RU2721048C1 - Automatic station for charging and servicing of unmanned aerial vehicles and unmanned aerial vehicle operating therewith - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: invention relates to design of stations for charging and servicing unmanned aerial vehicles. Automatic station comprises landing platform with landing lights or markers, voltage supply contacts, power supply unit and control unit. Landing platform is made in the form of hollow polyhedron, inner surface of which repeats external surface, with number of tops equal to number of UAV chassis. Landing platform is installed on supports or holder, on which at least one vibrator is installed. UAV comprises housing, beams with engines and propellers, battery, contacts for supply of voltage and chassis, made movable, having On the Ground position, at which chassis are installed vertically downwards, Flight position, at which chassis are spaced apart maximally. Chassis has position of Take-Off/Landing, in which chassis is brought down to centre with formation of downward-facing pyramid or truncated pyramid, as well as the position at which the chassis is moved apart until touching the lower surface of the landing platform and pressing them with electric contacts located on the landing platform and on the UAV.

EFFECT: providing accurate positioning of the UAV on the landing platform.

10 cl, 13 dwg

Description

The invention relates to the design of an automatic charging and servicing station for multi-rotor unmanned aerial vehicles and a multi-rotor unmanned aerial vehicle operating in conjunction with it, and can be used to create a UAV maintenance network that will allow performing various tasks using UAVs whose flight range is limited by the battery capacity.

Automatic battery charging and UAV maintenance require accurate UAV positioning and orientation on the landing platform. Positioning uncertainty arises due to inaccurate operation of the landing process control system and weather factors such as gusty wind, fog, snow, rain, which generally impair the guidance process or introduce inaccuracies at the last moment of UAV landing, when the control system is no longer able to make position corrections sitting apparatus with the necessary accuracy.

Automatic UAV charging and maintenance stations are known, in which, after landing on the platform, its location is adjusted by some active device (manipulator).

Automatic station, according to the application US 2014/0124621 A1, receives UAVs on a flat landing platform. After landing the UAV, the alignment mechanism moves the four UAV bars into the positioning zone, in which charging, battery replacement or other type of maintenance is carried out. For better service, the UAV can be additionally fixed with a special device or leveling mechanism.

The automatic station, according to the application US 2014/0319272 A1, also receives UAVs on a flat landing platform, but after that, using two straps, the UAV displays the device of their landing zone in the charging and maintenance zone.

These devices have the ability to receive UAVs of a conventional design that are capable of landing on any surface, however, the design of the station is complex.

Automatic UAV charging and maintenance stations are known, which contain passive UAV positioning devices upon landing. The design of the positioning device, as a rule, is designed for this type of UAV. The UAV itself has the ability to land both at a given station and any other horizontal surface.

Automatic station, according to patent US 9,139,310 B1, contains conical recesses on the landing platform at the locations of the UAV chassis. This design positions the UAV if the deviation from the landing point is not more than the radius of the cone in the upper part. This design is capable of receiving devices with the same chassis arrangement.

The delivery platform for unmanned vehicles, according to US 2015/0175276 A1, has a truncated base pyramid protruding above the landing surface, which is equal to the distance of UAV landing skis. When landing, the interaction of UAV support skis and the pyramid leads to the necessary positioning.

The UAV landing platform, according to US D805,018 S, is made according to the size of the UAV support arrangement and has inclined surfaces around it. After landing, the UAV rolls over these surfaces and is positioned on the landing platform. These station designs, as a rule, do not contain devices to hold the device on the landing platform.

There are known automatic UAV charging and maintenance stations containing passive UAV positioning devices when landing, in which the design of the positioning device is designed for this type of UAV landing device. The UAV itself has a landing device designed to interact with the station's positioning device, and therefore the device, as a rule, does not have the ability to land on other devices or a horizontal surface.

