KR101491924B1 - Tower of take-off and landing vehicle charging and containment system - Google Patents

Abstract

Disclosed is a tower type system for charging and housing take-off and landing flight vehicles. In a tower to house and charge multiple flight vehicles, the tower type system comprises: multiple landing units which are stretched from the external wall of the tower to land flight vehicles; an automatic landing unit to allow the landing units to automatically land the flight vehicles; a housing device unit to house and charge the flight vehicles and to monitor status data; a maintenance chamber to repair abnormal flight vehicles; an elevator which is mounted in the tower; and a robot arm which is vertically or horizontally moved by the elevator to couple the flight vehicles in the landing units to mount in the housing device unit or in the maintenance chamber. According to the present invention, multiple unmanned flight vehicles can be taken-off, landed, housed and charged, thereby improving efficiency of operation with easy management and also improving space availability by vertically arranging the unmanned flight vehicles.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tower type take-off and landing vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tower type charging and storing system for take-off and landing aircraft, and more particularly, to a tower type charging and storing system for take-off and landing aircraft for landing and landing and charging and maintenance of unmanned aerial vehicles.

Background Art [0002] Prior art documents which are background of the invention are disclosed in Korean Patent Laid-Open Publication No. 10-2013-0095167 (2013.08.27) unmanned airplane, US Patent No. 10-2013-0096443 (2013.08.30) .
However, the unmanned vertical take-off and landing aircraft did not have a tower-type stoppage where multiple aircraft could charge and land / take off.

Therefore, it is urgent to develop a device capable of storing and charging a plurality of UAVs.

SUMMARY OF THE INVENTION An object of the present invention is to provide a tower type charging and containment system for a take-off and landing vehicle capable of taking-off, landing and storage of a plurality of UAVs.

It is still another object of the present invention to provide a tower type charging and storing system that can utilize space and increase the efficiency of operation because a plurality of UAVs are managed.

It is another object of the present invention to provide a tower type charging and storing system capable of automatically storing and charging a plurality of UAVs, thereby reducing waste of manpower and operating more UAVs.

In the tower capable of storing and charging a plurality of flying objects according to the present invention, the landing portion spreads out from the outer wall of the tower, so that the flying body landes, and the landing portion composed of a plurality of units and the automatic landing A vertical or horizontal landing and landing due to the storage unit that stores and charges the airplane and monitors the status data, the maintenance room that can be repaired if there is an abnormality of the airplane, the elevator and the elevator provided inside the tower, And a robot arm that combines the flying objects in the storage unit or the maintenance room.

Due to the bridge, the landing part can be expanded to the outside of the tower and the landing part can be folded inside the tower. When the bridge is folded, it can take the form of the outer wall of the tower. At this time, in order to secure space for landing of the airplane, the landing part is deployed with a phase difference when it is deployed outside the tower.

The tower may be configured in a circular or rectangular shape, and the bridge may be configured to have a shape of 1/2 of the circumference of the tower so as to correspond thereto. The landing part is provided with a plurality of units arranged at a certain distance in the vertical direction, and the upper end of the landing part is configured to accommodate and charge a small flying body as the large popularity or the UAV takes off and land.

A radar or surveillance camera or a satellite communication antenna may be installed on the outer wall of the tower, and an LED for identifying an automatic landing pad port may be installed. The landing part may be equipped with a lidar, a vision sensor, and a sonar to identify the position of the flying object. A beacon signal indicating the position of the landing part to the air vehicle, Can be equipped with a DGPS sensor, an Omni Antenna for communication with UAV, a Phased Array Antenna for UAV communication and positioning, and a robot arm equipped with a Vision Sensor have. The robot arm mounts the aircraft in the landing area to the enclosure or maintenance room. The robot arm is composed of a multi-layered robot arm that moves the entire layer by an elevator and a single-layer robot arm that moves by layers. The robot arm performs roll, pitch, and yaw operations. So that the air vehicle can be managed. The elevator is composed of a multi-layered elevator moving the entire floor and a single-layer elevator moving only the single floor. The robot arm moved can be composed of a multi-layer robot arm moving the entire floor due to the multi-layer elevator and a single- have. Since the robot arm freely moves due to the elevator, it is possible to store and charge the airplane using a socket or a grab, so that it is easy to manage a plurality of airplanes, and the efficiency of operation can be increased.

According to the present invention, a plurality of UAVs can be landed, stored, and charged, so that it is easy to manage and the efficiency of operation can be increased.

