CN111439143A

CN111439143A - Unmanned aerial vehicle recovery system and recovery method thereof

Info

Publication number: CN111439143A
Application number: CN202010397282.9A
Authority: CN
Inventors: 黄辉; 徐文宇
Original assignee: Shenzhen Zhenxiang Technology Co ltd
Current assignee: Shenzhen Zhenxiang Technology Co ltd
Priority date: 2020-05-12
Filing date: 2020-05-12
Publication date: 2020-07-24

Abstract

The invention relates to an unmanned aerial vehicle recovery system and a recovery method thereof, wherein the unmanned aerial vehicle recovery system comprises an unmanned aerial vehicle and an unmanned aerial vehicle recovery station, the unmanned aerial vehicle comprises an unmanned aerial vehicle main body and a liftable charging device, a driving device drives a charging body to ascend or descend, and the charging body is provided with a first electrode and a first magnet; the shell is provided with a second electrode, a positioning device and a second magnet. When the unmanned aerial vehicle flies to the opening range of the shell, the driving device operates to drive the charging body to descend into the bottom of the shell, the first magnet and the second magnet are fixed in a magnetic attraction mode, the first electrode and the second electrode are connected in a laminating mode to charge the unmanned aerial vehicle, if the unmanned aerial vehicle needs to execute a task again, the driving device operates to drive the charging body to ascend and retract, and if the unmanned aerial vehicle needs to retract, the unmanned aerial vehicle descends into the shell, so that the unmanned aerial vehicle can be automatically and accurately butted with an unmanned aerial vehicle recovery station to charge, meanwhile, the charging state can be timely relieved to quickly carry out a task of flying again, and the unmanned aerial vehicle can also be retracted into the unmanned aerial vehicle recovery station.

Description

Unmanned aerial vehicle recovery system and recovery method thereof

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle recovery system and a recovery method thereof.

Background

Drones are short for unmanned aircraft, unmanned aircraft that are operated by means of radio remote control devices and self-contained program control devices, or are operated autonomously, either completely or intermittently, by an on-board computer. When the unmanned aerial vehicle performs a task, the unmanned aerial vehicle is generally mounted on a movable recovery parent body (such as a vehicle, a ship and other transportation equipment). Because unmanned aerial vehicle's time of endurance is restricted, after carrying out the task of a certain duration, need charge unmanned aerial vehicle. And retrieve the parent at this moment and be in the high-speed state of traveling, when unmanned aerial vehicle flies back to the haulage equipment, receives the influence of the difference in speed when the two, and unmanned aerial vehicle hardly docks with the charging device on the recovery parent that removes. And unmanned aerial vehicle is when charging, if there is urgent task, can't break away from charging device in time and take off.

Therefore, the prior art has yet to be developed.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides an unmanned aerial vehicle recovery system and a recovery method thereof, so that the unmanned aerial vehicle can be automatically and accurately butted with an unmanned aerial vehicle recovery station for charging, and meanwhile, the charging state can be timely released to quickly carry out a secondary flight task and also can be recovered into the unmanned aerial vehicle recovery station.

In order to achieve the above purpose, the invention provides the following technical scheme:

the invention provides an unmanned aerial vehicle recovery system which comprises an unmanned aerial vehicle, an unmanned aerial vehicle recovery station and a recovery controller, wherein the unmanned aerial vehicle recovery station comprises a first unmanned aerial vehicle recovery unit, a second unmanned aerial vehicle recovery station, a first recovery controller and a second recovery controller

The unmanned aerial vehicle comprises an unmanned aerial vehicle main body and a liftable charging device electrically connected with the unmanned aerial vehicle main body, wherein the liftable charging device comprises a driving device, a charging body and a traction cable electrically connected with the unmanned aerial vehicle main body and the charging body, the driving device drives the charging body to ascend or descend, two first electrodes which are opposite in polarity and electrically connected with the traction cable are arranged on the outer side wall of the charging body, and a first magnet is arranged at the bottom of the charging body;

the unmanned aerial vehicle recovery station comprises a shell, an opening is formed in the upper end of the shell, two second electrodes which are opposite in polarity and can be electrically conducted with the first electrodes are arranged on the inner side wall of the shell close to the bottom at intervals, the second electrodes are electrically connected with an external power supply, and a positioning device and a second magnet which can be adsorbed by the first magnet are arranged at the bottom of the shell;

the recovery controller is respectively in communication connection with the unmanned aerial vehicle and the unmanned aerial vehicle recovery station.

