CN109070759A - 用于能够进行地面移动的无人驾驶飞行器的对接再充电站 - Google Patents
用于能够进行地面移动的无人驾驶飞行器的对接再充电站 Download PDFInfo
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Abstract
这里引入的技术包括一种对能够进行地面移动的无人驾驶飞行器进行高效对接和再充电的系统,该系统利用了平台、坡道、集成在平台中的能够对所述飞行器进行再充电的电路和接口,通过该系统,能够遮蔽不利的天气条件并且能够同时对能够进行地面移动的多个无人驾驶飞行器进行再充电,而不会招致不希望的干扰和延迟。
Description
技术领域
本发明的各种实施方式总体上涉及用于对一个或更多个无人驾驶飞行器(UAV或无人驾驶飞机)进行充电和对接的系统。
背景技术
UAV是无人驾驶的(例如,遥控的)飞机,其可携带通常由操作者进行控制的传感器、摄像机、通信设备或其它有效载荷,并且其飞行可遵循预定的飞行指令。
本领域中目前的技术发展应对了UAV的全自动化,但是它们因UAV的有限能量储存而受到限制。
UAV技术中的另一个经常发生的问题是,当前的解决方案不允许在无人机需要被再充电时具有所需的灵活性。特别地,已经设想到的现有充电再充电站通常仅允许同时对一个UAV进行充电。
即使先前的解决方案允许同时对不止一个UAV进行充电,降落在再充电站并且连接于充电装置的动作也需要精确的遥控或异常的精度。例如,无人机必须精确降落在它们可立即连接到充电器的场所。因此,这些解决方案需要用更复杂的软件将UAV引导到精确的着陆点和/或需要人类的远程干预。其它一些解决方案利用机械辅助在UAV着陆在较大区域中之后将UAV定位。
在恶劣天气条件或电信/GSP信号丢失的情况下,以上困难甚至更加复杂,在UAV飞行的情况下,这会使它们的着陆轨迹不稳定并且使它们立即连接于充电装置的能力不稳定。
先前设计的解决方案的另一个错误也与恶劣的天气条件有关:在暴露于雨、暴风雨、强风等的情况下进行再充电时,UAV无法找到任何遮蔽场所。在不止一个UAV必须进行再充电的情况下,它们不仅难以被再充电,而且必须排队等候,而没有任何遮蔽场所让它们能等待依次接收新能量,伴随的风险是在接收到新能量之前它们的电池就被耗尽。
如果认为现有技术允许电池供电的UAV以完全自主的方式在例如两个设定点之间进行短距离飞行但是可从市场上获得的大多数UAV在进行再充电之间的飞行时间(例如,大约15分钟)是有限的,则以上提到的问题会更加严重,这会进一步限制这种技术被更广泛地使用。
发明内容
本公开的实施方式包括UAV对接再充电站(“UAV站”),该UAV对接再充电站旨在克服现有技术的问题,先前已经描述了这些问题中的一些,尤其是与UAV的低再充电能力和管理其着陆系统的困难相关的那些问题。
事实上,本公开的实施方式包括能够保证多个UAV每天24小时具有与天气或电信条件无关的完全可操作性的系统,同时还提供安全、防水的对接点,在该对接点,即使在大雨、下雪、强风等情况下,未在使用中的UAV也可得到遮蔽。借助于在给定任务的非飞行阶段期间使UAV复原的完好的功能性和被遮蔽的位置,所述实施方式能够确保在不利天气条件下安全着陆并且确保UAV队伍的连续可操作性。
本公开的实施方式可包括平台,平台的形状可以是例如圆形或多边形,并且其直径可例如从大约30cm变化至几米。平台可被升高到地面上方并且受防水系统保护。该平台既可以用作着陆和起飞发射台,又可以用作通信中继,因而与该区域内的部分或全部飞行的UAV以及其它移动机器人进行交互。
