Patent Application
20190002127
The present invention pertains to drone docking stations. More particularly, the present invention pertains to modular, scalable docking stations for autonomous landing, takeoff, docking and electrical recharging of drones using remote wireless supervision and control, which are particularly advantageous for continuous missions or isolated or distant areas of service.
Drones are being used for a wide range of application mainly due to their autonomous capabilities. Drones are already being utilized to aid various industries including agriculture, security, package shipments, 3D mapping, pipe-line monitoring, construction and many more. The autonomous applications for drones are truly endless but they often require hours of air time, which is not met by their short battery life. Specifically, drones battery can only provide between 15 to 20 minutes of flight time (depending on payload, wind conditions etc.) which makes even the most revolutionary autonomous applications a huge hassle if every 15 minutes or so the drone needs to land to be manually recharged. This and several other factors make the use of drones for commercial applications cumbersome and dependent on pilots who must land, recharge and re-launch the drones.
Stations harbouring a plurality of drones, potentially useful for serial launching are described in the prior art, specifically in WO 2016/130112 and WO 2015/195175. However, these stations are actually aggregation structures of standalone landing and takeoff stations that still require human-aided charging of the drones' battery and consume at least the accumulated amount of resources of each station.
It is, therefore, an object of the present invention to provide a multi-cell station for landing, takeoff, recharge and docking of drones that overcomes the deficiencies of the prior art.
It is yet another object of the present invention to provide a multi-cell station for autonomous landing, takeoff, recharge and docking of drones with only remote supervision and control.
It is yet another object of the present invention to provide modular, scalable multi-cell station for autonomous landing, takeoff, recharging and docking of drones.
This and other objects and embodiments of the present invention shall become apparent as the description proceeds.
In one aspect, the present invention provides a solution to the problem of short battery life of drones and operation in isolated or distant areas of service, by means of docking station/stations that allow for the autonomous landing/takeoff, storage, recharging and/or battery swapping for the drone/drones.
This solution enables fully autonomous missions, particularly for commercial drones. Further, this solution for multi-docking of drones dis-intermediates the pilot and allows for complete mission autonomy by facilitating the drones' take-off, flight, precision landing, recharging, mission upload and storage. This, of course, both greatly enhances utility and very significantly reduces operational costs.
In view of the above, the present invention provides in one particular embodiment a multi-cell station for drones comprising: one or more landing/takeoff cells;
at least two docking/storage cells;
a transitioning closed-loop system configured for transporting the drones within the landing/takeoff cells and docking/storage cells; and
control means configured for autonomous control, operation and management of the multi-cell station,
where each one of the one or more landing/takeoff cells and at least two docking/storage cells shares at least two sides with neighbouring cells.
In still another aspect, the design of both the landing/takeoff station and the storage station is modular and scalable. If an application only requires one drone to be used then a single landing/takeoff station is sufficient. If however an application requires numerous drones, then the required amount of storage stations may be connected to the landing/takeoff station to create a larger station for the drones to be stored and recharged in.
The multi-cell station of the present invention essentially comprises a plurality of cells for docking drones, where one or more cells are landing and takeoff cells neighbouring at least two docking cells, and where each docking cell shares at least two sides with neighbouring cells that may be docking or landing and takeoff cells. Further, the structure that the cells form is modular and scalable, namely the structure can be expanded with the addition of cells for docking drones in one or more stories.
To enable the landing and takeoff of the docking drones in and off the station, the station comprises a transitioning mechanism for advancing the drones to and from the landing/takeoff cell from and to the docking cells, respectively. Any suitable transition mechanism may be applicable for continuous circulation of the drones within the cell structure. Particular examples may be closed loop railroad track, moving track bar, moving track chain and wheel based track.
A particular implementation of the transitioning mechanism comprises the following:
a closed-loop track chain;
a central gearwheel;
a side gearwheel;
a closed-loop belt; and
a motor in pivotal/axial communication with the central gearwheel,
where the closed-loop track chain wraps around the central gearwheel,
the central gearwheel is in axial communication with the motor at a bottom of a cone,
the cone is configured in upside down position to harbour the drone, and
the closed-loop belt warps around bottom of the gearwheel and the side wheel.
