KR101447809B1 - Aerial Vehicle With Mltipurpose Grip Type Taking Off an Landing Devic - Google Patents
Aerial Vehicle With Mltipurpose Grip Type Taking Off an Landing Devic Download PDFInfo
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- KR101447809B1 KR101447809B1 KR1020130030650A KR20130030650A KR101447809B1 KR 101447809 B1 KR101447809 B1 KR 101447809B1 KR 1020130030650 A KR1020130030650 A KR 1020130030650A KR 20130030650 A KR20130030650 A KR 20130030650A KR 101447809 B1 KR101447809 B1 KR 101447809B1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/50—Vessels or floating structures for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C2025/325—Alighting gear characterised by elements which contact the ground or similar surface specially adapted for helicopters
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F3/00—Landing stages for helicopters, e.g. located above buildings
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Abstract
본 발명은 무인항공기에 있어서, 콥터몸체(200)에 방사상으로 연장되는 형상으로 2~20개가 형성된 날개지지부(210)와, 상기 날개지지부(210)의 외측에 각각 고정되는 구동 모터(220)와, 상기 구동 모터(220)에 의해 각각 회전되는 추진익(230)과, 상기 콥터몸체(200)의 하부에 하향 고정된 이착륙부(300)를 포함하여 구성되되; 상기 이착륙부(300)는, 콥터몸체(200)에 하향 연장되는 형성으로 하부컬럼(310)과, 상기 하부컬럼(310)의 하부에 형성된 서보모터(320)와, 상기 서보모터(320)의 하부에 형성되고 상기 서보모터(320)에 의해 회전되고 집게발 작동수단이 구성된 회전블록(330)과, 상기 회전블록(330)에 적어도 2 개이상 형성되고 집게발 작동수단에 의해 오무리거나 펼쳐지는 집게발(350), 을 포함하여 구성되는 것을 특징으로 하는 그립형 멀티 이착륙 장치가 구비된 무인항공기에 관한 것이다.The present invention relates to an unmanned aerial vehicle, comprising: a wing support part (210) having 2 to 20 pieces extending radially from a body of a copter body; a drive motor (220) fixed to the outer side of the wing support part A driving wing 230 rotated by the driving motor 220 and a landing and landing unit 300 fixed downward on the lower portion of the copter body 200, The take-off and landing part 300 includes a lower column 310 and a servo motor 320 formed on the lower part of the lower column 310 to extend downwardly from the copor body 200, A rotary block 330 formed at a lower portion of the rotary block 330 and configured to be rotated by the servo motor 320 and constituted by claw actuating means; 350, and a grip type multi-take-off and landing device.
Description
본 발명은 그립형 멀티 이착륙 장치가 구비된 무인항공기에 관한 것이다.The present invention relates to an unmanned aerial vehicle equipped with a grip type multi-take-off device.
본 발명과 직접 관련성으로 갖는 종래기술은 존재하지 않는 것으로 보이며, 등록특허 10-1214971호 항공기 이착륙 성능향상장치는 물을 분사하는 공급장치와, 상기 물공급장치로부터 분사된 물에 의해 다습해진 공기를 흡입하여 냉각제습시킨There is no prior art in direct relevance to the present invention, and the aircraft take-off and landing performance enhancing device includes a supply device for injecting water, and an air humidified by the water sprayed from the water supply device Cooled and dehumidified by inhalation
후 냉각제습된 공기를 활주로의 대기 또는 활주로의 지면에 분사하는 공기공급장치를 포함하며, 상기 물공급장치와 상기 공기공급장치가 각각 활주로 대기의 온도와 습도를 낮추어 공기의 밀도를 높일 수 있어, 항공기의 이착륙거리를 단축시킬 수 있는 것을 특징으로 하는 항공기 이착륙 성능향상장치를 게시한다.
The air supply device and the air supply device lower the temperature and humidity of the runway atmosphere and increase the density of the air, respectively, And the aircraft can take-off and landing distance can be shortened.
