KR20170040961A - wireless charging system for unmaned aircraft and method having the same - Google Patents

Abstract

According to an embodiment of the present invention, a method of operating an unmanned aircraft comprises the following steps of: receiving a wireless signal having position information of a charging device from the charging device while the unmanned aircraft is moved on the basis of GPS information; determining whether the position information contained in the wireless signal is the same as the GPS information; and IR-UWB communicating with the charging device, and enabling the aircraft to land based on position positioning information received from the charging device.

Description

Technical Field [0001] The present invention relates to a wireless charging system and a method for driving the same,

The present invention relates to an unmanned aerial vehicle wireless charging system and a driving method thereof.

The wireless power transmission technology (wireless power transmission or wireless energy transfer) is a technology to transmit electric energy from the transmitter to the receiver wirelessly using the induction principle of the magnetic field. In the 1800s, electric motor or transformer Thereafter, a method of transmitting electric energy by radiating an electromagnetic wave such as a radio wave or a laser was tried. Wireless power transmission technology can be applied not only to mobile, but also to various industries such as IT, railroad, and household appliance industry.

On the other hand, unmanned aerial vehicles (UAVs) can be operated by remote control or autonomous flight control devices without pilots, and it is difficult to directly perform human tasks such as settlement, cargo transportation, forest fire monitoring, The power supply of the unmanned aerial vehicle is not easy, which makes it difficult to fly for a long time.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a wireless charging system and a method of operation of an unmanned aerial vehicle with improved wireless charging efficiency.

A method for driving an unmanned aerial vehicle according to an embodiment of the present invention includes the steps of receiving the radio signal including the position information of the unmanned aerial vehicle on the basis of GPS information from the charging device, Determining whether the position information included in the wireless signal is consistent, and performing IR-UWB communication with the charging device, and landing based on the positional information received from the charging device.

A method of driving a charging device according to an embodiment of the present invention includes the steps of transmitting a wireless signal including AP information of the charging device to the unmanned air vehicle and communicating the position of the unmanned air vehicle with the unmanned air vehicle by IR- A step of transmitting positioning information and a digital signal to the unmanned air vehicle, and receiving a reception packet from the unmanned air vehicle; and a step of determining, based on reception power information of the wireless power reception apparatus included in the reception packet, And judging whether or not it is possible.

According to the embodiment of the present invention, the charging efficiency can be improved by disposing the wireless charging module in the landing part of the unmanned aerial vehicle.

In addition, accurate landing of the unmanned aerial vehicle can be induced through the positioning using the IR-UWB communication method.

In addition, charging efficiency can be improved by activating or moving the wireless power transmission device based on the landing point of the unmanned aerial vehicle.

1 is a magnetic induction equivalent circuit.
2 is a self-resonant-type equivalent circuit.
3A and 3B are block diagrams illustrating a wireless power transmission apparatus as one of the subsystems that constitute the wireless power transmission system.
4 is a block diagram illustrating a wireless power receiving apparatus as one of the subsystems constituting the wireless power transmission system.
FIG. 5A is a view for explaining a wireless charging system for an unmanned aerial vehicle according to an embodiment of the present invention, and FIG. 5B is a view for explaining a wireless charging system for an unmanned aerial vehicle according to another embodiment of the present invention.
6 is a front view of an unmanned aerial vehicle according to an embodiment of the present invention.
7 is a perspective view of an unmanned aerial vehicle according to another embodiment of the present invention.
FIG. 8A is a system block diagram of an unmanned aerial vehicle according to an embodiment of the present invention, and FIG. 8B is a system block diagram of an unmanned aerial vehicle according to another embodiment of the present invention.
9 is a view for explaining a wireless charging system for an unmanned aerial vehicle according to another embodiment of the present invention.
10 is a view for explaining a wireless charging system for an unmanned aerial vehicle according to another embodiment of the present invention.
11A and 11B are views illustrating a wireless charging system for an unmanned aerial vehicle according to another embodiment of the present invention.
12 is a view for explaining a wireless charging system for an unmanned aerial vehicle according to another embodiment of the present invention.
FIG. 13A is a system block diagram of a charging apparatus according to an embodiment of the present invention, and FIG. 13B is a system block diagram of a charging apparatus according to another embodiment of the present invention.
14 is a flowchart illustrating a method of driving an unmanned aerial vehicle according to an embodiment of the present invention.
15 is a flowchart illustrating a method of driving an unmanned aerial vehicle according to another embodiment of the present invention.
16 is a flowchart illustrating a method of driving a charging apparatus according to an embodiment of the present invention.
17 is a flowchart illustrating a method of driving a charging apparatus according to another embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a wireless power transmission system including a wireless power transmission apparatus having a function of wirelessly transmitting power and a wireless power reception apparatus wirelessly receiving power according to an embodiment of the present invention will be described in detail with reference to the drawings. The following embodiments are provided by way of example so that those skilled in the art can fully understand the spirit of the present invention. Therefore, the present invention is not limited to the embodiments described below, but may be embodied in other forms. In the drawings, the size and thickness of an apparatus may be exaggerated for convenience. Like reference numerals designate like elements throughout the specification.

Embodiments may include a communication system that selectively uses various types of frequency bands from a low frequency (50 kHz) to a high frequency (15 MHz) for wireless power transmission and can exchange data and control signals for system control .

The embodiments can be applied to various industrial fields such as a mobile terminal industry using a battery or an electronic device required, a smart clock industry, a computer and notebook industry, a household appliance industry, an electric car industry, a medical device industry, and a robot industry .

Embodiments may consider a system capable of power transmission to one or more multiple devices using one or more transmission coils.

According to the embodiment, it is possible to solve the battery shortage problem in a mobile device such as a smart phone and a notebook. For example, when a wireless charging pad is placed on a table and a smart phone or a notebook is used on the table, the battery is automatically charged and can be used for a long time . In addition, by installing wireless charging pads in public places such as cafes, airports, taxis, offices, restaurants, etc., mobile devices manufacturers can charge various mobile devices regardless of charging terminals. In addition, when wireless power transmission technology is applied to household electrical appliances such as cleaners, electric fans, etc., there is no need to look for power cables and complex wires can be eliminated in the home, which can reduce wiring in buildings and increase the space utilization. In addition, it takes a lot of time to charge the electric car with the current household power, but if the high power is transmitted through the wireless power transmission technology, the charging time can be reduced. If the wireless charging facility is installed at the bottom of the parking lot, It is possible to solve the inconvenience of having to prepare.

The terms and abbreviations used in the examples are as follows.

Wireless Power Transfer System: A system that provides wireless power transmission within a magnetic field region

Wireless Power Transfer System-Charger: A device that provides wireless power transmission to a power receiver within a magnetic field area and manages the entire system.

Wireless Power Transfer System-Device: A device that is provided with a wireless power transmission from a power transmitter within a magnetic field area.

Charging Area: A region where actual wireless power transmission occurs within the magnetic field region, and may vary depending on the size, required power, and operating frequency of the application product.

Scattering parameter: The S parameter is the ratio of the input port to the output port in terms of the input voltage to the output voltage on the frequency distribution (Transmission S21) or the self reflection value of each input / output port, Reflection (S11, S22) of the reflected output.

Quality factor Q: The value of Q in resonance means the quality of frequency selection. The higher the Q value, the better the resonance characteristics. The Q value is expressed as the ratio of the energy stored in the resonator to the energy lost.

The principles of wireless power transmission include magnetic induction and self-resonance.

The magnetic induction method is a noncontact energy transfer technique in which an electromotive force is generated in the load inductor Ll via a magnetic flux generated when the source inductor Ls and the load inductor Ll are brought close to each other and a current is supplied to one of the source inductors Ls. to be. The self-resonance method combines two resonators to generate self-resonance by the natural frequency between the two resonators. By resonating at the same frequency and using the resonance technique to form an electric field and a magnetic field in the same wavelength range, Technology.

