KR20130122715A - A charging and containing vehicle for unmanned vtol aircraft and the methods - Google Patents

Abstract

Disclosed are a vehicle for charging and containing vertical unmanned take-off and landing aircraft and a method thereof. A moving type charging and containing transport vehicle capable of containing and charging a plurality of aircrafts comprises a movable container accommodating the aircrafts, a landing part opening or closing outer sides of the container, a landing place making a plurality of aircraft lands, a data monitoring part monitoring state data by containing and charging the aircraft, and a communication switching part communicating with the aircraft. A container vehicle, if existing only at a fixed place, has a limited operation range because of a limit of a battery of an unmanned aircraft, but if movable, can operate, charge and contain the unmanned aircraft even at the place where the unmanned aircraft can go. The container vehicle can reduce movement time of the aircraft and increase operation efficiency.

Description

Vehicle and method for charging and storing vertical unmanned landing and landing vehicles {A Charging and Containing Vehicle for Unmanned VTOL Aircraft and the Methods}

The present invention relates to a vehicle for charging and storing a vertical unmanned landing and landing vehicle, and a method thereof, and more particularly to a vertical unmanned vehicle having a charging and storing function in a mobile vehicle type that is not only located at a fixed station. The present invention relates to a vehicle for charging and storing a takeoff and landing vehicle, and a method thereof.

In the prior art, the unmanned vertical takeoff and landing vehicle did not have a mobile stop capable of charging and taking off and landing of a plurality of vehicles.

Therefore, there is an urgent need to develop a device capable of moving and storing a plurality of vehicles by storing and charging a vehicle having a limited activity range due to battery limitations.

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle and a method for charging and storing a vertical unmanned landing vehicle which can move by taking off, landing and storing a plurality of vehicles.

Still another object of the present invention is to provide a vehicle and a method for charging and storing a vertical unmanned and landed vehicle which can reduce the moving time of the vehicle by reducing the activity radius of the vehicle because the charging and storing vehicle moves. It is for.

It is still another object of the present invention to provide a vehicle and a method for charging and storing a vertical unmanned and landed vehicle capable of operating more vehicles by reducing manpower waste by automatically storing and charging a plurality of vehicles. It is to.

In a vehicle and method for charging and storing a vertical unmanned landing vehicle according to the present invention, a mobile charging and storing vehicle capable of storing and charging a plurality of vehicles may contain a plurality of vehicles and moveable containers. It is provided with a landing portion for opening and closing the outside of the container, and a landing place for landing a plurality of aircraft, and may be configured to include a communication unit for communicating with the aircraft and an enclosure for storing and charging the state data monitoring. have.

 Landing part is composed of the upper landing part and the side or rear landing part, only the side or rear landing part is opened and closed, when the landing part is folded, the aircraft accommodated in the landing place is accommodated inside the container, and the outer side or the rear of the container is the solar panel It is provided to be configured to charge the vehicle, or to supply power to the container.

 The upper landing portion may move up and down the aircraft, and may be configured as an upper landing place for fixing the aircraft, opening and closing portion for opening and closing the door to allow the vehicle to take off and landing on the upper landing.

At least one of Lidar, Vision Sensor, Sonar, Infrared Sensor, Beacon, DGPS or GPS, and LED / IR light emitting array It can be configured to include one, and further equipped with a fixed device for mechanical coupling with the aircraft at the landing, it can be stored and charged, data monitoring of the aircraft.

A plurality of landing areas are provided in the landing part, and may be provided with an LED / IR light emitting array lamp (used at night) to help the aircraft land on one side of the landing area by providing a certain distance between the landing areas and generating a unique pattern. Used for automatic landing and landing identification.

The communication exchange unit may be provided in plurality, and may be configured as an omni antenna or a reflector antenna for satellite communication, a phased array antenna for tracking and communicating a plurality of vehicles, and a DGPS or GPS antenna.