일반적인 콥터형(회전익형) 무인항공기는 이착륙을 위하여 스키드를 구비하였다. 하지만 스키드형 무인항공기가 차량 또는 선박 등에 탑재되는 경우 이착륙 패드 규모 및 운영형태가 불안정할 뿐 아니라 이착륙을 위한 항공기 하체가 차지하는 공간이 커서 제한된 장소에서 운영의 안정성 확보에 어려움이 있으며 또한 무인항공기의 운영을 위한 이착륙 패드 대기, 이/착륙 및 착륙 후 보관시 모체(움직이는 차량 또는 선박)가 급감가속 또는 수시/불예측적 3축운동의 반복으로 무인항공기의 운영상 안전이 확보되기 어려워 결정적인 문제점으로 대두되며 이는 항공기 파손, 기타 안전에 결정적 위해요인으로 상시 문제점이 있었다.A common copter type (wing-wing type) UAV has a skid for takeoff and landing. However, when a skid-mounted unmanned aerial vehicle is mounted on a vehicle or a ship, it is not only unstable in terms of the size and operation form of the takeoff and landing pad, but also has a large space occupied by the lower body of the aircraft for takeoff and landing, The landing pad for landing, landing, landing and landing is a crucial problem because it is difficult to secure the operational safety of the unmanned airplane due to repetition of accelerating acceleration or occasional / irregular 3-axis motion in the matrix (moving vehicle or ship) This has been a constant problem because it is a crucial risk to aircraft damage and other safety.
본 발명은 육상에서는 스키드를 파지하여 이착륙을 할 수 있으며 선박 또는 차량에 탑재되는 경우 그리드형 이착륙장에 이착륙이 가능하며 착륙후 이착륙에 형성된 피파지체(예를들어, 그리드형)를 파지한 상태로 고정되어 모체의 흔들림에도 불구하고 고정 위치를 안전하게 유지할 수 있는 그립형 멀티 이착륙 장치가 구비된 무인항공기를 제공하기 위함이다.
The present invention can be used for landing and landing by gripping a skid on the land, for taking off and landing on a grid-type landing and landing when mounted on a ship or a vehicle, and fixing the landing gear (for example, grid type) And a grip-type multi-take-off device capable of safely maintaining a fixed position despite the swing of the base body.
또한, 본 발명과 한세트를 이루면서 사용될 수 있는, 정박 또는 항해중인 선박 또는 노면을 주행 중인 차량의 롤링, 피칭, 요잉 작용에도 불구하고 평형상태를 유지하여 항공기가 용이하게 이륙하고 용이하게 착륙할 수 있는 자동 자세 제어 기능이 구비된 항공기 이착륙 장치를 제공하기 위함이다.In addition, it is possible to maintain an equilibrium state despite the rolling, pitching and yawing actions of an anchored or voyage ship or a vehicle running on the road, which can be used while forming a whole set of the present invention, And an automatic takeoff and landing apparatus equipped with an automatic attitude control function.
본 발명의 그립형 멀티 이착륙 장치가 구비된 무인항공기는, 무인항공기에 있어서, 콥터몸체(200)에 방사상으로 연장되는 형상으로 2~20개가 형성된 날개지지부(210)와,The unmanned aircraft having the grip type multi-take-off and landing device of the present invention includes a
상기 날개지지부(210)의 외측에 각각 고정되는 구동 모터(220)와,A
상기 구동 모터(220)에 의해 각각 회전되는 추진익(230)과,A
상기 콥터몸체(200)의 하부에 하향 고정된 이착륙부(300),A takeoff and landing
를 포함하여 구성되되;≪ / RTI >
상기 이착륙부(300)는,The landing and
콥터몸체(200)에 하향 연장되는 형성으로 하부컬럼(310)과,The lower end of the
상기 하부컬럼(310)의 하부에 형성된 서보모터(320)와,A
상기 서보모터(320)의 하부에 형성되고 상기 서보모터(320)에 의해 회전되고 집게발 작동수단이 구성된 회전블록(330)과,A rotating
상기 회전블록(330)에 적어도 2 개이상 형성되고 집게발 작동수단에 의해 오무리거나 펼쳐지는 집게발(350),At least two
을 포함하여 구성되는 것을 특징이다.And the like.
