CN207424683U - Unmanned plane launching and recovering equipment and system - Google Patents
Unmanned plane launching and recovering equipment and system Download PDFInfo
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- CN207424683U CN207424683U CN201721517687.1U CN201721517687U CN207424683U CN 207424683 U CN207424683 U CN 207424683U CN 201721517687 U CN201721517687 U CN 201721517687U CN 207424683 U CN207424683 U CN 207424683U
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- unmanned plane
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Abstract
The utility model embodiment provides a kind of unmanned plane launching and recovering equipment and system.Wherein, unmanned plane launching and recovering equipment includes at least two decreases, controller, detection device and communication device；It rises and wireless charging platform is equipped at decrease；Wireless charging platform is equipped with landing positioning mark；For having detected decrease, whether idle detection device is connected respectively with the wireless charging platform at least two decreases；Communication device is connected with external unmanned plane wireless telecommunications；Controller is connected respectively with communication device and detection device, and the unmanned plane of communication device to application landing is controlled to send landing confirmation message when there is vacant landing position；Controller is connected respectively with the wireless charging platform at least two decreases, and unmanned plane controls the wireless charging working platform of vacant decrease to carry out wireless charging to unmanned plane after droping to vacant decrease.The utility model embodiment realizes that precisely landing reduces subsequent manual operation, improves the degree of automation.
Description
Technical field
The utility model is related to unmanned air vehicle technique field more particularly to a kind of unmanned plane launching and recovering equipment and systems.
Background technology
UAV abbreviation unmanned plane is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned vehicle.With the development of unmanned air vehicle technique, unmanned plane is conveniently carried out greatly in plant protection, logistics, power-line patrolling etc.
The operation of amount.However unmanned plane cruising ability is limited, flight just needs landing to carry out charge maintenance etc. to certain time length.
In the prior art, the landing platform of unmanned plane only supports unmanned plane to rise and fall, and function is excessively single, it is impossible to unmanned plane
More helps are played, the following big batch of unmanned plane industry, the use of high intensity can not be met.In addition, the drop of existing unmanned plane
Fall mode, often navigate dependent on light stream and GPS (Global Positioning System, global positioning system).Because of light
Stream it is larger with the error of GPS navigation, drop get blamed very accurately, unmanned plane be likely to drop at the position outside landing platform or
It is damaged etc. because level point is in after the flat edge of table of landing causes unmanned plane to land because falling during disequilibrium.
Utility model content
The utility model embodiment provides a kind of unmanned plane launching and recovering equipment and system, accurate to improve the landing of unmanned plane
Degree.
Then, in one embodiment of the utility model, a kind of unmanned plane launching and recovering equipment is provided, which is characterized in that
Including：At least two decreases, controller, detection device and communication device；Wherein, wireless charging level is equipped at described decrease
Platform；The wireless charging platform is equipped with landing positioning mark；For detecting the whether idle detection dress of described decrease
It puts, is connected respectively with the wireless charging platform at least two decreases；The communication device and the external nothing
Man-machine wireless telecommunications connection；The controller is connected respectively with the communication device and the detection device, is there is vacant landing
The communication device is controlled to send landing confirmation message to the external unmanned plane of application landing during position；The controller also divides
It is not connected with the wireless charging platform at least two decreases, the vacant landing is drop in the external unmanned plane
The wireless charging working platform of the vacant decrease is controlled behind position to carry out wireless charging to the external unmanned plane.
Optionally, the landing positioning is identified by multiple warning lamps according to setting pattern arrangement form；Alternatively, the landing
Positioning mark is laid with by fluorescent belt according to setting pattern.
Optionally, the setting pattern includes：Circular pattern and in the circular pattern and cross the circular pattern center of circle
Two cross linear patterns.
Optionally, two cross linears are vertical described in the setting pattern.
Optionally, the wireless charging platform is connected and installed with wireless charger.
Optionally, the detection device is connected with the wireless charger, by detecting whether the wireless charger is located
With decrease judging where the wireless charger whether it is blank state in working condition.
Optionally, the unmanned plane launching and recovering equipment, further includes：Charging controller；The charging controller with it is described
Wireless charger connects, and required operating voltage is provided for the wireless charger.