Further, by arranging the UAVs vertically instead of locating a plurality of UAVs in a batch, it is possible to increase the space utilization and reduce the cost.

In addition, since a plurality of UAVs can be automatically stored and charged, waste of manpower is reduced, and more UAVs can be operated.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a general configuration diagram of a tower charging and containment system.
2 is an internal structural view of a tower according to the present invention.
Figure 3 is a schematic diagram of a tower charging and containment system in accordance with the present invention.
4 is a state diagram showing that the UAV is mounted on the enclosure.
5 is a state diagram of a robot arm moving vertically and horizontally to an elevator.
6 is a block diagram showing the arrangement of towers in the layers

1 is a general configuration diagram of a tower 100 type charging and storing system. Referring to FIG.

When the system detects that the returning air vehicle 90 is approaching at the end of the mission, it sends out the landing unit 10 toward the landing port H side. Thus, the landing part 10 which has come into the tower 100 moves to the outside of the outer wall of the tower 100 through the bridge 20.

The bridge 20 is folded when the air vehicle 90 is automatically and safely landed on the landing part 10 through various sensors installed on the landing part 10 and then the robot arm 30 tightens the airplane by socket connection And sends the flying object 90 to the storage unit 51 for charging and monitoring. By performing this process automatically, it is configured to take off and land the UAV and charge it.

Hereinafter, FIG. 2 illustrates an internal structure of a tower 100 capable of storing and charging a plurality of air vehicles 90 according to the present invention. When the air vehicle 90 is placed on the landing port H outside the tower 100 and the landing unit 10 is moved to mount the air vehicle 90 on the landing unit 10, Is folded inside the tower 100, so that the flight body 90 is disposed inside the tower 100. [ The robot arm 30 is horizontally and vertically moved by an elevator 40 provided inside the tower 100 to be charged through a socket or a grab to charge the air vehicle 90 in which the stored and consumed battery is charged, . Here, the abnormal flying body 90 is configured to be able to repair by moving the robot arm to the maintenance room 60.

The tower 100 having a height greater than the horizontal direction may be configured in a circular or rectangular shape and may correspond to the bridge 100 so that the landing portion 10 can be expanded outside the tower 100 and folded into the tower 100 20 of the tower 100 by the circumference 1/2 of the tower 100.

A plurality of landing portions 10 are accommodated in both sides of the tower 100 in a height direction so that the landing portions 10 are spaced apart from each other by a predetermined distance and a large flying object landing portion 11 is provided with a large- Or unmanned aircraft take off and land, and a small flying object landing part (12) is arranged at the bottom to store and charge a small flying object. Also, the maintenance room 60 is located at the lowermost layer so that the human body can directly maintain or repair the air vehicle 90 carried by the robot arm.

The robot arm 30 may be composed of a multi-layer robot arm 31 and a single-layer robot arm 32. The multi-layer robot arm 31 can be moved through the multi-layer elevator 41 so as to send down the abnormal flying body 90 to the bottom layer. The single-layer robot arm 32 is used for general monitoring or charging , And a single-layer elevator (42).

Hereinafter, a sensor for assisting the landing of the air vehicle 90 will be described.

The airplane 90 guides the airplane 90 using an electromagnetic wave of a beacon emitted from the landing unit 10 and designates the landing port so that the airplane 90 waits near the landing port. Thereafter, the landing section 10 fires Lidar pulsed laser light into the atmosphere and measures the distance atmospheric phenomenon or the like using the reflector or scattering body to identify the position of the flying object 90. A vision sensor, a sonar sound, an omnidirectional antenna 55 and a phased array antenna 56 so as to examine and identify the position and shape of the posture.

The DGPS sensor is further provided to be able to provide information on the position of the tower 100 and the position of the flight vehicle 90 using the errors of the two receivers based on the information transmitted from the satellite to the GPS receiver on the ground .

Fig. 3 is a schematic view of a tower 100 type charging and storage system according to the present invention, Fig. 4 is a state view showing mounting of the UAV into the housing unit 51, Fig. 5 is a cross- And Fig. 6 is a configuration diagram showing the arrangement of the towers in the layers. The bridge 20 is folded into the tower 100 so that the flight body 90 is disposed inside the tower 100. The horizontal and vertical elevators 40 provided in the tower 100 can move the robot arm 30, While being moved, is charged through the socket or the grab to fill the air bag 90 in which the containment and the battery are consumed, and the status data is monitored. The robot arm can hold the air vehicle 90 through the socket or the grab and connect the air bag 90 to the containment unit to perform charging and monitoring.