1 is a magnetic induction equivalent circuit.

Referring to FIG. 1, in a magnetic induction equivalent circuit, a wireless power transmission apparatus includes a source voltage Vs, a source resistance Rs, a source capacitor Cs for impedance matching, And the wireless power receiving device may be implemented as a load resistance Rl that is an equivalent resistance of the wireless power receiving device, a load capacitor Cl for impedance matching, And the magnetic coupling between the source coil Ls and the load coil Ll can be expressed by mutual inductance Msl.

In FIG. 1, the ratio S21 of the input voltage to the output voltage is obtained from the magnetic induction equivalent circuit consisting only of the coil without the source capacitor Cs and the load capacitor Cl for impedance matching, The power transmission condition satisfies Equation (1) below.

[Equation 1]

Ls / Rs = L1 / R1

The maximum power transmission is possible when the ratio of the inductance of the transmission coil Ls to the source resistance Rs and the ratio of the inductance of the load coil Ll to the load resistance Rl are equal to each other. Since there is no capacitor capable of compensating for reactance in a system in which there is only an inductance, the value of the self reflection value S11 of the input / output port can not be zero at the point where the maximum power is transmitted, and the mutual inductance Msl, The power transfer efficiency can vary greatly depending on the value. Therefore, the source capacitor Cs can be added to the wireless power transmission apparatus as a compensation capacitor for impedance matching, and the load capacitor Cl can be added to the wireless power reception apparatus. The compensation capacitors Cs and Cl may be connected in series or in parallel to the receiving coil Ls and the load coil Ll, respectively. Further, for the impedance matching, each of the wireless power transmitting apparatus and the wireless power receiving apparatus may be further provided with a passive element such as an additional capacitor and an inductor as well as a compensation capacitor.

2 is a self-resonant-type equivalent circuit.

2, in a self-resonant type equivalent circuit, a radio power transmission apparatus includes a source coil constituting a closed circuit by a series connection of a source voltage Vs, a source resistance Rs and a source inductor Ls, Side resonant coil constituting a closed circuit by a series connection of the side resonant inductor L1 and the transmission side resonant capacitor C1 and the wireless power receiving apparatus is implemented by a load resistor R1 and a load inductor L1, Side resonance coil constituting a closed circuit by a series connection of a load coil constituting a closed circuit by a series connection of the resonance inductor L2 and a resonance inductor L2 on the reception side and a resonance capacitor C2 on the reception side, The load inductor L1 and the load side resonance inductor L2 are magnetically coupled to each other by a coupling coefficient of K23 and the transmission side inductor L1 is magnetically coupled to the transmission side inductor L1 ) And the receiving-side resonance inductor (L2) And is magnetically coupled to the coupling coefficient. In the equivalent circuit of another embodiment, the source coil and / or the load coil may be omitted and only the transmission-side resonance coil and the reception-side resonance coil may be formed.

When the resonance frequencies of the two resonators are the same, most of the energy of the resonator of the wireless power transmission apparatus is transmitted to the resonator of the wireless power receiving apparatus so that the power transmission efficiency can be improved, and the efficiency in the self- It is better when the equation (2) is satisfied.

&Quot; (2) "

k / Γ >> 1 (k is the coupling coefficient, Γ attenuation factor)

In order to increase the efficiency in the self-resonant mode, an element for impedance matching can be added, and the impedance matching element can be a passive element such as an inductor and a capacitor.

Based on such a wireless power transmission principle, a wireless power transmission system for transmitting power by a magnetic induction method or a self resonance method will be described.

<Wireless power transmission device>

FIGS. 3A and 3B are block diagrams illustrating a wireless power transmission apparatus as one of the sub-systems constituting the wireless power transmission system.

Referring to FIG. 3A, a wireless power transmission system according to an embodiment may include a wireless power transmission apparatus 1000 and a wireless power reception apparatus 2000 receiving wireless power from a wireless power transmission apparatus 1000. FIG. The wireless power transmission apparatus 1000 includes a power conversion unit 101 for converting an input AC signal into an AC signal and outputting the AC signal as an AC signal, and a magnetic field generator for generating a magnetic field based on the AC signal output from the power conversion unit 101, A resonance circuit section 102 for providing power to the wireless power receiving apparatus 2000 and a control section for controlling the power conversion of the power conversion section 101 and adjusting the amplitude and frequency of the output signal of the power conversion section 101, Voltage, and current information from the power conversion unit 101 and the resonance circuit unit 102 and performs wireless communication with the wireless power reception apparatus 2000. The wireless power reception apparatus 2000 performs impedance matching of the resonance circuit unit 102, And a control unit 103 that can control the operation of the apparatus. The power conversion unit 101 may include at least one of a power conversion unit that converts an AC signal to DC, a power conversion unit that outputs a DC by varying the level of the DC, and a power conversion unit that converts DC into AC . The resonance circuit unit 102 may include a coil and an impedance matching unit capable of resonating with the coil. The control unit 103 may include a sensing unit and a wireless communication unit for sensing impedance, voltage, and current information.

 3B, the wireless power transmission apparatus 1000 includes a transmitting side AC / DC converting unit 1100, a transmitting side DC / AC converting unit 1200, a transmitting side impedance matching unit 1300, A portion 1400 and a sender communication and control portion 1500. [

The transmitting side AC / DC converting unit 1100 is a power converting unit for converting an AC signal provided from the outside under the control of the transmitting side communication and control unit 1500 to a DC signal. The transmitting side AC / DC converting unit 1100 includes: May include a rectifier 1110 and a transmission side DC / DC converter 1120 as a subsystem. The rectifier 1110 converts a supplied AC signal into a DC signal. The rectifier 1110 may be a diode rectifier having a relatively high efficiency in high-frequency operation, a synchronous rectifier capable of one-chip operation, And a hybrid rectifier capable of saving space and having a high degree of freedom in dead time. However, the present invention is not limited to this, and can be applied to a system that converts AC to DC. The transmitting side DC / DC converting unit 1120 adjusts the level of the DC signal provided from the rectifier 1110 under the control of the transmitting side communication and control unit 1500. As an example of implementing the DC signal, A buck converter, a boost converter that boosts the level of the input signal, a buck-boost converter or a Cuk converter that can raise or lower the level of the input signal. Also, the transmission side DC / DC converter 1120 includes a switch element that performs a power conversion control function, an inductor and a capacitor that perform a power conversion medium function or an output voltage smoothing function, a voltage gain control function or an electrical isolation function (insulation function) And may have a function of removing a ripple component or a ripple component (AC component included in the DC signal) included in the input DC signal. The error between the command value of the output signal of the transmitting side DC / DC converting unit 1120 and the actual output value can be adjusted through the feedback method and can be performed by the transmitting side communication and control unit 1500 .

The transmission side DC / AC conversion unit 1200 converts the DC signal output from the transmission side AC / DC conversion unit 1100 into an AC signal under the control of the transmission side communication and control unit 1500 and outputs the converted AC signal frequency A half bridge inverter or a full bridge inverter is an example of implementing this system. In the wireless power transmission system, various amplifiers for converting direct current to alternating current can be applied. For example, class A, class B, class AB, class C, class E class F amplifier. The transmission side DC / AC conversion unit 1200 may include an oscillator for generating a frequency of an output signal and a power amplifier for amplifying an output signal.

