KR101658471B1 - Fixing apparatus and system of auto loading equip using a remotely piloted vehicle and operation method thereof - Google Patents

Fixing apparatus and system of auto loading equip using a remotely piloted vehicle and operation method thereof Download PDF

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Publication number
KR101658471B1
KR101658471B1 KR1020150057281A KR20150057281A KR101658471B1 KR 101658471 B1 KR101658471 B1 KR 101658471B1 KR 1020150057281 A KR1020150057281 A KR 1020150057281A KR 20150057281 A KR20150057281 A KR 20150057281A KR 101658471 B1 KR101658471 B1 KR 101658471B1
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KR
South Korea
Prior art keywords
uav
coupled
transport information
transport
coupling unit
Prior art date
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KR1020150057281A
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Korean (ko)
Inventor
황선유
홍진성
임승한
허기봉
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국방과학연구소
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/22—Taking-up articles from earth's surface
    • B64C2201/128—

Abstract

An induction steering apparatus and a signal control method thereof are disclosed. The embodiments of the present invention may include a UAV connector provided at one end of a fixing device body and coupled to a UAV, and a material coupling part provided at the other end of the body to be coupled to a grip point of the material, The transportation information is recognized and transmitted to the material combination unit and the UAV, and the material combination unit can connect to the gripping point based on the recognized material transportation information. According to this, a plurality of UAVs can recognize the transporting material and fix it securely, and it is possible to securely control the movement of the material even when there is movement of the material.

Description

FIELD OF THE INVENTION [0001] The present invention relates to a fixing device, a system and a method for operating the same,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a fixing device, a system and a method of operating a fixing device for a UAV,

In order to transport military or commercial heavy goods, there are cases where two or more UAVs must be transported. In order to transport goods using two or more UAVs, each UAV must be able to recognize the goods to be transported. Also, when two or more UAVs collaborate to transport materials, a mechanism is needed to stabilize and transport UAVs and materials.

For example, in the case of transporting materials using aircraft, it was considered to install a separate armed wing, install an armed pylon therein, and operate the armed weapon while exposed to the outside. However, in such a case, there is a problem that the aerodynamic performance is lowered and the roll performance of the aircraft is lowered due to the anti-reverse occurring during the flight.

Another example is the use of two quad rotors to transport the material (see Resources, Flow Wing et al., Collaborative Transportation System Modeling Using the Quadrotor (2013 Aerospace Society Fall Conference)), In this way, in the case of fixing the material by attaching a line to the quad rotor, it is difficult to fix the material fixing device to the material because it is continuously connected with the string.

Accordingly, it is an object of the present invention to provide a transporting device fixing device, a system, and a method of operating the same, which can securely transport a material even when transporting the material using a plurality of unmanned aerial vehicles have.

In order to accomplish the above object, according to an embodiment of the present invention, there is provided an apparatus for fixing a transport material using an UAV, comprising: a fixing device body; A UAV unit provided at one end of the main body and coupled to the UAV; And a material coupling unit provided at the other end of the main body and coupled to a grip point of the material, wherein the UAV coupling unit recognizes the material transport information and transmits the material transport information to the material coupling unit and the UAV, And is connected to the gripping point based on the material transport information.

In one embodiment, the material coupling comprises: a hook for connecting to the gripping point of the material; And a storage unit having a structure in which a string connected to the material passes through the inside and is foldable in the longitudinal direction.

In one embodiment, the annulus includes at least one magnet, and when the annulus is detected to be close to the gripping point, the annulus is automatically joined to the gripping point by magnetism.

In one embodiment, the container is folded to a predetermined length in an operation mode in which the material is not transported, and is structured so as to be extended in the longitudinal direction when the loop is connected to the gripping point in an operation mode for transporting the material .

In one embodiment, the string housed inside the storage compartment is made of a material capable of supporting the weight of the material, and includes a wire capable of transmitting an electrical signal to the UAV.

In one embodiment, the material transport information is displayed on the surface of the material, and the UAV combining unit recognizes the displayed material transport information through a camera and transmits the recognized transport information to the UAV and the material coupling unit.

In one embodiment, the UAV may comprise: communication means for communicating with the UAV; And roller means for releasing or detecting a line connected to the material based on the control signal received from the UAV.

According to another aspect of the present invention, there is provided a system for fixing a transport material using an unmanned aerial vehicle, comprising: Wherein the master unmanned machine and the slave unmanner machine recognize and transfer the material transportation information to the slave unmanned machine, and the master unmanned machine and the slave unmanned machine are provided with the first and second fixed machines And the first and second fixing devices each include an unmanned engaging part having one end coupled to each unmanned vehicle and a material coupling part having the other end coupled to different gripping points of one transportation material.

