Autonomous drone docking station, landing system, and method

Abstract

An autonomous drone docking station, a landing system, and a method. The autonomous drone docking station comprises a base (12) and two or more compartment doors (11) arranged on the base (12). The base (12) and the compartment doors (11) define a compartment capable of accommodating and storing a drone (20). The base (12) and the compartment doors (11) are connected by means of compartment door opening devices (13). Cable retracting / releasing devices (14) are arranged on the inner sides of the compartment doors (11). A suspended capture ring (16) is arranged in the compartment. The cable retracting / releasing devices (14) and the capture ring (16) are connected by means of cables (15). Each cable (15) has one end fixed to the capture ring (16), and the other end wound on the corresponding cable retracting / releasing device (14). The cable retracting / releasing device (14) can tighten or loosen the cable (15). By using the lightweight cables (15) instead of rigid connecting rods, the weight is reduced, and the capture ring (16) gains excellent movement flexibility and can cover a relatively large working area. Meanwhile, the flexibility of the mechanism achieves strong adaptability to the drone (20) under dynamic loads, thereby achieving a light weight, a high level of integration, and an ultra-high space utilization rate, and mitigating the problems of conventional platform-type takeoff and landing configurations, such as excessive size, high cost, and difficulties in transport and deployment.

Description

Unmanned Aerial Vehicle (UAV) Automated Airports, Landing Systems and Methods Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to an automated airport, landing system, and method for UAVs. Background Technology

[0002] As the understanding of the application value of drones deepens, drones are showing rapid development in the consumer, industrial, and military markets. Drones are being used more and more in many fields. However, the flight time of drones has become the biggest bottleneck hindering their development. Although lithium-ion batteries are currently the best performing batteries on the market, they still cannot fully meet the flight time requirements of drones. Therefore, the charging problem of drones must be considered during use.

[0003] Currently, drone battery swapping has the following drawbacks: Drones require frequent charging and battery swapping. Traditional manual battery swapping requires a huge manpower investment and on-site personnel, making it unsuitable for extended outdoor operations. Automated drone airports have emerged to address this need, providing storage and automated charging / swapping for drones. However, existing airports use individual charging slots for batteries. When a drone needs to return for a battery swap, it lands on the airport's landing platform, which then guides the drone to the airport's robotic arm for automatic battery swapping. This necessitates a very large airport to accommodate the landing platform, increasing the overall size and weight of the fully automated drone cabin and raising costs. Furthermore, the bulky, traditional platform-style configuration of automated drone airports is inconvenient for transportation and deployment, has low space utilization (approximately 30%), and lacks integration. Technical issues

[0004] The technical problem to be solved by this invention is to provide an automatic airport, landing system and method for unmanned aerial vehicles (UAVs) that is lightweight, highly integrated and has a high space utilization rate, aiming to solve the problems of traditional take-off and landing platform configuration, large size, high cost and difficult transportation and deployment. Technical solutions

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: providing an automatic airport for unmanned aerial vehicles (UAVs), including a base and two or more cabin doors set on the base. The base and cabin doors enclose a cabin capable of accommodating and storing UAVs. The base and cabin doors are connected by a cabin door opening device. A cable winding and unwinding device is provided on the inner side of the cabin door. A suspended capture ring is provided inside the cabin. The cable winding and unwinding device is connected to the capture ring by a cable. One end of the cable is fixed on the capture ring, and the other end is wrapped around the cable winding and unwinding device. The cable winding and unwinding device can tighten or loosen the cable.

[0006] Furthermore, the cabin door opening device includes a first drive motor and a hinge. The first drive motor includes a first control unit and a first drive shaft. The first control unit receives and controls the movement of the first drive shaft, and the first drive shaft drives the hinge to open or close so that the cabin door is opened or closed.

[0007] Furthermore, the cable winding and unwinding device includes a second drive motor and a cable reel. The second drive motor includes a second control unit and a second drive shaft. The second control unit controls the movement of the second drive shaft, and the second drive shaft drives the cable reel to move to wind up and unwind the cable.

[0008] Furthermore, the base is equipped with a retaining ring, the shape and size of which are adapted to the nose of the drone.

[0009] Furthermore, the fixed ring is equipped with charging contacts to charge the drone when it is stored in the automated airport.

[0010] The present invention also provides a drone landing system, including a drone and any of the above-mentioned automatic airports. The drone includes a fuselage, a nose and a precision landing module. The fuselage is equipped with foldable propellers and the nose is equipped with a pod. When the drone lands, the automatic airport cabin door opens and the drone lands in the capture ring of the automatic airport through the precision landing device.

