KR102220598B1 - Posture Maintaining Deck Lock Device For Flight Vehicle - Google Patents

Posture Maintaining Deck Lock Device For Flight Vehicle Download PDF

Info

Publication number
KR102220598B1
KR102220598B1 KR1020200167600A KR20200167600A KR102220598B1 KR 102220598 B1 KR102220598 B1 KR 102220598B1 KR 1020200167600 A KR1020200167600 A KR 1020200167600A KR 20200167600 A KR20200167600 A KR 20200167600A KR 102220598 B1 KR102220598 B1 KR 102220598B1
Authority
KR
South Korea
Prior art keywords
landing
roll
pitch
plate
aircraft
Prior art date
Application number
KR1020200167600A
Other languages
Korean (ko)
Inventor
정운규
홍승필
Original Assignee
(주)화인코왁
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by (주)화인코왁 filed Critical (주)화인코왁
Priority to KR1020200167600A priority Critical patent/KR102220598B1/en
Priority to JP2021027889A priority patent/JP7454246B2/en
Application granted granted Critical
Publication of KR102220598B1 publication Critical patent/KR102220598B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/50—Vessels or floating structures for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/14—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating inclination or duration of roll
    • 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
    • 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
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/007—Helicopter portable landing pads
    • 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
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/12—Anchoring
    • B64F1/125—Mooring or ground handling devices for helicopters
    • 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
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations installed for handling aircraft
    • B64F1/222—Ground or aircraft-carrier-deck installations installed for handling aircraft for storing aircraft, e.g. in hangars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/80—Transport or storage specially adapted for UAVs by vehicles
    • B64U80/84—Waterborne vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B64C2025/325—Alighting gear characterised by elements which contact the ground or similar surface  specially adapted for helicopters
    • B64C2201/205—
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/40—Weight reduction

Abstract

The present invention relates to a landing device (50), which is installed on a deck (101) of a ship (100), and allows an aircraft (40) to land thereon, and more particularly, to a posture maintaining landing device for an aircraft. The landing device (50) of the present invention comprises: a plate (51) for allowing an aircraft (40) to land thereon; and a posture adjusting unit (55) for adjusting the plate (51) in surge, heave, sway, roll, pitch, and yaw directions, and is positioned at a lower portion of the plate (51). An inertia measuring device is installed on an upper portion of the deck (101) to measure surge, heave, sway, roll, pitch, and yaw values of a ship (100). The plate (51) is controlled to be moved in a direction opposite to surge, heave, sway, roll, pitch, and yaw values of the ship.

Description

비행체를 위한 자세 유지 착함 장치 {Posture Maintaining Deck Lock Device For Flight Vehicle}Posture Maintaining Deck Lock Device For Flight Vehicle

본 발명은 비행체에 관한 것이며, 보다 상세하게는 비행체의 착함장치에 관한 것이다.The present invention relates to a vehicle, and more particularly, to a landing device of the vehicle.

일반적으로, 무인비행체의 이착륙은 육상 뿐만 아니라 해상인 배의 갑판 위에서 요구된다. 해상에서는 육상에 비해 파도와 바람에 의하여 배의 운동이 커지고 이로 인하여 이착륙은 어려운 조건에서 이루어진다. In general, take-off and landing of unmanned aerial vehicles is required on the deck of ships that are not only on land but also on sea. In the sea, the movement of the ship is increased by waves and wind compared to the land, and therefore, take-off and landing are performed under difficult conditions.

함상에서의 이착륙은 비행체가 배의 착륙대 위로 비행 후 호버링하면서 배의 운동을 파악하여 착륙하기 가장 최적 조건을 파악하고 착륙을 시도하며 비행체를 배 갑판에 고정시키기 위한 별도의 착함장치가 이용되며 이러한 착함 장치중 하나로 하푼- 그리드 시스템이 사용된다.For take-off and landing from the ship, a separate landing device is used to fix the aircraft to the deck of the ship by grasping the movement of the ship by hovering after flying over the ship's landing pad, grasping the most optimal conditions for landing, and attempting to land. One of the devices is the Harpoon-Grid system.

