KR101586188B1 - Apparatus and Method for Arranging Landing Location of Unmanned Aerial Vehicle and Ground System incoporating same Apparatus - Google Patents

Apparatus and Method for Arranging Landing Location of Unmanned Aerial Vehicle and Ground System incoporating same Apparatus Download PDF

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Publication number
KR101586188B1
KR101586188B1 KR1020140063312A KR20140063312A KR101586188B1 KR 101586188 B1 KR101586188 B1 KR 101586188B1 KR 1020140063312 A KR1020140063312 A KR 1020140063312A KR 20140063312 A KR20140063312 A KR 20140063312A KR 101586188 B1 KR101586188 B1 KR 101586188B1
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South Korea
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land
unmanned airplane
landing
alignment
image acquisition
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KR1020140063312A
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Korean (ko)
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KR20150136224A (en
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강동우
정환호
이석태
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퍼스텍주식회사
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Priority to PCT/KR2015/005127 priority patent/WO2015182924A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for

Abstract

This disclosure relates to a land on which an unmanned airplane landing; A pair of left and right directional transfer bars installed along the left and right sides of the land; Left and right slide grooves provided on the land so as to move the transfer bars in the lateral direction and extending to the center of the land; A pair of forward and backward transport bars installed along the front and rear sides of the land; And a linear front and rear slide groove provided on the land so as to move the front and rear direction transfer bars, respectively, and extending toward the center of the land, wherein the unmanned airplane has a reference member to be aligned during landing, And an extension line of each of the front and rear slide grooves intersect with each other to form an alignment area in which reference members of the UAV are aligned and seated.

Figure R1020140063312

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a landing position aligning apparatus, a method of aligning an unmanned airplane landing position,

Applicant's patent application no. 2013-71561 on "Method and apparatus for guiding unmanned airplane landing" is incorporated herein by reference.

An embodiment of the present invention relates to an apparatus and method for aligning an unmanned airplane landing position. More particularly, the present invention relates to an apparatus and method for precisely aligning an unmanned airplane in the center of a landing area of the unmanned airplane, and a ground system of the unmanned airplane including the apparatus.

The description in this section merely provides background information for embodiments of the present invention and does not limit or limit the present invention.

Unmanned Aerial Vehicle (UAV) is a type of aircraft that can not be directly operated by a person, such as reconnaissance, bombardment, cargo transportation, forest fire monitoring, radiation monitoring, etc., It means a plane carrying dangerous missions.

It is important to safely land the drone at the desired point after completion of the mission. It is necessary to control the landing precisely so that the pilot does not fly when landing on the ground or the landing gear because he or she is not on board.

The landing related navigation system of the unmanned airplane is implemented variously according to the type of the unmanned airplane. Generally, GPS and inertial guidance devices are mainly used for navigation or landing of unmanned airplanes. GPS is preferred because it is cheap and small in size. For example, in the case of a UAV, such as a Predator, which is a kind of UAV, a manual control landing is possible using a precision approach radar and a video camera.

BACKGROUND ART [0002] Korean Patent No. 1265784 discloses a technique for positioning a helicopter landed on a docking station as an example of a unmanned airplane. This patent includes a pair of longitudinal alignment bars 120 'and a pair of lateral alignment bars 130' as shown in FIG. The vertical direction alignment bar 120 'includes a fixing block 121' and a guide bar 123 'connected to the support through the fixing block 121'. The guide bar 123 ' The helicopter is aligned vertically by pushing the support and moving linearly. The fixed block 121 'does not move. The support comprises a base 122b 'and a partition 122a' with a rubber band attached to the skid of the helicopter. The horizontal alignment bar 130 'includes a fixed block 131' and a guide rod 133 'connected to the support 132' through a fixed block 131 '. By the operation of a driving unit not shown, (133 ') pushes the support base (132') and moves linearly to align the horizontal position of the helicopter.

However, this patent assumes that a pair of longitudinal alignment bars 120 'move equidistantly toward the center, considering only when the skid is at the center of the helicopter's body. Further, this patent does not disclose how to set the position correction amount of the helicopter and how the docking station ascends and descends. It also does not mention how to cope when the type of unmanned airplane, the arrangement of the skids, the shape, the size, etc. are modified. Further, there is a problem that it can not be guaranteed that the support rod is moved in a linear manner because the support rod is configured to push the guide rod.

