KR102600816B1 - Drone station and method for battery charging and data transmission usong this station - Google Patents

Abstract

The present invention relates to a drone landing station and a method for charging and transmitting data to a drone using the same. The landing station includes a landing point marker displayed on one side of the landing zone so that a drone that has moved to landing coordinates can confirm the landing point through a camera. ; A charging and takeoff point marker that is displayed on the other side of the landing pad spaced a certain distance away from the landing point marker and allows the drone, which has descended from the sky above the landing point marker to a preset height, to recognize the charging/takeoff position after horizontal flight. ; The lower end is fixed to the landing pad and the upper portion is installed to be maintained at a certain height on the upper surface of the landing pad, so that the drone located on the top of the charging and takeoff point marker rises vertically and the first charging connector on the drone side is connected to the second charging device facing the ground. A second charging connector support provided with a connector; Elevating means provided on the second charging connector support to vertically lower the second charging connector while the first charging connector is connected to the second charging connector to land the drone on the charging and takeoff point marker; A power supply and data transmission cable connected to the second charging connector to transmit necessary data and battery charging power of the drone that has landed on the charging and takeoff point marker; It includes battery charging/data transmission control of the drone, landing/takeoff control of the drone and storage/management of received data, and a ground control device capable of communicating with a remote management server connected to an Internet network.

Description

Drone landing station and method for charging and data transmission of drone using the same {Drone station and method for battery charging and data transmission usong this station}

The present invention relates to a drone landing station and a method for charging and transmitting data to a drone using the same. More specifically, it provides a space for a drone that has completed a certain mission to land, and provides a space for the drone to land after landing and to charge the battery and perform the mission. This relates to a drone landing station configured to enable various data transmission remotely and a method of charging and transmitting data for a drone using the same.

The use of drones is gradually increasing in various industrial fields.

In particular, the use of drones is gradually increasing as mechanization and unmanned technology are accelerating in agricultural, forestry, and fishing fields where labor is scarce due to aging and a decline in the rural population.

In the agricultural field, in the process of cultivating large-scale rice fields and field crops, pest control work for various purposes is required from time to time to increase the production of cultivated products. In this agricultural field, rather than having workers directly spray pesticides, workers are required to control pesticides. Using drones for pesticide control, workers can quickly control large areas of farmland alone.

In addition, in the forestry and fishing fields, control drones are also used to control pests and diseases in forests or cage fish farms.

In addition, by adding various equipment to drones for the purpose of facility monitoring or malfunction monitoring in factories or solar power facilities, etc., rapid surveillance missions can be performed over a wide area, which not only replaces insufficient manpower but also provides efficient surveillance missions. Through this practice, we are contributing to improving work efficiency and preventing worker safety accidents.

Drones operated for various purposes are equipped with various electronic equipment, communication equipment, filming equipment, and other work equipment, and receive the necessary power from batteries mounted on the main body.

Therefore, the drone's mission performance ability is proportional to the flight time, and due to the limitations of the battery, the mission performance range is inevitably limited, and the battery must be replaced from time to time to rotate the wings and perform the functions of each part necessary for the drone's flight. The inconvenience of having to work or recharge a discharged battery is bound to arise.

In particular, in the case of remotely controlled drones, when leaving the work area and returning to a location where a remote manager is located to charge or replace the battery, the efficiency of battery use is further reduced and work efficiency is inevitably reduced.

In the conventional case, the manager had to perform the replacement or charging of the drone's battery directly, so there was a difficulty in that the manager had to be on standby when performing work using the drone.

Of course, various types of charging methods have been proposed as a way to more efficiently replace or charge the batteries generated in the operation of such conventional drones, but most of them provide embodiments that are abstract but difficult to operate in reality. In most cases it was.

- Patent Registration No. 10-1655874 (Registration Date: 2016.09.02) - Patent Registration No. 10-1707114 (Registration Date: 2017.02.09) - Patent Registration No. 10-1973842 (Registration Date: 2019.04.23)

The present invention is a drone landing station installed in the surrounding area where the drone performs its mission to induce a safe landing of the drone and to enable rapid charging and data transmission after landing to increase the operational efficiency of the drone, and a drone using the same. The purpose is to provide a charging and data transmission method.

In order to achieve the above-described object, the drone landing station according to the present invention includes a landing point marker displayed on one side of the landing zone so that the drone that has moved to the landing coordinates can confirm the landing point through a camera mounted on the main body; A charging and takeoff point marker that is displayed on the other side of the landing pad spaced a certain distance away from the landing point marker and allows the drone, which has descended from the sky above the landing point marker to a preset height, to recognize the charging/takeoff position after horizontal flight. ; The lower end is fixed to the landing pad and the upper portion is installed to be maintained at a certain height from the upper surface of the landing pad, so that the drone located at the top of the charging and takeoff point marker rises vertically and the first charging connector on the drone side is naturally connected to the second charging device facing the ground. A second charging connector support provided with a connector; Elevating means provided on the second charging connector support to vertically lower the second charging connector while the first charging connector is connected to the second charging connector to land the drone on the upper surface of the charging and takeoff point marking portion of the landing pad; A power supply and data transmission cable connected to the second charging connector through the second charging connector support to supply power for battery charging of the drone that lands on the charging and takeoff point marker and transmit data for drone flight control; Through the power supply and data transmission cable, the drone's battery charging and data transmission control, the transmission and reception of the drone's landing and takeoff signals and data transmission and reception control with the drone, the storage and management of the data received from the drone, and connection to the Internet network. It includes a ground control station (GCS) that can be remotely controlled through a remote management server.

In particular, a horizontal movement guide marker is further provided between the landing point marker and the charging and takeoff point marker so that the drone, which has descended from the sky above the landing point marker to a preset height, can fly horizontally toward the charging and takeoff point marker. The second charging connector elevating means descends when the first charging connector on the drone side and the second charging connector on the landing stand are maintained in a normal connection state, lands the drone on the upper surface of the landing point marker, and charges and data the drone's battery. It is preferable that the second charging connector is raised when transmission is completed and a takeoff signal is generated.