Further, the unmanned aerial vehicle body is provided with the port of charging, the positive negative pole of the port of charging passes through respectively pull cable and corresponding first electrode electric connection, power supply's positive negative pole respectively with correspond second electrode electric connection.

Further, the periphery of unmanned aerial vehicle main part is provided with protection device, protection device including set up in the last backplate of unmanned aerial vehicle main part upper end, set up in lower backplate of unmanned aerial vehicle main part lower extreme and connection go up the mounting of backplate, lower backplate, the backplate has seted up correspondingly down the through-hole of the body that charges.

Further, liftable charging device still includes supporting structure, supporting structure include two set up respectively in the stand of backplate down and the spreader of connecting two stands, drive arrangement including set up in the motor of spreader one end, pull the cable twine in on the spreader.

Furthermore, the charging body is of an inverted cone structure, the two first electrodes are respectively arranged on the inclined plane of the inverted cone structure at intervals in a surrounding mode, the electrode surfaces of the first electrodes face downwards, and the first magnets are arranged at the top point of the inverted cone structure.

Furthermore, the shell is of a funnel structure, the diameter of the shell is gradually increased from bottom to top, the second electrodes are respectively arranged on the inclined planes of the funnel structure at intervals in a surrounding mode, and the electrode surfaces of the second electrodes face upwards to be matched with the electrode surfaces of the first electrodes.

Further, unmanned aerial vehicle recycle bin still includes fixed knot constructs and block structure, fixed knot constructs including mounting panel and a plurality of sets up the support column on the mounting panel, the support column supports the casing, the block structure includes that a plurality of level wears to locate joint spare on the support column, the lateral wall of casing has been seted up correspondingly the draw-in groove of joint spare, joint spare can pass the draw-in groove is in order to restrict the home range of the charging body.

Furthermore, the upper protection plate, the lower protection plate and the fixing piece are made of resin materials.

The invention also provides an unmanned aerial vehicle recovery method, which is applied to the unmanned aerial vehicle recovery system and comprises the following steps:

step A: the unmanned aerial vehicle controller sends a recovery instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies towards the direction of the positioning device;

and B: the unmanned aerial vehicle flies into the opening range of the unmanned aerial vehicle recovery station, the driving device operates and drives the charging body to descend, and the charging body slides along the inner side wall of the unmanned aerial vehicle recovery station;

and C: the body that charges slides to the bottom of unmanned aerial vehicle recycle bin, first magnet with second magnet adsorbs fixedly the body that charges with the unmanned aerial vehicle recycle bin, first electrode with the second electrode laminating electrical property mutually switches on.

Further, the method also comprises the step D: the joint spare passes the draw-in groove supports the up end of the body that charges, unmanned aerial vehicle downstream descend extremely in the unmanned aerial vehicle recycle bin.

The technical scheme of the invention has the following beneficial effects:

the unmanned aerial vehicle recovery system and the recovery method thereof of the invention are characterized in that by arranging an unmanned aerial vehicle and an unmanned aerial vehicle recovery station, a liftable charging device is electrically connected with an unmanned aerial vehicle main body, a driving device drives a charging body to ascend or descend, meanwhile, the unmanned aerial vehicle recovery station comprises a shell with an opening at the upper end, the charging body is provided with a first electrode and a first magnet, the shell is provided with a second electrode, a positioning device and a second magnet, when the unmanned aerial vehicle flies to the direction of the positioning device to the range of the opening of the shell, the driving device operates and drives the charging body to descend to the bottom of the shell, at the moment, the first magnet and the second magnet are fixed by magnetic attraction, the first electrode and the second electrode are jointed and communicated to charge the unmanned aerial vehicle, if the unmanned aerial vehicle needs to execute a task again, the driving device operates to drive the charging body to ascend and, the unmanned aerial vehicle can be automatically and accurately butted with the unmanned aerial vehicle recovery station for charging, and meanwhile, the charging state can be timely released to quickly carry out a secondary flight task, and the unmanned aerial vehicle can also be recovered into the unmanned aerial vehicle recovery station.