The transmission-side impedance matching unit 1300 minimizes the reflected waves at points having different impedances to improve the signal flow. Since the two coils of the wireless power transmitting apparatus 1000 and the wireless power receiving apparatus 2000 are spatially separated and have a large leakage of magnetic field, the wireless power transmitting apparatus 1000 and the wireless power receiving apparatus 2000, The power transmission efficiency can be improved. The impedance matching unit 1300 may include an inductor, a capacitor, and a resistor. Under the control of the communication and control unit 1500, the inductance of the inductor, the capacitance of the capacitor, The impedance value can be adjusted. When the wireless power transmission system transmits power in a self-induction manner, the transmission-side impedance matching unit 1300 may have a series resonance structure or a parallel resonance structure, and may include a wireless power transmission apparatus 1000 and a wireless power reception apparatus 2000) can be increased to minimize the energy loss. When the wireless power transmission system transmits power in a self-resonant manner, the transmission-side impedance matching unit 1300 may determine that the distance between the wireless power transmission apparatus 1000 and the wireless power reception apparatus 2000 is changed or the metallic foreign matter FO ; Foreign Object), mutual influences by a plurality of devices, and the like, it is possible to make real-time correction of impedance matching according to a change in matching impedance on an energy transmission line due to a change in characteristics of a coil, Method, a matching method using a multi-antenna, a method using a multi-loop, and the like.

The transmitting coil 1400 may be implemented as a plurality of coils or a plurality of coils. If a plurality of transmitting coils 1400 are provided, they may be spaced apart from each other, The overlapping area can be determined in consideration of the deviation of the magnetic flux density. Also, when the transmission coil 1400 is manufactured, it can be manufactured in consideration of the internal resistance and the radiation resistance. If the resistance component is small, the quality factor can be increased and the transmission efficiency can be increased.

The communication and control unit 1500 may include a transmission side control unit 1510 and a transmission side communication unit 1520. The transmitting-side controller 1510 may control the output voltage of the transmitting-side AC / DC converter 1100 in consideration of the power demand of the wireless power receiving apparatus 2000, the current charging amount, and the wireless power scheme . The frequency and switching waveforms for driving the transmission side DC / AC conversion unit 1200 may be generated in consideration of the maximum power transmission efficiency to control power to be transmitted. In addition, the transmitting-side control unit 1510 can determine the size of the wireless power receiving apparatus based on the unique information (RXID) received from the wireless power receiving apparatus. That is, one of the plurality of transmission coils can be selected according to the size of the wireless power receiving apparatus. The unique information RXID may include an RXID message, a certification version, identification information, and an error detection code (CRC), but is not limited thereto. The RXID message may include information on the amount of power of the wireless power receiving apparatus.

Also, the overall operation of the wireless power receiving apparatus 2000 can be controlled using an algorithm, a program, or an application required for the control read from the storage unit (not shown) of the wireless power receiving apparatus 2000. Meanwhile, the transmission-side controller 1510 may be referred to as a microprocessor, a microcontroller unit, or a microcomputer. The transmission-side communication unit 1520 can perform communication with the reception-side communication unit 2620, and can use a short-distance communication scheme such as Bluetooth, NFC, Zigbee, etc. as a communication scheme. The transmission side communication unit 1520 and the reception side communication unit 2620 can transmit and receive the charging status information and the charging control command to each other. The charging status information may include the number of the wireless power receiving apparatuses 2000, the battery remaining amount, the number of charging times, the usage amount, the battery capacity, the battery ratio, and the transmission power amount of the wireless power transmission apparatus 1000. Further, the transmission side communication unit 1520 can transmit a charging function control signal for controlling the charging function of the wireless power receiving apparatus 2000, and the charging function control signal controls the wireless power receiving apparatus 2000 to perform the charging function And may be a control signal that enables or disables the device.

As described above, the transmitting-side communication unit 1520 may be communicated in an out-of-band format, which is a separate module, but the present invention is not limited thereto. And may perform communication in an in-band format using a feedback signal transmitted from the wireless power receiving apparatus to the wireless power transmitting apparatus. For example, the wireless power receiving apparatus may modulate the feedback signal to transmit information such as start of charge, end of charge, battery state, etc. to the transmitter through a feedback signal. The transmitting side communication unit 1520 may be configured separately from the transmitting side control unit 1510 and the receiving side communication unit 2620 may be included in the control unit 2610 of the receiving apparatus, Lt; / RTI &gt;

<Wireless Power Receiving Device>

4 is a block diagram illustrating a wireless power receiving apparatus as one of the subsystems constituting the wireless power transmission system.

4, a wireless power transmission system may include a wireless power transmission device 1000 and a wireless power reception device 2000 receiving wireless power from the wireless power transmission device 1000, The receiving apparatus 2000 includes a receiving side coil part 2100, a receiving side impedance matching part 2200, a receiving side AC / DC converting part 2300, a receiving side DC / DC converting part 2400, a load 2500, And a receiving-side communication and control unit 2600.

The receiving side coil part 2100 can receive power through a magnetic induction method or a self resonance method. As described above, at least one of the induction coil and the resonance coil may be included according to the power reception scheme. The receiving side coil part 2100 may be equipped with a near field communication (NFC) antenna. The receiving side coil part 2100 may be the same as the transmitting side coil part 1400 and the dimensions of the receiving antenna may be changed according to the electrical characteristics of the wireless power receiving device 2000.

The reception side impedance matching unit 2200 performs impedance matching between the wireless power transmission apparatus 1000 and the wireless power reception apparatus 2000.

The receiving-side AC / DC converter 2300 rectifies the AC signal output from the receiving-side coil part 2100 to generate a DC signal.

The receiving-side DC / DC converting section 2400 can adjust the level of the DC signal output from the receiving-side AC / DC converting section 2300 to the capacity of the load 2500.

The load 2500 may include a battery, a display, a voice output circuit, a main processor, and various sensors.

The receiving side communication and control unit 2600 can be activated by the wake-up power from the transmitting side communication and control unit 1500 and perform communication with the transmitting side communication and control unit 1500, Can control the operation of the subsystem of the system.

The wireless power receiving apparatus 2000 may include a single or a plurality of wireless power receiving apparatuses 2000 and may simultaneously receive energy from the wireless power transmitting apparatus 1000. That is, in the wireless power transmission system of the self resonance type, a plurality of target wireless power receiving apparatuses 2000 can receive power from one wireless power transmission apparatus 1000. At this time, the transmitting-side matching unit 1300 of the wireless power transmission apparatus 1000 may adaptively perform impedance matching between the plurality of wireless power receiving apparatuses 2000. This can be equally applied to a case where a plurality of reception side coil portions independent from each other in the magnetic induction system are provided.

When the plurality of wireless power receiving apparatuses 2000 are provided, the power receiving systems may be the same system or different systems. In this case, the wireless power transmission apparatus 1000 may be a system that transmits power by a magnetic induction method or a self-resonant method, or a system that mixes both methods.

Meanwhile, in the case of the wireless power transmission of the magnetic induction type, the transmission side AC / DC conversion unit 1100 in the wireless power transmission apparatus 1000 may transmit data of several tens or several hundreds V ( (For example, 10V to 20V), by receiving AC signals of several tens or hundreds of Hz (for example, 60Hz) of a predetermined voltage (for example, 110V to 220V) And the transmitting side DC / AC converting unit 1200 can receive an AC signal and output an AC signal of KHz band (for example, 125 KHz). The receiving AC / DC converting unit 2300 of the wireless power receiving apparatus 2000 receives AC signals of KHz band (for example, 125KHz), and receives AC signals of several V to several tens V, hundreds V (for example, And the receiving side DC / DC converting section 2400 can output a DC signal of, for example, 5V suitable for the load 2500 and transmit the DC signal to the load 2500. In the case of the wireless power transmission of the self-resonance type, the transmitting side AC / DC converting unit 1100 in the wireless power transmitting apparatus 1000 may transmit power of several tens or hundreds of Hz (for example, 110V to 220V) (For example, 60 Hz), and can convert and output a DC signal of several V to several tens V and several hundred V (for example, 10 V to 20 V), and the transmission side DC / AC conversion unit 1200 can output DC It is possible to output an AC signal of MHz band (for example, 6.78 MHz). The receiving AC / DC converting unit 2300 of the wireless power receiving apparatus 2000 receives the AC signal of MHz (for example, 6.78 MHz) and receives the AC signal of several V to several tens V, several hundred V (for example, 10V to 20V) And the DC / DC conversion unit 2400 can output a DC signal of, for example, 5V suitable for the load 2500 and transmit it to the load 2500. The DC /

FIG. 5A is a view illustrating a wireless charging system of an unmanned aerial vehicle according to an embodiment of the present invention. Referring to FIG. 5A, the unmanned aerial vehicle charging system 10 includes a unmanned aerial vehicle 100 and a charging device 200.

