KR102597440B1 - Unmanned Aerial Vehicle Landing Guidance Device and Unmanned Aerial Vehicle Take-off and Landing System Including the Same - Google Patents

Abstract

Disclosed is an unmanned aerial vehicle landing guidance device and an unmanned aerial vehicle takeoff and landing system including the same.
According to one aspect of the present embodiment, a landing information transmitter that transmits information that allows an unmanned aircraft to land, a plurality of light sources disposed on the outer peripheral surface of the landing information transmitter and irradiate light in the visible light wavelength band to the outside, and each light source A landing guidance device is provided, which includes a shielding film disposed between the light source and the light source to prevent interference between light emitted from adjacent light sources.

Description

Unmanned Aerial Vehicle Landing Guidance Device and Unmanned Aerial Vehicle Take-off and Landing System Including the Same}

The present invention relates to an unmanned aerial vehicle landing guidance device and an unmanned aerial vehicle takeoff and landing system including the same.

The content described in this part simply provides background information on an embodiment of the present invention and does not constitute prior art.

An unmanned aerial vehicle (UAV) flies by remote control or autonomous flight control device without a pilot on board, and performs tasks that are difficult for humans to perform directly, such as reconnaissance, bombing, disaster prevention, emergency search, and radiation monitoring. It refers to an airplane that makes people's work, such as transporting cargo, more convenient. When performing a task, an unmanned aerial vehicle must reach an accurate destination, and after completing its task, it must land safely at the desired location.

The following methods are used for unmanned aircraft to take off and land. A method using GPS, a method using a vision sensor, a method using a laser range finder (LRF: LASER Ranger Finder), or a method using a self-position estimation algorithm are being used.

Among the above-mentioned methods, the method using GPS can easily find the approximate location of the destination, but has significant difficulties in accurately finding the location of the takeoff and landing site and landing accurately on the takeoff and landing site. Unlike the method using GPS, the method of using a vision sensor or the self-positioning algorithm can perform operations such as accurately locating the takeoff and landing site and accurately landing on the takeoff and landing site, but requires significant data processing. There is an inconvenience. On the other hand, the method of using a laser rangefinder can solve all the disadvantages of the above-mentioned methods, but there is a problem of increasing the burden on the flight distance of the unmanned aerial vehicle because additional equipment must be installed on the unmanned aerial vehicle.

Accordingly, there is a demand for a device or method to enable an unmanned aerial vehicle to accurately take off and land at an airfield.

The purpose of one embodiment of the present invention is to provide a landing guidance device that allows an unmanned airplane to take off and land safely without excessive data processing, and an unmanned airplane takeoff and landing system including the same.

According to one aspect of the present embodiment, a landing information transmitter that transmits information that allows an unmanned aircraft to land, a plurality of light sources disposed on the outer peripheral surface of the landing information transmitter and irradiate light in the visible light wavelength band to the outside, and each light source A landing guidance device is provided, which includes a shielding film disposed between the light source and the light source to prevent interference between light emitted from adjacent light sources.

According to one aspect of this embodiment, the landing information transmitter is characterized in that it includes an infrared light source that irradiates light in an infrared wavelength band.

According to one aspect of this embodiment, the landing information transmitter is characterized in that it generates a landing information signal capable of infrared communication by blinking the infrared light source.

According to one aspect of this embodiment, each light source is arranged to have an area greater than a preset standard value.

According to one aspect of this embodiment, each light source is characterized by having an area difference that is the same or less than a preset reference value.

According to one aspect of this embodiment, light in different wavelength bands is output between adjacent light sources facing an area greater than a preset standard value.

According to one aspect of this embodiment, the shielding film is characterized in that it is implemented in a form that protrudes vertically upward beyond a preset height.

According to one aspect of this embodiment, a space is secured to allow one or more unmanned airplanes to take off and land completely, and it includes a takeoff and landing pad and a landing guidance device for taking off and landing one or more unmanned airplanes, wherein the landing guidance device allows the unmanned airplane to land. a landing information transmitter that transmits information that allows the landing information to be transmitted, a plurality of light sources disposed on the outer circumferential surface of the landing information transmitter and irradiating light in the visible light wavelength band to the outside, and a plurality of light sources disposed between each light source and the light irradiated from adjacent light sources. It provides an unmanned aerial vehicle takeoff and landing system that includes a shielding film to prevent interference between devices, and the takeoff and landing pad includes a groove in which the landing guidance device can be placed.

According to one aspect of this embodiment, the takeoff and landing pad is characterized by including a protective plate that allows light to pass through the top of the groove.

