WO2018042238A1 - Dispositif et procédé de positionnement automatisé d'un véhicule aérien sans pilote sur une plate-forme d'atterrissage - Google Patents

Dispositif et procédé de positionnement automatisé d'un véhicule aérien sans pilote sur une plate-forme d'atterrissage Download PDF

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Publication number
WO2018042238A1
WO2018042238A1 PCT/IB2017/000599 IB2017000599W WO2018042238A1 WO 2018042238 A1 WO2018042238 A1 WO 2018042238A1 IB 2017000599 W IB2017000599 W IB 2017000599W WO 2018042238 A1 WO2018042238 A1 WO 2018042238A1
Authority
WO
WIPO (PCT)
Prior art keywords
aerial vehicle
unmanned aerial
landing
landing base
generating device
Prior art date
Application number
PCT/IB2017/000599
Other languages
English (en)
Inventor
Tõnu VAHER
Toomas HAGGI
Jaan PALM
Priit LEOMAR
Original Assignee
Osaühing Eli
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Osaühing Eli filed Critical Osaühing Eli
Publication of WO2018042238A1 publication Critical patent/WO2018042238A1/fr

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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02C—SPECTACLES; SUNGLASSES OR GOGGLES INSOFAR AS THEY HAVE THE SAME FEATURES AS SPECTACLES; CONTACT LENSES
    • G02C5/00—Constructions of non-optical parts
    • G02C5/12—Nose pads; Nose-engaging surfaces of bridges or rims
    • G02C5/128—Pince-nez
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/007—Helicopter portable landing pads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
    • B64F1/125—Mooring or ground handling devices for helicopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/97—Means for guiding the UAV to a specific location on the platform, e.g. platform structures preventing landing off-centre