Drawings

Fig. 1 is a schematic structural view of the drone of the present invention;

fig. 2 is a schematic structural view of a charging body according to the present invention;

FIG. 3 is a schematic structural diagram of a unmanned aerial vehicle recycle bin of the present invention;

FIG. 4 is an enlarged view of A in FIG. 3;

FIG. 5 is a schematic view of the unmanned aerial vehicle recycle bin of the present invention from another perspective;

FIG. 6 is an enlarged view of B in FIG. 5;

FIG. 7 is a flow chart of the unmanned aerial vehicle recovery method of the present invention;

FIG. 8 is a schematic view of the drone of the present invention flying above the drone recovery station;

fig. 9 is a schematic view of a lower charging body of the unmanned aerial vehicle of the present invention;

fig. 10 is a schematic view of the charging body of the present invention sliding down a recovery station of an unmanned aerial vehicle;

fig. 11 is a schematic diagram of the charging of the drone in the drone recycle station of the present invention;

FIG. 12 is a schematic view of the invention with the clip member against the charging body;

FIG. 13 is a schematic view of the unmanned aerial vehicle of the present invention housed in an unmanned aerial vehicle recycle bin;

description of reference numerals:

10-unmanned aerial vehicle, 11-unmanned aerial vehicle main part, 121-motor, 122-charging body, 1221-first electrode, 1222-first magnet, 123-traction cable, 13-protection device, 131-upper guard plate, 132-lower guard plate, 1321-through hole, 133-fixing piece, 134-airflow hole, 14-support structure, 141-upright post, 142-cross post, 20-unmanned aerial vehicle recovery station, 21-shell, 211-opening, 212-second electrode, 214-second magnet, 215-clamping groove, 22-fixing structure, 221-mounting plate, 222-supporting post, 23-clamping structure and 231-clamping piece.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "connected" may be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Referring to fig. 1 to 6, the present invention provides an unmanned aerial vehicle recovery system, which includes an unmanned aerial vehicle 10, an unmanned aerial vehicle recovery station 20 and a recovery controller, in this embodiment, the unmanned aerial vehicle recovery station 20 is installed on a mobile recovery parent (such as a vehicle, a ship, a train, an airplane, etc.), or the unmanned aerial vehicle recovery station 20 has a function of stably moving;

the unmanned aerial vehicle 10 comprises an unmanned aerial vehicle main body 11 and a liftable charging device electrically connected with the unmanned aerial vehicle main body 11, wherein the liftable charging device comprises a driving device, a charging body 122 and a traction cable 123 electrically connected with the unmanned aerial vehicle main body 11 and the charging body 122, the driving device drives the charging body 122 to ascend or descend, two first electrodes 1221 which have opposite polarities and are electrically connected with the traction cable 123 are arranged on the outer side wall of the charging body 122, namely the first electrodes 1221 are connected with the charging body 122 through the traction cable 123, and a first magnet 1222 is arranged at the bottom of the charging body 122;

the unmanned aerial vehicle recycling station 20 comprises a shell 21, an opening 211 is formed in the upper end of the shell 21, two second electrodes 212 which are opposite in polarity and can be electrically conducted with the first electrodes 1221 are arranged on the inner side wall of the shell 21 close to the bottom at intervals, the second electrodes 212 are electrically connected with an external power supply, and a positioning device and a second magnet 214 which can be adsorbed by the first magnet 1222 are arranged at the bottom of the shell 21;

recovery controller respectively with unmanned aerial vehicle 10, unmanned aerial vehicle recycle bin 20 communication connection for control unmanned aerial vehicle 10's flight state drive arrangement's running state and positioner's operating condition.

