CN111145593A - 分布式无人机系统及停机坪网络 - Google Patents
分布式无人机系统及停机坪网络 Download PDFInfo
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- CN111145593A CN111145593A CN201911075580.XA CN201911075580A CN111145593A CN 111145593 A CN111145593 A CN 111145593A CN 201911075580 A CN201911075580 A CN 201911075580A CN 111145593 A CN111145593 A CN 111145593A
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Abstract
公开了一种用于无人机的分布式停放系统,包括:分布在一地理区域上的用于无人机的停机坪网络,所述停机坪中的每一个包括:一个或多个停机位的停放表面,无人机可以在其上安全着陆和停放;能源补充模块,其对停放的无人机的动力源进行补充;控制模块,其控制所述停机坪的功能;和通信模块,所述控制模块通过所述通信模块连接到通信网络;以及主控制器,其控制所述停机坪的功能,并且通过所述通信网络向停机坪传送命令并从停机坪接收报告。
Description
技术领域
本发明总的涉及一种分布式无人机和停机坪的系统,无人机可以在停机坪上停放并接收能源补充。
背景技术
由于需要再充电、补充燃料或动力源交换,包括电池驱动的无人机和汽油驱动的无人机在内的所有动力无人机的飞行范围都受到限制。由于电池容量有限和高功耗,电池驱动的无人机的飞行范围和/或时间尤其有限。限制无人机应用的另一个因素是响应时间。当在几秒钟或几分钟内在某个地点需要无人机服务时,如果无人机必须从很远的地点起飞,则响应时间可能是数十分钟,因此响应太晚。不存在解决这些缺点的现有技术。
发明内容
在下文中,自主飞行器(AAV)或无人机可互换使用,是指在其上无人操作情况下可以飞行的交通工具。
本发明公开了一种用于无人机的分布式停放系统,包括:分布在一地理区域上的停机坪网络,所述停机坪中的每一个包括:一个或多个停机位的停放表面,无人机可以在所述停放表面上安全着陆和停放;能源补充模块,其对停放的无人机的动力源进行补充;控制模块,其控制所述停机坪的功能;和通信模块,所述控制模块通过所述通信模块连接到通信网络;以及主控制器,其控制所述停机坪的所述功能,并且通过所述通信网络向所述停机坪传送命令并从所述停机坪接收报告。一些或所有停机坪的通信模块通过共置(co-located)的移动网络基站或无线接入点连接到所述通信网络,或者它们的通信模块共享相同的网络连接,例如,相同的回程或去程电缆或光纤。
停机坪的停放表面上可以具有特殊标记,以引导进近的无人机恰当地停放,以确保能源补充模块正确工作。提供了保护箱,在所述控制模块的控制下所述保护箱打开以允许无人机在所述停放表面上着陆和停放或从所述停放表面起飞,和关闭以防止进入和/或保护和防护停放的无人机。分布式停放系统可以具有认证模块,所述认证模块对正在进近的无人机进行认证,其中,在所述控制模块从所述认证模块接收到正在进近的无人机的身份被认证并且所述无人机被允许在所述停机坪着陆和停放的消息之后,控制模块将关闭的保护箱打开,以允许正在进近的无人机着陆和停放。可以使用核算模块以从与无人机的所有者和/或无人机的用户相关联的账户中收取一定数量的使用所述停机坪的费用。