[0011] Furthermore, the precision landing module provides infrared beacon visual guidance and / or laser guidance for landing.

[0012] Furthermore, the drone body is equipped with a positioning slot, which locks into place when the drone lands inside the capture ring.

[0013] The present invention also provides a method for a drone landing system, characterized by comprising the following steps:

[0014] S10: The drone receives flight instructions and prepares for takeoff; the automated airport receives the drone takeoff instructions and opens the cabin door.

[0015] S20: The drone takes off to perform a flight mission and returns to base when the mission is completed or the battery is low.

[0016] S30, the automated airport receives a landing command from the drone and opens the cabin door;

[0017] S40: The drone is preparing to land. The capture ring in the automated airport moves according to the drone's real-time position to match the drone's position and land accurately.

[0018] After the S50 drone lands, the propellers stop rotating and fold downwards.

[0019] S60, the automatic airport cabin door closes, and the capture ring falls down onto the base driven by the cable.

[0020] Furthermore, S40 also includes the following step: when the capture ring is locked into the positioning slot on the drone, the capture ring moves downward together with the drone. Beneficial effects

[0021] The beneficial effects of this invention are as follows: The automatic airport for drones of this invention has two or more cabin doors on the base. The base and the cabin doors are connected by a cabin door opening device. A cable retraction device is provided on the inside of the cabin door. A suspended capture ring is provided inside the cabin. The cable retraction device is connected to the capture ring by a cable. The drone determines that it is within the range of the capture ring's travel through a precision landing module. After identifying the drone's coordinate position, the capture ring in the middle is moved to the drone's current coordinate position by the cable. The capture ring moves with the drone's coordinate position. After the drone lands on the capture ring, the cabin door closes. It has an ultra-high space utilization rate of more than 80%, high integration, and can be deployed conveniently and quickly. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 is a schematic diagram of the UAV landing system of the present invention.

[0024] Figure 2 is a schematic diagram of the state of the UAV when it lands at the UAV automatic airport capture loop according to the present invention;

[0025] Figure 3 is a schematic diagram of the state of the UAV landing in the UAV automatic airport of the present invention;

[0026] Figure 4 is a schematic diagram of the state of the UAV when it takes off in the UAV automatic airport of the present invention.

[0027] Figure 5 is a schematic diagram of the closed state of the automatic airport cabin door of the UAV of the present invention;

[0028] Figure 6 is a flowchart of the take-off and landing process of the UAV of the present invention.

[0029] Label Explanation:

[0030] 10. Automated airport; 11. Cabin door; 12. Base; 13. Cabin door opening device;

[0031] 14. Cable reel-in / deel-out device; 15. Cable; 16. Capture ring; 17. Fixing ring;

[0032] 18. Charging contacts; 20. Drone; 21. Propellers; 22. Fuselage;

[0033] 23. Pod; 24. Positioning slot; 25. Nose. Embodiments of the present invention

[0034] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0035] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0037] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] As shown in Figures 1-6, this embodiment of the invention provides an automated airport 10, including a base 12 and two or more cabin doors 11 disposed on the base. The base 12 and the cabin doors 11 enclose a cabin capable of accommodating and storing drones. The base 12 and the cabin doors 11 are connected by a cabin door opening device 13. A cable winding and unwinding device 14 is provided on the inner side of the cabin door 11. A suspended capture ring 16 is provided inside the cabin. The cable winding and unwinding device 14 is connected to the capture ring 16 by a cable 15. One end of the cable 15 is fixed to the capture ring 16, and the other end is wound around the cable winding and unwinding device 14. The cable winding and unwinding device 14 can tighten or loosen the cable.

[0039] The key concept of this invention lies in controlling the movement of the capture ring at the end via a cable. By utilizing changes in cable tension and length, the capture ring is positioned and guided within a predetermined workspace. Using a lightweight cable instead of a rigid connecting rod reduces weight and gives the capture ring excellent mobility and coverage of a larger work area. Furthermore, the flexibility of the mechanism allows for good adaptability to UAVs under dynamic loads. One end of the cable is fixed to the capture ring, and the other end is controlled by a cable retraction device. This cable retraction device is fixed to the inside of the cabin door; preferably, there are four cabin doors. By precisely controlling the cable length, the capture ring can be positioned at any point in three-dimensional space. The UAV, through a precision landing module, determines that it is within the capture ring's travel range. After identifying the UAV's coordinates, the cable moves the central capture ring to the UAV's current coordinate position. The capture ring moves with the UAV's coordinates, enabling precise landing and active capture. This automated airport is lightweight, highly integrated, and has high space utilization, facilitating convenient and rapid transportation and deployment. Furthermore, the automated airport can be deployed fixed on the ground, mobile on a vehicle, or on a streetlight pole.

[0040] As shown in Figures 1-4, the cabin door opening device 13 includes a first drive motor and a hinge. The first drive motor includes a first control unit and a first drive shaft. The first control unit receives control commands to move the first drive shaft, which in turn drives the hinge to open or close the cabin door. The drive motor is typically a stepper motor or a servo motor, used to provide precise speed and position control. The type and selection of the motor depend on the required control precision, speed, torque, and response speed. The cabin door opening device can be highly integrated to automatically control the opening and closing of the cabin door.

[0041] As shown in Figures 1-4, the cable winding / unwinding device 14 includes a second drive motor and a cable reel. The second drive motor includes a second control unit and a second drive shaft. The second control unit controls the movement of the second drive shaft, and the second drive shaft drives the cable reel to wind up and unwind the cable. The cable winding / unwinding device can be highly integrated; for example, the winding and unwinding of the cable can be controlled by a drum, pulley, or cable reel. By precisely controlling the cable length, the end-capture ring can be positioned at any point in three-dimensional space, thereby achieving precise landing and active capture of the UAV. The cable winding / unwinding device is a key component responsible for controlling and executing cable movement to drive the capture ring for precise positioning. The second drive motor is typically a stepper motor or a servo motor, used to provide precise speed and position control. The type and selection of the second drive motor depend on the required control accuracy, speed, torque, and response speed. The rotational motion of the second drive motor is converted into linear motion of the cable. This typically includes pulleys, soft wheels, or a cable reel. A cable reel is preferred; the cable reel winds up and unwinds the cable as the motor rotates, while the pulley can maintain or change the direction of the cable. To further improve accuracy, an encoder can be mounted on the second drive motor to provide real-time feedback on motor rotation for precise position control. A force sensor can also be used to monitor cable tension. Upon receiving an instruction, the second control unit calculates the required output of the second drive motor, including speed and direction, and then sends control signals to the second drive motor to implement the command. A cable retraction device ensures high coordination and controllability between the cable and the capture ring. By precisely controlling the cable length and tension, the second drive motor allows the capture ring at its end to move along a predetermined path and posture.

[0042] As shown in Figures 1-4, a fixing ring 17 is provided on the base 12. The shape and size of the fixing ring 17 are adapted to the nose 25 of the drone 20. This allows the drone to remain stationary and fixed when it lands in the automated airport, preventing it from shaking.

[0043] As shown in Figures 1-4, a charging contact 18 is provided inside the fixing ring 17 to charge the drone 20 when it is stored in the automated airport 10. Charging the drone through the charging point results in a compact structure that makes full use of space.

[0044] The present invention also provides a drone landing system, including a drone 20 and any of the above-mentioned automatic airports 10. The drone 20 includes a fuselage 22, a nose 25 and a precision landing module. The fuselage 22 is provided with foldable propellers 21, and the nose 25 is provided with a pod 23. When the drone 20 lands, the cabin door 11 of the automatic airport 10 opens and lands in the capture ring 16 of the automatic airport 10 through the precision landing module.

[0045] Preferably, the precision landing module of this invention is an infrared beacon visual-guided landing and / or laser-guided landing. By combining visual precision landing and / or laser-guided landing with active capture, the UAV and the capture ring can be seamlessly connected, providing high precision, reducing redundancy, and offering a modular design for enhanced maneuverability and stability.

[0046] As shown in Figures 1-4, the drone 20 has a positioning slot 24 on its fuselage 22. When the drone 20 lands in the capture ring 16, the positioning slot 24 and the capture ring 16 are locked together to prevent the drone from falling below the capture ring, prevent the drone propellers from hitting the cable when rotating, and improve the stability of the drone landing.

[0047] As shown in Figure 6, the present invention also provides a method for a drone landing system, comprising the following steps:

[0048] S10. The drone receives flight instructions and prepares for takeoff. The automated airport receives the drone takeoff instructions. (Cabin door opens)

[0049] Open;

[0050] S20: The drone takes off to perform a flight mission and returns to base when the mission is completed or the battery is low.

[0051] S30, the automated airport receives a landing command from the drone and opens the cabin door;

[0052] S40. The drone is preparing to land, and the capture ring within the automated airport moves according to the drone's real-time position.

[0053] Position matching with drones enables precise landing;

[0054] After the S50 drone lands, the propellers stop rotating and fold downwards.

[0055] S60, the automatic airport cabin door closes, and the capture ring falls down onto the base driven by the cable.