본 발명에 따르는 경우, 육상에서는 스키드를 파지하여 이착륙을 할 수 있으며 선박 또는 차량에 탑재되는 경우 그리드형 이착륙장에 이착륙이 가능하며 착륙후 이착륙에 형성된 피파지체(예를들어, 그리드형)를 파지한 상태로 고정되어 모체의 흔들림에도 불구하고 고정 위치를 안전하게 유지할 수 있는 그립형 멀티 이착륙 장치가 구비된 무인항공기가 제공된다.
According to the present invention, it is possible to carry out landing and landing by grasping a skid on the ground, and can carry out landing and landing on a grid type takeoff and landing when mounted on a ship or a vehicle, Landing device capable of holding a fixed position securely despite the fact that the host vehicle is stationary in a state where the host vehicle is stationary.
또한, 본 발명과 한세트를 이루면서 사용될 수 있는, 정박 또는 항해중인 선박 또는 노면을 주행 중인 차량의 롤링, 피칭, 요잉 작용에도 불구하고 평형상태를 유지하여 항공기가 용이하게 이륙하고 용이하게 착륙할 수 있는 자동 자세 제어 기능이 구비된 항공기 이착륙 장치가 제공된다.In addition, it is possible to maintain an equilibrium state despite the rolling, pitching and yawing actions of an anchored or voyage ship or a vehicle running on the road, which can be used while forming a whole set of the present invention, An aircraft takeoff and landing apparatus provided with an automatic attitude control function is provided.
도 1은 본 발명의 일실시예에 따른 그립형 멀티 이착륙 장치가 구비된 무인항공기 전체 구성도.
도 2는 본 발명의 일실시예에 따른 그립형 멀티 이착륙 장치가 구비된 무인항공기 중 이착륙부 상세도.
도 3은 본 발명의 일실시예에 따른 그립형 멀티 이착륙 장치가 구비된 무인항공기 중 이착륙부 제어흐름도.
도 4는 본 발명의 일실시예에 따른 그립형 멀티 이착륙 장치와 함께 사용되는 이착륙장 사시도.BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall configuration diagram of a UAV having a grip type multi-take-off device according to an embodiment of the present invention;
2 is a detailed view of a take-off and landing portion of an unmanned aerial vehicle equipped with a grip type multi-take-off and landing apparatus according to an embodiment of the present invention.
FIG. 3 is a flowchart illustrating control of a take-off and landing portion of an unmanned aerial vehicle equipped with a grip type multi-take-off and landing apparatus according to an embodiment of the present invention.
4 is a perspective view of a take-off and landing aircraft used with a grip type multi-take-off and landing apparatus according to an embodiment of the present invention;
이하에서 본 발명의 일실시예에 따른 그립형 멀티 이착륙 장치가 구비된 무인항공기에 대하여 첨부된 도면을 참조하여 상세하게 설명한다. 도 1은 본 발명의 일실시예에 따른 그립형 멀티 이착륙 장치가 구비된 무인항공기 전체 구성도, 도 2는 본 발명의 일실시예에 따른 그립형 멀티 이착륙 장치가 구비된 무인항공기 중 이착륙부 상세도, 도 3은 본 발명의 일실시예에 따른 그립형 멀티 이착륙 장치가 구비된 무인항공기 중 이착륙부 제어흐름도이고, 도 4는 본 발명의 일실시예에 따른 그립형 멀티 이착륙 장치와 함께 사용되는 이착륙장 사시도이다.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an unmanned aerial vehicle equipped with a grip type multi-take-landing apparatus according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is an overall configuration diagram of an unmanned aerial vehicle equipped with a grip type multi-take-off and landing apparatus according to an embodiment of the present invention. FIG. 3 is a flowchart illustrating control of the take-off and landing portion of the unmanned aerial vehicle including the grip type multi-type take-off device according to the embodiment of the present invention. It is a landscaped landing view.