Definitions

  • the invention belongs to the technical field of unmanned aerial vehicles, which deals with the positioning of aerial vehicles upon landing platform.
  • Unmanned aerial vehicles which may be of single or repeated use, are known from prior art, whereby the latter take off and land usually in the same place, or in location directed by operator or defined earlier.
  • Unmanned aerial vehicles are characterised by limited flight time, the length of which is determined by the amount of energy, e.g. battery or some other source of energy, fitted into the unmanned aerial vehicle.
  • unmanned aerial vehicle will be required to land or have is battery replaced, which is usually done manually by the operator of unmanned aerial vehicle.
  • unmanned aerial vehicle can land with accuracy ranging around two metres.
  • Accurate landing systems known to persons skilled in the art, can ensure the landing accuracy of around 20 cm through 40 cm for unmanned aerial vehicles, which is still insufficient to perform the required automated procedure (replacement of batteries, charging batteries, maintenance and monitoring of systems).
  • a technical solution, the closest to the invention concerned, is a solution described in article ..Automated Battery Swap and Recharge to Enable Persistent UAV Missions" (MIT, 2011 ; URL: http://acl.mit.edu/papers/infotech-recharge-2011.pdf) for automated replacement of batteries in unmanned aerial vehicles.
  • Use of the solution assumes accurate placement of the unmanned aerial vehicle on the landing base.
  • automated replacement of batteries and also automated charging of battery will take place after the landing of the unmanned aerial vehicle.
  • Solution includes the use of eight replacement batteries, whereas the system will allow the performance of replacement of batteries in permanently energised condition.
  • the solution also includes a charging base with a landing base, with edges that are bent upwards to allow the unmanned aerial vehicle, propelled by gravity, to move as close to the centre of the landing platform as possible.
  • the bottom of the landing base is fitted with a sensor, which is used to identify the desired position of the unmanned aerial vehicles upon landing. Two levers will be engaged to fix the unmanned aerial vehicle, located on landing base, to the landing base.
  • Unmanned aerial vehicles and their landing bases involving feet of aerial vehicles that are equipped with electrical contacts required for charging of batteries and loading carried out by means of contacts, attached to the feet, manufactured by company (http://www.skysense.co/), are known from prior art.
  • Landing base specified in patent application US2015183528 (published July 2, 2015), intended for the landing of an unmanned aerial vehicle, which is adjusted to receive and load packages from and to unmanned aerial vehicles, is known from prior art.
  • the landing base is also fitted with a radio beacon, which contributes to more accurate landing of unmanned aerial vehicle, and also solar batteries for generating energy, needed by the landing base.
  • Landing base is surrounded by strips to ensure more accurate location of the unmanned aerial vehicle; the strips are raised above the surface of the landing base and supported by rods, fitted to the edges of landing area.
  • a common disadvantage of the prior art solutions is the absence of an automated and accurate solution for landing unmanned aerial vehicle upon the landing base, and simultaneous performance of single and multiple maintenance procedures on the unmanned aerial vehicle (incl. replacement of batteries) upon landing.
  • Such disadvantages result in considerable time delay in almost uninterrupted airborne status of unmanned aerial vehicle.
  • the need for an operator of unmanned aerial vehicles to get involved for the purposes of uninterrupted operation of unmanned aerial vehicles is also a disadvantage.
  • the use of the systems, described above, is impossible in areas that are hard to access. The solution concerned will eliminate such advantages. Summary of the invention
  • the present invention aims to describe a device and method that would allow for automated accurate landing of an unmanned aerial vehicle upon a landing base of a landing platform and accurate positioning of the vehicle on the base.
  • unmanned aerial vehicle will have the ability, without manual involvement from operator, both to get airborne and land upon the landing base and, once landed, move to the intended position on landing base and desired position, both one and many times, and perform both single and multiple maintenance procedure(s) (replacement of batteries, maintenance etc.) after landing.
  • Landing base of an unmanned aerial vehicle will be equipped, according to a solution known from prior art, with a single or multiple unique marker(s) that will be engaged by the unmanned aerial vehicle to position itself, first, during landing. After reaching the landing base, the unmanned aerial vehicle may deviate as much as half a metre from the centre of the landing base, despite the landing marker. Accurate positioning of the unmanned aerial vehicle after landing will be required to perform post-aviation procedures on the landing base.
  • the landing base will be equipped with a single or more surface(s), which may be sloped, level, spherical, curved either inside or outside, or with some other shape. The specific shape of the landing base itself is not a determining factor of major importance for the purposes of the scope of legal protection of the invention.
  • the landing base on its turn, will be equipped with a vibration emitting device, which will generate vibration on the surface of the landing base or a part of it. Vibrating surface of the landing base will move the aerial vehicle to the desired location and position on the landing base. Vibration-generating device of the landing base can be adjusted, e.g. at least with respect to the vibration frequency and amplitude and movement geometry of the landing base surface, whereas the vibration parameters can be also adjusted during the operation cycle of the vibration generating device. Vibration parameters also allow for automated adjustment, for example, by identifying the parameters of the unmanned aerial vehicle to land on the landing base, for example, its weight.
  • the method for landing of the unmanned aerial vehicle upon the landing base comprises the following steps: unmanned aerial vehicle will land on the landing base; vibration generating device of the landing base will be switched on; vibration will be engaged to position the unmanned aerial vehicle in the desired location and position by moving it along the surface of the landing base; sensors of the landing base will identify the location of the unmanned aerial vehicle in the desired location and position on the landing base; optionally the vibration generating device of the landing base will be switched off; automated and/or manual maintenance procedure(s) will be carried out on the unmanned to switch off, including, where appropriate, also communication session(s) between the aerial vehicle and the landing base and the landing base and the central system.
  • Figure 1 depicts a side view of one of the possible embodiment of the landing platform, complete with the vibration generating device below the landing base.
  • Figure 2 depicts a top view of one of the possible embodiment of the landing platforms, complete with the vibration generating device below the landing base.
  • Preferred embodiment involves landing platform 1 of an unmanned aerial vehicle with a landing base 2, which is fitted with one or several surface(s).
  • Landing base 2 is linked to a vibration generating device 3, which applies vibration to at least one such surface or a part of such surface.
  • vibration generating device 3 will be started, and this will result in relocation of the unmanned aerial vehicle to the desired location and position on the landing base 2.
  • the vibration generating device 3 of the landing base 2 can be set and adjusted.
  • one of the alternative embodiments will allow for automated adjustment of the parameters of vibration generating device 3 according to the measured re-set parameters of the aerial vehicle.
  • Yet another embodiment will allow for the adjustment of the vibration parameters of the vibration generating device 3 during the operating cycle of the vibration generating device 3. This means that the vibration frequency and amplitude of the vibration generating device 3 and movement geometry of the landing base 2 can be adjusted to ensure the movement of the unmanned aerial vehicle to the desired location and position on the landing base 2.
  • the vibration generating device 3 will optionally be switched off.
  • Automated maintenance procedures can be performed on the unmanned aerial vehicle in the desired location and position on the landing base 2.
  • the landing base 2 of the unmanned aerial vehicle will be optionally equipped with battery replacement mechanisms, known from prior art or mechanism (wireless) for charging batteries or a mechanism for charging batteries via the feet of the unmanned aerial vehicle or the combination of such devices or some other mechanisms required to perform maintenance procedures.
  • the landing base of the unmanned aerial vehicle may optionally be equipped with a communication system that will allow to hold communication sessions between the landing base and one or more unmanned aerial vehicles, but also between the landing base and the central system, for example, the operation system.
  • Preferred embodiment of automated positioning of an unmanned aerial vehicle on the lading base 2 of the landing platform 1 comprises the following steps: unmanned aerial vehicle will be landed on the landing base 2; vibration generating device 3 of the landing base 2 will be switched on; vibration will be engaged to position the unmanned aerial vehicle in the desired location and position on the landing base 2 by moving it along the surface of the landing base 2; sensors of the landing base 2 will identify the location of the unmanned aerial vehicle in the desired location and position on the landing base 2; optionally the vibration generating device 3 of the landing base will be switched off; one or several automated maintenance procedure(s) will be carried out on the unmanned aerial vehicle, including also, where appropriate, one or several communication session(s) between the aerial vehicle and the landing base 2 and the landing base 2 and the central system.
  • System and device according to the invention can be also alternately operated in case of manual maintenance procedures, which are performed on unmanned aerial vehicle on landing base 2.
  • Alternative embodiment of the method comprises optional identification of the parameters of the unmanned aerial vehicle, which lands on landing base 2, and optional adjustment of vibration parameters of vibration generating device 3 according to the measured pre-set parameters of the unmanned aerial vehicle.
  • Yet another alternative embodiment of the methods will allow for optional adjustment of vibration parameters of vibration generating device 3 during its operating cycle. Such alternative embodiments will additionally ensure positioning of the unmanned aerial vehicle to the desired location and position on landing base 2.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Optics & Photonics (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