This is detailed further in the description and illustrated in the accompanying drawings.
In still another particular embodiment, the multi-cell station further comprises an autonomously operating recharging mechanism for recharging the drones in their docking cells. This recharging mechanism enables the autonomous connection for recharging and disconnection before taking off of the drones. Further, the recharging mechanism comprises a single closed circuit for recharging the drones and is configured to enable simultaneous recharging of a plurality of drones without installing electrical circuit in every docking cell.
In one particular embodiment, the recharging mechanism is implemented with the following assembly:
two upper spring-loaded pogo pin contacts on top of the drones;
two lower spring-loaded pogo pin contacts at distal ends of legs of the drones;
top retracting device on inner side of cover of the landing/takeoff cell and docking/storage cell; and
contacts at bottom of a cone positioned upside down within the landing/takeoff cell and docking storage cell,
where the spring-loaded pogo pins on top of the drones and retracting device are configured to close a circuit, and
the spring-loaded pogo pin contacts at lower end of the drone and contacts at bottom of the cone are configured to close a circuit.
To complete the autonomous operation, in one particular embodiment, the supervision, operation and management of the multi-cell station for docking drones of the present invention is done with dedicated software that coordinates the flight schedule of the stored drones according to flight missions to which they are enlisted. When a drone is needed for a mission, the software notifies the station that it should turn the drone that currently docks in the landing and takeoff cell on and open the lid of the cell. The lid is connected to a motor that opens and closes the lid upon command from the software. Once the drone is on and the lid of the station has opened the drone is free to leave the station and start the mission. The drone takes off vertically and once the drone is clear of the station the lid closes again. Continuous with such routine, in still another particular embodiment, the transitioning mechanism in the multi-cell station of the present invention advances a drone docking in a neighbour cell to the landing/takeoff cell.
When the mission is complete or the battery on the drone is running low, the drone flies back to the station for re-charging and storage. In one embodiment, the drone uses its on-board GPS to fly back to the coordinates of the docking station. However, the GPS is not accurate enough to precisely land the drone in the station because it has a deviation of several meters. Accordingly, in still another particular embodiment, the present invention comprises an autonomous navigation system for accurately navigating a drone to and from multi-cell station. This system essentially comprises the on-board GPS on the drone, on-board camera and complementing software for image processing and IR (Infra Red) beacon at the station. The on-board GPS of the drone brings it to the vicinity of the station. Then the on-board camera with the image processing technology locks onto a beacon emitting infrared light from the station. The camera on the drone locks onto the light and controls the drone to accurately land on top of the beacon which is in the center of the station.
In addition, or in place of an image processing solution, a real-time kinematics (RTK) technology may be suitable for precision landing of the drones in the station.
The multi-cell stations of the present invention are designed to protect the drones when in the station all year round and from various weather conditions. These stations are configured for onsite service and therefore allow the drone to leave for a mission whenever needed. Therefore, in one particular embodiment, the multi-cell station of the present invention further comprises an array of sensors that detect the outside conditions. These sensors provide weather data such as wind, temperature, barometric data, humidity and precipitation conditions and weather forecast to determine whether to launch a flight mission or postpone it. It should be noted that the system is configured to operate in harsh weather conditions, e.g., rain and/or wind, therefore all the electronics in the station are protected against water penetration and damage. Further, the station may also be fitted with fluid and air circulation devices and apparatuses, such as fans and air-conditioning channels, configured for providing proper drainage capabilities and air-circulation to make sure condensation of humidity does not accumulate in the station.
In another aspect, the present invention is configured to relay control of the station to remote control means and communicate station and flight mission to remote database. Beside the remote control and supervision capabilities, such remote means enable the management and administration of continuous flight missions divided to sub-missions assigned for consecutively launched drones. These capabilities are in conformity with the scope of the invention for centralized control and as drone operation as autonomous as possible of a plurality of drones, stored and docked in a multi-cell station.
The following describes particular exemplary embodiments of the present invention in further details with reference to the accompanying drawings and without departing from the scope of the present invention.