When the unmanned aerial vehicle 10 needs to be charged, the recovery controller sends a recovery instruction to the unmanned aerial vehicle 10, revises the upward offset positioning information of the positioning device (which must exceed the opening 211 of the housing 21 to ensure that the unmanned aerial vehicle 10 does not collide with the housing 21), sends the revised positioning information to the unmanned aerial vehicle 10, the unmanned aerial vehicle 10 flies to the revised positioning information position, the unmanned aerial vehicle 10 is located in the opening 211 of the housing 21, then the recovery controller starts the driving device to rotate to lower the charging body 122, the charging body 122 slides down along the inner side wall of the housing 21, when the charging body approaches the bottom of the housing 21, the first magnet 1222 and the second magnet 214 are attracted and fixed, the charging body 122 is closely attached to the unmanned aerial vehicle recovery station 20, and meanwhile, the first electrode 1221 is communicated with the second electrode 212, so that an external power supply can charge the drone 10. At this time, the unmanned aerial vehicle 10 can continuously fly above the opening 211 of the housing 21, and if a task needs to be performed again, the recovery controller starts the driving device to rotate to lift and recover the charging body 122, so that the unmanned aerial vehicle 10 can fly to a destination.

Because the charging body 122 is tightly attracted by the magnetic attraction action of the first magnet 1222 and the second magnet 214, the unmanned aerial vehicle 10 can quickly execute the flight task again without additional power when the charging body 122 is retracted, and the problem that the unmanned aerial vehicle 10 is charged and timely released to execute the flight task again is solved.

When the unmanned aerial vehicle 10 needs to be recovered, the unmanned aerial vehicle 10 gradually descends and is accommodated in the bottom of the unmanned aerial vehicle recovery station 20, and the driving device rotates to wind the traction cable 123, so that the unmanned aerial vehicle 10 is recovered. Unmanned aerial vehicle 10 charges, the in-process of retrieving need not the manual work and docks, picks up, and whole process is automatic, safe, convenient operation.

Because the unmanned aerial vehicle 10 and the unmanned aerial vehicle recycle bin 20 are influenced by the speed difference per hour and the positioning precision, and are influenced by the distance detection precision and the air resistance of the unmanned aerial vehicle 10, the unmanned aerial vehicle cannot fly to the position right above the unmanned aerial vehicle recycle bin 20 in a precise manner by 10, so that the opening 211 of the shell 21 is far larger than the whole unmanned aerial vehicle 10, the unmanned aerial vehicle 10 can be kept in the range of the opening 211 of the shell 21, and meanwhile, the accuracy and the precision of charging and recycling the unmanned aerial vehicle 10 are improved through the magnetic attraction fixation of the first magnet 1222 and the second magnet 214.

In this embodiment, a rechargeable battery is disposed in the main body 11 of the unmanned aerial vehicle, and the charging body 122 is electrically connected to the rechargeable battery to charge the main body 11 of the unmanned aerial vehicle, so as to ensure the cruising ability of the unmanned aerial vehicle 10; the recovery controller can be in communication connection with the unmanned aerial vehicle recovery station 20 in a wired or wireless mode, and is also in communication connection with the unmanned aerial vehicle 10 in a wireless mode so as to remotely control the unmanned aerial vehicle 10; the connecting wire 123 can adopt a flexible cable to ensure the elasticity and the free bending degree when ascending or descending; the charging body 122 may be a plastic housing.

Preferably, the unmanned aerial vehicle body 11 is provided with a charging port, the positive and negative poles of the charging port are respectively electrically connected with the corresponding first electrode 1221 through the traction cable 123, the positive and negative poles of the power supply are respectively electrically connected with the corresponding second electrode 212, and the first electrode 1221 and the second electrode 214 are also correspondingly divided into a positive pole and a negative pole, so that the unmanned aerial vehicle recycle bin 20 of the present invention can charge and recycle the unmanned aerial vehicle 10, and is free of manual operation and convenient to use.

Further, the periphery of unmanned aerial vehicle main part 11 is provided with protection device 13, protection device 13 is used for protecting unmanned aerial vehicle main part 11 prevents unmanned aerial vehicle 10 with 20 collision damages of unmanned aerial vehicle recycle bin, protection device 13 including set up in last backplate 131 of unmanned aerial vehicle main part 11 upper end, set up in lower backplate 132 of unmanned aerial vehicle main part 11 lower extreme and connect go up backplate 131, the mounting 133 of backplate 132 down, backplate 132 has seted up correspondingly down charge body 122's through-hole 1321, charge body 122 process through-hole 1321 rises or descends.