本发明的实施方式可采用无线充电技术,尤其与连接焊盘由于电解侵蚀或其它化学效应而更容易劣化的其它解决方案(例如,机械电池交换或其它导电系统)相比时,该无线充电技术可随时间推移而供应改进的可靠性。本发明的实施方式包括配备有确保与再充电系统联接的车载单元的UAV。
为了克服不精确着陆的问题,本公开的实施方式包括UAV站,UAV站包括受顶部护罩保护的被遮蔽区域或小型机库和飞机库之间的组合,其还配备有坡道,以方便UAV的移动,尤其是在UAV配备有轮子或类似地面推进系统(以插头形式集成或附接于飞行器)的本公开的实施方式中。在本公开的一些实施方式中,这种UAV配置与站的上述特征相结合而允许UAV使用例如基于已知机器人技术的跟踪系统和对接过程通过地面移动自主地到达再充电站。
在本公开的一些实施方式中,对接再充电站还可配备有传感器和其它引导装置(例如,机电引导件、激光或雷达系统),以辅助UAV处于对接阶段并且辅助与再充电电子器件进行联接。这可包括例如借助站上的多个LED进行对准的图像识别系统或实时产生附近物体的3D或2D点云的已知系统和方法(同时定位和映射-SLAM-系统)。
在本公开的一些实施方式中,可通过使用例如机械引导件使UAV与对接再充电站的最终对接稳定。在一些实施方式中,一旦UAV与站对接,就可用可移动的雨护罩或雪护罩(由例如电磁电机致动)来保护站和UAV。
提供该发明内容是为了以简化形式介绍所选择的构思,将在具体实施方式和附图中进一步描述这些构思。该发明内容不旨在识别所声明的主题的基本特征或者限制所声明的主题的范围。
附图说明
通过参照以下结合附图的具体实施方式,可更好地理解这里引入的技术,其中,类似的附图标记指示相同或功能相似的元件:
图1提供了根据本公开的实施方式的用于对一个或多个无人驾驶飞行器(UAV)进行充电和对接的站的例示性表示;
图2是从不同角度看的根据本公开的实施方式的用于对一个或多个无人驾驶飞行器进行充电和对接的站的另一个表示,在其内部还示出了UAV;
图3是根据本发明的实施方式的用于对UAV进行充电和对接的站的另一个表示,示出了在UAV利用其地面推进系统接近站时着陆在远离站的可能点;
图4再次示出了从侧视图看的根据本公开的实施方式的对UAV进行充电和对接的站;
图5例示了从不同角度看的根据本公开的实施方式的配备有地面推进系统的UAV;
图6示出了根据本公开的实施方式的具有蘑菇/伞形的对接再充电站,其中突出了上部护罩的特有形状;
图7例示了根据本发明的实施方式的图6中示出的站的一些部分;
图8再次示出了从另一个角度看的图6中包含的本发明的所述实施方式;
图9再次示出了图6中例示的本发明的所述实施方式,其中,可发现多个UAV接近站;以及
图10例示了还配备有地面推进系统的另一种类的UAV。
必须注意,为了例示的简单和清楚,图(或附图)中示出的元件不一定按比例绘制,使得与同一附图中的存在的其它元件相比,可能夸大了这些元件或这些元件的部分的尺寸。
具体实施方式
本公开旨在解决与无人驾驶飞行器(UAV)在相当大尺寸的空间中尤其是在恶劣天气条件可能会成为严重问题的外部区域中使用时与其相关的多种低效率。到目前为止,UAV的潜力还受限于它们有限的能量存储以及它们(尤其地)在外部进行再充电可能成为一项艰巨的任务而且相当冗长的事实,而本公开设法用一种多层面解决方案来解决所有这些问题和所有与上述问题相关的附带问题。
本公开的实施方式包括用于对配备有地面推进系统202进而配备有轮子202或其它推进装置(例如,连续轨道)的一个或多个UAV 201进行对接和再充电的系统(或站)109,系统(或站)109包括坡道101和平台102,在平台102中,存在能够借助连接于诸如化学电池或电网(电力网)108的电储存单元而对UAV 201进行再充电的集成在平台102中的电路和接口的复杂系统。