The side landing part is opened and closed, and when the side landing part is positioned parallel to the ground, the aircraft can be configured to take off or land. Another example is provided with an axis on one side of the container, and the landing part moves horizontally around the axis. It is also possible to have a configuration in which the landing portion is deployed to the outside of the container, and a landing portion is positioned at different positions in a vertical direction in the form of a drawer, so that the landing portion is horizontally deployed.

In addition, the mobile vehicle identifies the vehicle to receive the position information of the vehicle, receiving the position information, the landing unit provided in the mobile vehicle is deployed, the sensor of the landing site provided in the landing portion guides the aircraft, the aircraft landing Landing on the ground may be configured to monitor the vehicle by storing and charging the aircraft located at the landing place.

The guided phase can be composed of Lidar, Vision Sensor, Sonar, Beacon, GPS or DGPS, LED / IR emitting array lamp, LED / IR emitting array is nxn array It can be arranged in rows and forms a unique pattern that identifies the landing point of the aircraft and serves as a reference for safe landing.

The step of identifying the vehicle and receiving the position information of the vehicle includes an omni antenna for communicating with a plurality of vehicles, a reflector antenna for satellite communication, a phased array antenna for tracking a plurality of vehicles, and a GPS or DGPS antenna. The location information may be received, and when the location information is received, the landing part provided in the mobile vehicle may be configured to be deployed. When the landing part is deployed, the aircraft accommodated in the landing place is accommodated inside the moving vehicle when the landing part is folded, and when the landing part is positioned parallel to the ground, the aircraft may be configured to take off or land.

 The landing place and the vehicle further include a fixing device for mechanical coupling, and when the clasp provided in the fixing device is inserted into and combined with the vehicle, the aircraft can be configured to store and charge the vehicle. In addition, the state data of the vehicle can be monitored by connecting the data lines.

This can move the vehicle by storing and charging a plurality of vehicles, thereby shortening the movement time of the vehicle, thereby increasing the efficiency of operation.

According to the present invention, a plurality of vehicles can be taken off and landed and stored and moved, thereby shortening the moving time of the vehicle, thereby increasing the efficiency of operation.

In addition, the space utilization can be enhanced by arranging a plurality of air vehicles in the exterior frame of the vehicle in multiple batches.

In addition, a plurality of aircraft can be automatically stored and recharged to reduce manpower wasted to operate more aircraft.

1 is a perspective view of a mobile charging and storing transport vehicle.
2 is a state diagram of a mobile charging and storing transport vehicle opened in an outer wall deployment type.
3 is a block diagram of a drawer type mobile charging and storing transport vehicle, which is another embodiment of Figure 2, the landing portion is opened in the form of a drawer.
4 is a block diagram of a hinged mobile charging and storing vehicle, in which the landing portion is hinged, which is another embodiment of FIG.
Figure 5 is a state diagram showing the operation of the upper landing.
6 is a detailed view of a fixing device provided in the landing place.
7 is a configuration diagram of a fixing device unit, which is another embodiment of FIG. 6.
8 is a flowchart showing a method for charging and storing a mobile transport vehicle.
9 is a block diagram showing how a vehicle is stored in a mobile vehicle.

The mobile charging and storing transport vehicle according to the present invention is a mobile stop capable of automatically taking off and landing a plurality of vehicles while moving and recharging a container capable of charging and storing to a vehicle.

FIG. 1 is a perspective view of a mobile charging and storing transport vehicle 100, and FIG. 2 is a state diagram of a mobile charging and storing transport vehicle opened in an outer wall deployment type. Referring to FIG. Landing portions are provided on the upper and side portions of the container vehicle. Landing portion may be composed of the upper landing portion 10, the side landing portion 20, the rear landing portion 73 on the side of the vehicle. The upper landing portion 10 at the upper portion of the vehicle is composed of an upper landing region 12, an opening and closing portion 11, and a fixing apparatus portion 23, and the fixing apparatus portion 23 provided in the upper landing region 12. The aircraft is mounted and stored and charged, and is mounted on the upper landing place so that the aircraft 50 can move up and down. When the vehicle 50 is to take off, the upper landing 12 is raised to the upper side, the opening and closing portion 11 is opened, on the contrary, when the aircraft is stored, the upper landing place for accommodating the aircraft 50 is lowered and the opening and closing portion 11 is It is configured to be able to store and charge the plurality of vehicles 50 by closing.

