CN114954983A - Shutdown platform, unmanned aerial vehicle base station, and landing method and system of unmanned aerial vehicle - Google Patents

Abstract

An unmanned aerial vehicle base station, comprising: the system comprises a shell, a shutdown platform and a radio frequency identification antenna; the shutdown platform and the shell are matched to form a relatively closed base station inner cavity, and the radio frequency identification antenna is used for verifying the identity of the unmanned aerial vehicle before the unmanned aerial vehicle lands to a shutdown area of the shutdown platform. The landing method and the landing system of the unmanned aerial vehicle base station are also provided.

Description

Parking platform, base station of unmanned aerial vehicle, landing method and system of unmanned aerial vehicle

technical field

Embodiments of the present invention belong to the technical field of unmanned aerial vehicles, and in particular, relate to a parking platform and an unmanned aerial vehicle base station using the parking platform, as well as a corresponding landing method and system of an unmanned aerial vehicle.

Background technique

The battery life of a small unmanned aerial vehicle (UAV) is limited, usually between 10 and 30 minutes. Every time the battery is exhausted, the battery needs to be replaced or recharged before it can continue to fly. Operation.

The existing solution to realize automatic remote operation of unmanned aerial vehicles is to configure charging stations for unmanned aerial vehicles, so that unmanned aerial vehicles can be automatically charged through the charging station, and then automatically operate according to pre-planned routes after the power supply is completed. The power supply methods mainly include battery replacement, contact charging and non-contact charging.

The method of replacing the battery requires the charging station to be equipped with a robotic arm, and at the same time, the UAV needs to be able to accurately position the UAV on the parking platform. The hardware and software requirements for the UAV and the charging station are high, and it is necessary to increase the complexity of the equipment to improve the operation precision and performance. positioning accuracy;

Non-contact charging mainly refers to wireless charging. The unmanned aerial vehicle keeps hovering during charging. While the unmanned aerial vehicle is required to have high positioning accuracy, the existing wireless charging solution has high requirements on the hardware of the device and low charging efficiency;

Contact charging uses the way that the charging contacts of the unmanned aerial vehicle contact the charging board to realize charging. However, the existing contact charging scheme has the problem that the positioning accuracy of the unmanned aerial vehicle is low, resulting in an excessively large area of the charging board.

To sum up, there is an urgent need for a platform with simple structure and accurate positioning for landing of unmanned aerial vehicles.

SUMMARY OF THE INVENTION

In order to solve the above problems, the embodiments of the present invention provide a parking platform with simple structure and accurate positioning, and also provide an unmanned aerial vehicle base station using the parking platform, and a corresponding landing method and system of the unmanned aerial vehicle.

In one aspect, the present invention provides an unmanned aerial vehicle base station, comprising: a casing, a parking platform, and a radio frequency identification antenna; wherein, the parking platform and the casing cooperate to form a relatively closed inner cavity of the base station, and the radio frequency identification The antenna is used to authenticate the unmanned aerial vehicle before the unmanned aerial vehicle descends to the parking area of the parking platform.

In another aspect, the present invention also provides a landing system for an unmanned aerial vehicle, including the unmanned aerial vehicle and the aforementioned unmanned aerial vehicle base station.

In another aspect, the present invention also provides a method for landing an unmanned aerial vehicle, comprising: the unmanned aerial vehicle base station sends the base station location information to the unmanned aerial vehicle through a remote control device; the unmanned aerial vehicle flies to the unmanned aerial vehicle according to the location information above the parking platform of the base station of the unmanned aerial vehicle; the base station of the unmanned aerial vehicle verifies the identity of the unmanned aerial vehicle through the radio frequency identification antenna; after the identity verification is passed, the unmanned aerial vehicle lands on the parking platform.

Description of drawings

In order to explain the present invention or the solutions in the prior art more clearly, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are of the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle base station provided by an embodiment of the present invention;

2 is a schematic structural diagram of an unmanned aerial vehicle landing on a base station according to an embodiment of the present invention;

3 is a schematic structural diagram of a shutdown area provided by an embodiment of the present invention;

4 is another schematic structural diagram of an unmanned aerial vehicle base station provided by an embodiment of the present invention;

FIG. 5 is a flowchart of a method for landing an unmanned aerial vehicle according to an embodiment of the present invention.

Detailed ways

In order for those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention are described clearly and completely below. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

An embodiment of the present invention provides a parking platform, which is applied to an unmanned aerial vehicle, and includes a parking area, a guide portion adjacent to the parking area, and a positioning point set in the parking area; wherein the guide portion surrounds the parking area. The parking area defines the size of the parking area, and the guide portion includes a guide surface facing the parking area, which is used to make the unmanned aerial vehicle slide down to the parking area along the guide surface when landing on the guide portion. In the area, the unmanned aerial vehicle is positioned to the positioning point at the same time.

The parking platform provided by the present invention uses the guide part to cooperate with the unmanned aerial vehicle to land, and realizes the positioning of the unmanned aerial vehicle in the parking area. The precise landing and positioning on the UAV reduces the equipment cost and complexity of the parking platform on the one hand, and reduces the accuracy requirements for the navigation and positioning equipment of the UAV on the other hand. It has strong versatility and a wider scope of application.

Based on the above-mentioned parking platform, an embodiment of the present invention further provides an unmanned aerial vehicle base station, which includes a casing, a remote control device, and the above-mentioned parking platform. The parking platform and the casing cooperate to form a relatively closed inner cavity of the base station. When the unmanned aerial vehicle needs to land on the parking platform, the remote control device sends the location information of the base station to the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly above the parking platform according to the location information, and land on the ground. On the guide portion, the guide portion slides down into the parking area along the guide surface of the guide portion, and at the same time completes the positioning at the positioning point.

