KR20190055034A - Drone unmanned charging station and wired charging method - Google Patents

Drone unmanned charging station and wired charging method Download PDF

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KR20190055034A
KR20190055034A KR1020190051322A KR20190051322A KR20190055034A KR 20190055034 A KR20190055034 A KR 20190055034A KR 1020190051322 A KR1020190051322 A KR 1020190051322A KR 20190051322 A KR20190051322 A KR 20190051322A KR 20190055034 A KR20190055034 A KR 20190055034A
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charging
drone
charging station
unmanned
present
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김영백
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김영백
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/34—In-flight charging
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/50—Aeroplanes, Helicopters
    • B60Y2200/51—Aeroplanes
    • B64C2201/066—
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/50—On board measures aiming to increase energy efficiency
    • Y02T50/53—
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y02T90/121—
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The present invention relates to a drone unmanned charging station for increasing a flight time of an autonomic fly drone, and a wired charging method. The drone unmanned charging station is a prior task for a long time duty type drone field, and necessity of a new wired charging method, which can charge for a short time with a current battery charging technology and is advantageous in terms of management, and unmanned charging station construction applying the same is raised. According to the present invention, the drone unmanned charging station of a wired charging method can be constructed with a simple principle of applying a rail moving holder (500) arranged in a radially symmetrical manner and a two-pole charging terminal (100, 200) configured in a circular shape. Accordingly, the present invention can contribute to expanding supply of the drone unmanned charging station and provide opportunities for market expansion of special purpose drones.

Description

드론 무인 충전소 및 유선 충전 방법{DRONE UNMANNED CHARGING STATION AND WIRED CHARGING METHOD}BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a charging station,

본 발명은 자율비행 드론의 비행시간을 늘리기 위한 드론 무인 충전소 및 유선 충전 방법에 관한 것이다.The present invention relates to a drone unmanned charging station and a wired charging method for increasing the flying time of an autonomous flying drones.

드론은 그 유용성에 비해 배터리 문제로 인해 비행시간이 짧다는 단점이 있다. 배터리 문제는 드론의 시장 확장을 가로막는 가장 큰 장애물이다. 현재 다양한 배터리 기술이 개발되고 있으나 드론의 최대 비행시간은 1시간 내외에 머무르고 있다. 이로 인해 자율비행 드론을 이용한 장거리 배송, 광역 산불 정찰임무 등 인간의 개입을 배제한 장시간 임무에 어려움이 있다.Drones have a disadvantage in that their flight times are short due to battery problems compared to their usefulness. The battery problem is the biggest obstacle to the expansion of the drones market. Currently, various battery technologies are being developed, but the maximum flight time of the drone is about one hour. As a result, there is difficulty in long-term mission excluding human intervention such as long-distance delivery using autonomous flight drone, and wide-area firefighting reconnaissance mission.

종래 드론의 비행시간을 늘리기 위한 드론 무인 충전소 기술은 배터리를 무선으로 충전하거나 충전된 배터리를 미리 준비하여 교체하는 방법이 개시되고 있다. [0002] A conventional drones charging station technology for increasing the flying time of a conventional drones is disclosed in which a battery is charged wirelessly or a charged battery is prepared and replaced in advance.

한국공개특허 제10-2016-0095879호는 배터리를 무선으로 충전하는 기술을 개시하고 있다. 그러나, 무선 충전 기술은 아직 충전 효율이 낮고 충전 전류가 낮아 드론용 대용량 배터리의 단시간 충전에 적합하지 않다. 자기 유도방식은 2016년 1월 기준 유효충전거리가 41mm이며 충전 효율은 70% 이하 충전 전류는 1A 이하이다. 공진 유도방식은 최대 충전거리가 100mm로 자기 방식 보다 원거리 충전이 가능하나 전송 장치와 수신 장치가 서로 완벽한 위치에 놓여있지 않으면 효율이 급격히 떨어져 10% 정도만 벗어나도 효율이 50% 이하로 떨어지는 단점이 있다.Korean Patent Laid-Open No. 10-2016-0095879 discloses a technique for wirelessly charging a battery. However, wireless charging technology is not yet suitable for short-time charging of large capacity batteries for drones due to low charging efficiency and low charging current. As of January 2016, the magnetic induction method has an effective charging distance of 41 mm and a charging efficiency of less than 70%. The resonance induction method has a disadvantage in that efficiency is lowered to 50% or less even if the efficiency is sharply deviated by only 10% if the transmission device and the receiving device are not perfectly positioned with each other, although the maximum charging distance is 100 mm, .