Fixing unit 23 for storing or charging the vehicle 50 is configured in the form of an elliptical cone, the clasp 24 is attached to both sides can be configured to be fixed, charged, stored in the aircraft.

The large LED / IR light emitting array 31 installed on the vehicle can identify the landing vehicle by using a vision sensor for guidance control of the vehicle at a long distance (over 100m).

The side landing portion 20 on the side of the vehicle can be configured in such a way that the deployment part 70 is folded or closed due to the hinge of the side door of the container vehicle, and the side landing portion 20 when the angle is 90 degrees Is closed, the side landing portion 20 is opened when the angle is 0 degrees.

The side landing portion is configured to be deployed by the first deployment portion 71, the second deployment portion 72, and the rear landing portion 73, and when the side landing portion is at an 0 degree angle, when the ground and the side portion are parallel to each other, The vehicle 50 is configured to take off or land, and when the side landing portion is folded, the aircraft 50 can be stored in the container. The side landing portion 20 may be deployed to the bottom side of the vehicle, or may be configured to be deployed to the top side of the vehicle. Joints are used at both ends to land the landing side by side with the roof of the vehicle.

When the side landing portion 20 is closed, the solar panel 23 may be provided on the side surface of the vehicle in appearance, and may be used as an auxiliary means for producing electric power by the vehicle engine. One side is provided with a solar panel and the other side may be equipped with a plurality of side landings (22). A communication device, a sensor, or the like may be provided to assist the vehicle 50 in the automatic landing. The sensor may be equipped with an infrared sensor, an ultrasonic wave, a lidar, a sonar, and the like.

The side landing portion 20 and the upper landing portion 10 have an identification LED / IR light emitting array 41 for automatic landing of the vehicle 50, a rider 42 for assisting in automatic landing with the vehicle, and a vision sensor. 40, an ultrasonic sensor 55, DGPS or GPS (57) may be provided, the upper part of the container vehicle reflector antenna for satellite communication, a phased array antenna for tracking and communicating a number of unmanned aerial vehicles ( 53) and omni antenna 52 and satellite antenna 54 for communication with multiple unmanned aerial vehicles are possible.

In addition, the inside of the container vehicle to secure a space for people to carry and manage the aircraft provided in the landing portion, it is possible to configure so that the maintenance and repair in the event of a vehicle failure.

Hereinafter, a sensor for assisting in landing of the vehicle 50 will be described.

All vehicle position and status information is transmitted to the vehicle base via RF and passively receives the aircraft status information. In addition, the phased array antenna 53 actively detects position information of the vehicle at a long distance.

First, the electromagnetic wave of the beacon 51 coming from the landing portion or the vehicle's position information of the vehicle to communicate with the RF to induce the aircraft and, by specifying the landing port, the aircraft 50 waits near the landing port. After that, the landing unit uses Lidar (Pulse Laser Near Positioning Sensor), Vision Sensor (For Near Field), Sonar (For Near Field) Sound, and Communication.

3 is a block diagram of another embodiment, a drawable mobile charging and storage transport vehicle 200. Referring to FIG. The developed mobile charging and storing transport vehicle 100 is configured such that the side landing portion 20 is opened or closed in an open and closed manner, and unlike the configuration, the landing portion is positioned in the opposite direction to the left, right, and vehicle movement directions of the vehicle. It is also possible to configure a drawer type that can go out or enter, which is configured to open a protective cover (not shown) to be folded on the vehicle bottom surface landing layer portion 60 in or out of the horizontal direction.