According to one aspect of this embodiment, a space is secured so that one or more unmanned aerial vehicles can completely take off and land, the takeoff and landing equipment is recognized by photographing the external environment and the takeoff and landing site where one or more unmanned aerial vehicles take off and land, and the correct position of the takeoff and landing site is determined. It includes an unmanned aerial vehicle and a landing guidance device that analyze and take off and land at a fixed position at the airfield, wherein the landing guidance device is disposed on an outer peripheral surface of the landing information transmitting unit and the landing information transmitting unit that transmits information allowing the unmanned airplane to land. , a plurality of light sources that irradiate light in the visible light wavelength band to the outside and a shielding film disposed between each light source to prevent interference between lights irradiated from adjacent light sources, and the take-off and landing site is where the landing guidance device is installed. An unmanned aerial vehicle takeoff and landing system is provided, characterized in that it includes a groove that can be used.

According to one aspect of this embodiment, the landing information transmitter is characterized in that it includes an infrared light source that irradiates light in an infrared wavelength band.

According to one aspect of this embodiment, the landing information transmitter is characterized in that it generates a landing information signal capable of infrared communication by blinking the infrared light source.

According to one aspect of this embodiment, each light source is arranged to have an area greater than a preset standard value.

As described above, according to an embodiment of the present invention, there is an advantage of allowing an unmanned aerial vehicle to take off and land safely without excessive data processing.

1 is a diagram illustrating the configuration of an unmanned aerial vehicle takeoff and landing system according to an embodiment of the present invention.
Figure 2 is a cross-sectional view of the takeoff and landing pad and landing guidance device according to an embodiment of the present invention.
Figure 3 is a diagram showing the configuration of a landing guidance device according to an embodiment of the present invention.
Figure 4 is a diagram illustrating a process in which an unmanned aerial vehicle recognizes a landing guidance device and adjusts its direction according to an embodiment of the present invention.
Figure 5 is a diagram illustrating a process in which an unmanned aerial vehicle recognizes a landing guidance device and determines its correct position according to an embodiment of the present invention.
Figure 6 is a diagram illustrating light output during bad weather from a landing guidance device according to an embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention. While describing each drawing, similar reference numerals are used for similar components.

Terms such as first, second, A, and B may be used to describe various components, but the components should not be limited by the terms. The above 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 power means element, and similarly, the power means element may also be referred to as a first component. The term and/or includes any of a plurality of related stated items or a combination of a plurality of related stated items.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "include" or "have" should be understood as not precluding the existence or addition possibility of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification. .

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains.

Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

Additionally, each configuration, process, process, or method included in each embodiment of the present invention may be shared within the scope of not being technically contradictory to each other.

FIG. 1 is a diagram showing the configuration of an unmanned airplane takeoff and landing system according to an embodiment of the present invention, and FIG. 2 is a diagram showing a cross section of a takeoff and landing pad and a landing guidance device according to an embodiment of the present invention.

Referring to Figures 1 and 2, the unmanned aerial vehicle takeoff and landing system 100 according to an embodiment of the present invention includes an unmanned aerial vehicle 110, a takeoff and landing pad 120, and a landing guidance device 130.

The unmanned aerial vehicle 110 recognizes the takeoff and landing site 120 by photographing the external environment, analyzes the position through simple data processing, and takes off and lands at the exact location of the takeoff and landing site 120. The unmanned aerial vehicle 110 includes all devices that fly on their own without a pilot on board, and a representative example is a drone. When information about the destination is input during the first flight, the unmanned aerial vehicle 110 flies to the destination on its own, determines whether it has arrived at the destination, and performs a landing. However, the unmanned aircraft 110 is not necessarily limited to operating in this way, and performs wireless communication with its own control device (not shown), receives flight control signals from the control device (not shown), or receives flight control signals from the takeoff and landing site (120). ) may operate in the form of transmitting data necessary for landing at the correct location to a control device (not shown). Hereinafter, for convenience, the description will be limited to the self-judgment and processing within the unmanned aerial vehicle 110, but it is not necessarily limited to this.

The unmanned aerial vehicle 110 photographs the external environment. The unmanned aerial vehicle 110 includes a photographing unit and photographs the external environment. In particular, when the unmanned aerial vehicle 110 approaches the destination, it photographs the landing guidance device 130. The unmanned aerial vehicle 110 analyzes the video captured by the landing guidance device 130 to determine whether it is located at the top of the landing position (vertical) within the take-off and landing pad 120. At this time, depending on the structural characteristics of the landing guidance device 130, it is possible to analyze whether the unmanned aerial vehicle 110 is located at the top of the landing position within the takeoff and landing site 120 without excessive data processing. When the unmanned aerial vehicle (110) recognizes that it is located at the top of the landing position within the take-off and landing field (120), it lands at the fixed position of the take-off and landing field (120).