L'invention concerne la création d'un dispositif et d'un procédé pour permettre un positionnement automatisé d'un véhicule aérien sans pilote sur une plate-forme d'atterrissage. Le dispositif comprend une plate-forme d'atterrissage dotée d'une base d'atterrissage et d'une surface d'atterrissage qui est reliée à un dispositif de génération de vibrations soit entièrement soit en partie. Le véhicule aérien sans pilote, posé sur la base d'atterrissage, est positionné à l'emplacement et à la position souhaités sur ce dernier par vibration. Des capteurs de la base d'atterrissage sont utilisés pour détecter l'emplacement et la position du véhicule aérien sans pilote par rapport à l'emplacement souhaité sur la base d'atterrissage.
PCT/IB2017/000599 2016-08-31 2017-05-19 Dispositif et procédé de positionnement automatisé d'un véhicule aérien sans pilote sur une plate-forme d'atterrissage WO2018042238A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EEP201600018 2016-08-31
EEP201600018A EE05810B1 (et) 2016-08-31 2016-08-31 Seade ja meetod mehitamata õhusõiduki automaatseks positsioneerimiseks maandumisplatvormil

Publications (1)

Publication Number Publication Date
WO2018042238A1 true WO2018042238A1 (fr) 2018-03-08

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PCT/IB2017/000599 WO2018042238A1 (fr) 2016-08-31 2017-05-19 Dispositif et procédé de positionnement automatisé d'un véhicule aérien sans pilote sur une plate-forme d'atterrissage