The unmanned aerial vehicle refers to a flying object that can be remotely controlled or operated by a program that can be operated remotely without the need for maneuvering on the airplane. As a specific example, a tri-rotor having three propellers, a quadrotor having four propellers, A penta rotor with two propellers, a hex rotor with six propellers, and an oct rotor with eight propellers. Therefore, although the quadrotor will be described as an example for convenience of explanation, the scope of the present invention is not limited thereto, and various types of unmanned aerial vehicles can be implemented according to the number and configuration of the propeller.

The UAV 100 according to the embodiment of the present invention includes a body portion 110 on which a module for controlling power supply and flight operation is mounted, a wing portion including a frame and a propeller in four directions around the body portion 110, (120) and a leg portion (130) disposed under the body portion (110).

The body 110 includes a control unit 195 for controlling the flying operation of the UAV 100 to be described later with reference to FIG. 8A, and a wireless communication unit 140 for exchanging data with a remote controller, a server, or a charging device .

The shape of the body 110 may vary according to the type of the unmanned aerial vehicle. For example, in the case of a tri-rotor, the body 110 may be formed of a regular triangular plate. In case of a quadrotor, the body 110 may be formed of a square plate, but the present invention is not limited thereto.

The wing 120 may include a driving unit that converts electrical energy into mechanical energy to rotate the propeller, and a propeller that rotates by the driving unit.

The leg portion 130 is disposed at a lower portion of the unmanned aerial vehicle 110 so that the unmanned aerial vehicle can maintain a stable attitude when landing on the ground and alleviate the landing impact. The leg portion 130 may be made of styrofoam, memory foam, or a hardened sponge, but is not limited thereto.

The leg portion 130 may include a support portion 131 for supporting the body portion 110 and a landing portion 133 connected to the lower end of the support portion 131.

In particular, the present invention is capable of receiving wireless charging power from the charging device 200 by mounting a wireless power receiving device 180 (2000 in FIG. A wireless power receiving apparatus 180 (2000 in FIG. 4) may be mounted at the lower end of the landing unit 133 to receive power from the charging apparatus 200. The wireless power receiving apparatus 180 is mounted on the lower end of the body 110 or the lower end of the camera unit (not shown) mounted on the lower end of the body 110 to receive power from the charging apparatus 200 .

The charging apparatus 200 includes a wireless power transmission apparatus 260 (1000 in FIGS. 3A and 3B) equipped with a transmission coil and a support member 210. The transmitting coil may be a single coil or an array in which a plurality of coils are disposed, and the diameter of the transmitting coil may be larger than the distance between the legs 130. [

Also, referring to FIG. 5B, the receiving coil of the wireless power receiving apparatus may have the same shape and size as the transmitting coil. The leg portion 130 of the UAV 100 may include a support portion 131 for supporting the body portion and a landing portion 133 connected to the lower end of the support portion 131. The landing portion 133 may be formed by the transmission coil The receiving coil may be mounted in the same shape and size as the receiving coil 200 to receive electric power from the charging device 200. [ For example, the diameter (R1) of the receiving coil of the wireless power receiving apparatus and the diameter (R2) of the transmitting coil may be the same. The receiving coil of the same shape and size can serve as a landing unit while balancing the unmanned aerial vehicle. According to an embodiment, the shapes of the receiving coil and the transmitting coil may be polygonal or elliptic.

The wireless power transmitting apparatus 260 detects a magnetic body disposed inside the receiving coil of the wireless power receiving apparatus 180 by placing a hall sensor 215 inside the transmitting coil to detect whether the unmanned air vehicle 100 is landing And alignment can be judged. When the hall sensor 215 senses the intensity of the magnetic flux density of the magnetic body and is equal to or greater than the threshold value, the control unit (295 in FIG. 13A) of the charging apparatus 200 determines that the unmanned flying body 100 has landed and aligned It is possible to control the charging to be started. In other words, the unmanned aerial vehicle wireless charging system according to the embodiment of the present invention is a system in which the unmanned air vehicle 100 is landed on the charging device 200 and is installed in the unmanned air vehicle 100, The wireless power transmission device can transmit and receive wireless power to charge.

Referring to FIG. 6, the UAV 100 includes a body 110 on which a module for controlling power supply and flight operations is mounted, a body 110, A wing portion 120 including a frame and a propeller in four directions around the center of the body portion 110 and a leg portion 130 disposed at a lower portion of the body portion 110 and including a support portion 131 and a landing portion 133 . The distance W1 between the legs 130 may be 15 cm or less, but is not limited thereto.

7 is a perspective view of an unmanned aerial vehicle according to another embodiment of the present invention.

Referring to FIG. 7, another embodiment of the present invention is the same as the embodiment of FIG. 5 except that the shapes of the leg portions 130 are different. Therefore, in explaining another embodiment of the present invention, a detailed description of the configuration common to the embodiment of FIG. 5 will be omitted. The leg portion 130a may include a support portion 131a for supporting the body portion 110a and a landing portion 133a connected to an end of the support portion 131a. In the embodiment, the unmanned air vehicle 100a may have two landing portions 133a, and a wireless power receiving device 180 may be installed at the lower end of the landing portion 133a to receive power from the charging device 200 can do.

Further, according to the embodiment, a plurality of transmission coils of the wireless power receiving apparatus 180 and transmitting coils of the wireless power transmitting apparatus 280 disposed in the charging apparatus 200 may be arranged so as to match 1: 1, respectively, The receiving coil and the transmitting coil may be arranged in the same shape and size to improve the wireless charging efficiency.

According to an embodiment, the shapes of the receiving coil and the transmitting coil may be polygonal or elliptic.

8A is a system block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 8A, the UAV 100 includes a wireless communication unit 140, a battery 170, a wireless power receiving apparatus 180, a memory 190, a driving unit 193, and a control unit 195.

The wireless communication unit 140 is a wireless communication unit between the unmanned air vehicle 100 and the wireless communication system (not shown), between the unmanned air vehicle 100 and the unmanned air vehicle, or between the unmanned air vehicle 100 and the cloud server And may include one or more modules to enable communication. In addition, the wireless communication unit 140 may include one or more modules for connecting the unmanned air vehicle 100 to one or more networks.

The wireless communication unit 140 may include at least one of a short range communication module 143 and a location information module 145. The short-range communication module 143 is for short-range communication, and includes Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB) (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology. The short distance communication module 143 can support wireless communication between the unmanned air vehicle 100 and the wireless communication system through the wireless area network and between the unmanned air vehicle 100 and another unmanned air vehicle. The short-range wireless communication network may be a short-range wireless personal area network.

The position information module 145 is a module for acquiring the position of the UAV 100, and representative examples thereof include a Global Positioning System (GPS) module or a WiFi (Wireless Fidelity) module. For example, when the unmanned air vehicle 100 utilizes a GPS module, the position of the unmanned air vehicle 100 can be acquired using a signal transmitted from a GPS satellite. As another example, the UAV 100 may be configured to receive information from a Wi-Fi module based on information of a wireless access point (AP) that transmits or receives a wireless signal with the Wi-Fi module, Can be obtained. The position information module 145 is a module used to acquire the position of the unmanned air vehicle 100 and is not limited to a module for directly calculating or acquiring the position of the unmanned air vehicle 100. [

Under the control of the controller 195, the battery 170 receives external power and internal power, and supplies power to the components included in the unmanned air vehicle 100. The battery 170 may be an embedded battery or a replaceable battery.

The wireless power receiving apparatus 180 may be configured in the same manner as the wireless power receiving apparatus 2000 described with reference to FIG. 1 to FIG.

