KR101884402B1 - Unmaned aerial vehicle accuracy landing system - Google Patents

Abstract

The present invention is based on the finding that a slope value of a cable connected to a point of a moving vehicle and a point of a unmanned aerial vehicle in flight through both ends are derived through an attitude sensor mounted on a UAV, By deriving the relative position information of the unmanned airplane in flight, it is possible to adjust the position of the unmanned airplane in flight to be perpendicular to the position of the moving vehicle, and by applying a tension to the cable to pull the unmanned airplane in flight, Lt; / RTI >
The present invention provides a wired unmanned aerial vehicle system comprising a wingless unmanned aerial vehicle for carrying out mission and a vehicle for supplying power to a unmanned airplane through a cable and a landing point formed at one point, And a second satellite navigation device provided at one side of the unmanned airplane and measuring second position data and a second satellite navigation device provided at a lower end of the unmanned airplane and having a tilt value of the cable And a ground control device mounted on the vehicle and controlling the unmanned aerial vehicle.

Description

Unmanned aerial vehicle accuracy landing system

The present invention relates to a system for precisely landing an unmanned airplane capable of carrying out missions while staying in the air for a long period of time by supplying power required for flight and operation of electronic equipment to a moving vehicle and, more particularly, The inclination value of a cable to which both ends are respectively connected to one point of the moving vehicle and one point of the unmanned airplane in flight is derived through the mounted sensor and the relative position of the unmanned airplane The present invention relates to a system for precisely landing on a moving vehicle by pulling the unmanned airplane in flight by adjusting the position of the unmanned airplane in flight to be perpendicular to the position of the moving vehicle, .

Korean Unexamined Patent Publication No. 10-2013-0119633 entitled "Wired Unmanned Aerial Vehicle System" proposes an invention relating to a unmanned aerial vehicle system in which power required for operation of flight and electronic equipment is supplied from the ground, .

However, in the above invention, there is no description about the landing method of the UAV that is in normal operation, and only the method of recognizing the landmark installed at the landing point at the time of emergency landing and performing landing at the correct landing point is described Only.

An invention relating to an induction system for precise landing guidance of a conventional manned or unmanned aerial vehicle is disclosed in Korean Patent Laid-Open Publication No. 10-2015-0019771 entitled " Method and System for Landing Unmanned Aircraft ", and Korean Patent Publication No. 10-2015-0034031 A helicopter landing guidance system has been proposed and disclosed.

In Korean Patent Laid-Open Publication No. 10-2015-0019771, the "method and system for landing the unmanned airplane", a plurality of vision sensors installed around the landing point recognize the target installed on the aircraft, A method and system for landing an aircraft at a precise point using relative position values has been proposed, and Korean Patent Laid-Open Publication No. 10-2015-0034031 entitled "Helicopter Landing Guidance System" A system for controlling a landing posture of a helicopter by lifting a net is proposed.

However, the above-mentioned inventions relate to a system for accurately guiding and landing an aircraft at a fixed landing point or controlling a landing attitude of an airplane that has already approached a landing point. As a result, It is difficult to apply the system in a situation where an aircraft in flight to an unstable landing point must be guided to perform a precise landing.

Accordingly, there is a need for an accurate landing system capable of precisely landing a flying aircraft at a landing point in a narrow space provided in a moving vehicle.

Korean Patent Laid-Open Publication No. 10-2013-0119633 (Mar. 11, 2013) Korean Patent Publication No. 10-2015-0019771 (Feb. 25, 2015) Korean Patent Publication No. 10-2015-0034031 (Feb.

The precision landing system of the unmanned aerial vehicle according to the present invention is a technique proposed to solve the above problems of the prior art,

The purpose of the present invention is to provide a solution to this problem, because a method or system capable of accurately landing an aircraft in flight to a landing point in an unstable state due to a constant change in position is being proposed .

In order to realize the above-mentioned object, the unmanned aerial vehicle precise landing system according to the present invention,

A wired unmanned aerial vehicle system comprising a vehicle having a power supply source for supplying electric power to the unmanned airplane through an unmanned airplane and a cable for performing a mission in flight, the system comprising: A first satellite navigation device in which the first satellite navigation device is measured; A second satellite navigation device provided at one side of the unmanned air vehicle and in which second position data is measured; An attitude sensor mounted on a lower end of the unmanned aerial vehicle and measuring a tilt value of the cable; A ground control device mounted on the vehicle, for controlling the unmanned airplane; The present invention provides a precision landing system for an unmanned aerial vehicle.