하푼- 그리드 시스템은 함상 착륙대에 원형 그리드를 설치하고 비행체가 착륙시 동체 하부에 설치된 하푼을 내려서 하푼의 걸쇠가 그리드에 고정을 하는 것으로 이로 인하여 비행체를 배에 고정을 시키는 방법이다.In the Harpoon-Grid system, a circular grid is installed on the ship's landing platform, and when the aircraft lands, the Harpoon's clasp is fixed to the grid by lowering the Harpoon installed under the fuselage. This is a method of fixing the aircraft to the ship.

그러나, 하푼이 그리드에 체결되면 비행체가 함상에 묶여있는 상태이기 때문에 파도에 의한 함상의 급격한 움직임이나 돌풍 등으로 비행체가 자세를 잃었을 때 자세 회복이 어렵고 추락 또는 함상과의 추돌 등의 사고로 이어질 수 있다. 또한 비행체에 탑제되는 하푼 장치 자체가 무겁기 때문에 비행체의 무게를 증가시켜 비행시간과 적재중량을 감소시킨다.However, if the harpoon is fastened to the grid, it is in a state that the aircraft is tied to the ship, so when the aircraft loses its posture due to sudden movement of the ship due to waves or a gust of wind, it is difficult to recover and lead to accidents such as a fall or a collision with the ship. have. Also, since the harpoon device mounted on the vehicle is heavy, it increases the weight of the vehicle and reduces flight time and loading weight.

공개 특허 제10-2015-0057619호 (2015.05.28)Publication Patent No. 10-2015-0057619 (2015.05.28) 공개 특허 제10-2018-0024720호 (2018.03.08)Publication Patent No. 10-2018-0024720 (2018.03.08)

본 발명은 함상 또는 차량 등과 같은 이동체 위에서 비행체가 수직으로 이착륙을 할 때 착함 장치 바닥면을 항상 수평으로 유지함으로서 비행체의 안정적인 이륙과 착륙을 용이하게 하며, 이착륙시점에 바닥의 움직임으로 발생 가능한 사고를 미리 방지하고자 한다.The present invention facilitates stable takeoff and landing of the aircraft by maintaining the bottom surface of the landing device horizontally when the aircraft takes off and lands vertically on a moving vehicle such as a ship or vehicle, and prevents accidents that may occur due to the movement of the floor at the time of takeoff and landing. I want to prevent it in advance.

또한 최근 다양한 산업현장과 군사 목적으로 무인기 사용이 급증하고 있는 추세인데, 무인기는 충분한 비행시간 확보를 위해 비행체의 무게를 최대한 줄여야 함으로 본 발명은 무인기에 추가적인 장치가 없이도 함상과 같은 이동체 위에 안정적인 이착륙을 가능하게 하고자 한다.In addition, the use of unmanned aerial vehicles is increasing rapidly in recent years for various industrial sites and military purposes. As the unmanned aerial vehicle has to reduce the weight of the aircraft as much as possible to secure sufficient flight time, the present invention enables stable take-off and landing on a moving vehicle such as a ship without an additional device. I want to make it possible.

