KR20180085207A - Apparatus and Control Method for Flight Vehicle Landing - Google Patents

Abstract

The present invention relates to an aerial vehicle landing apparatus capable of allowing an aerial vehicle to be landed on a target position in a horizontal state and a control method thereof. According to the present invention, an aerial vehicle landing control method comprises: a flying over target step of allowing a fuselage to compare the current position and a target position of a small aerial vehicle to generate a flying control command for moving the small aerial voltage over the target position; a vertical movement control step of allowing the fuselage to generate a vertical movement control command for lowering the small aerial vehicle over the target position; and a horizontal posture control step of allowing the fuselage to control a horizontal posture of the fuselage in order to be horizontal to the ground. The horizontal posture control step comprises a horizontal posture control correction step of allowing the fuselage to correct the horizontal posture of the fuselage based on a horizontal state signal received from a camera device, maintaining the horizontal state to the ground in a landing mode.

Description

TECHNICAL FIELD [0001] The present invention relates to an aircraft landing gear,

The present invention relates to a flying body, and more particularly, to a flying body landing gear and a control method for providing a stable takeoff and landing by controlling a flying body to land in parallel to a landing position by using a gyro sensor stance value.

Recently, the demand for unmanned aerial vehicle (UAV) such as a drone is increasing, and related technology development is progressing. Recently, the unmanned aerial vehicle that has been developed and sold has a function of transmitting the image data to the driver with the built-in camera, and receiving the GPS signal and transmitting the current position information to the driver.

Generally, small aircraft such as unmanned airplane or helicopter tilts the aircraft in the propulsion direction, and it is difficult to maintain the level with the ground because the air is always vibrated and tilted during the flight due to external factors such as wind and internal factors such as gas vibration.

These characteristics make it difficult to safely land a small aircraft at its destination location. In other words, when the aircraft lands on a tilted body, a plurality of landing bars are inclined and can not be landed on the floor at the same time, resulting in overturning or damaging the aircraft due to collision.

Korean Patent No. 10-1654544 entitled "Unmanned Aircraft Having Landing and Storage Function"

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art,

SUMMARY OF THE INVENTION An object of the present invention is to provide a flying object landing apparatus and a control method capable of controlling the flying object to land in a target position in a horizontal state.

The present invention is embodied by the following embodiments in order to achieve the above object.

According to one aspect of the present invention, there is provided a flying body landing apparatus comprising: a body for controlling a flight of a small air vehicle; A camera device for controlling the movement of the small aircraft in a flight mode dependent on the airframe and moving independently of the airframe in a landing mode to maintain a horizontal state; And a connection bar for connecting the base and the camera device, the connection bar being capable of moving the camera device in the direction of a control command with control of the base in flight mode and releasing the camera device from the landing mode have.

Wherein the camera device comprises: a camera unit for photographing a target mark vertically downward in a landing mode and transmitting an image shot to the target; And a camera gyro sensor unit for sensing a horizontal state of the camera apparatus in a landing mode and transmitting a horizontal state signal to the base body.

A flight control unit for generating a flight control command for comparing a current position of the small flying object with a target position to move the small flying object to a target position; A vertical movement control unit for generating a vertical movement control command such that the small flying object is lowered over the target position; And a horizontal posture control unit for producing a horizontal posture control command of the gas so that the gas of the descending small airplane is kept horizontal with the ground, wherein the horizontal posture control unit controls the horizontal It is possible to correct the horizontal posture control command of the gas by receiving the status signal.

The apparatus further includes a gas gyro sensor unit for sensing a horizontal posture of the gas in a landing mode to generate a gas posture signal, and the horizontal posture control unit generates a horizontal posture control command based on the gas posture signal And receives a horizontal state signal from the camera device to correct a horizontal posture control command of the gas.

The vertical movement control unit compares the target mark photographed image received from the camera device with the center of the previously stored target mark. If the center of the target mark photographed image coincides with the center of the target mark image, And the vertical movement control command is corrected by calculating the descent speed and the altitude of the small flying object.