도 1 내지 도 3에 도시된 바와 같이, 본 발명의 그립형 멀티 이착륙 장치가 구비된 무인항공기는, 콥터몸체(200)에 방사상으로 연장되는 형상으로 2~20개가 형성된 날개지지부(210)와, 상기 날개지지부(210)의 외측에 각각 고정되는 구동 모터(220)와, 상기 구동 모터(220)에 의해 각각 회전되는 추진익(230)과, 콥터몸체(200)의 하부에 하향 고정된 이착륙부(300)를 포함하여 구성된다.
As shown in FIGS. 1 to 3, the unmanned aerial vehicle equipped with the grip type multi-take-off and landing device of the present invention includes a
도 1 내지 도 3에 도시된 바와 같이, 본 발명의 그립형 멀티 이착륙 장치가 구비된 무인항공기에 있어서, 이착륙부(300)는, 콥터몸체(200)에 하향 연장되는 형성으로 하부컬럼(310)과, 하부컬럼(310)의 하부에 형성된 서보모터(320)와, 서보모터(320)의 하부에 형성되고 상기 서보모터(320)에 의해 회전되고 집게발 작동수단이 구성된 회전블록(330)과, 회전블록(330)에 적어도 2 개이상 형성되고 집게발 작동수단에 의해 오무리거나 펼쳐지는 집게발(350)을 포함하여 구성된다.
As shown in FIGS. 1 to 3, in the unmanned aerial vehicle equipped with the grip type multi-take-off and landing apparatus of the present invention, the take-off and
도 1 내지 도 3에 도시된 바와 같이, 본 발명의 그립형 멀티 이착륙 장치가 구비된 무인항공기에 있어서, 이착륙부(300)는 압력센서(370)를 더 포함하여 구성되고, 압력센서(370)는 콥터몸체(200)에 의해 상기 이착륙부(300)로 전달되는 콥터몸체(200)의 하중을 감지하여 제어부(390)에 전달하고, 집게발(350)이 이착륙장의 피물림부를 물고 있는 상태에서 무인항공기가 추진익(230)을 회전시켜서 콥터몸체(200)로부터 이착륙부(300)로 전달되는 콥터몸체(200)의 하중이 설정값(W1) 미만으로 떨어지면, 제어부(390)가 상기 집게발(350)을 펼쳐서 집게발(350)과 이착륙장의 피물림부 사이의 물림상태가 해제되어 무인항공기가 이륙한다.
As shown in FIGS. 1 to 3, in the unmanned aircraft having the grip type multi-take-off and landing device of the present invention, the take-off and
도 1 내지 도 3에 도시된 바와 같이, 본 발명의 그립형 멀티 이착륙 장치가 구비된 무인항공기에 있어서, 이착륙장의 피물림부(A)는 길고 가느다란 형상의 선재(a1)가 그리드 형상으로 구성되고 집게발(350)은 내측에 접촉 감지센서(360)를 더 구비하고, 접촉 감지센서(360)는 피물림부의 선재가 접촉하였음을 감지하고 감지신호를 제어부(390)에 전달하고, 제어부(390)는 집게발(350)이 피물림부의 선재와 접촉하였다는 감지신호를 보내면 상기 집게발(350)을 오므리도록 집게발 작동수단에 지시한다.
As shown in FIGS. 1 to 3, in the unmanned airplane equipped with the grip type multi-take-off and landing apparatus of the present invention, the object rim A of the take-off and landing area has a long and slender shape, The
도 1 내지 도 3에 도시된 바와 같이, 본 발명의 그립형 멀티 이착륙 장치가 구비된 무인항공기에 있어서, 하부컬럼(310)은 1 ~ 4 개이고, 집게발(350)은 상기 하부컬럼(310)에 각각 한세트씩 구성되되, 하나의 하부컬럼(310)에 속하는 집게발(350)의 수는 2 ~ 6인 것이 바람직하다. 집게발(350)은 십자형으로 4개가 구성되거나, 적어도 한쌍 ~ 세쌍이 서로 마주보도록 구성된 상태에서 무인항공기 전후 방향으로 배열될 수 있다.