The advantageous concept of the present invention is illustrated in
There are various applications where more than one drone is needed, for example, security applications or time sensitive applications. When landing a drone in the station (100), the lid (2) should open. To this end, image processing technology to precisely land the drone in the station as discussed earlier is provided. Current technology is that for a plurality of drones, each drone would potentially need its own docking station. This however is costly because the station that is dedicated for the take-off and landing of the drone needs the extra technologies to make it work. The modular station (100) of the present invention overcomes the difficulties in such scenarios to keep the cost down for the customer. Essentially, the station (100) enables use of just one take-off and landing cell (3) as discussed above and addition of docking or storage cells (1) to it. This modular solution is illustrated in
The storage cells (1) attach to the landing/take-off cell (3). Once they are connected, they create a larger station for a plurality of drones to dock in. The drones only land and take-off in the landing/take-off cell (3), therefore the technologies needed for that are isolated to the landing/take-off cell (3). The docking/storage cells (1) do not need a retracting lid and do not need precision landing technology both of which add extra cost to the station. The present invention, therefore allows for a plurality of drones to be used in the most effective and cost efficient way.
A plurality of landing/take-off cells (3) could also be added if it is necessary to launch or receive more than one drone at the same time.
The walls (1a), (1b), on the docking cells (1) are designed to be able to be removed to connect the storage stations to them when needed as illustrated in
The docking/storage cells (1) are then easily connected and create a large station (100) capable of storing a plurality of drones (4). Each cell (1) added enables an addition drone to dock in the station (100). The minimum configuration to make this a relevant solution is having one landing/take-off cell (3) and three docking/storage cells (1) making up a station that can hold four drones (4). The reason for this is because the drones need to follow a closed loop circuit from the time they land until the time they take off. There are, however, a plurality of configurations that can be implemented for this solution that maintain the closed loop configuration. If large amounts of drones are needed, then more storage stations could be added as illustrated in the Figures discussed above.
Referring to the transitioning system in further details, when the drones (4) land in the landing/take-off stations they land in a cone shaped device (6). The conical legs (
Shown in
Some of the drones' most important features are discussed below
Flight controller—The flight controller is the most important component on a drone. The flight controller is the “brain” of the drone. It is connected to all the electrical components and controls them all to enable the flight of the drone. The present invention works with a range of flight controllers and therefore uses a range of drones with our solution. Obviously, the size of the drone is an important factor when using drones for commercial applications.
Size—The present invention is designed for commercial applications and therefore uses drones that are large enough to carry relatively heavy payloads (0.5 kg 3 kg on average) for extended amounts of time. The drones that are currently used are slightly over a meter long from edge to edge. What is important is that the stations are made to be minimal in size but still allow enough room for the drones to dock in. Also the stations are just the right size to allow the drones to transition from landing/take-off station to storage stations.
In the center of both the landing/take-off cells (3) and the storage cells (1) there is a central gearwheel with tipper part (8b) around which a closed-loop chain (5) is wrapped and a lower part (8a) that connects with a side wheel (10) with a closed loop belt (9) for axial revolution. A motor (11) connects to the bottom of the drone (6) on one side and to the upper part (8b) central gearwheel (8b) on the other side in pivotal position to ensure movement of the cone (6) with movement of the chain (5). The central gearwheel (8a, 8b) in the landing/take-off cell (1) acts as a pinion and is motorized making all the drones (4) circulate through the array of cells. This happens when a drone (4) with a depleted battery enters the station and the drone that has been in the station for the longest (and therefore has a charged battery) is needed to take-off. The sidewheel (10) ensures stable axial revolution of the central gearwhell (8a, 8b) around its axis in the landing/take-off cell (1) making all the cones (6) with the drones (4) in them rotate and move to the cell next to the one they were just in. This is illustrated in
Each storage station has the electrical contacts necessary for the recharging of the drones when they are in the station as illustrated and exemplified in further detail in
The retracting device (28) comprises a lower circular pad (15) that carries the contacts retracting device (15a) at its bottom surface to connect with pogo pins (14) on top of the drone. The pad (15) is held with a vertical lowering assembly that comprises rectangular hollow frame (19), screw (16) and nut (18) within the hollow frame (19), top stopper (20) mounted on the screw (16) and limiting the extend of vertical motion of the screw (16) by the top of the frame (19) and a connector (17) that connects a motor (32) above to the lead screw for lowering and elevating the retracting device (28) for closing the circuit for recharging.