In order to solve the above-mentioned problems, an embodiment of the present invention is a ground system of a UAV that includes an apparatus and a method for accurately aligning a UAV with a center of a land, and a mounting apparatus on which the apparatus is mounted .

In order to accomplish the above-mentioned object, an embodiment of the present invention provides a landing system comprising: a land on which a UAV landing; A pair of left and right directional transfer bars installed along the left and right sides of the land; Left and right slide grooves provided on the land so as to move the transfer bars in the lateral direction and extending to the center of the land; A pair of forward and backward transport bars installed along the front and rear sides of the land; And a linear front and rear slide groove provided on the land so as to move the front and rear direction transfer bars, respectively, and extending toward the center of the land, wherein the unmanned airplane has a reference member to be aligned during landing, And an extension line of each of the front and rear slide grooves intersect with each other to form an alignment area in which a reference member of the UAV is aligned and seated.

(1) A pair of left and right transport bars installed along the left and right sides of lands for landing the UAV, are provided on the land so that each of the left and right transport bars moves, and the center of the land Aligning left and right positions of the unmanned airplane; (2) a pair of forward and backward transport bars installed along the front and rear sides of the land where the unmanned airplane landed, a linear front and rear slide groove And arranging the unmanned airplane in an alignment area where the extension lines of the left and right slide grooves and the front and rear slide grooves intersect with each other to form an alignment area, And a pair of forward and backward transport bars moved in accordance with the procedure of (2) are arranged in alignment with the alignment area.

Further, the embodiment of the present invention is characterized in that the above-mentioned unmanned airplane landing / landing aligning device; And an onboard device having a landing position alignment device mounted thereon.

According to the teachings of this embodiment, the unmanned airplane can be accurately aligned with the land around the alignment area.

According to the teachings of the present embodiment, even if there is a change in the reference member attached to the unmanned airplane such as the type of the unmanned airplane or the skid, it can be coped with accurately and efficiently.

According to the teachings of the present invention, it is possible to automate the loading, carrying and handling of the unmanned airplane by implementing the mounting device for mounting and aligning the unmanned airplane landing position aligning device.

The effects of the present invention are illustrative, and the effects of the present invention are not limited thereto.

1 is a view showing a landing position adjusting apparatus of a UAV according to the prior art.
2 is a schematic diagram of a ground system of an unmanned aerial vehicle according to an embodiment of the present invention.
3 is a side view of an unmanned aerial vehicle according to an embodiment of the present invention.
4 is a plan view of an unmanned airplane landing and alignment apparatus according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating a position alignment method using an unmanned airplane landing position alignment apparatus according to an exemplary embodiment of the present invention in an operation sequence.
6 is a perspective view of a docking trailer having an unmanned airplane landing and alignment device according to an embodiment of the present invention.
FIG. 7 is a perspective view of a docking trailer showing a state in which an unmanned airplane landing / landing alignment apparatus according to an embodiment of the present invention is elevated and lowered.

Hereinafter, embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference numerals whenever possible, even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected," "coupled," or "connected. &Quot;

Figure 2 is a top view of a ground system including a docking trailer 12 with an unmanned airplane landing and alignment device 100 according to one embodiment of the present invention and a controlled vehicle 11 towing a docking trailer 12, Fig. A specially designed controlled vehicle (11) is equipped with a Ground Control Station (GCS). The control vehicle 11 includes an unmanned airplane landing induction device, a VCME (Vehicle Control and Monitoring Equipment), a Mission Planning and Control Equipment (MPCE), a mission equipment control device PCME (Payload Control and Monitoring Equipment), External Pilot Control Unit, and Network Equipment (NE). The information transmitted from the docking station is connected to the ground control equipment via TCP / IP and the information is transmitted to the aircraft through the ground data terminal (GDT).