The UAV landing device, according to US 9,499,265 B2, contains a landing platform in the form of a conical recess in which contacts for charging the battery, a replaceable battery, and other devices are installed. The UAV has an annular support, from which the legs rise, forming a skeleton of a truncated pyramid directed downward. Positioning accuracy during landing is ensured by the interaction of the ring support and legs with a conical recess. Positioning along the vertical axis of rotation is achieved by rotating the supporting surface of the landing platform around the vertical axis. The source provides for the ability to perform a landing form in the form of a polygon. In this case, the UAV support should have the same shape, and this allows you to provide the desired orientation without rotating the supporting surface of the landing platform.

The US 9,561,871 B2 aircraft docking system includes a landing pad and an air vehicle. At the landing site there is a conical surface descending towards the center. In the center there is a recess in size of the landing surface of an air vehicle. In an air vehicle there is a landing surface with wheels. The protrusion and landing device are located on the lower surface of the aircraft. After landing on a conical surface, the air vehicle rolls toward the center, and its landing surface descends into the central recess. The aircraft and the landing pad have voltage contacts for charging the battery, which are in contact with each other.

The prototype of the invention is the UAV landing device, according to US 2016 / 00395.41 A1, which contains a landing pad made in the form of a crown, a UAV landing device in the form of two cross-shaped rods. In the depressions placed contacts for supplying the charging voltage, on the landing rods are reciprocal contacts. The landing platform has mechanisms for fixing the landing rods. The landing platform contains radiation sources; on the UAV, a video camera or radiation sensors.

The UAV flies up to the landing device and lands, focusing on the radiation sources located on it. Inaccuracy of landing, which may be caused by inaccuracy of the landing system or gusts of wind, is leveled when the surface of the landing pad and UAV landing rods interact due to passive gravity centering.

Devices of this type are quite simple and provide the best interaction between the landing platform and UAV system, but the UAV itself has a landing device designed to interact only with its station and does not have the ability to land on other devices or a horizontal surface.

The UAV prototype is a multi-rotor unmanned aerial vehicle CN206704520U, which contains landing gears that can take landing and flight positions with the help of a drive. When the landing position of the chassis is directed vertically or almost vertically downwards, when in flight position, the chassis diverge in a fan shape and take a horizontal position.

The technical result is to simplify the process of charging and servicing a multi-rotor unmanned aerial vehicle in automatic mode by ensuring accurate UAV positioning during landing.

Simplification of the process of positioning a multi-rotor unmanned aerial vehicle by providing adjustment of the location of the landing UAV relative to the landing platform.

Simplification of the design of an automatic station for charging and servicing a multi-rotor unmanned aerial vehicle and a multi-rotor unmanned aerial vehicle used with it.

Ensuring the possibility of takeoff and landing of the used multi-rotor unmanned aerial vehicle outside the station, including from a plane or landing platform with guide funnels.

The technical result is achieved by the fact that in an automatic station for charging and servicing multi-rotor unmanned aerial vehicles containing a landing platform with landing lights and / or markers, voltage supply contacts for charging the battery, a power supply and a control unit in accordance with the proposed solution, the landing platform is made in the form a hollow polyhedron, the inner surface of which repeats the outer surface, with the number of vertices equal to the number of chassis of a multi-rotor unmanned aerial vehicle.

Another result is achieved by the fact that in the automatic station for charging and servicing multi-rotor unmanned aerial vehicles containing a landing platform mounted on poles, voltage supply contacts, a power supply and a control unit, in accordance with the proposed solution, at least one vibrator is installed on the poles.

Another result is achieved by the fact that in the automatic station for charging and servicing multi-rotor unmanned aerial vehicles containing a landing platform mounted on a holder, voltage supply contacts, a power supply and a control unit, in accordance with the proposed solution, at least one vibrator is installed on the holder.

In addition, voltage supply contacts for charging the battery, landing lights or markers are located on the surface of the landing platform.

In addition, contacts for supplying charging voltage are mounted on the vertices and / or faces of the polyhedron.