In addition, the second charging connector support has one end fixed to the landing pad and installed to be maintained at a certain height above the landing pad, and one end fixed to the vertical support and the other end disposed at a right angle to the vertical support. It consists of a horizontal support of a certain length on which a second charging connector is installed at the bottom, and when a landing signal of a drone is generated from the ground control device, one of the vertical support and the horizontal support is configured to connect the second charging connector to the charging and It is more desirable to have a structure that can be positioned above the take-off point marker, and when a take-off signal of the drone is generated, it can be rotated in either direction above the charging and take-off point marker to facilitate vertical take-off of the drone.

In addition, the first charging connector and the second charging connector are formed in a hemispherical shape so that the first charging connector enters the inside of the second charging connector and the inner and outer sides are in close contact with each other, and the first charging connector has a hemispherical shape. A plurality of circular band-shaped charging and data receiving terminals are formed on the outer circumferential surface, and the second charging connector is connected to the charging and data receiving terminal of the first charging connector on a hemispherical inner peripheral surface, so as to enable power supply and data transmission. It is structured with a circular band-shaped charging and data transmission terminal so that the first and second charging connectors can be connected naturally as the drone ascends.

In addition, at the center of the upper surface of the first charging connector, the charging and data transmission and reception terminals provided on the first charging connector and the second charging connector are naturally connected after the first charging connector enters the second charging connector, thereby allowing the drone A permanent magnet is provided for fixing the device to the second charging connector, and a concave permanent magnet insertion groove is formed at the center of the inner peripheral surface of the second charging connector to which the permanent magnet of the first charging connector is connected, and the inside of the insertion groove is formed as described above. An electromagnet is provided that generates a magnetic force opposing the magnetism of the permanent magnet by power applied according to a control signal from the ground control device, and a permanent magnet is attached to the outer surface of the electromagnet when the magnetic force of the electromagnet is not generated. It is desirable to have a configuration further provided with a metal plate.

In addition, the plurality of charging and data transmission terminals provided in the second charging connector are made of a plurality of spring pin terminals that protrude at a certain height and are pushed inward when the charging and data receiving terminal of the first charging connector is mated, Each of the plurality of spring pin terminals is provided with a voltage detection sensor that detects the battery voltage of the drone when the first charging connector is mated and sends a signal to the ground control device, and at least one voltage detection sensor among the plurality of voltage detection sensors If the voltage of the drone battery is not detected, the ground control device determines that the first charging connector and the second charging connector are connected in a mismatched state and repeats the sequence command to lower the flying drone and then raise it again. It is configured to control the matching state induction of the first charging connector and the second charging connector.

In addition, it is preferable that the charging and takeoff point marking portion of the landing zone is further equipped with a drone landing detection sensor that detects when the second charging connector descends and the drone lands and sends a signal to the ground control device.

Meanwhile, in order to achieve the above-described object, the charging and data transmission method using a drone landing station according to an embodiment of the present invention requires a drone equipped with a first charging connector at the top of the main body to charge the battery or maintain mutual communication status. Moving to the landing coordinates where the landing pad is installed in response to a return command from the ground control device; A step where the drone, which has moved to the landing coordinates, checks the landing point marker displayed on one side of the landing zone from the sky above the landing zone and descends to a preset altitude; The drone descends into the sky above the landing point marker, flies horizontally, finds the charging point marker marked on the other side of the landing zone, and locates itself above the charging point marker, then hangs on the second charging connector support installed at a certain height on one side of the landing zone. Step of rising downward to the charging connector; The drone rises above the landing point marker, and the first charging connector provided on the upper part of the main body enters the second charging connector, and then the electromagnet provided in the second charging connector and the permanent magnet provided in the first charging connector generate magnetic force. A first and second charging connector connecting step in which the first and second charging connectors are matched while being bonded by; When the first and second charging connectors are connected in a matching state, the flight of the drone is stopped by a signal from the ground control device, and the second charging connector is lowered to the upper surface of the landing pad, landing the drone on the upper surface of the landing point marker; A charging and data transmission step in which the drone's battery is charged through the second charging connector and the first charging connector according to a control signal from the ground control device that detects that the drone has landed on the landing point marker, and necessary data is transmitted; It includes a take-off standby step in which the drone is maintained in a standby state for takeoff after the drone's charging and data transmission are completed.

In addition, in the first and second charging connector connection steps, a sensor provided on the first charging connector determines whether the receiving terminal of the first charging connector is properly connected to the transmitting terminal of the second charging connector after the drone rises. In the first and second charging connector connection confirmation step identified by the ground control device through the first and second charging connector connection confirmation step, the receiving terminal of the first charging connector is properly connected to the transmitting terminal of the second charging connector. If this is not achieved, the first and second charging connector matching induction step of matching the connection status of the first charging connector and the second charging connector while repeating the step of the drone descending to the bottom of the second charging connector and rising again; includes; It is desirable to do so, and when a take-off signal of the drone is generated in the take-off standby stage, the second charging connector is separated from the first charging connector and rises to its original position for vertical flight of the drone, and then the second charging connector support is kept constant. A second charging connector separation and rotation step in which angle rotation is performed; It is more desirable to be configured to perform further.

The drone landing station according to the embodiment of the present invention described above is installed in the middle of a certain range where the drone works, and can charge the drone's battery and transmit and receive data unmanned, making it easy to work using the drone.

In particular, it can provide the advantage of allowing drones to be used in a variety of environments because managers can control the drone's flight and monitor work details remotely without having to directly visit the area where drone work is being performed.

1 is an overall configuration diagram of a drone landing station according to an embodiment of the present invention;
Figure 2 is an excerpt cross-sectional view of the first charging connector on the drone side and the second charging connector provided at the landing station;
Figures 3 to 5 are schematic diagrams of the process in which a flying drone returns to the landing station and lands;
Figure 6 shows a state in which the second charging connector support is rotated to the outside of the landing pad before the drone landed at the landing station takes off after charging and data transmission are completed;
Figure 7 is a block diagram of the main components of the ground control device;
Figure 8 is a flow chart of the landing, charging, and takeoff processes of a drone using a drone landing station according to the present invention.

The drone landing station according to an embodiment of the present invention provides a landing pad at the midpoint of the work area performed by the drone when the drone needs to charge the battery or transmit and receive data required for the work while working or performing work. It is installed to induce a safe landing of the drone, charge the discharged battery of the landed drone, and transmit and receive data about the drone's flight or work. It also allows the drone to be controlled remotely, increasing the convenience of using the drone. It is designed to increase.

