CN116829405A - Accessing power and data communications from an overhead power line to an unmanned aerial vehicle - Google Patents

Abstract

The invention relates to a docking and charging station for an Unmanned Aerial Vehicle (UAV), the docking and charging station comprising a housing configured to be fastened to an above-ground structure providing a ground clearance below the housing, the docking and charging station comprising a power supply unit, a communication module and a docking port for receiving and docking the UAV. A UAV configured to dock in the provided docking and charging station is also provided.

Description

Accessing power and data communications from an overhead power line to an unmanned aerial vehicle

Technical Field

The present invention relates to devices and systems that enable a Unmanned Aerial Vehicle (UAV) to dock and charge on a docking station, which may be disposed on an overhead power line or other grounded structure. The system provides power and data communication transmissions to UVA on overhead power lines that utilize power from the power lines through power induction power harvesting.

Background

Monitoring and proper maintenance of overhead power lines in transmission and distribution networks is critical to the safe operation of the power grid. Environmental factors (e.g., factors that cause premature aging of critical parts of the power line structure) can lead to unexpected blackouts, losing thousands or even millions of dollars per blackout by the grid operator and its customers. In addition, vegetation and other obstructions near the power lines may cause power outages, and even fire if left unattended.

Power access is the biggest limiting factor in improving the monitoring and supervision of overhead power lines. These lines span significant distances and often traverse remote areas without other infrastructure. Although power lines carry power, it is often not possible to use the power directly because the voltage is much higher than can be tolerated by ordinary power equipment without expensive and large transformers. Although less costly, it is also an option to install diesel generators, wind turbines, solar panels and/or batteries to power the monitoring equipment or to connect to the appropriate voltage level of the nearest substation using ultra-long cables, typically buried underground.

Operators of overhead power lines have found use of unmanned aerial vehicles UAVs in inspecting grid infrastructure. Unmanned aerial vehicles for monitoring are often equipped with high resolution cameras and thermal imaging sensors, and power structures can be scanned for damaged mast theft, bolts, rust, or other types of corrosion. Furthermore, the thermal imaging sensor may detect damage in the insulator chain, damage to conductors caused by lightning strikes, problems associated with birds nesting in or on the tower, and the like.

The main disadvantage of using unmanned aerial vehicles to inspect power line structures and conductors is the need for specialized service personnel to carry and operate the unmanned aerial vehicle throughout the inspection process, often requiring traversing rough and remote terrain. The battery of the drone must be periodically charged or replaced with a fully charged battery. Thus, when using a manually operated drone, inspection of the power line infrastructure, which may be tens or hundreds of kilometers long, requires a significant amount of manpower, perhaps days or even weeks, to complete.

One new approach is to use a power harvesting device mounted on the conductors of an overhead power line. WO 2019/030781 discloses a power harvesting and monitoring device that uses one or more current transformers and associated rectifying and power regulating circuitry to produce a dc power supply output from an electromagnetic field generated by an alternating current passing through the phase line of a high voltage power line.

Disclosure of Invention

The present invention relates in a first aspect to a device configured to be located on an overhead power line having an external power connection for powering third party power equipment and devices, such as in particular Unmanned Aerial Vehicles (UAVs), commonly referred to as drones (drones) (these two terms being used interchangeably herein). The power supply may be permanently powered, for example for monitoring equipment and devices, or may be temporarily powered, for example to charge a drone attached to the device. The device may also provide network and data communication services to the equipment, for example, by enabling data to be sent from and to the drone, and updating control instructions to be sent to the drone, such as a new flight navigation plan, or by using wireless communication between the device and third party equipment, such as a flying drone, a mobile phone, or a battery powered internet of things (IoT) object. Finally, the device provides data processing for third party equipment, eliminating the need for the equipment to perform such power intensive operations, thereby conserving power for other operations by the device.

The DDC station includes a housing configured to be secured to an above-ground structure, a power supply unit, a communication module, and a docking port disposed below the housing, the above-ground structure providing a ground clearance below the housing, a mating dock and unit for receiving and docking a configured UAV, wherein the docking port and dock unit on the UAV provide an electrical connection for charging the docked UAV.

In some embodiments, the DDC is arranged to be clamped to a structure, such as a horizontal portion of a pole or mast structure, and the power supply unit may obtain power from an external power source. More preferably, the DDC is arranged to be clamped on a conductor of an overhead power line, wherein the DDC comprises a power collecting section for collecting power from an electromagnetic field surrounding the conductor.

The DDC station is arranged with a charging unit, preferably allowing for fast charging of the docked drone. Fast charging means that charging is faster than simultaneous charging by power harvesting, which will typically be achieved by using super-capacitors that can be loaded with energy and rapidly unloaded, as is known in the art.

The docking port of the DDC station is arranged to securely receive and securely fasten a mating UAV (i.e., a UAV comprising a docking or anchor device as further described herein for mating with the docking port), preferably the docking port comprises a guiding and securing portion for controllably docking, securing, storing/parking and releasing the UAV. The guiding portion may for example comprise a funnel-like structure. The guiding and securing portion preferably further comprises a clamping or gripping mechanism for securing the docking and charging unit of the UAV to the DCC station.

In some embodiments, the docking port is configured as a unit to be secured and secured to the main housing of the DDC station, in other embodiments the docking port is an integral part of the DDC station housing.

As described in more detail below, in some embodiments, the DDC station may advantageously include one or more of an infrared serial transceiver, a LiDAR sensor, a real-time kinematic RTK base station, and one or more high resolution cameras; these devices and components may facilitate accurate navigation of the drone to the drone docking unit.

In another aspect, the present invention provides a system for providing docking, charging and/or data communication with an unmanned aerial vehicle, the system comprising a DDC station as described above and one or more UAVs arranged to mate with and dock with the DDC station.

The UAV of the system of the present invention includes a docking unit for securely mating and docking with the docking port of the DDC station. Preferably, the docking unit of the UAV comprises a docking probe and a connector or anchor having a mating structure with the docking port. The docking unit may be an integral part of the fuselage or housing of the UAV, or alternatively may be arranged as a detachable unit that may be securely fixed and connected to the UAV. Preferably, the docking unit probe is configured such that it can be positioned in a stationary mode or a flight mode during the flight of the UAV, as well as a docking mode for docking. Thus, for example, in a resting mode the probe may be positioned substantially horizontally, such as by being folded over by a hinge mechanism, and in a docked mode the probe may be erected in a substantially vertical position.

