KR20040039117A - Autonomous Take-Off and Landing System for Large-Class Unmanned Airship - Google Patents

Abstract

PURPOSE: An automatic take-off and landing system for a large-class unmanned airship is provided to easily perform a takeoff and a landing under the self decision. CONSTITUTION: An elevator(102), a rudder(103), and flight control surface actuators(104,107) for handling the large-class unmanned airship over 40m in size are mounted to a vertical tail(105) and a horizontal tail(106). An automatic take-off and landing system for a large-class unmanned airship comprises a propeller(108) generating a thrust; a tilting system for handling the thrust direction; a speedometer for measuring the speed; a GPS(Global Positioning System) receiver(110), a GPS antenna(111), and a laser altimeter(112) for taking the position and height information; and an inertial navigation sensor(113).

Description

Autonomous Take-Off and Landing System for Large-Class Unmanned Airship}

The present invention relates to a steering system installed on a large unmanned aerial vehicle having a length of 40m or more that operates up to an altitude of 20 km or more, and a large-scale airship can autonomously easily take off and land under its own judgment without a radio control command from the ground. The present invention relates to an automatic takeoff and landing flight device.

Here, a large unmanned aerial vehicle means a large airship of 40m or more in length without a pilot on board an airship and without a radio pilot operating a wireless drone on the ground.

The automatic take-off and landing aircraft on an unmanned airship is the most essential device. Currently, the unmanned airship operated for advertising is an airship that uses a drone to remotely control an airship on the ground without a pilot operating the airship. In other words, a large unmanned airship refers to an airship that has its own flight control computer and various sensors and is flying autonomously without a pilot.

Therefore, the autonomous take-off and landing flight is not installed in the currently operated unmanned aerial vehicle, and is operated and operated wirelessly by visual observation, observation, and judgment of purely ground pilots, and has the following problems.

First, a pilot who can control a radio controller is necessary on the ground, and a safe takeoff and landing of an airship requires skilled skills and experience, so it takes a lot of money and time to train a skilled radio operator.

Second, like fixed-wing aircraft, airships cause the most accidents during takeoff and landing.However, since the airship is controlled by the pilot's judgment, it is dangerous according to the pilot's experience and skills to deal with dangerous emergencies. Coping ability depends.

Third, unlike fixed-wing aircraft, there are seven control elements of an airship that must be controlled during takeoff and landing (1 direction key, 1 lift key, 2 tilting thrust system, 1 engine control, 2 direction control thrust system) As a result, it is difficult for a pilot to visually view an airship and to control individual commands with a remote controller.

Fourth, the drone for general advertising is small and the length of the airship is short, so it is possible to see and control the state of the airship from the ground.However, an airship with a length of 40m or more cannot be seen from the ground. Since it is more than 3km and the mission radius is more than 30km, it is impossible to control it by visual observation from the ground.

The present invention relates to an automatic take-off and landing flight control apparatus of a large unmanned aerial vehicle without a person riding and pilots not operating on the ground, and the large unmanned aerial vehicle itself recognizes the landing and landing conditions and automatically gives orders. This will allow safe landing and landing.

The present invention is equipped with a lift key, a direction key, a control plane actuator for the control of a large unmanned aerial vehicle and a large airship more than 40m in length on the vertical tail and horizontal tail wings, tilting system and speed measurement for thrust propeller and thrust direction control It consists of a speedometer for GPS, GPS receiver for acquisition of position and altitude information, GPS antenna and laser altimeter, and an inertial navigation sensor for measuring the dynamic flight value of the airship, and an automatic takeoff and landing program for automatic takeoff and landing. By installation in a pre-piloted flight control computer.

1 is a perspective view of a large unmanned aerial vehicle equipped with an automatic landing and landing apparatus of the present invention;

2 is a block diagram of the automatic landing and landing apparatus of the present invention.

Figure 3 is a flow chart of the automatic takeoff and landing control of the present invention

[Description of Symbols for Main Parts of Drawing]

101: large unmanned aerial vehicle 102: lifting key

103: direction keys 104,107: control surface actuator

105: vertical tail wing 106: horizontal tail wing

108: propeller 109: speedometer

110: GPS receiver 111: GPS antenna

112: laser altimeter 113: inertial navigation sensor

200: flight control computer 210: automatic takeoff and landing program

The large unmanned aerial vehicle is configured as shown in FIG. 1, and the automatic takeoff and landing flight device installed in the large unmanned aerial vehicle is configured to use the data for automatic takeoff and landing by sensing a hardware unit constituting the airship, speed and altitude, and the like. It consists of a sensor unit, and a software unit for taking off and landing automatically by controlling the hardware unit according to the input and the preset content of the sensor unit.

In the hardware part of the present invention, the vertical tail wing 105 is vertically installed at the tail side of the large unmanned aerial vehicle 101, while the horizontal tail wing 106 is installed at both sides, and the vertical tail wing 105 has a control surface actuator 104. ) Is installed and connected to the direction key 103, the control plane actuator 107 is also installed in the left and right horizontal tail wing 106 is installed to be connected to each lifting key (102).