To this end, the drone landing station according to an embodiment of the present invention is configured to not only transmit and receive information through wireless communication with a flying drone, but also transmit and receive necessary data in a charging state.

In addition, the drone that performs the work is equipped with a camera at the bottom of the main body, and a first charging connector is provided at the top of the main body that allows charging the battery and transmitting and receiving data while landing on the landing station.

Also, inside the main body of the drone is a FC that monitors the drone's flight and aircraft status, and a communication unit (CCU: Communication) that can communicate wirelessly with the Ground Control Station (GCS) installed at the landing station. It consists of a control unit) and an electronic control unit (ECU: Electric Control Unit), which is responsible for battery charging and discharging management and data transmission and reception.

Meanwhile, the landing station required for the landing of the drone includes a landing point marker displayed on one side of the landing pad so that the landing point can be confirmed through a camera mounted on the main body after the drone moves to the landing coordinates, and the landing point marker. On the upper surface of the other side of the landing pad, which is spaced a certain distance from the above, a charging and takeoff point marker is provided to indicate the charging/takeoff position where the drone, which has descended from the sky above the landing point marker to a preset height, moves in horizontal flight and settles when charging.

In addition, on one side of the charging and takeoff point marker, the lower end is fixed to the landing pad and the upper portion is installed to be maintained at a certain height from the upper surface of the landing pad, so that the drone located on the top of the charging and takeoff point marker rises vertically and is placed on the upper part of the main body of the drone. A second charging connector support is provided with a second charging connector facing the ground so that the provided first charging connector is naturally connected, and the second charging connector is vertically connected with the first charging connector connected to the second charging connector. The second charging connector supporter is further provided with a second charging connector elevating means to descend and land the drone on the upper surface of the charging and takeoff point marker of the landing pad.

In addition, a power supply and data transmission cable connected to the second charging connector through the second charging connector support to provide power for battery charging of the drone that lands at the charging and takeoff point marker and transmit data for drone flight control. This is provided, and the battery charging and data transmission control of the drone through the power supply and data transmission cable, transmission and reception of landing and takeoff signals of the drone and data transmission and reception control with the drone, storage and management of data received from the drone, It includes a Ground Control Station (GCS) installed on one side of the landing pad that is connected to the Internet and can be remotely controlled through a remote management server.

Meanwhile, a horizontal movement guide marker is further provided between the landing point marker and the charging and takeoff point marker so that the drone, which has descended from the sky above the landing point marker to a preset height, can fly horizontally toward the charging and takeoff point marker. The second charging connector elevating means descends when the first charging connector on the drone side and the second charging connector on the landing stand are maintained in a normal connection state to charge the drone and land on the upper surface of the takeoff point marker, and charge the battery of the drone. And it is configured to raise the second charging connector when data transmission is completed and a takeoff signal is generated.

In addition, the second charging connector support includes a vertical support having one end fixed to the landing pad and installed to be maintained at a certain height above the landing pad, and one end fixed to the vertical support and the other end disposed at a right angle to the vertical support. It consists of a horizontal support of a certain length on which a second charging connector is installed at the bottom, and when a landing signal of a drone is generated from the ground control device, one of the vertical support and the horizontal support is configured to connect the second charging connector to the charging and It is more preferable to have a structure that is located above the take-off point marker, and when a take-off signal of the drone is generated, it is rotated in either direction above the take-off point marker for charging and can be rotated to facilitate vertical take-off of the drone.

In addition, the first charging connector and the second charging connector are formed in a hemispherical shape so that they can overlap each other, so that the first charging connector enters the inside of the second charging connector and the inner and outer sides are in close contact with each other. The charging connector is composed of a plurality of circular band-shaped charging and data receiving terminals on the hemispherical outer peripheral surface, and the second charging connector is connected to the charging and data receiving terminal of the first charging connector on the hemispherical inner peripheral surface to supply power and data. It has a structure equipped with a plurality of circular band-shaped charging and data transmission terminals capable of transmission, so that the first charging connector is naturally connected to the second charging connector during the process of the drone rising from the bottom of the second charging connector.

So that the drone equipped with the first charging connector can be properly fixed inside the second charging connector, the first charging connector enters the inside of the second charging connector at the center of the upper surface of the first charging connector, and then connects the first charging connector and the second charging connector. A permanent magnet is provided to secure the drone to the second charging connector by encouraging the charging and data transmission/reception terminals provided in each charging connector to be naturally connected, and an inner peripheral surface of the second charging connector to which the permanent magnet of the first charging connector is connected. A concave permanent magnet insertion groove is formed in the center, and an electromagnet is provided inside the insertion groove to generate a magnetic force opposing the magnetism of the permanent magnet by power applied according to a control signal from the ground control device, It is preferable that the outer surface of the electromagnet is further provided with a metal plate to which a permanent magnet can be attached when the electromagnet's magnetic force is not generated.

In addition, the plurality of charging and data transmission terminals provided in the second charging connector are composed of a plurality of spring pin terminals that protrude at a certain height and are pushed inward when the charging and data receiving terminal of the first charging connector is mated, Each of the plurality of spring pin terminals is provided with a voltage detection sensor that detects the battery voltage of the drone when the first charging connector is mated and sends a signal to the ground control device, and at least one voltage detection sensor among the plurality of voltage detection sensors If the voltage of the drone battery is not detected, the ground control device determines that the first charging connector and the second charging connector are connected in a mismatched state, and executes a sequence command to lower the flying drone and then raise it again to the first charging connector. It is desirable to be configured to induce a matched connection state between the charging connector and the second charging connector.

In addition, the charging and takeoff point marking portion of the landing pad may be further equipped with a drone landing detection sensor that detects the second charging connector descending and the drone is landed and sends a signal to the ground control device.