As shown in FIGS. 1 to 3, in the unmanned aerial vehicle equipped with the grip type multi-take-off and landing apparatus of the present invention, the number of the
이하에서 본 발명과 한세트로 사용할 수 있는 이착륙장에 대하여 설명한다. 피치(pitch)란 보트나 비행기 같은 운송수단의 노즈나 앞쪽의 위아래 움직임을 말하고, 롤(roll)은 세로축에 대한 항공기의 회전 운동, 항공기가 세로축 주위를 완전히 회전하는 공중 조작을 말한다. 요(yaw)는 플레인이나 보트 등이 측면으로 회전하는 것을 말한다. 도 4의 자동 자세 제어 기능이 구비된 항공기 이착륙 장치는, 이착륙 패드부(10)와 수평 유지부(20)와 방위각 제어부(30)와 위치감지부(40)와 중앙제어유닛(50)을 포함하여 구성되는 선박 또는 차량 중에서 선택되는 하나의 모체에 장착되는 항공기 이착륙 장치이다. 도 4에 도시된 바와 같이, 이착륙 패드부(10)는 착륙시 항공기를 지지하며 항공기 착륙 후 항공기를 지지 고정한다. 수평 유지부(20)는 이착륙 패드부(10)의 하부에 형성되고, 중앙제어유닛(40)의 지령을 받아 모체의 롤링 및 피칭 운동과 상쇄되게 상기 이착륙 패드부(10)를 움직여서 상기 이착륙 패드부(10)를 수평으로 유지한다. Hereinafter, the take-off and landing area which can be used as one set according to the present invention will be described. Pitch refers to the up and down movements of the nose or front of a vehicle such as a boat or airplane, and roll refers to aerial operations where the aircraft rotates about its longitudinal axis and the aircraft rotates completely about its longitudinal axis. Yaw refers to the rotation of a plane or boat on its side. 4 includes the takeoff
도 4에 도시된 바와 같이, 방위각 제어부(30)는 수평 유지부(20)의 하부에 상기 이착륙 패드부(10) 및 수평 유지부(20) 결합체를 일체로 회전시킬수 있게 구성되고, 중앙제어유닛(50)의 지령을 받아 모체의 요잉 운동과 상쇄되게 상기 이착륙 패드부(10)를 회전시키며 상기 이착륙 패드부(10)의 방위각을 제어한다. 위치감지부(40)는 이착륙 패드부(10)에 구비되어 상기 이착륙 패드부(10)의 롤링, 피칭, 요잉 작동을 감지하며 감지신호를 중앙제어유닛(50)에 전송한다. 중앙제어유닛(50)은 위치감지부(40)의 신호를 전달받아 모체의 움직임에도 불구하고 이착륙 패드부(10)가 절대좌표(지구 기준 좌표)를 기준으로 수평을 유지하고 지정된 방위각을 유지하도록 상기 수평 유지부(20)와 요각 제어부(30)를 제어한다. 4, the
위치감지부(40)는 3축 자이로 센서 또는 이착륙 패드부(10)의 롤링, 피칭, 요잉 운동을 감지할 수 있는 센서인 것이 바람직하다. 위치감지부(40)는 절대좌표(지구 기준 좌표)를 기준으로 이착륙 패드부(10)의 높이변화를 감지할 수 있는 수직운동 감지센서를 더 포함하여 구성되고, 수직운동 감지센서는 이착륙 패드부(10)의 높이변화를 감지하여 상기 중앙제어유닛(50)에 피드백한다. 또한, 중앙제어유닛(50)은 모체의 높이방향 움직임에도 불구하고 상기 이착륙 패드부(10)의 높이변화가 생기지 않도록 모체의 높이방향 움직임과 상쇄되는 방향으로 이착륙 패드부(10)를 움직이도록 상기 수평 유지부(20)에 지시하는 것이 바람직하다. The
수평 유지부(20)는, 이착륙 패드부(10)를 회동가능하게 지지하며 피스톤(25)과 상기 피스톤(25)을 신축시키는 유압실린더(21)와, 유압실린더(21)를 구동시키는 유압모터로 구성되고, 유압실린더(21)와 피스톤(25)은 3 ~ 4세트로 형성되는 것이 바람직하다. 방위각 제어부(30)는, 수평 유지부(20)의 유압실린더(21) 하단을 회동가능하게 지지하는 회전플레이트(31)와, 회전플레이트(31)를 상기 모체로부터 회전가능하게 지지하는 지지베어링(35)과, 회전플레이트(31)를 회전시키는 회전구동부(37)를 포함하여 구성되는 것이 바람직하다.