Based on the above unmanned aerial vehicle base station, an embodiment of the present invention further provides a landing system for an unmanned aerial vehicle, including an unmanned aerial vehicle and an unmanned aerial vehicle base station, the unmanned aerial vehicle base station includes a remote control device and a parking platform, wherein the unmanned aerial vehicle The base station of the human aircraft sends the position information of the base station to the unmanned aerial vehicle through the remote control device, and the unmanned aerial vehicle flies to the top of the parking platform according to the position information, and further lands on the guide part of the parking platform , slide down the guide surface of the guide part into the stop area of the stop platform, and at the same time complete the positioning at the positioning points set in the stop area.

A landing system for an unmanned aerial vehicle, an embodiment of the present invention also provides a landing method for an unmanned aerial vehicle, including:

The UAV base station sends the base station location information to the UAV through the remote control device;

The unmanned aerial vehicle flies above the parking platform of the unmanned aerial vehicle base station according to the position information;

The unmanned aerial vehicle landed on the guide portion of the parking platform, and slid along the guide surface of the guide portion into the parking area of the parking platform, and at the same time, the positioning points set in the parking area completed the positioning.

Some specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Please refer to FIG. 1 and FIG. 2 together. The unmanned aerial vehicle base station 10 provided by the embodiment of the present invention includes a casing 100, a remote control device (not shown in the figure), and a parking platform 200, wherein the casing 100 may be a semi-closed structure , the shutdown platform 200 and the housing 100 cooperate to form a relatively closed inner cavity of the base station. In this embodiment, the remote control device can be installed in the inner cavity of the base station, or separately installed outside the base station, and is connected to the base station by wire.

Further, the parking platform 200 includes a parking area 210, a guide portion 220 adjacent to the parking area 210, and a positioning point 230 disposed in the parking area 210; wherein, the guide portion 220 surrounds the parking area 210 to define the The size of the parking area 210, the guide part 220 includes a guide surface 221 facing the parking area 210, when the UAV 20 needs to land on the parking platform 200, the remote control device sends the location information of the UAV base station 10 to The unmanned aerial vehicle 20 is used to make the unmanned aerial vehicle 20 fly to the top of the parking platform 200 according to the position information, and land on the guide part 220, slide down to the parking area 210 along the guide surface 221 of the guide part 220, and at the same time The positioning point 230 completes the positioning. In some embodiments, the parking platform 200 may include two or more parking areas 210 , the guide portion 220 defines the size of the entire parking area 210 , and spacers are provided between adjacent parking areas 210 . (not shown in the figure), each of the parking areas 210 is provided with the positioning point 230 .

Further, the positioning point 230 is provided with a charging position 231, and the charging position 231 is used for making electrical contact with the tripod of the UAV 20, so that the UAV base station 10 and the UAV 20 can be electrically connected. , a pair of metal contacts are arranged on the charging position 231 , wherein the pair of metal contacts are respectively connected to different electrodes of the charging power source.

In other embodiments, the stopping platform 200 includes positioning points 230 arranged in pairs, charging positions 231 are arranged on the positioning points 230, metal contacts are arranged on the charging positions 231, and the paired The metal contacts on the positioning points 230 are respectively connected to different electrodes of the charging power supply, that is, the metal contact on one positioning point 230 is connected to the positive pole of the charging power supply, and the metal contact on the other positioning point 230 is connected to the negative pole of the charging power supply.

Optionally, the metal contacts provided on the charging position 231 described in the foregoing embodiments may include charging metal contacts and data transmission metal contacts, and the unmanned aerial vehicle 20 can also be charged through the charging metal contacts while charging. The wired communication with the base station is realized through the data transmission metal contacts, and different types of data interaction are carried out, such as upgrading the flight control system of the unmanned aerial vehicle 20 .

Optionally, a limiting portion 232 is also provided on the aforementioned positioning point 230, and the limiting portion 232 can cooperate with the bottom of the tripod of the unmanned aerial vehicle 20 to limit the movement of the unmanned aerial vehicle 20 on the plane. The portion 232 is a limiting groove, and the tripod of the unmanned aerial vehicle 20 is provided with a protrusion. When the unmanned aerial vehicle 20 falls on the guide portion 220 and slides down into the parking area 210 along the guide surface 221, When the charging contact of the UAV 20 is positioned to the positioning point 230, the protrusion at the bottom of the tripod of the UAV 20 is just positioned in the limiting groove, so that the UAV 20 cannot be located where the parking area 210 is located. Translation or rotation in the plane; since the unmanned aerial vehicle 20 can slide down to the parking area 210 under the action of the guide part 220 to complete precise positioning, even when the metal contact area on the charging position 231 is small, the feet of the unmanned aerial vehicle 20 The rack can also precisely contact the metal contacts on the charging position 231 to realize the electrical connection between the unmanned aerial vehicle 20 and the unmanned aerial vehicle base station 10, thereby realizing the charging of the unmanned aerial vehicle 20; in a specific embodiment, the charging position 231 is located at The limiting portion 232 may also be located on one side of the limiting portion 232 .