Meanwhile, the method of charging and data transmission of a drone using a drone landing station according to an embodiment of the present invention requires a drone equipped with a first charging connector on the upper part of the main body to be connected to a ground control device that requires battery charging or maintains mutual communication status. Moving to the landing coordinates where the landing pad is installed according to a return command; A step where the drone, which has moved to the landing coordinates, checks the landing point marker displayed on one side of the landing zone from the sky above the landing zone and descends to a preset altitude; The drone descends into the sky above the landing point marker, flies horizontally, finds the charging point marker marked on the other side of the landing zone, and locates itself above the charging point marker, then hangs on the second charging connector support installed at a certain height on one side of the landing zone. Step of rising downward to the charging connector; The drone rises above the landing point marker, and the first charging connector provided on the upper part of the main body enters the second charging connector, and then the electromagnet provided in the second charging connector and the permanent magnet provided in the first charging connector generate magnetic force. A first and second charging connector connecting step in which the first and second charging connectors are matched while being bonded by; When the first and second charging connectors are connected in a matching state, the flight of the drone is stopped by a signal from the ground control device, and the second charging connector is lowered to the upper surface of the landing pad, landing the drone on the upper surface of the landing point marker; A charging and data transmission step in which the drone's battery is charged through the second charging connector and the first charging connector according to a control signal from the ground control device that detects that the drone has landed on the landing point marker, and necessary data is transmitted; It includes a take-off standby step in which the drone is maintained in a standby state for takeoff after the drone's charging and data transmission are completed.

In particular, the first and second charging connector connection steps use a sensor provided on the first charging connector to determine whether the receiving terminal of the first charging connector is properly connected to the transmitting terminal of the second charging connector after the drone rises. In the first and second charging connector connection confirmation step identified by the ground control device, and the first and second charging connector connection confirmation step, the receiving terminal of the first charging connector is properly connected to the transmitting terminal of the second charging connector. If this is not done, the first and second charging connector matching induction step of matching the connection status of the first charging connector and the second charging connector while repeating the steps of the drone descending below the second charging connector and rising again; When the drone's takeoff signal is generated in the takeoff standby stage, the second charging connector is separated from the first charging connector and rises to its original position for vertical flight of the drone, and then the second charging connector support rotates at a certain angle. It is preferable that the second charging connector separation and rotation steps are further performed.

Meanwhile, when a part is said to 'include' other components in the detailed description of the present invention, this means that other components may be further included rather than excluding other components unless specifically stated to the contrary. .

Additionally, in the detailed description, terms such as ‘~unit’ and ‘~means’ refer to a unit that processes at least one function or operation, and this may be implemented as a combination of hardware and software.

In addition, when a part is said to be 'connected' to another part in the detailed description, this includes not only 'direct connection' but also 'indirect connection' with other elements, parts, devices, etc. in between. It is used to mean.

In addition, the devices and terms used in the detailed description of the present invention are generally widely used in the art, or a detailed description of the technical configuration that can be easily derived from techniques known to those skilled in the art is provided. The description will be omitted as much as possible and focus on the features of the present invention.

Hereinafter, a preferred embodiment of the drone landing station according to the present invention will be described in detail with reference to the drawings attached to the specification.

Figure 1 schematically shows the overall configuration of the drone landing station 200 of the present invention.

As shown in FIG. 1, a first charging connector is provided on the upper part of the main body of a flying drone to operate a drone landing station according to an embodiment of the present invention.

In addition, a landing pad 210 of a certain size is provided on the ground so that the drone can land safely after returning to the set landing coordinates. The landing point 210 is provided on one side of the landing pad 210 with a camera on the drone side at a certain altitude. The landing point marker 220 is marked with a certain size and shape to enable identification and descent.

And, on the upper surface of the other side of the landing zone 210, which is spaced a certain distance away from the landing point marking portion 220, a drone that descends from the sky above the landing point marking portion 220 to a preset height moves in horizontal flight and lands on the upper surface of the landing zone. Thus, it is configured to display a charging and takeoff point marker 230 that can recognize the charging/takeoff location where charging and takeoff are performed.

In addition, on one side of the charging and takeoff point marking unit 230, the lower end is fixed to the landing pad 210 and the upper end is installed to be maintained at a certain height from the upper surface of the landing pad 210. ) is configured to have a second charging connector support 240 installed on top of the second charging connector 250.

The second charging connector 250 is connected to the ground so that the first charging connector 110 provided on the upper part of the drone body is naturally connected during the vertical rise of the drone that has moved horizontally to the top of the charging and takeoff point marker 230. It is installed facing.

Then, with the first charging connector 110 connected to the second charging connector 250, the second charging connector 250 is vertically lowered to the upper surface of the charging and takeoff point marking portion 230 of the landing pad 210. In order to land the drone 100, the second charging connector support 240 is provided with a second charging connector elevating means 260.

In addition, a second charging connector ( The power supply and data transmission cable 265 is connected and installed to 250).

In addition, through the power supply and data transmission cable 265, control of battery charging and data transmission of the drone, transmission and reception of landing and takeoff signals of the drone, control of transmission and reception of data to and from the drone, and storage and management of data received from the drone. , a ground control station (GCS: 270) is further provided on one side of the landing pad 210 to enable remote control through a remote management server 280 by being connected to an Internet network.

In addition, between the landing point marker 220 and the charging and takeoff point marker 230, a drone that descends from the sky above the landing point marker 220 to a preset height heads toward the charging and takeoff point marker 230. It is desirable to further provide a horizontal movement guide indicator 222 to enable correct horizontal flight.

In addition, the second charging connector lifting means 260 is operated when the first charging connector 110 on the drone side and the second charging connector 250 provided on the second charging connector support 240 are maintained in a normal connection state. The second charging connector (250) is lowered vertically so that the drone lands on the upper surface of the landing point marker (230) so that the drone's battery can be charged and data transmitted. After the drone's battery charging and data transmission are completed, the drone is placed on the ground. It is configured to raise the second charging connector 250 to its original position when a takeoff signal is generated from the control device 270.

While the second charging connector elevating means 260 is lowered or raised, the charging and data transmission cable 265 connected to the second charging connector 250 is also flexible and adjustable in the same manner as the second charging connector 250. It comes true.

In addition, the second charging connector elevating means 260 is composed of a hoist reel structure so that the second charging connector 250 is lowered by its own weight, and the second charging connector 250 is lowered. It is configured to raise the second charging connector 250 by rotating it by a separate winding motor (not shown) only when it rises, and is made of an elastically adjustable charging and data transmission cable 265 or a rotating reel structure. 2The technical configuration in which the charging connector 250 moves up and down can be easily implemented by a person skilled in the art using known techniques, so detailed description thereof will be omitted in the present invention.

