KR20100133811A - Apparatus and method for guiding landing of uninhabited aerial vehicle useing net - Google Patents

Abstract

PURPOSE: An apparatus for guiding landing of an unmanned aerial vehicle is provided to capture and land a flying unmanned aerial vehicle using a net installed in the air. CONSTITUTION: An apparatus for guiding landing of an unmanned aerial vehicle comprises a landing guide(10), a sensor, a tension regulating unit, and a controller. The landing guide comprises a first and a second pole(11,12) which are installed at an interval, and a net(13) one end of which is fixed to the first pole while the other of which is supported on the second pole and movable. The net is composed of a plurality of net threads(13a) cross-linked and receives an unmanned aerial vehicle. The sensor is installed in the net of the landing guide and senses the intensity of a force applied by the unmanned aerial vehicle. The tension regulating unit is connected to the other side of the net of the landing guide and controls the tension of the net. The controller controls the driving of the tension regulating unit according to the sensing result of the sensor so as to unwind the wire according to the force applied by the unmanned aerial vehicle, thereby guiding the landing of the unmanned aerial vehicle.

Description

Landing guidance device and method using an unmanned aerial vehicle using a net {APPARATUS AND METHOD FOR GUIDING LANDING OF UNINHABITED AERIAL VEHICLE USEING NET}

The present invention relates to a landing guidance device and method using a net, and more particularly, when the unmanned aerial vehicle can not land via a landing gear such as a sea or a mountainous area safely using a net drone in flight Landing guidance device for unmanned aerial vehicles using nets that can land and stabilize the drone by reducing the speed of the drone and reducing the force applied from the drone by loosening the net according to the force applied from the drone. And to a method.

In general, an unmanned aerial vehicle or uninhabited aerial vehicle (UAV) is an autonomous flying vehicle based on a program input without a pilot or by the aircraft itself recognizing and determining the surrounding environment (obstacle, route). Recently, it is used for various purposes such as weather observation, terrain exploration, reconnaissance, and surveillance.

In general, drones take off and land through landing gears deployed outside the aircraft fuselage.

However, it is impossible to land via landing gear in rivers, seas, mountainous areas, or rugged road areas, and landing gears as well as the aircraft fuselage are damaged during excessive landings.

Therefore, as described above, in an area where landing gear cannot be landed, the landing should be induced by capturing an unmanned aerial vehicle in flight.

However, since there is no conventional technique for safely capturing and landing an unmanned aerial vehicle in flight, there is a problem in that it is restricted depending on the region (region that cannot be landed by the landing gear) when using the unmanned aerial vehicle. When the road is landed, there is a problem that severe damage of the drone occurs.

On the other hand, in order to solve such a problem there is a technology for capturing and landing in the air drone in flight using the net.

However, the conventional landing guidance system using a net is a device for recovering an unmanned aerial vehicle in flight using a net fixed to a pole in four directions. It is a method using only properties. As a result, the propagation inertia maintained by the unmanned aerial vehicle in flight must be zero immediately in the recovery situation. Also, it is not easy to recover the aircraft with the same force every time, so the recovery is not stable.

Since the structure of the existing net is a structure in which each line is connected in a bunch, there is an inconvenience of having to replace the entire net when the net is damaged.

In addition, since a large force is applied instantaneously when the unmanned aircraft collides with the net, there is also a problem that the unmanned aerial vehicle is separated from the net even when the elastic force of the net is large.

The present invention is to solve the above problems, it is possible to capture and land in the air unmanned aircraft flying in the air where it is difficult to land with landing gear, such as river, sea, mountain area, uneven road surface area. It is an object of the present invention to provide an apparatus and method for landing guidance of an unmanned aerial vehicle using a net capable of stable recovery by adjusting the magnitude of the force applied to the unmanned aerial vehicle at the same time every time to a preset size.

Landing guidance device of the unmanned aerial vehicle using the net according to the present invention for achieving the object as described above, the first and second poles are set at a predetermined interval from each other, one side is fixed to the first pole and the other side is the first A landing guide that is movably supported by two poles and includes a net on which the drone is seated; A gyro modem installed in a net of the landing guide and detecting a magnitude of force applied from the unmanned aerial vehicle; Tension adjustment means connected to the other side of the landing guide net of the net and adjusting the tension of the net; And controlling the driving of the tension control means according to the value detected from the gyro modem to release the landing guide net according to the magnitude of the force applied from the unmanned aerial vehicle to guide the landing of the unmanned aerial vehicle. do.