In other embodiments, a limiting portion 232 may be provided in the parking area 210 adjacent to the positioning point 230 . Referring to FIG. 3 , the positioning point 230 includes a plurality of charging points circumferentially arranged around the limiting portion 232 . Position 231, so that when the unmanned aerial vehicle 20 lands in the parking area 210 in different directions, the legs of the unmanned aerial vehicle 20 can all be in contact with the metal contacts of the charging position 231.

In other embodiments, the positioning point 230 is also provided with a movable cover plate (not shown in the figure), or only a movable cover plate is provided at the charging position 231 of the positioning point 230, and the movable cover plate is located at the charging position 231 of the positioning point 230. The UAV 20 is automatically opened when landing or charging, and automatically closed when the UAV 20 is fully charged or taken off to protect the exposed metal contacts.

Further, the guide portion 220 may include a plurality of guide surfaces 221 facing the parking area 210, and each guide surface 221 may be a plane or curved surface inclined relative to the parking area 210, so as to form a depression above the parking area 210, The recess is used to accommodate the unmanned aerial vehicle 20 . The shape and size of the parking area 210 are defined by the guide parts 220 surrounding the parking area 210 . For example, the guide part 220 of the parking area 210 includes four first guide surfaces 2210 with the same shape and size and four second guide surfaces 2211 with the same shape and size , the four first guide surfaces 2210 are connected with the corresponding edges of the parking area 210 , and each of the four second guide surfaces 2211 is connected with the corresponding adjacent two first guide surfaces 2211 A rectangular area is defined between the guide surfaces 2210 , and the rectangular area is the parking area 210 . Generally, the shape and size of the parking area 210 match the shape and size of the tripod of the UAV 20 . In some embodiments, the guide portion 220 may be a guide plate or a guide table.

Referring back to FIG. 2 , the UAV base station 10 further includes a protective assembly 300 mounted on the housing 100 . Specifically, the protective assembly 300 is located above the parking platform 200 , and the protective assembly 300 is connected to the The parking area 210 and the guide portion 220 cooperate to form a receiving cavity of the unmanned aerial vehicle 20 . The protection assembly 300 is used to protect the parking platform 200 and the unmanned aerial vehicle 20 landing on the parking platform 200 . In this embodiment, the protective component 300 can achieve the effects of dustproof, waterproof, and high temperature exposure protection, thereby forming a safe storage environment that effectively protects the unmanned aerial vehicle 20 during long-term operation outdoors.

Further, referring to FIG. 4 , the protection assembly 300 includes a driving member 310 and a protection door 320 , the driving member 310 drives the protection door 320 to open or close relative to the housing 100 , and the protection door 320 may be The single-opening or double-opening plane door can also be a box-shaped or hemispherical special-shaped door, and the heterosexual door can also be set to a single-opening or double-opening form; as an optional solution, a transparent window can be provided on the protective door 320 . In other optional solutions, the protection assembly 300 further includes a sealing ring disposed on the protection door 320, and the sealing ring may be a rubber ring.

In some embodiments, the driving member 310 may be a jacking cylinder, and the piston rod of the jacking cylinder is fixedly connected to the protective door 320 to drive the protective door 320 to move in the vertical direction to complete the protection Opening and closing of door 320.

In other embodiments, the protective assembly 300 further includes a connecting assembly 330 , and the connecting assembly 330 connects the protective door 320 and the housing 100 .

As an optional solution, referring to FIG. 4 again, the connecting assembly 330 is an external hinge structure, and specifically includes a first connecting portion 331 , a second connecting portion 332 and a rotating shaft 333 . The first connecting portion 331 and the second connecting portion 331 332 are respectively connected to the protective door 320 and the outer surface of the housing 100 , the rotating shaft 333 is connected to the driving member 310 , the first connecting part 331 and the second connecting part 332 pass through the rotating shaft 333 The connection surface of the first connection part 331 and the second connection part 332 adopts a large-area connection surface, and the first connection part 331 and the second connection part 332 are respectively fixed on the protective door 320 and the protective door 320 by screws or rivets. On the outer surface of the housing 100, the rotating shaft 333 is fixedly connected with the first connecting portion 331, and at the same time, the rotating shaft 333 is mounted on the bearing seat provided on the second connecting portion 332 through the bearing, and the rotating shaft 333 is driven to rotate by the driving member 310, thereby driving the rotating shaft 333 to rotate. The first connecting portion 331 and the protective door 320 move as a whole to realize the opening and closing of the protective door 320; in this embodiment, the protective assembly 300 includes a plurality of connecting assemblies 330, and the rotating shafts 333 of the plurality of connecting assemblies 330 are coaxial , and the rotating shaft 333 of one of the connecting assemblies 330 is connected with the driving member 310. In this embodiment, the connecting assembly 330 can be adjusted to ensure the coaxiality of the rotating shafts of the multiple connecting assemblies 330; The assembly 330 adopts the structure of the outer hinge, which can be unfolded to a larger angle, so that the opening and closing range of the protective door 320 is larger, and the outer hinge mechanism is adopted at the same time. The relatively sealed storage cavity of the unmanned aerial vehicle 20 is conducive to dustproof and waterproof, etc. At the same time, the first connecting part 331 and the second connecting part 332 adopt large-area connecting surfaces, which can increase the stability of the protective door 320 and the side wind resistance. The impact capability ensures that the protective door 320 can be opened and closed safely in windy weather.

As an optional solution, the connecting assembly 330 includes a guide rail (not shown in the figure) and a sliding seat (not shown in the figure), and the guide rail is fixedly connected with one of the protective door 320 and the housing 100, so The sliding seat is fixedly connected with the other one of the protective door 320 and the housing 100 , and the driving member 310 is connected with the sliding seat.