Landing layer layer 60 can be configured in a rail-type or sandwiched form has the advantage of very good space utilization. Landing part is provided so that a plurality of stages are stacked to store a large number of aircraft 50 by stacking the layered part 60, the landing part 1st floor portion 61 is the landing part comes out to the left around the moving direction of the vehicle device. And, it may be composed of a layer of the landing part 2nd floor part 62, the landing part coming out in the right direction, the landing part 3rd floor part 63 coming out in the opposite direction of the movement of the vehicle. By stacking up the landing portion, it can be configured to enable the management and charging of more aircraft (50). Hereinafter, only the driving method of opening the landing part is different from that of FIG. 2, and the configuration and storage charge of the aircraft and the operation of the sensors provided in the following device are the same as those of FIG. 2.

4 is a configuration diagram of a mobile charging and storing vehicle 300 in which the landing portion is hingedly opened, which is another embodiment. Referring to FIG. The protective cover is opened and folded on the vehicle floor, while the hinge landing portion is folded and unfolded on the left and right X axis about the axis 64, and is spread out of the vehicle container or folded inside the container to accommodate the landing portion, or Can be located. Moreover, not only the structure which supports the hinge landing parts 81 and 82 at one point of the axis | shaft 64, but also the structure which enables a reinforcement support to distribute the load by supporting a hinge landing part.

The shaft 80 is provided at the corners of both sides of the vehicle, and the hinge landing portion is folded horizontally and horizontally, thereby positioning the landing portion outside the container or accommodating the landing portion inside the container. The hinge 1 landing portion 81 and the hinge 2 landing portion 82 are provided on the side of the vehicle, and the plurality of hinge landing portions are positioned horizontally with the ground. The hinge 1 landing portion 81 and the hinge 2 landing portion 82 are arranged on different floors around the shaft 80, and the hinge 1 landing portion 81 and the hinge 2 landing portion 82 in different directions. It can be configured to deploy and position the landing portion outside or inside the vehicle. Hereinafter, the configuration provided in the apparatus, the storage charging of the vehicle, and the operation of the sensors are the same as in FIG. 2.

Figure 5 is a state diagram showing the operation of the upper landing portion, Figure 6 is a detailed view of the charging fixing device 1 and the near-landing guide portion provided in the landing. Referring to FIG.

The upper landing portion 10 at the top of the container vehicle is composed of the upper landing region 12, the opening and closing portion 11, the fixing device portion 23, and the landing guide portion 41, and is provided at the upper landing region 12. The aircraft 50 is mounted to the fixed device 23 to be stored and charged, and state data can be monitored.

The upper landing 12 is configured to move up and down to allow the vehicle to move up and down. When the vehicle is going out, the upper landing 12 is raised to the upper side, the opening and closing portion 11 is opened, on the contrary, when storing the aircraft, the upper landing 12 which receives the aircraft descends and the opening and closing portion closes the plurality of vehicles. It is configured to be stored.

Fixing unit 23 for storing the aircraft or charging and status data monitoring is configured in the shape of an elliptical cone, the aircraft landed on the landing place, at the same time, the clasp 24 on both sides toward the grooved body 50 is formed. By stiffening, the groove and the latch 24 of the vehicle 50 are configured to be fixed. The reason for the oval is that even if it sits down at an angle, it is brought into contact with the connection by the bottom of the aircraft. Accordingly, when the groove and the vehicle are fixed, the power supply unit 26 and the data monitoring unit 25 may be connected to the vehicle at the same time so that the vehicle can be charged and monitored.

The front end of the fixing unit 23 is configured to have a data processing unit 25, the rear end is provided with a power supply unit 26 for supplying power to the aircraft 50, which is latched out of the cone of the fixing unit to the aircraft 24 ) Is protruding and fixed, and can be configured to exchange power such as power supply, monitoring, charging and storage.