In another aspect of the present invention, there is provided a method for controlling landing of a flying object, the method comprising: a target over moving step of producing a flying control command for moving a small flying object to a target position by comparing a current position and a target position of the small flying object; A vertical movement control step of producing a vertical movement control command such that the gas is lowered over the target position; And a horizontal posture control step of controlling the horizontal posture of the gas so that the gas of the descending small airplane is kept horizontal with the ground, and the horizontal posture control step includes a step of controlling the horizontal posture And a horizontal posture control correction step of correcting the horizontal posture of the gas based on the horizontal state signal received from the apparatus.

The horizontal posture control step may include generating a horizontal posture control command for producing a horizontal posture control command for controlling the gas so as to maintain the gas level with the ground on the basis of the gas posture signal generated by sensing the horizontal posture of the gas in the landing mode; Wherein the horizontal posture control correction step corrects the horizontal posture control command by receiving a horizontal state signal from a camera device that maintains a horizontal state with the ground in a landing mode.

The vertical movement control step includes a gas descent determination step of determining whether the target mark photographed image received from the camera device matches a center of a previously stored target mark and generating a vertical movement control command so that the small air vehicle is descended .

The vertical movement control step may include a descent speed control step of calculating a descent speed and an altitude of the small flying object which is lowered by comparing the size of the target mark photographed image with the previously stored target mark size, ; ≪ / RTI >

The present invention has the following effects with the above-described configuration.

The present invention can be expected to have an effect of preventing accidents caused by overturning or landing of the airplane by landing the airplane in the target position in a horizontal state.

The present invention has an economical effect since it is not necessary to install an additional landing support device by accurately landing the airplane in the target position in a horizontal state.

FIG. 1 is an overall conceptual view of a miniature vehicle according to an embodiment.
FIG. 2 is an exemplary view showing a camera device that maintains a horizontal position independently of the movement of a vehicle in accordance with an exemplary embodiment of the present invention.
3 is an overall block diagram of the aircraft landing gear according to one embodiment.
FIG. 4 is an exemplary view illustrating a vertical movement control by photographing a target mark in the course of landing of an air vehicle according to an exemplary embodiment of the present invention.
FIG. 5 is an exemplary diagram illustrating a horizontal posture control using a camera gyro sensor in the course of landing of an air vehicle according to an embodiment.
FIG. 6 is a flowchart illustrating a method of controlling landing of a flying object according to another embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments of the present invention can be modified in various forms, and the scope of the present invention should not be construed as being limited to the following embodiments. This embodiment is provided to more fully describe the present invention to those skilled in the art. Furthermore, although specific terms have been used in the drawings and specification of the present invention, they have been used for the purpose of describing the present invention only and not for limiting the scope of the present invention described in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

Hereinafter, the flight landing apparatus and the control method of the present invention will be described in detail with reference to the drawings.

FIG. 1 is an overall conceptual view of a miniature vehicle according to an embodiment.

Referring to FIG. 1, the aircraft landing gear may include a base 10, a camera device 20, and a connecting bar 30. The airplane landing gear is also an embodiment realized by a small flying object 1 including a propeller 40, a motor 50 and an antenna 60 in addition to the airframe 10, the camera device 20 and the connecting bar 30 .

The base 10 controls the flight of the small-sized flying object 1 by remote control of the remote controller 2. The base 10 receives the photographed image photographed by the camera device 20 and can transmit the photographed image to the remote controller 2 and has a propeller 40, a motor 50 and an antenna 60 on the outside Various control devices may be provided inside.

The camera device 20 is connected to the airframe 10 via a connecting bar 30 and is controlled to move in a dependent manner to the airframe 10 in flight mode and to be independently moved to the airframe 10 in a landing mode, have. That is, the camera device 20 adjusts the direction according to a control command of the vehicle 10 during flight of the small-sized air vehicle 1 and transmits the photographed image to the vehicle 10. When the small-sized air vehicle 1 lands It is possible to independently move and maintain the ground and the horizontal and transmit the horizontal retention sensing value to the base 10.