The robot arm is composed of a multi-layer robot arm 31 and a single-layer robot arm 32. The multi-layer robot arm 31 can move through the multi-layer elevator 41, The single-layer robot arm 32 using the single-layer elevator 42 is used for general monitoring or recharging so as to store and charge the air vehicle 90. [

A plurality of air vehicles 90 returning from the mission are positioned on the landing unit 10 having the bridge 20 and the air vehicle 90 is controlled by the landing unit 10 through various sensors installed on the landing unit 10. [ The bridge 20 is folded so that the air vehicle 90 enters into the tower 100. In this case, Accordingly, the robot arm can be stored or charged to the air vehicle 90 by a socket or a grab combination using an elevator in which the robot arm is moved in the horizontal and vertical directions.

The large flying object landing portion 11 at the top of the tower is configured to accommodate and charge the large flying object or the UAV by taking-off and landing, and a small flying object landing portion 12 is provided under the large flying object landing portion 11, . ≪ / RTI > The maintenance chamber 60 is located at the lowest level and can be configured to be manually maintained or repaired by the robot arm.

It is possible to charge and unload a plurality of UAVs by taking-off and landing, and it is easy to manage, and space utilization can be enhanced because the air vehicle 90 is stored vertically.

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. 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: Landing part 11: Large body landing part
12: Small body landing section 20: Bridge
30: Robot arm 31: Multi-layer robot arm
32: single layer robot arm 40: elevator
41: multi-layer elevator 42: single-layer elevator
60: maintenance room 90: air vehicle
91: enclosure unit 100: tower
H: Landing port

Claims (18)

In a tower capable of storing and charging a plurality of air vehicles,
A landing part having a plurality of airplanes landing on the outer wall of the tower,
An automatic landing portion capable of automatically landing the airplane in the landing portion;
A storage unit for storing and charging the air vehicle and monitoring status data;
A maintenance room that can be repaired if the airplane is faulty;
An elevator provided inside the tower; And
A robot arm that vertically or horizontally moves due to the elevator so as to engage a flying object in the landing unit and mount the flying object in the storage unit or the maintenance room;
An antenna for communication with the air vehicle;
A tower type charging and containment system of take - off and landing aircraft. The method according to claim 1,
Further comprising a bridge configured to expand the landing portion to the outside of the tower and to fold the landing portion inside the tower, and take the form of an outer wall of the tower when the bridge is folded. . The method according to claim 1,
Wherein the coupling between the flying object and the robot arm is a socket coupling using a vision sensor mounted on the robot arm. The method according to claim 1,
Wherein the tower is in the form of a circle or a rectangle. 3. The method of claim 2,
Wherein the bridge corresponds to the tower shape and has a shape of half the circumference of the tower. The method according to claim 1,
Wherein a plurality of the landing parts are provided in a vertical direction and a predetermined distance is provided between the landing parts. The method according to claim 6,
Wherein the landing parts are not deployed to the same position but are developed with a phase difference from each other. The method according to claim 6,
The top of the landing portion is a tower type charging and storing system of take-off and landing aircraft configured to accommodate and charge a small-sized flying object as the large-sized popular or unmanned aircraft take off and land. 9. The method of claim 8,
Wherein the maintenance room is disposed at a lower end of the landing part so that the user can directly maintain or repair the air vehicle. The method according to claim 1,
Wherein the outer wall of the tower is provided with a radar, a surveillance camera, or a satellite communication antenna. The method according to claim 1,
Wherein the automatic landing unit is equipped with an LED capable of identifying a port. The method according to claim 1,
Wherein the landing portion includes at least one of a lidar, a vision sensor, and a sonar for identifying the position of the air vehicle. The method according to claim 1,
Further comprising a DGPS sensor for indicating a beacon signal indicating a position of the landing unit to the airplane, and a DGPS sensor indicating a position of the port. The method according to claim 1,
Wherein the robot arm performs at least one of a roll, a pitch, and a yaw. The method according to claim 1,
The elevator
A multi-layer elevator for moving the entire floor;
A single-layer elevator for moving only a single layer;
And a tower-type charging and storing system of the take-off and landing aircraft. 16. The method of claim 15,
The robot arm
A multi-layer robot arm for moving all layers of the multi-layer elevator;
A single-layer robot arm moving by layers by the single-layer elevator;
Wherein the airbag inflates the airbag. The method according to claim 1,
The antenna
And a phased array antenna for communicating with an omnidirectional antenna or an object for communication with a flying object and a phased array antenna for tracking the location of the object. delete

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