The docking unit should then provide a secure anchor connection and electrical connection between the UAV and DCC station for charging and data transmission.

The UAV docking unit is preferably disposed on top of the UAV (its body or housing) and generally includes an extension portion that extends upward to connect to the docking port of the DDC station.

In some embodiments, the UAV docking unit is provided as a Docking and Connection Equipment (DCE) that is bundled or otherwise mounted or secured on the UAV. This enables a drone equipped with a DCE and requiring charging of the battery to find the nearest DDC station and dock to it from below the DDC station by means of a dedicated docking mechanism that docks the DCE and the drone mounted in place below the DDC station, which secures the DCE and its drone mounted below the DDC station in place for battery charging, data transmission, etc. of the drone.

Such Docking and Connection Equipment (DCE) is provided as a separate part of the present invention. Part of the invention is also a UAV having an externally mounted DCE or an integral DCE, as described herein.

When the DDC station is clamped on the conductor of a high voltage line, it can collect all the required power using the electromagnetic field around the alternating carrier conductor. As described above, in some embodiments, the DDC station may be mounted on a light pole or other structure, and in these embodiments, the DDC may be connected to a conventional power output, such as 120VAC or 230VAC.

DCE can be installed on most types of unmanned aerial vehicles. The DCE may be permanently attached to the back of the drone in question, or may be temporarily attached using appropriate fastening equipment. In one embodiment, a reins is provided that will be fastened under the body of the unmanned in a manner similar to a saddle mounted on the back of a horse. An intermediate layer of lightweight yet compatible foam formed to closely fit the shape of the body of the drone may be located between the drone and the DCE to which it is attached, whether the DCE is permanently or temporarily attached to the drone with a suitable harness. In some embodiments, the DCE electronics and mechanical parts may be integrated parts of the drone itself, such as a dedicated inspection drone or a drone for parcel delivery.

As described above, in some embodiments, a DDC station may be clamped on a conductor of a high voltage power line and draw power from an electromagnetic field surrounding an AC carrying conductor. The collected power is used to power devices within the DDC station and also to charge external devices, such as UAVs, with appropriate mating equipment for docking and electrically connecting the DDC station.

In some embodiments, the docking port of the DDC site floor includes a conical funnel. The docking port will also include a UAV for securing and locking the mechanism to secure and secure the docking, which may include, for example, a rotary hemispherical locking mechanism with a cutter. A rotating hemispherical locking mechanism is located at the upper and narrow ends of the funnel and rotates in a semicircle around the hemispherical top of the docking probe of the DCE (if present). When the hemispherical locking mechanism of the DDC station rotates in a semicircle around and tightly locks in place the hemispherical top of the docking probe of the DCE, the electrode carrying the charging current presses down into the center of the hemispherical top of the docking probe and connects to the mating electrode connecting the charging current to the DCE and from there to the battery charging port of the drone.

In some embodiments, a stepper motor in the DDC station rotates a hemispherical locking mechanism to lock the docking probe of the DCE in place during the charging process and rotates it back after the charging process is completed for releasing the DCE and the drone. When the hemispherical locking mechanism is rotated around the hemispherical top of the docking probe of the DCE, the cleavage in the hemispherical mechanism is wider at the edge of the sphere, but narrows near the docking probe shaft.

In some embodiments, the Docking and Connection Equipment (DCE) includes specially designed electronic circuitry that controls all DCE functions and at least some communications between the DDC station and the drone attached thereto. The housing of the DCE is preferably made of a lightweight and strong material, such as carbon fiber. The housing preferably has electrical shielding characteristics that prevent interruption and malfunction of the control and navigation electronics due to the occurrence of high voltage spikes and discharges that occur when approaching or contacting and releasing from a DDC station clamped on the conductor of the high voltage power line. The docking probe is made of a conductive material or includes an internal conductor, located on top of the drone or its DCE, has two functions, firmly docking and attaching the drone to the DDC station, and connecting the charging current of the DDC station to the battery charging port of the drone through the DCE. The drone reports the voltage level (3.7V-7.4V-11.1V-14.8V-18.5V-22.2V, etc.) and the charge rate profile of the drone battery to the DDC, either directly or through DCE. When the unmanned aerial vehicle is in flight, the docking probe is lowered to a horizontal position to reduce the influence of the docking probe on the flight capability of the unmanned aerial vehicle as much as possible.

In some embodiments, the number of docking probes on each DCE may be one, two, or four, depending on the weight of the fully loaded drone to which the DCE is attached. For lighter types of unmanned aerial vehicles, such as those under 10 kg full load, it is sufficient to have a docking probe. For heavier drones, two or four docking probes may be used. An electric motor (e.g. a stepper motor) may be arranged to be responsible for erecting the docking probe in the docking position and lowering it to a rest or flight position as appropriate. Furthermore, the docking probe may be expandable (telescoping).

In some embodiments, the docking probe is made of a lightweight and strong conductive material, such as carbon fiber, which is capable of withstanding substantial weight and mechanical stresses. In some embodiments, a hemispherical cup that interfaces with the end of the probe serves two purposes. First, when the bowl locking mechanism of the DDC station locks around the hemispherical cup on the docking probe, it ensures that the drone is securely attached to the docking port of the DDC station. Another is to connect the charging current from the DDC station to the DCE. The DCE then connects the charging current to the drone through a separate cable.

In some embodiments, there are two or more (e.g., four) serial infrared transceivers on the DCE, such as one in or near each corner. The infrared transceiver communicates with a corresponding transceiver at the bottom of the DDC station to enable the DCE and its attached drone to accurately direct the last distance before connecting to the DDC station. Preferably, the viewing angle of the infrared transceiver is kept narrow to ensure that the transceivers must be in line of sight with each other, that is, the DCE docking probe must be located almost directly below the center of the DDC station to find a way to access the docking hopper and charging port of the DDC station. Each infrared transceiver may have its own identification code to facilitate guidance of the drone, i.e. correct azimuth, position and altitude with respect to the DDC station when the drone is approaching the DDC station, so that the docking probe is dropped directly into the docking hopper and under the DDC station, correct positioning and orientation. The infrared transceiver may also be used for data communication between the DDC station and the DCE equipment due to electrostatic discharge and interruption of electrostatic noise that occurs when the docking probe of the DCE equipment contacts the docking hopper of the DDC station or the DCE equipment is released (undocked) from the DDC station, such as particularly when electrostatic noise interrupts radio communication and prevents WiFi, bluetooth, wireless personal area network, or other radio-based communications from operating properly.

