Device for the automated vertical take-off, vertical landing, and/or handling of an aerial vehicle with the aid of a robot, aerial vehicle, and end effector

Abstract

A device for the automated vertical take-off, vertical landing, and/or handling of an aerial vehicle with the aid of a robot, the device including a first connection module and a second connection module, each including a capture and/or release section that is active in a capture and/or release phase and a guide section that is active in a guide phase, and the first connection module and the second connection module being lockable in a holding position. An aerial vehicle capable of automatedly vertically taking off, vertically landing, or being handled with the aid of a robot, the aerial vehicle including a first connection module or a second connection module of such a device. An end effector for a robot for the automated vertical take-off, vertical landing, and/or handling of an aerial vehicle, the end effector including a second connection module or a first connection module of such a device.

Claims

1-14. (canceled)

15. A device for automated vertical take-off, vertical landing, or handling of an aerial vehicle with the aid of a robot, the device comprising: a first connection module; and a second connection module, the first connection module and the second connection module each including a capture or release section active in a capture or release phase and a guide section active in a guide phase, the first connection module and the second connection module being lockable in a holding position.

16. The device as recited in claim 15 wherein the first connection module includes an inner cone section defining the capture or release section and a hollow cylindrical section defining the guide section of the first connection module, and the second connection module includes a bolt section defining the capture or release section and the guide section of the second connection module.

17. The device as recited in claim 16 wherein the second connection module includes an outer cone section corresponding to the inner cone section of the first connection module.

18. The device as recited in claim 15 wherein the first connection module and the second connection module include toothings active in the holding position.

19. The device as recited in claim 18 wherein the second connection module includes an outer cone section corresponding to the inner cone section of the first connection module and the toothings are active between the inner cone section and the outer cone section.

20. The device as recited in claim 18 wherein the toothings have a rhomboidal, diamond-shaped, circular, or ellipsoidal design.

21. The device as recited in claim 15 further comprising includes a lock or release device active between the first connection module and the second connection module.

22. The device as recited in claim 21 wherein the lock or release device is passively locking and actively releasing.

23. The device as recited in claim 21 wherein the lock or release device includes at least one lever spring-loaded or actuatable by an actuator.

24. The device as recited in claim 15 further comprising at least one signal interface or power interface active between the first connection module and the second connection module.

25. The device as recited in claim 15 further comprising at least one sensor or switch active between the first connection module and the second connection module.

26. The device as recited in claim 15 wherein the first connection module is structurally integrated into an aerial vehicle.

27. The device as recited in claim 15 wherein the second connection module is designed as an end effector.

28. An aerial vehicle, the aerial vehicle being capable of automatedly vertically taking off, vertically landing, or being handled with the aid of a robot, the aerial vehicle comprising the first connection module or the second connection module of the device as recited in claim 15.

29. An end effector for a robot for the automated vertical take-off, vertical landing, or handling of an aerial vehicle, the end effector comprising the first connection module or the second connection module of the device as recited in claim 15.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Exemplary embodiments of the present invention are described in greater detail below with reference to the figures, which are shown schematically and by way of example.

[0039] FIG. 1 shows a first connection module of a device for the automated take-off, landing, and/or handling of a vertical take-off and landing aerial vehicle with the aid of a robot;

[0040] FIG. 2 shows a second connection module of a device for the automated take-off, landing, and/or handling of a vertical take-off and landing aerial vehicle with the aid of a robot; and

[0041] FIG. 3 shows a device for the automated take-off, landing, and/or handling of a vertical take-off and landing aerial vehicle together with a first connection module and a second connection module, in a sectional view.

DETAILED DESCRIPTION

[0042] FIG. 1 shows a first connection module 100 of a device 102 for the automated take-off, landing, and/or handling of a vertical take-off and landing aerial vehicle 104, shown in detail in FIG. 1, with the aid of a robot. FIG. 2 shows a second connection module 106 of device 102. FIG. 3 shows device 102 in a holding position in which first connection module 100 and second connection module 106 are connected to one another, in a sectional view. Device 102 has a longitudinal axis 108, and is used to launch, land, and/or handle aerial vehicle 104 with the aid of a robot.

[0043] First connection module 100 is situated at a fuselage of aerial vehicle 104 (see, e.g, FIG. 1). Aerial vehicle 104 includes a landing gear 110 for conventional landings, in particular also emergency landings. Aerial vehicle 104 includes a payload 112, for example a camera such as an RGB camera, multispectral camera, infrared camera, or a measuring device, for example using LIDAR. Aerial vehicle 104 includes a surface 114 for optical markers such as ArUco, AprilTags, or the like, for exact relative position determination, in particular via a camera at second connection module 106. Aerial vehicle 104 includes an air inlet 116 and an air outlet 118 for cooling electronic components. Aerial vehicle 104 includes an aerodynamically shaped cover 120.

[0044] On the opening side, first connection module 100 includes a funnel-shaped inner cone section 122 that acts as a capture and/or release section, having an opening angle of approximately 70°, and on the inner side includes a hollow cylindrical section 124 that acts as a guide section, having an opening cross section that is constant in the axial direction.