FIG. 3 illustrates a side view of the unmanned airplane F according to one embodiment of the present invention. The skid s is located at the front of the unmanned airplane F and is located at the front of the skid s and the distance L 2 from the midpoint to the stern of the skid s is longer than the distance L 1 to the top. Therefore, when the lateral direction of the fuselage is defined as the forward and backward directions, the travel distance (stroke) of the forward and backward adjustment member must be changed according to the direction of the nose after landing.

In the embodiment, a tilted duct type vertical take-off and landing type unmanned airplane is used as an example, but the present invention is not limited thereto. When the unmanned airplane F is landed, it is not necessarily limited to the skid s as long as it is a reference member serving to balance the ground.

4 is a plan view of the unmanned airplane landing and positioning apparatus 100 according to an embodiment of the present invention. The landing position alignment apparatus 100 is mounted on a docking station provided in the docking trailer 12, for example. The landing position aligning apparatus 100 includes a planar rectangular land 110 on which a pair of lateral transfer bars 101a and 101b and a pair of forward and backward transfer bars 103a and 103b are mounted do.

The left and right direction transfer bars 101a and 101b are installed along the left and right sides of the land 110 in a long manner. The land 110 is provided with left and right slide grooves 102a and 102b to which the right and left direction transfer bars 101a and 101b respectively move. The slide groove 102a linearly extends from the center of the feed bar 101a to the vicinity of the center of the land 110 in a long groove shape from the position shifted from the center in the drawing. The slide groove 102b linearly extends from the center of the feed bar 101b to the vicinity of the center of the land 110 in a long groove shape from the right side in the drawing. Although each of the slide grooves 102a and 102b shown in the figure is formed by two rows of grooves, one or three or more grooves may be formed.

The forward and backward transport bars 103a and 103b are installed along the front and rear sides of the land 110. [ The lengths of the forward and backward transport bars 103a and 103b are long enough to support the skid s and can be formed shorter than the lengths of the left and right transport bars 101a and 101b. The land 110 is provided with front and rear slide grooves 104a and 104b through which the forward and backward movement bars 103a and 103b respectively move. The slide grooves 104a linearly extend from the position shifted from the center of the transfer bar 103a to the center of the land 110 in a long groove shape from above. The slide groove 102b linearly extends from the center of the transport bar 103b to the vicinity of the center of the land 110 in a long groove shape from a position offset from the center of the transport bar 103b. Each of the slide grooves 104a and 104b shown in the figure is composed of two rows of grooves, but may be composed of one or more grooves.

 The right and left and forward and backward transport bars 101a, 101b, 103a and 103b are connected to arms or links of robots operating with actuators driven by motors M1, M2, M3 and M4 mounted at the positions shown by dotted lines And moves linearly along the respective slide grooves 102a, 102b, 104a, 104b. The motor may be constituted by a pair of motors for controlling the left and right and front and rear. A driving unit such as a motor and an actuator can be disposed inside the housing 11a (see FIG. 6) extending continuously under the land 11.

The left and right direction transfer bars 101a and 101b are supported by the arms or the links so as to be located at altitudes higher than the forward and backward transfer bars 103a and 103b so as to prevent mutual engagement when the transfer bars are linearly moved. Alternatively, the forward and backward transport bars 103a and 103b may be supported by arms or links so as to be positioned at higher altitudes than the left and right transport bars 101a and 101b.

According to an embodiment of the present invention, the central portion of the land 110 where the slide grooves 102a, 102b, 104a, 104b converge forms a rectangular alignment area A. The alignment area A coincides with a rectangular intersection area formed by intersection of extended lines when the four slide grooves 102a, 102b, 104a, and 104b are virtually extended. The alignment area A is an area for supporting the skid s of the UAV F about the center of the land 110 and corresponds to a rectangle formed by the pair of skids s in the embodiment of the present invention (See Fig. 5 (c)).

According to an embodiment of the present invention, when the size or shape of the unmanned aerial vehicle or the arrangement position or size of the skid s is changed, the slide area A is formed corresponding to the rectangle formed by the skid s. The rotation and rotation of the motor in correspondence with the size and the position of the changed slide grooves 102a, 102b, 104a, 104b are changed, Since the number can be set in advance, it is possible to efficiently cope with the change of various models. In addition, since it is accompanied by actual physical change, it is simpler than the prior art to cope with the change of the model only by the movement distance change control of the transport section, and the travel distance error width can also be reduced.