On the side of the upper landing 12 and the side landing 22, a short landing guide LED / IR light emitting array 41 may be provided to assist in landing of the vehicle, and other landings using a unique pattern may be provided. Distinguished from the ground, it emits LED during the day and infrared rays at night so that the aircraft can detect it and use it as a reference when landing. Thus, as shown in Figure 6 by generating a specific pattern in the nxn array there is both an IR and LED light emitting device in one cell to create a specific pattern during the day and night to help the aircraft to auto-landing.

7 is a configuration diagram of a fixing device 2 unit 90 which is another embodiment of the fixing device provided in the landing place. This will be described with reference. Unlike the first part, the fixing device 2 part 90 that stores, charges, or data the vehicle 50 has a circular shape. When the vehicle 50 sits, the device rotates to place the vehicle in the power supply unit 92 and the data monitoring unit 93. Once in place, the contacts are inserted into the vehicle to serve as a connection and anchor. The power supply unit 92 and the monitoring unit 93 provided at the bottom of the landing portion is protruding from the bottom in the form of a clasp to be inserted into the groove of the aircraft, to be configured to be able to charge and monitor the aircraft. Can be.

8 is a flowchart showing a method for charging and storing a mobile transport vehicle. Referring to FIG. In the method of charging and storing a mobile vehicle, the mobile vehicle identifies a long-distance (100m) vehicle and receives position information of the vehicle (S300), and a medium-distance (100m <x <5m) vehicle installed on a vehicle roof with a large LED / IR Inducing to a short distance (5m or less) using a light emitting array lamp (S305)

Receiving the position information is provided in the landing unit provided in the mobile vehicle (S310), the sensor of the landing site provided in the landing unit guides the aircraft at a short distance (S320), the aircraft landing at the landing site (S330), landing It may include the step of storing and charging the vehicle located in the ground data monitoring (S340).

Receiving the position information of the vehicle by the mobile vehicle to identify the remote vehicle (S300) is a reflector antenna for satellite communication on the top of the mobile vehicle (container vehicle), a phased array antenna for tracking and communicating a number of unmanned aerial vehicles Send and receive location information of an aircraft by using omni antennas for communication with multiple unmanned aerial vehicles.

Subsequently, the medium-range vehicle is guided to a short distance by using a large LED / IR light emitting array lamp installed in the vehicle, and the landing unit provided in the mobile vehicle is developed by receiving the position information by communicating with the antenna and the vehicle. The deployed configuration of the landing portion is the same as the configuration shown in Figs.

If the landing part is deployed parallel to the ground, the landing station will designate the landing port and the aircraft will stand near the landing port. Then, using the Lidar (pulse laser short-range precision positioning sensor), vision sensor (for near distance), sonar (for near) to estimate the position of the aircraft to guide the landing (S320). LED / IR light emitting lamps to help auto landing of aircraft are equipped with LED and IR light emitting device in each cell of nnx, so that LED (41) device creates unique pattern during the day and infrared device at night Generate unique patterns to induce landing of the aircraft. Thus, by generating a specific pattern unique to allow the aircraft to recognize the specific pattern of his own to go to the corresponding point to land.

Afterwards, the aircraft lands on the landing site (S330), and the latch 24 of the fixing unit provided at the landing site fixes the vehicle, thereby allowing charging, storage, and data monitoring (S340).

The inventors of the present invention, the mobile charging and storing transport vehicle can be charged and stored a plurality of vehicles, the stop and the stop can be charged and stored in the form of a mobile vehicle, rather than a fixed form, the activity range is limited due to battery limitations Helping the battery efficiency of the vehicle, there is an advantage that can be carried and carried a plurality of vehicles.