Also, the drawing shows an embodiment of the second charging connector support 240 that can be installed in various structures.

One embodiment of the second charging connector support 240 shown in the drawing includes a vertical support 242, one end of which is fixed to the landing pad 210 and installed to be maintained at a certain height above the landing pad 210, and the vertical support ( It consists of a horizontal support 244 of a certain length, one end of which is fixed to the vertical support 242 and the other end disposed at a right angle to the vertical support 242, and a second charging connector 250 is installed below the end.

In this way, when the second charging connector support 240 is composed of a vertical support 242 and a horizontal support 244, one of the vertical support 242 and the horizontal support 244 is used in the ground control device 270. When a drone landing signal is generated, the second charging connector 250 is positioned above the charging and takeoff point marker 230, and when a drone takeoff signal is generated, the charging and takeoff point marker 230 ) It is desirable to have a structure that can be rotated from above in one direction to facilitate vertical takeoff of the drone.

In the case of one embodiment shown in the drawing, a predetermined rotation means 245 is provided on the lower side of the vertical support 242, so that when a takeoff signal of the drone is generated, the vertical support 242 rotates to charge and take off point marker 230. ) is configured so that there is no hindrance to the drone's vertical takeoff from the charging and takeoff point marker 230 by changing the position of the second charging connector 250 located above.

Of course, if a drone landing signal is generated while the second charging connector support 240 is rotated to the outside of the landing pad, the rotation means 245 is rotated in the opposite direction to that when the drone takes off and is placed inside the landing pad 210. It has a structure in which the second charging connector support 240 is automatically rotated so that the second charging connector 250 is positioned above the charging and takeoff point marking portion 230.

Meanwhile, Figure 2 shows an excerpt of the cross-sectional shape of the first charging connector 110 on the drone side and the second charging connector 250 hanging on the second charging connector support 240, which is a feature of the present invention.

In the case of one embodiment shown in the drawing, the first charging connector 110 and the second charging connector 250 are made up of the same hemispherical shape, so that the first charging connector 110 is connected to the inside of the second charging connector 250. It has a structure and size that allow the inner and outer sides to adhere to each other.

That is, the relatively small first charging connector 110 has a plurality of circular band-shaped charging and data receiving terminals 112 on the hemispherical outer peripheral surface, and the first charging connector 110 has a first charging and data receiving terminal 112 at the center of the upper surface of the first charging connector 110. After the charging connector 110 enters the inside of the second charging connector 250, the charging and data receiving terminal 112 provided on the outer circumferential surface of the first charging connector 110 performs charging and data transmission of the second charging connector 250. A permanent magnet 114 is provided to induce natural connection with the terminal 252.

Meanwhile, the second charging connector 250 has a hemispherical inner peripheral surface that is slightly larger than the first charging connector 110, and has a plurality of circular band-shaped structures to which the charging and data receiving terminals 112 of the first charging connector 110 are connected. A charging and data connection unit 252 is provided, and the charging and data connection unit 252 is configured to include a plurality of charging/data transmission terminals 253 that can appear to the outside at regular intervals.

In addition, a concave permanent magnet insertion groove 255 is formed in the center of the inner upper surface of the second charging connector 250 to which the permanent magnet 114 of the first charging connector 110 is connected, and the permanent magnet insertion groove 255 ) is provided on the inside of the electromagnet 256, which generates a magnetic force opposing the magnetism of the permanent magnet 114 by the power applied according to the control signal of the ground control device 270, and the electromagnet 256 ) On the outer surface of the electromagnet 256 is a metal plate 257 so that the first charging connector 110 can be attached to the second charging connector 250 by the magnetic force of the permanent magnet 114 when the magnetic force of the electromagnet 256 is not generated. It consists of a further equipped configuration.

In addition, the plurality of charging and data transmission terminals 253 provided in the second charging connector 250 protrude outward from the surface of the charging and data connection unit 252 at a certain height, as shown in the partially enlarged view. It has a spring pin terminal structure that can be pushed inward and retracted when the charging and data receiving terminal 112 of the first charging connector 110 is mated and connected.

In addition, each of the charging and data receiving terminals 112 of the spring pin terminal structure detects the battery voltage of the drone when the first charging connector 110 is mated and sends a signal to the ground control device 270 to perform the first charging. It is configured to further include a voltage detection sensor 254 that can determine whether the connector 110 and the second charging connector 250 are correctly matched.

That is, when the voltage of the drone battery is not detected by any one or more voltage detection sensors 254 among the plurality of voltage detection sensors 254, the ground control device 270 connects the first charging connector 110 and the second charging connector 254. It is determined that the charging connector 250 is connected in a mismatched state, so that a sequence command that causes the flying drone to descend and then ascend again is performed, so that the first charging connector 110 and the second charging connector 250 are aligned. It is configured to control induction.

Meanwhile, Figures 3 to 5 show a simplified schematic diagram of the process of a drone returning from a remote location and landing at the landing station 210.

Figure 3 shows that when the drone's battery needs to be recharged in a remote work area, it returns to the landing point according to the return command from the ground control device or self-diagnosis of the remaining battery level, and the landing point marking unit 220 of the landing platform 210 is returned to the landing point. It shows the hovering state being maintained in the sky.

The drone, which returns to the vicinity of the landing zone through the landing coordinates, checks the landing point marker 220 displayed on one side of the landing zone through a camera, descends vertically to a preset height as shown in FIG. 4, and then touches the landing point marker 220. It flies horizontally over the charging and takeoff point marker 230, which is indicated at a certain distance from (220).

In the process of horizontal flight, the drone flies horizontally while checking the horizontal movement guide marker 232 displayed between the landing point marker 220 and the charging and takeoff point marker 230 with a camera, and charges and takes off. The drone located above the point marker 230 rises vertically again to a certain height and allows the first charging connector 110 provided on the upper part of the main body to enter the inside of the hemispherical second charging connector 250 to perform first charging. The charging/data receiving terminal 112 provided on the outer peripheral surface of the connector 110 is connected to the charging/data connection terminal 253 formed on the inner peripheral surface of the second charging connector 250.