A multi-rotor unmanned aerial vehicle comprising a body, beams with engines and propellers, a battery, contacts for supplying voltage and a chassis made movable, having a ground position in which the chassis is mounted vertically down, a flight position, in which the chassis are spaced maximally to the sides, according to the proposed solution, the landing gears additionally have a “take-off / landing” position, in which the landing gear is brought down to the center with the formation of a pyramid facing downward, as well as the “located on the landing platform” position, in which the landing gear is extended until the lower surface of the landing platform and preloaded by them electrical contacts located on the landing platform and on the UAV.

A multi-rotor unmanned aerial vehicle comprising a body, beams with engines and propellers, a battery, contacts for supplying voltage and a chassis made movable, having a ground position in which the chassis is mounted vertically down, a flight position, in which the chassis are spaced maximally to the sides, according to the proposed solution, the landing gears additionally have a “take-off / landing” position, in which the landing gear is brought down to the center with the formation of a truncated pyramid facing downward, as well as the “located on the landing platform” position, in which the landing gear is extended to touch the lower surface of the landing platforms and preloaded by them electrical contacts located on the landing platform and on the UAV.

In addition, contacts for supplying voltage mounted on an elastic base are located on the housing, above the axial line of the chassis, in their flight position.

In addition, contacts for voltage supply mounted on an elastic base are located on the beams above the axial line of the chassis, in their flight position.

In addition, the contacts for supplying the charging voltage are located on the housing on the line of contact with the sides of the landing platform in the landing position.

The invention is illustrated by the following graphic material.

In FIG. 1 shows an automatic station for charging and servicing multi-rotor unmanned aerial vehicles with a landing platform mounted on supports.

In FIG. 2a shows an automatic station for charging and servicing multi-rotor unmanned aerial vehicles with a landing platform mounted on a holder in the storage position of the device; in Fig.2b - in the position of receipt and departure of the apparatus.

In FIG. 3 shows a landing platform made in the form of a ring mounted on supports.

In FIG. 4 shows a landing platform made in the form of a polyhedron according to the number of chassis of a multi-rotor unmanned aerial vehicle.

In FIG. 5 shows a landing platform made in the form of a square mounted on supports.

In FIG. 6 shows a landing platform made in the form of a hexagonal star mounted on supports.

In FIG. 7 shows a landing platform made in the form of a square mounted on a holder.

In FIG. 8a shows options for placing contacts on the landing platform.

In FIG. 8b shows options for placing landing lights and markers on the landing platform.

In FIG. 9a-9g depicts a multi-rotor unmanned aerial vehicle in various positions: 9a - general view; 9b - in flight; 9c - during take-off / approach to the landing platform; 9g - in the position when the device is installed and fixed on the landing platform.

In FIG. 10a and 10b depict possible options for the location of the contacts for charging the battery on the UAV (bottom view).

In FIG. 11 shows the rotary drive of the chassis and possible options for the location of the chassis.

In FIG. 12a, 12b illustrate possible kinematic schemes of the chassis drive.

In FIG. 13a, 13b, 13c show variants of schemes for determining the permissible landing error for a successful landing of an apparatus.

The automatic station for charging and servicing multi-rotor unmanned aerial vehicles of FIG. 1 comprises a housing 1, a hinged door 2, a landing platform 3 mounted on supports 4, a control unit 5 and a power supply 6. The hinged door 2 is mounted on horizontal hinges 7 and connected to the door opening mechanism 8, for example, in the form of a linear actuator.

In FIG. 2a and 2b depict an automatic station for charging and servicing multi-rotor unmanned aerial vehicles with a landing platform 3 mounted on a holder 10 in the storage position of the device and in the receiving and sending position of the device. The automatic station comprises a housing 1, swing doors 2 and 2a with vertical hinges 7 and door opening mechanisms 8, a control unit 5, a power supply 6, a landing platform 3 mounted on the holder 10, and a lifting mechanism 11 of the holder 10, for example, in the form of a linear actuator. Position 9 marks a multi-rotor unmanned aerial vehicle.

Depending on the tasks performed, an automatic station may also contain mechanisms for loading and unloading cargo onto an unmanned aerial vehicle, a battery replacement mechanism, etc.