4, cameras (c 1 , ..., c 5 ) for capturing an unmanned airplane F on a land 110 of an unmanned airplane landing and alignment apparatus 100 according to an embodiment of the present invention Is installed. The cameras (c 1 , c 2 , c 3 ) arranged in a triangular shape are for capturing a long distance, and the position of the unmanned airplane F can be detected in real time by information transmitted by three cameras. The cameras c4 and c5 disposed at the center in the alignment area A are mounted to induce docking by calculating the correct position when the unmanned airplane F is a helicopter and vertically descending by a hovering operation. For example, the camera c5 may be used for a distance of 3 meters or less, and the camera c4 may be used for a distance of 3 meters or more to 7 meters or less.
In this embodiment, the camera for capturing the remote unmanned airplane F is located in the vicinity of the land 110 outside the alignment area A, and the number of cameras is three based. However, May be a plurality of such ranges.

The landing guidance and control method of the unmanned airplane F according to the embodiment of the present invention can be followed by the method of Patent Application No. 2013-71561. The patent application includes obtaining the first position information related to the position of the UAV to calculate the current coordinates of the UAV, transmitting the current coordinates to the ground system, and landing the UAV from the ground system The control unit controls the unmanned airplane to approach the landing point while hovering the unmanned airplane with reference to the landing information after moving the unmanned airplane in the direction of the landing coordinate using the coordinates of the landing destination and the current coordinates.

Further, it is disclosed that the image sensor captures an unmanned airplane flying over the ground system by the control of the image pickup control unit, and the image sensor is installed at the landing platform 260 at a position where the unmanned airplane is seated or adjacent to the landing platform .

Accordingly, one embodiment of the invention, the cameras (c 1, ..., c 5 ) and the disposed place triangle camera (c 1, c 2, c 3), the alignment area (A) as described above And cameras c4 and c5 arranged in the center of the inside. The camera may include any image acquisition device with a lens or sensor that can coordinate the position of the unmanned aerial vehicle. When the near-field camera of the cameras (c4, c5) arranged in the alignment area (A) captures a vertically hovering unmanned airplane, the image capturing controller controls the position of the unmanned airplane based on the x, y coordinates of the alignment area By adding the steps of tracking and inducing landing, it is possible to more accurately guide the landing of the unmanned airplane.
In this embodiment, the camera for capturing the remote unmanned airplane F is located in the vicinity of the land 110 outside the alignment area A, and the number of cameras is three based. However, May be a plurality of such ranges.

5 is a view showing the operation of the landing position aligning apparatus 100 according to an embodiment of the present invention.

In the state where the unmanned airplane F is landed in the posture shown in Fig. 5 (a), when the control unit is driven, the right and left direction transfer bars 101a and 101b are moved in the direction of arrows along the slide grooves 102a and 102b Moves linearly with distance. The left and right directional transfer bars 101a and 101b abut the skid s of the unmanned airplane F and push the moving body so as to form a left and right alignment as shown in Fig. 5 (b). The left and right direction transfer bars 101a and 101b do not interfere with other parts of the unmanned airplane F since the parts other than the skid s are not mounted on the lower surface of the unmanned airplane F. Therefore, s) acts as a balance movement and weight centering weight.

Next, in the state of Fig. 5 (b), the front and rear direction transfer bars 103a and 103b linearly move along the slide grooves 104a and 104b in the direction of the arrow. Since the forward and backward transport bars 103a and 103b are higher in height than the left and right transport bars 101a and 101b (or lower), they do not interfere with each other while sliding on the transport bar in the lateral direction, Push the end to adjust the forward and backward position of the unmanned airplane (F). When the unmanned airplane F is deflected upwardly of the land 110 as shown in FIG. 5 (b), the transport bar 103a substantially pushes the skid s, and hence the unmanned airplane F, (103b) serves to wait for the unmanned airplane (F) carried by the transport bar (103a). Conversely, when the unmanned airplane F is deflected to the lower side of the land 110, the transport bar 103b pushes the unmanned airplane F and the transport bar 103a serves to wait the unmanned airplane F Will be.