9 is a block diagram illustrating a method 400 in which a vehicle is stored in a mobile vehicle. Referring to FIG. The mobile vehicle identifies the remote vehicle and receives the position information of the vehicle (active phase array antenna, GPS, DGPS), and deploys the landing unit horizontally with the ground to place the landing place (410). Thus, if the distance is less than 100m long (420), the top of the container vehicle is a reflector antenna for satellite communication, the phased array antenna to search for the aircraft for active positioning to track and communicate with the unmanned aerial vehicle or aircraft Receives and uses flight information calculated by GPS or DGPS receiver mounted on the device, and receives (430) information of an Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS) coming from the aircraft to be used for active vehicle induction. It is possible. Also . The communication calculates an optimal path to an approach target point in consideration of collision avoidance with each aircraft and transmits route information to the vehicle (440).

When the distance between the vehicle and the vehicle reaches a medium distance of 100 m <distance <5 m (450), the reflector antenna for satellite communication on the top of the container vehicle, the phased array antenna for tracking and communicating with the unmanned aerial vehicle, lidar, vision It uses sensors and ultrasonic sensors to communicate with the aircraft to communicate with telemetry (GPS, DGPS) mounted on the aircraft.

When the telemetry of the aircraft communicates and is located near the landing area, an intrinsic pattern of the LED / IR lamp on the upper part of the vehicle (a specific pattern for the vehicle to know its position) is formed, and the IMU (Inertial Measurement) coming from the aircraft Unit), AHRS (Attitude Heading Reference System) can be used to receive the aircraft active induction (460). By considering the collision between the aircraft in the medium range to calculate the optimal route to the landing to move to the aircraft Communication is performed by transmitting route information (470), and when the aircraft enters the landing site within 5m (480), it transmits a standby (hovering) command (490) to communicate with the lidar, vision sensor, ultrasonic sensor, etc. do. The LED / IR lamp provided at the landing area emits light so that the aircraft measures the attitude and prepares to land. Receive information 500 of an IMU (Inertial Measurement Unit) and AHRS (Attitude Heading Reference System) from the vehicle and can be used for the vehicle's active induction. After the LED / IR lamp provided at the landing site emits light to induce a safe landing of the aircraft and not to collide with other vehicles, the optimum route is calculated and the mobile access route information is transmitted to the aircraft to communicate (510). Land on the ground and make a landing decision (520).

When the aircraft lands at the landing place, the latches on both sides of the conical or circular fixing unit are inserted into the aircraft, the data line is connected to monitor the aircraft, and the power supply line is connected and supplied with power by another clasp. 530, may be configured to charge and store the aircraft.

In this case, when the vehicle is connected to the fixing device provided at the landing place in which the vehicle and the vehicle are located, the side landing portion and the rear landing portion of the container vehicle may be closed. The outer surface of the container vehicle is provided with a solar panel, it is possible to be configured to charge and monitor the aircraft 540 due to solar heat.

The vehicle can be charged and stored in a plurality of vehicles, and the station capable of charging and storing the vehicle is configured in a maneuverable vehicle type, so that the vehicle can be positioned up to the distance where the vehicle is located due to communication between sensors and antennas, and the battery limit. This can help the battery efficiency of aircraft with limited range of activity.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. In addition, the present invention is not limited to the above-described embodiments, and various modifications and changes may be made thereto by those skilled in the art to which the present invention belongs. Therefore, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all of the equivalents or equivalents of the claims, as well as the following claims, are included in the scope of the present invention.