The landing platform can be made in the form of a ring 12 (Fig. 3), or a polyhedron (hexagon 13 (Fig. 4)), or a square 14 (Fig. 5) or a star 15 (Fig. 6) and mounted on vertical supports 4 or holder 10 (Fig. 7) with eyes 16 and 17 for installing it on the housing 1 of the station and connecting with the lifting mechanism 11, respectively. Pos. 18, a vibrator is indicated, which is mounted on a support 4, or a holder 10, or a landing platform 12, or 13, or 14, or 15. The vibrator 18 may be an electromagnetic type vibrator with a spring-loaded armature or a vibrator in the form of an electric motor with an unbalanced rotor. On the surface of the landing platform 3, insulators 19 are equipped with electrical contacts 20 for supplying voltage for charging the battery, as well as landing lights and / or markers 21. The landing platform can be made of electrical insulating material. In this case, insulators 19 may be absent. The number of vertices of the polyhedron or the rays of the star is chosen equal to the number of landing gear used by the unmanned aerial vehicle 9.

Landing platform 3 can be made of a profile such as square, rectangle, corner, channel, etc., as well as pipes of square or rectangular cross-section. The choice of the cross-section of the platform ribs depends on the design of the electrical contacts 20 for supplying the charging voltage of the battery and landing lights (lamps) or markers 21.

In FIG. 8a and 8b depict options for placing electrical contacts 20 for supplying voltage to charge the battery, landing lights and / or markers 21 on the surface (around the perimeter) of the landing platform.

Landing platform 3 has at least two electrical contacts 20 for supplying voltage to charge the battery. The presence of more contacts increases the reliability of charging the battery and reduces the load on the contacts. Contacts can be located both on the vertices of the polyhedron (pos. 20 of Fig. 8a), and on its edges (pos. 20a of Fig. 8a), on the vertices of the rays of the star (pos. 20b of Fig. 8a) and at the root of the rays (pos. 20c, Fig. 8a). For an annular landing platform, the location of the electrical contacts 20g of the voltage supply for charging the battery is unprincipled.

Landing lights and / or markers 21 create an asymmetric picture that ensures the correct orientation of the landing unmanned aerial vehicle 9 in the angle and coordinate of the center of the landing platform 3. Moreover, the figure of the landing lights and / or markers allows you to determine the center of the landing platform with a fairly simple algorithm. Embodiments of landing lights and / or markers are shown in FIG. 8b.

The multi-rotor unmanned aerial vehicle of FIGS. 9a ... 9g comprises a housing 22, beams 23, on which engines 24 and propellers 25, a chassis 26, rotary chassis drives 27, powered by engines 28, and electrical contacts 29 mounted on an elastic base 30 are installed (FIG. 11) and a video camera 31 with a stabilization and control system 32, a satellite positioning navigator module 33. The device’s body 22 also contains a battery with a charger, a flight controller, propeller speed controllers, landing gear drives, the necessary sensors and equipment, including ultrasound or another distance sensing device (not shown).

In FIG. 10a and 10b shows a UAV (bottom view) and landing platforms in the form of a ring 12 and a square 14 and possible options for the location of electrical contacts on the UAV case 22.

Electrical contacts 29 can be located on the housing 22 or beams 23 of the apparatus 9 above the axles of the chassis 26 in their flight position (key 29 in FIG. 10) or on the line of contact with the sides of the landing platform in the landing position, pos. 29a for contact with the landing platform, made in the form of a ring 12 or pos. 29b in FIG. 10b for making contact with the square landing platform 3.