The connection bar 30 moves the camera device 20 in the control command direction under the control of the base 10 in the flight mode of the small flying object 1 and moves the camera device 20 in the landing mode of the small- The fixation can be released. When the fixing is released, the camera device 20 remains horizontal with the base 10 when it is moved independently of the base 10.

The propeller 40 may be implemented as a plurality of (40a, 40b, ..., 40n). The plurality of propellers 40a, 40b, ..., 40n can be controlled to be driven independently, and the moving direction of the small-sized flying object 1 can be freely changed by independent control.

The motor 50 may be embodied as a plurality of propellers 40a, 40b, ..., 40n and may be implemented as a plurality of propellers 40a, 40b, ..., 40n. In addition, the motor 50 drives the propeller 40 to move the small flying object 1 to a desired position.

The antenna 60 can communicate with the remote controller 2 to transmit / receive a control command and a captured image, and can configure a communication network corresponding to the remote controller 2.

The remote controller 2 can transmit the control command to the small flying object 1 at a remote place and can receive the information photographed at the small flying object 1. [ The remote controller 2 may be implemented by a drone antenna capable of transmitting a control signal to the small flying object 1, an antenna in the form of a ground control tower, a mobile communication system, or the like.

FIG. 2 is an exemplary view showing a camera device that maintains a horizontal position independently of the movement of a vehicle in accordance with an exemplary embodiment of the present invention.

The small air vehicle 1 is always vibrated and tilted during the flight due to the vibration of the motor 50, external wind or GPS signal error, and it is difficult to maintain the level with the ground. That is, the base body 10 of the small-sized flying object 1 is hard to keep horizontal with the ground during flight.

2 (a) and 2 (c), the base 10 is inclined with respect to the ground at a position above the target position, but the camera device 20 is released from the connection bar 30, It can move and maintain sleep and level. Therefore, the camera device 20 positioned above the target position can photograph the target mark T located vertically downward and transmit the photographed image to the base 10. 2 (b) shows that the base 10 and the camera device 20 can be kept horizontal with the ground. Therefore, the camera device 20 can maintain the horizontal state with the ground without being affected by the posture of the base 10 in the landing mode of the small-sized air vehicle 1.

In addition, the camera device 20 can sense the horizontal state of the camera device 20 in the landing mode and transmit the horizontal state signal to the base 10.

In the present invention, the flight mode is defined as a state in which the small air vehicle 1 is flying in order to execute various commands in a flight state, and the landing mode is defined as a flight state from a landing position to a landing . Also, here, the ground surface includes all of the ground on which the target mark exists, the building roof, the landing spot on the ship, and the like.

3 is an overall block diagram of the aircraft landing gear according to one embodiment.

3, the base 10 includes a gas communication unit 11, a gas gyro sensor 12, a photographed image analysis unit 13, a motor 14, a control unit 15, and a database 16 .

The base station communicating unit 11 can communicate with the camera apparatus 20 and a control signal and a captured image by configuring a communication network with the camera apparatus 20. The communication network includes both wireless communication and wired communication.

The gas gyro sensor 12 can generate a gas posture signal by sensing the horizontal posture of the gas 10 in the landing mode. Here, the horizontal posture includes information on the degree of inclination from the ground surface. That is, the gas gyro sensor 12 measures the gravitational acceleration and the angular velocity of the base 10, detects the rotation angle and the inclination of the base 10, and outputs a gas posture signal including the degree of inclination of the base 10 with respect to the ground And transmit it to the control unit 15.

The photographed image analyzing unit 13 can extract the target mark T from the photographed image received from the camera device 20. [ That is, the photographed image analysis unit 13 may include an image analysis program, extract only the target mark T from the photographed image, and transmit the extracted target mark to the control unit 15.