在本公开的一些实施方式中,UAV 201借助于其地面推进系统202可着陆于更加远离301对接再充电站109的地方,并且仅仅随后靠近坡道101,并且借助于其推进系统202,接近并到达平台102,它们能在那里进行再充电。因此,不需要UAV 201精确地落在一个精确场所来进行再充电。
在本公开的一些实施方式中,对接再充电站109还配备有护罩105,护罩105覆盖平台102,使得保护UAV 201免受恶劣天气112条件或其它问题的影响。此护罩105还可以伴随有机构104,机构104允许站109打开或关闭,使得UAV 201一旦进入对接再充电站109并且已经到达平台102,就可安全地停留在站109本身内,而在它们正在被再充电时不会暴露于不利或不想要的天气112条件。
本发明的实施方式包括对接再充电站109,对接再充电站109可容纳不止一个UAV201并且对其进行再充电,如例如图4中示出的。因此,与先前的解决方案不同,多个UAV 201可被同时遮蔽和充电,而不用在再充电之前在空中或地面等待而浪费时间和宝贵的能量。
在本发明的其中一个实施方式中,对接再充电站109的护罩105具有菌帽或伞602的形状,并且旨在当UAV 201直接着陆在平台102上或者它们着陆在地面301上并且它们利用坡道101随后它们借助于其地面推进系统202到达它们在此处能被遮蔽和/或再充电的平台102时,保护UAV 201。在本发明的一个实施方式中,所描述的对接再充电站的菌形状允许UAV 201从任何方向接近它,具有360°可达性,坡道101位于每个可能的着陆方向上。
在本发明的一个实施方式中,具有菌形状602的对接再充电站109由一个或多个竖直杆601支撑,但是站109也有可能关闭其帽/伞602,使得UAV 201受到保护。在本发明的一个实施方式中,借助于存在于UAV 201上或外部装置中的传感器203,这种保护功能被自动启用,传感器203检测天气112和其它飞行状况,并且通过通信装置204发送到对接再充电站本身,对接再充电站借助于其关闭部分104而关闭其帽602或至少其护罩105。
本发明的实施方式包括利用电感式无线技术或电容式无线技术的充电平台102和/或坡道101或安装在平台104上的导电直接接触件111,使得UAV 201可按对于不同设置而言最便利的方式进行再充电。本发明的实施方式还包括系绳110,系绳110将被连接于UAV201以便交换数据或其它信息。
在本发明的一个实施方式中,多个定位和引导传感器106安装在对接再充电站109的平台102或坡道101或护罩105中,并且它们可检测变化的天气112条件或其它不利条件,并且通过通信设备107与安装在UAV 201上的传感器203通信。在本发明的一个实施方式中,可借助于通过放置在UAV 201和对接再充电站107二者上的通信装置204而能够在UAV 201和对接再充电站109之间进行的信息交换并且借助于安装在站109中和UAV 201、203上或外部的传感器106来自动进行护罩105、602、104的打开和关闭。在本发明的一个实施方式中,安装在UAV 201中的传感器203和安装在站109中的传感器203可有助于UAV 201自己决定哪里是对于随后接近站109而言最佳的着陆点301。另外,通过UAV 201及其地面推进系统202的多功能性,使此操作变得更容易。在本发明的一个实施方式中,所述传感器203、106可以包括诸如小型相机(包括热像仪)的接近传感器、灯泡或光学LED、磁性、无线电信号、聚焦微波、激光、超声波或雷达,并且还包括用于测量外部环境条件的气象天气传感器112。在本发明的一个实施方式中,站的通信装置107可包括Wi-Fi接入点或W-LAN路由器或3G、4G、5G、LTE、OFDM、超宽带中继,以允许站109被连接并且提供与周围地区的连接。