The second charging connector support 240 provided on one side of the landing zone is moved to the upper part of the landing zone in advance during the process of moving the drone to the landing coordinate according to the control signal from the ground control device that received the landing signal of the drone, and is moved to the second charging connector. The rotating state is maintained so as to be located above the charging and takeoff point marker 230.

The height at which the drone descends from the sky above the landing point marker 220 is lowered to a position lower than the height of the second charging connector 250 hung on the second charging connector support 240, moves horizontally, and then rises vertically. The first charging connector 110 and the second charging connector 250 are connected to each other.

In the process of connecting the first charging connector 110 of the drone to the second charging connector 250, charging on the first charging connector 110 side and charging on the data receiving terminal 112 and the second charging connector 250 are performed. And if the data transmission terminal 253 is not maintained in a matching state, the drone repeats the downward and upward movement of the second charging connector 250 and connects the charging and data reception terminal 112 and the charging and data transmission terminal 253. ) ensures that the mutual matching state is maintained.

That is, when the charging and data receiving terminal 112 of the first charging connector 110 of the drone is properly connected to the charging and data transmitting terminal 253 of the second charging connector 250, the charging and data transmitting terminal ( Since the voltage detection sensor 254 provided on the side 253) is configured to detect the voltage of the battery on the drone side and send a signal to the ground control device, if the battery voltage of the drone is not detected by the plurality of voltage detection sensors 254 If not, the ground control device sends a signal to the drone to repeat descent and ascent to the set height.

Therefore, when the matching state of the first charging connector 110 and the second charging connector 250 is maintained, the rotation motor of the drone stops, and the elevating means provided on the second charging connector support 240 operates to 2The charging connector 250 is lowered so that the drone is seated on the upper surface of the charging and takeoff point marker 230 of the landing pad.

Whether or not the drone has landed on the upper surface of the charging and takeoff point marking unit 230 is determined by the ground control device 280 through the drone landing detection sensor 270 provided on the charging and takeoff point marking unit 230, and then is lifted. The descent of the means 260 is stopped, and the state in which the drone is seated on the landing point marker 220 is shown in FIG. 5.

That is, as shown in FIG. 5, with the drone seated on the landing point marker 220, the first charging connector 110 and the second charging connector 250 on the upper side of the drone remain connected to each other. According to the control of the ground control device, power supply required for battery charging and data transmission of drone flight control or work contents are performed. When battery charging and data transmission are completed, the state shown in FIG. The standby state is maintained.

The plurality of charging and data receiving terminals 112 and charging and data transmitting terminals 253 are divided into power supply and data transmission purposes, so that power supply and data transmission can be performed simultaneously.

When the drone is commanded to take off in the standby state after charging and data transmission are completed, the second charging connector 250 attached to the second charging connector support 240, as shown in FIG. 6, is connected to the first charging connector ( After being separated from 110) and raised by the lifting means, the entire second charging connector support 240 is rotated by the operation of the rotating means, or only the horizontal support on which the second charging connector 250 is hung is rotated to the outside of the landing pad. This ensures that there is no problem with the drone taking off vertically.

Of course, as described above, the second charging connector support 240 rotated to the outside of the landing pad 210 is controlled by the ground control device 280 when the drone's return command or landing signal is received from the drone side. The drone returns to the landing pad 210 by rotating to the upper part of 210 so that the second charging connector 250 is positioned above the charging and takeoff point marker 230, and then connects the first and second charging connectors 250 through the above-described process. After the charging connectors 110 and 250 are connected and seated on the upper surface of the charging and takeoff point marker 230, battery charging and data transmission are performed.

And, in Figure 7, the main configuration of the above-described ground control device 280 is shown in a simple block diagram.

As shown in FIG. 7, the ground control device 280 is configured to remotely control the control required for the flight and operation of the drone on the ground, and can also be remotely controlled by the administrator with a remote management server through the Internet network. It is configured to do so.

The ground control device 280 includes a drone flight control unit 281, a drone takeoff/landing control unit 282, a charging/data management unit 283, a drone landing detection unit 284, a power supply management unit 285, and a second charger. It consists of a rotation management unit 286 of the connector support 240, a first/second charging connector connection management unit 287, a remote control management unit 288, and a central processing unit 280a.

The drone flight control unit 281 manages and controls the flight path by which the drone moves to or returns to the work area, and the drone takeoff/landing control unit 282 controls the process of the drone taking off and returning to the landing pad and landing. do.

In addition, the charging/data management unit 283 remotely monitors the remaining battery capacity of the drone in flight, generates a charging signal so that the drone can return to the landing zone if it falls below a certain standard, and collects data about the drone's flight and work information. It is responsible for transmitting and receiving, and the drone landing detection unit 284 determines whether the drone has landed safely based on the signal detected and transmitted from the drone landing detection sensor 270 provided in the charging and takeoff point marking unit 230. It is structured so that you can determine whether it is.

In addition, the power supply management unit 285 controls the power supply required for battery charging after the drone safely lands, and the rotation management unit 286 rotates the second charging connector support 240 to the landing pad when a landing/takeoff signal is generated. It is controlled to ensure smooth landing and takeoff of the drone by allowing it to be rotated to the outside of the landing pad.

In addition, the first/second charging connector connection management unit 287 allows the drone that has returned to the landing zone to move to the upper part of the charging and takeoff point marking unit 230 and then rise, so that the first charging connector 110 connects to the second charging connector. It is controlled to properly connect to (250), and the remote control management unit 288 is configured to remotely control the drone in flight or charging through control commands received from the remote management office.

Each component provided in the ground control device 280 is configured to charge the battery of the drone, transmit data, and control the flight of the drone according to the manual set through the central processing unit 280a.

The main configuration of the ground control device 280 shown in FIG. 8 shows only some configurations necessary for landing and takeoff of the drone related to the present invention, charging the battery, and transmitting data, and the configuration of other control parts including the communication unit is It is natural that more can be added.

Meanwhile, Figure 8 shows a flowchart of the drone landing, battery charging, data transmission, and takeoff processes using the drone landing station according to the above-described embodiment of the present invention.

Referring to FIG. 8, the drone charging and data transmission method and the overall process of landing and taking off of the drone in an embodiment of the present invention will be described.