The memory 190 stores data supporting various functions of the UAV 100. [ The memory 190 may store a plurality of application programs or applications that are driven by the unmanned aerial vehicle 100, data for operation of the unmanned air vehicle 100, and commands. At least some of these applications may be downloaded from an external server via wireless communication. The application program may be stored in the memory 190 and may be installed on the unmanned air vehicle 100 and may be operated by the control unit 195 to perform the operation (or function) of the unmanned air vehicle 100.

The driving unit 193 may include one or more power devices for allowing the unmanned aerial vehicle 100 to fly. For example, the driving unit 193 may include at least one of a motor and an engine.

The control unit 195 can provide or process appropriate information or functions to the user by processing signals, data, information or the like inputted or outputted through the above-mentioned components or by driving an application program stored in the memory 190.

In addition, the control unit 195 may control at least some of the components illustrated in FIG. 8 to drive an application program stored in the memory 190. FIG. Further, the controller 195 may operate at least two of the components included in the UAV 100 in combination with each other for driving the application program.

At least some of the components may operate in cooperation with each other to implement an operation, control, or control method of the UAV 100 according to various embodiments described below. Also, the operation, control, or control method of the unmanned aerial vehicle 100 can be implemented on the unmanned air vehicle 100 by driving at least one application program stored in the memory 190.

8B is a system block diagram of an unmanned aerial vehicle according to another embodiment of the present invention. Referring to FIG. 8B, the UAV 100 includes a wireless communication unit 140, an input unit 150, a sensing unit 160, a battery 170, a wireless power receiving device 180, a memory 190, a driving unit 193 A control unit 195, and an interface unit 197. Other embodiments of the present invention will not be described in detail with respect to configurations common to the embodiment of FIG. 8A. The components shown in FIG. 8B are not essential for realizing the UAV 100, so that the UAV 100 described herein can have more or less components have.

The wireless communication unit 140 may include at least one of a wireless Internet module 141, a short distance communication module 143, and a location information module 145. The wireless Internet module 141 is capable of wireless Internet access and can be built in or enclosed in the UAV 100. The wireless Internet module 141 is configured to transmit and receive wireless signals in a communication network according to wireless Internet technologies.

Wireless Internet technologies include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband) (Wireless Internet Module) 141, and the like. The wireless Internet module 141 is connected to the wireless Internet module 141, And transmits and receives data according to at least one wireless Internet technology in a range including internet technologies not listed above.

The input unit 150 includes a camera 151 for inputting a video signal or a video input unit, a microphone 153 for inputting an audio signal or an audio input unit and a user input unit 155 for receiving information from a user A touch key, a mechanical key, and the like). The voice data or image data collected by the input unit 150 may be analyzed and processed by a user's control command.

The input unit 150 is for inputting image information (or signal), audio information (or signal), data, or information input from a user. For inputting image information, the unmanned air vehicle 150 may include one or more And a camera 151 may be provided.

The camera 151 processes image frames such as still images or moving images obtained by the image sensor in the video communication mode or the photographing mode. The processed image frames may be stored in the memory 190 or transmitted to the protector or an associated public authority or transmitted to the cloud server for storage.

The microphone 153 processes the external acoustic signal into electrical voice data. The user input unit 153 is used to receive information from the user. When information is inputted through the user input unit 153, the control unit 195 can control the operation of the unmanned air vehicle 100 to correspond to the input information . The user input unit 153 may include a mechanical input unit or a mechanical key such as a button positioned at the front or rear or side of the unmanned air vehicle 100, a dome switch, a jog wheel, Etc.) and touch-type input means. For example, the touch-type input means may comprise a virtual key, a soft key or a visual key displayed on the touch screen through software processing, And a touch key disposed on the touch panel.

The sensing unit 160 may include at least one sensor for sensing at least one of information in the unmanned air vehicle 100, surrounding environment information surrounding the unmanned air vehicle 100, and user information. For example, the sensing unit 160 may include a proximity sensor 161, an illumination sensor, a touch sensor, an acceleration sensor, a magnetic sensor, a gravity sensor G- sensor, a gyroscope sensor, a motion sensor, an RGB sensor, an infrared sensor 142, a finger scan sensor, an ultrasonic sensor, an optical sensor sensors, such as cameras 151), microphones (see 153), battery gauges, environmental sensors (e.g., barometers, hygrometers, thermometers, radiation detection sensors, Sensing sensors, etc.), chemical sensors (e.g., electronic noses, healthcare sensors, biometric sensors, etc.). Meanwhile, the unmanned aerial vehicle 100 disclosed in this specification can combine and utilize the information sensed by at least two of the sensors.

The proximity sensor 161 refers to a sensor that detects the presence of an object approaching a predetermined detection surface, or the presence of an object in the vicinity of the detection surface, without mechanical contact by using electromagnetic force or infrared rays. The proximity sensor 161 senses an object in front of or behind the UAV 100 so that it can be avoided from flying to the object or the object can be grasped.

The infrared sensor 163 is a sensor for detecting a distance to an object in front of the user, and allows the user to fly in the direction of the user's front / rear / left / right while keeping the distance from the user constant. .

As described above, the present invention is not limited to the above-described sensors except that more sensors may be added or some of the sensors described above may be omitted.

9 is a view for explaining a wireless charging system for an unmanned aerial vehicle according to another embodiment of the present invention. Referring to FIG. 9, the unmanned aerial vehicle charging system 10 according to another embodiment of the present invention is identical to the embodiment of FIG. 5 except that the configuration of the charging apparatus is different. Therefore, in explaining another embodiment of the present invention, a detailed description of the configuration common to the embodiment of FIG. 5 will be omitted.

The charging device 200a includes a wireless power transmission device 260a having a transmission coil and a support member 210a. The charging device 200a may include a plurality of wireless power transmission devices 260a, for example, four wireless power transmission devices 260a may be disposed. At this time, the receiving coil of the wireless power receiving apparatus and the transmitting coil of the wireless power transmitting apparatus 260a may be arranged in the same shape and size to improve the wireless charging efficiency.

A plurality of wireless power transmission devices 260a may be disposed in each of a plurality of landing portions of the unmanned air vehicle 100. [ The distance W2 between the plurality of landing portions of the unmanned air vehicle 100 may be equal to or greater than the distance between the plurality of wireless power transmission devices 260a and the distance between the plurality of landing portions of the unmanned air vehicle 100, The interval (W2) between the parts may be 15 cm or less, but is not limited thereto. That is, the wireless charging efficiency can be improved by receiving the wireless power from the plurality of wireless power transmission apparatuses of the parallel structure, in which the wireless power receiving apparatus disposed in each landing portion of the unmanned air vehicle 100 receives the wireless power.

10 is a view for explaining a wireless charging system for an unmanned aerial vehicle according to another embodiment of the present invention. Referring to FIG. 10, the RF charging system 10 according to another embodiment of the present invention is the same as the charging system shown in FIG. 5 except that the configuration of the charging apparatus is different. Therefore, in explaining another embodiment of the present invention, a detailed description of the configuration common to the embodiment of FIG. 5 will be omitted.

The charging device 200b includes a wireless power transmission device 260b having a transmission coil and a support member 210b. The charging device 200b may include a plurality of wireless power transmission devices 260b in the form of a matrix on the supporting member 210b.

The unmanned air vehicle 100 may receive the GPS information of the place where the charging device 200 is installed through the location information module 145 and land on the charging device 200 by the GPS information. The charging apparatus 200 can select at least one or more wireless power transmission apparatuses corresponding to the landing point of the unmanned air vehicle 100 and perform wireless charging by selecting a wireless power transmission apparatus (hatched region).

In other words, the unmanned aerial vehicle wireless charging system according to another embodiment of the present invention can improve the wireless charging efficiency by driving only the wireless power transmitting apparatus that is partially coupled to the wireless power receiving apparatus of the unmanned air vehicle 100. [

15) in which the charging device 200 guides the landing of the unmanned air vehicle 100 when the transmission coil of the charging device 200 and the receiving coil of the unmanned air vehicle 100 are matched at a ratio of 1: Is as follows.