본 발명은 배(100)의 갑판(101)에 설치되고 비행체(40)가 착륙하기 위한 착함 장치(50)에 있어서, 상기 착함 장치(50)는 비행체(40)가 착륙하기 위한 플레이트(51) 및 상기 플레이트(51)를 서즈, 히브, 스웨이(Surge, Heave, Sway)와 롤, 피치, 요(Roll, Pitch, Yaw) 방향으로 조정하며 상기 플레이트(51) 하부에 위치하는 자세 조정부(55)를 포함하고, 상기 갑판(101) 상부에는 관성 측정 장치가 설치되어 배(100)의 서즈, 히브, 스웨이(Surge, Heave, Sway)와 롤, 피치, 요(Roll, Pitch, Yaw) 값을 측정하고, 상기 플레이트(51)는 상기 배의 서즈, 히브, 스웨이(Surge, Heave, Sway)와 롤, 피치, 요(Roll, Pitch, Yaw) 값의 반대 방향으로 움직이도록 제어되는 것을 특징으로 하는 비행체를 위한 자세 유지 착함 장치에 관한 것이다.The present invention is installed on the deck 101 of the ship 100 and in the landing device 50 for landing the aircraft 40, the landing device 50 is a plate 51 for landing the aircraft 40 And a posture adjustment unit 55 located under the plate 51 by adjusting the plate 51 in the direction of the surge, heave, and sway and roll, pitch, and yaw (Roll, Pitch, Yaw). Including, and an inertial measuring device is installed on the upper part of the deck 101 to measure the values of the ship 100's sus, heave, and sway, and roll, pitch, and yaw (Roll, Pitch, Yaw). And, the plate 51 is an aircraft, characterized in that it is controlled to move in a direction opposite to the values of the ship's Surges, Heave, Sway (Surge, Heave, Sway) and Roll, Pitch, and Yaw (Roll, Pitch, Yaw) It relates to a good posture maintenance device for.

또한, 본 발명에서 상기 자세 조정부(55)는 5개의 축(55a, 55b, 55c, 55d, 55e)을 포함하고, 상기 상기 갑판(101) 상부에는 컨트롤 박스(70)가 설치되어 상기 관성 측정 장치가 측정한 배(100)의 서즈, 히브, 스웨이(Surge, Heave, Sway)와 롤, 피치, 요(Roll, Pitch, Yaw) 값을 기초로 상기 5개의 축(55a, 55b, 55c, 55d, 55e)을 제어할 수 있다.In addition, in the present invention, the posture adjustment unit 55 includes five axes (55a, 55b, 55c, 55d, 55e), and a control box 70 is installed above the deck 101 to measure the inertia. The five axes (55a, 55b, 55c, 55d, 55d, 55d, 55a, 55b, 55c, 55d, 55a, 55b, 55c, 55d, 55a, 55b, 55c, 55d, 55a, 55b, 55c, 55d, 55d, 55d, 55d, 55d, 55a, 55b, 55d 55e) can be controlled.

또한, 본 발명에서 상기 착함 장치는 플레이트(51) 상부에 위치하는 그물망(52) 및 상기 그물망(52)과 상기 플레이트(51)를 연결하는 연결 바(52a)를 포함하고, 비행체(40)는 랜딩 기어(41a, 41b, 41c, 41d), 상기 랜딩 기어(41a, 41b, 41c, 41d) 하부에 위치하는 후크(42a, 42b, 42c, 42d) 및 후크(42a, 42b, 42c, 42d) 상부에 위치하는 원판형 멈춤부(43a, 43b, 43c, 43d)를 포함하고, 상기 후크(42a, 42b, 42c, 42d)는 그물망(52) 아래에 위치하고 원판형 멈춤부(43a, 43b, 43c, 43d)는 그물망(52) 위에 위치할 수 있다.In addition, in the present invention, the landing device includes a mesh 52 positioned above the plate 51 and a connection bar 52a connecting the mesh 52 and the plate 51, and the flight vehicle 40 Landing gears (41a, 41b, 41c, 41d), hooks (42a, 42b, 42c, 42d) and hooks (42a, 42b, 42c, 42d) located below the landing gears (41a, 41b, 41c, 41d) It includes a disk-shaped stop (43a, 43b, 43c, 43d) located in, and the hooks (42a, 42b, 42c, 42d) are located under the net 52 and the disk-shaped stop (43a, 43b, 43c, 43d) may be located on the net 52.

본 발명에서는 함상의 비행체 이착륙이 이루어지는 바닥의 자세를 항상 수평으로 유지시켜서 비행체의 안전한 수직 이착륙을 용이하게 할 수 있다.In the present invention, it is possible to facilitate the safe vertical take-off and landing of the aircraft by always maintaining the posture of the floor on which the take-off and landing of the ship is performed.