In this embodiment, the upper guard plate 131 and the lower guard plate 132 are both provided with airflow holes 134, so that airflow can be discharged through the airflow holes 134, which does not affect the flow of the airflow generated by the wings of the unmanned aerial vehicle 10 and the observation of the lens of the unmanned aerial vehicle, and ensures the normal use of the functions of the unmanned aerial vehicle 10; the upper protection plate 131, the lower protection plate 132 and the fixing piece 133 can be made of resin, have good mechanical performance, can provide good protection effect, and prevent the unmanned aerial vehicle 10 from being damaged by impact; go up backplate 131, lower backplate 132 and mounting 133 can adopt integrated into one piece structure, improve the holistic stability of unmanned aerial vehicle 10.

With reference to fig. 1, the liftable charging device further includes a supporting structure 14, the supporting structure 14 includes two upright posts 141 respectively disposed on the lower protection plate 132, and a cross post 142 connecting the two upright posts 141, the driving device includes a motor 121 disposed at one end of the cross post 142, and the traction cable 123 is wound on the cross post 142 and can be unfolded or folded, so as to realize the descending and ascending of the charging body 122.

One end of the transverse column 142 is connected to a transmission shaft of the motor 121, and the other end is rotatably connected to one of the upright columns 141, for example, through a bearing. When the charging body 122 is retracted, the traction cable 123 is wound on the cross column 142, and when the charging body 122 needs to be lowered, the motor 121 drives the cross column 142 to rotate, so that the traction cable 123 wound on the cross column 142 is rotated and lowered, and the charging body 122 can be lowered into the housing 21 under the action of gravity of the charging body 122; when the charging body 122 needs to be retracted, the motor 121 rotates in the opposite direction to retract the traction cable 123 and the charging body 122.

In an embodiment, the charging body 122 has an inverted cone structure, the two first electrodes 1221 are respectively disposed at an inclined plane of the inverted cone structure at intervals, that is, the first electrodes 1221 are disposed in an inverted step type, so as to prevent the two first electrodes 1221 from touching by mistake, the electrodes of the first electrodes 1221 face downward, the first magnet 1222 is disposed at an apex of the inverted cone structure, that is, the first magnet 1222 is disposed at a bottom of the charging body 122.

Correspondingly, casing 21 is the funnel structure, and its diameter is by the up crescent down, makes casing 21's opening 211 can the holding unmanned aerial vehicle 10, moreover charge body 122 can along the inclined plane of funnel structure falls gradually, and whole process is stable mild, simultaneously casing 21 from top to down tightens up gradually, can stabilize the centre gripping unmanned aerial vehicle 10, second electrode 212 is the inclined plane of funnel structure is located to the interval ring respectively, promptly second electrode 212 is the stepped setting, with first electrode 1221 corresponds the setting, just the electrode face of second electrode 212 up with first electrode 1221's electrode face cooperation.

Adopt the cooperation of inverted cone structure and funnel structure, increased unmanned aerial vehicle 10 with unmanned aerial vehicle recycle bin 20's cooperation scope avoids leading to because of small error unmanned aerial vehicle 10 can not accomplish the operation of charging, retrieving, moreover unmanned aerial vehicle recycle bin 20's diameter tightens up gradually, makes the body 122 that charges's butt joint accuracy and stability can further improve.

Further, unmanned aerial vehicle recycle bin 20 still includes fixed knot constructs 22 and block structure 23, fixed knot constructs 22 and includes that mounting panel 221 and a plurality of set up the support column 222 on mounting panel 221, support column 222 supports casing 21 improves unmanned aerial vehicle recycle bin 20's stability avoids leading to because of wind-force etc. the condition of slope appears in casing 21, block structure 23 includes that a plurality of level wears to locate joint spare 231 on the support column 222, the lateral wall of casing 21 has been seted up correspondingly the draw-in groove 215 of joint spare 231, joint spare 231 can pass the draw-in groove 215 is in order to restrict the home range of charging body 122.