The unmanned aerial vehicle 110 can capture light in the near-infrared wavelength band (1500 to 1900 nm) when photographing the external environment in preparation for bad weather. Although the weather is suitable for the unmanned aerial vehicle 110 to fly, there may be weather in which visibility is poor due to rain or fog. In this case, the unmanned aerial vehicle 110 may not be able to completely capture the landing guidance device 130, which may cause difficulty in landing at the correct location of the landing pad 120. To prepare for this situation, the unmanned aerial vehicle 110 can capture not only light in the visible light wavelength band but also light in the near-infrared wavelength band when photographing the external environment. The unmanned aerial vehicle 110 can acquire both images in the visible light wavelength band and images in the near-infrared wavelength band by sequentially or alternately taking pictures at preset intervals. During bad weather, the unmanned aerial vehicle 110 analyzes the exact position of the takeoff and landing site 120 by analyzing images according to the near-infrared wavelength band rather than images according to the visible light wavelength band.

The takeoff and landing field 120 secures space for one or more unmanned aerial vehicles 110 to take off and land completely, allowing one or more unmanned aerial vehicles 110 to take off and land.

A landing guidance device 130 is disposed at each point where the unmanned aircraft 110 takes off and lands within the takeoff and landing field 120, especially at the bottom of the fixed position. As shown in FIG. 2, the takeoff and landing site 120 includes grooves in which the landing guidance device 130 can be placed at each point (fixed position) where the unmanned aerial vehicle 110 takes off and lands. A protective plate 125 is formed at the top of the groove to allow light to pass through, so that the unmanned aerial vehicle 110 recognizes the landing guidance device 130 from vertically above, and follows the landing guidance device 130 to the takeoff and landing field 120. ) so that it can land at each correct location.

The landing guidance device 130 is placed at each of the above-mentioned positions and irradiates light to the outside. The landing guidance device 130 irradiates light with a certain pattern without mutual interference, so that after the unmanned aerial vehicle 110 photographs itself, it detects the relative position or direction of the drone 110 and the correct position of the takeoff and landing site without complex data processing. to enable analysis.

The landing guidance device 130 also irradiates light in the visible light wavelength band and light in the near-infrared wavelength band sequentially or alternately at preset intervals in preparation for normal times and bad weather. Accordingly, the unmanned aerial vehicle 110 can analyze the relative position or direction deviation between itself and the correct position of the takeoff and landing site under any circumstances.

The specific structure of the landing guidance device 130 will be described with reference to FIGS. 3 and 6.

FIG. 3 is a diagram illustrating the configuration of a landing guidance device according to an embodiment of the present invention, and FIG. 6 is a diagram illustrating light output from a landing guidance device according to an embodiment of the present invention during bad weather.

Referring to FIG. 3, the landing guidance device 130 according to an embodiment of the present invention includes a landing information transmitter 310, first to fourth light sources 320 to 329, a shield 330, and a control unit (not shown). Includes. Furthermore, referring to FIG. 6 , the landing guidance device 130 may further include guidance light sources 610 to 619.

The landing information transmitter 310 includes a light source that radiates light in the infrared wavelength band and transmits information that allows the unmanned aerial vehicle 110 to land. The landing information transmitter 310 generates a landing information signal capable of infrared communication by blinking the light source. The landing information signal may include whether or not to land, the ID or location of the user (landing guidance device or take-off and landing site), etc. The landing information transmitter 310 transmits this landing information to the outside using the infrared wavelength band. In particular, the landing information transmitter 310 is located at the center of the landing guidance device 130 and transmits landing information to the outside.

The first to fourth light sources 320 to 329 are arranged on the outer peripheral surface of the landing information transmitter 310 in a form that surrounds the landing information transmitter 310, and irradiate light in the visible light wavelength band to the outside. The first to fourth light sources 320 to 329 have the same or similar areas and are arranged to have an area that is at least greater than a preset reference value. As shown in FIG. 3, when four light sources are arranged in the landing guidance device 130, each light source is arranged in a fan shape with the same or similar area.

At this time, each light source 320 to 329 outputs light of different wavelength bands between adjacent light sources facing at least a certain area. For example, when the first light source 320 outputs light in a green wavelength band, the second light source 323 outputs light in a white wavelength band, and the fourth light source 329 outputs light in a red wavelength band. You can. The third light source 326 may output light in a different wavelength band than all of the first light source 320, the second light source 323, and the fourth light source 329, and may output light in the same wavelength band as the first light source 320. Light can also be output. That is, each light source 320 to 329 does not output light in the same wavelength band, at least among adjacent light sources.