The rotary drive 27 of the chassis 26 (Fig. 11, 12a, 12b) can be made in the form of a worm gear with a worm 36 on the shaft of the engine 28 and a worm wheel 35, on which the chassis 26 is mounted. An angle sensor 37 is mounted on the shaft of the worm wheel 35, for example, an encoder. It is also possible to perform this assembly in the form of a lever system using a linear actuator 38. In this case, the angular position of the chassis 26 can be determined by the position sensor of the linear actuator 38. The rotary drive of the chassis 27, upon the command of the on-board controller of the device, provides the following chassis positions:

In the "on the ground" position (plane) and in the approach position on the ground (Fig. 9a), the chassis of the device is lowered down vertically or slightly spaced apart, pos. 26a in FIG. 11. This position of the chassis 26 allows the UAV 9 to take off / landing outside the automatic station for charging and servicing multi-rotor unmanned aerial vehicles from a horizontal surface, for example, to / from the ground or a flat landing platform of another type, for example, with guide funnels for each chassis.

In the "in flight" position (Fig. 9b), the chassis of the apparatus is maximally spaced apart, can touch the beams of the apparatus, pos. 26b in FIG. eleven.

In the take-off / landing position (Fig. 9c), the chassis 26 of the apparatus 9 is brought down to the center, forming the edges of the downward truncated pyramid when the ends of the chassis 26 do not touch each other or the full pyramid when the ends of the chassis 26 are in contact, pos. 26c in FIG. eleven.

In the position on the landing platform 3 of the automatic station for charging and servicing multi-rotor unmanned aerial vehicles (Fig. 9d), the chassis are spaced apart until they touch the lower surface of the landing platform 3 and preloaded electrical contacts 29 with the contacts 20 of the landing platform 3 and preloaded elastic element 30 to the profile landing platform 34 in order to ensure reliable contact, pos. 26g in FIG. 11. The position of the chassis 26 is set in this case according to the readings of the angle sensor 37 or the linear actuator 38, or by the magnitude of the resistance moment on the drive 27, which in turn is determined by the magnitude of the current supply to the motor 28.

Automatic station charging and maintenance of multi-rotor unmanned aerial vehicles and working with it multi-rotor unmanned aerial vehicle operate as follows.

In the embodiment of FIG. 1.

A multi-rotor unmanned aerial vehicle 9 is mounted on the landing platform 3, the chassis 26 of the apparatus 9 is laid apart to touch the lower surface of the landing platform and preloaded the electrical contacts 20 and contacts 29, respectively, located on the landing platform 3 and apparatus 9. The hinged door 2 of the automatic station is closed .

In the embodiment of FIG. 2a

A multi-rotor unmanned aerial vehicle 9 is mounted on the landing platform 3, the chassis 26 of the apparatus 9 is laid apart to touch the lower surface of the landing platform and preloaded on the electrical contacts 20 and contacts 29, respectively, located on the landing platform 3 and apparatus 9. Holder 10 with landing platform 3 lowered down to a vertical position, swing doors 2 and 2a are closed.

The geometry of the location of the chassis 26 (Fig. 9) and their interaction with the geometry of the landing platform 3 ensures reliable retention of the apparatus 9 in any position. This allows you to develop an automatic station with a different location of the stored multi-rotor unmanned aerial vehicle 9. The fixed position of the device 9 allows you to perform necessary manipulations on it in automatic mode, for example, replacing the battery with a special device.

At a command, the automatic station is put into the start / receive position of the device.

In the embodiment of FIG. 1

The hinged door 2 is lowered down to a horizontal position.

In the embodiment of FIG. 2b

Hinged doors 2 and 2a open wide, the lifting mechanism 11 of the holder 10 raises the landing platform 3 in a horizontal position.

A multi-rotor unmanned aerial vehicle 9 puts the landing gear 26 in the take-off / landing position, i.e. brings them down to the center of the chassis 26, forming a truncated or full pyramid facing down, starts the engines 24 and takes off vertically up to the complete exit of the landing platform 3. This take-off position provides unhindered take-off of the device, as chassis 26 do not touch landing platform 3.

After takeoff, a multi-rotor unmanned aerial vehicle 9 transfers the landing gear 26 to the “flight” position, i.e. pushes the chassis 26 as far as possible, the ends of the chassis 26 can touch the beams 23 of the apparatus 9. In this position, the chassis 26 does not prevent the camcorder 31 from making a side view.