所述能源补充模块可以是对停放的无人机的电池组进行无线充电的无线充电器,或者可以是具有两个或多个带有两个相反极性的电接触区域的基于电接触的充电器,其在无人机被恰当适当地停放且在无人机和能源补充模块的对应电接触区域之间建立电连接时为停放的无人机进行充电。能源补充模块检测无人机的所连接的电接触区域的极性,并且切换能源补充模块的两个或多个电接触区域的极性以匹配无人机的对应电接触区域的极性,从而确保无人机的电池的恰当充电。将基于电接触的充电器的两个相反极性的两个或多个电接触区域分隔开的空间可以包含一个或多个排水道和通路,所述排水道和通路防止两个相反极性的接触区域由于液体的积聚而短路。能源补充模块还可以包括电短路检测和保护电路,所述电短路检测和保护电路检测是否存在短路,并且在检测到短路时切断对所述基于电接触的充电器的供电。能源补充模块还可以包括机器臂和一个或多个已充电源组的储存器,其中,所述机器臂移除停放的无人机上的电源组,并利用来自所述储存器的新的或已充的电源组来替换它。
本发明还包括一种分布式无人机系统,其包括:分布在一地理区域上的停机坪网络,所述停机坪中的每一个包括:一个或多个停机位的停放表面,无人机可以在所述停放表面上安全着陆和停放;能源补充模块,其对停放的无人机的动力源进行补充;控制模块,其控制所述停机坪的功能;和第一通信模块,所述控制模块通过所述第一通信模块连接到通信网络;多架无人机,每架无人机包括:无线通信模块,其与一个或多个无线网络进行通信;无人机认证模块,其通过所述无线通信模块与停机坪进行通信以建立对所述无人机在所述停机坪处停放和/或补充动力源的认证和授权或许可;和控制器,其与将要停放无人机或已经停放无人机的停机坪进行通信以控制无人机在所述停机坪着陆的动作、和在所述停机坪停放时从所述停机坪起飞的动作;以及主控制器,其包括:第二通信模块,其通过一个或多个通信网络与无人机和分布式停机坪进行通信,无人机规划器模块,其对系统中的无人机的动作和任务指派进行规划,包括何时及在哪个停机坪上停放并补充能源、何时飞行及飞往何地以及飞行中采取的动作等;无人机控制器,其通过所述第二通信模块向无人机传送命令并从所述无人机接收状态报告;和停机坪控制器,其通过所述第二通信模块对所述状态进行监控并对所述分布式停机坪的动作进行控制。
本发明还包括一种用于向无人机提供停放和能源补充服务的方法,包括:提供分布在一地理区域上的安全停机坪网络,以供无人机停放和/或补充能源;与在所述安全停机坪网络的所述地理区域中的一架或多架无人机进行通信,以接收来自所述一架或多架无人机的停放和/或能源补充的请求,其中,通信是通过每架无人机上的无线通信模块进行的;通过它们的通信模块与所述安全停机坪网络进行通信以监控它们的状态;基于来自所述一架或多架无人机的请求,向所述无人机和所述停机坪发送指令,以通知它们哪架无人机被授权停放在哪个停机坪上;使用与正在进近停机坪的无人机的无线通信对无人机的身份进行认证并对其是否被授权在停机坪停放进行验证;如果无人机被允许停放在停机坪,则使所述无人机可进近所述停机坪以使其着陆和停放;以及如果无人机需要能源补充,则对停放在停机坪上的所述无人机的电源组进行补充。
附图说明
在提供本发明实施例详细描述的下一部分中对在下面的附图列表中使用的缩略语进行了定义。
图1示出一个用于无人机的分布式停机坪网络,其中,停机坪分布在一个地理区域上,以向无人机提供停放和再充电服务,以便使无人机在收到服务请求或命令后能够被完全充电并快速到达服务目的地。
图2示出停机坪和具有两个停机位的停放表面的实施例,一个停机位具有基于电接触的充电器,另一个停机位具有无线充电器。
图3示出停机坪的保护箱的实施例,该保护箱在图3a中处于打开状态,在图3b中处于关闭状态。
图4示出停机坪的保护箱的另一实施例,该保护箱在图4a中处于打开状态,在图4b中处于关闭状态。
图5示出可以使用由分布式停机坪提供的停放和能源补充服务的分布式无人机系统中的无人机的实施例。
图6示出一种向一地理区域内的无人机提供停放和能源补充服务的方法。
具体实施方式
在各附图中,相同的附图标记指代相同的部件。现在将描述本发明的示例性实施例。提供示例性实施例以说明本发明的各个方面,并且不应将其解释为限制本发明的范围。当参考框图或流程图描述示例性实施例时,每个框可以表示方法步骤或用于执行该方法步骤的设备或系统元件。根据实施方式,可以以硬件、软件、固件或其组合来配置相应的设备元件。