또한, 본 발명에서 기존의 하푼 시스템과 같이 비행체에 하푼 장치를 장착하지 않으므로 비행체의 무게를 감량하여 비행 시간과 적재 중량을 증가시킬 수 있게 하였으며 이착륙시 위험 요소를 제거해줌으로서 사고를 예방할 수 있도록 하였다.In addition, in the present invention, since the harpoon device is not installed on the aircraft like the conventional harpoon system, it is possible to increase the flight time and loading weight by reducing the weight of the aircraft, and to prevent accidents by removing risk factors during take-off and landing. .

도 1는 함상에서의 운동 방향을 나타내는 개념도이다.
도 2는 본 발명 자세 유지 착함 장치의 제1 상태에 대한 도면이다.
도 3 내지 도 6은 본 발명 자세 유지 착함 장치의 제2 내지 제5 상태에 대한 도면이다.
도 7 내지 도 9는 은 본 발명에의 자세 유지 장치의 추가 특징에 대한 도면이다.1 is a conceptual diagram showing a movement direction on a ship.
Fig. 2 is a diagram of a first state of the present invention's posture maintenance fitter.
3 to 6 are diagrams for the second to fifth states of the present invention posture maintenance fitter.
7 to 9 are views for additional features of the posture maintaining device according to the present invention.

이하, 첨부된 도면을 참조하여 본 발명을 보다 상세히 설명한다.Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

첨부된 도면은 본 발명의 예시적인 형태를 도시한 것으로, 이는 본 발명을 보다 상세히 설명하기 위해 제공되는 것일 뿐, 이에 의해 본 발명의 기술적인 범위가 한정되는 것은 아니다.The accompanying drawings show exemplary forms of the present invention, which are only provided to describe the present invention in more detail, and thus the technical scope of the present invention is not limited thereto.

함상과 같은 이동체의 운동은 도 1과 같이 x축, y축, z축 각각에서의 왕복운동인 서즈, 히브, 스웨이(Surge, Heave, Sway)와 x축, y축, z축 각각을 중심으로 하는 회전 운동인 롤, 피치, 요(Roll, Pitch, Yaw)가 존재하여 총 6가지 방향의 운동 조합으로 움직인다. The motion of a moving object such as a ship is centered on each of the x-axis, y-axis, and z-axis as reciprocating motions such as surge, heave, and sway in the x-axis, y-axis and z-axis as shown in FIG. There are roll, pitch, and yaw (Roll, Pitch, and Yaw) which are rotating movements, and they move in a combination of motions in a total of six directions.

이때 비행체가 이륙 또는 착륙을 하는 시점에서 함상 바닥면의 앞뒤(Surge), 상하(Sway), 좌우(Heave) 방향의 왕복 움직임에 대해서는 상대적으로 대응하기가 용이하나, 롤(Roll), 피치(Pitch), 요(Yaw) 등의 회전 운동으로 바닥면의 각도와 방향이 변할 때 이착륙시 비행체가 이착륙장치 경계를 벗어나거나 함상이 비행체의 아래 부분과 충돌하여 비행체가 자세 제어 가능 범위를 벗어나 넘어지고 구를 수 있어 큰 사고를 일으킬 수 있다At this time, it is relatively easy to respond to reciprocating movements in the forward, backward (Surge), up-down (Sway), and left-right (Heave) directions at the time of take-off or landing of the aircraft, but Roll, Pitch ), when the angle and direction of the floor surface changes due to rotational movements such as yaw, etc., during take-off and landing, the vehicle moves out of the boundary of the take-off and landing device or the ship collides with the lower part of the vehicle, causing the vehicle to fall outside the range of posture control Can cause a big accident

이러한 문제점을 해결하기 위해 본 발명에서는 이동체인 배(100)에 설치되는 착함 장치(50)를 이동체인 배(100)가 회전하는 방향의 반대 방향으로 회전시켜서 착함장치의 플레이트(51)을 항상 정자세로 유지시켜 비행체의 안전한 이착륙을 보장한다.In order to solve this problem, in the present invention, the plate 51 of the landing device is always in a static position by rotating the landing device 50 installed on the mobile ship 100 in a direction opposite to the direction in which the mobile ship 100 rotates. To ensure safe takeoff and landing of the vehicle.