在本发明的一个实施方式中,平台102配备有静态、机械或机电引导屏障或齿轮604,以便于在利用坡道101定位在平台102上时与UAV 201、202的电路正确对接和联接。
在本公开的一个实施方式中,护罩105、602配备有太阳能面板801和能量储存单元802,能量储存单元802可有助于工作站109和/或其电池113在不需要一定与电网108连接或更换电池113的情况下进行工作。
在本公开的一个实施方式中,对接再充电站109借助于地面推进系统(诸如,轮子或连续轨道)而非固定支撑件701成为可移动的,并且另外远程地借助于安装在站中(优选地,护罩105、602中)的通信装置603、107,使它可在地面上移动。
在本公开的一个实施方式中,站109配备有配对计算机114,计算机114能够自主地启用再充电电路103、传感器106和一般在平台102上和护罩105、602上或站109中存在的任何电子器件。
已经出于例示的目的呈现了本发明的实施方式的以上描述;并非旨在是穷尽的,或者将本发明限于所公开的精确形式。相关领域的技术人员可理解,鉴于以上的公开内容,许多修改和变形是可能的。本文中描述的步骤、操作或处理中的任一个可以用一个或更多个软件或硬件模块单独地或与其它装置相结合地执行或实现。
本发明的实施方式还可涉及在载波中实施的计算机数据信号,其中,计算机数据信号包括本文中描述的计算机程序产品或其它数据组合的任何实施方式。计算机数据信号是以有形介质或载波呈现并且被模块化或以其它方式编码在有形的载波中并且根据任何合适的传输方法进行传输的产品。
最后,说明书中使用的语言主要是出于可读性和指导目的而选择的,并且可能未选择它来描绘或限制本发明的主题。因此,本发明的范围旨在不受该具体实施方式的限制,而是受基于此的应用造成的任何权利要求的限制。因此,本发明的实施方式的公开旨在是随附权利要求书中阐述的本发明的范围的例示或非限制。
除非上下文在整个说明书和权利要求书中明确需要,否则词语“包括”、“包含”等将以包括性意义(即,从“包括但不限于”的意义上说)解释,与排他性或穷尽性意义形成对照。如本文中使用的,术语“连接”、“联接”或其任何变型意指两个或更多个元件之间的直接或间接的任何连接或联接。元件之间的这种联接或连接可以是实体的、逻辑的或其组合。另外,词语“其中”、“上方”、“下方”和相似意义的词语当在本申请中使用时参照的是整体的本申请,而非本申请的任何特定部分。在上下文允许的情况下,使用单数或复数的以上具体实施方式中的词语还可包括分别包括复数或单数。参照两个或更多个条目的列表的词语“或”涵盖了该词语的以下所有解释:该列表中的任一个条目、该列表中的全部条目和该列表中的任何条目组合。
本发明的示例的以上具体实施方式并非旨在是穷尽的或者将本发明限于以上公开的精确形式。虽然出于示例性目的在以上描述了本发明的具体示例,但是如相关领域的技术人员将认识到的,在本发明的范围内可能进行各种等同修改。虽然在本申请中以给定顺序呈现了处理或块,但是替代实现方式可执行具有以不同顺序执行的步骤的例程,或者采用具有不同顺序的块的系统。可删除、移动、添加、细分、组合和/或修改一些处理或块,以提供替代形式或子组合。另外,虽然有时将处理或块示出为被串行执行,但是这些处理或块可替代地并行执行或实现,或者可在不同时间执行。另外,本文中指出的任何具体数字仅是示例。要理解,替代实现方式可采用不同的值或范围。
本文中提供的各种例示和教导也可应用于除了上述系统之外的系统。可组合上述各种示例的元素和动作,以提供本发明的其它实现方式。