The present invention provides apparatus, methods and systems for providing access to power and/or network/data communications at locations where overhead power lines are present. Power and data communications may be provided to equipment used to monitor environmental conditions such as weather, vegetation growth, flame and vegetation event detection, line tapping, lightning strikes, sparks and forest fires. The solutions provided herein may be used in remote areas where power harvesting is the greatest limiting factor in improving monitoring and surveillance of overhead transmission lines and surrounding areas of the grid. Thus, power lines are the only infrastructure in these areas, and power and data communication is possible through the present devices and systems. The equipment may also be used to monitor operations (e.g., vehicle traffic or closed circuit television), or to provide wireless data communications for drones, mobile phones, and IoT objects. The invention also provides a system for obtaining and analyzing data on a device or for sending raw data and/or processed results back to a third party equipment or a remote operation platform.

In some embodiments, the power harvesting portion of the drone docking station presented herein uses power harvesting and conditioning techniques, where one or more current transformer units have their own short circuit shunt, rectifying circuit, smoothing capacitor, and are connected in parallel to a common power supply output. In some embodiments, the power harvesting portion includes a plurality of current transformer units connected in parallel. The power harvesting portion of the monitoring device further operates with a shunt method that completely shorts the secondary winding of each current transformer when not needed, which terminates the power harvesting of the transformer portion and minimizes magnetic currents and disturbances in the current transformer core. Furthermore, the common load is connected in parallel to the DC power output connection of each rectifier of the current transformer unit, providing the power harvesting system with cold regulation, which makes it possible to provide charging stations on the overhead power line. The common load of the power harvesting system may comprise auxiliary equipment of the apparatus, a charging unit or a power storage device.

In some embodiments, the system of the present invention provides a docking station for an Unmanned Aerial Vehicle (UAV), wherein the unmanned aerial vehicle may be securely stored and charged on the docking station on an overhead power line. The docking station collects and stores power from the power line and is able to use visual and/or wireless communication to guide the drone for the accuracy of the landing and docking process. The docking station may also include means for receiving data obtained by the drone and communicating the data to a remote platform. The data obtained by the drone may be used to observe and communicate real-time environmental data or events. Furthermore, consistent and accurate data reflecting environmental conditions and events (e.g., forest fires) are collected by the system of the present invention and may be used to predict such events, for example, by means of Machine Learning (ML) and Artificial Intelligence (AI). Furthermore, the docking station may provide data updates to the drone, such as updated flight routes, i.e. results of data processing in the device or relayed from a remote operation platform.

In some embodiments, the docking station of the present invention does not require an external power source because it is autonomously powered by a power harvesting portion that harvests electrical energy from the electromagnetic field around the phase line. The exterior of the docking station may be designed to prevent corona discharge and withstand severe weather conditions. This includes the choice of materials for the docking station housing, the formation of the parts that make up the housing, and the choice of materials for securing the docking station to the power cord.

In some embodiments, the system of the present invention provides data processing services for third party equipment (e.g., without limitation, a drone). Such services may be provided for individual third party equipment connected, for example for image processing from drones to analyze vegetation growth or for fire detection. Such services may also be provided for a plurality of unrelated or related third party devices, such as a group of drones that send data for processing on the devices and that result in updated flight paths being sent back to each drone, for example.

One or more of the following embodiments, alone or in combination, helps to solve the problem of providing a power output and data communication device adapted to clamp onto the phase line of a high voltage power line: a) the connection/docking structure is attached to the housing of the docking and charging station or a physical part thereof to secure the drone when the drone is powered for operation or charging on the drone, and the connection/docking structure is mounted on an overhead power line, b) the power harvesting part in the docking and charging station has a plurality of current transformer units with direct current connections connected in parallel to a common load, c) means of docking and communication between the charging station and the drone for ensuring secure docking onto the docking and charging station, and d) means of data communication between the docking and charging station and the drone.

Drawings

Fig. 1 shows an embodiment of a docking and charging station mounted on a phase line of an overhead power line with a docking port for docking a UAV. A UAV having a docking probe for mating with a docking port is also shown.

Fig. 2 shows a communication device on a docking and charging station.

Figure 3 shows a UAV according to the invention with a docking probe in a docking mode (a) and a stationary/flight mode (B).

Figure 4 shows a UAV docking and charging station approaching (a) and docking (B).

Fig. 5 shows a docking and charging station mounted on a light pole.

Figure 6 is a diagram showing a shelter in a mast structure for parking a UAV.

Figure 7 illustrates the alignment of a UAV with a docking station using a plurality of infrared serial transceivers.

Fig. 8 illustrates a portion of a communication protocol with data command and response messages from a UAV to a docking and charging station.

Figure 9 illustrates a portion of a communication protocol with data command and response messages sent from docking and charging stations to a UAV or DCE.

Fig. 10 shows an example of a data string showing the data load sent between the UAV and docking and charging station.

Detailed Description

One or more of the objects of the invention are particularly solved by the features defined in the independent claims. The dependent claims relate to preferred embodiments of the invention. Further additional and/or alternative aspects will be discussed below.

Accordingly, at least one of the preferred objects of the present invention is addressed by a system for providing docking, charging and/or data communication with a UAV (unmanned aerial vehicle). The system includes i) at least one docking and charging station, the docking and charging station further comprising: a) a housing, b) a power supply unit, and c) a communications module, and ii) one or more UAVs. The housing of the at least one docking and charging station further comprises a docking and charging unit, preferably arranged below the housing, for controllably receiving, charging and releasing one or more drones. Furthermore, the one or more drones comprise a docking and connection unit for docking to the docking and charging unit, which is arranged on the top surface of the one or more drones.

In this context, the terms "overhead power line", "phase line", "power transmission line" and "conductor" refer to line conductors intended to transmit power at high or low voltage levels as an overhead power line. The operating voltage of the overhead power transmission line may range from a low voltage line below 1000 volts to an ultra-high overhead line with a voltage level above 800 kilovolts.

In this context, the terms "operating platform" and "remote data platform" refer to a remote centralized software and data platform, or operating and management system, for receiving data from docking electronics (e.g., drones and drones docking and charging stations) that are clamped to conductors of an overhead power line.