본 발명에서의 착함 장치(50)는 하부의 자세 조정부(55)를 포함하고, 상기 자세 조정부(55)는 5개의 축(55a, 55b, 55c, 55d, 55e)를 포함한다.In the present invention, the seating device 50 includes a lower posture adjustment unit 55, and the posture adjustment unit 55 includes five axes 55a, 55b, 55c, 55d, and 55e.

상기 착함 장치(50) 하부이고 배의 갑판(101)에 자이로센서, 가속도센서, 컴파스센서, 고도센서 등 또는 이들이 합쳐져 있는 IMU센서 (관성 측정 장치)를 장착하여, 배의 서즈, 히브, 스웨이(Surge, Heave, Sway)와 롤, 피치, 요(Roll, Pitch, Yaw) 값을 알아낸다.A gyro sensor, an acceleration sensor, a compass sensor, an altitude sensor, etc., or an IMU sensor (inertial measurement device) in which they are combined, is installed under the landing device 50 and on the deck 101 of the ship. Surge, Heave, Sway) and roll, pitch, yaw (Roll, Pitch, Yaw) values.

또한, 배의 갑판(101)에는 컨트롤 박스(70)가 설치되어 있어서 상기 IMU 센서 획득값 6축의 값을 이용하여 하부의 자세 조정부(55)에 제어 신호를 보내고 하부 자세 조정부(55)의 5개의 축(55a, 55b, 55c, 55d, 55e)의 작동에 의하여 착함 장치(50)의 플레이트(51)가 배의 운동방향에 대하여 반대 방향으로 움직이게 하여 지평선과 평행인 수평을 유지할 수 있도록 한다.In addition, a control box 70 is installed on the deck 101 of the ship, so that a control signal is sent to the lower attitude adjustment unit 55 using the value of the 6 axis of the IMU sensor acquisition value, and the five By the operation of the shafts 55a, 55b, 55c, 55d, 55e, the plate 51 of the landing device 50 moves in a direction opposite to the direction of movement of the ship, so that it can maintain a horizontal level parallel to the horizon.

따라서, 비행체(40)은 배의 움직에 상관 없이 수평을 유지하는 착함 장치(50)의 플레이트에 안전하게 착륙이 가능하다.Therefore, the aircraft 40 can safely land on the plate of the landing device 50 that maintains the level regardless of the movement of the ship.

또한, 도 7 내지 도 9는 본 발명의 또 다른 실시예로서, 플레이트(51)의 상부에는 그물망(52)이 설치되고, 상기 그물망(52)은 상기 플레이트(51)와 연결 바(52a)에 의하여 연결되며 비행체(40)는 그물방(52)에 착륙한다.In addition, Figures 7 to 9 is another embodiment of the present invention, a net 52 is installed on the upper portion of the plate 51, the net 52 is the plate 51 and the connection bar (52a). It is connected by means of the aircraft 40 lands in the net room (52).

비행체(40)의 랜딩 기어(41a, 41b, 41c, 41d)에는 후크(42a, 42b, 42c, 42d)가 설치되어, 비행체(40)가 그물망(52)에 착륙시 후크(42a, 42b, 42c, 42d)가 그물망에 걸려서 안정적으로 고정될수 있도록 한다. Hooks 42a, 42b, 42c, 42d are installed on the landing gears 41a, 41b, 41c, and 41d of the aircraft 40, and when the aircraft 40 lands on the net 52, the hooks 42a, 42b, 42c , 42d) is caught in the mesh so that it can be stably fixed.