The unmanned flight vehicle 100 can move closer to the charging device 200 based on the GPS information. At this time, the charging device 200 can transmit the wireless signal to the unmanned air vehicle 100. The wireless signal may include access point (AP) information in which the charging device 200 is located. The UAV 100 can determine and land the landing point based on the GPS information and the AP information included in the received radio signal.

When the unmanned air vehicle 100 lands, the charging device 200 can transmit a digital signal.

The digital signal may include a power beacon and the power beacon may provide sufficient power to allow the wireless power receiving apparatus to start and respond. In an embodiment, the charging device 200 may transmit no more than five times the digital signal for a time less than 28 ms, and may return to the standby state if there is no response from the wireless power receiving device.

The wireless power receiving apparatus of the UAV 100 may transmit the received packet to the charging apparatus 200. [ The received packet may include received power information, and the charging device 200 may determine whether the unmanned aerial vehicle 100 is aligned based on the received power information. For example, when the received power information included in the received packet is equal to or greater than a threshold value, the control unit 295 of the charging apparatus 200 determines that the unmanned air vehicle 100 has completed the alignment and can start charging. In addition, if the received power information exceeds a threshold value, the power of the driving unit can be controlled to be turned off.

When the received power information included in the received packet is less than or equal to the threshold value, it is determined that the unmanned aerial vehicle 100 has failed to align, and precise position information is generated based on the received power information included in the received packet, 100). At this time, the precise position information may include precise position coordinates of the transmitting coil based on the received power information of the received packet.

When the charging device 200 uses the hall sensor to guide the landing of the unmanned air vehicle 100 in a case where the transmitting coil of the charging device 200 and the receiving coil of the unmanned air vehicle 100 are matched at a ratio of 1: (See FIG. 16) is as follows.

The unmanned flight vehicle 100 can move closer to the charging device 200 based on the GPS information. At this time, the charging device 200 can transmit the wireless signal to the unmanned air vehicle 100. The wireless signal may include access point (AP) information in which the charging device 200 is located. The UAV 100 can determine and land the landing point based on the GPS information and the AP information included in the received radio signal.

When the unmanned air vehicle 100 lands, the charging device 200 can transmit a digital signal. The digital signal may include a power beacon and the power beacon may provide sufficient power to allow the wireless power receiving apparatus to start and respond. In an embodiment, the charging device 200 may transmit no more than five times the digital signal for a time less than 28 ms, and may return to the standby state if there is no response from the wireless power receiving device.

The wireless power transmission device 260 of the charging device 200 may place a Hall sensor 215 inside the transmission coil to sense the magnetic body disposed inside the reception coil of the wireless power reception device 180, Accordingly, it is possible to determine whether the unmanned aerial vehicle 100 is landed or not. When the hall sensor 215 senses the intensity of the magnetic flux density of the magnetic body and is above a predetermined threshold value, the controller 295 of the charging device 200 determines that the landing and alignment of the unmanned flying vehicle 100 have been completed And if it is below the threshold value, it can transmit the accurate position information to the UAV 100 to induce re-landing.

11A is a view illustrating a wireless charging system of an unmanned aerial vehicle according to another embodiment of the present invention. Referring to FIG. 11A, the RF charging system 10 according to another embodiment of the present invention is the same as the charging system shown in FIG. 5 except for the configuration of the charging apparatus. Therefore, in explaining another embodiment of the present invention, a detailed description of the configuration common to the embodiment of FIG. 5 will be omitted.

The charging device 200d includes a wireless power transmission device 260d having a transmission coil, a supporting member 210d, a moving member 220d, and a driving motor 230d. The charging device 200d may be arranged with four wireless power transmission devices 260a paired on the supporting member 210d.

The movable member 220d is connected to each of the plurality of wireless power transmission devices 260d, and connects the plurality of wireless power transmission devices 260d and the supporting member to each other. The movable member 220d may drive the plurality of wireless power transmission devices to horizontally move on the support member 210d and the movable member 220 may be controlled by the drive motor 230. [

That is, when the unmanned air vehicle 100 lands, the charging apparatus 200 can determine whether the unmanned air vehicle 100 is aligned based on received power information received from the hall sensor or the unmanned aerial vehicle. If the unmanned vehicle 100 is not correctly aligned, The control unit may control the plurality of paired radio power transmission devices 260d to be aligned with the unmanned aerial vehicle. At this time, at least one of the plurality of wireless power transmission devices 260d may be selected to start charging.

That is, the wireless charging system of the unmanned aerial vehicle according to another embodiment of the present invention can improve the wireless charging efficiency by moving the wireless power transmission device when the landing can not be performed due to the GPS error.

11B is a view for explaining a wireless charging system of an unmanned aerial vehicle according to another embodiment of the present invention. Referring to FIG. 11B, the unmanned aerial vehicle charging system 10 according to another embodiment of the present invention is identical to the embodiment of FIG. 5 except that the configuration of the charging apparatus is different. Therefore, in explaining another embodiment of the present invention, a detailed description of the configuration common to the embodiment of FIG. 5 will be omitted.

The charging device 200c includes a wireless power transmission device 260c having a transmission coil, a support member 210c, and a movable member 220. [ The charging device 200c may be provided with four wireless power transmission devices 260a on the support member 210c.

The movable member 220 is connected to each of the plurality of wireless power transmission devices 260c, and connects the plurality of wireless power transmission devices 260c and the supporting member to each other. The movable member 220 can drive a plurality of wireless power transmission devices to horizontally move on the support member 210c and the movable member 220 requires a driving element such as a piezoelectric element or a sub motor.

That is, the charging device 200 can horizontally move the plurality of wireless power transmission devices 260c based on the landing point of the unmanned air vehicle 100 to perform wireless charging.

That is, the wireless charging system of the unmanned aerial vehicle according to another embodiment of the present invention can improve the wireless charging efficiency by moving the wireless power transmission device when the landing can not be performed due to the GPS error.

The charging device 200 may include a sensor and a control circuit for identifying whether the landed object can be charged or for detecting an abnormal change in voltage or temperature during charging, The carrier current flowing between the transmission devices can be used.

12 is a view for explaining a wireless charging system for an unmanned aerial vehicle according to another embodiment of the present invention. Referring to FIG. 12, the unmanned aerial vehicle charging system 10 according to another embodiment of the present invention is identical to the embodiment of FIG. 5 except that the configuration of the charging apparatus is different. Therefore, in explaining another embodiment of the present invention, a detailed description of the configuration common to the embodiment of FIG. 5 will be omitted.

12A and 12B, the charging device 200d may include a wireless power transmission device 260d having a transmission coil, a support member 210d, and an electronic fiber sensor 230 .

The electronic fiber sensor 230 can sense whether the unmanned mobile object 100 is landing on the charging device 200d. The electronic fiber sensor 230 may be embodied as an electronic fiber, and the electronic textile is a fiber having electrical characteristics while maintaining the inherent characteristics of the fiber itself. It is applicable to various sensors (e.g., non-contact capacitive sensor, pressure sensor, temperature sensor, etc.).

The electronic fiber sensor 230 is disposed between the wireless power transmission device 260d and the support member 210d and the electronic fiber sensor 230 is electrically connected to the electrode layer 230a, A sensing layer 230c formed of an insulating foam or an insulating sheet, and a supporting portion 230d.

That is, when the unmanned air vehicle 100 is landing, the charging device 200d can detect whether the unmanned air vehicle 100 is landing or landing by sensing the weight of the electronic fiber sensor 230. [ The electronic fiber sensor 230 can be used to quickly detect the object to be wirelessly charged, thereby improving the charging efficiency.

13A is a system block diagram of a charging apparatus according to an embodiment of the present invention. Referring to FIG. 13A, the charging apparatus 200 includes a wireless communication unit 240, a wireless power transmission device 260, a power supply unit 280, and a memory 290.