The
본 발명은 상기에서 언급한 바람직한 실시예와 관련하여 설명됐지만, 본 발명의 범위가 이러한 실시예에 한정되는 것은 아니며, 본 발명의 범위는 이하의 특허청구범위에 의하여 정하여지는 것으로 본 발명과 균등 범위에 속하는 다양한 수정 및 변형을 포함할 것이다.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, but on the contrary, ≪ RTI ID = 0.0 > and / or < / RTI >
아래의 특허청구범위에 기재된 도면부호는 단순히 발명의 이해를 보조하기 위한 것으로 권리범위의 해석에 영향을 미치지 아니함을 밝히며 기재된 도면부호에 의해 권리범위가 좁게 해석되어서는 안될 것이다.It is to be understood that the appended claims are intended to supplement the understanding of the invention and should not be construed as limiting the scope of the appended claims.
200 : 콥터몸체
210 : 날개지지부
220 : 구동 모터
230 : 추진익
300 : 이착륙부
310 : 하부컬럼
320 : 서보모터
330 : 회전블록
350 : 집게발
10 : 이착륙 패드부
20 : 수평 유지부
30 : 방위각 제어부
40 : 위치감지부
50 : 중앙제어유닛200: Copter body
210: wing support
220: drive motor
230: Income
300:
310: Lower column
320: Servo motor
330: Rotating block
350: Claws
10: the landing pad portion
20:
30: azimuth control unit
40:
50: Central control unit
Claims (7)
무인항공기는,
콥터몸체(200)에 방사상으로 연장되는 형상으로 2~20개가 형성된 날개지지부(210)와,
상기 날개지지부(210)의 외측에 각각 고정되는 구동 모터(220)와,
상기 구동 모터(220)에 의해 각각 회전되는 추진익(230)과,
상기 콥터몸체(200)의 하부에 하향 고정된 이착륙부(300),
를 포함하여 구성되고,
상기 이착륙부(300)는,
콥터몸체(200)에 하향 연장되는 형성으로 하부컬럼(310)과,
상기 하부컬럼(310)의 하부에 형성된 서보모터(320)와,
상기 서보모터(320)의 하부에 형성되고 상기 서보모터(320)에 의해 회전되고 집게발 작동수단이 구성된 회전블록(330)과,
상기 회전블록(330)에 적어도 2 개이상 형성되고 집게발 작동수단에 의해 오무리거나 펼쳐지는 집게발(350),
을 포함하여 구성되고,
이착륙장의 피물림부(A)는 길고 가느다란 형상의 선재(a1)가 그리드 형상으로 구성되고,
상기 집게발(350)은 내측에 접촉 감지센서(360)를 더 구비하고,
상기 접촉 감지센서(360)는 피물림부의 선재가 접촉하였음을 감지하고 감지신호를 제어부(390)에 전달하고,
상기 제어부(390)는 집게발(350)이 피물림부의 선재와 접촉하였다는 감지신호를 보내면 상기 집게발(350)을 오므리도록 집게발 작동수단에 지시하는 것을 특징으로 하는 그립형 이착륙 장치가 구비된 무인항공기 시스템.In an unmanned aerial vehicle system comprising an unmanned airplane and a landing area,
Unmanned aircraft,
A wing support 210 formed with 2 to 20 pieces extending in a radial direction on the copter body 200,
A driving motor 220 fixed to the outside of the wing support 210,
A driving shaft 230 rotated by the driving motor 220,
A takeoff and landing part 300 fixed downward at the lower part of the copter body 200,
And,
The landing and landing part 300 includes:
The lower end of the lower column 310,
A servo motor 320 formed at a lower portion of the lower column 310,
A rotating block 330 formed at a lower portion of the servomotor 320 and rotated by the servomotor 320 to constitute a claw actuating means,
At least two claws 350 formed in the rotary block 330 and unfolded or unfolded by the claw actuating means,
And,
The material rim A of the landing and taking-off area has a long and slender shape of the wire a1 in a grid shape,
The claw 350 further includes a contact detection sensor 360 inside,
The contact detection sensor 360 senses that the wire of the pushed portion has contacted and transmits a detection signal to the controller 390,
The controller 390 instructs the gripper operating means to grip the gripper 350 when the gripper 350 sends a detection signal indicating that the gripper 350 contacts the wire rod of the gripper 350. [ system.