The central left / right side of the large unmanned aerial vehicle 101 is equipped with a propeller 108, which is a thrust system that is configured as a propeller to generate propulsion, and rotates the propeller 108 above and below to adjust the thrust direction. A tilting system 201 is installed, and a gondola 115 is installed below the large unmanned aerial vehicle 101.

Sensor unit for detecting various conditions for takeoff, landing and flight of large unmanned aerial vehicle 101 is equipped with a speedometer 109 in the airship nose, GPS antenna 111 is installed on the airship and connected to the GPS receiver 110 The laser altimeter 112, the inertial navigation sensor 113, and the flight control computer 200 are safely installed inside the gondola 115 of the airship.

The software unit for controlling the hardware unit to read the input from the sensor unit and the preset landing and landing information set by the user to enable automatic landing and landing is made by the flight control computer 200 with the automatic take-off and landing program embedded therein. do.

The function of each component will be described with reference to the block diagram of FIG. 2 for a large drone 101 equipped with an automatic takeoff and landing flight apparatus of the present invention.

The speedometer 109, the GPS receiver 110, the inertial navigation sensor 113, and the laser altimeter 112 are connected to the flight control computer 200 to receive a signal detected by the sensor in one direction.

The speedometer 109 measures the flight speed of the airship, the GPS receiver 110 measures the flight position of the airship and the vertical altitude value on the ground, and the laser altimeter 112 measures the actual altitude from the ground. Measure more precisely), the inertial navigation sensor 113 measures the angular velocity and acceleration of the airship and transmits to the flight control computer (200).

The thrust system 108, the tilting system 201, and the control surface actuators 104 and 107 are connected to the flight control computer 200 to receive a control command from the flight control computer 200 and operate as a transmission command. The operation status signal is fed back to the flight control computer 200, and the signal is transmitted and received in both directions.

The control plane actuators 104 and 107 operate the lift key 102 and the direction key 103 by the command of the flight control computer 200, and the lift key 102 and the direction key 103 and the control plane actuator 104 ( 107), after each operation, the displacement signal is fed back to the flight control computer 200 so as to verify whether automatic takeoff and landing are performed smoothly.

Automatic take-off and landing program 210 mounted on the flight control computer 200 generates a control command that can automatically control the take-off and landing of the airship based on the detected signal thrust system 108, tilting in real time Transfer to system 201 and control surface actuators 104 and 107 to enable automatic takeoff and landing.

The automatic takeoff and landing program 210 for controlling the automatic takeoff and landing as described above will be described in detail with reference to the flowchart of FIG. 3.

When the automatic takeoff and landing program 210 mounted in the flight control computer 200 is operated, a preset automatic takeoff and landing path is read from a memory (not shown) (301), the speedometer 109 and the GPS receiver 110 or Initialize the mounting sensors such as the inertial navigation sensor 113 and the laser altimeter 112 (302), initialize the tilting system 201 and the thrust system 108 (303) and then control the actuator (104) (107) Initialize (304).

And if the error does not exist in the above-described initialization process, go to the next process and if there is an error, go back to the mounting sensor initialization step 302 again to the process 304 to initialize the control plane actuators 104, 107. .

If the initialization is in progress and no error is detected, the altitude is lower than 100 m (306). If the altitude is lower than 100 m, the automatic takeoff mode is activated (307). If the altitude is lower than 100 m, the automatic landing mode is activated (321). .

The automatic takeoff mode of the present invention operates in the following order.

First, when the altitude signal is sensed from the GPS receiver 110 and the laser altimeter 112 (308) and the altitude is lower than 200 m (309), if the altitude is lower than 200 m, the error is smaller than the GPS receiver 110 If the altitude is higher than 200 m, the altitude value detected by the GPS receiver 110 is used (311).

This is because the altitude error of the GPS receiver 110 is about 30m to perform more accurate automatic takeoff using the laser altimeter 112 that uses more accurate altitude data at near altitude.

After sensing the speed from the speedometer 109 (312) and comparing the speed with 8m / s (313), if the speed is lower than 8m / s, the airship is controlled by the tilting system 201 (314). Using the lift key 102 and the direction key 103 to control the airship (315).

This is because the aerodynamic control surface of the airship such as the lift key 102 and the direction key 103 does not provide actual control in the low speed region below the speed of 8 m / s. This is to provide efficient control by performing.

And after providing the appropriate thrust to the airship through the steering of the thrust system 108 (316), by measuring the attitude angle and takeoff route from the inertial navigation sensor 113 (317), the above control commands input for the airship control is valid It is determined (318).

That is, the tilting system 201 steering command 314, lifting key 102 / direction key 103 / steering command 315 and the thrust system 108 control command 316 inputted from the above take-off attitude angle and designated takeoff of the airship If the command satisfies the path, the process proceeds to the next order, and if it is not satisfied, the process is repeated to the speed sensing block 312 so as to perform the same process of generating a command satisfying the condition.