本发明包括一种用于分布在地理服务区域上的用于无人机102的安全停机坪101的网络的系统和方法,其中,如图1所示,停机坪101通过诸如光纤或电缆之类的有线连接或诸如LTE或5G无线网络或Wifi网络之类的无线连接而连接到诸如专用网络或互联网之类的通信网络103。分布式停机坪网络为无人机提供停放和再充电服务,以便使无人机在收到服务请求或命令后能够被完全充电并快速到达服务目的地。如图2所示,停机坪还包括:控制模块201,其通过通信模块202有线或无线连接到通信网络103;停放表面203,其具有一个或多个停机槽(parking slot)204,每个停机槽204用于停放一架无人机并具有能源补充模块205,以在很多情况下或所有情况下对停放在槽中的无人机106的能源组(power pack)进行自动补充。控制模块201控制每架停放的无人机的能源补充,例如充电或补充燃料,并控制停机坪或停机槽的打开或关闭、充电或补充燃料的开始或结束。能源补充模块可以是停机坪上的诸如用于感应无线充电的无线充电线圈209之类的无线充电模块,以及无人机106上的对应无线充电模块108,或者是基于电接触的充电器,该充电器在停机槽的表面上具有两个极性的充电触点207和208并且在停放的无人机上具有对应的充电触点109和110。基于电触点的充电或有线充电避免了在无人机上需要一个无线充电模块108,从而减轻了无人机的重量并提高了其动力效率。电接触充电机构的示例包括在停放表面的一部分上的具有第一极性的第一接触区域207和在停放表面的另一部分上的具有相反的第二极性的第二接触区域208。第一和第二接触区域中的每一个可以包括多个区域。该两个接触区域可以位于停放表面的两侧,或者一个接触区域位于中心区域,另一个接触区域以环的形式围绕该中心区域。停放表面的两个接触区域中的每一个都被设计成当将无人机停放在停放表面上时,使每一个接触区域都将与停放的无人机的一只脚或充电延伸部(extension)接触,其中,无人机的脚或充电延伸部的底部为电触点。为了防止在水进入停机坪的情况下充电时两个接触区域短路,两个接触区域被低于两个接触区域表面的空间分隔开,并且一个或更多排水道被放置在分隔空间中。因此,水位将不能升高到两个接触区域的表面并不能在它们之间产生电短路。为了防止发生电短路的危险,可以使用电短路检测和保护电路来检测是否存在短路,并在检测到短路时切断对基于电接触的充电器的供电。
在一个实施例中,两个接触区域的极性是固定的,例如,第一极性为正,第二极性为负。在另一实施例中,两个接触区域的极性是可切换的。在无人机着陆后,极性传感器电路检测无人机电池的两个触点的极性,并控制一个或多个开关以将正确的充电极性连接到两个触点区域。上述两个接触区域是一个示例性实现方式,很容易将其推广到多个用于充电的接触区域,一组接触区域用于一个极性,其余的接触区域用于相反极性。接触区域的数量和放置被设计成当无人机在停机坪上着陆时便于自动建立用于充电的电触点。在另一实施例中,无人机和停机坪配备有无线模块,并且使用无线模块来对在何处、何时和/或如何将无人机着陆在停机坪上进行通信。两者之一或两者还可以配备一个或更多传感器和/或摄像头,这些传感器和/或摄像头提供无人机和停机坪的相对位置和/或姿态的反馈,并使用感测反馈来控制无人机的着陆和停放。在配备有一个或多个摄像头的无人机的情况下,无人机使用计算机视觉模块来检测停机坪表面并测量其相对于无人机的距离和方向,并将该反馈发送到控制无人机着陆和停放的控制模块,以确保用于无线充电的适当的着陆位姿,或另外确保用于有线或基于接触的充电的适当触点。停机坪还可以包括特殊标记210,无人机的计算机视觉模块将对该特殊标记210进行检测和处理,以确保无人机的恰当着陆和停放。
在一个实施例中,无人机可以由例如汽油的液体燃料提供动力,并且能源补充模块包括燃料补充喷嘴和液体燃料储存器,其中,能源补充模块使用燃料补充喷嘴和液体燃料储存器对无人机上的燃料箱进行补充。能源补充模块通过将补充燃料喷嘴插入无人机燃料箱的开口来补充燃料。在另一实施例中,无人机由可交换电源组来提供动力,并且控制模块201将控制诸如机器人操纵器之类的机构,以从无人机上移除耗尽的电源组并安装充满的电源组。可交换电源组可以是电池或燃料电池,或者是类似于电池或燃料电池的包含其他电源的组。