또한 한국공개특허 제10-2017-0094872호는 배터리를 교체하는 기술을 개시하고 있다. 그러나, 배터리 교체 방식은 배터리를 충방전함에 따라 배터리 자체의 수명이 감소하므로 수시로 충전소에 남은 배터리의 수명을 체크하고 관리해야 하는 문제로 무인 충전소에 적용하기에는 적합하지 않다.Korean Patent Laid-Open No. 10-2017-0094872 discloses a technique for replacing a battery. However, since the life of the battery itself is reduced as the battery is charged and discharged, the battery replacement method is not suitable for unmanned charging stations because it is necessary to check and manage the remaining battery life at the charging station from time to time.

따라서, 자율비행 드론의 장시간 임무를 위해는 현재의 배터리 충전기술로 단시간 충전이 가능하며 관리적 측면에서 유리한 새로운 유선 충전 방법과 이를 적용한 무인 충전소 구축의 필요성이 대두된다.Therefore, for the long - term mission of the autonomous flight drone, it is necessary to construct a new wired charging method that can charge for a short time with the current battery charging technology, which is advantageous from the management point of view, and to build an unmanned charging station using it.

본 발명은 상술한 종래의 문제점 등의 해소 및 이를 감안하여 안출된 것으로서, 방사형 대칭으로 배치된 레일 이동식 거치대와 원형 형태로 구성된 2극 충전 단자를 적용하는 간단한 원리로 유선 충전 방식의 드론 무인 충전소 및 방법을 제공하는 데 그 목적이 있다.It is an object of the present invention to solve the above-mentioned problems of the related art and to solve the above-mentioned problems, and it is an object of the present invention to provide a charging device for a drone unmanned charging station of a wired charging type with a simple principle of applying a radially symmetrically arranged rail- The purpose is to provide a method.

상기와 같은 목적을 달성하기 위한 본 발명에 따른 유선 충전 방식의 드론 무인 충전소는, 착지 플레이트의 중앙에 위치하는 원형 형태의 2극 충전 단자; 착지 플레이트 가장자리 안쪽에 착지 플레이트 중앙을 중심으로 하는 원형 형태의 착지 지점 표식; 착지 플레이트 가장자리에서 충전 단자 앞까지 이어지며 방사형 대칭으로 배치된 레일 홈; 각 레일 홈에 방사형 대칭으로 배치되어 레일 홈을 따라 이동하는 레일 이동식 거치대; 레일 이동식 거치대 하단의 전후면에 연결된 회전 벨트를 포함하는 것을 특징으로 한다.According to another aspect of the present invention, there is provided a charging system for charging a drone of a wire charging type, the charging system comprising: a circular-shaped two-pole charging terminal located at the center of a landing plate; A landing landmark in the form of a circle around the center of the landing plate inside the landing plate edge; A rail groove extending radially symmetrically from the edge of the landing plate to the front of the charging terminal; A rail movable table arranged radially symmetrically in each rail groove and moving along the rail groove; And a rotating belt connected to the front and rear surfaces of the lower portion of the rail-moving cradle.

여기서, 상기 2극 충전 단자는 원형 형태로 구성되어 드론의 착지 방향에 상관 없이 상응하는 충전 단자 간의 접속이 용이하게 하는 것을 특징으로 한다.Here, the bipolar charging terminals are formed in a circular shape so that connection between the corresponding charging terminals is facilitated irrespective of the landing direction of the drones.

또한, 상기 2극 충전 단자는 상응하는 드론 측의 충전 단자와 접속 및 해제하기 위해 상승 및 하강할 수 있고, 약간의 높이 차이를 두어 접속할 때는 - 극이 먼저 접속되고 해제할 때는 + 극이 먼저 해제되게 하는 것을 특징으로 한다.The two-pole charging terminal can be raised or lowered to connect or disconnect the corresponding charging terminal on the side of the drone. When the connection is made with a slight difference in height, the - pole is connected first, .

그리고, 상기 레일 이동식 거치대는 착지 플레이트 중앙으로 일제히 이동하며 드론을 밀어서, 중앙에 위치한 충전 단자 상부의 정위치에 드론을 이동시키고 고정시켜서 충전 단자 간의 접속을 용이하게 하고 충전시에는 외란에 영향을 받지 않도록 하는 것을 특징으로 한다.The rail moving type cradle simultaneously moves to the center of the landing plate and pushes the dron to move and fix the dron at a predetermined position above the charging terminal in the center to facilitate connection between the charging terminals, .

또한, 상기 레일 이동식 거치대는 전면부를 탄성 재질로 입혀 드론을 밀거나 고정시킬 때 드론이 손상되지 않도록 하는 것을 특징으로 한다.In addition, the rail moving type cradle is made of an elastic material to prevent the drones from being damaged when the drones are pushed or fixed.

상기와 같은 목적을 달성하기 위한 본 발명에 따른 드론은, 드론 무인 충전소의 2극 충전 단자와의 접속이 용이한 상응하는 2극 충전 단자를 포함하며, 충전소의 GPS 위치 정보와 비콘(BEACON) 신호와 착지 지점 표식을 차례로 판단하여 착지 플레이트에 안전하게 착지하기 위한 공지의 통신 모듈과 정보처리 능력을 포함하며, 충전소의 충전 준비 및 종료 명령을 처리하는 프로토콜을 포함하는 것을 특징으로 한다.According to another aspect of the present invention, there is provided a dron according to the present invention, which includes a corresponding two-pole charging terminal which is easily connected to a bipolar charging terminal of a dronesunless charging station, And a protocol for processing the charging preparation and termination command of the charging station, including a known communication module and information processing capability for safely landing on the landing plate by determining landing point markings in turn.

본 발명에 따르면, 방사형 대칭으로 배치된 레일 이동식 거치대와 원형 형태로 구성된 2극 충전 단자를 적용하는 간단한 원리로 유선 충전 방식의 드론 무인 충전소를 구축할 수 있게 한다. According to the present invention, it is possible to construct a wired charging type drone unmanned charging station by a simple principle of applying a radially symmetrically arranged rail-mounted cradle and a two-pole charging terminal formed in a circular shape.

유선 충전 방식은 무선 충전 방식 및 배터리 교체 방식에 비해 충전 효율성 및 유지관리 측면에서 유리하다. 이러한 장점으로 드론 무인 충전소 보급 확대에 기여할 수 있다.The wired charging method is advantageous in terms of charging efficiency and maintenance compared to the wireless charging method and the battery replacement method. These advantages can contribute to expanding the supply of drone unmanned charging stations.

드론 무인 충전소 보급 확대는 장시간 임무형 드론 분야의 선결과제로 특수 목적 드론의 시장 확장의 기회를 제공할 수 있다.The expansion of the supply of drone unmanned charging stations can provide opportunities for the market expansion of zero special purpose drone as a result of long-term mission type drone field.

도 1은 유선 충전식 드론 무인 충전소를 개략적으로 도시한 것이다.
도 2는 레일 이동식 거치대를 도시한 것이다.
도 3은 착지 플레이트 내부 레일과 레일 이동식 거치대의 결합 단면도를 도시한 것이다.
도 4는 유선 충전식 드론 무인 충전소 제어기의 제어 흐름을 도시한 것이다.Figure 1 schematically illustrates a wired rechargeable drone unattended charging station.
Figure 2 shows a rail-mounted stand.
Fig. 3 shows an engaging cross-sectional view of the rails within the landing plate and the rail movable mount.
4 shows a control flow of a wired rechargeable drones unmanned charging station controller.

본 발명을 첨부된 도면을 참조하여 상세히 설명하면 다음과 같다. 여기서, 반복되는 설명, 본 발명의 요지를 불필요하게 흐릴 수 있는 공지 기능, 및 구성에 대한 상세한 설명은 생략한다. 본 발명의 실시형태는 당 업계에서 평균적인 지식을 가진 자에게 본 발명을 보다 완전하게 설명하기 위해서 제공되는 것이다.The present invention will now be described in detail with reference to the accompanying drawings. Hereinafter, a repeated description, a known function that may obscure the gist of the present invention, and a detailed description of the configuration will be omitted. Embodiments of the present invention are provided to more fully describe the present invention to those skilled in the art.

이하, 본 발명에 따른 바람직한 실시예를 첨부된 도면을 참조하여 상세하게 설명한다.Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

본 발명의 실시예에 따른 유선 충전 방식의 드론 무인 충전소는, 도 1에 나타낸 바와 같이, 상부에 장애물이 없는 건물 옥상이나 기둥 형태의 지지대(700)와 지지대 상부에 설치된 착지 플레이트(600)와 착지 플레이트의 중앙에 위치한 원형 형태의 2극 충전 단자(100, 200)와 착지 플레이트 가장자리의 안쪽에 중앙을 중심으로 하는 원형 형태의 착지 지점 표식(300)과 착지 플레이트 가장자리에서 충전 단자 앞까지 이어지며 방사형 대칭으로 배치된 레일 홈(400)과 레일 홈을 따라 이동하며 방사형 대칭으로 배치된 레일 이동식 거치대(500)와 거치대의 바퀴 축 연결부(510)의 전면에 연결되어 착지 플레이트 중앙부와 가장자리를 돌아 다시 거치대의 바퀴축 연결부(510)의 후면에 연결된 회전 벨트(540)를 포함하는 구성으로 이루어진다.As shown in FIG. 1, the wired charging type drone unmanned charging station according to the embodiment of the present invention includes a support roof 700 in the form of a building roof or column having no obstacles at an upper portion thereof, a landing plate 600 installed at an upper portion of the support roof, The two-pole charging terminals 100 and 200 each having a circular shape and positioned at the center of the plate, a landing landmark 300 having a circular shape centered on the center of the landing plate edge and a landing mark 300 extending from the landing plate edge to the front of the charging terminal, And is connected to a front surface of a rail movable mount 500 disposed in a radial symmetrical manner and a wheel shaft connecting portion 510 of a mount, moving along the rail grooves 400 arranged symmetrically with respect to the rail grooves, And a rotating belt 540 connected to the rear surface of the wheel shaft connecting portion 510 of the wheel shaft 540.

본 발명의 실시예에 따른 레일 이동식 거치대(500)는, 도 2 에 나타낸 바와 같이, 레일 바퀴(530)와 바퀴 축(520)과 바퀴 축 연결부(510)와 거치대(500)로 구성되며, 도 3에 나타낸 바와 같이, 레일 홈(400) 아래 착지 플레이트(600) 내부에 구비된 레일(410)과 연결되는 구성으로 이루어진다.2, the rail moving type cradle 500 according to the embodiment of the present invention includes a rail wheel 530, a wheel shaft 520, a wheel shaft connecting portion 510 and a cradle 500, And is connected to a rail 410 provided inside the landing plate 600 below the rail groove 400, as shown in FIG.

본 발명의 실시예에 따른 드론은, 착지 플레이트(600) 중앙에 위치한 2극 충전 단자(100, 200)와의 접속이 용이한 상응하는 2극 충전 단자를 포함하며, 충전소의 GPS 위치 정보와 비콘(BEACON) 신호와 착지 지점 표식을 차례로 판단하여 착지 플레이트에 안전하게 착지하기 위한 공지의 통신 모듈과 정보처리 능력을 포함하며, 충전소의 충전 준비 및 종료 명령을 처리하는 프로토콜을 포함하는 구성으로 이루어진다The dron according to the embodiment of the present invention includes a corresponding two-pole charging terminal which is easily connected to the two-pole charging terminals 100 and 200 located at the center of the landing plate 600, BEACON) signal and a landing point mark, and for safely landing on the landing plate, and a protocol for processing the charge preparation and termination command of the charging station

상기 드론이 매번 착지 플레이트(600) 중앙에 위치한 2극 충전 단자(100, 200) 바로 위에 오차 없이 착지하는 것이 이상적일 것이나, 이를 일반적으로 구현하기는 쉽지 않을 것이며, 이로 인해 유선 충전 방식에서 필수적인 충전 단자 간의 접속을 어렵게 한다.It would be ideal for the drones to land on the two pole charging terminals 100, 200 located at the center of the landing plate 600 without any error, but this would not be easy to implement in general, Making the connection between the terminals difficult.

도 1을 참조하면, 레일 이동식 거치대(500)는 방사형 대칭으로 배치되어 있으므로, 상기 드론이 착지 플레이트(600) 중앙에서 벗어나 착지하더라도, 레일 홈(400)을 따라 중앙으로 일제히 이동하며 상기 드론을 밀어서, 중앙에 위치한 2극 충전 단자(100, 200) 상부의 정위치에 상기 드론을 이동시키고 고정시켜서 충전 단자 간의 접속을 용이하게 하고 충전시에는 외란에 영향을 받지 않도록 한다.Referring to FIG. 1, since the rail movable table 500 is arranged in a radial symmetrical manner, even if the drones land off the center of the landing plate 600, they move at the center along the rail groove 400 and push the dron , The drone is moved and fixed to a predetermined position above the two-pole charging terminals 100 and 200 located at the center to facilitate the connection between the charging terminals and to be free from disturbance during charging.

또한, 본 발명의 실시예에 따른 이동식 거치대(500)는, 많이 배치할수록 상기 중앙에서 벗어나 착지한 드론을 중앙으로 밀어서 정위치에 이동시키고 고정시키는 작업의 수행이 용이할 수 있다.In addition, in the mobile cradle 500 according to the embodiment of the present invention, it is easy to perform the operation of moving and fixing the dron placed off the center to the center by pushing the center to the center.

또한, 본 발명의 실시예에 따른 레일 이동식 거치대(500)는, 전면부를 탄성 재질로 입혀 상기 드론을 밀거나 고정시킬때 드론이 손상되지 않도록 한다.In addition, the rail-mounted cradle 500 according to the embodiment of the present invention is made of a resilient material to prevent the drones from being damaged when the drones are pushed or fixed.

도 1을 참조하면, 2극 충전 단자(100, 200)는 원형 형태로 구성되어 있으므로, 상기 드론의 착지 방향에 상관없이 상기 드론에 포함된 상응하는 2극 충전 단자와의 접속을 용이하게 한다.Referring to FIG. 1, since the bipolar charging terminals 100 and 200 are formed in a circular shape, connection with a corresponding bipolar charging terminal included in the drones is facilitated irrespective of the landing direction of the drones.

또한, 본 발명의 실시예에 따른 2극 충전 단자(100, 200)는, 상응하는 상기 드론 측의 충전 단자와 접속 및 해제하기 위해 상승 및 하강할 수 있고, 약간의 높이 차이를 두어 접속할 때는 - 극이 먼저 접속되고 해제할 때는 + 극이 먼저 해제되게 하여 전기적 안전을 도모 한다.In addition, the two-pole charging terminals 100 and 200 according to the embodiment of the present invention can be raised and lowered to connect and disconnect with the corresponding charging terminals on the drain side, and when connecting with a slight difference in height, The polarity is connected first, and when it is released, the + pole is released first, and electrical safety is ensured.

이와 같은 상술한 구성으로 이루어진 본 발명에 따른 유선 충전식 드론 무인 충전소 시스템의 드론 충전 및 방법에 대해 도 4을 참조하여 설명하면 다음과 같다.Referring to FIG. 4, the charging and the method of the drone of the wire rechargeable drone unmanned charging station system according to the present invention having the above-described structure will be described as follows.

상기 드론이 이동 경로에 상기 무인 드론 충전소의 GPS 위치를 지정하고 접근한다고 할 때, GPS 모듈의 평균 20 ~ 30m 오차로 인해 상기 드론 무인 충전소의 착지 플레이트(600)에 안전하게 착지하도록 유도하기 위해서는 별도의 방법이 필요하다.In order to induce the landing on the landing plate 600 of the drone unmanned charging station safely due to an error of 20-30 m on the average of the GPS module when the drone specifies and accesses the GPS position of the unmanned drone charging station in the movement path, A method is needed.

도 4을 참조하면, 상기 드론 무인 충전소의 제어기는 평소 착지 플레이트(600)가 비면 개활지에서 30m 이상 거리를 갖는 비콘(BEACON) 신호를 지속적으로 송출한다(S810).Referring to FIG. 4, the controller of the drone recharging station continuously transmits a beacon signal having a distance of 30 m or more from the open space of the normal landing plate 600 (S810).

상기 드론은 상기 무인 드론 충전소의 GPS 위치의 오차범위 내에서 비콘 신호를 받으면 비콘 신호의 RSSI(Received Signal Strength Indicator) 정보를 이용해서 상기 무인 드론 충전소의 방향과 거리를 계산하여 접근한다.When the drone receives the beacon signal within the error range of the GPS position of the unmanned drone charging station, the direction and distance of the unmanned drone charging station are accessed using RSSI (Received Signal Strength Indicator) information of the beacon signal.

상기 드론은 비전 정보를 수집 처리하다가 착지 지점 표식(300)이 감지되면 접근하여 표시 지점 내에 착지를 시도한다.The drones collect vision information, and when the landing point marking 300 is detected, the drones approaches and attempts landing within the landing point.

본 발명의 실시예에 따른 착지 지점 표식(300)은, 착지 플레이트(600) 가장자리의 안쪽 위치에 중앙을 중심으로 하는 원형 형태로 형광 페인트나 반사 테이프 등으로 표시하여 드론의 비전 정보를 통한 감지가 용이하도록 구비되어 있다.The landing point marking 300 according to the embodiment of the present invention is formed by a fluorescent paint or reflective tape or the like in the form of a circle centered on the center of the edge of the landing plate 600, .