According to an embodiment of the present invention, a plurality of UAVs can be fixed to a UAV by recognizing and fixing the UAV to a time point when the UAV is fixed, .

Further, after the fixation of the transport material is completed, by implementing the device so as to be flexible, a plurality of unmanned aerial vehicles can be robustly controlled even if there is movement of the transport material during the flight to transport it.

1 is a view showing a schematic configuration of a fixing device mounted on a UAV according to an embodiment of the present invention.
2 is an exemplary view showing a state in which material transport information is attached to a transportation material according to an embodiment of the present invention.
3 is a view for explaining a method of operating a transporting material fixing apparatus using a UAV according to an embodiment of the present invention.
4 is a view for explaining a configuration of a transporting material fixing apparatus using a UAV according to an embodiment of the present invention.
5 and 6 are views for explaining how a plurality of UAVs are used to fix and transport a material according to an embodiment of the present invention.

First, it should be noted that the fixing device and the method for operating the transportation material using the UAV according to the embodiment of the present invention can be widely applied to all devices and systems that need to transport materials using UAV.

In addition, the present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Terms including ordinals such as first, second, etc. described herein can be used to describe various elements, but the elements are not limited to these terms. That is, the terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second provisional component may also be referred to as a first component. The term " and / or " includes any combination of a plurality of related listed items or any of a plurality of related listed yields.

Also, when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may be present in between have. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

Also, the terms used in the present application are used only to describe certain embodiments and are not intended to limit the present invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, Should not be construed to preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Also, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The description will be omitted.

According to the present invention, a material transporting fixture for safely transporting and transporting a UAV and a material, and a method of operating the same, are implemented in a case where at least two UAVs collaborate to transport a material.

First, the UAV according to the embodiment of the present invention can be controlled in a remote manner by using a combatant controlling the UAV, that is, without connecting the pilot directly, using a connected network. In addition, the plurality of UAVs described in the present invention can be controlled remotely through a single controller, and a plurality of UAVs can exchange messages and data with each other through a network.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view of a fixing device mounted on a UAV according to an embodiment of the present invention; FIG.

As shown in FIG. 1, the fixing device according to the embodiment of the present invention may comprise a first part 10 for recognizing a material and a second part 20 for fixing a material. Specifically, one end of the securing device, i.e., the first portion 10, is coupled to the UAV 10 for transporting the material, and the other end, i.e., the second portion 20, can be coupled with the material to transport the material .

In the present invention, at least two UAVs are used to stably transport one material, and the first UAV and the second UAV are respectively equipped with a first fixing device and a second fixing device.

The first part 10 can recognize the information of the material to be transported. 2, the first part 10 may include a receiving module / sensor (camera, reader, etc.) and a control module for recognizing the material transport information attached to the material to be transported have.

On the other hand, as shown in FIG. 2, the transportation information 30 may be displayed on the transportation material. For example, by attaching a QR code (or barcode) type indication to the outer surface of the transportation material, compatibility with the material recognition function of the UAV 10 can be enhanced.

At this time, for example, information such as the following Table 1 may be included in the material transportation information 30 attached to the transportation material.

[Table 1]

Figure 112015039737324-pat00001

Meanwhile, a method of operating a system for stably transporting materials using a plurality of UAVs equipped with a fixing device according to an embodiment of the present invention is shown in FIG.

In FIG. 3, the first UAV 100 operates as a master UAV, and the second UAV 200 operates as a peripheral UAV, that is, a slave UAV 200. The slave UAV 200 can be controlled by the master UAV 100. In addition, the master unmanned vehicle 100 and the slave unmanned vehicle 200 can be coupled with the material by mounting the fixing device according to the embodiment of the present invention, respectively.

First, the master UAV 100 flows around the material to recognize the material transport information. If it is detected that the material has reached the periphery of the material, that is, when the master unmanned vehicle 100 approaches the material within a preset distance value, it can automatically switch to the material fixing mode to recognize the material to be transported (101).

When entering the material fixing mode, the master UAV 100 can recognize the material transportation information (e.g., QR code, etc.) attached to the transportation material by using a camera / reader or the like.

Next, the master unmanned aerial vehicle 100 confirms the material transportation information, and when it is determined that two or more different unmanned aerial vehicles are necessary for transporting the goods, the unmanned aerial vehicle 100 requests cooperation from nearby unmanned aerial vehicles. At this time, the message of the collaboration request may be transmitted based on the UAV, which is the closest distance from the master UAV 100, to the UAV without the current operation.