[0056] The drone landing system is simple and quick. When the drone is stored in the automated airport, it can be charged. When the mission is over or the battery is low, it can return to the airport. The automated airport controls the movement of the capture ring through a cable, and the drone can land accurately in the automated airport. The automated airport has the advantages of small size, lightweight and high utilization rate.

[0057] Furthermore, S40 also includes the following step: when the capture ring is locked into the positioning slot on the drone, the capture ring moves downward together with the drone.

[0058] In summary, the automated airport of this invention has two or more cabin doors on its base. The base and cabin doors are connected by a cabin door opening device. A cable retraction device is provided on the inside of the cabin door. A suspended capture ring is located inside the cabin. The cable retraction device and the capture ring are connected by a cable. By using lightweight cables instead of rigid connecting rods, the weight is reduced, and the capture ring has excellent mobility and covers a large working area. At the same time, due to the flexibility of the mechanism, it is well adapted to UAVs with dynamic loads. The UAV determines that it is within the range of the capture ring's travel through the precision landing module. After identifying the UAV's coordinate position, the capture ring is moved to the UAV's current coordinate position via the cable. The capture ring moves with the UAV's coordinate position. After the UAV lands on the capture ring, the cabin door closes. It has an ultra-high space utilization rate of more than 80%, high integration, and can be deployed conveniently and quickly, overcoming the problems of traditional take-off and landing platform configurations, bulky size, high cost, and difficult transportation and deployment.

[0059] The above are merely embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention's specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An automated airport for unmanned aerial vehicles (UAVs), characterized in that, The device includes a base and two or more cabin doors mounted on the base. The base and cabin doors together form a cabin capable of accommodating and storing drones. The base and cabin doors are connected by a cabin door opening device. A cable retraction device is provided on the inside of the cabin door. A suspended capture ring is provided inside the cabin. The cable retraction device is connected to the capture ring by a cable. One end of the cable is fixed to the capture ring, and the other end is wrapped around the cable retraction device. The cable retraction device can tighten or loosen the cable.

2. The unmanned aerial vehicle (UAV) automated airport according to claim 1, characterized in that, The cabin door opening device includes a first drive motor and a hinge. The first drive motor includes a first control unit and a first drive shaft. The first control unit receives and controls the movement of the first drive shaft, and the first drive shaft drives the hinge to open or close so that the cabin door is opened or closed.

3. The unmanned aerial vehicle (UAV) automated airport according to claim 1, characterized in that, The cable winding and unwinding device includes a second drive motor and a cable reel. The second drive motor includes a second control unit and a second drive shaft. The second control unit controls the movement of the second drive shaft, and the second drive shaft drives the cable reel to move to wind up and unwind the cable.

4. The unmanned aerial vehicle (UAV) automated airport according to claim 1, characterized in that, The base is equipped with a retaining ring, the shape and size of which are adapted to the nose of the drone.

5. The unmanned aerial vehicle (UAV) automated airport according to claim 1, characterized in that, The fixed ring is equipped with charging contacts to charge the drone when it is stored in the automated airport.

6. A drone landing system, characterized in that, Including unmanned aerial vehicles (UAVs) and automated airports as described in any one of claims 1-5, the UAV includes a fuselage, a nose and a precision landing module, the fuselage is equipped with foldable propellers and the nose is equipped with a pod, when the UAV lands, the automated airport cabin door opens and lands in the capture ring of the automated airport through the precision landing device.

7. The unmanned aerial vehicle landing system according to claim 6, characterized in that, The precision landing module provides infrared beacon-guided visual landing and / or laser-guided landing.

8. The unmanned aerial vehicle landing system according to claim 6, characterized in that, The drone has a positioning slot on its body. When the drone lands in the capture ring, the positioning slot and the capture ring lock together and are fixed in place.

9. A method for landing a drone, characterized in that, Includes the following steps: S10: The drone receives flight instructions and prepares for takeoff; the automated airport receives the drone takeoff instructions and opens the cabin door. S20: The drone takes off to perform a flight mission and returns to base when the mission is completed or the battery is low. S30, the automated airport receives a landing command from the drone and opens the cabin door; S40: The drone is preparing to land. The capture ring in the automated airport moves according to the drone's real-time position to match the drone's position and land accurately. After the S50 drone lands, the propellers stop rotating and fold downwards. S60, the automatic airport cabin door closes, and the capture ring falls down onto the base driven by the cable.

10. A method for landing a drone according to claim 9, characterized in that, S40 also includes the following step: when the capture ring is locked into the positioning slot on the drone, the capture ring moves downward together with the drone.

Images