停机坪还包括无线识别模块220,其对正在进近停机坪或在与停机坪的通信范围内的无人机进行识别和/或认证,是否应当接受它的停放、充电和/或与通信网络的连接。如果无人机被允许停放,无人机将可以进入停机坪。停机坪可以使用保护箱来保护停放的无人机和/或限制进入停机坪。在一个实施例中,保护箱是如图3所示的侧向分离箱(splitting box)。在另一实施例中,它是如图4所示的上下滑动箱。无论是哪种情况,箱通常都是关闭和锁闭的,无论有没有一架或多架无人机停在里面并在需要时充电或补充燃料。如图3a所示,侧向分离箱包括两个半部301和302,每个半部可向下旋转或从中间推出,以打开并暴露出停机位,并如图3b所示,向回旋转或一起拉回以关闭,并在需要时锁闭,以保护停放在内部的无人机或限制进入空置的停机坪。在控制模块201的控制下,可以使用一个或多个线性致动器或旋转电机来实现上下旋转或推出和拉入。上下箱结构可以包含具有敞开的顶部和敞开的底部的箱401,如图4a所示,线性致动器降低该箱401以打开用于无人机着陆或起飞的停机坪,或者如图4b所示,通过沿相反方向移动线性致动器来升高该箱以关闭停机坪。为了关闭停机坪,使用了一个灵活的多段式滑动门,其非常类似于多段式滑动车库门。滑动门可以具有两个部分402和403,每个部分位于箱的一个相对侧,其由一个或多个线性致动器驱动。如图4a所示,当坪处于打开模式时,这两个部分滑动到箱的侧面,或者如图4b所示,当坪处于关闭模式时,这两个部分滑动到箱的顶部。也可以使用单侧滑动门,以及用于打开和关闭坪的其他机构。每个线性致动器由控制模块201控制。保护箱的另一实施例是一种圆顶结构,其包含两个四分之一圆顶,这两个四分之一圆顶通过围绕停机坪的任一端的旋转轴旋转而打开以用于无人机着陆或起飞,和通过以相反方向旋转而关闭。每个旋转轴可以由电机驱动,该电机由控制模块201控制。
当停机坪处于关闭状态时,无论其内部是否放置无人机,它都会保护停机坪的内部,并使无人机不能进入停机坪以防止无法识别或未经认证的无人机进入停机坪。在一个实施例中,关闭状态是防雨和防风的,以保护停放的无人机免受雨、风或灰尘等环境的影响,它也可以被锁住以保护停放的无人机免受盗窃或故意破坏。在另一实施例中,停机坪还包括温度和/或气流控制模块,其监控和控制在关闭状态下的停机坪的内部以将内部保持在期望的工作温度或最佳充电温度。当进近的无人机被接受停放时,其中,该接受过程可以包括识别、认证、授权和/或对来自无人机的所有者或用户的服务费支付的核算,控制模块201指示微控制器打开停机坪或停机槽,以使无人机着陆。此外,如果请求充电或补充燃料并且该请求被批准,则控制模块201在无人机着陆后启动并完成充电或补充燃料。
无人机在使用中可能会积聚灰尘和碎屑,这可能会妨碍其性能并可能挡住其机载摄像头的镜头。在一个实施例中,停机坪还包括清洁模块,该清洁模块例如使用加压气流或清洗液流对停放的无人机进行清洁,同时使无人机保持不动以使其保持在原位。
一个实施例是一系统,该系统包括:上面描述的停机坪网络;多架无人机,该多架无人机中的每一架配备有一个或多个摄像头和/或其他传感器502;无线通信模块503;用于确定其位置的定位模块504;控制无人机功能的控制器505;用于存储程序和数据的一个或多个存储设备506;动力源,例如能源组507;用于提供机械推进的驱动模块509;无人机认证模块510,其通过无线通信模块503与停机坪进行通信以建立无人机在停机坪处停放和/或补充动力源的认证和授权或许可;停机坪着陆控制器511,其从停机坪接收许可并根据停机坪的需要以适当的位姿控制在停机坪上的着陆;以及主控制器,其包括一个或多个管理器节点或无人机规划器模块,所述管理器节点或无人机规划器模块对无人机的分布进行规划、对状态进行监控并对无人机的动作和停机坪进行控制、分配哪架无人机停在哪个停机坪以及哪架无人机要对哪个服务请求做作出响应。