In the present embodiment, the mounting plate 221 is used to fix the unmanned aerial vehicle recycling bin 20 on a moving recycling parent, such as a vehicle, a ship, a train, an airplane, or other transportation equipment; or a moving structure is installed under the mounting plate 221.

When the body 122 that charges by second magnet 214 magnetism is inhaled fixedly back, joint piece 231 stretches out and passes draw-in groove 215 is in order to support the up end of the body 122 that charges to it is fixed the body 122 that charges prevents the body 122 that charges rocks and breaks away from, unmanned aerial vehicle 10 can descend to in the casing 21, the completion is right unmanned aerial vehicle 10's recovery.

When the unmanned aerial vehicle 10 needs to take off again, the clamping piece 231 retracts to unlock the charging body 122, the unmanned aerial vehicle 10 can take off and is separated from the adsorption effect of the second magnet 1222, and the charging body 122 is retracted, so that the unmanned aerial vehicle 10 can take off again.

In this embodiment, the clamping member 231 can be driven by a power structure, so as to automatically extend or retract without manual operation.

The unmanned aerial vehicle recovery system can automatically charge the unmanned aerial vehicle 10 and also can automatically recover the unmanned aerial vehicle 10, and is convenient to operate.

As shown in fig. 7, the present invention further provides a recovery method for an unmanned aerial vehicle 10, which is applied to the recovery system for an unmanned aerial vehicle described above, and includes the following steps:

step A: as shown in the state of fig. 8, when the unmanned aerial vehicle 10 needs to be charged, the unmanned aerial vehicle controller sends a recovery instruction to the unmanned aerial vehicle 10, revises the upward offset positioning information of the positioning device (which must exceed the opening 211 of the housing 21 to ensure that the unmanned aerial vehicle 10 does not collide with the housing 21), and sends the revised positioning information to the unmanned aerial vehicle 10, so that the unmanned aerial vehicle 10 flies toward the positioning device, the unmanned aerial vehicle 10 flies to the revised positioning information position, and at this time, the unmanned aerial vehicle 10 is located within the range of the opening 211 of the housing 21, and the clip 231 does not extend into the card slot 215;

and B: the unmanned aerial vehicle 10 flies into the range of the opening 211 of the unmanned aerial vehicle recycle bin 20, at this time, the unmanned aerial vehicle 10 is still in a flying state, the recycle controller drives the driving device to operate and drives the charging body 122 to descend (as shown in fig. 9), the traction cable 123 is deployed downwards, so that the charging body 122 can slide along the gravity direction and along the inner side wall of the unmanned aerial vehicle recycle bin 20 (as shown in fig. 10), and the housing 21 is of a funnel structure, so that the sliding of the charging body 122 can be stable and smooth;

and C: as shown in fig. 11, the charging body 122 slides to the bottom of the unmanned aerial vehicle recycling station 20, the first magnet 1222 and the second magnet 214 are fixed to the charging body 122 and the unmanned aerial vehicle recycling station 20 in an adsorbing manner, the first electrode 1221 and the second electrode 212 are electrically connected in an adhering manner, so that an external power supply can charge the unmanned aerial vehicle 10, the unmanned aerial vehicle 10 can be charged while flying, when a flying task needs to be performed again, the driving device operates to lift and retract the charging body 122, and the unmanned aerial vehicle can fly to a flying destination, and the process is fast and convenient without manual operation.

Further, as shown in fig. 12 and 13, the recovery method of the unmanned aerial vehicle 10 of the present invention further includes a step D: the clamping member 231 penetrates through the clamping groove 215 to abut against the upper end face of the charging body 122 so as to limit the moving range of the charging body 122, and the unmanned aerial vehicle 10 flies downwards and lands in the unmanned aerial vehicle recycling station 20, so that the unmanned aerial vehicle 10 is recycled.