또한, 상기 랜딩 기어(41a, 41b, 41c, 41d)에는 후크(42a, 42b, 42c, 42d) 상부에 원판형 멈춤부(43a, 43b, 43c, 43d)가 설치되어 후크(42a, 42b, 42c, 42d)는 그물망(52) 아래에 원판형 멈춤부(43a, 43b, 43c, 43d)는 그물망(52) 위에 위치하도록 하여 비행체가 그물망에 고정될 수 있게 한다.In addition, the landing gear (41a, 41b, 41c, 41d) has a disk-shaped stop (43a, 43b, 43c, 43d) on the top of the hooks (42a, 42b, 42c, 42d), the hooks (42a, 42b, 42c) , 42d) is a disk-shaped stop (43a, 43b, 43c, 43d) under the net 52 is positioned above the net 52 so that the aircraft can be fixed to the net.

이상에서 설명한 본 발명은 전술한 실시예 및 첨부된 도면에 의해 한정되는 것이 아니고, 본 발명의 기술적 사상을 벗어나지 않는 범위 내에서 여러 가지 치환, 부가 및 변경이 가능하다는 것이 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자에게 있어 명백할 것이다.The present invention described above is not limited by the above-described embodiments and the accompanying drawings, and various substitutions, additions, and changes are possible within the scope of the technical spirit of the present invention. It will be obvious to those of ordinary skill.

40: 비행체 50: 착함 장치
55: 자세 조정부 101: 갑판
100: 배40: vehicle 50: landing device
55: posture adjustment unit 101: deck
100: times

Claims (3)

배(100)의 갑판(101)에 설치되고 비행체(40)가 착륙하기 위한 착함 장치(50)에 있어서,
상기 착함 장치(50)는 비행체(40)가 착륙하기 위한 플레이트(51), 플레이트(51) 상부에 위치하는 그물망(52), 상기 그물망(52)과 상기 플레이트(51)를 연결하는 연결 바(52a) 및 상기 플레이트(51)를 서즈, 히브, 스웨이(Surge, Heave, Sway)와 롤, 피치, 요(Roll, Pitch, Yaw) 방향으로 조정하며 상기 플레이트(51) 하부에 위치하는 자세 조정부(55)를 포함하고,
상기 비행체(40)는 랜딩 기어(41a, 41b, 41c, 41d), 상기 랜딩 기어(41a, 41b, 41c, 41d) 하부에 위치하는 후크(42a, 42b, 42c, 42d) 및 후크(42a, 42b, 42c, 42d) 상부에 위치하는 원판형 멈춤부(43a, 43b, 43c, 43d)를 포함하고,
상기 후크(42a, 42b, 42c, 42d)는 그물망(52) 아래에 위치하고, 상기 원판형 멈춤부(43a, 43b, 43c, 43d)는 그물망(52) 위에 위치할 수 있는 것을 특징으로 하는 비행체를 위한 자세 유지 착함 장치.In the landing device 50 installed on the deck 101 of the ship 100 and for landing the aircraft 40,
The landing device 50 includes a plate 51 for landing the aircraft 40, a net 52 positioned above the plate 51, and a connection bar connecting the net 52 and the plate 51 ( 52a) and the plate 51 in the direction of Surg, Heave, Sway and Roll, Pitch, Yaw, and a posture adjustment unit located under the plate 51 ( 55),
The aircraft 40 is a landing gear (41a, 41b, 41c, 41d), hooks (42a, 42b, 42c, 42d) located under the landing gear (41a, 41b, 41c, 41d) and hooks (42a, 42b) , 42c, 42d) including a disc-shaped stop (43a, 43b, 43c, 43d) located on the upper,
The hook (42a, 42b, 42c, 42d) is located under the net (52), the disk-shaped stop (43a, 43b, 43c, 43d) is a flying vehicle, characterized in that it can be located on the net (52). For good posture maintenance. 제1항에 있어서,
상기 갑판(101) 상부에는 관성 측정 장치가 설치되어 상기 배(100)의 서즈, 히브, 스웨이(Surge, Heave, Sway)와 롤, 피치, 요(Roll, Pitch, Yaw) 값을 측정하고,
상기 플레이트(51)는 상기 배(100)의 서즈, 히브, 스웨이(Surge, Heave, Sway)와 롤, 피치, 요(Roll, Pitch, Yaw) 값의 반대 방향으로 움직이도록 제어되는 것을 특징으로 하는 비행체를 위한 자세 유지 착함 장치.The method of claim 1,
An inertia measuring device is installed on the deck 101 to measure the sus, heave, and sway (Surge, Heave, Sway) and roll, pitch, and yaw (Roll, Pitch, Yaw) values of the ship 100,
The plate 51 is characterized in that it is controlled to move in a direction opposite to the values of the boat 100's Surges, Heaves, Sway (Surge, Heave, Sway) and Roll, Pitch, and Yaw (Roll, Pitch, Yaw) values. Posture maintenance goodness device for aircraft. 제2항에 있어서,
상기 자세 조정부(55)는 5개의 축(55a, 55b, 55c, 55d, 55e)을 포함하고,
상기 갑판(101) 상부에는 컨트롤 박스(70)가 설치되어 상기 관성 측정 장치가 측정한 배(100)의 서즈, 히브, 스웨이(Surge, Heave, Sway)와 롤, 피치, 요(Roll, Pitch, Yaw) 값을 기초로 상기 5개의 축(55a, 55b, 55c, 55d, 55e)을 제어하는 것을 특징으로 하는 비행체를 위한 자세 유지 착함 장치.