Finally, if the ship takes off at an altitude of 500m or higher, which is the maximum altitude of the automatic takeoff altitude (319), the automatic takeoff mode is terminated (320), and at a lower altitude, the same process (309) to (319) is retaken. The automatic takeoff mode will continue to work up to the limit altitude of 500m.

On the other hand, in the automatic landing mode (321) to perform the process from (308) to (318) in the automatic take-off mode in the same process from (322) to (342), and landed to an altitude of less than 50m As it proceeds (342) and stops the thrust system 108 (343), and at an altitude higher than 50m it continues to cycle to the process (323) to enable automatic landing mode by continuously operating the automatic landing.

The automatic take-off and landing flight apparatus of the present invention can be effectively used to configure the automatic flight function of a large unmanned airship by connecting and mounting an automatic ascent program and a correction flight program in the flight control computer 200 based on the same system configured.

The present invention is an automatic take-off and landing flight device installed on a large unmanned airship of 40m in length and operated up to an altitude of 20 km or more. Landing can save cost and time, and high-performance sensors and flight control computers can provide more precise and safe takeoffs and landings.

The present invention firstly provides an automatic takeoff and landing flight apparatus which has not been invented and operated in the field of airships up to now, and secondly, it does not require a pilot to board or land on a ship. It has the advantage of saving the cost and time to train pilots who have, and third, to use the flight control computer equipped with high precision sensor and microprocessor to enable precise and reliable flight compared to the judgment by human pilots. It is equipped with a speedometer for measuring the speed of an airship, a GPS and a laser altimeter for altitude and position measurement so that the flight control computer can replace the eyes and hands of a human pilot, and an inertial navigation sensor that measures the attitude and angular velocity of the airship. Use to perform takeoffs and landings of airships with accurate flight data. The landing program allows for more efficient response in case of danger. Fourth, the flight control computer automatically manages multiple control inputs by improving the impossible problem of human pilots controlling all the control inputs on the ground to control large airships. It can effectively raise and lower large unmanned airships to take off and landing altitudes that cannot be controlled with the naked eye, and can effectively respond to emergency situations by entering various precautionary scenarios into the flight control computer in case of danger. Fifth, if the automatic take-off and landing flight device is configured, additionally, there will be additional scalability such as peak flight and automatic flight function for the mission of a large unmanned aerial vehicle, and in terms of hardware, various sensors, actuators and flight pilots will be provided. Additional features as all equipment including computers Adding to the flight control computer for programming only because it is in an excellent scalable effects.

Claims (3)

For large unmanned drones with a length of 40m or more, Install the vertical tail wing 105 and the horizontal tail wing 106 on the tail side of the large unmanned aerial vehicle 101, The control surface actuator 104 connected to the direction key 103 is installed on the vertical tail wing 105, Left and right horizontal tail wing 106 is also provided with a control surface actuator 105 connected to the lifting key 102, At the center left / right side of the airship 101 is equipped with a propeller 108, which is a thrust system that is configured as a propeller capable of generating a propulsion force, while a tilting system 201 is installed to rotate the propeller 108 up and down, The gondola 115 is installed below the airship 101, A speedometer 109 is installed on the airship nose and a GPS antenna 111 connected to the GPS receiver 110 is installed on the top of the airship, while the laser altimeter 112 and the inertial navigation sensor 113 and flight control are installed on the gondola 115 of the airship. Install the computer 200, A flight control computer equipped with an automatic take-off and landing program 210 for inputting the state of each sensor and propeller 108, tilting system 201, and control surface actuators 104, 107 to generate an appropriate flight control command to steer the airship. Large unmanned airship, characterized in that 200 is installed. In the automatic takeoff and landing program 210 mounted on the flight control computer 200 of the large unmanned aerial vehicle 101, Read the preset auto takeoff and landing route from memory, Initialize speedometer, GPS receiver, inertial navigation sensor, laser altimeter, tilting system, thrust system, pilot plane actuator, If the airship's altitude is within 100m, the auto take-off mode will be performed. It senses the speed of the airship and operates the tilting system if it is lower than 8m / s, and if it is higher, it operates the thrust system. The inertial navigation sensor senses the attitude angle and takeoff or landing path to check whether the attitude angle and route are maintained. An automatic takeoff and landing flight apparatus for a large unmanned aerial vehicle, characterized by terminating the automatic takeoff mode when the attitude angle and the path are maintained and the altitude is 500 m or more, and stopping the thrust system when the altitude is less than or equal to 500 m. 3. The automatic takeoff and landing of a large unmanned aerial vehicle according to claim 2, wherein when the altitude signal of the automatic takeoff and landing is used, the laser altimeter is used when the altitude is within 200 m, and the output signal of the GPS receiver is used when the altitude is 200 m or more. Flight device.