When each of the light sources 320 to 329 outputs light in a constant (preset) wavelength band, the unmanned aerial vehicle 110 detects the communication between itself and the landing guidance device 130 just by photographing the landing guidance device 130. Relative directions can be determined. This decision process is illustrated in Figure 4.

Figure 4 is a diagram illustrating a process in which an unmanned aerial vehicle recognizes a landing guidance device and adjusts its direction according to an embodiment of the present invention.

As shown in FIG. 4B, when the unmanned aerial vehicle 110 is located in a direction (forward direction) that matches the direction of the landing guidance device 130, each light source 320 to 329 in the landing guidance device 130 is arranged. An image of the same shape as the image taken is captured.

On the other hand, when the unmanned aerial vehicle 110 is located deviated from the direction (forward direction) that matches the direction of the landing guidance device 130, each light source 320 to 329 in the landing guidance device 130 is positioned at a certain angle from the arranged shape. An image in a distorted form is captured. As shown in FIG. 4A, when the unmanned aerial vehicle 110 is rotated from the forward direction to the right, the captured image is also tilted to the right by a certain angle. Meanwhile, as shown in FIG. 4C, when the unmanned aerial vehicle 110 is rotated from the forward direction to the left, the captured image is also tilted to the left by a certain angle.

Referring again to FIG. 3, each light source 320 to 329 outputs light of a certain (preset) wavelength band, so that the unmanned aerial vehicle 110 can analyze how far it has deviated from the forward direction without excessive data processing. You can.

Although FIG. 3 shows four light sources being arranged, it is not necessarily limited to this. Since the unmanned aerial vehicle 110 can determine the direction, at least two light sources must be included in the landing guidance device 130.

The shielding film 330 is disposed between each light source to prevent interference of light emitted from adjacent light sources. The shielding film 330 is disposed between each light source at least as much as the area where adjacent light sources come into contact with each other, and is implemented in a form that protrudes vertically upward by more than a preset height. The shielding film 330 is made of a material that does not transmit light, so that the lights emitted from each light source 320 to 329 do not interfere with each other. In FIG. 3, the four light sources are arranged in a 十 shape, but as the number and arrangement of the light sources change, the arrangement of the shielding film 330 also changes.

As the shielding film 330 prevents interference between lights emitted from adjacent light sources, the unmanned aerial vehicle 110 determines its relative position with the landing guidance device 130 as the center even by simply photographing the landing guidance device 130. can be figured out. This decision process is illustrated in Figure 5.

Figure 5 is a diagram illustrating a process in which an unmanned aerial vehicle recognizes a landing guidance device and determines its correct position according to an embodiment of the present invention.

As shown in FIG. 5A, the unmanned aerial vehicle 110 may not be located vertically above the landing guidance device 130 (the correct position of the takeoff and landing pad). When the unmanned aerial vehicle 110 photographs the landing guidance device 130 at the corresponding location, the light output from the light source (illustrated by 323 in FIG. 5A) at the specific location may be completely photographed. However, since the shielding film 330 (in the form of protruding vertically upward above a preset height) exists, the light output from the light source (illustrated by 320 in FIG. 5A) adjacent to the light source 323 is transmitted through the shielding film 330. An area (A) is created that is shielded by . Accordingly, a problem occurs in which the light output from the corresponding light source 320 cannot be completely photographed.

In this way, the unmanned aerial vehicle 110 analyzes the captured image and moves so that the light output from each light source has an intact area, as shown in FIG. 5B. When the unmanned aerial vehicle 110 moves in this way, it can simply move its position to the exact position of the takeoff and landing site 120 without excessive data processing, such as in-depth analysis of its absolute position or the exact position of the takeoff and landing site 120 in the image. there is.

Referring again to FIGS. 3 and 6, the landing guidance device 130 may further include guidance light sources 610 to 619. Unlike each of the light sources 320 to 329, the guided light sources 610 to 619 radiate light in the near-infrared wavelength range. The guidance light sources 610 to 619 are arranged in each direction of the shielding film 330 with the landing information transmitting unit 310 as the center. One or more guidance light sources 610 to 619 are arranged in each direction of the shield 330, and the same number of guidance light sources are arranged in each direction, and are positioned at equal distances from each other around the landing information transmitter 310. are placed respectively. As the guidance light sources 610 to 619 are arranged as described above along each direction of the shielding film 330 with the landing information transmitting unit 310 as the center, the unmanned aerial vehicle 110 is configured to follow the structure of the shielding film 310 or the shielding film 310. ) can be analyzed according to the arrangement of each light source (320 to 329). This is useful when it is difficult for the unmanned aerial vehicle 110 to fully recognize the light in the visible light wavelength band output from each light source 320 to 329 due to the influence of weather. Since the guided light sources 610 to 619 output light in the near-infrared wavelength band, during bad weather, the unmanned aircraft 110 photographs and analyzes the light output from the guided light sources 610 to 619 to determine the structure of the shielding film 310. Alternatively, the arrangement of each light source 320 to 329 can be analyzed according to the arrangement of the shielding film 310. Accordingly, the unmanned aerial vehicle 110 can analyze how far it has deviated from the correct direction and its relative position with the normal position of the takeoff and landing pad.

