• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a system consisting of a drone (1), a wire (2), and a docking station (3), allowing autonomous landings of the drone (1) in degraded condition. The wire (2) connects the drone (1) to the docking station (3). The docking station (3) comprises a platform (32) and a frame (31). The platform (32) is movable relative to the frame (31) during landing. This mobility is provided by a deformable element which may be the platform (32) itself or a deformable element (33) which connects the platform (32) to the frame (31). This system makes it possible to make emergency landings, or in strong winds, or when the docking station (3) is moving on a vehicle: the material breakage is eliminated.
    公开号:FR3059647A1
    申请号:FR1670732
    申请日:2016-12-02
    公开日:2018-06-08
    发明作者:Timothee Herve Marc Marie Penet；Guilhem de Marliave；Olivier Bernard Francois Dubois
    申请人:Elistair；
    IPC主号:
    专利说明:

    TITLE: System comprising a drone, a wire, and a docking station, allowing autonomous drone landings in degraded conditions.
    TECHNICAL FIELD OF THE INVENTION
    The invention relates to a system comprising a drone, a wire, and a docking station, the system being specially designed to allow autonomous drone landings in degraded conditions.
    The drones concerned by the invention are all so-called rotary wing flying machines, and remotely controlled by means of a control device. Rotary-wing drones include all forms of known model helicopters.
    A docking station designates any device on the ground or on a vehicle intended to receive the drone before and after its mission in the air. In general, a docking station has at least one landing platform, which also acts as the takeoff platform for the drone.
    The wire in question connects the drone to the docking station. This wire often provides at least the power supply to the drone.
    The degraded landing conditions for which the system is intended may be in particular:
    - a strong wind,
    - a docking station in motion on a vehicle such as a rocking boat or a moving car,
    - the loss for the drone of important organs to continue a normal flight such as the loss of an attitude sensor or a propeller drive motor.
    PRIOR TECHNIQUE
    The use of remotely piloted drones is widespread.
    It is known to use drones having automatic landing procedures. For example, some commercial drones automatically return to their take-off point when the user initiates the landing procedure. Other procedures provide, when the user initiates the landing procedure, a simple vertical landing from where the drone is located at the time when the procedure was initiated, the landing speed and the stabilization of the drone being controlled automatically by the system without user intervention.
    - 2 Some commercial drones rely for their automatic landing procedure on an optical positioning, for example by laser or camera and image recognition, others on ultrasonic sonar. These sensors are also very useful in indoor flight in a room or in constrained outdoor environments, that is to say equipped with numerous obstacles.
    It is also known to use drone docking stations, whether the drone is wired or not. Here are some examples of drone docking stations:
    - Patent US20160001883 is concerned with systems and methods for the autonomous landing of a drone. In particular, this patent describes a landing interface between a drone and a ground station, characterized in that the drone and the ground station have a conical nesting geometry, resulting in an automatic alignment of the drone in the center of the ground station during landing.
    - Some ground stations include a mechanical repositioning system after landing of the drone, for example comprising two jaws in horizontal translation. These jaws are geometrically designed to center each foot of the drone during their horizontal translation. This precise mechanical repositioning can then allow other operations such as replacing a used battery with a recharged battery at the drone.
    - Patent US9139310 describes a docking station for a drone capable of autonomously changing the drone's batteries. The drone is able to land autonomously on this station. The docking station can recharge used batteries. The docking station can remove its used battery from the drone and give it a recharged battery. The drone and the ground station can communicate wirelessly on the state of charge of their reciprocal batteries.
    - Patent EP2899128 describes a device for receiving a drone on a vehicle and the vehicle associated with this device. The device notably provides a support intended to support a drone, a means of raising and lowering the support between a low position and a high position, and a system for securing the drone to the support via a magnetic device.
    - Patent WO2010092253 describes a drone fitted with a lift propeller, a hull surrounding the propeller and a landing platform. A wire connects the landing gear of the drone to the landing platform; this wire is used to power the drone electrically. Certain claims describe a form of the platform adapted to the drone; the figures accompanying the patent show a platform of the metal basket type housing the drone. Other claims relate to the positioning device
    - 3 of the drone in relation to the landing platform. This device measures the inclination of the drone's power wire.
    The prior art does not propose a suitable system allowing a drone to land in the following situations:
    - drone landing in high winds,
    - landing of the drone when the landing platform is in motion on a land vehicle or on a boat in rough sea,
    - emergency landing of the drone in degraded flight conditions, such as the loss of a lift rotor or a position sensor,
    - rapid landing of the drone if the personnel on the ground or if the drone is targeted by an assault,
    - emergency landing of the drone when a rescue parachute of the drone is open.
    In particular, no landing system is committed to solving the problems generated by the previous situations:
    - the problem of violent shocks or hard landings, such shocks can cause particularly costly material breaks when the equipment on board is of significant value,
    - the problem of the precision of the landing, an imprecise landing which can end in the loss of the drone and its on-board equipment.
    STATEMENT OF THE INVENTION
    The invention proposes to describe a system comprising a drone, a wire, and a docking station.
    The system according to the invention overcomes the drawbacks listed above, it is thought to allow landings:
    - in strong winds,
    - on moving platforms,
    - by degraded flight conditions of the drone such as the loss of a rotor,
    - to receive the drone after opening the emergency parachute,
    - very fast in case of attack.
    The system according to the invention has at least the following characteristics:
    (i) the wire connects the drone to the docking station,
    (4) the station comprises a frame and a mobile landing platform with respect to the frame, (iii) this mobility is exerted during the landing of the drone, (iv) this mobility is ensured by a deformable element, either the platform itself, or by a deformable element connecting the platform to the frame, (v) such that under the effect of a shock during landing, the deformable element takes up part of the impact energy.
    VARIATIONS OF THE INVENTION
    According to variations of the invention:
    - The possible displacement ensured by the deformable element is greater than or equal to 4cm.
    - The deformable element is made with one of the following materials or elements: a stretched fabric, a spring, a rubber band, a cylinder, an active damping cylinder, rubber, foam, pneumatic tubes, filled tubes liquids or gels.
    - A mechanical brake located on the wire or on a wire winding drum keeps the drone plated on the landing platform during transport of the entire system, and reduces the travel of the platform - drone assembly.
    - The landing platform is raised during landing relative to the rigid elements of the docking station.
    - One or more anemometers are present on the drone or the station.
    - Accelerometers are present on the drone and on the station.
    - A two-axis joystick type sensor fixed between the drone and the wire gives the on-board electronics of the system information on the relative positioning between the platform and the drone.
    - The drone has arms supporting the propellers of the drone. These arms are detachable from the body of the drone. Each arm contains an electrical connector and a mechanical connector, which are opposite with an electrical connector and a corresponding mechanical connector on the body of the drone. The mechanical and electrical connectors of the drone's arm can be assembled in a single element, as well as those on the drone's body.
    - The docking station has a cover that can be closed after the drone lands.
    - A landing method provides for stopping the engines of the drone in flight, the last
    - 5 landing stage ending in a fall.
    - A traction is exerted on the wire during the landing phase.
    - The drone has a parachute and a landing procedure provides, in the presence of certain malfunctions, that the parachute deploys automatically, the engines are switched off, and maximum traction is exerted on the wire until the drone be brought back to the landing station. The traction can be exerted by a wire winding drum.
    - For certain falls from the open parachute drone, the engines in working order are not switched off but used to help the drone fall into the platform.
    - A landing procedure provides for: stopping the servo-control in the drone position, thrust of the engines greater than the weight of the drone, servo-control of the attitude of the drone, traction on the wire to bring the drone back onto the platform.
    - There is a relative positioning device between the drone and the landing platform, the relative positioning system can possibly be achieved by comparing two absolute positioning devices, one on the drone, and one on the station.
    - The admissible drop height without breakage for the drone and its payload vertically from the center of the platform is more than doubled compared to a fall on hard ground.
    - A refocusing device of the drone once landed involves traction on the drone via the wire and can also involve vibrations after landing or on-off switching of the drone engines.