The motor 14 drives the propeller 40 according to the flight control command of the controller 15 to move the small flying object 1 to a desired position. Figs. 1 and 3 show an embodiment including four motors 14a, 14b, 14c and 14d for driving four regenerators. And four motors 14a, 14b, 14c, and 14d are independently driven under the control of the control unit 15. [

The control unit 15 can control the small flying object 1 entirely including the flight control unit 151, the vertical movement control unit 153 and the horizontal posture control unit 155. [

The flight control unit 151 can produce a flight control command for moving the small flying object 1 to the target position by comparing the current position of the small flying object 1 with the target position. That is, according to the flight control command, the motor 14 can drive the propeller 40 and move the small flying object 1 to the target position.

According to one embodiment, the current position includes absolute position information of the small aircraft 1 calculated based on the GPS signal measured in the GPS (not shown) apparatus. The target position is positional information of a desired place, and according to an embodiment, absolute position information on which the target mark T is located. Absolute position information in which the target mark T is located may be received remotely or in the database 16.

The vertical movement control unit 153 may generate a vertical movement control command so that the small flying object 1 descends over the target position. According to one embodiment, the target position includes the absolute position of the location where the target mark T is located.

First, the vertical movement controller 153 compares the target mark (T) photographed image received from the camera device 20 with the center (C) of the previously stored target mark (T) It is possible to produce a vertical movement control command so that the air vehicle 1 descends. Next, the vertical movement controller 153 calculates the descent speed and altitude information of the small-sized flying object 1 which descends by comparing the size of the captured image of the target mark T with the size of the image of the stored target mark T The vertical movement control command can be corrected based on the calculated information. By correcting the vertical movement control command, the small flying object 1 can land on the target mark T stably without colliding with the ground.

The horizontal posture control unit 155 can produce a horizontal posture control command of the base 10 so that the base 10 of the descending small airplane 1 is kept horizontal with the ground. According to one embodiment, the horizontal posture control unit 155 generates a horizontal posture control command based on the gas posture signal and receives a horizontal state signal from the camera device 20 maintaining the horizontal state with the ground in the landing mode The horizontal posture control command of the base 10 can be corrected.

The database 16 can store data necessary for the flight mode and the landing mode of the small-sized air vehicle 1. In addition, the database 16 may store information about the target mark T. [

3, the camera device 20 may include a camera communication unit 21, a camera unit 22, and a camera gyro sensor unit 23.

The camera communication unit 21 constitutes a communication network with the base 10 and is capable of transmitting and receiving a control signal and a captured image with the base 10. The communication network includes both wireless communication and wired communication.

The camera unit 22 can photograph an image within a range of angle of view rotatable in the flight mode and photograph a target mark T positioned vertically downward in the landing mode and transmit the shot image to the airframe 10.

The camera gyro sensor unit 23 can sense the horizontal state of the camera device 20 in the landing mode and transmit the horizontal state signal to the base 10.

FIG. 4 is an exemplary view illustrating a vertical movement control by photographing a target mark in the course of landing of an air vehicle according to an exemplary embodiment of the present invention.

The base 10 of the small flying object 1 is hard to keep horizontal with the ground due to driving of the motor 50 in the flight mode. That is, the base 10 moves the small flying object 1 to the destination by driving the motor 50 to control the propeller 40. Even during the vertical descent, the motor 50 is controlled by the control of the base 10 The base body 10 of the small-sized air vehicle 1 is difficult to be controlled so as to be kept horizontal with the ground.

In order to land on the target mark T, according to one embodiment, the small flying object 1 moves to a position above the target position with the target mark T, and thereafter the target mark T ) Can be analyzed to decide whether to descend.

First, if the base 10 moves to a position above the target position in accordance with the flight control command, the camera device 20 captures an image of a vertically downward position and transmits the captured image to the base 10. The base 10 can extract the target mark T from the received photographed image and compare it with the center of the image of the target mark T called in the database 16. [ When the centers coincide, the base 10 can control the motor 50 such that the small flying objects descend vertically.