The control unit (not shown) controls the above-described operations of each component within the landing guidance device 130.

The above description is merely an illustrative explanation of the technical idea of the present embodiment, and those skilled in the art will be able to make various modifications and variations without departing from the essential characteristics of the present embodiment. Accordingly, the present embodiments are not intended to limit the technical idea of the present embodiment, but rather to explain it, and the scope of the technical idea of the present embodiment is not limited by these examples. The scope of protection of this embodiment should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of rights of this embodiment.

100: Unmanned aircraft takeoff and landing system
110: drone
120: Takeoff and landing pad
130: landing guidance device
310: Landing information transmitter
320, 323, 326, 329: Light source
330: shielding film
610, 613, 616, 619: Inductive light source

Claims (13)

delete delete delete delete delete delete delete delete delete An airfield for taking off and landing one or more unmanned aerial vehicles by securing space for one or more unmanned aerial vehicles to take off and land completely;
An unmanned aerial vehicle that recognizes the take-off and landing site by photographing the external environment, including a photographing unit, analyzes the position of the take-off and landing site, and takes off and lands at the exact location of the take-off and landing site; and
Including landing guidance devices,
The landing guidance device is,
A landing information transmitter that generates a landing information signal capable of infrared communication, including an infrared light source that irradiates light in the infrared wavelength band, and transmits information that allows the unmanned aircraft to land;
A plurality of light sources disposed on the outer peripheral surface of the landing information transmission unit and irradiating light in the visible light wavelength band to the outside;
A shielding film disposed between each light source to prevent interference between light emitted from adjacent light sources; and
It is disposed in each direction of the shield centered on the landing information transmitter and includes a plurality of guided light sources that irradiate light in a near-infrared wavelength band,
The take-off and landing pad includes a groove in which the landing guidance device can be placed,
The landing information signal includes whether to land, your own ID, or your own location information,
Each light source is arranged to have an area greater than a preset standard value, but is the same as each other or has an area difference less than the preset standard value, and outputs light in different wavelength bands between each adjacent light source facing at least a preset area or more,
The shielding film is disposed between each light source at least as much as the area where adjacent light sources come into contact with each other, and is implemented in a form that protrudes vertically upward by more than a preset height,
The unmanned aerial vehicle analyzes the image taken of itself and moves the light output from each light source so that it has an intact area, so that it can move to the correct location on the takeoff and landing site,
When photographing the external environment, the unmanned aerial vehicle captures not only light in the visible light wavelength band but also light in the near-infrared wavelength band sequentially or alternately at preset intervals, thereby capturing both images according to the visible light wavelength band and images according to the near-infrared wavelength band. acquire,
The take-off and landing pad includes grooves where the landing guidance device can be placed at each point where the unmanned airplane takes off and lands, and a protective plate is formed at the top of the groove to allow light to pass through, so that the unmanned airplane flies from vertically upward. The landing guidance device must be recognized, and the landing guidance device can be used to land at each correct location on the airfield,
The landing guidance device irradiates not only light in the visible light wavelength band but also light in the near-infrared wavelength band sequentially or alternately at preset intervals,
When the unmanned aerial vehicle is located in a direction that matches the direction of the landing guidance device, an image of the same shape as the shape of each light source in the landing guidance device is captured, while the unmanned aerial vehicle is located in the direction of the landing guidance device. If it is located deviated from the direction that matches, an image deviated by a preset angle from the arrangement of each light source in the landing guidance device is taken,
As the shielding film prevents interference between lights emitted from adjacent light sources, the unmanned aerial vehicle can determine its relative position with respect to the landing guidance device by simply photographing the landing guidance device,
One or more guidance light sources are arranged in each direction of the shield, with the same number of guidance light sources being arranged in each direction, and each being placed at an equal distance away from each other around the landing information transmitter, so that the unmanned An unmanned aerial vehicle takeoff and landing system, characterized in that it allows the airplane to analyze the structure of the shield or the arrangement of each light source according to the arrangement of the shield.





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