In the unmanned aerial vehicle precise landing system according to the present invention,

A tilt value of a cable to which both ends are respectively connected to one point of the moving vehicle and one point of the unmanned airplane in flight through the attitude sensor mounted on the unmanned airplane is derived and the position of the moving vehicle measured by the first satellite navigation device The position of the unmanned airplane in flight can be adjusted so as to be perpendicular to the position of the moving vehicle by providing the relative position information of the unmanned airplane in flight to the second satellite navigation device on the basis of the information, By pulling the aircraft, it is possible to obtain an effect of precisely landing on a moving vehicle.

FIG. 1 is an overall configuration diagram of a precise landing system of an unmanned aerial vehicle according to the present invention. FIG.
FIG. 2 (a) to FIG. 2 (b) are diagrams illustrating an embodiment of an attitude sensor provided in the unmanned aerial vehicle precision landing system according to the present invention.

The present invention relates to a system for precisely landing an unmanned airplane (UAV) on a moving vehicle, the UAV being supplied with power required for flight and operation of electronic equipment and capable of performing a mission for a long period of time in the air,

A wired unmanned aerial vehicle system comprising a vehicle (120) having a power source for supplying electric power to the UAV (100) through a UAV (100) and a cable (110) A first satellite navigation device (not shown) provided at one side of the vehicle 120 and measuring first position data; A second satellite navigation apparatus (not shown) provided at one side of the UAV 100 and measuring second position data; An attitude sensor 130 mounted on a lower end of the UAV 100 to measure a tilt value of the cable 110; A ground control device (not shown) mounted on the vehicle 120 and controlling the UAV 100; And more particularly to a precision landing system for an unmanned aerial vehicle.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1, the unmanned aerial vehicle precise landing system according to the present invention includes an unmanned aerial vehicle for performing a mission and a vehicle 110 having a power source for supplying electric power to the unmanned air vehicle through a cable 110, (Not shown).

Generally, an unmanned airplane (UAV) refers to both a fixed-wing aircraft and a flywheel aircraft flying under the control of a ground control device. However, the UAV 100 according to the present invention is connected to the ground vehicle 120 through a cable 110 A fixed-wing aircraft which is difficult to control the distance from the vehicle 120 is not suitable and is specified as a wing-wing aircraft capable of adjusting the distance from the vehicle 120 and capable of stopping flight .

Accordingly, the UAV 100 includes a plurality of rotors for flight, a navigation device for changing the direction, posture, and position of the UAV 100, an observation device that can be variously configured to fit the purpose, A control unit for receiving the flight control signal transmitted from the ground control equipment and transmitting the observation information acquired by the observation equipment to the ground control equipment on the ground, the navigation unit, the observation unit, and the control unit for controlling the communication unit And the like.

In addition, the vehicle 120 is equipped with a power supply device on which the ground control equipment is mounted and continuously supplies electric power to the UAV 100 via a cable 110, Is a component capable of extending the mission performance range of the mobile terminal 100.

In detail, the cable 110 is provided with a power line to transmit power supplied from the power supply unit to the UAV 100, and the UAV 100 may store power supplied from the power supply unit A rechargeable battery is provided.

That is, since the UAV 100 and the vehicle 120 are connected by the cable 110 at all times, the UAV 100 can control the cable 110 based on the current position of the vehicle 120, And the length of the cable 110 from the vehicle 120 is adjusted according to the position of the UAV 100. In this case,

Accordingly, the vehicle 120 may be provided with a winch part 150 for winding or unwinding the cable 110 to adjust the length of the cable 110. With the above-described configuration, (100) is continuously supplied with electric power from the power supply device and can perform a mission by flying for a long time.

Thereafter, it is desirable that the unmanned airplane 100, which has completed its mission or has been exhausted due to exhaustion of electric power stored in the power supply device, should be able to land safely on the ground. Further, It is desirable that the aircraft 100 should be easily recoverable.

Therefore, a landing point 140 on which the UAV 100 can land can be provided at one point of the vehicle 120.

The method for controlling the UAV 100 with the ground control equipment is a method of controlling the UAV 100 from the ground control equipment to the unmanned airplane 100 by landing the UAV 100 on the landing point 140 A signal may be transmitted to directly control the navigation device, and the UAV 100 may safely land at the landing point 140 manually by the user who controls the ground control device.