10: upper landing portion 11: opening and closing portion
12: upper landing 20: side landing
21: solar panel 22: upper landing
23: fixing device portion 24: latch
25: monitoring unit 26: power supply unit
50: aircraft 60: landing layer layer
80: axis

Claims (32)

A container for receiving a plurality of vehicles, the container being movable;
A landing part opened and closed to the outside of the container;
A landing place provided in the landing unit and landing the plurality of vehicles;

Communication unit for communicating the aircraft and the satellite;
A landing guidance unit including a sensor for autonomous flight and automatic landing of the vehicle;
A charging unit for charging with the vehicle; And
A state data monitoring unit provided at the landing place for monitoring the state data by charging the vehicle;
Vehicle for the charging and storage of vertical unmanned landing vehicles. The method of claim 1,
The landing part
Upper landing; And
Side landings;
Rear landing;
And the side landing part or the rear landing part is opened and closed, and when the landing part is folded, the air vehicle accommodated in the landing place is accommodated in the container. sieve. The method of claim 2,
When the side landing portion is folded, the outer surface of the container is provided with a solar panel to charge the vehicle or to supply power to the container, characterized in that the vehicle for charging and storing the unmanned landing vehicle. The method of claim 2,
The upper landing portion
An upper landing for moving the vehicle up and down and fixing the vehicle; And
An opening and closing unit for opening and closing a door to allow the vehicle to enter and exit the upper landing place;
Vehicle for charging and containing the vertical unmanned landing vehicle, characterized in that consisting of. The method of claim 1,
Vertical including at least one of Lidar, Vision Sensor, Sonar, Beacon, DGPS or GPS, LED / IR light emitting array for flight and landing guidance of the vehicle located at the landing site Vehicle for charging and containing unmanned landing vehicles. The method of claim 1,
The landing site is a vehicle for the charging and storage of the vertical unmanned landing vehicle further comprises a fixing device, for mechanical coupling with the vehicle. The method of claim 1,
The LED / IR light emitting array which is provided at one side of the landing area and helps the landing of a near-by aircraft is included in the LED cell and the IR light emitting device in one cell. Vehicles for charging and containing vertical unmanned landing vehicles. 8. The method of claim 7,
Vehicle for charging and storing the vertical unmanned landing and landing vehicle, characterized in that arranged in the LED / IR nxn array row. The method of claim 1,
The landing site is provided with a plurality of landing parts, the vehicle for charging and storing the vertical unmanned landing vehicle, characterized in that a predetermined distance between the landing sites. The method of claim 1,
The communication exchange unit may be provided in plurality, and includes at least one of an omni antenna for communicating with a plurality of aircraft, a reflector antenna for satellite communication, a phased array antenna for tracking a plurality of vehicles, and a DGPS antenna. Vehicles for charging and containing vertical unmanned landing vehicles. The method of claim 1,
A vehicle further includes a shaft on one side of the container, wherein the landing portion moves horizontally in a horizontal direction about the shaft and is deployed in a horizontal direction outside of the container. The method of claim 1,
The landing portion is provided with a plurality, the landing portion is located in different positions in the vertical direction, the vehicle for charging and storing the vertical unmanned landing vehicle, characterized in that the landing portion comes out of the container in the form of a drawer. The method of claim 2,
The vehicle for charging and storing a vertical unmanned landing vehicle when the side landing portion is opened and closed, and the vehicle is taken off or landed when the side landing portion is positioned parallel to the ground. The method according to claim 6,
The vehicle further comprises a clasp, wherein the clasp is inserted into the vehicle and coupled to the vehicle for charging and storing the vertical unmanned landing and landing vehicle. The method according to claim 6,
The fixing device is an elliptical cone or a cone shape, the elliptical cone is charged and data acquisition due to the weight of the aircraft and the characteristics of the elliptical cone, even if the landing pad is an ellipse when the aircraft lands on the landing site Vehicle for charging and containing the vertical unmanned landing vehicle, characterized in that connected to the electrode for The method according to claim 1 or 6,
A vehicle for charging and storing a vertical unmanned landing vehicle further comprising a power supply unit at an outer circumference of the landing area, wherein the latch is coupled to the aircraft and data monitoring or power is supplied. The method according to claim 6,