Fig. 5 (c) shows the unmanned airplane F whose position adjustment is completed. As described above, since the skid s is generally disposed in front of the unmanned airplane F, the entire moving distance l 1 of the transport bar 103a is smaller than the entire moving distance l 2 of the transport bar 103b . In addition, the four transfer bars are aligned along each four sides of the alignment area A while forming the alignment area A described above about the skid s.

In FIGS. 4 and 5, the left and right direction transfer bars 101a and 101b are longer than the forward / backward direction transfer bars 103a and 103b because the total length of the unmanned airplane F is generally greater than the entire width , And it is advantageous to balance the side portion with the long conveying portion. However, it can be understood that the sizes and positions of the respective transfer parts can be freely changed in order to cope with unmanned airplanes of symmetrical type, disk type, etc., which do not depend on the conventional appearance depending on the use of various unmanned airplanes.

Likewise, the forward and backward transfer bars 103a and 103b can be changed to move and push the unmanned airplane first than the left and right direction transfer bars 101a and 101b.

Next, FIG. 6 illustrates a docking trailer 12 as an on-board device including an apparatus for aligning an unmanned airplane landing position 100 according to an embodiment of the present invention. The docking trailer 12 includes a base 600 formed with a flat-plate-shaped housing, a first cover 604 disposed on the left side of the upper surface of the base 600, Shaped second cover 606 provided on the right side of the upper surface of the second cover 606. [

A driving unit such as a controller, a motor, and an actuator is installed in the base 600, and a control panel 607 is provided on a side surface of the base 600 so that an operator can manually or remotely control the apparatus.

When the docking trailer is closed, the first cover 604 and the second cover 606 abut against each other to form a space as shown. The size of the space should be large enough to accommodate the landing position alignment apparatus 100 including the unmanned airplane F. [ In the panel 620 installed on the base 600 in the space, a driving unit such as an actuator 608 is mounted as shown in Fig. The land 110 of the landing position aligning apparatus 100 is supported at its four corners by a support rod 610 which is raised and lowered by an actuator 608. [

When the operator operates the control panel 607 to operate the unmanned airplane F in this state, the first cover 604 and the second cover 606 are separated from each other along the grooves formed at the side ends of the base 600 The docking station including the landing position aligning apparatus 100 is exposed to the outside. When the operator continuously or automatically operates the panel in succession, the landing position alignment apparatus 100 in which the support rod 610 is raised by the operation of the actuator 608 and pulled by the support rod 610 is shown in Fig. 7 To a position. It is preferable that the landing position aligning apparatus 100 ascends by a height that is flush with the upper surfaces of the first cover 604 and the second cover 606.

The actuator 608 can utilize a linear actuator as well as a ball screw type, and a large torque can be generated by using a ferromagnetic material such as a quadruple in a fixed shaft, thereby enabling a massive unmanned airplane F to be smoothly moved. Although not shown, the motor is installed separately from the actuator 608 and connected through a coupling. However, an actuator built-in type in which a shaft of a motor and a ball screw of an actuator are integrated may be used. The driving unit such as the actuator 608 and the like may be disposed in the base 600 rather than the panel 620 so that the actuator 608 may be appropriately disposed have.

In an embodiment of the present invention, the right and left and forward and backward movement bars 101a, 101b, 103a and 103b are explained as being connected to an arm or a link of a robot operating as an actuator driven by motors M1, M2, M3 and M4 The grooves corresponding to the four slide grooves 102a, 102b, 104a and 104b are provided on the panel 620 so that the above-described four support rods serve also as arms or links, The load can be changed to move the support rod along the groove after lifting the rod.

When the unmanned airplane is taken off and the predetermined operation is completed in the state of FIG. 7, the unmanned airplane is landed and the positions are aligned by the above-described method. Then, in the reverse process, the operator operates the control panel 607 or the remote controller to lower the support rod 610 to return the docking station and close the first cover 604 and the second cover 606 .

The unmanned airplane landing and position aligning apparatus 100 according to an embodiment of the present invention can be installed in any mounting means such as the controlled vehicle 11 instead of the docking trailer 12 and can be manufactured, And can be used.