此外,主控制器可以包括:第二通信模块,其通过一个或多个通信网络与无人机和分布式停机坪进行通信;无人机规划器模块,其对系统中的无人机的动作和任务指派进行规划,包括何时及在哪个停机坪上停放并补充能源,何时飞行及飞往何地以及飞行中采取的动作;无人机控制器,其通过第二通信模块向无人机传送命令并从无人机接收状态报告;以及停机坪控制器,其通过第二通信模块对状态进行监控并对分布式停机坪的动作进行控制。
其他传感器502的示例包括化学传感器、水传感器、气流或风向和速度传感器、麦克风或声音(可听见频率范围或超出可听见频率范围)传感器、频谱分析仪、无线信号检测器等。控制器可以使用无线通信模块503将图像或视频从摄像头传输到无线网络,或者可替代地将图像或视频存储在无人机上的一个或多个存储设备506中的一个中,并且当无人机停放在停机坪时发送到联网服务器。停机坪网络可以提供有线网络连接,其自动将网络连接器插入到停放的无人机中,该无人机具有可选的有线连接模块508,用于将存储在无人机上的信息以有线方式安全地传输到网络服务器,和/或向无人机安全传输命令、程序或软件/固件更新。在一个实施例中,无人机被设计成仅在停放于停机坪上时才接收来自停机坪的安全连接的命令、程序或软件/固件更新。这降低了有人通过无人机的无线通信模块503侵入无人机以改变其程序或软件/固件的风险。控制器505使用定位模块504来确定无人机的位置,其中,定位模块504使用诸如全球定位系统(GPS)或北斗之类的基于卫星的定位系统、惯性导航系统(INS),或者通过融合将来自基于卫星的定位系统、INS和/或无人机正在与之通信的无线网络进一步提高对无人机位置的确定。INS可以包括加速度计和陀螺仪,有时还包括磁力计,并计算无人机的位置、姿态和速度。无人机使用无人机的机载无线通信模块503向一个或多个管理节点报告其当前位置。无线通信模块503可以是诸如LTE或5G移动网络之类的广泛部署的蜂窝系统或专用无线网络系统的终端设备。一些或所有停机坪可以包括无线网络接入点或移动网络基站(全部称为AP),或者与无线网络接入点或移动网络基站共置,并且停机坪和/或无人机使用它们的诸如回程或前程连接之类的网络连接来连接到广域网络和主控制器,并可以通过广域网或互联网远程访问。在另一实施例中,除非主控制器另有指示,每架无人机都具有其总是返回至的主坪。
本发明中的无人机包括:无线通信模块,其经由一个或多个无线网络发射和接收数据,并从主控制器接收停机坪的指派,无人机可以在该停机坪上停放和/或补充能源;一个或多个传感器,其在所述无人机飞行时收集感测数据并经由一个或多个无线网络传输所述数据,或通过与停放所述无人机的停机坪的连接来下载所述数据;无人机认证模块,其通过无线通信模块与停机坪进行通信,以建立对无人机在停机坪处停放和/或补充动力源的认证和授权或许可;停机坪着陆控制器,其接收来自停机坪的许可,并以所述停机坪所需的适当位姿控制在所述停机坪上的着陆;以及可补充或可交换的能源组,其具有与停机坪上的能源补充模块相匹配的接口,当无人机停放在停机坪上时,所述能源补充模块对无人机的能源组进行能源补充。
在一个实施例中,为了确保连续的可用性,一些或所有停机坪具有两个或更多个停机位,并且主控制器分配无人机使得将两架或更多架无人机指派给这些停机坪中的每个停机坪。当来自停机坪的一架或多架无人机响应服务请求或指派而飞行时,主控制器确保至少有一架充满电的备用无人机停放在停机坪上。当飞行的无人机动力或燃料不足时,其返回到具有空停机位的停机坪中的一个,该停机坪可以是或可以不是其最后起飞的停机坪,而来自其中一个停机坪(该停机坪可以是或可以不是与飞行的无人机返回的或正在返回的停机坪相同的停机坪)的备用无人机起飞以继续服务请求。我们将其称为双缓冲中继,以在停机坪网络的覆盖区域内维持无人机服务的连续可用性。
