresponds to 8.

[0060] In Figure 11The positioning system according to the invention is shown, which is installed on the roof of a parcel locker. As explained above, a shipment can be picked up from a sender using a drone and unloaded at the parcel locker 34, which is equipped with an unloading station 7. In addition to the unloading station 7, a positioning system is provided on the roof of the parcel locker 34, which is, for example, the system from Figure 5a This can correspond to the requirements. The parcel packing station can be equipped with an internal transport system to transport the shipments to the corresponding mailboxes (recipients).

[0061] As in Figure 12aAs shown, an extension of the above-described design is achieved by providing weather protection 38 (e.g., a roof). This allows the drone 1 to be protected on the landing / launch pad 2 during loading / unloading, refueling, etc., at station 7 and for storage during flight breaks. In this design, the surface of the landing / launch pad 2 is preferably water-permeable. An extension (see Figure 12b This is achieved by enclosing the entire system 39, into which the drone flies horizontally and then lands (the flight path is designated by reference numeral 40). The entrance opening of the enclosure can be protected by a closure 41, preferably designed as a roller door. This design is particularly suitable for use in areas where frequent disturbances from environmental influences are to be expected, such as snow or dirt. Such a system can also be integrated into a building.

[0062] Figure 13 Figure 1 shows a schematic representation of an exemplary transport system in which the positioning system of the present invention can be used. A key component of the transport system is a drone 1 of any design, equipped with a holding mechanism 41 for a pneumatic tube system 42. This holding mechanism can be implemented in various ways. In addition to the gripping mechanism shown, configurations are possible in which the shipment is inserted vertically from below or horizontally from the rear or front into the drone's body.

[0063] On the ground in front of a building or on the roof of a building 44, one or more loading / unloading stations 7 are provided, forming the link between a drone 1 and a pneumatic tube system 46 (generally a transport system). The loading / unloading station(s) 7 and the pneumatic tube system 46 are primarily located in front of, inside, or on the building 6. On the roof of a building or in front of a building, there are one or more landing / launch sites 2; 2', 2" for the drones. As shown and explained above, one or more associated loading / unloading stations 7 can be provided to load or unload a drone. The sending and receiving of a shipment by a user takes place at pneumatic tube stations 48 (transfer stations), which can be located individually or in multiples within a building.

[0064] Preferably, the loading / unloading stations 7 are designed for loading and unloading a drone. The two left-hand illustrations of Figure 13These show examples of vertical and horizontal loading / unloading of a drone. As in the right-hand image of Figure 13 As shown, the drone can also fly to a landing / takeoff point 2 to be manually loaded or unloaded by a user 50. Preferably, however, all landing / takeoff points are equipped with the inventive system for automatic drone positioning.

Claims

1. A system for automatically positioning a drone (1) on a landing / take-off site (2) comprising a landing area defined by an outer boundary, wherein the system further comprises: a rope sling (5), and a drone (1), wherein the system is configured to position and align a drone (1), landed at any location on the landing area, at a predetermined position on the landing area, wherein the rope sling (5), in its initial position, extends along the outer boundary of the landing area, and the ends of which are connected to a rope winch (6) located near or at the predetermined position, so that the rope sling can be retracted when the rope winch is actuated, and wherein the drone is provided with engagement means (3, 4) configured to be engageable with the rope sling (5) when the rope sling (5) is retracted, so that the drone (1) is pulled to the predetermined position and is correctly aligned at the predetermined position upon further retraction of the rope sling (5).

2. The system for automatically positioning a drone according to claim 1, wherein the system comprises reversing means configured to deploy a rope sling (5) on the landing / take-off site (2) to its initial position such that the rope sling (5) extends along the outer boundary of the landing area and encloses the entire landing area.

3. The system for automatically positioning a drone according to any one of the preceding claims, wherein the engagement means (3, 4) of the drone (1) comprise at least three feet (3, 4), wherein at least one of the feet is configured such that the rope sling (5) slips under said at least one (rope-passing) foot when the rope sling is retracted, and wherein at least one of the feet is configured as an engagement means such that said at least one (rope-catching) foot engages with the rope sling (5) when the rope sling is retracted, to pull the drone (1) into the predetermined position upon further retraction of the rope sling (5), wherein optionally at least one of the feet is configured to be engageable with guide elements (28, 29, 30) and to be guided by said guide elements which are provided on the landing area of the landing / take-off site, and wherein optionally at least one of the feet is provided with additional elements (31a) that can interact with the guide elements to enable further functions.

4. The system for automatically positioning a drone according to claim 3, wherein the at least one rope-passing foot of the drone is provided at its lower portion with a tapering (10) configured to be engageable with the rope sling (5), and wherein the at least one rope-catching foot is rounded at its lower end (11) such that the rope sling can slip under the foot when the rope sling is retracted, wherein optionally an additional component (30b, 30d) is provided at the drone that does not contact the surface of the landing / take-off site and is configured to be engageable with an element (30c) attached to the rope sling (5; 5a).