The method of inducing landing of an unmanned aerial vehicle using a net according to the present invention is to induce landing of an unmanned aerial vehicle to a net supported through a pair of poles, and the moving distance of the net with respect to the magnitude of the force applied from the unmanned aerial vehicle. Constructing reference data of the first step; Detecting a magnitude of force applied to the net from an unmanned aerial vehicle; A third step of calculating a tension adjustment value of the net by comparing the current data detected in the second step with reference data constructed in the first step; And loosening one side of the net on the basis of the value calculated through the third step to loosen the net, thereby reducing the force applied from the drone and lowering the speed of the drone. It is characterized by.

According to the landing guidance apparatus and method of the drone using the net according to the present invention, through the net by installing the net in the air where the landing gear difficult to land, such as the river, sea, mountain areas, bumpy road area The ability to capture and land in-flight drones allows the use of drones in a wide range, since it is not restricted by the landing area.

In addition, by loosening the net according to the magnitude of the force applied from the drone, the magnitude of the force applied from the drone is gradually and gradually reduced every time, so that the drone can be stably guided and the drone is not released from the net. This can drastically reduce the force acting on the unmanned aerial vehicle during net recovery. Therefore, the conventional unmanned unmanned aerial vehicle, which is designed more strongly in consideration of the recovery method using the net, is also designed for net recovery. There is an advantage to being able to use the method.

In addition, since the net is loosened according to the magnitude of the force applied from the drone, the net is not momentarily applied to the net, so that the net does not have to use excessively large elastic force, and damage such as the break of the net can be prevented. .

≪ Example 1 >

As shown in FIG. 1, in the landing guidance apparatus of the unmanned aerial vehicle using the net according to the present embodiment, both sides are supported by a pair of poles 11 and 12 and a pair of poles 11 and 12 to be unmanned. A landing guide 10 including a net 13 on which the aircraft 1 is seated; A gyro modem 20 installed in the net 13 to detect a magnitude of force applied from the unmanned aerial vehicle; Tension adjusting means for adjusting the tension of the net 13; It is configured to include a controller for controlling the tension of the net 13 by controlling the driving of the tension adjusting means in accordance with the value detected from the gyro modem (20).

The landing guide 10 is a mechanism for landing of the unmanned aerial vehicle 1, and the poles 11 and 12 are erected at regular intervals from each other to unfold the net 13.

When the drone 1 lands on a river or at sea, the poles 11 and 12 may be raised through buoys, and may be installed on a land or a mountain area where the surface of the drone cannot be landed by a landing gear.

The pawls 11 and 12 are each telescopic type coupled to each other by pipes of different diameters to minimize volume during storage.

The net 13 captures the unmanned aerial vehicle 1, which reduces the flying speed when the unmanned aerial vehicle 1 lands, but is pushed in the direction of travel of the unmanned aerial vehicle 1 by the flying speed of the unmanned aerial vehicle 1. While capturing the drone 1. Therefore, the net 13 is made of a material having an elastic force.

The tension of the net 13 is adjusted by the tension adjusting means, which adjusts the tension by a method of loosening the net 13, and thus, the net 13 is fixed on one side of both sides of the drawing reference. The other side is installed to be movable.

For example, one side of the net 13 is fixed to the first pole 11, the other side is fixed to the tension adjusting means.

Specifically, the net 13 is formed by a plurality of net yarns (13a) are cross-coupled, one side of the net yarn (13a) is fixed to the first pole 11, the other side will be described later It is fixed to the cushion adjustment carrier (30). At this time, the plurality of net yarns 13a may be fixed to the tension control carrier 30 after being gathered into one.

The net yarn 13a is diverted to the tension control carrier 30 through the guide roller 12a installed on the second carrier 12 (preferably installed in such a manner as to rotate in place).

Gyro modem 20 is an example of a sensor for detecting the magnitude of the force applied to the net (13).

The tension adjusting means is a tension adjusting carrier 30 which lifts and tightens the net yarn 13a through the control of the controller. That is, the tension adjusting means is to adjust the length of the net yarn (13a), and if the length of the net yarn (13a) is adjusted in this way is called the tension adjustment because the tension for the drone will be different.

The tension control carrier 30 is installed to be elevated on the second pole 12 through a driving means, and the other side of the net yarn 13a is fixed.

The driving means may be a motor, a cylinder or the like.

For example, as shown in FIG. 2, the rack 14 is installed in the second pole 12 along a vertical direction, and the tension adjusting carrier 30 has a pinion 31 engaged with the rack 14. The drive motor is mounted. That is, when the driving motor is driven by receiving the signal from the controller, the pinion 31 is raised or lowered along the rack 14 so that the tension control carrier 30 is raised or lowered.