    - The landing platform has a concave shape, the drone has a landing gear, and this landing gear has a convex shape.
    - The landing platform has a convex shape, the drone has a landing gear, and this landing gear has a concave shape.
    - The drone has a landing gear, and this landing gear is fitted with damping devices.
    SUMMARY DESCRIPTION OF FIGURES
    Figure la shows an embodiment of the system according to the invention with the drone (1) in its docking station (3). The drone (1) comprises a central body (11) including on-board electronics, propellers (12) faired, a payload (13), and a landing gear (14) taking the form of large titanium arches. The drone is attached by a wire (2) to the docking station (3). The docking station (3) has a
    - 6 frame (31), a landing platform (32), here a stretched, deformable canvas, attached to the frame (31) by deformable elements (33), here elastic. Guides (35) lead the wire (2) to a drum (34) for winding the wire (2). A GPS sensor (38) is located in the center of the docking station (3). A cover (36) closes the docking station (3). During transport, a brake blocks the drum (34) for winding the wire (2), which makes it possible to transport the docking station (3) in all positions without risk to the drone (1).
    FIG. 1b represents a variant of the embodiment of the previous system, with the drone (1) in flight above the docking station (3). The drone (1) consists of a body (11) comprising on-board electronics, propellers (12), faired, a landing gear (14), a payload (13). A two-axis joystick-type sensor (15) is used to measure the inclination of the wire (2). The drone (1) is connected to the docking station (3) by a wire (2). The landing platform (32) is made of semi-rigid rubber, connected to the frame (31) by a deformable element (33) at the time of landing which is here a jack. This cylinder is an active damping cylinder, that is to say that on-board electronics and a hydroelectric control of these cylinders can absorb shocks in a controlled manner. The cylinder is in the high position as long as the drone (1) is in flight. It is in the low position when you want to store the drone in the docking station (3) and close the cover (36) via its slides (37). The length of the wire (2) is controlled via a drum (34) for winding the wire (2).
    FIG. 2a represents a variant of the system according to the invention. We see the drone (1) connected by a wire (2) to the docking station (3). The landing platform (32) takes the form of a pneumatic rod. The cover (36) has two leaves. When the drone (1) is in flight, the pneumatic tube is inflated. When the docking station (3) has to be transported, the pneumatic tube is deflated.
    FIG. 2b represents another variant, where the landing platform (32) is flat and made of foam covered with a waterproof teflon-coated fabric, on jack (33).
    FIG. 2c represents another variant, where the landing platform (32) is made of foam, of convex shape, and the landing gear (14) is of concave shape.
    PREFERRED EMBODIMENT OF THE INVENTION
    A preferred embodiment of the invention comprises a drone (1), a wire (2), and a docking station (3). The entire system takes the form of a box which has the dimensions of approximately 1.50 by 1.50 by 70 cm in height and weighs approximately 50.
    - 7 kg. The drone (1) has four arms and two counter-rotating rotors per arm. The width of the drone (1) is about 1 m 20 for a weight of about 5 kg, and for a payload (13) of 1 kg. The payload (13) is a recognition system comprising a high resolution video sensor for day vision and a high resolution infrared sensor for night vision. This payload (13) is of high value.
    The docking station (3) has a landing platform (32). The docking station (3) is supplied with 48 V. The power of the drone (1) is approximately 2500 W. The drone (1) is supplied by the wire (2), which passes through the center of the platform (32), and the wire (2) is wound on a drum (34) for winding the wire (2). The winding drum (34), well known to those skilled in the art, is arranged under the platform (32). The docking station (3) can be closed by a cover device (36) with slide (37). When the docking station (3) is closed by its cover (36), the wire (2) is wound as much as possible on the winding drum (34) and blocked by a brake system, so that the drone (1) is pressed against the platform (32) and in the center of the platform (32). The box can be transported in all directions, vertically, upside down, without the drone (1) moving inside the box.
    The platform (32) consists of a canvas stretched over the edges of the frame (31) by an elastic deformable element (33). The general shape of the platform (32) resembles a section of a parabola.