Specifically, when it is determined that a plurality of UAVs are required for transporting the material, the master UAV 100 may transmit the recognized material recognition result to one or more slave UAVs 200 to request the material transport collaboration ). At this time, the control unit (not shown) of the master unmanned aerial vehicle 100 has a plurality of peripheral unmanned aerial vehicles (not shown) such as a predetermined distance (e.g., separation distance, performance, Can be selected as a slave UAV, and a message can be generated and transmitted to the selected unmanned UAV to request a material transport collaboration.

Then, the slave UAV 200 requested to perform the material transportation collaboration confirms the received information (the collaboration request and the material recognition information) and transmits an acknowledgment signal to the master UAV 100 indicating that the assignment has been confirmed (step 202 ).

On the other hand, when it is determined that it is difficult to perform the mission in the slave UAV 200, or when it is determined that collaboration is not necessary in transporting the goods, the determination result may be transmitted to the master UAV 100.

Then, the master UAV 100 and one or more slave UAVs 200 and 103 move to a point at which the material is to be fixed, that is, a corresponding point, based on the recognized material recognition information. When the movement to the gripping point is completed, the master UAV 100 and one or more slave UAVs 200 can fix the material using the fixing device 20 (FIG. 1) mounted on each. At this time, the grappling point and information related thereto can be received from the master UAV 100.

After that, the master unmanned vehicle 100 and the one or more slave unmanned vehicles 200 respectively fix the transportation material and share this information (that is, information related to the completion of fixing of the material) through the signal when the fixing to the transportation material is completed (104, 204).

When the transport material is fixed to the master UAV 100 and the slave UAV 200, the master UAV 100 and the at least one slave UAV 200 are automatically switched to the transport mode to move to the destination of the transported goods (300).

On the other hand, a UAV that transports material uses UAVs capable of hovering in the air, such as a quad copter (a multi-copter that is raised and propelled by four rotors) or a flywheel (a helicopter). Hovering means a state in which an aircraft or the like does not move while maintaining a certain altitude.

At this time, the fixing device mounted on the UAV is fixed firmly with the UAV before the material is caught, and the movement can be minimized by the wake of the blade or the like, so that the fixing device can be fixed to the gripping point accurately. And, after fixed to the gripping point, two or more UAVs must cooperate with each other to transport the material, so that the fixing device can be deformed to be flexible and robust against the influence of disturbance or the like.

In this regard, FIG. 4 is a view for explaining a configuration of a transporting device fixing device using an unmanned aerial vehicle according to an embodiment of the present invention.

As shown in FIG. 4, the securing device of the material includes a material coupling part 400 connected to the material, roller means for loosening / winding the string connected to the material, and communication means for communicating with the connected UAV And a coupling part 401. The communication means can convert the material identification information into an electrical signal and transmit it to the UAV.

The material coupling portion 400 may further include a ring portion 402 for coupling with the gripping point of the transportation material and a storage portion 404 through which a line 405 connected to the material passes have.

Here, the annulus 402 may include one or more magnets, such that when the annulus 402 approaches the perimeter of the peripheries thereof, the annulus 402 is automatically bonded to the perforation point through the magnetism of the magnet provided. In addition, when it is connected to the ripping point through the ring 402, the UAV joining unit 403 recognizes the junction signal and transmits it to the UAV.

Also, the storage part 404 is made of a flexible material such as a rubber material to protect the string 405 passing through the inside thereof. In addition, the compartment 404 may have a structure that is folded in the longitudinal direction so that the compartment can be folded to a minimum length when the UAV does not transport the material. Accordingly, when the UAV is landed on the ground, the length of the compartment 404 is kept shorter than the length of the landing portion 407 of the UAV so that the rope 405 is safely stored. Since the material and the structure of the storage part 404 are not wobbled by the wake, compared with the case where only the string 405 exists solely due to the wake effect of the blade of the UAV during the transportation of the UAV, UAV helps to find the gripping point accurately and fix it steadily. Referring to FIG. 4, it can be seen that when the material is transported, the storage portion 404 is deformed into the storage portion 406 having a flat structure.

 The string 405 is a means for connecting the annular portion 402 and the UAV 403, and is made of a material capable of supporting the weight of the material. The wire 405 may include an electric wire for transmitting an electrical signal to the UAV 403. In addition, the string 405 is made of a flexible material so that it can be wound or unwound according to a control command, and the roller means is rotated based on the control signal received from the UAV through the communication means of the UAV 403, Or released.

5 and 6 are views for explaining how a plurality of UAVs are used to fix and transport a material according to an embodiment of the present invention.

FIG. 5 shows a state in which the UAV starts flying after the fixing between the UAV and the material is completed, and FIG. 6 shows a case in which a plurality of UAVs transport one item. When the UAV is coupled to the gripping point 502 or 602a and 602b of the material and the fixing is completed, a signal indicating that the UAV is coupled is transmitted to the UAV through the UAV 501 or 601a and 601b. Then, the retention part of the fastening device is shaped like the storage part 406 shown in Fig. At this time, a string 405 is present in the storage part 406, so that even if the material is shaken during transportation, it can be absorbed by the string 405. Accordingly, it is possible to securely control the movement of the material even when there is movement of the material through the plurality of UAVs.