The method of claim 2,
The posture adjustment unit 55 includes five axes 55a, 55b, 55c, 55d, 55e,
A control box 70 is installed on the upper part of the deck 101, and the surge, heave, sway and roll, pitch, and roll of the ship 100 measured by the inertial measuring device. Yaw) based on the value of the five axes (55a, 55b, 55c, 55d, 55e), characterized in that for controlling the posture maintenance landing device for a vehicle.
KR1020200167600A 2020-12-03 2020-12-03 Posture Maintaining Deck Lock Device For Flight Vehicle KR102220598B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020200167600A KR102220598B1 (en) 2020-12-03 2020-12-03 Posture Maintaining Deck Lock Device For Flight Vehicle
JP2021027889A JP7454246B2 (en) 2020-12-03 2021-02-24 Attitude sustaining landing system for aircraft

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020200167600A KR102220598B1 (en) 2020-12-03 2020-12-03 Posture Maintaining Deck Lock Device For Flight Vehicle

Publications (1)

Publication Number Publication Date
KR102220598B1 true KR102220598B1 (en) 2021-02-26

Family

ID=74687837

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020200167600A KR102220598B1 (en) 2020-12-03 2020-12-03 Posture Maintaining Deck Lock Device For Flight Vehicle

Country Status (2)

Country Link
JP (1) JP7454246B2 (en)
KR (1) KR102220598B1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113602517A (en) * 2021-08-24 2021-11-05 广东工业大学 Unmanned aerial vehicle sea surface recycling and charging platform and control method
KR102433902B1 (en) 2022-01-24 2022-08-18 주식회사 보라스카이 Landing station apparatus
KR20240000997A (en) 2022-06-24 2024-01-03 주식회사 테이슨 A bed for a drone
KR102657474B1 (en) 2023-01-11 2024-04-16 주식회사 포스웨이브 Drone landing device for ships

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115675900A (en) * 2022-11-04 2023-02-03 哈尔滨工程大学 Mobile carrier-based vertical take-off and landing unmanned aerial vehicle automatic leveling platform and leveling method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140115024A (en) * 2013-03-20 2014-09-30 김명호 Unmanned Aerial Vehicle Storage Device
KR20150057619A (en) 2013-11-20 2015-05-28 한국항공우주연구원 Means for take-off and landing of vertical take-off and landing miniature drone
KR20170059763A (en) * 2015-11-23 2017-05-31 한국항공우주연구원 Deck-landing apparatus for vertical takeoff and landing unmanned system and control method thereof
KR20180024720A (en) 2016-08-31 2018-03-08 (주)스톤레터 Means for take-off and landing of vertical take-off and landing miniature drone
KR20190008045A (en) * 2017-07-14 2019-01-23 경남대학교 산학협력단 Net type collection device Operable at Harsh Conditions for Safe Drone Landing
KR20200134802A (en) * 2019-05-23 2020-12-02 대우조선해양 주식회사 Ship having apparatus for estimating wave spectrum in real-time