The vehicle for charging and storing the vertical unmanned landing and landing vehicle, characterized in that the fixing device is configured to be rotatable. A mobile vehicle identifying a remote vehicle and receiving location information of the vehicle;
Guiding a flying vehicle to a near distance at a medium distance;
Receiving the location information and deploying a landing part provided in the mobile vehicle;
Inducing a near field vehicle to the landing site provided in the landing unit;
The vehicle landing at the landing place;
Storing and charging a vehicle located at the landing place to monitor state data;
Transportation method for the charging and storage of vertical unmanned landing vehicle consisting of. 19. The method of claim 18,
Receiving the position information of the vehicle by identifying a vehicle in the distance from the mobile vehicle is omni antenna for communicating with a plurality of aircraft, reflector antenna for satellite communication, a phased array antenna for tracking a plurality of aircraft, GPS, DGPS A transport method for charging and containing a vertical unmanned landing vehicle comprising at least one of the following. 19. The method of claim 18,
The step of guiding a flying vehicle to a short distance to a near distance includes phased array antenna, infrared lamp, Lidar, vision sensor, ultrasonic sensor, sonar, beacon, GPS or DGPS, LED / IR array Transportation method for the filling and storage of the vertical unmanned landing vehicle comprising at least one of the. 19. The method of claim 18,
Inducing a near-air vehicle to the landing site includes at least one of a Lidar, a vision sensor, an ultrasonic sensor, a sonar, a beacon signal, and an LED / IR array lamp. Transport method for charging and storing the vertical unmanned landing and landing vehicle, characterized in that for inducing the vehicle. The method of claim 20 or 21,
The LED / IR lamp is a transport method for charging and storing the vertical unmanned landing and landing vehicle, characterized in that to generate a unique pattern. The method of claim 20,
The LED / IR lamp is a transport method for charging and storing the vertical unmanned landing and landing vehicle, characterized in that arranged in the nxn array. 19. The method of claim 18,
The landing site is provided with a plurality of landing parts, the transport method for charging and storing the vertical unmanned landing vehicle, characterized in that a predetermined distance between the landing sites. 19. The method of claim 18,
And receiving the position information and deploying the landing part provided in the mobile vehicle, when the landing part is located parallel to the ground, wherein the vehicle takes off or lands. 19. The method of claim 18,
In the deploying of the landing portion, when the landing portion is folded, the vehicle accommodated in the landing place is accommodated in the mobile vehicle. 19. The method of claim 18,
Wherein the monitoring step of the landing land for the mechanical coupling with the vehicle, the transport method for charging and storing the vertical unmanned landing vehicle further comprising a fixed device. 28. The method of claim 27,
And a clasp further comprising the clasp, wherein the clasp is inserted into the vehicle or the ??-shaped clasp is protruded and fixed to be coupled to the vertical unmanned and landed vehicle. The method of claim 18 or 28,
And a power supply unit at an outer circumference of the landing place, wherein the latch is coupled to the vehicle and at the same time data monitoring or power is supplied. 28. The method of claim 27,
The fixing device unit is a transport method for the charging and storage of the vertical unmanned landing and landing vehicle, characterized in that configured to be rotatable. 19. The method of claim 18,
At least one of identifying a distant aircraft and receiving position information of the vehicle, guiding a flying vehicle to a short distance to a short distance, and inducing the short-range flying vehicle is optimal in consideration of collision avoidance between the flying vehicles. Transport method for charging and storing the vertical unmanned landing and landing vehicle, characterized in that the path is calculated to transmit the approach path to each vehicle. 19. The method of claim 18,
Receiving the position information of the vehicle by identifying a distant aircraft, inducing a near-by-flight vehicle at a short distance, and inducing the near-by vehicle at a short distance, using a GPS or DGPS device built into the aircraft. The information is used to determine the landing route, and the aircraft's position information is received by the inertial measurement unit embedded in the aircraft and the attitude, heading angle, etc. received from the Attitude Heading Reference System (AHRS). And a transportation method for charging and storing a vertical unmanned landing vehicle, which is used for determining a landing route.

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