Further, in another embodiment, the guide portion 220 in the previous embodiment includes a plurality of the guide surfaces 221 facing the parking area 210 , and a first ventilation portion is provided on some or all of the guide surfaces 221 2212, the unmanned aerial vehicle 20 may heat up the battery due to charging or the fuselage of the unmanned aerial vehicle 20 may heat up due to operation at high temperature. In these cases, when the unmanned aerial vehicle 20 lands in the parking area 210 of the parking platform 200, the first ventilation provided by the guide surface 221 can be used. The air is supplied from the part 2212 to cool the body or the battery of the UAV 20; in other embodiments, a guide fan (not shown in the figure) is provided on the side of the guide part 220 away from the parking area 210 , the size of the blades of the guide fan is adapted to the size of the first ventilation portion 2212 provided on the guide surface 221; as an optional embodiment, the first ventilation portion 2212 is a mesh vent or a Grille vents.

Further, the stop area 210 is provided with a second ventilation part 211. As an optional embodiment, the second ventilation part 211 provided in the stop area 210 includes a plurality of through holes arranged in an orderly manner, and these through holes can be positioned around Point 230 Settings. Of course, the second ventilation part 211 provided in the shutdown area 210 may also be a mesh ventilation port or a grid ventilation port. Optionally, a guide fan may also be installed at the back of the shutdown area 210 .

Further, the unmanned aerial vehicle base station 10 is correspondingly provided with a temperature adjustment device (not shown in the figure), the temperature adjustment device can be a fan or an air conditioner, and the temperature adjustment device can adjust the temperature inside the base station. On the shutdown platform 200, and when the protective door 320 of the protective assembly 300 provided above the shutdown platform 200 is closed, the above-mentioned base station inner cavity, the first ventilation part 2212, the second ventilation part 211, and the receiving cavity together form a circulating air flow. Under the action of the diversion fan, the cold air blown by the temperature adjustment device of the unmanned aerial vehicle base station 10 flows in the air flow channel. Referring to FIG. 1 again, the black hollow arrow in the figure indicates the air flow direction. Under the action of the guide fan, the cold air output by the temperature adjustment device enters the receiving cavity from the inner cavity of the base station through the first ventilation part 2212, and the hot air after cooling the UAV 20 returns to the inner cavity of the base station from the receiving cavity through the second ventilation part 211. The temperature adjustment device is used for cooling, and such a cycle can effectively reduce the temperature of the body or the battery of the UAV 20 . Of course, in a low temperature environment, warm air may also be blown by the temperature adjustment device of the base station 10 of the unmanned aerial vehicle to flow in the air channel, thereby increasing the temperature of the body of the unmanned aerial vehicle 20 .

In other embodiments, the remote control device includes a radio frequency identification antenna (not shown in the figure), and the radio frequency identification antenna is disposed below the positioning point 230 and is used to authenticate the unmanned aerial vehicle 20 to be landed .

Further, the UAV base station 10 is also provided with an environmental monitoring device (not shown in the figure), and the environmental data information collected by the environmental monitoring device is transmitted to the background server through the remote control device, wherein the environmental data The information includes temperature information, humidity information, light intensity information, rainfall information, wind speed information, and the like. The flight of the UAV 20 needs to meet certain flight conditions. For example, the temperature range of the UAV 20 for outdoor operation is -20°C to 45°C, and the wind speed range for outdoor operation is 0m/s to 12m/s. When the temperature or wind speed, etc. When it exceeds the working range or in rainy weather, it is not conducive to the flight of the UAV 20. Therefore, through the collection of environmental data information, environmental data such as temperature information, humidity information, light intensity information, rainfall information, and wind speed information are judged. Whether the information is within the normal range, if any item exceeds the normal range, it is considered that the environmental data information is abnormal. At this time, it is necessary to control the unmanned aerial vehicle 20 to return as soon as possible or stop the unmanned aerial vehicle 20 from taking off to ensure that the unmanned aerial vehicle 20 is in a suitable The flight mission can be performed under environmental conditions to ensure the safety and reliability of the unmanned aerial vehicle 20 during long-term storage or work outdoors.

Further, the UAV base station 10 is also provided with a display device (not shown in the figure) for displaying the status information of the UAV base station 10, the environmental data information collected by the environmental monitoring device and the state of the UAV 20. The information can be more convenient for the ground staff to maintain the equipment and instruments of the base station. In other embodiments, in order to facilitate maintenance, the housing 100 is provided with an operation door 110 for debugging the devices inside the housing 100 .

Further, the unmanned aerial vehicle base station 10 is also provided with a backup power supply (not shown in the figure), and when the external power supply of the unmanned aerial vehicle base station 10 is unstable or interrupted, the unmanned aerial vehicle base station 10 automatically switches to the backup power supply for power supply. , to ensure that the unmanned aerial vehicle 20 can continue to establish a connection with the unmanned aerial vehicle base station 10, automatically continue to perform operation operations and return home safely, and prevent the unmanned aerial vehicle 20 from losing remote control information due to unstable or interrupted power supply of the unmanned aerial vehicle base station 10. The operation is interrupted; optionally, the backup power source is a battery, which can be charged by a solar panel, or a power source outside the UAV base station 10 can be used to charge the battery; in some embodiments, After the UAV base station 10 is switched to the backup power supply and the power of the backup power supply drops to a certain range, the UAV base station 10 will send a return command to the UAV 20 to ensure that the UAV 20 returns home safely before the backup power supply is insufficient. And land on the parking platform 200 of the base station 10 of the unmanned aerial vehicle.

Compared with the existing unmanned aerial vehicle base station 10, the unmanned aerial vehicle base station 10 provided by the above embodiments has at least the following advantages:

(1) The parking platform 200 of the UAV base station 10 has a simple structure, and does not require a high-precision mechanical arm or a positioning and navigation module to realize the precise landing and positioning of the UAV 20 on the parking platform 200. On the one hand, it reduces the The equipment cost and complexity of the parking platform 200, on the other hand, reduces the accuracy requirements for the navigation and positioning equipment of the unmanned aerial vehicle 20, has strong versatility, and has a wider scope of application;

(2) When the UAV 20 lands on the parking platform 200, the UAV 20 can be automatically charged on the parking platform 200. Due to the high-precision positioning, the area of the metal contact of the charging position 231 can be made very small. , which can effectively avoid the potential safety hazards of large-area exposed metal contacts;

(3) When the unmanned aerial vehicle 20 is automatically charged, the battery of the unmanned aerial vehicle 20 can be effectively cooled to improve safety;

(4) When the unmanned aerial vehicle 20 is landed on the parking platform 200 for storage or charging, the unmanned aerial vehicle 20 is protected by the protection component 300, which can effectively prevent water, dust, high temperature exposure, etc., to ensure that the unmanned aerial vehicle 20 can be used outdoors for a long time. safety and reliability in storage;

(5) By collecting environmental data information, it can be ensured that the unmanned aerial vehicle 20 can automatically perform operations under suitable environmental conditions, and the safety of the unmanned aerial vehicle 20 can be ensured.

(6) By setting a backup battery for the base station, it can prevent the base station from losing contact with the UAV 20 due to unstable power supply or power failure, and ensure that the UAV 20 can continue to perform operations and return home safely.

Based on the unmanned aerial vehicle base station 10 provided in the above embodiment, the embodiment of the present invention further provides a landing system for an unmanned aerial vehicle. Referring to FIG. 2 again, the landing system for the unmanned aerial vehicle 20 includes an unmanned aerial vehicle 20 and an unmanned aerial vehicle. The base station 10, the unmanned aerial vehicle base station 10 includes a remote control device and a parking platform 200, wherein the unmanned aerial vehicle base station 10 sends the location information of the base station to the unmanned aerial vehicle 20 through the remote control device, and the unmanned aerial vehicle 20 flies to the top of the parking platform 200 according to the position information, and further descends on the guide portion 220 of the parking platform 200, and slides down along the guide surface 221 of the guide portion 220 to the stop of the parking platform 200 In the area 210, at the same time, the positioning point 230 set in the parking area 210 completes the positioning. In this embodiment, an RTK (Real-time kinematic) positioning module is installed on the UAV 20, and the UAV 20 receives and processes the position information through the RTK positioning module to obtain precise positioning information .

Further, the parking platform 200 includes a parking area 210, a guide portion 220 adjacent to the parking area 210, and a positioning point 230 disposed in the parking area 210; wherein, the guide portion 220 surrounds the parking area 210 to define the The size of the parking area 210, the guide part 220 includes a guide surface 221 facing the parking area 210, when the UAV 20 needs to land on the parking platform 200, the remote control device sends the location information of the UAV base station 10 to The unmanned aerial vehicle 20 is used to make the unmanned aerial vehicle 20 fly to the top of the parking platform 200 according to the position information, and land on the guide part 220, slide down to the parking area 210 along the guide surface 221 of the guide part 220, and at the same time The positioning point 230 completes the positioning. When the UAV 20 flies above the parking platform 200 according to the position information, the projection of the tripod of the UAV 20 on the parking platform 200 is located in the area where the guide portion 220 is located and/or in the shutdown area 210 .

In some embodiments, the parking platform 200 may include two or more parking areas 210 , the guide portion 220 defines the size of the entire parking area 210 , and spacers are provided between adjacent parking areas 210 . (not shown in the figure), each of the parking areas 210 is provided with the positioning point 230 .

Further, the positioning point 230 is provided with a charging position 231. After the unmanned aerial vehicle 20 is positioned at the positioning point 230, the charging position 231 is in electrical contact with the tripod of the unmanned aerial vehicle 20. Electrical connection between the UAV base station 10 and the UAV 20 .

In some embodiments, the charging position 231 is provided with a pair of metal contacts, wherein the pair of metal contacts are respectively connected to different electrodes of the charging power source.

In other embodiments, the stopping platform 200 includes positioning points 230 arranged in pairs, charging positions 231 are arranged on the positioning points 230, metal contacts are arranged on the charging positions 231, and the paired The metal contacts on the positioning points 230 are respectively connected to different electrodes of the charging power supply, that is, the metal contact on one positioning point 230 is connected to the positive pole of the charging power supply, and the metal contact on the other positioning point 230 is connected to the negative pole of the charging power supply.

Optionally, the metal contacts provided on the charging position 231 described in the foregoing embodiments may include charging metal contacts and data transmission metal contacts, and the unmanned aerial vehicle 20 can also be charged through the charging metal contacts while charging. The wired communication with the base station is realized through the data transmission metal contacts, and different types of data interaction are carried out, such as upgrading the flight control system of the unmanned aerial vehicle 20.

Optionally, a limiting portion 232 is also provided on the aforementioned positioning point 230, and the limiting portion 232 can cooperate with the bottom of the tripod of the unmanned aerial vehicle 20 to limit the movement of the unmanned aerial vehicle 20 on the plane. The portion 232 is a limiting groove, and the tripod of the unmanned aerial vehicle 20 is provided with a protrusion. When the unmanned aerial vehicle 20 falls on the guide portion 220 and slides down into the parking area 210 along the guide surface 221, When the charging contact of the UAV 20 is positioned to the positioning point 230, the protrusion at the bottom of the tripod of the UAV 20 is just positioned in the limiting groove, so that the UAV 20 cannot be located where the parking area 210 is located. Translation or rotation in the plane; since the unmanned aerial vehicle 20 can slide down to the parking area 210 under the action of the guide part 220 to complete precise positioning, even when the metal contact area on the charging position 231 is small, the feet of the unmanned aerial vehicle 20 The rack can also precisely contact the metal contacts on the charging position 231 to realize the point connection between the unmanned aerial vehicle 20 and the unmanned aerial vehicle base station 10, thereby realizing the charging of the unmanned aerial vehicle 20; in a specific embodiment, the charging position 231 is located at The limiting portion 232 may also be located on one side of the limiting portion 232 .

In other embodiments, a limiting portion 232 may be provided in the parking area 210 adjacent to the positioning point 230 . Referring to FIG. 3 , the positioning point 230 includes a plurality of charging points circumferentially arranged around the limiting portion 232 . Position 231, so that when the unmanned aerial vehicle 20 lands in the parking area 210 in different directions, the legs of the unmanned aerial vehicle 20 can all be in contact with the metal contacts of the charging position 231.

In other embodiments, the positioning point 230 is also provided with a movable cover plate (not shown in the figure), or only a movable cover plate is provided at the charging position 231 of the positioning point 230, and the movable cover plate is located at the charging position 231 of the positioning point 230. The UAV 20 is automatically opened when landing or charging, and automatically closed when the UAV 20 is fully charged or taken off to protect the exposed metal contacts.

In some embodiments, the guide portion 220 may include a plurality of guide surfaces 221 facing the parking area 210 , and each guide surface 221 may be a plane or curved surface inclined relative to the parking area 210 , so as to be formed above the parking area 210 A recess for receiving the UAV 20 . The shape and size of the parking area 210 are defined by the guide parts 220 surrounding the parking area 210 . For example, the guide part 220 of the parking area 210 includes four first guide surfaces 2210 with the same shape and size and four second guide surfaces 2211 with the same shape and size , the four first guide surfaces 2210 are connected with the corresponding edges of the parking area 210 , and each of the four second guide surfaces 2211 is connected with the corresponding adjacent two first guide surfaces 2211 A rectangular area is defined between the guide surfaces 2210 , and the rectangular area is the parking area 210 . Generally, the shape and size of the parking area 210 match the shape and size of the tripod of the UAV 20 . In some embodiments, the guide portion 220 may be a guide plate or a guide table.

Further, the UAV base station 10 further includes a protection component 300 for protecting the parking platform 200 and the UAV 20 landing on the parking platform 200 . Wherein, the protective assembly 300 is located above the parking platform 200 , and the protective assembly 300 cooperates with the parking platform 200 to form a receiving cavity of the unmanned aerial vehicle 20 . The protection assembly 300 is used to protect the parking platform 200 and the unmanned aerial vehicle 20 landing on the parking platform 200 . In this embodiment, the protective component 300 can achieve the effects of dustproof, waterproof, and high temperature exposure protection, thereby forming a safe storage environment that effectively protects the unmanned aerial vehicle 20 during long-term operation outdoors.

In some embodiments, the guard assembly 300 includes a drive member 310 and a guard door 320 , and the guard assembly 300 opens the guard through the drive member 310 before the UAV 20 descends to the parking platform 200 . The protective door 320 is closed by the driving member 310 after the UAV 20 descends to the parking platform 200 . The protective door 320 can be a single-opening or double-opening plane door, or a box-shaped or hemispherical special-shaped door, and the heterosexual door can also be set to a single-opening or double-opening form; as an optional solution, the protective door 320 Transparent windows can be set on the top. In other optional solutions, the protection assembly 300 further includes a sealing ring disposed on the protection door 320, and the sealing ring may be a rubber ring.

In some embodiments, the driving member 310 may be a jacking cylinder, and the piston rod of the jacking cylinder is fixedly connected to the protective door 320 to drive the protective door 320 to move in the vertical direction to complete the protection Opening and closing of door 320.

In other embodiments, the protective assembly 300 further includes a connecting assembly 330 , and the connecting assembly 330 connects the protective door 320 and the housing 100 .

