ROBUST AND AUTONOMOUS DOCKING AND RECHARGING OF QUADROTORS

摘要

A method of docking and recharging using a base station and a station-mating frame on the multicopter. The base station includes an upward-facing camera that is used by a docking controller to detect the presence, position, and orientation of a frame, with infrared light-emitting diodes arranged in a predefined pattern. The controller of the base station acts to emit wireless signals to the multicopter to guide the multicopter with its station-mating frame to a predefined position above the base station. The controller transmits a wireless signal to the multicopter to reduce thrust, and the multicopter lowers itself onto a sloped receiving surface that may be arranged in a crown pattern to provide passive gravity-driven centering, which causes the station-mating frame to slide to a lowest vertical point of the receiving assembly. A locking mechanism engages to lock the frame in place and provide electrical contact for recharging.