In this context, the terms "docking and charging station", "drone docking and charging station (DDC)" and "apparatus" refer to an apparatus having a power supply and communication device, wherein the apparatus is arranged for a drone to fly and dock under the housing of the apparatus.

In this context, the terms "docking and connection unit" and "Docking and Connection Equipment (DCE)" refer to a connection device that may be mounted on or designed as part of an unmanned aerial vehicle, wherein a portion of the connection device may stand up and be connected to a mating structure of the unmanned aerial vehicle docking and charging station.

All of the embodiments listed below relate to the apparatus, systems and methods of the present invention.

In an embodiment of the invention, the system further comprises a remote data platform for receiving data obtained by the drone and transmitting to the at least one docking and charging station.

In an embodiment of the invention, the docking and charging station further comprises a power storage device and a power output for connection to the drone.

In an embodiment of the invention, the power storage device is a supercapacitor energy storage device for assisting in the rapid charging of the drone.

In an embodiment of the invention, the data communication module communicates wirelessly with one or more unmanned aerial vehicles or using a wired connection.

In embodiments of the invention, the wireless communications include one or more of a mobile network, a satellite network, wi-Fi, bluetooth or narrowband IoT, a light guide, a sound guide or visual device (e.g., a tag or QR code identification tag), a 3 GPP-based cellular network (e.g., GSM, UMTS, LTE, LTE-M, EC-GSM-IoT and 5G-NR), a wireless local area network including IEEE 802.11, a wireless personal area network including IEEE 802.15 (e.g., bluetooth, zigBee, Z-Wave, loRa), RFID, optical communications including visual illumination and laser, sound communications, and visual communications (e.g., tag and QR code).

In an embodiment of the invention, the external device is selected from, but not limited to, the following: cameras, sensors, drones, computers, mobile phones, internet of things (IoT) objects, airplanes, satellites, broadband mobile network cells, global Positioning System (GPS), and other data transceiver devices.

In an embodiment of the invention, the docking and charging station comprises a docking and charging section for controllably securing, storing, charging and releasing the drone from the docking and charging station.

In an embodiment of the invention, the docking and charging station further comprises means for collecting, storing, processing and transmitting data received from the drone to the remote data platform, and means for transmitting data from the remote data platform to the drone.

In an embodiment of the invention, the docking and charging station and/or the remote data platform further comprises data processing means for processing data received from the drone.

In an embodiment of the invention, data processing includes performing operations on the data to transform or classify information, including, but not limited to, averaging data sequences over a specified period of time, frequency analysis transforms, computation of conductor conditions including sag, gap, tension, temperature and current, conductor vibration analysis including line slapping and flying (galloping), identification of line icing conditions and ice loading, detection of fire events on and around the power line (including sparks, flames and wildfires), detection of vegetation and wildlife contact, detection of grid fault events and their locations, and image and video processing. Data processing also refers to any transformation or classification of information that is not related to the power line and the grid.

In an embodiment of the invention, the data processing comprises image analysis of image data for a single image, multiple images and/or HD video data provided by the drone.

In an embodiment of the invention, the system comprises one or more unmanned aerial vehicles for obtaining data of the power line and mast structure of the area on and/or around the power grid.

In embodiments of the present invention, image data is fed through Machine Learning (ML) and Artificial Intelligence (AI) processes, providing real-time reporting, prediction, and future optimization, and improving the accuracy of events related to the data.

In embodiments of the present invention, data processing is used to locate objects or events that occur on or near a power line, such as, but not limited to, line fault events, fires, and line icing.

In an embodiment of the invention, the power output in the housing of the docking and charging station forms a docking receptacle for releasably securing the drone to the housing of the docking and charging station.

In an embodiment of the invention, the docking and charging section is adapted to be releasably attached to the housing of the device, and wherein the docking and charging section is designed to fit under or over the housing of the device and form a docking section of the drone to be docked and charged.

In an embodiment of the invention, the docking and charging section further comprises an electrical outlet connected to the power output.

In an embodiment of the invention, the device further comprises a power supply output for powering or charging the drone.

In an embodiment of the invention, the apparatus further comprises a power storage device.

In an embodiment of the invention, the power storage device is a supercapacitor energy storage device.

In an embodiment of the invention, the power output is also a docking receptacle for releasably securing an external device to the housing during data transmission and/or charging.

In embodiments of the invention, charging is facilitated by attaching separate docking and charging stations to the housing of the device either before or after the device is mounted on an overhead power line. This means that the docking port and related components may be arranged in the additional part to be firmly attached to a power collection station attachable to an overhead power line. However, the docking port may also be an integral part of the workstation.

In an embodiment of the invention, the docking and charging station comprises means for controllably attaching, storing, charging and releasing external devices (e.g. in particular UAVs) from the apparatus.

In an embodiment of the invention, the data transceiver unit includes electronic equipment for sending and receiving communications/data using standard protocols of the network, such as, but not limited to, 3GPP based cellular networks (e.g., GSM, UMTS, LTE, NB-IoT, LTE-M, EC-GSM-IoT, and 5G-NR), wireless local area networks including IEEE 802.11, wireless personal area networks including IEEE 802.15 (e.g., bluetooth, zigBee, Z-Wave, loRa), ethernet including IEEE 802.3, or other wired serial protocols (e.g., RS232, RS485, I2C, SPI, modbus).

In an embodiment of the invention, the device (data transceiver unit) further comprises means for collecting data obtained from the drone and sending to a remote data platform for storing, processing and analysing data from the drone.

In an embodiment of the invention, the apparatus further comprises means for processing data from an external device (e.g., a UAV) and sending the results back to the external device.

In an embodiment of the invention, the docking and charging station further comprises means for transmitting data from the device and/or the processed data to the remote IT platform and receiving data from the remote IT platform to be relayed to the drone.

In an embodiment of the invention, all components of the device that require energy are powered only by the power harvesting unit.

In an embodiment of the invention, the power harvesting unit further comprises i) a power harvesting portion, ii) a control and monitoring portion, and iii) a power output portion.

In an embodiment of the invention, the power harvesting part comprises i) at least one current transformer unit, ii) a DC/DC regulation module, and iii) a charging control part.

In an embodiment of the invention, the power harvesting portion comprises one or more current transformer units, wherein each current transformer unit comprises: i) A core configured to be located around the primary line, ii) one secondary winding arranged around each of the at least one core, wherein each secondary winding has a first end and a second end, iii) a rectifier configured to convert alternating current into direct current, wherein the rectifier comprises two AC connections for alternating current and two DC connections for direct current, wherein the first and second ends of the secondary winding are connected to the AC connections of the rectifier, and iv) a current shunt arranged and configured to completely short out the ends of the secondary winding, wherein the common load is connected to the DC connections of the current transformer unit, and wherein the DC connections of the rectifiers of the current transformer unit are connected in parallel to a common DC power supply output.