According to one embodiment, the center of the target mark T, which is called in the database 16, is embodied as the center of the small air vehicle 1. According to another embodiment, the center of the target mark T called in the database 16 comprises an embodiment centered on the optical axis C of the camera device 20 which is horizontal with the ground.

That is, in the present invention, until the center of the target mark T coincides with the center of the small flying object 1, the base 10 controls the motor 50 to horizontally move the small flying object 1, The base 10 can control the motor 50 by producing a vertical movement control command so that the small air vehicle 1 descends.

FIG. 5 is an exemplary diagram illustrating a horizontal posture control using a camera gyro sensor in the course of landing of an air vehicle according to an embodiment.

The gas 10 is controlled such that the base body 10 of the descending small air vehicle 1 is kept horizontal with respect to the ground so that when landing on the target mark T a plurality of landing bars simultaneously land on the floor , It is possible to prevent an accident that the small-sized air vehicle 1 is tilted or overturned to be damaged.

Referring to FIG. 5, according to one embodiment, the small air vehicle 1 may include two gyro sensor units. More specifically, the small flying object 1 includes a gyro sensor 12 provided on the base 10 and a camera gyro sensor 23 provided on the camera device 20 maintaining a horizontal state in the landing mode. .

The gas gyro sensor 12 detects the horizontal posture of the base 10 so that the motor 50 is continuously driven even when the small air vehicle 1 descends vertically, And the sensing value of the gas gyro sensor 12 is also constantly changed. Therefore, there is a limit to controlling the base 10 in a horizontal state based only on the sensing value of the gas gyro sensor 12 provided in the base 10.

On the other hand, the camera device 20 maintains the horizontal state in the landing mode, and the camera gyro sensor part 23 provided in the camera device 20 is also in a horizontal state. Therefore, the sensing value of the camera gyro sensor unit 23 does not change significantly.

The small flying object 1 controls the horizontal posture horizontally with the ground on the basis of the horizontal posture of the base 10 detected by the gas gyro sensor 12 in the landing mode, 23 to compensate for the horizontal posture of the base 10, it is possible to provide a landing with high stability.

FIG. 6 is a flowchart illustrating a method of controlling landing of a flying object according to another embodiment.

Referring to FIG. 6, the flying landing control method may include a target over-travel step (S61), a vertical movement control step (S63), and a horizontal posture control step (S65).

The vertical movement control step S63 may include a gas descending determination step S631 and a descent speed control step S633. In addition, the horizontal posture control step S65 may include a horizontal posture control creating step S651 and a horizontal posture control correcting step S653.

In step S61, the airframe 10 compares the current position of the small flying object 1 with the target position to produce a flight control command to move the small flying object 1 to a position above the target position.

In step S63, the base 10 produces a vertical movement control command so that the small air vehicle 1 descends over the target position.

It is determined in step S631 if the center 10 of the target mark T received from the camera device 20 matches the center of the previously stored target mark T and the vertical movement Control command is generated.

In step S633, if the center of gravity coincides with the center of gravity, the vertical movement control command is corrected by calculating the descent speed and altitude of the small flying object that descends by comparing the size of the captured image of the target mark (T) with the image size of the stored target mark .

In step S65, the base 10 controls the horizontal posture of the base 10 so that the base 10 of the descending small air vehicle 1 is kept horizontal with the ground.

In step S651, a horizontal posture control command is generated to control the base 10 so that the base 10 is kept horizontal with the ground based on the gas posture signal generated by sensing the horizontal posture of the base 10 in the landing mode .

In step S653, the controller 10 corrects the horizontal posture control command based on the horizontal state signal received from the camera device 20 in which the base 10 maintains the horizontal state with the ground in the landing mode.

While the specification contains many features, such features should not be construed as limiting the scope of the invention or the scope of the claims. In addition, the features described in the individual embodiments herein may be combined and implemented in a single embodiment. Conversely, various features described in the singular < Desc / Clms Page number 5 > embodiments herein may be implemented in various embodiments individually or in combination as appropriate.