If the drone needs to charge its battery during flight and a return signal is generated under the control of the drone's ECU or the ground control device, it moves to the preset landing coordinates (S10).

The drone, which returns to the sky above the landing pad through the landing coordinates, checks the landing point marker displayed on one side of the landing pad and descends to the preset altitude (S20).

The drone, which descends to a certain height above the landing point marker, flies horizontally along the horizontal guidance marker, finds the charging point marker displayed on the other side of the landing zone, moves to the sky above the center of the charging point marker, and then flies to a certain height on one side of the landing zone. The second charging connector hanging on the installed second charging connector support rises upward (S30).

Then, as the drone rises above the landing point marker, the first charging connector provided at the top of the main body enters the inside of the second charging connector, and the first and second charging connectors are connected to the second charging connector. A connector connection step (S40) is performed.

At this time, the electromagnet provided at the inner center of the second charging connector is supplied with power when the drone's landing signal is generated and is in a state of constant magnetic force, and the permanent magnet provided on the upper surface of the first charging connector of the drone is in close proximity. The magnetic force generated as a result causes the permanent magnet to stick to the electromagnet.

Therefore, in the process of the first charging connector entering the inside of the second charging connector, it plays a role in guiding the charging and data receiving terminal of the first charging connector and the charging and data transmitting terminal of the second charging connector to be properly connected, thereby It serves to secure it to the second charging connector.

When the first charging connector is matched to the second charging connector, the power of the battery is applied to the charging and data receiving terminal of the drone's first charging connector and current flows, and the charging and data receiving terminal connected to the charging and data receiving terminal is transmitted. The voltage detection sensor provided on the terminal side detects the voltage of the battery and sends a signal to the ground control device, and the ground control device correctly connects the first charging connector and the second charging connector on the drone side based on the signal received from the voltage detection sensor. A charging connector connection confirmation step is performed to determine whether the charging connector is connected (S50).

In other words, in the charging connector connection confirmation step, when the charging and data receiving terminal of the first charging connector on the drone side is properly connected to the charging and data transmitting terminal of the second charging connector, current flows to the second charging connector and the voltage detection sensor. The voltage of the battery can be detected by the voltage detection sensor, and the voltage detection signal detected by the voltage detection sensor is transmitted to the ground control device to connect the first charging connector and the second charging connector according to the detected voltage status of the battery. You will understand the status.

Therefore, if any one of the battery voltages detected by the plurality of voltage detection sensors in the ground control device is abnormal, the ground control device transmits a control command to the drone to perform a descent/ascent flight, and the drone connects to the second charging connector. By performing a descending/rising operation at the bottom (S501), the first charging connector is guided to be properly connected to the second charging connector.

Therefore, when it is determined that the first charging connector and the second charging connector are correctly matched, the ground control device sends a signal to the drone to control the drone to stop flying, and the elevating means connected to the second charging connector is operated to operate the drone. 2As the charging connector is lowered, the drone is seated on the upper surface of the charging and takeoff point marker (S60).

The ground control device detects that the drone has landed on the landing point marker through the drone landing detection sensor provided on the landing point marker, and transmits charging power and necessary data to the second charging connector to charge the drone's battery and necessary data. Transmission takes place (S70).

After the drone's charging and data transmission are completed, the drone that lands on the landing point marker remains in a standby state for the next flight (S80).

When a takeoff signal is generated while the standby state is maintained, the second charging connector connected to the first charging connector on the drone side operates as a lifting means and is separated from the first charging connector to rise to the initial position, and the second charging connector When the ascent is completed, a rotation operation signal is transmitted to the rotation means provided on the second charging connector support, and the rotation means rotates the second charging connector support to the outside of the landing pad according to the received control signal, preventing the vertical takeoff of the drone. Make sure there is no (S90).

After the second charging connector support is rotated to the outside of the landing pad, the drone starts flight and flies to the work area according to the commands of the set program to perform the necessary work. If a battery charging signal is generated during flight, the above-mentioned process is performed. By repeating this, you can charge the battery and send and receive data.

Above, the drone landing station of the present invention and the battery charging and data transmission method using the same have been described focusing on one embodiment shown in the drawing, but those skilled in the art can make various modifications through simple design changes within the scope of the same technical idea of the present invention. will be able to implement.

100: Drone 110: First charging connector
112: Charging/data receiving terminal 114: Permanent magnet
200: landing station 210: landing pad
220: Landing point marker 222: Horizontal movement guide marker
230: Charging and takeoff point marker 240: Second charging connector support
242: vertical support 244: horizontal support
245: Rotating means 250: Second charging connector
252: Charging/data connection unit 253: Charging/data transmission terminal
254: voltage detection sensor 255: permanent magnet insertion groove
256: electromagnet 257: metal plate
260: Elevating means
265: Power supply/data transmission cable 270: Drone landing detection sensor
280: Ground Control Station (GCS)
281: Drone flight control unit 282: Drone takeoff/landing control unit
283: Drone battery management unit 284: Drone landing detection unit
285: Power supply management unit 286: Support rotation management unit
287: 1st/2nd charging connector connection management unit 288: remote control management unit
300: Remote management server

Claims (9)