In an embodiment of the invention, the power collecting portion includes a plurality of current transformer units. In such an embodiment, rectifiers connected to the load are connected in parallel, and for each current shunt, a shunt controller unit is used to control the state of the respective shunt unit. Further, each shunt controller unit comprises a voltage level state input and is configured to control the state of the respective shunt unit according to the voltage level state input, wherein each voltage level state input is based on the voltage across the load, and wherein each shunt controller unit may comprise a clock input, wherein each controller unit is configured to change the state of the respective shunt unit according to the clock input only. Further, in such an embodiment, the system further comprises a zero crossing detection element for detecting a zero crossing state of the sensed current and a system control unit, wherein the system control unit is configured to generate a voltage level state input for each shunt controller unit based on the voltage across the load.

In an embodiment of the invention, each rectifier comprises a plurality of metal oxide semiconductor field effect transistor MOSFETs, for example at least 4 MOSFETs.

In an embodiment of the invention, each current shunt comprises a plurality of MOSFETs, for example at least 2 MOSFETs.

In embodiments of the invention, the power output of each of the one or more current transformer units may be independently connected to a common power output.

In an embodiment of the invention, the current transformer units are independently switched on or off based on the power required for the common power output.

In an embodiment of the invention, the device further comprises a connector and a clamping mechanism for an external device, such as a drone.

In an embodiment of the invention, the device further comprises a heater to keep the components of the unit and the sensor within their optimal recommended operating temperature range.

In an embodiment of the invention, the device further comprises a cooling mechanism and air ventilation to keep the components of the unit and sensor within their optimal operating temperature range, such as cooling fans for Central Processing Units (CPU) and DC/DC power modules.

In an embodiment of the invention, the apparatus further comprises an antenna for wireless communication, mobile network, satellite network, wi-Fi, bluetooth and Global Positioning System (GPS).

In an embodiment of the invention, the control and monitoring section further comprises i) at least one master controller, ii) a power management controller, and iii) a measurement and data acquisition module.

In an embodiment of the invention, the output section further comprises a power output for the one or more sensing or measuring devices and the wireless communication module.

In an embodiment of the invention, the operating platform is a software and data platform.

In an embodiment of the invention, the drone docking and charging station includes a telecommunication device, for example, a mobile router (or other available radio access network) using LTE connections, to connect to the outside world for operation and maintenance of the DDC station and for transmitting data from the drone to the control center.

In an embodiment of the invention, the drone docking and charging station includes Wi-Fi wireless communication equipment that enables ethernet communication with external devices (e.g., DCE equipment and drones) as well as other devices in the surrounding environment.

In an embodiment of the invention, the drone docking and charging station includes wireless communication equipment based on IEEE 802.15 standards (e.g., bluetooth, zigBee, Z-wave, loRa) that enables wireless communication with external devices (e.g., DCE devices and drones) as well as other devices in the surrounding environment.

In an embodiment of the invention, the drone docking and charging station includes a LoRa wireless communication device that is capable of wireless communication with external devices (e.g., DCE, drones) as well as other devices in the surrounding environment.

In an embodiment of the invention, the drone docking and charging station comprises a serial infrared transceiver capable of wireless (infrared) communication between the DDC station and the drone or DCE thereof, and for guiding the DCE and the drone in the final stage of docking and connecting to the DDC station.

In an embodiment of the invention, the drone docking and charging station includes a LiDAR transceiver for accurately measuring the distance between the DDC station and the DCE, and for directing the DCE at the final stage of docking and connecting to the DDC station.

In an embodiment of the invention, the drone docking and charging station includes a high resolution camera that reads the QR code of the back side of the DCE and is used to guide the DCE in the final stage of docking and connecting to the DDC station.

In an embodiment of the invention, the drone docking and charging station includes an RTK base station for improving the accuracy of a GNSS based drone positioning device (such as GPS or other type) used as an RTK detector.

In an embodiment of the invention, the drone docking arrangement comprises Wi-Fi wireless communication arrangement, the device being capable of ethernet communication with the DDC station and the drone.

In an embodiment of the invention, the drone docking equipment includes wireless communication equipment based on IEEE 802.15 standards (e.g., bluetooth, zigBee, Z-wave, loRa) that is capable of wireless communication with external devices (e.g., DCE equipment and drones) as well as other devices in the surrounding environment.

In an embodiment of the invention, the drone docking equipment includes a LoRa wireless communication equipment that is capable of wireless communication with external devices (e.g., DCE equipment and drones) as well as other devices in the surrounding environment.

In an embodiment of the invention, the drone docking arrangement comprises a serial infrared transceiver capable of wireless (infrared) communication between the DDC station and the DCE, and for guiding the DCE and the drone to the final stage of docking and connecting the DDC station.

In an embodiment of the invention, the drone docking equipment includes a wired serial communication device protocol (e.g., without limitation, RS232, RS485, I ² C and SPI) are used for communication between the DCE and the flight control units of the drones to which it is attached.

In an embodiment of the invention, the unmanned aerial vehicle docking equipment comprises an ambient light detector.

In an embodiment of the invention, the at least one docking and charging device and the one or more drones further comprise a plurality of infrared serial transceivers for high-precision two-way air navigation for a drone docking hopper ultimately proximate to the drone docking unit.

In an embodiment of the invention, the plurality of infrared serial transceivers communicate using a unique two-way communication protocol that communicates at the exact location of the drone docking unit under the docking and charging device. Thus, in an exemplary embodiment, the infrared serial transceiver a of the drone docking unit must be fully identical to the infrared serial transceiver a of the docking and charging device (DDC) in order for the drone to be properly aligned and positioned. The same applies to infrared serial transceivers B, C and D, all having corresponding transceivers on the DDC. As shown in fig. 7.

In an embodiment of the invention, the infrared serial transceiver communication data comprises a unique identification number for each of the plurality of infrared serial transceivers (e.g. two or three or preferably at least four), such as one in or near each corner of the bottom of the docking and charging device, and one on each corner of the drone docking unit or corresponding to the top of the drone itself.