    The drone (1) comprises a landing body (14) made up of titanium-based alloy roll bars. These hoops are deformable and can absorb shocks. The payload (13) is protected because it is inside the convex envelope formed by the entire drone (1) and its landing body (14).
    This drone (1) is used for surveillance missions. The docking station (3) can be loaded on all types of vehicles: land, sea, air.
    The operator has a control device comprising the following instructions: cocking, takeoff, altitude adjustment, horizontal relative position adjustment relative to the docking station (3), landing, emergency landing, parachute, assault, piloting manual.
    When the operator places the drone (1) in the cocking position, the drone (1) is powered via the wire (2). The electronic systems of the drone (1) and the docking station (3) are started, so as to allow an immediate takeoff.
    Pressing the take-off button causes the sliding cover (36) (37) to open and the drone (1) to take off immediately at a speed of around 3 m / s. The drone (1) reaches the altitude set in the system, adjustable between 3 m and 80 m, then the drone (1) moves along a horizontal line to the position determined by the user. The position
    - 8 relative of the drone (1) with respect to the docking station (3) is evaluated by the system by comparing the measurements of the positions of two on-board GPS systems, one on the drone (1), the other (38) on the docking station (3). When the vehicle, therefore the docking station (3) is in motion, the drone (1) follows the docking station (3), by means of a control loop on the relative position of the drone (1) relative to at the docking station (3).
    Pressing the landing button initiates the normal landing procedure. The drone (1) returns at constant altitude to the vertical of the platform (32) then descends at 3 m / s a height of 3 m above the docking station (3), a priori in motion since the vehicle is moving. At this altitude, a radio positioning system on the docking station (3) locates with a precision of the order of cm the position of the drone (1). Accelerometers and anemometers located on the drone (1) and located on the docking station (3) make it possible to simulate in real time the calculated position Pc of landing of the drone (1), the calculated speed Vc of landing, and the calculated uncertainty IPc on the landing position, these three variables being calculated according to several hypotheses of landing modes, including the stopping of the engines of the drone (1). A score function Sc is calculated as real, providing a number which is all the higher as the calculated position Pc is close to the center of the platform (32), the calculated speed Vc is low, and the uncertainty IPc is low. The Sc score function is compared to an acceptance threshold function Sa which decreases over time, and is considerably reduced if the aggression button has been pressed. When the value of Sc is greater than the value of Sa, the associated landing procedure is triggered.
    When the emergency landing procedure is initiated, a procedure similar to the previous one is launched, but it is optimized to minimize the landing time. The horizontal and vertical speeds are the maximum admissible for the drone (1). The Sc and Sa score functions are calculated differently, so that the landing takes place very quickly, notably by accepting higher impact speeds.
    When the parachute procedure is started, the electronic system evaluates, according to the anemometers, data from the accelerometers, if it is still possible to place the drone (1) in the position which will allow it to fall directly into the platform (32 ). If so, the drone (1) first moves at maximum speed to this position, then the parachute is opened. Otherwise, the parachute is directly opened, and the wire (2) exerts a traction of the order of 15 kg on the drone (1), to bring the drone (1) back to the center of the platform (32).
    The drone (1), if the flight parameters are critical, such as for example the dysfonc3059647
    - 9 operation of an engine or an on-board sensor, can initiate Tune or the other landing procedures.
    At any time, unless the parachute is open, the operator can take manual control of the drone (1).
    The system is designed to accept drops from the drone (1) at 15 m / s offset up to 70 cm from the center of the platform (32), protecting the payload (13) and the entire drone (1) . However, if the fall takes place more than 20 cm from the center of the platform (32), the drone's arms (1) supporting the rotors can break. The drone (1) is therefore designed with removable arms that can be exchanged quickly. The shocks are absorbed in the center of the platform (32) thanks to the superimposition of the damping effects by the elastic bands, designed to lengthen by about 15 cm for a landing speed of 10 m / s, the elasticity of the fabric used, and finally the landing body (14), which flatten about 10 cm for this same fall speed. In all, a fall at 15 m / s is absorbed over a distance of 30 cm.
    Once the landing is completed, the wire (2) exerts a traction of the order of 15kg on the drone (1) which has the effect of replacing the drone (1) in the center of the platform (32), which is helped by the fact that the fabric is covered with Teflon, and that the coefficient of friction between the landing body (14) and the fabric covered with Teflon is low. Then the cover (36) closes by sliding in the slides (37).
    According to a first variation of this embodiment of the invention, the canvas of the platform (32) is stretched over a square structure on jacks. When the hood (36) is opened, the square structure is raised by the jacks, above the edges of the docking station (3), so that when the drone (1) falls sharply off center on the station reception (3), the drone (1) does not strike the rigid edges of the docking station (3), but falls on the edges of the landing platform (32). The pressure in the cylinders is adjusted so that they absorb a fall from the drone (1). The jacks thus constitute a deformable element (33) connecting the platform (32) to the frame (31), absorbing part of the impact energy during a fall of the drone. According to a variant of this first variation, the jacks correct the attitude of the platform (32) in real time, so that the platform (32) is always horizontal. According to a second variant of this first variation, the jacks dynamically dampen the impact of the drone (1) on the platform, according to techniques well known to those skilled in the art.
    According to a second variation, the near-field positioning system is not produced via a radio positioning system, but by a two-axis joystick type sensor (15), located at the interface between the wire (2) and the drone (1). The two crossed joystick type sensor (15) gives information on the inclination between the wire
    - 10 (2) and the drone (1), and the distance from the drone (1) is measured by measuring the length of wire (2) unwound by the reel.
    According to a third variation, smooth pads are integrated into the landing body (14) of the drone (1), which facilitates the sliding of the drone (1) on the platform (32), in order to facilitate the repositioning of the drone (1 ) after landing. According to variants of this third variation:
    1) after landing, a vibrator comes into contact with the platform (32) and vibrates the platform (32), which has the effect of repositioning the drone (1) closest to the center of the platform (32) . An accuracy of 5 cm was obtained.
    2) after landing, the drone engines (1) are turned on and off with a period of the order of a second so as to generate small jumps of the drone (1) and it naturally returns to the center by gravity of the platform (32). It is also possible to automatically generate small flights of the drone (1) controlled by the on-board system so that the drone (1) returns to the center of the platform (32).
    3) the whole platform (32) is mounted on jacks and these jacks can modify the orientation of the nacelle and generate jolts.
    According to a fourth variation, the landing platform (32) is a rubber surface attached via springs to a metal frame mounted on jacks. When the drone (1) is in flight, the platform (32) is in the high position, so that the platform (32) protrudes from the edges of the docking station (3). The pressure in the cylinders in the high position, the springs, and the entire platform (32) have been adjusted experimentally, so that, when the drone (1) falls from a height of 10 m, the maximum resulting acceleration at the drone (1) is contained, enough so that this fall of 10 m can be repeated a large number of times without damage to the drone (1) and the payload (13). The platform (32) of this variation is 2 m in diameter. In this variation, the landing platform (32) is covered with Teflon, is concave in shape, has a radius of curvature of 5 m. The rubber used does not deform very much under the effect of the sole weight of the drone (1), so that when the drone (1) is positioned on the edge of the platform (32), it slides back to the center of the platform (32), due to the concave geometry of the platform (32), and the low coefficient of friction between the Teflon and the landing body (14) of the drone (1). The tests led our drone (1) to reposition systematically, without traction on the wire (2), at a distance less than 5cm from the center of the platform (32), and with traction on the wire (2), to a distance less than 1cm from the center of the platform (32).
    According to a fifth variation, the landing procedures plan to control
    - 11 the lateral position of the drone (1), while the reserve parachute is open and the drone (1) drops, slowed down by the open parachute. In this variation, the lateral position is controlled via the speeds of the propellers (12). The goal is then to refocus the drone (1) above the platform (32). Several degraded conditions are planned:
    losses from one or more lift rotors, losses from such and such a sensor.
    According to a sixth variation, the landing procedure provides for putting the motors of the drone (1) at maximum speed, and the repatriation of the drone (1) on the platform (32) is ensured by the pulling of the wire (2) on the drone (1). Such a procedure makes it possible to overcome the relative movements of the platform (32) of the drone (1), measurements of the relative position of the drone (1) relative to the platform (32), or gusts of wind.
    POSSIBILITIES OF INDUSTRIAL APPLICATIONS
    The system according to the invention is particularly intended for the automation of landing for all wired drones (1), in particular when it is planned that the drone (1) can land:
    - in strong winds,
    - on moving vehicles,
    - by degraded flight conditions of the drone (1) such as the loss of a rotor,
    - to receive the drone (1) after opening the emergency parachute,
    - very quickly in the event of an attack, at speeds close to freefall.
    权利要求:
    Claims (21)
    [1" id="c-fr-0001]
    1) System comprising a drone (1), a wire (2), and a docking station (3), characterized in that:
    (i) the wire (2) connects the drone (1) to the docking station (3), (ii) the docking station (3) comprises a frame (31) and a landing platform (32) movable relative to the frame (31), (iii) this mobility is exerted during the landing of the drone (1), (iv) this mobility is ensured by a deformable element, namely the platform (32) itself, either by a deformable element (33) connecting the platform (32) to the frame (31), (v) such that under the effect of a shock during landing, the deformable element (32 or 33) resumes part impact energy.
    [2" id="c-fr-0002]
    2) System according to the preceding claim, characterized in that the possible displacement provided by the deformable element (32 or 33) is greater than or equal to 4cm.
    [3" id="c-fr-0003]
    3) System according to one of the preceding claims, characterized in that the deformable element (32 or 33) is produced with at least one of the following materials or elements: a stretched fabric, a spring, an elastic, a jack , an active damping cylinder, rubber, foam, pneumatic tubes, tubes filled with liquids or gels.
    [4" id="c-fr-0004]
    4) System according to one of the preceding claims, characterized in that a mechanical brake located on the wire (2) or on a drum (34) for winding the wire (2) can keep the drone (1) pressed against the landing platform (32) during transport of the entire system, and reduce the travel of the platform - drone assembly.
    [5" id="c-fr-0005]
    5) System according to one of the preceding claims, characterized in that the landing platform (32) is raised during landing relative to any rigid element of the docking station (3).
    [6" id="c-fr-0006]
    6) System according to one of the preceding claims, characterized by the presence of one or more anemometers on the drone (1) or the docking station (3).
    [7" id="c-fr-0007]
    7) System according to one of the preceding claims, characterized in that the base on the ground comprises an accelerometer, and that the drone (1) comprises an accelerometer.
    [8" id="c-fr-0008]
    8) System according to one of the preceding claims, characterized in that a two-axis joystick type sensor (15) fixed between the drone (1) and the wire (2) gives the on-board electronics of the system information on the relative positioning between the platform (32) and the drone (1).
    [9" id="c-fr-0009]
    9) System according to one of the preceding claims, characterized in that:
    the drone (1) comprises arms supporting the propellers (12) of the drone (1),
    - these arms are detachable from the body (11) of the drone (1),
    Each arm contains an electrical connector and a mechanical connector, which are opposite each other with an electrical connector and a corresponding mechanical connector on the body (11) of the drone (1),
    - The mechanical and electrical connectors of the drone arm (1) can be combined in a single element, as well as those on the body (11) of the drone (1).
    [10" id="c-fr-0010]
    10) System according to one of the preceding claims, characterized in that the docking station (3) has a cover (36) which can be closed after the drone has landed (1).
    [11" id="c-fr-0011]
    11) System according to one of the preceding claims, characterized in that a landing method provides for stopping the engines of the drone (1) in flight, the last stage of landing ending in a fall.
    [12" id="c-fr-0012]
    12) System according to one of the preceding claims, characterized in that traction is exerted on the wire (2) during the landing phase.
    [13" id="c-fr-0013]
    13) System according to one of the preceding claims, characterized in that the drone (1) comprises a parachute and that a landing procedure provides, in the presence of certain malfunctions:
    - that the parachute deploys automatically,
    - that the engines are switched off,
    - And that maximum traction is exerted on the wire (2), for example by a drum (34) for winding the wire (2), until the drone (1) is brought back to the station. reception (3).
    [14" id="c-fr-0014]
    14) System according to the preceding claim, characterized in that, for certain falls of the drone (1) open parachute, the motors in working condition are not cut but used to help the drone (1) to fall into the platform (32 ).
    [15" id="c-fr-0015]
    15) System according to one of the preceding claims, characterized in that a landing procedure provides:
    - stopping of the servo in position of the drone (1),
    - engine thrust greater than the weight of the drone (1),
    - servo control of the drone (1),
    - traction on the wire (2) to bring the drone (1) back onto the platform (32).
    [16" id="c-fr-0016]
    16) System according to one of the preceding claims, characterized by the presence of a relative positioning device between the drone (1) and the docking station (3), the relative positioning system possibly being achieved by comparison two absolute positioning devices, one on the drone (1), and one on the docking station (3).
    [17" id="c-fr-0017]
    17) System according to one of the preceding claims, characterized in that the
    - 14 admissible drop height without breakage for the drone (1) and its payload (13) vertical to the center of the platform (32) is at least doubled compared to a fall on hard ground.
    [18" id="c-fr-0018]
    18) System according to one of the preceding claims, characterized by the presence
    5 of a device for refocusing the drone (1) once landed, involving at least traction on the drone (1) via the wire (2), which may involve:
    - vibrations after landing,
    - or on-off switching of the drone motors (1).
    [19" id="c-fr-0019]
    19) System according to one of the preceding claims, characterized in that the
    10 landing platform (32) has a concave shape, that the drone (1) has a landing body (14), and that this landing body (14) has a convex shape.
    [20" id="c-fr-0020]
    20) System according to one of the preceding claims, characterized in that the landing platform (32) has a convex shape, that the drone (1) has a landing body (14), and that this landing body ( 14) a concave shape.
    15
    [0021]
    21) System according to one of the preceding claims, characterized in that the drone (1) has a landing body (14), and that this landing body (14) is provided with damping devices.
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    同族专利:
    公开号 | 公开日
    EP3615425A1|2020-03-04|
    EP3615425B1|2021-11-24|
    FR3059647B1|2021-11-12|
    US20200070999A1|2020-03-05|
    WO2018100564A1|2018-06-07|
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    法律状态:
    2018-03-14| PLFP| Fee payment|Year of fee payment: 2 |
    2018-06-08| PLSC| Publication of the preliminary search report|Effective date: 20180608 |
    2018-10-26| PLFP| Fee payment|Year of fee payment: 3 |
    2019-11-07| PLFP| Fee payment|Year of fee payment: 4 |
    2020-11-13| PLFP| Fee payment|Year of fee payment: 5 |
    2021-09-30| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1670732|2016-12-02|
    FR1670732A|FR3059647B1|2016-12-02|2016-12-02|SYSTEM INCLUDING A DRONE, A WIRE, AND A RECEPTION STATION, ALLOWING AUTONOMOUS LANDINGS OF THE DRONE IN DEGRADED CONDITION.|FR1670732A| FR3059647B1|2016-12-02|2016-12-02|SYSTEM INCLUDING A DRONE, A WIRE, AND A RECEPTION STATION, ALLOWING AUTONOMOUS LANDINGS OF THE DRONE IN DEGRADED CONDITION.|
    US16/465,910| US20200070999A1|2016-12-02|2017-12-19|System comprising a drone, a wireand a docking station allowing the autonomous landing of drones in degraded conditions|
    EP17829705.7A| EP3615425B1|2016-12-02|2017-12-19|System comprising a drone, a wire and a docking station allowing the autonomous landing of drones in degraded conditions|
    PCT/IB2017/058104| WO2018100564A1|2016-12-02|2017-12-19|System comprising a drone, a wire and a docking station allowing the autonomous landing of drones in degraded conditions|
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