5. The system for automatically positioning a drone according to any one of claims 1 and 2, wherein the engagement means (3, 4) of the drone (1) comprise at least three feet (3, 4), wherein at least one of the feet is provided with a rounded bottom and is configured to be engageable with the rope sling in a first configuration, and to allow the rope sling to slip under its rounded bottom in a second configuration, wherein said at least one foot is provided with fold-out gripping means (13) folded down in said first configuration and folded up in said second configuration, or wherein said at least one foot comprises a vertically displaceable sleeve provided with an outwardly projecting flange at the lower end.

6. The system for automatically positioning a drone according to any one of the preceding claims, wherein the system comprises pusher means coupled to the rope winch (6) to enable the drone to be pushed back towards the center of the landing area, wherein a device (32) for parking drones (1) is provided in the region of a rope winch (6), which parking device is configured to allow one or more drones to be removed from the landing area, parked, and moved back onto the landing area.

7. The system for automatically positioning a drone according to any one of the preceding claims, wherein at least two additional rope winches (6a) are provided which are spaced along the outer boundary of the landing area, connected to the rope sling (5) via associated ropes (5a) and configured to return the rope sling (5) to its initial position, such that the edges of the returned rope sling (5) extend along the outer boundary of the landing area, wherein the ropes (5a) of the rope winches (6a) are displaceably connected to the rope sling (5), optionally via rings.

8. The system for automatic positioning of a drone according to any one of the preceding claims, wherein, spaced along the outer boundary of the landing area, at least two attachment points (5b) are provided to which are attached first ends of elastic elements (5c), the second ends of which are each connected, preferably slidingly or by rings, to the rope sling (5) in order to spread the rope sling (5) to its initial position by action of the elastic elements, such that the edges of the spread-out rope sling (5) extend along the outer boundary of the landing area, wherein the elastic elements are selected from a group comprising rubber bands, springs and spring-tensioned winches.

9. The system for automatically positioning a drone according to any one of the preceding claims, further comprising at least one traction rope (17) and an additional winch (6b) which is provided at the outer boundary of the landing area for retracting the at least one traction rope (17), wherein two or more ends of the traction rope (17) are attached to the rope sling via pulleys (18), which are provided spaced apart along the outer boundary of the landing area, such that the rope sling (5) can be spread out by operating the additional rope winch (6b) such that the edges of the spread-out rope sling (5) extend along the outer boundary of the landing area.

10. The system for automatically positioning a drone according to any one of the preceding claims, wherein a ring track (19) is provided around the landing area, on which at least three pulleys (20) movable in a mechanical manner along the ring track are provided, which pulleys are coupled to the rope sling (5), wherein the rope sling (5) can be spread out by moving the pulleys (20), such that the edges of the spread-out rope sling extend along the outer boundary of the landing area.

11. The system for automatically positioning a drone according to any one of the preceding claims, wherein two rope winches (6) are provided, which are spaced apart from each other along the outer boundary of the landing area and each provided with an associated rope sling (5), wherein the engagement means of the drone comprise at least three feet, and wherein the rope slings each engaging a predetermined foot of the drone, when the rope slings are retracted, to move the drone to the predetermined position.

12. The system for automatically positioning a drone according to claim 1, further comprising a loading / unloading station (7) of a transport system, wherein the rope winch (6) is connected to the loading / unloading station (7) to enable the drone to be loaded / unloaded with a shipment delivered via the transport system, and wherein the rope winch is optionally integrated with the loading / unloading station, and / or wherein the rope winch (6) is connected to a refueling facility for refueling the drone and / or to a charging station for charging a battery of the drone.

13. The system for automatically positioning a drone according to any one of the preceding claims, wherein the rope winch (6) is provided with guide means (8) configured to engage with corresponding guide means provided at or in the drone to further precisely position and align the drone when the drone approaches the rope winch, and / or wherein the engagement means of the drone (1) comprise at least three feet (3, 4), wherein at least one of the feet is configured to engage with and to be guided by guiding elements (28, 29, 30) provided on the landing area of the landing / take-off site, such that, when said at least one foot engages with the rope sling (5) during retraction of a rope sling by the rope winch, the drone (1) can be precisely positioned and aligned, when the rope sling (5) is further retracted.

14. The system for automatically positioning a drone (1) on a landing / take-off site (2) comprising a landing area defined by an outer boundary, wherein the system further comprises: two separate ring tracks (21, 22), and a drone (1), wherein the system is configured to position and align a drone (1), landed at any location on the landing area, at a predetermined position on the landing area, wherein the landing area is surrounded by said two separate, partially overlapping ring tracks (21, 22) such that the landing area is enclosed by at least one of the ring tracks, wherein a respective movable element (23) is provided at each of the two ring tracks (21, 22) which is movable along the respective ring track (21, 22), wherein each of the two elements (23) is connected to one end of an associated rope (24), wherein the other end of each rope (24) is connected to an associated rope winch (6), wherein the ropes (24) are displaced by moving the elements (23) in combination with actuation of the rope winches (6) so as to engage with engagement means provided at the drone, such that the drone (1) is moved to the predetermined position upon further displacement of the ropes.

15. A system for transporting various goods from a point of origin to a remote destination by using a drone (1), wherein the system comprises: at least one stationary transport system and at least one system for automatically positioning a drone on a landing / take-off site (2) according to any one of the preceding claims, wherein the at least one transport system is connected with at least one loading / unloading station (7).