The unmanned aerial vehicle recovery system and the recovery method thereof of the invention, through setting up the unmanned aerial vehicle 10 and the unmanned aerial vehicle recovery station 20, the main body 11 of the unmanned aerial vehicle is electrically connected with a charging device which can be lifted, and the charging body 122 is driven by a driving device to ascend or descend, meanwhile, the unmanned aerial vehicle recovery station 20 comprises a shell 21 with an opening at the upper end, the charging body 122 is provided with a first electrode 1221 and a first magnet 1222, the shell 21 is provided with a second electrode 212, a positioning device and a second magnet 214, when the unmanned aerial vehicle 10 flies to the direction of the positioning device to the range of the opening 211 of the shell 21, the driving device operates and drives the charging body 122 to descend to the bottom of the shell 21, at the moment, the first magnet 1222 and the second magnet 214 are fixed by magnetic attraction, the first electrode 1221 and the second electrode 212 are jointed and communicated to charge the unmanned aerial vehicle 10, if the unmanned aerial vehicle 10, if the unmanned aerial vehicle 10 needs to be recovered, the unmanned aerial vehicle 10 descends into the shell 21, so that the unmanned aerial vehicle 10 can be automatically and accurately butted with the unmanned aerial vehicle recovery station 20 for charging, meanwhile, the charging state can be timely released to quickly carry out a re-flying task, and the unmanned aerial vehicle 10 can also be recovered into the unmanned aerial vehicle recovery station 20.

The above examples of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Not all embodiments are exhaustive. All obvious changes and modifications which are obvious to the technical scheme of the invention are covered by the protection scope of the invention.

Claims

1. An unmanned aerial vehicle recovery system, its characterized in that, including unmanned aerial vehicle, unmanned aerial vehicle recycle bin and recovery control ware, wherein

2. The unmanned aerial vehicle recovery system of claim 1, wherein the unmanned aerial vehicle body is provided with a charging port, the positive and negative poles of the charging port are electrically connected with the corresponding first electrodes through the traction cables, respectively, and the positive and negative poles of the power supply are electrically connected with the corresponding second electrodes, respectively.

3. The unmanned aerial vehicle recovery system of claim 1, wherein a protection device is disposed on the periphery of the unmanned aerial vehicle main body, the protection device includes an upper protection plate disposed on an upper end of the unmanned aerial vehicle main body, a lower protection plate disposed on a lower end of the unmanned aerial vehicle main body, and a fixing member connecting the upper protection plate and the lower protection plate, and the lower protection plate is provided with a through hole corresponding to the charging body.

4. The unmanned aerial vehicle recovery system of claim 3, wherein the liftable charging device further comprises a support structure, the support structure comprises two upright posts respectively disposed on the lower guard plate and a cross post connecting the two upright posts, the driving device comprises a motor disposed at one end of the cross post, and the traction cable is wound on the cross post.

5. The unmanned aerial vehicle recovery system of claim 1, wherein the charging body is an inverted cone structure, the two first electrodes are respectively disposed at intervals around an inclined plane of the inverted cone structure, the electrodes of the first electrodes face downward, and the first magnet is disposed at a vertex of the inverted cone structure.

6. The unmanned aerial vehicle recovery system of claim 5, wherein the housing is a funnel structure, the diameter of the funnel structure increases gradually from bottom to top, the second electrodes are respectively arranged at intervals around the inclined plane of the funnel structure, and the electrode surfaces of the second electrodes face upward to be matched with the electrode surfaces of the first electrodes.

7. The unmanned aerial vehicle recovery system of claim 1, wherein the unmanned aerial vehicle recovery station further comprises a fixing structure and a clamping structure, the fixing structure comprises a mounting plate and a plurality of support pillars arranged on the mounting plate, the support pillars support the housing, the clamping structure comprises a plurality of clamping members horizontally penetrating the support pillars, a clamping groove corresponding to the clamping members is formed in a side wall of the housing, and the clamping members can pass through the clamping groove to limit the range of motion of the charging body.

8. The unmanned aerial vehicle recovery system of claim 3, wherein the upper guard plate, the lower guard plate and the fixing member are made of resin.

9. A unmanned aerial vehicle recycling method applied to the unmanned aerial vehicle recycling system according to any one of claims 1 to 8, comprising the following steps:

10. The unmanned aerial vehicle recycling method of claim 9, further comprising

Step D: the joint spare passes the draw-in groove supports the up end of the body that charges, unmanned aerial vehicle downstream descend extremely in the unmanned aerial vehicle recycle bin.