Although the operations have been described in a particular order in the figures, it should be understood that such operations are performed in a particular order as shown, or that all described operations are performed to obtain a sequence of sequential orders, or a desired result . In certain circumstances, multitasking and parallel processing may be advantageous. It should also be understood that the division of various system components in the above embodiments does not require such distinction in all embodiments. The above-described program components and systems can generally be implemented as a single software product or as a package in multiple software products.

The method of the present invention as described above can be implemented by a program and stored in a computer-readable recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto optical disk, etc.). Such a process can be easily carried out by those skilled in the art and will not be described in detail.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. The present invention is not limited to the drawings.

10: gas 20: camera device
30: Connection bar

Claims (9)

Aircraft controlling flight of small aircraft;
A camera device for controlling the movement of the small aircraft in a flight mode dependent on the airframe and moving independently of the airframe in a landing mode to maintain a horizontal state; And
And a connection bar for connecting the base and the camera device
Wherein the connecting bar moves the camera device in the direction of the control command with the control of the airframe in the flight mode and releases the fixation of the camera device in the landing mode. The camera device according to claim 1,
A camera unit for photographing a target mark positioned vertically downward in a landing mode and transmitting a photographed image to the base; And
A camera gyro sensor unit for sensing a horizontal state of the camera device in a landing mode and transmitting a horizontal state signal to the vehicle;
Wherein the aircraft landing gear comprises: 3. The apparatus of claim 2,
A flight control unit for producing a flight control command for comparing a current position of a small air vehicle with a target position and moving the small air vehicle to a target position;
A vertical movement control unit for generating a vertical movement control command such that the small flying object is lowered over the target position; And
And a horizontal posture control unit for producing a horizontal posture control command of the gas so that the gas of the descending small-sized airplane remains horizontal with the ground
Wherein the horizontal posture control unit corrects the horizontal posture control command of the gas by receiving a horizontal state signal from the camera device maintaining the horizontal state with the ground in the landing mode. 4. The method of claim 3,
And a gas gyro sensor part for sensing a horizontal posture of the gas in a landing mode to generate a gas posture signal
Wherein the horizontal posture control unit produces a horizontal posture control command based on the gas posture signal and receives a horizontal state signal from the camera device to correct the horizontal posture control command of the gas. [5] The apparatus of claim 4,
The moving speed of the small flying object which is lowered by comparing the size of the target mark photographed image with the stored target mark size when the center of the target mark photographed image received from the camera device matches the center of the previously stored target mark, And the vertical movement control command is corrected by calculating the altitude. A target moving step for generating a flight control command for moving the small flying object to a target position by comparing the current position of the small flying object with the target position;
A vertical movement control step of producing a vertical movement control command such that the gas is lowered over the target position; And
And a horizontal posture control step of controlling the horizontal posture of the gas so that the gas of the descending small airplane is kept horizontal with the ground
And the horizontal posture control step includes a horizontal posture control correction step of correcting a horizontal posture of the gas based on a horizontal state signal received from a camera device maintaining a horizontal state with the ground in a gas landing mode. The method of claim 6,
Wherein the horizontal posture control step includes:
And a horizontal posture control generation step of producing a horizontal posture control command for controlling the gas so as to maintain the gas level with the ground on the basis of the gas posture signal generated by sensing the horizontal posture of the gas in the landing mode
Wherein the horizontal posture control correction step comprises:
Wherein the horizontal position control command is corrected by receiving a horizontal state signal from a camera device that maintains a horizontal state with the ground in a gas landing mode. 8. The method of claim 7,
A gas descent determining step of comparing a target mark photographed image received from a camera device with a center of a previously stored target mark to generate a vertical movement control command so that the small flying object is lowered;
And a control unit for controlling the landing of the aircraft. 9. The method of claim 8,
A descent speed control step of calculating a descent speed and an altitude of a small flying object which is lowered by comparing a size of the target mark photographed image with a previously stored target mark size when the centers are coincident with each other;
And a control unit for controlling the landing control unit.

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