도 4을 참조하면, 상기 드론 무인 충전소의 제어기는 상기 드론의 착지가 감지되면 비콘(BEACON) 신호 송출을 중단하고(S820), 레일 이동식 거치대(500)를 일제히 중앙으로 이동시켜(S822), 상기 드론을 밀어서 중앙에 위치한 2극 충전 단자(100, 200) 상부의 정위치에 고정시키고(S823), 상기 드론에 충전 준비 명령을 전송하여(S824), 상기 드론의 상태에 따라 충전을 준비할 수 있도록 한다.4, when the landing of the drone is detected, the controller of the drone unmanned charging station interrupts the transmission of the beacon signal (S820), moves the rail-mounted cradle 500 to the center (S822) The drones are pushed to be fixed at a predetermined position above the two-pole charging terminals 100 and 200 located at the center (S823), a charging preparation command is transmitted to the drones (S824), and charging is prepared according to the state of the drones .

도 4을 참조하면, 상기 드론 무인 충전소의 제어기는, 2극 충전 단자(100, 200)를 상승시켜(S825), 압력 등을 감지하는 방법으로 상응하는 상기 드론의 충전 단자와 접속 하였는지 판단하고(S826), 유선 충전을 시작하며(S827), 충전이 완료되었는지 판단하며 충전상태를 유지한다(S828).Referring to FIG. 4, the controller of the charging device for the drone unmanned charging station ascends the two-pole charging terminals 100 and 200 (S825) and determines whether the corresponding charging terminal of the charging device is connected to the corresponding charging terminal S826), wired charging is started (S827), it is determined whether the charging is completed, and the charging state is maintained (S828).

도 4을 참조하면, 상기 드론 무인 충전소의 제어기는, 충전이 완료되면(S828) 2극 충전 단자(100, 200)를 하강시켜(S829) 접속을 해제하고, 레일 이동식 거치대(500)를 일제히 가장자리로 이동시켜(S830) 고정 상태를 해제하고, 상기 드론에 충전 완료 명령을 전송하여(S831), 상기 드론이 충전 완료하고 이륙할 수 있게 하고, 이륙이 감지되면 (S832), 제어 흐름을 다시 처음 단계로 돌려 비콘(BEACON) 신호를 송출한다(S810).4, when the charging is completed (S828), the controller of the drone unmanned charging station descends the two-pole charging terminals 100 and 200 (S829) to release the connection, and the rail movable lifter 500 is moved (Step S830), the fixed state is released, and a charging completion command is transmitted to the drones (S831). The drones are charged and can take off, and when takeoff is detected (S832) The beacon signal is transmitted in step S810.

이상에서와 같이 본 발명에 따른 따른 유선 충전식 드론 무인 충전소 시스템은 상기한 바와 같이 설명된 실시예들의 구성과 방법이 한정되게 적용될 수 있는 것이 아니라, 상기 실시예들은 다양한 변형이 이루어질 수 있도록 각 실시예들의 전부 또는 일부가 선택적으로 조합되어 구성될 수도 있다.As described above, the configuration and method of the wired rechargeable drone unmanned charging station system according to the present invention are not limited to be applied to the embodiments described above, but the embodiments may be modified in various ways, All or a part of the above-described elements may be selectively combined.

100 : 2극 충전 단자(+ 극)
200 : 2극 충전 단자(- 극)
300 : 착지 지점 표식
400 : 레일 홈
500 : 레일 이동식 거치대
510 : 바퀴 축 연결부
520 : 바퀴 축
530 : 레일 바퀴
540 : 회전 벨트
600 : 착지 플레이트
700 : 기둥100: 2 pole charging terminal (+ pole)
200: 2 pole charging terminal (- pole)
300: Landing point marker
400: Rail groove
500: Rail-mounted cradle
510: wheel shaft connection
520: Wheel axle
530: Rail wheels
540: rotating belt
600: landing plate
700: Column

Claims (1)

방사형 대칭으로 배치된 이동식 거치대가 협력하여 상응하는 충전 단자 간의 접속을 보조하는 것을 특징으로 하는,
드론의 배터리 충전 방법
Characterized in that the radial symmetrically arranged mobile stand cooperates to assist in the connection between the corresponding charging terminals.
How to charge the drones battery
KR1020190051322A 2019-05-02 2019-05-02 Drone unmanned charging station and wired charging method KR20190055034A (en)

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