After the multi-rotor unmanned aerial vehicle takes off, the automatic station enters standby mode.

In the embodiment of FIG. 1.

Automatic station closes hinged doors 2.

In the embodiment of FIG. 2a.

The automatic station lowers the holder 10 and locks the swing doors 2 and 2a.

A multi-rotor unmanned aerial vehicle 9 finds the location of an automatic station using the satellite navigation module 33 at given coordinates. Then the device is lowered to a height sufficient to obtain a reliable image of the landing lights or markers 21 of the landing platform 3. The automatic station is transferred to the start-receive position of the device.

In the embodiment of FIG. 1.

The hinged door 2 is lowered down to a horizontal position,

In the embodiment of FIG. 2a.

Hinged doors 2 and 2a open wide, the lifting mechanism 11 of the holder 10 raises the landing platform 3 in a horizontal position.

The landing lights or lights of the lighting of the markers 21 are turned on. The camera 31 of the device is turned into a vertical position, the camera is stabilized, and it receives an image of the landing lights or markers 21, the control unit of the device analyzes the images and corrects the location of the device relative to the landing platform 3 and its orientation around the vertical axis. The distance from the apparatus 9 to the landing platform 3 is determined by an ultrasonic or other device for determining the distance (not shown). The apparatus 9 lowers down and approaching the landing platform 3, puts the chassis 26 in the take-off / landing position, in which the chassis 26 is brought down to the center with the formation of a downward truncated pyramid or a complete pyramid, in which the ends of the chassis 26 are in contact with each other.

Figure 13 shows variants of cross-sections along the plane of the landing platform 3 in the form of a ring 12, or a polyhedron 13, or a square 14 at the moment when the chassis 26 cross this plane. This figure explains the meaning of the dimensions and shows the free space between them, which allows a successful landing with inaccurate centering of the apparatus.

The maximum deviation of the device from the center of the landing platform, at which a successful landing is possible, is determined by the formula

Where

X is the maximum permissible deviation of the apparatus,

D is the inner diameter of the landing platform,

d is the outer diameter of the ends of the chassis in the approach position.

The control system must provide the required accuracy of landing.

With a further decrease in the UAV 9, its landing gear 26 enters the landing platform 3 and then, if the landing gear 26 touches the inner faces of the landing platform 3, the landing gear 26 slides along the inner surface of the landing platform 3, thereby correcting the location of the landing UAV 9 relative to the landing platform 3. This ensures accurate rotation of the apparatus 9 and its centering in such a way that, after a full fit, the electrical contacts 20 and the contacts 29 are connected. Landing platform 3 during the landing process is completely passive.

The shape of the applied landing platform 3 affects the landing process and the orientation of the apparatus 9 during landing.

The landing platform in the form of a ring 12 performs centering (positioning), but does not orient the landing device in the angle relative to the sides of the landing platform 3. Therefore, the angular accuracy of landing is completely determined by the accuracy of the UAV control system 9.

The landing platform in the form of a polyhedron 13, 14 has a centering and orientation-oriented effect on the angle of landing. In this case, the effect orienting in the angle of landing is the higher, the smaller the angle between the ribs. The landing platform in the form of a triangle has the best orienting property.

A landing platform in the form of a star 15 makes it possible to reduce the angle between adjacent faces of the polyhedron and thereby increase the effect orienting along the angle of landing. This allows you to use a larger number of faces without compromising orientation.

If for any reason the connection of the electrical contacts 20 and the contacts 29 is not established, an update is made. This is possible in two ways: the device 9 accelerates the propellers 25, rises a few centimeters and sits down again, or the vibrator 18 is turned on, which shakes the landing platform 3, providing an adjustment to the location of the device 9. Then, the device 9 is moved to the “located on the landing platform” 3 in which the landing gear 26 is spaced apart until they touch the bottom surface of the landing platform 3 and preloaded electrical contacts 20 located on the landing platform 3, and contacts 29 located on the multi-rotor unmanned aerial vehicle 9.