As another example of landing the UAV 100 on the landing point 140, a method of controlling the UAV 100 with the ground control equipment may include controlling the UAV 100 ) To drive the navigation device to operate automatically, and the unmanned airplane 100 can safely land at the landing point 140 automatically by the navigation device.

In order to automatically land the unmanned airplane 100 on the landing point 140 by driving the navigation device 100, the current position of the unmanned airplane 100 and the current position of the vehicle 120 are accurately determined, A method for matching the current position of the UAV 100 with the current position of the vehicle 120 may be used. For the implementation of this method, the unmanned aerial vehicle precision landing system according to the present invention includes And a first satellite navigation device provided at one side of the vehicle 120 and in which first position data, which is the current position of the vehicle 120, is measured.

The first satellite navigation device is a device generally called GPS (Global Positioning System), which receives a signal transmitted from a satellite and calculates a current position. The first satellite navigation device is mounted on the vehicle 120, ) And continuously generates the first position data therefrom.

Also, the unmanned aerial vehicle precise landing system according to the present invention includes a second satellite navigation device provided at one side of the UAV 100 and measuring second position data, which is the current position of the UAV 100 .

The second satellite navigation device may be configured by the same GPS device as the first satellite navigation device, but is not limited thereto. If the GPS device is capable of calculating the accurate current position of the UAV 100, Anything will be acceptable.

The second satellite navigation device is mounted on the unmanned airplane 100 to measure the current position of the unmanned airplane 100 and continuously generate second position data therefrom.

The first position data and the second position data are positional data necessary for precisely landing the UAV 100 on the moving or stationary state of the vehicle 120.

At this time, the first position data is data that becomes a reference point for landing the UAV 100 on the landing spot 140, and is data that can be continuously changed according to the movement of the vehicle 120, However, the second position data may be continuously changed according to the movement of the UAV 100, and may be changed to a coordinate value relative to the first position data.

Wherein the first position data is measured in the first satellite navigation device and the second position data is measured in the second satellite navigation device to accurately land the unmanned air vehicle (100) on the vehicle (120) The vehicle 120 is connected to the first satellite navigation device and the second satellite navigation device by radio or wire, and the first position data and the second position data are inputted and stored in the database 120 And an operation unit for calculating a position difference by comparing the first position data and the second position data with each other.

That is, the ground control device calculates the relative position of the UAV 100 with respect to the vehicle 120 based on the first position data.

The first position data and the second position data continuously input to the database are continuously compared in the computing unit to calculate the distance of the UAV 100 based on the position of the vehicle 120, The UAV 100 can narrow the distance to the vehicle 120 by using the calculation result of the calculation unit.

At this time, the transmission of the second position data and the result calculated by the calculation unit depends on communication between the ground control equipment and the communication device, and the ground control equipment is provided with a control unit for controlling the navigation device, The navigation device controls the navigation device so that the UAV 100 approaches the vehicle 120 by using the calculated result.

The precise landing system of the unmanned aerial vehicle according to the present invention includes an attitude sensor 130 mounted on a lower end of the unmanned aerial vehicle and measuring a tilt value of the cable 110.

If the first satellite navigation device and the second satellite navigation device fail to perform their functions, the posture sensor 130 may detect the position of the unmanned air vehicle 100 (100) instead of the first satellite navigation device and the second satellite navigation device ) Capable of precisely landing at the landing point (140) by measuring the inclined angle and direction of the cable (110) for supplying power from the power supply device to the UAV (100) The position of the vehicle 120 relative to the UAV 100 is determined.

2 (a) and 2 (b), one end of the cable 110 is connected to the lower end of the posture sensor 130, and the other end of the cable 110 is connected to the vehicle The attitude detector 130 is also inclined when an angle is formed in the cable 110 due to a change in position of the UAV 100 or the vehicle 120 .

Therefore, the posture sensor 130 is connected at one end to the lower end of the UAV 100 and at the other end to the upper end of the posture sensor 130, And a shaft.

In this case, the connecting shaft is preferably connected to the center of gravity of the UAV 100. However, when the center of gravity is formed inside the UAV 100, the center of gravity of the UAV 100 is positioned on a vertical line with the center of gravity, .