In an embodiment of the invention, the positioning data includes not only the transmission data of the serial infrared transceiver, but also high-precision measurement data of the LiDAR transceiver in the docking and charging device, allowing centimeter precision in measuring the distance between the docking and charging device and the drone docking unit prior to docking.

In embodiments of the present invention, the serial infrared transceiver takes over all data communication between the docking and charging device and the drone docking unit when ambient electrostatic discharge and other high frequency interference can prevent normal operation of other wireless communication devices that are sensitive to static electricity and electromagnetic.

It should be noted that the above-described aspects and novel use of precisely aligned pairs of infrared transceivers for docking and landing robots may also be used in other configurations. Thus, in one embodiment, the docking and charging station may have an upwardly facing docking port and an upwardly facing infrared transceiver for the drone with the appropriate docking mechanism to land and dock from above and a downwardly facing infrared transceiver in communication with the transceiver of the station, so the UAV will have to properly mate the transceivers, which then are precisely aligned to land (substantially as described above), except that the UAV lands on the upwardly facing docking port from above.

The present invention will become more fully understood from the detailed description given herein below and the accompanying drawings, which are given by way of illustration only, and thus are not limiting of the present invention, and wherein:

fig. 1 outlines the major components of the system of the present invention for providing a device for charging and/or data communication with a drone. The figure shows a drone docking and charging station (DDC) 1 clamped on the phase line 10 of an overhead power line. The unmanned aerial vehicle docking and charging station 1 comprises a housing 2 and a docking and charging unit 3 below the housing. In the embodiment shown in fig. 1, the docking and charging unit is arranged in the bottom surface of the housing 2, wherein the docking and charging unit 3 is divided into a guiding portion 4 and a fixing portion 5 for controllably docking, fixing, storing/parking and releasing the drone from the docking and charging device. The figure also shows a drone 6, the drone 6 having a docking and connection unit (DCE) 7 attached to the drone, wherein the docking and connection unit 7 comprises a docking probe 8 and a connection portion 9, the docking probe 8 and the connection portion 9 having mating structures to mate to the fixed portion 5 of the docking and charging unit 3. The docking and connecting unit 7 is attached to the unmanned aerial vehicle by means of a tie reins 11 such that the docking and connecting unit 7 is located on the top surface of the unmanned aerial vehicle for docking under the unmanned aerial vehicle docking and charging station 1 according to the invention.

Fig. 2 shows the arrangement of the communication device on the docking and charging station 1 of the unmanned aerial vehicle of the present invention. In fig. 2A, four infrared serial transceivers 12 are indicated on the bottom surface of the housing 2 of the docking and charging station 1 around the docking and charging unit 3 for communication with compatible or mating infrared serial transceivers on a drone (not shown) or its associated DCE to enable high-precision air navigation during the final docking distance of the drone to the drone docking unit 3 of the docking and charging station 1. Furthermore, the docking and charging station 1 also comprises a LiDAR transceiver 13 indicated in the bottom surface of the docking and charging station housing 2 to provide remote and local measurements for high-precision air navigation in the final travel distance of the drone to the docking and charging station 1. Furthermore, a high resolution camera 14 is shown on the bottom surface of the docking and charging station 1 for reading a QR code (not shown) on the top surface of the drone to enable high precision air navigation within the final travel and docking distance of the drone to the DDC docking and charging unit 3.

In fig. 2B, an RTK base station 15 is shown on the top surface of the docking and charging station housing 2 for improving the docking accuracy of a GNSS based drone comprising an RTK detector device. Furthermore, a mobile communication antenna 16 is shown on the top surface of the docking and charging station housing 2, as well as an additional antenna 17 for communication standards, such as, but not limited to Wi-Fi, bluetooth, zigbee, etc.

Fig. 3 shows a perspective top view of the flying drone with the docking probe 8 in an upright docking position (a) and a horizontally moved position (B). The drone 6 in this configuration has a docking and connection unit 7 attached to the top surface of the drone housing. The figure shows a flying drone with an upstanding docking probe 8. Four infrared serial transceivers 12 are indicated near the corners of the top surface of the docking and connection unit 7 for communication with compatible or cooperating infrared serial transceivers in the docking and charging station 1 (not shown) to enable high-precision air navigation within the final docking distance of the drone with the drone docking unit 3 of the docking and charging station 1. A QR code 40 is shown on the top surface of the docking and connection unit 7 for identification by a high resolution camera on the bottom surface of the docking and charging station housing 2 (not shown) to enable high precision air navigation within the final travel and docking distance of the drone to the docking and charging unit 3.

Fig. 4 shows the drone 6 approaching the drone docking station 1 (fig. 4A), with the docking probe 8 in an upright docked position and the hemispherical connection 9 at the end of the docking probe. In fig. 4B, the drone 6 is safely seated in the drone docking station 1, with the mating clamping portion 5 of the drone docking unit 3 holding the hemispherical connection portion 9 at the end of the docking probe 8.

Fig. 5 shows an embodiment of the invention in which the drone docking station 1 is clamped on a lamp pole 19 and the drone 6 approaches the docking station 1 from below in order to dock the docking station from below.

In fig. 6 an embodiment is shown, wherein the drone 6 is parked in a shelter 20, which is fixed in a mast structure 21 of the power grid, which is advantageous for protecting the drone during longer parking periods or in extreme weather conditions.

Fig. 7 shows an embodiment in which a plurality of infrared serial transceivers are arranged in four pairs for aligning the drones for docking, in four panels.

Panel A: UAVs are approaching docking and charging stations. The serial infrared transceiver on the UAV (or an associated docking and charging anchor unit fastened to the UAV (DCE)) begins sending air navigation signals looking for a mating serial infrared transceiver on the docking and charging station (DDC).

Panel B: the DCE serial infrared transceiver 22a data communication signal is detected at the serial infrared transceiver 12c on the DDC station, which is an incorrect location, so the UAV continues to navigate in the air to correct its location under the DDC station before docking. Because the DDC station has detected the DCE serial infrared transceiver signal, it turns on the LiDAR transceiver 23, starting to measure the distance between the DDC station and the DCE with millimeter resolution.

Panel C: the UAV (or associated DCE) on the drone continues to navigate in the air before docking to the correct location under the DDC station.

Panel D: all four serial infrared transceivers on the UAV (or DCE) are now aligned and in communication with the mating transceiver on the DDC station, so the UAV is properly aligned and positioned directly below the center of the DDC station. Thus, the UAV, with the aid of the LiDAR transceiver 23, can navigate up to the docking hopper (pilot hopper) and into the docking port of the DDC station.