Each docking/storage cell (1) has a pin (29 in
When the docking/storage cells (1) are connected to the landing/take-off cell (3) there are electrical contacts that pair up and allow for the docking/storage cells (1) to recharge the batteries of the drone (4) when the drone is in the docking/storage cell (1). By connecting the docking/storage cells (1) to the electronic circuit in the landing/take-off cell (3) the costs are cut even more and allow for a quick and simple way to allow for continues charging even when in the docking/storage cells (1).
As detailed above, the present invention provides an on-board circuit that takes care of the autonomous charging once the drone has landed in the station. The drones that are currently used have 6-cell batteries. In order to charge them properly they need to be balanced charged, namely all the cells need to be charged at the same rate. This is done by connecting the plus and minus and an additional seven leads of the battery to the charger in order to make sure that all the cells are charged together and balanced. Since the present invention requires autonomous charging the amount of circuits that should be closed to allow for charging should be minimal.
For this, the drone comprises an on-board circuit that sits on the drone and takes care of the balance charging of the battery. This allows to only connect the plus and minus of the battery and not the other seven leads. It is important that the drone turns off prior to charging so the on-board circuit has two additional electrical leads that connect to the microcontroller (the microcontroller is the “brain” in the station) and when the microcontroller gives the signal the drone turns off and is connected to the charger for recharging.
The circuit has four plugs on it.
1. The battery plug.
2. The drone plug.
3. The charger plug.
4. The signal plug.
In one particular embodiment, the batteries used for drones are lithium polymer batteries that are split into several cells. Depending on the size of the drone different batteries with different amounts of cells are used. The drones that are currently used work with a 6-celled lithium polymer (or Lipo) battery. The recharging system of the present invention works with all kinds of Lipo batteries and is not only limited to 6-celled batteries.
The docking station is controlled with a microcontroller and a communications device used for internet connectivity. The microcontroller takes care of all the physical elements of running the station including:
The station could be powered in a number of ways; by means of a wall outlet, a car jack, or even other power sources. If for example the station is located in an area where traditional power supplies are not available, the station could be charged by other means; for example a solar panel attached to the roof or located in the vicinity of the station.
The station (100) is also connected to a cloud server (26), which enables to receive data on the charge status of the drones (4), the weather conditions in and outside of the station and allows controlling the station (100) and drone remotely.
Data download—One of the main objectives of using a drone for commercial applications is to gather data. The drone caries a payload, generally and camera and the camera collects data. Once the drone has landed in the station the data is transferred to the cloud server (26) and delivered to the customer. The customer does not need to be anywhere near the station (100) and drone (4) to receive the data because it is all online.
Mission upload—A drone can only fly autonomously if a mission is uploaded to it. Many commercial applications require hours of flight time and therefore requires that separate missions be uploaded for each individual flight. The present invention solves this issue as well, by customer upload of a mission that could potentially take hours. The software of the present invention is configured to split up the mission into submissions and send the appropriate mission to the drone before each flight.
An example for an application where this technology could be useful is for the scanning of farmland to provide farmers with key information they need for precision agriculture.
For example, the station(s) could be installed on the roof of the barn of the farmer or any other location desired. The station can remain at that location year-round due to the fact that it is weather proof. When the farmer wants his fields scanned he can either have the drone(s) sent out by a phone or computer application or he can have the drone(s) pre programmed to scan his field at designated times (for example once a day, twice a week, five times a week etc.). With the designated software for agriculture the field can be pre programmed to be split up into sections that the drone can scan in the time span that the batter allows for. Once the first section is done being scanned and the battery is low, the drone can autonomously fly back to the station to either have the battery recharged or swapped. Once the drone has a fully charged batter it can leave the station again to scan the next section of the field. This process can be done over an over until the whole field is scanned. A designated camera can be attached to the drone and provide the farmer with the specific information that is needed. At the end of the mission, the information gathered can be automatically sent to the farmer's email or phone application or other device. The docking station solution allows for the farmer to receive this crucial information when he needs it and without any human intervention.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IL16/51362 | 12/21/2016 | WO | 00 |
| Number | Date | Country | |
|---|---|---|---|
| 62270230 | Dec 2015 | US |