Optionally, described decrease includes two, plays decrease described in two and is arranged side by side, the controller and the charging
Managing device, which is arranged at described in two, to be risen between decrease.
In another embodiment of the utility model, a kind of unmanned plane landing system is provided.The unmanned plane landing system
System includes：Unmanned plane and above-mentioned unmanned plane launching and recovering equipment；Wherein, the communication device in the unmanned plane launching and recovering equipment and institute
State unmanned plane wireless telecommunications connection；The unmanned plane be equipped with wireless charging receiving coil and with the wireless charging receiving coil
The battery of connection；Unmanned plane landing in it is described it is vacant after decrease, the wireless charging platform of the vacant decrease and institute
It is corresponding to state wireless charging receiving coil.
Optionally, the unmanned plane includes：Fly control unit, landing unit and shooting unit；The landing unit with it is described
Communication device wireless telecommunications connection in unmanned plane launching and recovering equipment, sends landing solicited message to the communication device and receives institute
State the landing confirmation message of communication device feedback；The winged control unit is connected with the landing unit, is connect in the landing unit
It receives and the unmanned plane during flying is controlled to described according to the location information of the vacant decrease after the landing confirmation message
Decrease overhead；The landing unit is connected with the shooting unit, and shooting the vacant decrease according to the shooting unit obtains
The image information arrived guides the winged control unit, so that the winged control unit controls the unmanned plane landing in the vacant landing
Position.
The technical solution that the utility model embodiment provides, it is fixed using the landing positioning mark landing being arranged in decrease
Accurately landing is then wireless in decrease by rising in decrease to guide the unmanned plane being in above decrease for bit identification
Charger, which is realized, operates the wireless charging of unmanned plane, reduces and only relies on light stream and GPS navigation in the prior art in the presence of positioning
Error realizes that precisely landing reduces subsequent manual operation, improves the degree of automation.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is
Some embodiments of the utility model, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structure diagram for the unmanned plane launching and recovering equipment that one embodiment of the utility model provides；
Fig. 2 is the structure diagram for the unmanned plane launching and recovering equipment that one embodiment of the utility model provides；
Fig. 3 is landing positioning mark landing positioning mark in the unmanned plane launching and recovering equipment that one embodiment of the utility model provides
Structure diagram；
Fig. 4 is the structural representation at the first direction visual angle for the unmanned plane landing system that one embodiment of the utility model provides
Figure；
Fig. 5 is the structural representation at the second direction visual angle for the unmanned plane landing system that one embodiment of the utility model provides
Figure；
Fig. 6 is the structure diagram for the unmanned plane that one embodiment of the utility model provides；
Fig. 7 is the workflow schematic diagram for the unmanned plane landing system that one embodiment of the utility model provides.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe.Obviously, the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those skilled in the art are obtained without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Fig. 1 is the structure diagram for the unmanned plane launching and recovering equipment that one embodiment of the utility model provides, and Fig. 2 is new for this practicality
The structure diagram for the unmanned plane launching and recovering equipment that one embodiment of type provides.As depicted in figs. 1 and 2, unmanned plane launching and recovering equipment is included extremely
Few two are played decrease, controller 3, detection device 6 and communication device 7；Wherein, rise and wireless charging platform 5 is equipped at decrease；Wirelessly
Charging platform 5 is equipped with landing positioning mark 2；For having detected the whether idle detection device 6 of decrease, respectively at least two
The wireless charging platform 5 at decrease is played to connect；Communication device 7 is connected with external unmanned plane wireless telecommunications；Controller 3 respectively with institute
State communication device 7 and detection device 6 connect, when there is vacant landing position control communication device 7 to application landing outside nobody
Machine sends landing confirmation message；Controller 3 is also connected with the wireless charging platform 5 at least two decreases respectively, in outside
Unmanned plane controls the wireless charging platform 5 of vacant decrease to work to carry out nothing to external unmanned plane after droping to vacant decrease
Micro USB electricity.
Wherein, the wireless charging platform in above-described embodiment can be connected by connecting line with controller and realize wired connection,
Also can wireless connection be realized by wireless communication module, this present embodiment is not especially limited.