상기 이착륙부(300)는 압력센서(370)를 더 포함하여 구성되고,
상기 압력센서(370)는 콥터몸체(200)에 의해 상기 이착륙부(300)로 전달되는 콥터몸체(200)의 하중을 감지하여 제어부(390)에 전달하고,
집게발(350)이 이착륙장의 피물림부를 물고 있는 상태에서 무인항공기가 추진익(230)을 회전시켜서 콥터몸체(200)로부터 이착륙부(300)로 전달되는 콥터몸체(200)의 하중이 설정값(W1) 미만으로 떨어지면,
상기 제어부(390)가 상기 집게발(350)을 펼쳐서 집게발(350)과 이착륙장의 피물림부 사이의 물림상태가 해제되어 무인항공기가 이륙하는 것을 특징으로 하는 그립형 이착륙 장치가 구비된 무인항공기 시스템.3. The method of claim 2,
The landing and landing part 300 further includes a pressure sensor 370,
The pressure sensor 370 senses a load of the copor body 200 transmitted to the take-off and landing part 300 by the copor body 200 and transmits the detected load to the controller 390,
The unmanned airplane rotates the propeller shaft 230 so that the load of the copor body 200 transmitted from the copter body 200 to the takeoff and landing section 300 is smaller than the set value W1 ), ≪ / RTI >
Wherein the control unit (390) unfolds the claws (350) so that the unmanned airplane takes off when the nipping state between the claws (350) and the rim of the landing gear is released.
상기 하부컬럼(310)은 1 ~ 4 개이고,
상기 집게발(350)은 상기 하부컬럼(310)에 각각 한세트씩 구성되되,
상기 하나의 하부컬럼(310)에 속하는 집게발(350)의 수는 2 ~ 6인 것을 특징으로 하는 그립형 이착륙 장치가 구비된 무인항공기 시스템.The method according to claim 2 or 3,
The number of the lower columns 310 is 1 to 4,
The claws 350 are formed in each of the lower columns 310,
Wherein the number of the claws (350) belonging to the one lower column (310) is 2 to 6.
상기 집게발(350)은 십자형으로 4개가 구성되거나,
적어도 한쌍 ~ 세쌍이 서로 마주보도록 구성된 상태에서 무인항공기 전후 방향으로 배열되는 것을 특징으로 하는 그립형 이착륙 장치가 구비된 무인항공기 시스템.5. The method of claim 4,
The claw 350 may have four crosses,
Wherein at least one pair of the two or more pairs are arranged to face each other in the front-rear direction of the unmanned aerial vehicle.