The wireless communication unit 240 may include at least one of a short range communication module 243 and a location information module 245. The short distance communication module 243 is for short range communication and the position information module 245 is a module for acquiring the position of the unmanned air vehicle 100. Typical examples thereof include a Global Positioning System Or a wireless fidelity (WiFi) module. For example, when the charging device 200 utilizes the GPS module, the position of the charging device 200 can be acquired using a signal transmitted from the GPS satellite. As another example, the charging device 200 can utilize the Wi-Fi module to determine the position of the charging device 200 based on the information of the wireless AP (Wireless Access Point) that transmits or receives the wireless signal with the Wi- Can be obtained. In addition, the short range communication module 243 can transmit the accurate position information to the unmanned air vehicle 100 to guide the landing. The wireless power transmission apparatus 260 may be configured in the same manner as the wireless power transmission apparatus 1000 described with reference to FIG. 1 to FIG.

The distance determining unit 270 can detect a distance to an object in the vicinity by the IR-UWB communication method. The IR-UWB communication method is a short-range wireless communication technology that uses a short pulse of nano-second or less without using a carrier. Since there is no continuous energy transmission, ultra low power communication is possible. Lt; / RTI &gt;

That is, the charging apparatus 200 can determine the distance to the UAV 100 using the IR-UWB communication method through the distance measuring unit 270 and provides the detected position location information to the UAV 100 To help you land at the correct location.

Under the control of the control unit 295, the power supply unit 280 receives external power and internal power, and supplies power to the components included in the charging apparatus 200.

The memory 290 stores data supporting various functions of the charging apparatus 200. [ The memory 290 may store data and commands for operation of a plurality of application programs or applications driven by the charging device 200. [

13B is a system block diagram of a charging apparatus according to another embodiment of the present invention.

13B, the charging device 200 includes a wireless communication unit 240, a sensing unit 250, a wireless power transmission device 260, a distance positioning unit 270, a power supply unit 280, a memory 290, A control unit 295 and an interface unit 297. The components shown in FIG. 13B are not essential for implementing the charging device 200, so that the charging device 200 described herein can have more or fewer components than the components listed above have.

The wireless communication unit 240 may include one or more modules that enable wireless communication between the charging device 200 and the wireless communication system and between the charging device 200 and other charging devices 200. In addition, the wireless communication unit 240 may include one or more modules that connect the charging device 200 to one or more networks.

The wireless communication unit 240 may include at least one of a wireless Internet module 241, a short distance communication module 243, and a location information module 245. The wireless Internet module 241 may have a wireless Internet connection and may be embedded or enclosed in the charging device 200. The wireless Internet module 241 is configured to transmit and receive wireless signals in a communication network according to wireless Internet technologies.

The short-range communication module 243 is for short-range communication. The short-range communication module 243 may be a Bluetooth ™, a Radio Frequency Identification (RFID), an Infrared Data Association (IrDA), an Ultra Wideband (UWB) (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology. The short-range communication module 243 can support wireless communication between the charging device 200 and the wireless communication system, and between the charging device 200 and other charging devices through wireless local area networks. The short-range wireless communication network may be a short-range wireless personal area network.

The position information module 245 is a module for acquiring the position of the UAV 100, and representative examples thereof include a Global Positioning System (GPS) module or a WiFi (Wireless Fidelity) module. For example, when the charging device 200 utilizes the GPS module, the position of the charging device 200 can be acquired using a signal transmitted from the GPS satellite. As another example, the charging device 200 can utilize the Wi-Fi module to determine the position of the charging device 200 based on the information of the wireless AP (Wireless Access Point) that transmits or receives the wireless signal with the Wi- Can be obtained. The location information module 145 is a module used to obtain the location of the charging device 200 and is not limited to a module that directly calculates or obtains the location of the charging device 200. [ Furthermore, the charging device 200 can provide the information of the wireless AP to the unmanned aerial vehicle 100.

The sensing unit 250 may include at least one sensor for sensing at least one of information in the charging device 200, surrounding environment information surrounding the charging device 200, and user information. For example, the sensing unit 250 may include a proximity sensor 251, an illumination sensor, a touch sensor, an acceleration sensor, a magnetic sensor, a gravity sensor G- sensor, a gyroscope sensor, a motion sensor, an RGB sensor, an infrared sensor 142, a finger scan sensor, an ultrasonic sensor, an optical sensor sensors, microphones, battery gauges, environmental sensors (such as barometers, hygrometers, thermometers, radiation sensors, thermal sensors, gas sensors, etc.), chemical sensors Nose, healthcare sensor, biometric sensor, etc.). Meanwhile, the charging device 200 disclosed in the present specification can combine and utilize information sensed by at least two of the sensors.

The proximity sensor 251 is a sensor that detects the presence or absence of an object approaching a predetermined detection surface or in the vicinity thereof without mechanical contact by using electromagnetic force or infrared rays. The infrared sensor 253 is a sensor for detecting a distance to an object in the vicinity of the charging apparatus 200. The electronic fiber sensor 255 may be embodied as the electronic fiber sensor 230 shown in Fig.

The wireless power transmission apparatus 260 may be configured in the same manner as the wireless power transmission apparatus 1000 described with reference to FIG. 1 to FIG.

The distance determining unit 270 can detect a distance to an object in the vicinity by the IR-UWB communication method. The IR-UWB communication method is a short-range wireless communication technology that uses a short pulse of nano-second or less without using a carrier. Since there is no continuous energy transmission, ultra low power communication is possible. Lt; / RTI &gt;

That is, the charging apparatus 200 can determine the distance to the UAV 100 using the IR-UWB communication method through the distance measuring unit 270 and provides the detected position location information to the UAV 100 To help you land at the correct location.

Under the control of the control unit 295, the power supply unit 280 receives external power and internal power, and supplies power to the components included in the charging apparatus 200.

The memory 290 stores data supporting various functions of the charging apparatus 200. [ The memory 290 may store data and commands for operation of a plurality of application programs or applications driven by the charging device 200. [

The control unit 195 may process or process signals, data, information, and the like input or output through the components described above or may drive an application program stored in the memory 290 to provide or process appropriate information or functions to the user.

The interface unit 297 serves as a channel with various kinds of external devices connected to the charging device 200.

14 is a flowchart illustrating a method of driving an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 14, the unmanned air vehicle 100 may move based on the GPS information of the charging device 200 (S1410). The unmanned air vehicle 100 may approach the charging device 200 and receive a wireless signal including the AP information of the charging device 200 (S1420). The UAV 100 compares the GPS information with the radio signal (S1430), performs IR-UWB communication with the charging device (S1440) (S1450). As a further alternative, the UAV 100 may identify the charging device 200 by comparing the stored charging device identification information with the identification information included in the wireless signal, instead of comparing the GPS information with the wireless signal (S1530), the IR-UWB communication step (S1440), which is the next step after the identification, is conducted and is induced to perform a precise landing. The precise landing refers to a landing induction method in which the wireless power receiving coil of the unmanned air vehicle 100 and the wireless power transmitting coil of the charging device 200 are aligned. The unmanned air vehicle 100 may start charging by receiving wireless charging power from the wireless power transmission device of the charging device 200 (S1460).

15 is a flowchart illustrating a method of driving an unmanned aerial vehicle according to another embodiment of the present invention.