In addition, an IMU (Inertial Measurement Unit) including a gyroscope, a horizontal accelerometer and a vertical accelerometer is mounted in the inside of the posture sensor 130, and the inclination angle of the posture sensor 130 is measured It is possible.

The UAV 100 may measure the inclination angle and direction of the cable 110 by the attitude sensor 130 and measure the inclination angle and the direction of the cable 110 by using the attitude sensor 130. In this case, And then descend toward the vehicle 120 after changing the position thereof so that the angle of the vehicle 120 is vertical.

As a further embodiment of the unmanned aerial vehicle precision landing system according to the present invention, the UAV 100 may measure the angle and direction of the cable 110 by the attitude sensor 130, And then descend in a direction in which the vehicle 120 is positioned.

Thereafter, when the UAV 100 descends to approach the vehicle 120, the vehicle 120 may be in a moving state, and landing the UAV on the moving vehicle 120 may be performed at altitude Of flight control is required.

Therefore, the ground control equipment includes a winch control unit that rotates the winch unit 150 to generate tension on the cable 110 when the current altitude of the UAV 100 is within 2 meters .

The unmanned airplane 100 must overcome an unstable state due to wind or the like in order to approach the vehicle 120 and land at the landing point 140. The winch control unit rotates the winch unit 150 So as to support stable landing of the UAV 100 by attracting the UAV 100.

At this time, it is preferable that the UAV 100 should be able to land at the center of the landing point 140, and the cable 110 partially wound on the winch unit 150 is positioned at the landing point 140 and connects to one side of the UAV 100 to realize this effect.

Specifically, the cable 110, which is partially wound on the winch part 150, may pass through the center of the landing point 140 and be connected to the posture sensor 130.

The present altitude of the unmanned airplane 100 is less than 2 meters. The current altitude of the unmanned airplane 100 is less than 2 meters. The current altitude of the unmanned airplane 100 is not limited to the current altitude of the unmanned airplane 100, It means that the altitude is within 2 meters.

Therefore, the current altitude of the UAV 100 may be measured in consideration of the second position data before take-off of the UAV 100 and the current second position data of the UAV 100, And the second position data are all taken into consideration.

However, since the attitude sensor is a component provided in case that the first satellite navigation apparatus and the second satellite navigation apparatus fail to exhibit their functions, the attitude detector is provided with the altitude for measuring the current altitude It is preferable that a measuring device is separately provided.

The landing point 140 is provided with a shock absorber to mitigate an impact caused by the cable 110 pulling the UAV 100 when the UAV 100 is landed, 100 can be prevented from being damaged.

The embodiments described above are provided by way of example for the purpose of enabling a person skilled in the art to sufficiently transfer the technical idea of the present invention to a person skilled in the art, But may be embodied in other forms without limitation.

In order to clearly explain the present invention, parts not related to the description are omitted from the drawings, and in the drawings, the width, length, thickness, etc. of the components may be exaggerated or reduced for convenience.

Further, like reference numerals designate like elements throughout the specification.

100: Unmanned aircraft
110: Cable
120: vehicle
130: posture detector
140: Landing point
150: winch part

Claims (6)

A wired unmanned aerial vehicle system comprising a vehicle (120) having a power source for supplying electric power to the UAV (100) through a UAV (100) and a cable (110)
A first satellite navigation device provided at one side of the vehicle 120, the first satellite navigation device measuring first position data;
A second satellite navigation device provided at one side of the UAV 100 and measuring second position data;
An IMU which is mounted on the lower end of the UAV 100 and is composed of a gyroscope, a horizontal accelerometer and a vertical accelerometer is installed to detect the position of the vehicle 120 with respect to the UAV 100, An attitude sensor 130 for measuring a tilt value of the cable;
A ground control device (not shown) mounted on the vehicle 120 and controlling the UAV 100; , ≪ / RTI >
A landing point 140 on which the UAV 100 can land is provided at one point of the vehicle 120, A winch part 150 for winding or unwinding the cable is provided,
The ground control equipment comprises:
And a winch control unit (not shown) for rotating the winch unit 150 to generate tension on the cable when the current altitude of the UAV 100 is less than 2 meters. Landing system.
delete delete delete The method according to claim 1,
The ground control equipment comprises:
A database in which the first position data and the second position data are inputted and stored;
An operation unit for comparing the first position data and the second position data to calculate a position difference; And a control unit for controlling the operation of the control unit.
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