Technical solution provided in this embodiment is guided using the landing positioning mark being arranged in decrease and has been in
Unmanned plane above decrease accurately in decrease, then realized by the wireless charger risen in decrease to unmanned plane by landing
Wireless charging operates, and reduces and only relies on light stream and GPS navigation in the prior art there are position error, realizes that precisely landing is reduced
Subsequent manual operation, improves the degree of automation.
Further, the landing positioning mark landing positioning mark referred in above-described embodiment is by multiple warning lamps according to setting
Determine pattern arrangement form；Alternatively, landing positioning mark landing positioning mark is laid with by fluorescent belt according to setting pattern.One
In the achievable technical solution of kind, as shown in figure 3, setting pattern includes：Circular pattern 21 and in the circular pattern 21
And cross two 22 patterns of cross linear in 21 center of circle of circular pattern.Further, it is above-mentioned to set for the ease of the calculating of image identification
Determining two cross linears 22 described in pattern can be vertically arranged.
The present embodiment is because unmanned plane is on landing positioning mark is oblique why using the circular pattern with cross linear
During side's shooting, the image that circular pattern is clapped is ellipse, can be gone out based on ellipse with backstepping directly over landing positioning mark
Specific location, it is relatively simple compared with other shapes ellipse backstepping process.Unmanned plane lands in arrival behind the surface for positioning mark,
The circular size that can take by comparing and the difference of actual circular dimension and the size of the cross linear taken and
The height that unmanned plane distance plays decrease is calculated in the difference of actual straight-line dimension.
Further, wireless charging platform 5 is connected and installed with wireless charger 1.By wireless charger 1 to unmanned plane into
Row charges.
In a kind of achievable scheme, detection device 6 is connected with wireless charger 1, is by detecting wireless charger
It is no in running order to judge to play whether a decrease is blank state where wireless charger.
Judge whether to play decrease where wireless charger except through whether detection wireless charger is in running order
For blank state, laser beam emitting device and laser receiver, laser beam emitting device transmitting can be also set on landing platform
Laser, laser receiver receive reflection laser, and the laser that wherein reflection laser is launched for laser beam emitting device is by obstacle
The laser that object reflects, detection device 6 are connected respectively with laser beam emitting device and laser receiver, during according to Laser emission
Between time difference between the receiving time of reflection laser judged whether decrease is blank state.Such as：When setting one
Between threshold value, the time difference be more than time threshold, then judged decrease as blank state；Time difference is less than or equal to time threshold, then
Decrease has been judged not as blank state.Operation principle is：When landing has unmanned plane in decrease, what laser beam emitting device was sent
Laser can be got on unmanned plane, therefore can be reflected back quickly, therefore the above-mentioned time difference can be very short；When rise decrease on without nobody
During machine, laser that laser beam emitting device is sent can emit to aerial, and even be received by can just be reflected back for a long time
Less than reflection laser, therefore the above-mentioned time difference can be very long.
Further, as shown in Figure 1, the unmanned plane launching and recovering equipment that above-described embodiment provides may also include：Charge Management fills
Put 4；Charging controller 4 is connected with wireless charger 1, and required operating voltage is provided for wireless charger 1.Specific implementation
When, charging controller 4 and 1 wired connection of wireless charger, by alternating current by being wireless charging after the processing such as decompression, rectifying and wave-filtering
Electric appliance provides the operating voltage needed for it.Controller 3 wired or wireless can be connected with charging controller 4.Controller 3 is at nobody
Machine landing sends enabled instruction after decrease in vacant to charging controller 4, so that charging controller 4 is wireless charger
1 power supply.
As shown in Figure 1, described decrease includes two, play decrease described in two and be arranged side by side, controller and Charge Management
Device is arranged between two decreases.The setting of multiple decreases disclosure satisfy that multi rack time unmanned plane takes turns to operate, so as to
It solves the problem of unmanned plane aircraft time is short, and air mileage is limited, can realize that multiple UAVs are carried out at the same time work.
Further, unmanned plane launching and recovering equipment further includes landing platform, and above-mentioned two are played decrease and are disposed side by side on landing
On platform, controller 3 is with charging controller 4 respectively positioned at the edge on the two opposite sides side of landing platform.It only enumerates herein
Two situations for playing decrease are gone out, the decrease that rises on landing platform can be three, four or more in practical applications, this reality
This is not especially limited with new.