As an optional solution, referring to FIG. 4 again, the connecting assembly 330 is an external hinge structure, and specifically includes a first connecting portion 331 , a second connecting portion 332 and a rotating shaft 333 . The first connecting portion 331 and the second connecting portion 331 332 are respectively connected to the protective door 320 and the outer surface of the housing 100 , the rotating shaft 333 is connected to the driving member 310 , the first connecting part 331 and the second connecting part 332 pass through the rotating shaft 333 The connection surface of the first connection part 331 and the second connection part 332 adopts a large-area connection surface, and the first connection part 331 and the second connection part 332 are respectively fixed on the protective door 320 and the protective door 320 by screws or rivets. On the outer surface of the housing 100, the rotating shaft 333 is fixedly connected with the first connecting portion 331, and at the same time, the rotating shaft 333 is mounted on the bearing seat provided on the second connecting portion 332 through the bearing, and the rotating shaft 333 is driven to rotate by the driving member 310, thereby driving the rotating shaft 333 to rotate. The first connecting portion 331 and the protective door 320 move as a whole to realize the opening and closing of the protective door 320; in this embodiment, the protective assembly 300 includes a plurality of connecting assemblies 330, and the rotating shafts 333 of the plurality of connecting assemblies 330 are coaxial , and the rotating shaft 333 of one of the connecting assemblies 330 is connected with the driving member 310. In this embodiment, the connecting assembly 330 can be adjusted to ensure the coaxiality of the rotating shafts of the multiple connecting assemblies 330; The assembly 330 adopts the structure of the outer hinge, which can be unfolded to a larger angle, so that the opening and closing range of the protective door 320 is larger, and the outer hinge mechanism is adopted at the same time. The relatively sealed storage cavity of the unmanned aerial vehicle 20 is conducive to dustproof and waterproof, etc. At the same time, the first connecting part 331 and the second connecting part 332 adopt large-area connecting surfaces, which can increase the stability of the protective door 320 and the side wind resistance. The impact capability ensures that the protective door 320 can be opened and closed safely in windy weather.

As an optional solution, the connecting assembly 330 includes a guide rail (not shown in the figure) and a sliding seat (not shown in the figure), and the guide rail is fixedly connected with one of the protective door 320 and the housing 100, so The sliding seat is fixedly connected with the other one of the protective door 320 and the housing 100 , and the driving member 310 is connected with the sliding seat.

Further, the unmanned aerial vehicle base station 10 is equipped with a radio frequency identification antenna, and the radio frequency identification antenna is arranged below the positioning point 230 . The UAV base station 10 authenticates the UAV 20 through the radio frequency identification antenna.

Further, the UAV base station 10 is also provided with an environmental monitoring device, and the environmental data information collected by the environmental monitoring device is transmitted to the background server through the remote control device. When the background server determines that the environmental data information is abnormal , the UAV base station 10 sends a return command to the UAV 20 through a remote control device. Specifically, the environmental data information collected by the environmental monitoring device is transmitted to the background server through the remote control device, wherein the environmental data information includes temperature information, humidity information, light intensity information, rainfall information, wind speed information, and the like. The flight of the UAV 20 needs to meet certain flight conditions. For example, the temperature range of the UAV 20 for outdoor operation is -20°C to 45°C, and the wind speed range for outdoor operation is 0m/s to 12m/s. When the temperature or wind speed, etc. When it exceeds the working range or in rainy weather, it is not conducive to the flight of the UAV 20. Therefore, through the collection of environmental data information, environmental data such as temperature information, humidity information, light intensity information, rainfall information, and wind speed information are judged. Whether the information is within the normal range, if any item exceeds the normal range, it is considered that the environmental data information is abnormal. At this time, it is necessary to control the unmanned aerial vehicle 20 to return as soon as possible or stop the unmanned aerial vehicle 20 from taking off to ensure that the unmanned aerial vehicle 20 is in a suitable The flight mission can be performed under environmental conditions to ensure the safety and reliability of the unmanned aerial vehicle 20 during long-term storage or work outdoors.

Further, the unmanned aerial vehicle base station 10 is further provided with a temperature adjustment device, after the unmanned aerial vehicle 20 landed on the parking platform 200, the unmanned aerial vehicle base station 10 activates the temperature adjustment device to adjust the temperature inside the base station. temperature. Optionally, the guide portion 220 of the UAV base station 10 includes a plurality of the guide surfaces 221 facing the parking area 210, and a first ventilation portion 2212 is provided on some or all of the guide surfaces 221, so that there is no unmanned aerial vehicle. The battery of the aircraft 20 may heat up due to charging or the fuselage may heat up due to operation at high temperature. In these cases, when the unmanned aircraft 20 lands in the parking area 210 of the parking platform 200 , the air can be supplied through the first ventilation portion 2212 provided on the guide surface 221 . , to cool the fuselage or battery of the unmanned aerial vehicle 20; in other embodiments, a diversion fan (not shown in the figure) is provided on the side of the guide portion 220 away from the parking area 210. The size of the fan blades of the fan is adapted to the size of the first ventilation portion 2212 provided on the guide surface 221; as an optional embodiment, the first ventilation portion 2212 is a mesh-shaped ventilation port or a grid-shaped ventilation port .

Further, the stop area 210 is provided with a second ventilation part 211. As an optional embodiment, the second ventilation part 211 provided in the stop area 210 includes a plurality of through holes arranged in an orderly manner, and these through holes can be positioned around Point 230 Settings. Of course, the second ventilation part 211 provided in the shutdown area 210 may also be a mesh ventilation port or a grid ventilation port. Optionally, a guide fan may also be installed at the back of the shutdown area 210 .

When the UAV 20 lands on the parking platform 200 and the protective door 320 of the protective assembly 300 provided above the parking platform 200 is closed, the above-mentioned base station inner cavity, the first ventilation part 2212 and the second ventilation part 211 , contain The cavities together form a circulating air flow channel. Under the action of the diversion fan, the cold air blown by the temperature adjustment device of the UAV base station 10 flows in the air flow channel. Referring to Figure 1 again, the black hollow arrow in the figure marks the air flow. The flow direction, specifically, under the action of the guide fan, the cold air output by the temperature adjustment device enters the receiving cavity from the inner cavity of the base station through the first ventilation part 2212, and the hot air after cooling the UAV 20 passes through the second ventilation from the receiving cavity. The part 211 is returned to the inner cavity of the base station to be cooled by the temperature adjusting device, and such a cycle can effectively reduce the temperature of the body or the battery of the UAV 20 . Of course, in a low temperature environment, warm air may also be blown by the temperature adjustment device of the base station 10 of the unmanned aerial vehicle to flow in the air channel, thereby increasing the temperature of the body of the unmanned aerial vehicle 20 .

Based on the unmanned aerial vehicle base station 10 and the landing system of the unmanned aerial vehicle provided by the above-mentioned embodiments, the embodiment of the present invention also provides a landing method of the unmanned aerial vehicle. Referring to FIG. 5 , the method includes:

S101. The UAV base station 10 sends the base station location information to the UAV 20 through the remote control device; optionally, before S101, the UAV base station 10 collects the environmental data information through the environment monitoring device, and sends the information to the UAV 20 in the environment. Send a return command to the UAV 20 when the data information is abnormal, wherein the environmental data information includes one or more of the following: temperature information, humidity information, light intensity information, rainfall information and wind speed information.

S102, the UAV 20 flies to the top of the parking platform 200 of the UAV base station 10 according to the position information; specifically, the projection of the tripod of the UAV 20 on the parking platform 200 is at In the area where the guide portion 220 is located and/or the parking area 210 .

S103. The unmanned aerial vehicle 20 is landed on the guide portion 220 of the parking platform 200, and slides down to the parking area 210 of the parking platform 200 along the guide surface 221 of the guide portion 220. The positioning point 230 set in the area 210 completes the positioning.

Further, before step S102, it also includes:

The UAV base station 10 opens the protective door 320 of the protective assembly 300 located above the parking platform 200; correspondingly, after step S103, the UAV base station 10 closes the protective assembly located above the parking platform 200 300 of the protective door 320.

Further, after step S103 , the method further includes: the unmanned aerial vehicle base station 10 charges the unmanned aerial vehicle 20 through the charging position 231 set on the positioning point 230 .

Further, after step S103, the method further includes: the UAV base station 10 turns on the temperature adjustment device.

For the structure and function of the hardware device involved in the landing method of the unmanned aerial vehicle provided by the embodiment of the present invention, reference may be made to the related technical content in the foregoing embodiment, and details are not repeated here.

Obviously, the above-described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. The accompanying drawings show the preferred embodiments of the present invention, but do not limit the patent scope of the present invention. The present invention may be embodied in many different forms, rather, these embodiments are provided so that a thorough and complete understanding of the present disclosure will be provided. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or perform equivalent replacements for some of the technical features. . Any equivalent structures made by using the contents of the description and the accompanying drawings of the present invention, which are directly or indirectly applied in other related technical fields, are all within the protection scope of the patent of the present invention.

Claims (14)

1. An unmanned aerial vehicle base station, comprising:

the system comprises a shell, a shutdown platform and a radio frequency identification antenna; the shutdown platform and the shell are matched to form a relatively closed base station inner cavity, and the radio frequency identification antenna is used for verifying the identity of the unmanned aerial vehicle before the unmanned aerial vehicle lands to a shutdown area of the shutdown platform.

2. The UAV base station of claim 1, wherein the outage area has a location point disposed therein, and wherein the RFID antenna is disposed below the location point.

3. The unmanned aerial vehicle base station of claim 1, further comprising an environment monitoring device and a remote control device, wherein the environment data information collected by the environment monitoring device is transmitted to the background server through the remote control device.

4. The UAV base station of claim 3, wherein the environment data information includes one or more of: temperature information, humidity information, illumination intensity information, rainfall information, and wind speed information.

5. The UAV base station according to claim 3 or 4, wherein when the background server determines that the environmental data information is abnormal, the UAV base station sends a return command to the UAV through the remote control device.

6. The UAV base station of claim 1 further provided with a temperature regulation device for regulating the temperature inside the base station.

7. The UAV base station of claim 6 wherein a plurality of first vents are provided in the UAV base station facing the outage area, the thermostat blowing air to the UAV via the first vents when the UAV is to be dropped into the outage area.

8. An unmanned aerial vehicle base station according to claim 6 or 7, wherein a second vent is provided in the outage area.

9. The UAV base station of claim 8 wherein a plurality of induced draft fans are further disposed therein, at least some of the induced draft fans being disposed on a side of the first vent portion facing away from the parking area.

10. The UAV base station of any one of claims 6-9 further comprising a guard assembly positioned above the shut-down platform and cooperating with the shut-down platform to form a receiving cavity for the UAV.

11. The UAV base station of claim 10 wherein the base station cavity, the receiving cavity, the first vent and the second vent collectively comprise a circulating air flow path.

12. The UAV base station of claim 11, wherein the cold air from the thermostat enters the receiving cavity from the base station cavity via the first vent to cool the UAV, and the hot air from the base station cavity is returned to the base station cavity via the second vent and cooled by the thermostat.

13. A landing system for an unmanned aerial vehicle, comprising an unmanned aerial vehicle and an unmanned aerial vehicle base station as claimed in any one of claims 1 to 12.

14. A method of landing an unmanned aerial vehicle, comprising:

the unmanned aerial vehicle base station sends base station position information to the unmanned aerial vehicle through the remote control device;

the unmanned aerial vehicle flies above a shutdown platform of the unmanned aerial vehicle base station according to the position information;

the unmanned aerial vehicle base station carries out identity verification on the unmanned aerial vehicle through a radio frequency identification antenna;

after the identity authentication is passed, the unmanned aerial vehicle lands on the shutdown platform.

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