以上提到的任何专利和申请以及其它参考文献(包括可能在随附提交文件中列出的任何参考文献)都以引用方式并入本文中。如有需要,可修改本发明的各方面,以采用这些参考文献中包括的系统、功能和概念,以提供本发明的其它实现方式。可依据以上具体实施方式对本发明进行这些和其它改变。虽然以上说明书描述了本发明的某些示例并且描述了料想到的最佳模式,但是无论以上文本中出现得如何详细,本发明都可按许多方式来实践。系统的细节的具体实施方式可大有不同,同时仍然被涵盖在本文中公开的发明内。如上所述,在描述本发明的某些特征或方面时使用的特定术语不应该被视为本文中重新定义的术语限于与该术语关联的本发明的任何特定特性、特征或方面。通常,随附权利要求书中使用的术语不应该被解释为将本发明限于说明书中公开的具体示例,除非以上的具体实施方式部分明确地定义了这些术语。因此,本发明的实际范围不仅涵盖了所公开的示例,而且还包括在权利要求下实践或实现本发明的所有等同方式。
Claims (12)
1.一种高效容纳无人驾驶飞行器并且对其进行再充电的系统,该系统包括:
平台;
坡道,所述坡道连接于所述平台;
无人驾驶飞行器,所述无人驾驶飞行器配备有地面推进系统,所述地面推进系统允许所述无人驾驶飞行器在地面上移动并且所述地面推进系统能够使用所述坡道;
电路和接口,所述电路和接口集成在所述平台中并且能够对配备有地面推进系统的所述无人驾驶飞行器进行再充电。
2.根据权利要求1所述的系统,其中,所述平台配备有性质相同或不同的多个再充电电子器件并且配备有多个兼容的配备有地面推进系统的无人驾驶飞行器,并且其中,存在多个出入坡道,所述出入坡道允许配备有地面推进系统的所述无人驾驶飞行器被定位在所述再充电电子器件上。
3.根据权利要求1所述的系统,其中,能够再充电的电路电子器件是基于再充电无线技术或电容型无线技术的或者是安装在基座上的导电直接接触件,并且其中,配备有地面推进系统的所述无人驾驶飞行器被设计成允许进行再充电。
4.根据权利要求3所述的系统,其中,所述坡道是能通过对称斜坡而360度可达的,所述对称斜坡会聚到再充电电路所处的区域。
5.根据权利要求1所述的系统,其中,存在顶部“伞状”护罩,所述顶部“伞状”护罩通过一个或更多个机械杆连接于所述平台。
6.根据权利要求5所述的系统,其中,所述机械杆能够竖直地延伸,使得所述顶部“伞状”护罩能移动,直至与所述平台和/或所述坡道接触。
7.根据权利要求5所述的系统,其中,在顶部安装有太阳能面板,该太阳能面板与位于所述顶部“伞状”护罩下方并且处在中央杆的内部或所述平台的下方的储存电池系统连接。
8.根据权利要求1所述的系统,其中,跨所述平台或所述坡道或所述顶部“伞状”护罩安装有一个或多个定位引导传感器。
9.根据权利要求1所述的系统,其中,借助于地面推进机构和数据传输系统,所述平台能远程移动。
10.根据权利要求8所述的系统,其中,所述站配备有配对计算机,所述配对计算机能够自主地启用所述平台上存在的所述电路电子器件和所述传感器。
11.根据权利要求1所述的系统,其中,系绳连接于所述平台或所述坡道并且能连接于配备有地面推进系统的所述无人驾驶飞行器,所述地面推进系统被配备成使用所述系绳与所述站交换能量或数据。
12.根据权利要求5所述的系统,其中,系绳连接于所述顶部“伞状”护罩并且能连接于配备有地面推进系统的所述无人驾驶飞行器,所述地面推进系统被配备成使用所述系绳与所述站交换能量或数据。
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US11065976B2 (en) | 2021-07-20 |
EP3419856A4 (en) | 2019-09-25 |
WO2017147237A1 (en) | 2017-08-31 |
US20190039752A1 (en) | 2019-02-07 |
EP3419856A1 (en) | 2019-01-02 |
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