It is to be understood that the terms "comprises," " comprising, "or " having ", as used in the embodiments of the present invention, Quot; element " is to be interpreted as including other elements than " an element ". All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

As described above, according to the present invention, the unmanned airplane can be accurately aligned with the land around the alignment area, and even if the reference member attached to the unmanned airplane such as the type of the unmanned airplane or the skid is changed, And it is an industrial useful invention which can automate the loading, transportation and manipulation of an unmanned airplane by implementing a mounting device for loading and unloading an unmanned airplane landing position alignment device.

Claims (12)

A landing position aligning apparatus for an unmanned airplane,
Land where a drone landed;
A pair of left and right directional transfer bars installed along left and right sides of the land;
Linear left and right slide grooves provided on the land so as to move each of the right and left transport bars and extending toward the center of the land;
A pair of forward and backward transport bars installed along the front and rear sides of the land;
And a linear front and rear slide groove provided on the land so as to move the front and rear direction transfer bars, respectively, and extending toward the center of the land,
Wherein the unmanned airplane has a reference member to be subjected to position alignment at the time of landing,
Wherein an extension line of each of the left and right slide grooves and the front and rear slide grooves intersect with each other to form an alignment area in which the reference member of the UAV is aligned and seated,
Wherein the land further comprises a plurality of image acquisition devices for imaging an unmanned aerial vehicle,
Wherein the plurality of image acquisition devices include at least one image acquisition device disposed in the alignment area and a plurality of image acquisition devices around the land outside the alignment area. The apparatus according to claim 1, wherein the reference member of the unmanned airplane is a skid. 3. The landing position aligning apparatus of claim 2, wherein the alignment area is a square shape supporting the skid in left and right and front and rear directions. 2. The apparatus of claim 1, wherein the front and rear slide grooves extend from a position offset from the longitudinal center of each of the front and rear direction transfer bars toward the center of the land, Wherein the landing position alignment device extends from a position offset from the center of the land toward the center of the land. delete The apparatus of claim 1, wherein the plurality of image acquisition devices include at least three image acquisition devices arranged to form a triangle and at least one image acquisition device disposed in the alignment area, A landing position alignment device for a drone. A method for aligning a landing position of an unmanned airplane,
(1) a pair of right and left directional transfer bars installed along the left and right sides of the landing area of the unmanned airplane landing, And aligning the left and right positions of the unmanned airplane;
(2) a pair of forward and backward transport bars installed along the front and rear sides of the landing area of the unmanned airplane, wherein the forward and backward transport bars are linearly arranged on the land and extending toward the center of the land, And aligning the front and rear positions of the unmanned airplane;
(3) a process in which a plurality of image acquisition apparatus images the unmanned airplane; / RTI >
The extension lines of the left and right slide grooves and the front and rear slide grooves intersect with each other to form an alignment area in which the unmanned airplane is aligned and seated, The transport bar and the pair of back and forth transport bars are arranged in alignment with the alignment area,
Wherein the plurality of image acquisition devices include at least one image acquisition device disposed in the alignment area and a plurality of image acquisition devices around the land outside the alignment area, Location alignment method. 8. The method of claim 7, wherein the pair of lateral translation bars and the pair of forward and backward translation bars move the skid as a reference member of the unmanned airplane so as to support the left and right, Way. The unmanned airplane landing position alignment apparatus of claim 1,
And a mounting device on which the landing position alignment device is mounted. 10. The landing / aligning apparatus according to claim 9, wherein the mounting apparatus includes a cover forming a space for accommodating the landing / aligning device, a support rod connected to the land to raise / lower the landing / The ground system of the unmanned airplane further comprising a driving unit. 11. The ground system of claim 10, wherein the mounting device further comprises a control panel accessible by an operator for actuating the cover and the support rods. 12. The ground system of claim 11, wherein the loading device is a controlled vehicle or a docking trailer towed by the controlled vehicle.
KR1020140063312A 2014-05-26 2014-05-26 Apparatus and Method for Arranging Landing Location of Unmanned Aerial Vehicle and Ground System incoporating same Apparatus KR101586188B1 (en)

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