在又一实施例中,为了减少或消除上述双缓冲中继中需要多架无人机的需求,无人机配备有可更换的电池组、燃料电池或其他能源组,并且停机坪配备有自动能源组更换机器臂。无人机停放后,机器臂会快速取出耗尽的能源组,并重新安装充满的能源组,以便使无人机可以在极短的中断后提供服务。
在一个实施例中,沿着街道和高速公路建立停机坪网络,以提供使用无人机的交通管理和紧急响应系统。在停机坪上的无人机负责与停机坪相邻的街道或高速公路路段。它们可能被指派定期巡逻该路段,就像现在的在高速公路上巡逻的警车一样。例如,当被传感器条件或信号、来自主控制器的命令、手动命令、或在路段中检测到紧急情况触发时,它们也可以按照需要对它们进行调遣。这在应急响应方面具有显着优势,因为无人机就在附近,并且可以在几秒钟内到达应急现场,为应急响应人员提供视频以评估情况,并通过安装在无人机上的麦克风和扬声器与紧急情况中涉及的人员进行音频通信。无人机上的扬声器还可以用于向违反交通法规的驾驶员提供指令或发出警告,并向交通事故和被困车辆的受害者提供指令。无人机还可以配备闪光灯,就像现在的警车上的闪光灯一样,并使用闪光灯来引起驾驶员的注意。这种分布式无人机系统即使在道路堵塞了车辆时也可以在现场提供交通管理和紧急响应,而在这样的道路中,传统的警车和应急车辆将难以快速到达。
本发明的一个实施例是一种用于向无人机提供停放和能源补充服务的方法,包括以下步骤或模块:601、提供分布在地理区域上的安全停机坪的网络以供无人机停放和/或补充能源;602、与在安全停机坪的网络的地理区域中的一架或多架无人机进行通信,以接收来自一架或多架无人机的停放和/或能源补充的请求,其中,该通信是通过每架无人机上的无线通信模块进行的;603、通过它们的通信模块与安全停机坪的网络进行通信以监控它们的状态;604、基于来自一架或多架无人机的请求,向无人机和停机坪发送指令,以通知它们哪架无人机被授权停放在哪个停机坪上;605、使用与正在进近停机坪的无人机的无线通信来对无人机的身份进行认证并对其是否被授权在停机坪停放进行验证;606、如果允许无人机停放在停机坪,则使无人机可进入停机坪以使其着陆和停放;以及607、如果无人机需要能源补充,则对停放在停机坪上的无人机的能源组进行补充。
上述方法还可以使用保护箱来保持停放的无人机的安全,其中,打开保护箱以供无人机着陆并且关闭保护箱以防止未经授权的无人机进入停机坪和/或使停放的无人机避开未经授权的进入和/或与外界隔开,包括从与停放的无人机的所有者和/或停放的无人机的用户相关联的帐户中收取一定数量的使用停机坪的费用,或者使用共置的移动网络基站或无线接入点的网络连接将一些或所有停机坪的通信模块连接到通信网络。
在上述方法中,对能源组进行补充包括使用无线充电器或在停机坪上具有两个或多个带有两个相反极性的电接触区域的基于电接触的充电器对停放的无人机的电池组进行充电,或者使用安装在停放坪上的机器臂移除停放的无人机上的能源组,并通过重新安装来自储存器的补充的能源组来替换它。
尽管前面对本发明优选实施例的描述已经示出、描述或说明了本发明的基本新颖特征或原理,但是应当理解,在不脱离本发明精神的情况下,本领域技术人员可以对所示方法、元件或装置的细节及其使用进行各种省略、替换和形式上的改变。因此,本发明的范围不应局限于上述描述。相反,本发明的原理可以应用于广泛的方法、系统和装置,以实现这里描述的优点,并实现其他优点或者或同时满足其他目标。
Claims (21)
1.一种用于无人机的分布式停放系统,包括:
分布在一地理区域上的用于无人机的停机坪网络,所述停机坪中的每一个包括:一个或多个停机位的停放表面,无人机可在所述停放表面上安全着陆和停放;能源补充模块,其对停放的无人机的动力源进行补充;控制模块,其控制所述停机坪的功能;和通信模块,所述控制模块通过所述通信模块连接到通信网络;
主控制器,其控制所述停机坪的功能,并且通过所述通信网络向所述停机坪传送命令和从所述停机坪接收报告;
保护箱,其在所述控制模块的控制下打开以允许无人机在所述停放表面上着陆和停放,和关闭以防止无人机的进入;以及