상기 무인항공기가 이착륙하는 이착륙장은, 선박 또는 차량 중에서 선택되는 하나의 모체에 장착되는 항공기 이착륙 장치이고, 착륙시 항공기를 지지하며 항공기 착륙 후 항공기를 지지 고정하는 이착륙 패드부(10)와, 상기 이착륙 패드부(10)의 하부에 형성되고, 중앙제어유닛(40)의 지령을 받아 모체의 롤링 및 피칭 운동과 상쇄되게 상기 이착륙 패드부(10)를 움직여서 상기 이착륙 패드부(10)를 수평으로 유지하는 수평 유지부(20)와,
상기 수평 유지부(20)의 하부에 상기 이착륙 패드부(10) 및 수평 유지부(20) 결합체를 일체로 회전시킬수 있게 구성되고, 중앙제어유닛(50)의 지령을 받아 모체의 요잉 운동과 상쇄되게 상기 이착륙 패드부(10)를 회전시키며 상기 이착륙 패드부(10)의 방위각을 제어하는 방위각 제어부(30)와,
상기 이착륙 패드부(10)에 구비되어 상기 이착륙 패드부(10)의 롤링, 피칭, 요잉 작동을 감지하며 감지신호를 중앙제어유닛(50)에 전송하는 위치감지부(40)와;
상기 위치감지부(40)의 신호를 전달받아 모체의 움직임에도 불구하고 이착륙 패드부(10)가 절대좌표(지구 기준 좌표)를 기준으로 수평을 유지하고 지정된 방위각을 유지하도록 상기 수평 유지부(20)와 요각 제어부(30)를 제어하는 중앙제어유닛(50)를 포함하여 구성되는 자동 자세 제어 기능이 구비된 항공기 이착륙 장치인 것을 특징으로 하는 그립형 이착륙 장치가 구비된 무인항공기 시스템.3. The method of claim 2,
The take-off and landing device is an aircraft take-off and landing device that is mounted on a single body selected from a ship or a vehicle. The take-off landing pad supports the aircraft when landing and supports and fixes the aircraft after landing. The take-off and landing pad unit 10 is moved horizontally by moving the take-off and landing pad unit 10 so as to be offset from the rolling and pitching motion of the parent body by receiving a command from the central control unit 40 A horizontal holding portion 20 for holding the image,
The take-off and landing pad unit 10 and the horizontal holding unit 20 are integrally rotatable on the lower portion of the horizontal holding unit 20. The control unit 50 receives commands from the central control unit 50, An azimuth angle controller 30 for rotating the take-off and landing pad unit 10 to control the azimuth angle of the take-off and landing pad unit 10,
A position sensing unit 40 provided on the take-off and landing pad unit 10 for sensing a rolling, pitching and yawing operation of the take-off and landing pad unit 10 and transmitting a detection signal to the central control unit 50;
The landing pad unit 10 receives the signal of the position sensing unit 40 and maintains the horizontal direction with respect to the absolute coordinates (earth reference coordinates) in spite of the movement of the matrix and maintains the specified azimuth angle. And a central control unit (50) for controlling the yaw control unit (30). The grip type take off and landing device according to claim 1, wherein the grip type take off and landing device comprises an automatic attitude control function.
상기 위치감지부(40)는 3축 자이로 센서 또는 이착륙 패드부(10)의 롤링, 피칭, 요잉 운동을 감지할 수 있는 센서이고,
상기 위치감지부(40)는 절대좌표(지구 기준 좌표)를 기준으로 이착륙 패드부(10)의 높이변화를 감지할 수 있는 수직운동 감지센서를 더 포함하여 구성되고,
상기 수직운동 감지센서는 이착륙 패드부(10)의 높이변화를 감지하여 상기 중앙제어유닛(50)에 피드백하고,
상기 중앙제어유닛(50)은 모체의 높이방향 움직임에도 불구하고 상기 이착륙 패드부(10)의 높이변화가 생기지 않도록 모체의 높이방향 움직임과 상쇄되는 방향으로 이착륙 패드부(10)를 움직이도록 상기 수평 유지부(20)에 지시하는 것을 특징으로 하는 그립형 이착륙 장치가 구비된 무인항공기 시스템.The method according to claim 6,
The position sensing unit 40 is a sensor capable of sensing rolling, pitching and yawing motions of the three-axis gyro sensor or the take-off and landing pad unit 10,
The position sensing unit 40 further includes a vertical motion detection sensor capable of detecting a height change of the take-off landing pad unit 10 based on an absolute coordinate (earth reference coordinate)
The vertical motion detection sensor detects a change in height of the take-off landing pad unit 10 and feeds back the detected change in height to the central control unit 50,
The central control unit 50 controls the horizontal and vertical movements of the take-off and landing pad unit 10 so as to move the take-off and landing pad unit 10 in such a direction as to be offset from the height direction movement of the mother body, And instructs the holding unit (20) to operate the grip type take-off and landing device.
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