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EE (1) EE05810B1 (fr)
WO (1) WO2018042238A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109335012A (zh) * 2018-12-01 2019-02-15 江苏鸿鹄无人机应用科技有限公司 一种无人机降落台
RU2707465C1 (ru) * 2019-04-04 2019-11-26 Общество с ограниченной ответственностью "СТИЛСОФТ" Устройство для позиционирования беспилотного летательного аппарата на посадочной площадке
US20210163135A1 (en) * 2018-07-20 2021-06-03 Amosense Co., Ltd Drone station
US11279496B2 (en) * 2018-02-21 2022-03-22 Sikorsky Aircraft Corporation System for reliable landing gear contact with identification of the surface
US11286058B2 (en) * 2018-12-18 2022-03-29 Textron Innovations Inc. Heliport docking system
RU2819277C1 (ru) * 2023-04-24 2024-05-16 Сергей Юрьевич Терентьев Станция для беспилотных летательных аппаратов

Citations (6)

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Publication number Priority date Publication date Assignee Title
WO2012064891A2 (fr) * 2010-11-09 2012-05-18 Colorado Seminary, Which Owns And Operates The University Of Denver Système d'amarrage de niveau automatique intelligent
CN204250382U (zh) * 2014-11-19 2015-04-08 深圳市大疆创新科技有限公司 定位机构及采用该定位机构的uav基站
US20150183528A1 (en) 2014-01-02 2015-07-02 Ryan Walsh Landing Pad For Unmanned Aerial Vehicle Delivery
WO2015108588A2 (fr) 2013-10-21 2015-07-23 Kespry, Inc. Systèmes et procédés d'atterrissage de drone
WO2015117216A1 (fr) 2014-02-06 2015-08-13 Владимир Александрович ДАВЫДОВ Terrain d'atterrissage pour aéronef sans pilote
CN204568057U (zh) * 2015-03-18 2015-08-19 兆利丰股份有限公司 螺旋桨飞行器降落定位系统

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WO2012064891A2 (fr) * 2010-11-09 2012-05-18 Colorado Seminary, Which Owns And Operates The University Of Denver Système d'amarrage de niveau automatique intelligent
WO2015108588A2 (fr) 2013-10-21 2015-07-23 Kespry, Inc. Systèmes et procédés d'atterrissage de drone
US20150183528A1 (en) 2014-01-02 2015-07-02 Ryan Walsh Landing Pad For Unmanned Aerial Vehicle Delivery
WO2015117216A1 (fr) 2014-02-06 2015-08-13 Владимир Александрович ДАВЫДОВ Terrain d'atterrissage pour aéronef sans pilote
CN204250382U (zh) * 2014-11-19 2015-04-08 深圳市大疆创新科技有限公司 定位机构及采用该定位机构的uav基站
CN204568057U (zh) * 2015-03-18 2015-08-19 兆利丰股份有限公司 螺旋桨飞行器降落定位系统

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Title
TUNA TOKSOZ, JOSHUA REDDINGY, MATTHEW MICHINIZ BERNARD MICHINIX, JONATHAN P. HOW: "Automated Battery Swap and Recharge to Enable Persistent UAV Missions", - 2011, pages 1 - 10, Retrieved from the Internet <URL:http://acl.mit.edu/papers/infotech-recharge-2011.pdf>

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11279496B2 (en) * 2018-02-21 2022-03-22 Sikorsky Aircraft Corporation System for reliable landing gear contact with identification of the surface
US20210163135A1 (en) * 2018-07-20 2021-06-03 Amosense Co., Ltd Drone station
US11999477B2 (en) * 2018-07-20 2024-06-04 Amosense Co., Ltd Drone station
CN109335012A (zh) * 2018-12-01 2019-02-15 江苏鸿鹄无人机应用科技有限公司 一种无人机降落台
US11286058B2 (en) * 2018-12-18 2022-03-29 Textron Innovations Inc. Heliport docking system
RU2707465C1 (ru) * 2019-04-04 2019-11-26 Общество с ограниченной ответственностью "СТИЛСОФТ" Устройство для позиционирования беспилотного летательного аппарата на посадочной площадке
RU2819277C1 (ru) * 2023-04-24 2024-05-16 Сергей Юрьевич Терентьев Станция для беспилотных летательных аппаратов

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Publication number Publication date
EE05810B1 (et) 2018-09-17
EE201600018A (et) 2018-04-16

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