Example 1-serial infrared communication protocol for drone

In the example, there are four serial infrared transceivers, one at each corner, under the top cover of the DCE equipment. The infrared transceivers communicate with the same transceivers in the bottom four corners of the DDC station to enable the DCE equipment and the drones to which it is connected to be directed precisely to the last meter before connecting to the DDC station. The viewing angle of the infrared transceiver is kept narrow to ensure that the transceiver must be in line of sight with the mating infrared transceiver on both sides to ensure that the DCE equipment docking probe is located directly below the center of the DDC station to find a way to access the DDC station docking hopper and docking port. Each infrared transceiver has its own identification code to facilitate guidance of the drone, i.e. correct azimuth heading, the exact position and height under the docking hopper of the DDC station, to the last few meters of the charging station. This is to ensure that the docking probe is secured directly in the docking hopper below the DDC station.

The docking probe may be made of a conductive material and located on top of the DCE equipment, having two functions: i) Firmly docking and attaching the drone to the DDC station, and ii) connecting a charging current from the DDC station to the battery charging port of the drone through the DCE equipment. The drone reports the voltage levels required for the drone battery (3.7V-7.4V-11.1V-14.8V-18.5V-22.2V, etc.), as well as the charge rate profile, to the DDC station, either directly or through DCE equipment, with the aid of wired serial communications, to ensure the correct voltage and current levels for the charging process.

The serial communication protocol shown in fig. 8 to 10 operates as follows:

the serial infrared transceiver is connected to the microcontroller in the communication device (DDC and DCE) through a standard UART interface. The maximum transmission distance between the two serial infrared transceivers is 8 meters. The bit rate ranges from 9.6kbit/s to 115.2kbit/s. Fig. 8 outlines a communication protocol from a drone to a charging station, where a limited set of data commands and responses are sent from the drone or DCE equipment to the DDC station. In fig. 9, a communication protocol for communication from a charging station to a drone is shown with a limited set of data command and response messages sent from a DDC station to a DCE or drone.

The serial infrared transceiver air guidance function and data communication are based on proprietary communication protocols designed by the inventors. The following are some of many examples of data request and command strings used in this application. These examples are not limiting and modifications may be made in the various embodiments of the invention if applicable. Fig. 8 outlines a communication protocol for communication from a drone to a charging station, where a limited set of data command and response messages sent from the drone or DCE to the DDC station are shown. Fig. 9 illustrates a communication protocol for communication from a charging station to a drone, where a limited set of data command and response messages sent from a DDC station to a DCE or drone are shown. Fig. 10 shows an example serial infrared transceiver string in an air navigation mode and a service request mode. Examples are indicated as data string examples showing data loads transmitted between DCE (drone) and DDC stations during docking (in air navigation mode), and data string examples showing data loads transmitted between DCE (drone) and DDC stations during charging (in service request mode).

As used herein (including in the claims), singular forms herein shall be understood to include plural forms as well, and vice versa, unless the context indicates otherwise. Thus, it should be noted that, as used herein, the singular forms "a," "an," and "the" include plural forms unless the context clearly dictates otherwise.

Throughout the specification and claims, the terms "comprise," "include," "have" and "contain," and variations thereof, are to be understood as meaning "including but not limited to," and are not intended to exclude other elements.

The present invention also covers exact terms, features, values and ranges, etc., if these terms, features, values and ranges, etc. are used in conjunction with terms such as about, approximate, general, substantially, at least, etc. (i.e., "about 3" shall also include exactly 3 or "substantially constant" shall also include exactly constant).

It should be understood that the term "at least one" refers to "one or more" and thus includes two embodiments having one or more components. Furthermore, the dependent claims referring to the independent claim reciting "at least one" to the feature have the same meaning whenever the feature is referred to as "said" or "at least one".

The use of exemplary language, such as "for example," "such as," "for example," etc., is merely intended to better illuminate the invention and does not pose a limitation on the scope of the invention unless otherwise claimed. Any of the steps described in the specification may be performed in any order or simultaneously unless the context clearly indicates otherwise.

All of the features and/or steps disclosed in the specification may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive. In particular, the preferred features of the invention are applicable to all aspects of the invention and may be used in any combination.

Claims (43)

1. A docking and charging station for an unmanned aerial vehicle, UAV, comprising: a housing configured to be secured to an above ground structure providing a ground clearance below the housing, the docking and charging station including a power supply unit, a communication module, and a docking port disposed below the housing for receiving and docking a mating and docking unit extending upwardly from the UAV, the docking port and docking unit providing an electrical connection for charging the docked UAV.

2. The docking and charging station of claim 1, wherein the housing is configured to be clamped on a conductor of an overhead power line and includes a power harvesting portion for harvesting power from an electromagnetic field surrounding the conductor, the power harvesting portion supplying power to the power supply unit.

3. Docking and charging station according to claim 1, wherein the housing is arranged to be clamped to a structure, such as a horizontal part of a pole or mast structure, and wherein the power supply unit obtains power from an external power source.

4. A docking and charging station according to any one of claims 1 to 3 wherein the housing of at least one of the docking and charging stations is arranged to be clamped on a conductor of an overhead power line, and wherein at least one of the docking and charging stations further comprises a power harvesting portion for harvesting power from an electromagnetic field surrounding the conductor.

5. A docking and charging station according to any one of the preceding claims comprising a charging unit for rapidly charging the UAV.

6. The docking and charging station of any of the preceding claims, further comprising a power storage device.

7. The docking and charging station of claim 6, wherein the power storage device comprises an ultracapacitor energy storage device for rapidly charging the UAV.

8. The docking and charging station of any of the preceding claims, wherein the docking port comprises a guiding and securing portion for controllably docking, securing, storing/parking and releasing the UAV.

9. The docking and charging station of claim 8, wherein the guide portion comprises a tapered or funnel-like structure in a bottom surface of the housing for receiving a mating docking unit of the UAV.

10. The docking and charging station of claim 8, wherein the guiding and securing portion comprises a clamping or gripping mechanism for securing a docking and charging unit of the UAV to the docking and charging station.

11. The docking and charging station of any of the preceding claims, wherein the docking port is adapted to be releasably attached to the housing, and wherein the docking port is configured to be secured to the housing and to provide a docking receptacle for releasably securing the UAV to the housing.