Fig. 4 and Fig. 5 shows the structure diagram for the unmanned plane landing system that one embodiment of utility model provides.Such as Fig. 4
Shown in Fig. 5, unmanned plane landing system provided in this embodiment includes：Unmanned plane 10 and unmanned plane launching and recovering equipment.Wherein, nothing
Communication device 7 in man-machine launching and recovering equipment is connected with unmanned plane wireless telecommunications；Unmanned plane be equipped with wireless charging receiving coil and
The battery being connected with wireless charging receiving coil；Unmanned plane lands in vacant after decrease, the wireless charging level of vacant decrease
Platform 5 is corresponding with wireless charging receiving coil.
Above-mentioned unmanned plane launching and recovering equipment includes：At least two decreases, controller 3, detection device 6 and communication device 7；
Wherein, rise and wireless charging platform 5 is equipped at decrease；Wireless charging platform 5 is equipped with landing positioning mark 2；For detecting landing
The whether idle detection device 6 in position, is connected respectively with the wireless charging platform 5 at least two decreases；Communication device 7 with it is outer
Portion's unmanned plane wireless telecommunications connection；Controller 3 is connected respectively with the communication device 7 and detection device 6, is there is vacant landing position
When control communication device 7 to application landing external unmanned plane send land confirmation message；Controller 3 is also respectively at least two
It plays the wireless charging platform 5 at decrease to connect, the nothing of vacant decrease is controlled after external unmanned plane drop to vacant decrease
Line charging platform 5 works to carry out wireless charging to external unmanned plane.Wherein, the landing positioning mark is for external unmanned plane
Shooting.
Specifically, unmanned plane lands in vacant after decrease, wireless charger 1 and wireless charging on unmanned plane launching and recovering equipment
Electric receiving coil is corresponding.
Need exist for supplement be：The unmanned plane launching and recovering equipment referred in the present embodiment, which can be used in above-described embodiment, to be provided
Technical solution realize that concrete implementation structure and working principle can be found in the related content in above-described embodiment, herein no longer
It repeats.
Technical solution provided in this embodiment, using the landing positioning mark landing positioning mark being arranged in decrease
Accurately landing in decrease, then passes through the wireless charger reality in a decrease to the unmanned plane that guiding has been in above decrease in
Now the wireless charging of unmanned plane is operated, reduces and only relies on light stream and GPS navigation in the prior art there are position error, realize
Precisely landing reduces subsequent manual operation, improves the degree of automation.
Further, as shown in fig. 6, the unmanned plane 10 includes：Fly control unit 101, landing unit 102 and shooting unit
103；Landing unit 102 is connected with 7 wireless telecommunications of communication device in unmanned plane launching and recovering equipment, is sent and is landed to communication device 7
Solicited message and the landing confirmation message for receiving the feedback of communication device 7；Fly control unit 101 to be connected with landing unit 102, in landing
Unit 102 is extremely risen in decrease after receiving landing confirmation message according to the location information control unmanned plane during flying of vacant decrease
It is empty；Landing unit 102 is connected with shooting unit 103, and shooting the image information that vacant decrease obtain according to shooting unit 103 draws
It leads and flies control unit 101, so that flying control unit 101 controls unmanned plane landing decrease in vacant.
Above-mentioned winged control unit and landing unit can be mounted in the hardware entities on unmanned plane, like flying to control chip, landing
Chip etc.；Or fly control unit and landing unit as virtual module, i.e., the functional software on unmanned plane.The utility model
This is not especially limited.Shooting unit is the hardware entities on unmanned plane, such as：The cloud being suspended below unmanned plane
Platform camera.
Fig. 7 shows the course of work for the unmanned plane landing system that the utility model embodiment provides.
The communication device of S1, unmanned plane into unmanned plane launching and recovering equipment sends landing request, is carried in the landing request
Unmanned plane identification information.
Wherein, unmanned plane identification information can be that unmanned plane identification code or unmanned plane title etc. can distinguish other unmanned planes
Information, the present embodiment is not especially limited this.
After landing request is received, detection device obtains the work of the wireless charger in each decrease for S2, communication device
Make state, and vacant decrease is determined whether according to the working condition of each wireless charger.
S3, if so, then communication device to unmanned plane feed back landing confirmation message.
Wherein, controller can obtain the work shape of each wireless charger with the data interaction between each wireless charger
State.Between controller and each wireless charger can wireless module realize wireless data interact.Wireless charger is idle state, then
It is vacant decrease to illustrate corresponding decrease of the wireless charger.Wireless charger is charged state, then illustrates the wireless charging
Corresponding decrease of electric appliance is to have occupied decrease.GPS position information can be carried in the landing confirmation message, certainly,
It may not include, the GPS position information of unmanned plane landing equipment can be stored in unmanned plane memory in advance.
S4, the landing unit of unmanned plane receive landing confirmation message, and send to and fly control unit, fly control unit and control nobody
Machine has been moved to decrease overhead, and the camera unit on unmanned plane is triggered startup to shoot the positioning mark of the landing on vacant aircraft gate
Know, and by the landing unit of the image transmitting taken to unmanned plane.
S5, the landing unit of unmanned plane carry out image identification using image recognition algorithm to the image that camera takes,
And image recognition result is fed back to and flies control unit.The winged control unit of unmanned plane controls unmanned plane landing according to image recognition result
The decrease in vacant.
In vacant after decrease, the wireless charger in decrease detects wireless on unmanned plane for S6, unmanned plane landing
Start work after charging receiving coil, to carry out wireless charging to unmanned plane.
Need exist for explanation be：Above-mentioned steps S5 is a multiple process.I.e. camera unit is moved in unmanned plane
Be continuously shot landing positioning mark in the process, landing unit after unmanned plane often adjusts a position just based on adjustment after shoot
The image of landing positioning mark carries out an image identification, in order to fly the position that control unit constantly adjusts unmanned plane so that nothing
The surface of man-machine arrival landing positioning mark.
You need to add is that, in technical solution provided in this embodiment, mark landing positioning mark is positioned using landing herein
The principle for knowing guiding unmanned plane landing is as follows：
Unmanned plane landing unit be can get landing positioning mark size and shape (such as from the memory of unmanned plane
Middle acquisition or acquisition etc. from the controller on landing platform).It is assumed that landing positioning is identified as shape shown in Fig. 3,
In pass throughThe outer circle of type, the picture of the unmanned plane shooting of different height is different ellipses, and landing positioning mark can be gone out with backstepping
Specific displacement directly over knowing.When unmanned plane is reached directly over LED warning lamps, outer circle ruler of the landing unit in shooting picture
Very little and straight length, it can be deduced that unmanned plane compared with vacant aircraft gate altitude information, so as to fulfill precision approach.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It still can modify to the technical solution recorded in foregoing embodiments or which part technical characteristic is carried out etc.
With replacement；And these modifications or replacement, the essence of appropriate technical solution is not made to depart from various embodiments of the utility model technology
The spirit and scope of scheme.
Claims (10)
1. a kind of unmanned plane launching and recovering equipment, which is characterized in that including：At least two decreases, controller, detection device and communication
Device；Wherein,
Wireless charging platform is equipped at described decrease；The wireless charging platform is equipped with landing positioning mark；
For detect it is described rise decrease whether the idle detection device, respectively at least two decreases described in
Wireless charging platform connects；
The communication device is connected with external unmanned plane wireless telecommunications；
The controller is connected respectively with the communication device and the detection device, is controlled when there is vacant landing position described logical
It interrogates device and sends landing confirmation message to the external unmanned plane of application landing；
The controller is also connected with the wireless charging platform at least two decreases respectively, in the external unmanned plane
The wireless charging working platform of the vacant decrease is controlled with to the external unmanned plane after droping to the vacant decrease
Carry out wireless charging.
2. unmanned plane launching and recovering equipment according to claim 1, which is characterized in that the landing positioning mark is by multiple warnings
Lamp is according to setting pattern arrangement form；
Alternatively, the landing positioning mark is laid with by fluorescent belt according to setting pattern.
3. unmanned plane launching and recovering equipment according to claim 2, which is characterized in that the setting pattern includes：Circular pattern
And in the circular pattern and cross two cross linear patterns in the circular pattern center of circle.
4. unmanned plane launching and recovering equipment according to claim 3, which is characterized in that two intersections described in the setting pattern
Straight line is vertical.
5. unmanned plane launching and recovering equipment according to any one of claim 1 to 4, which is characterized in that the wireless charging level
Platform is connected and installed with wireless charger.
6. unmanned plane launching and recovering equipment according to claim 5, which is characterized in that the detection device and the wireless charging
Device connects, and by detecting, whether the wireless charger is in running order to be to judge that a decrease is played at the wireless charger place
No is blank state.
7. unmanned plane launching and recovering equipment according to claim 5, which is characterized in that further include：Charging controller；
The charging controller is connected with the wireless charger, and required operating voltage is provided for the wireless charger.
8. unmanned plane launching and recovering equipment according to claim 7, which is characterized in that described decrease includes two, two institutes
It has stated decrease to be arranged side by side, the controller and the charging controller, which are arranged at described in two, to be risen between decrease.
9. a kind of unmanned plane landing system, which is characterized in that including：Any one of unmanned plane and the claims 1 to 8 institute
The unmanned plane launching and recovering equipment stated；Wherein,
Communication device in the unmanned plane launching and recovering equipment is connected with the unmanned plane wireless telecommunications；
The unmanned plane is equipped with wireless charging receiving coil and the battery being connected with the wireless charging receiving coil；
Unmanned plane landing in it is described it is vacant after decrease, wireless charging platform and the wireless charging of the vacant decrease
Electric receiving coil is corresponding.
10. unmanned plane landing system according to claim 9, which is characterized in that the unmanned plane includes：Winged control unit,
Landing unit and shooting unit；
The landing unit is connected with the communication device wireless telecommunications in the unmanned plane launching and recovering equipment, is sent out to the communication device
It send landing solicited message and receives the landing confirmation message of the communication device feedback；
The winged control unit is connected with the landing unit, the basis after the landing unit receives the landing confirmation message
The location information of the vacant decrease controls the unmanned plane during flying to described decrease overhead；
The landing unit is connected with the shooting unit, the figure obtained according to the shooting unit shooting vacant decrease
Fly control unit as described in information guidance so that the winged control unit control unmanned plane landing in it is described it is vacant decrease.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721517687.1U CN207424683U (en) | 2017-11-14 | 2017-11-14 | Unmanned plane launching and recovering equipment and system |
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| CN201721517687.1U CN207424683U (en) | 2017-11-14 | 2017-11-14 | Unmanned plane launching and recovering equipment and system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018347A (en) * | 2018-08-08 | 2018-12-18 | 祺步智能科技（上海）有限公司 | It is a kind of interior unmanned plane rise, drop, charging system |
| CN112416013A (en) * | 2019-08-20 | 2021-02-26 | 顺丰科技有限公司 | Unmanned aerial vehicle take-off and landing control method and device and unmanned aerial vehicle take-off and landing equipment |
| WO2021097645A1 (en) * | 2019-11-19 | 2021-05-27 | 深圳市大疆创新科技有限公司 | Landing control method and device, base station, unmanned aerial vehicle and storage medium |
| CN113602516A (en) * | 2021-08-10 | 2021-11-05 | 北京航空航天大学 | Vehicle-mounted unmanned aerial vehicle autonomous charging platform |
-
2017
- 2017-11-14 CN CN201721517687.1U patent/CN207424683U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018347A (en) * | 2018-08-08 | 2018-12-18 | 祺步智能科技（上海）有限公司 | It is a kind of interior unmanned plane rise, drop, charging system |
| CN109018347B (en) * | 2018-08-08 | 2024-05-03 | 星逻人工智能技术(上海)有限公司 | Indoor unmanned aerial vehicle plays, falls, charging system |
| CN112416013A (en) * | 2019-08-20 | 2021-02-26 | 顺丰科技有限公司 | Unmanned aerial vehicle take-off and landing control method and device and unmanned aerial vehicle take-off and landing equipment |
| WO2021097645A1 (en) * | 2019-11-19 | 2021-05-27 | 深圳市大疆创新科技有限公司 | Landing control method and device, base station, unmanned aerial vehicle and storage medium |
| CN113602516A (en) * | 2021-08-10 | 2021-11-05 | 北京航空航天大学 | Vehicle-mounted unmanned aerial vehicle autonomous charging platform |
| CN113602516B (en) * | 2021-08-10 | 2023-04-18 | 北京航空航天大学 | Vehicle-mounted unmanned aerial vehicle autonomous charging platform |
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