Referring to FIG. 15, the UAV 100 may move based on the GPS information of the received charging device 200 (S1510). The unmanned air vehicle 100 may approach the charging device 200 and receive a radio signal including the AP information of the charging device 200 (S1520). The UWB 100 compares the GPS information with the radio signal (S1530). If the UWB information matches the GPS information, the UWB communication unit 100 performs IR-UWB communication with the charging apparatus (S1540) (S1550). As a further alternative, the UAV 100 may identify the charging device 200 by comparing the stored charging device identification information with the identification information included in the wireless signal, instead of comparing the GPS information with the wireless signal (S1530). The IR-UWB communication step (S1540), which is the next step after the identification, is conducted, and is induced to perform precise landing. The precise landing refers to a landing induction method in which the wireless power receiving coil of the unmanned air vehicle 100 and the wireless power transmitting coil of the charging device 200 are aligned. After landing, the unmanned air vehicle 100 receives a digital signal from the wireless power transmission device of the charging device 200, and the unmanned air vehicle 100 charges the reception packet including the received power information of the unmanned air vehicle 100 To the device 200 (S1560). The charging device 200 determines the received power information of the received packet received from the unmanned object 100 and determines whether the receiving coil of the unmanned flying object 100 and the transmitting coil of the charging device 200 are aligned, It is possible to notify whether or not the vehicle 100 is re-landed. That is, the transmitting apparatus can generate the precise position information including the precise position of the transmitting coil based on the received power information of the received packet.

The unmanned air vehicle 100 can receive the precise position information (S1570), compare the landing position of the unmanned air vehicle with the precise position (S1580), and if it matches, receive the wireless power (S1595) , The re-landing can be performed based on the precise position information (S1590).

16 is a flowchart illustrating a method of driving a charging apparatus according to an embodiment of the present invention. Referring to FIG. 16, there is shown a driving method of a charging apparatus in a case where the receiving coil of the unmannurized vehicle and the transmitting coil of the charging apparatus are matched at a ratio of 1: 1.

The charging device 200 may transmit the radio signal to the UAV 100 (S1610). The wireless signal may include access point (AP) information in which the charging device 200 is located. The charging device 200 can perform IR-UWB communication with the unmanned object 100 (S1620), generate positioning information to position the unmanned air vehicle 100, Information can be transmitted (S1630). The unmanned object (100) can land based on the location location information, and after the landing, the charging device (200) can transmit the digital signal to the unmanned aerial vehicle (S1640). The digital signal may include a power beacon and the power beacon may provide sufficient power to allow the wireless power receiving apparatus to start and respond. In an embodiment, the charging device 200 may transmit no more than five times the digital signal for a time equal to or less than a predetermined unit time value (e.g., 28 ms) and return to the standby state if there is no response from the wireless power receiving device .

The charging device 200 can receive a reception packet (a response packet or a signal strength packet) from the unmanned air vehicle 100 (S1650). The received packet may include received power information, and the charging device 200 may determine whether the unmanned aerial vehicle 100 is aligned based on the received power information (S1660). For example, when the received power information included in the received packet is equal to or greater than the threshold value, the control unit 295 of the charging apparatus 200 determines that the unmanned flight vehicle 100 has completed the alignment and starts charging (S1680).

When the received power information included in the received packet is equal to or less than the threshold value, it is determined that the unmanned air vehicle 100 fails to align and the control unit 295 of the transmitting apparatus 200 determines, based on the received power information of the received packet Precision position information including the precise position of the transmitting coil can be generated, and the precise position information can be transmitted to the unmanned air vehicle 100 (S1670). Accordingly, the unmanned aerial vehicle 100 can perform the re-landing operation.

17 is a flowchart illustrating a method of driving a charging apparatus according to another embodiment of the present invention. Referring to FIG. 17, a description will be given of a method of driving the charging device when the transmission coil of the charging device 200 and the reception coil of the unmanned air vehicle 100 are matched with n: 1.

The charging device 200 may transmit the radio signal to the UAV 100 (S1710). The wireless signal may include access point (AP) information in which the charging device 200 is located.

The charging device 200 can perform IR-UWB communication with the UWB 100 (S1720), generate positioning information to position the UWB 100, Information can be transmitted (S1730). The unmanned object 100 can land based on the positional positioning information and when the unmanned air vehicle 100 is landed, the charging device 200 can transmit a plurality of wireless power transmissions corresponding to a landing point of the unmanned air vehicle 100 At least one of the devices can be selected (S1740). The selected wireless power transmission apparatus can transmit a digital signal to the wireless power receiving apparatus of the unmanned air vehicle 100 (S1750).

The charging apparatus 200 may receive a reception packet (a response packet or a signal strength packet) from the wireless power receiving apparatus of the unmanned air vehicle 100 (S1760). The charging device 200 may determine whether the unmanned aerial vehicle 100 is aligned based on the received power information included in the received packet (S1770). For example, when the received power information included in the received packet is equal to or greater than the threshold value, the control unit 295 of the charging apparatus 200 determines that the unmanned flight vehicle 100 has completed the alignment and starts charging (S1790).

When the power information included in the received packet is less than or equal to the threshold value, it is determined that the unmanned aerial vehicle 100 has failed to align, and precise position information is generated based on the power information included in the received packet, May be transmitted to the unmanned flying vehicle 100 (S1780).

The foregoing detailed description should not be construed in all aspects as limiting and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

10; Unmanned aerial vehicle charging system
100; Unmanned vehicle
110; Body portion
120; Wing portion
130; Leg
200; Charging device

Claims (13)

A driving method of a unmanned aerial vehicle for receiving wireless charging power from a charging device,
Receiving the radio signal including the position information of the charging device from the charging device, the unmanned aerial vehicle moving based on GPS information;
Determining whether the GPS information matches the position information included in the radio signal, and landing based on the GPS information and the radio signal; And
Transmitting the received packet including the power information of the unmanned aerial vehicle to the charging device and receiving from the charging device precise position information including position coordinates of the charging device generated based on the received packet Driving method of unmanned aerial vehicle. The method according to claim 1,
Comparing the landing position information of the unmanned aerial vehicle with the accurate position information, and receiving the wireless charging power when the landing position information and the accurate position information match. The method according to claim 1,
Comparing the landing position information of the unmanned air vehicle with the accurate position information and re-landing the unmanned air vehicle based on the accurate position information when the landing position information and the accurate position information do not match, Driving method of a flying body. The method according to claim 1,
And controlling the power of the driving unit to be turned off when the power information exceeds a threshold based on a reception packet including the power information. The method according to claim 1,
The unmanned aerial vehicle
A body portion;
A wing portion connected to the body portion and including a plurality of propellers; And
And a leg for mounting a wireless power receiving device for receiving wireless charging power from the charging device. 6. The method of claim 5,
Wherein the size and shape of the receiving coil of the wireless power receiving apparatus are the same as the size and shape of the transmitting coil of the charging apparatus. A driving method of a charging apparatus for transmitting wireless charging power to an unmanned air vehicle,
Transmitting a radio signal including AP information of the charging device to the unmanned aerial vehicle; And
Transmitting a digital signal by sensing the unmanned aerial vehicle and receiving a received packet from the unmanned aerial vehicle; And
And determining whether the received packet is an alignment based on received power information of a wireless power receiving apparatus included in the received packet. 8. The method of claim 7,
Further comprising charging wireless power to the unmanned aerial vehicle when the received packet exceeds a threshold value. 8. The method of claim 7,
Generating accurate position information including the position coordinates of the charging device based on the received packet when the received packet is equal to or less than a threshold value and transmitting accurate position information generated by the unmanned aerial vehicle, . 8. The method of claim 7,
Further comprising selecting at least one of a plurality of wireless power transmission devices corresponding to landing points of the unmanned air vehicle. 9. The method of claim 8,
Generating accurate location information including the location coordinates of the charging device based on the received packet or information sensed by the hall sensor of the charging device when the received packet is equal to or less than a threshold value, The method comprising the steps of: 8. The method of claim 7,
Wherein the charging device comprises:
A wireless power transmission device provided with a transmission coil;
A controller for generating accurate position information including position coordinates of the charging device based on the received packet; And
And a wireless communication unit for transmitting the precise position information to the unmanned air vehicle. 13. The method of claim 12,
Wherein the control unit controls the plurality of paired wireless power transmission apparatuses to move horizontally when the unmanned aerial vehicle fails to align.

Images