12. The docking and charging station according to any one of the preceding claims, comprising one or more of the following:

an infrared serial transceiver for receiving and transmitting data,

a LiDAR sensor,

-a real time kinematic RTK base station, and

a high-resolution camera is provided,

for navigating the UAV to the docking and charging station.

13. A system for providing docking, charging, and data communication with an unmanned aerial vehicle, UAV, the system comprising:

at least one docking and charging station according to any one of claims 1 to 12,

one or more UAVs, and

wherein the one or more UAVs each comprise the docking unit configured to mate with a docking port of the docking and charging station, the docking unit being disposed on top of each of the UAVs.

14. The system of any of claims 10 to 13, wherein the docking unit on the UAV comprises a docking probe and connector or anchor having mating structure with the docking port on the docking and charging station.

15. The system of claim 14, wherein the docking unit is disposed within a housing of the UAV, wherein the docking probe and connector or anchor extend upwardly from the housing of the UAV.

16. The system of claim 14, wherein the docking unit is removably secured to an exterior of the UAV, the docking unit including electrical connections for charging and data transmission.

17. The system of claim 14, wherein the docking probe is arranged to be in a stationary or flight mode during flight of the drone, and an upright docking mode for docking, parking and release.

18. The system of claim 17, wherein the docking probe comprises a wand configured to be in a horizontal position substantially aligned with the top surface in a resting or flight mode and to be erected to a substantially upright position in a docking mode.

19. The system of any of claims 13-18, wherein at least one of the docking and charging station and each of the one or more UAVs further comprises a plurality of infrared serial transceivers for high-precision air navigation of the UAV at a final distance to the docking port.

20. The system of any of claims 13-18, wherein at least one of the docking and charging stations further comprises a LiDAR transceiver for distance and location measurement for high-precision air navigation of the UAV at a final distance to the docking port.

21. The system of any of claims 13-20, wherein the at least one docking and charging station further comprises a high resolution camera for reading QR codes on the one or more UAVs or the docking unit for high precision air navigation of the drone to a final distance of the docking port.

22. The system of any of claims 13 to 21, wherein at least one of the docking and charging stations further comprises a real-time kinematic RTK base station for improving flight navigation and docking accuracy, and the UAV is global navigation satellite system, GNSS, based and further comprises a real-time kinematic RTK rover device, such as, but not limited to, a global positioning system, GPS, device.

23. The system of any of claims 13-22, wherein at least one of the docking and charging stations further comprises a data processing device for processing data received from the UAV.

24. A system according to claim 23, wherein the data processing is used to locate objects or events occurring on or near the power line, such as but not limited to line fault events, fires and icing.

25. The system of claim 13, wherein the communication module comprises a transceiver device for communicating with the one or more UAVs.

26. The system of claim 13, wherein the docking and charging station communicates wirelessly with the one or more UAVs or using a wired connection.

27. The system as in claim 26 wherein the wireless communications comprise one or more of a mobile network, satellite network, wi-Fi, bluetooth, or narrowband internet of things IoT, light guides, voice guides, or visual devices (e.g., QR code identification tags), 3 GPP-based cellular networks (e.g., GSM, UMTS, LTE, LTE-M, EC-GSM-IoT and 5G-NR), wireless local area networks including IEEE 802.11, wireless personal area networks including IEEE 802.15 (e.g., bluetooth, zigBee, Z-Wave, loRa), radio frequency identification RFID, optical communications including visual lighting and lasers, voice communications, and visual communications (e.g., tags and QR codes).

28. The system of claim 13, wherein the system further comprises a remote data platform for receiving data obtained by the one or more UAVs and for sending data to the one or more UAVs.

29. The system of claim 28, wherein the docking and charging station further comprises means for collecting, storing, processing and transmitting data received from the one or more drones to the remote data platform, and means for transmitting data from the remote data platform to the one or more UAVs.

30. The system of claim 13, wherein the system further comprises one or more wireless network mesh devices for transmitting data from one or more of the docking and charging stations and/or relaying data to locations providing mobile coverage or other telecommunication means for communicating with a remote platform.

31. The system of claim 30, wherein the one or more wireless network mesh devices comprise a power supply and a communication module.

32. The system of claim 31, wherein the power source is a power harvesting portion for generating electricity by magnetic induction of a current transmitted through the phase line.

33. The system of claim 32, wherein the communication module is a wireless network mesh device.

34. An unmanned aerial vehicle UAV docking and charging anchor unit configured to be removably or fixedly secured to a UAV, the unit comprising a rod or arm extending upwardly from the unmanned aerial vehicle, and a distally disposed docking head on the rod or arm that fits into a downwardly facing mating docking port of a UAV docking and charging station, the anchor unit comprising electrical connections and conductors for allowing charging of a power supply of the UAV from the power supply in the docking and charging station.

35. The UAV dock and charge anchor unit of claim 34, wherein the lever or arm is disposed on a hinge allowing the lever or arm to be in an upwardly extending docked position and a folded flight position.

36. An unmanned aerial vehicle UAV comprising a UAV docking and charging anchor unit as claimed in claim 34 or 35.

37. A system for docking an unmanned aerial vehicle, UAV, comprising:

docking and charging station for an unmanned aerial vehicle, the docking and charging station comprising a power supply unit, a communication module and a docking port,

one or more of the UAVs,

Wherein at least one of the docking and charging stations and the one or more UAVs comprise a plurality of infrared serial transceivers for high-precision two-way air navigation to and from the docking and charging stations and the UAV, and wherein the plurality of infrared serial transceivers communicate using a two-way communication protocol to determine the exact location of the UAV relative to the docking and charging unit.

38. The system of claim 38, wherein the plurality of infrared serial transceivers are arranged in a plurality of pairs such that for each pair, the transceivers of the docking and charging station and their mating transceivers on the UAV are aligned for the correct position of the UAV to be docked.

39. The system of claim 37 or 38, wherein the docking and charging station comprises a housing configured to be secured to an above-ground structure that provides a ground clearance below the housing.

40. The system of claim 39, wherein the docking and charging station is in accordance with any one of claims 1 to 12.

41. The system of claim 40, wherein the docking port is configured to receive upwardly extending docking and charging posts or anchors from each of the one or more UAVs.

42. The system of claim 43, wherein the one or more UAVs are UAVs in accordance with claim 40.

43. The system of claim 37 or 38, wherein the docking port faces upward for receiving and docking the UAV from above.