Although not shown in detail in the drawing, the tension adjusting carrier 30 is installed so that the rack 14 and the pinion 31 remain engaged without being detached from the second pole 12.

The rack 14 and the pinion 31 may be reversed in installation positions.

The controller stores movement distance data of the net yarn 13a about the force applied from the unmanned aerial vehicle, and wirelessly communicates with the gyro modem 20 to store the force and pre-stored data input in real time from the gyro modem 20. On the basis of this, after calculating the moving distance of the net yarn 13a, the driving means of the tension control carrier 30 is controlled.

Landing guidance method of the unmanned aerial vehicle using the net according to the present invention configured as described above is as follows.

The drone is guided to land on the net 13 via a landing guidance system. This derivation is well known and therefore does not describe specific configurations and methods.

When the drone lands on the net 13, the gyro modem 20 measures the magnitude of the force applied from the drone and sends it to the controller.

The moving distance of the tension control carrier 30 is calculated by comparing the data previously stored in the controller with the currently input data, and the driving of the driving means is controlled based on the calculated value.

The tension adjusting carrier 30 rises by a certain distance through the driving means, so that the net 13 is loosened.

That is, since the net 13 has a force that prevents the drone from proceeding as it is pushed in the direction of the drone by the loosened length as well as its own elastic force, the flight speed of the drone falls and the force applied from the drone is weakened. .

The following table shows an example of the moving distance (unwinding length of the net company) of the tension control carrier 30 according to the detection value of the gyro modem 20.

Gyromodem detection value 10 8 6 4 Distance (cm) 6 4 3 2

That is, if the initial detection value is 10, the moving distance is 6cm, and as the detection value is smaller, the moving distance is reduced.

This action continues until the force from the drone reaches a certain magnitude. For example, when the magnitude of the force capable of landing the unmanned aerial vehicle is 1, when the detected value of the gyro modem 20 is 1, the tension control carrier may be landed without moving the tension adjusting carrier 30. Do not control 30.

In addition, the force to stop when landing the drone can be adjusted arbitrarily. For example, if the speed is set to 2G, the net detects the unmanned aerial vehicle's flight speed as the tension of the net every time it lands and induces a stop by twice the force.

When the unmanned aerial vehicle is seated on the net 13 and recovered, the tension control carrier 30 is lowered to the initial position in order to make the net 13 taut as in the initial stage.

That is, as shown in FIG. 3, when the unmanned aerial vehicle collides with the net 13 at the initial A position, the net 13 proceeds to the position of B based on the value detected by the gyro modem 20. Direction, where the force from the drone is canceled and becomes smaller than the initial. Subsequently, if the net 13 is released to the position of C based on the value detected at the position of B, the force applied from the unmanned aerial vehicle in this process is reduced as described above.

When the unmanned aerial vehicle is stopped by the above-described method, the length of the net yarn 13a is longer than the initial state, and the unmanned aerial vehicle is in a state distant from the landing judo 10. Therefore, when the length adjustment of the net yarn 13a is completed to facilitate the recovery of the unmanned aircraft, the net yarn 13a may be wound to an initial position and the unmanned aerial vehicle may be transported to the landing guide 10 side.

<Example 2>

As shown in FIG. 4, the landing guidance apparatus of the unmanned aerial vehicle using the net according to the present embodiment is configured to facilitate disassembly of the first and second poles 11 and 12 using the net 13. Inducing landing of the unmanned aerial vehicle is the same as that of the first embodiment.

In this embodiment, the first and second poles 11 and 12 are installed on the ground or buoy via the rail 15. The first pole 11 is movably installed on the rail 15 and the second pole 12 is fixed to the rail 15. Of course, since the first pole 11 will slide only during dismantling, it is fixed to the rail 15 through clamps or the like when inducing landing of the drone using the net.

The first and second poles 11 and 12 are connected to each other through the net 13, and the first embodiment will be described with reference to the first embodiment, the winch 40 is installed in the tension control carrier 30, the net yarn 13a Is fixed to the winch 40 at its end.

Accordingly, when the driving signal of the tension control carrier 30 is generated, the winch 40 may be raised and lowered together with the tension control carrier 30 to adjust the tension of the net 13.

Meanwhile, when dismantling the first and second poles 11 and 12, the net pole 13a is wound around the winch 40 after releasing the fixed state so that the first pole 11 is slidable on the rail 15. In other words, the first pole 11 having the end of the net yarn 13a fixed to the second pole 12 is slid along the rail 15.