As described above, according to the fixing device, the system and the method of operating the transportation material using the UAV according to the embodiment of the present invention, when a plurality of UAVs are recognized to be fixed at a time of fixing the transportation goods, The material can be stably fixed to the UAV. Further, after the fixation of the transport material is completed, by implementing the device so as to be flexible, a plurality of unmanned aerial vehicles can be robustly controlled even if there is movement of the transport material during the flight to transport it.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, And may be modified, changed, or improved in various forms. Further, the method according to the present invention described herein can be implemented in software, hardware, or a combination thereof. For example, a method according to the present invention may be stored in a software program that can be stored in a storage medium (e.g., terminal internal memory, flash memory, hard disk, etc.) and executed by a processor May be implemented with embedded codes or instructions. .

400: material coupling part
401: UAV unit
402:
403: roller means
404, 406:
405: line

Claims (8)

A fixing device body;
A UAV coupled to one end of the main body and coupled to the UAV; And
And a material coupling unit provided at the other end of the main body and coupled to a grip point of the material,
Wherein the URI coupling unit recognizes the material transport information and transfers it to the material coupling unit and the UAV, and the material coupling unit connects the gripping point to the grip point based on the recognized material transport information. Device. The method according to claim 1,
The material coupling unit
A hook for connecting to a gripping point of the material; And
And a compartment formed in a structure in which a string connected to the material passes inside and is foldable in a longitudinal direction. 3. The method of claim 2,
The ring-
Wherein the at least one magnet is formed to have a structure that is automatically joined to the gripping point by magnetism when it is detected that the ring portion approaches the gripping point. 3. The method of claim 2,
[0027]
In the operation mode in which the material is not transported, it is folded to a predetermined minimum length,
Wherein when the loop unit is connected to the gripping point, the loop unit is extended in the longitudinal direction in an operation mode of transporting the material. 5. The method of claim 4,
Wherein the string housed in the compartment is made of a material capable of supporting the weight of the material and includes an electric wire capable of transmitting an electric signal to the UAV. The method according to claim 1,
The material transport information is displayed on the surface of the material,
Wherein the UAV is recognized through the camera and transferred to the UAV and the material coupling unit. The method according to claim 1,
The U-
Communication means for communicating with the UAV; And
And a roller means for unlocking or detecting a line connected to the material based on a control signal received from the unmanned aerial vehicle. A transport material showing the material transport information; And
And a master unmanned machine and a slave unmanned machine for cooperatively transporting the transportation material,
Wherein the master unmanned machine recognizes the material transport information and provides the transport information to the slave unmanned machine, wherein the master unmanned machine and the slave unmanned machine are equipped with the first and second fixed machines respectively,
Wherein the first and second fastening devices each include a U-shaped coupling part having one end coupled to each unmanned object and a material coupling part having the other end coupled to different gripping points of one transportation material. Material fixing system.
KR1020150057281A 2015-04-23 2015-04-23 Fixing apparatus and system of auto loading equip using a remotely piloted vehicle and operation method thereof KR101658471B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102316704B1 (en) * 2021-03-19 2021-10-26 주식회사 파블로항공 Method and apparatus for handling goods by a group of collaborating unmanned aerial vehicles

Citations (2)

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Publication number Priority date Publication date Assignee Title
JP2005263112A (en) * 2004-03-19 2005-09-29 Chugoku Electric Power Co Inc:The Carrying method by unmanned flying body
JP2008542085A (en) * 2005-05-04 2008-11-27 ロッキード・マーチン・コーポレーション Autonomous environmental control system and management method from after capture of unmanned aerial vehicle to before launch

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005263112A (en) * 2004-03-19 2005-09-29 Chugoku Electric Power Co Inc:The Carrying method by unmanned flying body
JP2008542085A (en) * 2005-05-04 2008-11-27 ロッキード・マーチン・コーポレーション Autonomous environmental control system and management method from after capture of unmanned aerial vehicle to before launch

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102316704B1 (en) * 2021-03-19 2021-10-26 주식회사 파블로항공 Method and apparatus for handling goods by a group of collaborating unmanned aerial vehicles
US11319069B1 (en) 2021-03-19 2022-05-03 Pablo Air Co., Ltd. Method and apparatus for handling goods by a group of collaborating unmanned aerial vehicles
US11873090B2 (en) 2021-03-19 2024-01-16 Pablo Air Co., Ltd. Method and apparatus for handling goods by a group of collaborating unmanned aerial vehicles

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