Next, the landing lights or marker lights 21 are turned off.

In the embodiment of FIG. 1.

The hinged door 2 of the automatic station closes (version of Fig. 1).

In the embodiment of FIG. 2b.

The holder with the landing platform 3 is lowered to a vertical position, and the swing doors 2 and 2a are closed.

The battery of the device 9 is being charged or other device servicing devices are started.

When setting the task of landing UAVs 9 outside the automatic station for charging and servicing multi-rotor unmanned aerial vehicles, the chassis 26 is moved to the “on the ground” position, and the UAV 9 lands on a horizontal surface, for example, on the ground or on a flat landing platform of another type.

Thus, the proposed technical solutions make it possible to simplify the process of charging and servicing a multi-rotor unmanned aerial vehicle in automatic mode, the design of an automatic station for charging and servicing a multi-rotor unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle used with it, and also provide the possibility of takeoff and landing of a multi-rotor unmanned aerial vehicle aircraft outside the station.

Claims (10)

1. Automatic station for charging and servicing multi-rotor unmanned aerial vehicles, comprising a landing platform with landing lights and / or markers, voltage supply contacts for charging the battery, a power supply and a control unit, characterized in that the landing platform is made in the form of a hollow polyhedron, the inner surface which repeats the outer surface, with the number of vertices equal to the number of chassis multi-rotor unmanned aerial vehicle. 2. Automatic station for charging and servicing multi-rotor unmanned aerial vehicles, comprising a landing platform mounted on poles, voltage supply contacts, a power supply and a control unit, characterized in that at least one vibrator is installed on the poles. 3. Automatic station for charging and servicing multi-rotor unmanned aerial vehicles, comprising a landing platform mounted on a holder, voltage supply contacts, a power supply and a control unit, characterized in that at least one vibrator is mounted on the holder. 4. Automatic station for charging and servicing multi-rotor unmanned aerial vehicles according to claim 1, or 2, or 3, characterized in that the voltage contacts, landing lights or markers are located on the surface of the landing platform. 5. Automatic station for charging and servicing multi-rotor unmanned aerial vehicles according to claim 1, 2, or 3, characterized in that the contacts for supplying voltage are installed on the vertices and / or faces of the polyhedron. 6. A multi-rotor unmanned aerial vehicle comprising a hull, beams with engines and propellers, a battery, voltage contacts and landing gear made movable, having a “ground” position, in which the landing gear is mounted vertically down, and a “flight” position, in which the chassis are spaced as far as possible to the sides, characterized in that the chassis additionally has a “take-off / landing” position, in which the chassis is brought down to the center with the formation of a pyramid facing downward, as well as the “position on the landing platform” position, in which the chassis is spread apart until the lower the surface of the landing platform and preloading electrical contacts on the landing platform and on the UAV. 7. A multi-rotor unmanned aerial vehicle comprising a hull, beams with engines and propellers, a battery, contacts for supplying voltage and a chassis made movable, having a “on the ground” position, in which the landing gear is mounted vertically down, a “flight” position, in which the chassis are spaced as far as possible, characterized in that the chassis additionally has a “take-off / landing” position, in which the chassis is brought down to the center with the formation of a truncated pyramid facing downward, as well as a “position on the landing platform” position, in which the chassis is spread apart until it touches the lower surface of the landing platform and preloading electrical contacts located on the landing platform and on the UAV. 8. A multi-rotor unmanned aerial vehicle according to claim 6 or 7, characterized in that the voltage supply contacts mounted on the elastic base are located on the body above the axial line of the landing gear when in flight position. 9. A multi-rotor unmanned aerial vehicle according to claim 6 or 7, characterized in that the voltage contacts mounted on an elastic base are located on the beams above the axial line of the landing gear when they are in flight position. 10. A multi-rotor unmanned aerial vehicle according to claim 6 or 7, characterized in that the contacts for supplying charging voltage are located on the housing on the line of contact with the sides of the landing platform in the landing position.

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