<Example 3>

As shown in FIG. 5, the landing guidance apparatus of the unmanned aerial vehicle using the net according to the present embodiment is characterized in that the tension adjusting means is a tension adjusting drum 50, and other configurations are the same as those of the first embodiment.

The tension adjustment drum 50 is installed on the second pole 12, and rotates in both directions through the motor to adjust the tension by winding or unwinding the net yarn 13a.

The length of the net yarn 13a unwinding and the length of the winding will vary according to the rotation amount of the tension control drum 50, and the length change of the net yarn 13a according to the sensing value of the gyro sensor is the same as in the first embodiment. Controlled.

The present embodiment may wind the net yarn 13a through the tension control drum 50, that is, as shown in the second embodiment, the first pole 11 is slid to the second pole 12 to facilitate the dismantling. Can be.

1 is a block diagram of a landing guidance device of the unmanned aerial vehicle using the net according to the first embodiment of the present invention.

Figure 2 is an exemplary view showing a driving means of the tension control carrier applied to the landing guidance device of the drone using the net according to the first embodiment of the present invention.

Figure 3 is a view showing the action of the net applied to the landing guidance device of the unmanned aerial vehicle using the net according to the first embodiment of the present invention.

4 is a block diagram of a landing guidance device of the unmanned aerial vehicle using the net according to the second embodiment of the present invention.

5 is a block diagram of a landing guidance device of the unmanned aerial vehicle using the net according to the third embodiment of the present invention.

<Description of Signs for Main Parts of Drawings>

10: landing guide, 11, 12: pole

13: net, 20: gyro modem

30: tension adjustment carrier, 40: winch

50: tension adjustment drum,

Claims (9)

First and second poles 11 and 12, which are erected at regular intervals from each other, one side is fixed to the first pole and the other side is a plurality of net yarn (13a) is supported to be movable to the second pole A landing guide 10 which is cross-coupled and includes a net 13 on which the drone 1 is seated; A sensor installed in a net of the landing guide, for detecting a magnitude of force applied from the unmanned aerial vehicle; Tension adjustment means connected to the other side of the landing guide net of the net and adjusting the tension of the net; And, And controlling the driving of the tension control means according to the value detected by the sensor to release the net of the landing guide according to the magnitude of the force applied from the unmanned aerial vehicle to guide the landing of the unmanned aerial vehicle. Landing guidance device for unmanned aerial vehicles using a net. The tension adjusting carrier of claim 1, wherein the tension adjusting means is mounted on the second pole so as to be lifted and lowered through a driving means, and is loosened or stretched by loosening or pulling the net by raising or lowering based on a signal of the controller. Landing guidance device of the drone using the net, characterized in that 30). The method of claim 2, wherein the drive means, mounted on the tension control carrier and the drive motor for driving under the control of the controller, the second pole is formed in the vertical longitudinal direction and the pinion 31 of the drive motor is engaged Landing guidance device of the unmanned aerial vehicle using the net, characterized in that consisting of a rack (14) to lift the tension control carrier. The method of claim 2 or 3, wherein the first pole is slidably installed to the second pole side through the rail, the tension control carrier is connected to the other side of the net and wound around the net one side of the net is fixed Landing guidance device for an unmanned aerial vehicle using a net, characterized in that the winch 40 for sliding the first pole toward the second pole side is installed. The tension control drum (50) of claim 1, wherein the tension control means (50) is mounted to the second pole and is connected to the other side of the net, and is configured to wind or unwind the net while rotating in both directions based on a signal from the controller. Landing guidance device of the drone using the net, characterized in that). The landing guidance apparatus of claim 1, wherein the pawl is configured by elastically connecting pipes having different diameters. In a method of inducing a landing of a drone through a net supported through a pair of poles, Constructing reference data of the unwinding length of the net with respect to the magnitude of force applied from the unmanned aerial vehicle; Detecting a magnitude of force applied to the net from an unmanned aerial vehicle; A third step of calculating the unwinding length of the net by comparing the current data detected in the second step with reference data constructed in the first step; And, And a fourth step of reducing the flying speed of the drone and reducing the force applied from the unmanned aerial vehicle by loosening one side of the net and loosening the net based on the value calculated through the third step. Landing guidance method of drone using net. The method of claim 7, wherein in the first step, the magnitude of the force capable of landing the unmanned aerial vehicle is set, and the magnitude of the current force detected in the second step is compared with the magnitude of the force set in the first step. Landing guidance method of the drone using the net, characterized in that to terminate the tension control of the net if the same. The method of claim 8, wherein after the length adjustment of the wire is completed, the method includes a fifth step of winding the wire to its original position.

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