每个停机坪中的认证模块,其对进近的无人机进行认证,其中,在所述控制模块从所述认证模块接收到所述进近的无人机的身份被认证并且所述无人机被允许在所述停机坪着陆和停机的消息之后,所述控制模块将关闭的保护箱打开,以允许所述进近的无人机着陆和停放。
2.如权利要求1所述的分布式停放系统,还包括核算模块,所述核算模块从与所述无人机的所有者和/或所述无人机的用户相关联的账户中收取一定数量的使用所述停机坪的费用。
3.如权利要求1所述的分布式停放系统,其中,所述能源补充模块是无线充电器,所述无线充电器对停放的无人机的电池组进行无线充电。
4.如权利要求1所述的分布式停放系统,其中,所述能源补充模块是具有两个或多个带有两个相反极性的电接触区域的基于电接触的充电器,所述充电器在所述无人机被适当地停放时为停放的无人机充电并且在所述无人机和所述能源补充模块的对应的电接触区域之间建立电连接。
5.如权利要求4所述的分布式停放系统,其中,所述能源补充模块检测所述无人机所连接的所述电接触区域的极性,并且切换所述能源补充模块的所述两个或多个电接触区域的极性以匹配所述无人机的对应电接触区域的极性,从而确保所述无人机的电池的适当充电。
6.如权利要求4所述的分布式停放系统,其中,将所述基于电接触的充电器的所述两个或多个带有两个相反极性的电接触区域分隔开的空间包含一个或多个排水道和通路,所述排水道和通路防止两个相反极性的所述接触区域由于液体的积聚而短路。
7.如权利要求4所述的分布式停放系统,所述能源补充模块还包括电短路检测和保护电路,其检测是否存在短路,并且在检测到短路时切断对所述基于电接触的充电器的供电。
8.如权利要求1所述的分布式停放系统,其中,所述能源补充模块还包括机器臂和一个或多个补充能源组的储存器,其中,所述机器臂移除停放的无人机上的能源组,并通过来自所述储存器的另一能源组来替换它。
9.如权利要求1所述的分布式停放系统,其中,所述能源补充模块包括燃料补充喷嘴和液体燃料储存器,其中,所述能源补充模块使用所述燃料补充喷嘴和所述液体燃料储存器对无人机上的燃料箱进行补充。
10.如权利要求1所述的分布式停放系统,其中,一些或所有所述停机坪的通信模块使用共置的移动网络基站或无线接入点的网络连接而连接到所述通信网络。
11.如权利要求1所述的分布式停放系统,还包括清洁模块,其对停放在所述停机坪上的无人机进行清洁。
12.一种分布式无人机系统,包括:
分布在一地理区域上的停机坪网络,所述停机坪中的每一个包括:一个或多个停机位的停放表面,无人机可以在所述停放表面上安全着陆和停放;能源补充模块,其对停放的无人机的动力源进行补充;控制模块,其控制所述停机坪的功能;第一通信模块,所述控制模块通过所述第一通信模块与一架或多架无人机进行通信并连接到通信网络;保护箱,其在所述控制模块的控制下打开以允许无人机在所述停放表面上着陆和停放,和关闭以防止无人机的进入;认证模块,其对进近的无人机进行认证,其中,在所述控制模块从所述认证模块接收到所述进近的无人机的身份被认证并且所述无人机被允许在所述停机坪着陆和停机的消息之后,所述控制模块将保护箱打开,以允许所述进近的无人机着陆和停放;
多架无人机,每架无人机包括:无线通信模块,其经由一个或多个无线网络发送和接收数据;无人机认证模块,其通过所述无线通信模块与停机坪进行通信以建立对所述无人机在所述停机坪处停放和/或补充动力源的认证和授权或许可;和控制器,其与无人机将要停放或已经停放的停机坪进行通信以控制无人机着陆的动作、和在所述停机坪停放时从所述停机坪起飞的动作;以及
主控制器,包括:第二通信模块,其通过一个或多个通信网络与所述无人机和所述分布式停机坪进行通信;无人机规划器模块,其对所述系统中的无人机的所述动作和任务指派进行规划,包括何时及在哪个停机坪上停放并补充能源、何时飞行及飞往何地以及飞行中采取的动作;无人机控制器,其通过所述第二通信模块向所述无人机传送命令并从所述无人机接收状态报告;和停机坪控制器,其通过所述第二通信模块对所述状态进行监控并对所述分布式停机坪的动作进行控制。