In a landing station that provides a landing pad where a drone can land after a charging request signal is generated during flight or a return command from the ground control device moves to the landing coordinates,
A landing point marker displayed on one side of the landing pad so that the drone, which has moved to the landing coordinates, can check the landing point through a camera mounted on the main body;
A charging and takeoff point marker that is displayed on the other side of the landing pad spaced a certain distance away from the landing point marker and allows the drone, which has descended from the sky of the landing point marker to a preset height, to recognize the charging/takeoff position after horizontal flight. ;
The lower end is fixed to the landing pad and the upper portion is installed to be maintained at a certain height from the upper surface of the landing pad, so that the drone located at the top of the charging and takeoff point marker rises vertically and the first charging connector on the drone side is naturally connected to the second charging device facing the ground. A second charging connector support provided with a connector;
Elevating means provided on the second charging connector support to vertically lower the second charging connector while the first charging connector is connected to the second charging connector to land the drone on the upper surface of the charging and takeoff point marking portion of the landing pad;
A power supply and data transmission cable connected to the second charging connector through the second charging connector support to supply power for battery charging of the drone that lands on the charging and takeoff point marker and transmit data for drone flight control;
Through the power supply and data transmission cable, drone battery charging/data transmission control, drone landing/takeoff control and storage/management of received data, and remote control of the drone through a remote management server connected to the Internet network. A drone landing station characterized in that it includes a ground control station (GCS: Ground Control Station) that enables. According to paragraph 1,
A horizontal movement guide marker is further provided between the landing point marker and the charging and takeoff point marker so that the drone, which has descended from the sky above the landing point marker to a preset height, can fly horizontally toward the charging and takeoff point marker,
The second charging connector elevating means descends when the first charging connector on the drone side and the second charging connector on the landing stand are maintained in a normal connection state to charge the drone and land on the upper surface of the takeoff point marker, charging the drone's battery and data. A drone landing station configured to raise the second charging connector when transmission is completed and a takeoff signal is generated. According to paragraph 2,
The second charging connector support,
A vertical support having one end fixed to the landing pad and installed to be maintained at a certain height above the landing pad, one end fixed to the vertical support and the other end disposed at a right angle to the vertical support, and a second charging connector installed below the end. It is composed of horizontal supports of a certain length,
One of the vertical support and the horizontal support ensures that the second charging connector is located above the charging and takeoff point marker when a drone landing signal is generated from the ground control device, and when a drone takeoff signal is generated. A drone landing station characterized in that it has a rotatable structure that rotates in one direction from above the charging and takeoff point marker to facilitate vertical takeoff of the drone. According to paragraph 1,
The first charging connector and the second charging connector have a hemispherical shape, so that the first charging connector enters the inside of the second charging connector, and the inner and outer sides are in close contact with each other,
The first charging connector has a plurality of circular band-shaped charging and data receiving terminals on a hemispherical outer peripheral surface,
The second charging connector is characterized by a structure in which a plurality of circular band-shaped charging and data transmitting terminals are connected to the charging and data receiving terminals of the first charging connector on the hemispherical inner peripheral surface and are capable of supplying power and transmitting data. Drone landing station. According to paragraph 4,
At the center of the upper surface of the first charging connector, the first charging connector enters the inside of the second charging connector, and then the charging and data transmission and reception terminals provided in each of the first charging connector and the second charging connector are naturally connected, thereby connecting the drone to the second charging connector. A permanent magnet is provided for fixing to the charging connector,
A concave permanent magnet insertion groove is formed in the center of the inner peripheral surface of the second charging connector to which the permanent magnet of the first charging connector is connected, and the permanent magnet insertion groove is formed inside the insertion groove by power applied according to a control signal from the ground control device. An electromagnet is provided that generates a magnetic force that opposes the magnetism,
A drone landing station, characterized in that the outer surface of the electromagnet is further provided with a metal plate to which a permanent magnet can be attached when the magnetic force of the electromagnet is not generated. According to clause 5,
The plurality of charging and data transmission terminals provided in the second charging connector are made of a plurality of spring pin terminals that protrude at a certain height and are pushed inward when the charging and data receiving terminal of the first charging connector is mated,
Each of the plurality of spring pin terminals is equipped with a voltage detection sensor that detects the battery voltage of the drone when the first charging connector is mated and sends a signal to the ground control device,
If the voltage of the drone battery is not detected by any one or more of the plurality of voltage detection sensors, the ground control device determines that the first charging connector and the second charging connector are connected in a mismatched state and detects the drone in flight. A drone landing station characterized in that it is configured to control the induction of the matching state of the first charging connector and the second charging connector by performing a sequence command to lower and then raise again. According to any one of claims 1 to 6,
A drone landing station, characterized in that the charging and takeoff point marking portion of the landing zone is further equipped with a drone landing detection sensor that detects that the second charging connector is lowered and the drone is landed and sends a signal to the ground control device. A drone equipped with a first charging connector on the top of the main body moves to the landing coordinates where the landing pad is installed in response to a return command from a ground control device that requires battery charging or is in communication with each other;
A step where the drone, which has moved to the landing coordinates, checks the landing point marker displayed on one side of the landing zone from the sky above the landing zone and descends to a preset altitude;
The drone descends into the sky above the landing point marker, flies horizontally, finds the charging point marker marked on the other side of the landing zone, and locates itself above the charging point marker, then hangs on the second charging connector support installed at a certain height on one side of the landing zone. Step of rising downward to the charging connector;
The drone rises below the second charging connector, and the first charging connector provided on the upper part of the main body enters the inside of the second charging connector, and then the electromagnet provided in the second charging connector and the permanent magnet provided in the first charging connector A first and second charging connector connecting step in which the first and second charging connectors are matched while being bonded by magnetic force;
When the first and second charging connectors are connected in a matching state, the flight of the drone is stopped by a signal from the ground control device, and the second charging connector is lowered to the upper surface of the landing pad, landing the drone on the upper surface of the charging and takeoff point marker. ;
A charging and data transmission step in which the drone's battery is charged through the second charging connector and the first charging connector according to a control signal from the ground control device that detects that the drone is seated on the charging and takeoff point marker, and necessary data is transmitted. ;
A drone charging and data transmission method comprising a take-off standby step in which the drone is maintained in a standby state for takeoff after the drone charging and data transmission are completed. According to clause 8,
After the first and second charging connector connection steps,
A voltage detection sensor provided on the charging and data transmission terminal 253 determines whether the charging and data receiving terminal 112 of the first charging connector and the charging and data transmitting terminal 253 of the second charging connector are properly connected. A charging connector connection confirmation step is further performed to check the matching connection of the first and second charging connectors by detecting the voltage of the battery on the drone side,
If the charging and data receiving terminal 112 on the first charging connector side and the charging and data transmitting terminal 253 on the second charging connector side are not properly connected in the charging connector connection confirmation step, the ground control device It is configured to further perform a charging connector matching induction step to induce matching connection between the first charging connector and the second charging connector while repeating the downward/rising motion to the side,
When a take-off signal of the drone is generated after the take-off standby stage, the second charging connector is separated from the first charging connector and rises to its original position for vertical flight of the drone, and then the second charging connector support is rotated at a certain angle. 2. A method of charging and transmitting data for a drone, characterized in that it further comprises the steps of separating the charging connector and rotating the support.