[0045] Second connection module 106 is designed as an end effector 126 for a robot. Second connection module 106 or end effector 126 includes a housing 128. Housing 128 has a watertight design. Electronic components for GPS, RTK, telemetry radio, voltage converters, and/or servo control, among other things, are situated in housing 128. Second connection module 106 or end effector 126 includes an antenna 130, in particular a GPS antenna. Second connection module 106 or end effector 126 includes a sensor 132 designed as a camera, such as an RGB camera. Second connection module 106 or end effector 126 includes an optical status indicator 134, which in the present case is designed as an LED ring and is used to display the status of a locking and/or releasing device. End effector 126 includes an electrical signal interface and/or power interface 136, which in the present case is designed as a multipole contact surface for power and/or data transmission.

[0046] At its distal end, second connection module 106 includes a bolt section 138 that acts as both a capture or release section and as a guide section, and at its proximal end includes an outer cone section 140. Hollow cylindrical section 124 of first connection module 100 and bolt section 138 of second connection module 106 correspond to one another in a geometrically complementary manner. Inner cone section 122 of first connection module 100 and outer cone section 140 of second connection module 106 correspond to one another in a geometrically complementary manner.

[0047] Inner cone section 122 of first connection module 100 and outer cone section 140 of second connection module 106 include toothings 142, 144 that correspond to one another in a geometrically complementary manner. Toothings 142, 144 in each case have insertion geometries with a wedge-shaped design and that act in the axial direction.

[0048] The locking and/or releasing device is active between first connection module 100 and second connection module 106, and is switchable between a locked position and a released position. At first connection module 100, the locking and/or releasing device includes an undercut section 145 that extends circumferentially in the circumferential direction and that is active in the axial direction. At second connection module 106, the locking and/or releasing device includes two lever elements 146, 148 with fork joints such as reference numeral 150, rods such as reference numeral 152, guides such as reference numeral 154, compression springs such as reference numeral 156, and actuators designed as servomotors, such as reference numeral 158. Lever elements 146, 148 are each swivelable about a swivel bearing such as reference numeral 160. Rods 152 are each articulately connected to a lever element 146, 148 with the aid of fork joints 150, and are axially displaceably guided with the aid of guides 154. Rods 152 are acted on in the direction of the locked position with the aid of compression springs 156. Rods 152 may be acted on in the direction of the released position, opposite a force of compression springs 156, with the aid of actuators 158. In the locked position, rods 152 are moved downwardly with reference to FIG. 3, and lever elements 146, 148 are swiveled in and removed from the undercut section 145. Lever element 146 is shown in the locked position in FIG. 3. In the released position, rods 152 are moved upwardly with reference to FIG. 3, and lever elements 146, 148 are swiveled out and engage with undercut section 145. Lever 148 is shown in the released position in FIG. 3.

[0049] In the holding position shown in FIG. 3, first connection module 100 and second connection module 106 are connected to one another, bolt section 138 of second connection module 106 being accommodated in hollow cylindrical section 124 of first connection module 100, inner cone section 122 of first connection module 100 and outer cone section 140 of second connection module 106 resting against one another, and toothings 142, 144 being engaged with one another, so that aerial vehicle 104 is also accommodated in a defined force-fit and/or form-fit manner with regard to a rotation about longitudinal axis 108. In the holding position, first connection module 100 and second connection module 106 are lockable to one another. When the locking and/or releasing device is switched into the locked position, first connection module 100 and second connection module 106 are locked to one another in all six degrees of freedom, and aerial vehicle 104 may also be handled upside down, for example. For launching aerial vehicle 104, the locking and/or releasing device is switched into the released position, so that first connection module 100 and second connection module 106 may detach from one another. Upon takeoff of aerial vehicle 104, bolt section 138, acting as a guide section, is initially linearly guided at hollow cylindrical section 124, acting as a guide section. As soon as bolt section 138 has left hollow cylindrical section 124, bolt section 138, acting as a release section, and inner cone section 122, acting as a release section, may assist with a lift-off of aerial vehicle 104.

[0050] Upon landing of aerial vehicle 104, bolt section 138, acting as a capture section, and inner cone section 122, acting as a capture section, initially assist with a touchdown of aerial vehicle 104. As soon as bolt section 138 is guided into hollow cylindrical section 124, bolt section 138, acting as a guide section, is linearly guided at hollow cylindrical section 124, acting as a guide section, until first connection module 100 and second connection module 106 are connected to one another in the holding position.

[0051] The word “may” may refer in particular to optional features of the present invention. Consequently, there are also refinements and/or exemplary embodiments of the present invention which additionally or alternatively have the particular feature or the particular features.

[0052] If necessary, individual features may also be selected from the feature combinations disclosed above and used in combination with other features, with resolution of a structural and/or functional relationship possibly existing between the features, for delimiting the subject matter of the claims.

LIST OF REFERENCE NUMERALS

[0053] 100 first connection module [0054] 102 device [0055] 104 aerial vehicle [0056] 106 second connection module [0057] 108 longitudinal axis [0058] 110 landing gear [0059] 112 payload [0060] 114 surface [0061] 116 air inlet [0062] 118 air outlet [0063] 120 cover [0064] 122 inner cone section [0065] 124 hollow cylindrical section [0066] 126 end effector [0067] 128 housing [0068] 130 antenna [0069] 132 sensor [0070] 134 status indicator [0071] 136 signal interface and/or power interface [0072] 138 bolt section [0073] 140 outer cone section [0074] 142 toothing [0075] 144 toothing [0076] 145 undercut section [0077] 146 lever element [0078] 148 lever element [0079] 150 fork joint [0080] 152 push rod [0081] 154 guide [0082] 156 compression spring [0083] 158 actuator [0084] 160 swivel bearing