13.如权利要求12所述的分布式无人机系统,其中,所述停机坪沿着街道和高速公路分布,以提供使用所述无人机的交通管理和紧急响应系统。
14.一种分布式无人机系统中的无人机,包括:
无线通信模块,其经由一个或多个无线网络发射和接收数据,并从主控制器接收停机坪的指派,所述无人机可以在所述停机坪上停放和/或补充能源,其中,所述停机坪位于一地理区域中的分布式停放坪网络中以供无人机停放和/或补充能源,并且每个停机坪包括:一个或多个停机位的停放表面,所述无人机可以在所述停放表面上安全着陆和停放;停机坪控制模块,其控制所述停机坪的功能;和第一通信模块,所述停机坪控制模块通过所述第一通信模块连接到通信网络;
一个或多个传感器,其在所述无人机飞行时收集感测数据并经由一个或多个无线网络传输所述数据,或通过与停放所述无人机的停机坪的连接来下载所述数据;
无人机认证模块,其通过所述无线通信模块与停机坪进行通信,以建立对所述无人机在所述停机坪处停放和/或补充动力源的认证和授权或许可;
停机坪着陆控制器,其接收来自停机坪的许可,并以所述停机坪所需的适当位姿控制在所述停机坪上的着陆;以及
可补充或可交换的能源组,其具有与停机坪上的能源补充模块相匹配的接口,当所述无人机停放在所述停机坪上时,所述能源补充模块为所述无人机的能源组补充能源。
15.如权利要求14所述的无人机,其中,所述可补充或可交换的能源组是可充电电池并且所述接口包括接触表面区域,在所述停机坪着陆控制器将所述无人机着陆并停放在所述停机坪上之后,通过所述接触表面区域与停机坪上的充电器建立电连接,或者所述接口包括无线充电电路,在所述停机坪着陆控制器将所述无人机着陆并停放在所述停机坪上之后,通过所述无线充电电路由停机坪上的无线充电器对所述可充电电池进行充电。
16.如权利要求14所述的无人机,其中,所述可补充或可交换的能源组是液体燃料箱,并且所述接口是燃料补充开口,在所述停机坪着陆控制器将所述无人机着陆并停放在所述停机坪上之后,所述能源补充模块通过所述燃料补充开口插入喷嘴以对所述箱进行补充。
17.如权利要求14所述的无人机,还包括扬声器,通过所述扬声器可产生音频信号以提供指令。
18.一种用于向无人机提供停放和能源补充服务的方法,包括:
提供分布在一地理区域上的安全停机坪网络,以供无人机停放和/或补充能源;
与在所述安全停机坪网络的所述地理区域中的一架或多架无人机进行通信,以接收来自一架或多架无人机的停放和/或能源补充的请求,其中,通信是通过每架无人机上的无线通信模块进行的;
通过它们的通信模块与所述安全停机坪网络进行通信以监控它们的状态;
基于来自所述一架或多架无人机的请求,向所述无人机和所述停机坪发送指令,以通知它们哪架无人机被授权停放在哪个停机坪上;
使用与进近停机坪的无人机的无线通信来对所述无人机的身份进行认证并对其是否被授权在所述停机坪停放进行验证;
如果允许所述无人机停放在所述停机坪,则使所述无人机可进入所述停机坪以使其着陆和停放;以及
如果所述无人机需要能源补充,则对停放在所述停机坪上的所述无人机的所述能源组进行补充。
19.如权利要求18所述的方法,还包括使用保护箱来保持停放的无人机的安全,其中,打开所述保护箱以供无人机着陆,和关闭保护箱以防止未经授权的无人机进入停机坪和/或使停放的无人机避开未经授权的进入和/或与外界隔开。
20.如权利要求18所述的方法,还包括从与所述停放的无人机的所有者和/或所述停放的无人机的用户相关联的帐户中收取一定数量的使用所述停机坪的费用。
21.如权利要求18所述的方法,其中,对所述能源组进行补充包括使用无线充电器或在停机坪上具有两个或多个带有两个相反极性的电接触区域的基于电接触的充电器对停放的无人机的电池组进行充电,对停放的无人机的所述燃料箱进行补充,或移除所述停放的无人机上的能源组并且用来自储存器的另一个能源组来替换它。
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