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007011849B4 (en) * 2007-03-12 2009-02-26 Data M Software Gmbh Apparatus and method for bending flat semi-finished product to profile with variable over its length cross-section
KR101709812B1 (en) 2012-09-13 2017-02-23 한국전자통신연구원 Smart helipad for supporting landing of aircraft with capable of vertical take-off and landing, system including the smart helipad, and method of enabling the smart helipadng
KR20200079650A (en) * 2018-12-26 2020-07-06 홍승일 taking off and landing station for vertical takeoff and landing plane

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140115024A (en) * 2013-03-20 2014-09-30 김명호 Unmanned Aerial Vehicle Storage Device
KR20150057619A (en) 2013-11-20 2015-05-28 한국항공우주연구원 Means for take-off and landing of vertical take-off and landing miniature drone
KR20170059763A (en) * 2015-11-23 2017-05-31 한국항공우주연구원 Deck-landing apparatus for vertical takeoff and landing unmanned system and control method thereof
KR20180024720A (en) 2016-08-31 2018-03-08 (주)스톤레터 Means for take-off and landing of vertical take-off and landing miniature drone
KR20190008045A (en) * 2017-07-14 2019-01-23 경남대학교 산학협력단 Net type collection device Operable at Harsh Conditions for Safe Drone Landing
KR20200134802A (en) * 2019-05-23 2020-12-02 대우조선해양 주식회사 Ship having apparatus for estimating wave spectrum in real-time

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113602517A (en) * 2021-08-24 2021-11-05 广东工业大学 Unmanned aerial vehicle sea surface recycling and charging platform and control method
KR102433902B1 (en) 2022-01-24 2022-08-18 주식회사 보라스카이 Landing station apparatus
KR20240000997A (en) 2022-06-24 2024-01-03 주식회사 테이슨 A bed for a drone
KR102632997B1 (en) * 2022-06-24 2024-02-05 주식회사 테이슨 A bed for a drone
KR102657474B1 (en) 2023-01-11 2024-04-16 주식회사 포스웨이브 Drone landing device for ships
KR102657475B1 (en) 2023-01-11 2024-04-16 주식회사 포스웨이브 Drone landing device for ships with shock absorbing means
KR102657476B1 (en) 2023-01-20 2024-04-16 주식회사 포스웨이브 Drone landing system for ships with precision landing guidance

Also Published As

Publication number Publication date
JP7454246B2 (en) 2024-03-22
JP2022089126A (en) 2022-06-15

Similar Documents

Publication Publication Date Title
KR102220598B1 (en) Posture Maintaining Deck Lock Device For Flight Vehicle
JP6868253B2 (en) Aircraft and control method of air vehicle
RU2615587C9 (en) Method of accurate landing of unmanned aircraft
US8622336B2 (en) Stabilizer
US11155363B2 (en) Self-leveling launch and recovery platform for aerial vehicle and method of maintaining a level platform during launch and recovery
JP2008540217A (en) Unmanned aerial launch / capture platform supported by robots (Platform)
JP3175960B2 (en) Ship arrival guidance sensor system
SG182025A1 (en) Apparatus and method for launching and landing of aerial vehicles
KR20190111169A (en) Helideck
US11873099B2 (en) Load carrying assembly
KR20230076498A (en) Drone landing system for ship
CN114469612A (en) Ship medical operating table and control method thereof
CA3101109A1 (en) A load carrying assembly

Legal Events

Date Code Title Description
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant