KR20190125130A - The drone docking station vehicle configured to automatically take off, landing and charging the drones in the vehicle - Google Patents

Abstract

A drone for industrial and public purposes should be configured as an automated drone system which automatically takes off at a docking station when a user presses a button rather than a method of being directly operated by a user, performs a mission after an automatic flight to a destination, and is automatically charged to wait for the next command after returning to the docking station again and automatically landing. An unmanned docking station which can be fixated at a specific location cannot be built until 100% successful automatic take-off and landing technology is implemented under various environmental conditions. In addition, a vehicle means for moving to a target point is required since a drone has a limited flight time. The present invention relates to a vehicle equipped with a docking and charging station. A preparatory plane is configured to take off and shift a mission before one drone lands due to low battery by installing a plurality of docking stations in a vehicle. The present invention increases economic efficiency and operating efficiency since a docking and charging station can be mounted even on a small vehicle with a limited loading space by aligning a propeller after landing on the docking and charging station and thus, minimizing an occupied area. An electromagnet is installed on the top of the docking and charging station to keep the drone from moving while a vehicle is moving. The present invention enables a stable take-off from a vehicle while the vehicle is moving by increasing the number of propeller rotations to secure an enough lift ability for take-off and then, releasing a fixing device.

Description

Drone docking station vehicle configured to automatically take off, landing and charging the drones in the vehicle}

Drones are a generic term for airplanes and helicopter-type unmanned aerial vehicles (UAVs) that can fly and steer by radio wave guidance, and have been used in various civilian fields besides military applications since the 2010s. The drone controls each rotor propeller rotation to control ascending, descending, descending, forward, backward, roll right, and left flight modes. roll left), left turn mode (yaw left) and right turn mode (yaw right) are available. The drone gains lift by using a plurality of relatively small propellers, and adjusts the lift generated by each propeller to move forward and backward and change direction.

Drones are being used in various fields because of the advantages of unmanned operation, automatic control, and stop flight compared to existing flying devices. It is expanding to achieve public purposes in military, surveying, shooting, disaster prevention, and security fields, and in the industrial field, it will be used for transportation and delivery service centering on Amazon (DHL, Korea Express, etc.) companies. In order to utilize the above tasks, it is necessary to secure the drone's flight safety technology, automatic flight technology to the target point, automatic takeoff and landing technology, automatic loading and unloading technology, and stable flight time extension technology. Recently, artificial intelligence (AI) technology has also been introduced in drone flight control, which automatically recognizes obstacles in the vicinity and approaches the autonomous flight stage to automatically avoid obstacles and collisions.

Drone docking stations are also being developed to allow the drones to take off and land automatically. The GPS satellite coordinate error is within ± 17m to automatically land with the received GPS satellite coordinates, so the LED display to guide the drone to the docking station or the vision-based automatic landing technology to recognize the landing point with the drone camera, etc. This is being applied. In this case, the automatic landing error approaches ± 20 cm. In order to charge a battery of a drone in a docking station, a method of wirelessly charging a wired charging method by connecting a battery charging terminal and charging, or a method of replacing a battery pack using a manipulator (manipulator) has been developed. Alternatively, there are thethered drones that are powered by cables in docking stations used primarily for military purposes. Patent Registration No. 10-1805440 of Korea Aerospace Research Institute detects a landing gear after landing the drone's landing gear at a predetermined seating point through the inclined guide surface formed at the drone charging station when the drone lands at the charging station. The sensing unit, a control unit for receiving a detection signal from the sensing unit to determine whether the landing of the drone, and a fixing unit for fixing the landing gear. Although drone docking stations can be installed and operated in key areas, it is difficult to unmanned automatic takeoffs, landings, and charges due to accidents. Even in strong winds, drones must be transported directly to the target area until fully automatic takeoff and landing is realized unattended. Currently, a drone is loaded into a vehicle, moved, a drone is taken out of a target point, re-integrated, maintained, and operated, but there is a risk that a propeller or the like will be damaged during transportation. Thus, the present invention is to move the drone to the destination to the vehicle, the ceiling of the vehicle is automatically opened and the docking station top plate waiting for the drone rises to the vehicle ceiling with the lifter, take off and fly automatically after completing the mission, The present invention relates to a docking station combined vehicle that charges a drone's battery when automatically descending by a lifter after automatically landing on the docking station top plate.

As drone technology is rapidly developed, drones of various uses are commercialized, and in the case of parcel delivery and logistics, stop flight is possible even at a wind speed of 12m / s, and a payload of 30kg or more is also supplied. The number of propellers, from four to eight octacopters, is being built and is being developed for military use, as well as corps, division and battalion reconnaissance and strike equipment. Drones are being applied to recreation, aerial photography, industrial facility inspections, smog removal, facility damage investigations, man-made rainfall, search and rescue, internet radio relays, and delivery services. At the fire site urgently needed by Golden Time, it can be applied to the first fire extinguishing before arriving at the fire truck and fire helicopter fire scene by arriving at the scene before the fire truck. As drone technology advances, many functions are added along with performance improvements, but as of today, drone operation is not activated for industrial and public purposes due to the problem of responsibility and inconvenience of operation in the case of an accident. Industrial and public drones take off automatically from the docking station at the touch of a button, automatically fly to their destination, perform their duties, then return to the docking station for automatic landing, rather than being controlled by the user. Automatic charging is done, requiring an automated drone system waiting for the next command. Autonomous flight is needed as an active safety system to automatically prevent collisions from nearby features during drone missions.

Korean Patent Laid-Open No. 10-1788140 relates to an unmanned vehicle landing system and method, which in one step fly to a docking station proximate area by GPS coordinates, and in this step, the signal transmitting part signal of the docking station is detected to precisely approach. It is a technique that leads to an area. Korean Patent Publication No. 10-1805440 discloses a technique for precisely seating a drone with a charging connection device of a docking station by automatically moving the drone through a ramp of the top plate after landing when landing on the docking station top plate in a precise proximity region. In order to securely install and operate a drone docking station at a certain point, it is necessary to reach a 100% success in automatic takeoff and landing and charging at the docking station unattended with cost resolution. In addition, in order to operate outdoors, it is necessary to ensure waterproofness and reliability due to temperature fluctuations, and to be lightweight for installation on top of vertical structures. Therefore, it is more realistic to mount a drone and a docking station in a vehicle rather than to fix the docking station to the ground.

Korean Registered Patent Publication No. 10-1788140 Korean Registered Patent Publication No. 10-1805440

Industrial and public drones take off automatically from the docking station at the touch of a button, automatically fly to their destination, perform their mission, return to the docking station and land automatically, It must be configured with an automated drone system that will automatically charge and wait for the next command. However, it is impossible to build an unmanned docking station that is fixedly installed in a specific place until the automatic takeoff and landing technology that is 100% successful under various environmental conditions is implemented. In order to implement an automated drone operation system, the following problems must be solved. First, rather than using heavy trucks, small vehicles (hereafter vehicles include small trucks and vans with a loading space) should be applied. Drones used for business and public purposes generally require a distance of 1 m between the motor shaft and a 30 cm radius of the propeller to open and close the large area of the ceiling to take off the drone while the vehicle is in motion. Secondly, when the ceiling is opened, the drone inside the vehicle should be safely raised to the ceiling and then the propellers should be rotated. Third, the drone should take off automatically and land correctly on the docking station deck after the mission. In general, GPS satellite receivers are limited to within ± 17m and ± 20cm, even though LEDs are used to induce landing points. Fourth, the loading capacity of one ton light truck is about 3.0m long x 1.6m wide x 1.7m high, and the van's loading space is smaller. Vehicle stackers have size limitations, so it is necessary to align drone propeller orientation when landing drones are lifted into the vehicle stack. Fifth, the drone should be fixed so that it does not move on the docking station top plate while the vehicle is moving. Wireless charging is also possible by charging the drone after landing, but the weight of the wireless charging pad makes it difficult to mount the drone. Sixth, because drones have a short flight time of around 30 minutes due to battery limitations, it is necessary to configure two or more drones in the vehicle for automatic takeoff and landing at the docking station.

The drone's flight time was only 20 minutes when equipped with a lithium ion battery (energy density 200Wh / kg), but recently, the fuel cell (energy density 350Wh / kg) is mounted to extend the flight time to 4 hours. MATRICE 600, an industrial drone from China's DJI company, can fly 18 minutes with 5.5kg of cargo, and it is known to have a maximum speed of 65km / h. Evasion and automatic takeoff and landing techniques are also being introduced, and stability is also improving. However, until 100% successful automatic takeoff and landing technology is implemented, an unmanned docking station that can be fixed in a specific place cannot be built. First, small vehicles should be applied rather than heavy trucks. In order to take off drones while driving, a means of opening and closing the large area of the ceiling is needed automatically. Second, in order to take off while waiting inside the vehicle, a lift means for raising the drone inside the vehicle to the ceiling is required when the ceiling is opened. Third, a means is needed for the drone to accurately land on the docking station deck during the auto takeoff. Means are the means by which the drone camera can land by landing image of the docking station and recognize the LED signal as the landing point. In this case, the error is generally known as ± 20cm. In order to reduce this, a mechanism that moves from the landing point to the ramp structure to the landing center by its own weight is effective. Fourthly, since the vehicle stacker is limited in size, a means for aligning the drone propeller's direction is required when the landed drone is lowered by the lift. For a 1 ton light truck, the cargo box size is about 3.0 m long x 1.6 m wide x 1.7 m high. If the quadropter drone's motor shaft distance is 1m, a 1.6m x 1.6m space is required if the propellers are not aligned with a 30cm radius, but 1.0m x 1.0m space is solved if each propeller is aligned. Fifth, there is a need for a means of fixing and charging so that the drone does not move on the docking station top plate while the vehicle is in motion. For example, the bottom of the drone landing gear is made of an iron plate attached to a magnet, and an electromagnet is installed at the bottom of the landing point to fix it by magnetic force. When the preparation for takeoff is complete, cut off the power supply to the electromagnet. A charging terminal is installed at the bottom of the landing gear, so that it can be connected to a power source when landing. Sixth, there is a need for means to allow two or more drones to take off and land at the docking station. The drone's flight time is around 30 minutes, so two drones can be used to perform sufficient missions. Therefore, there are methods of installing two docking and charging stations on the top of the docking station or using two lifts.

Industrial and public drones take off automatically from the docking station at the touch of a button, automatically fly to their destination, perform their mission, return to the docking station and land automatically, It must be configured with an automated drone system that will automatically charge and wait for the next command. Unmanned docking stations that can be fixed in specific locations cannot be built until 100% successful automatic takeoff and landing technology is implemented under various environmental conditions. In addition, since drones have a limited flight time, a vehicle means for moving to a target point is required. The present invention is to solve the above problems by mounting the docking and charging station in a vehicle with a driver. Through this, the following effects are expected.

First, a plurality of docking stations are installed in a vehicle that moves to a drone's destination, and thus a short flight time of the drone may be solved by allowing the reserve aircraft to take off and alternate missions before the flying drone lands.

Second, even when drones are subjected to GPS satellite coordinates and precise induction from docking and charging stations, errors occur within ± 20cm. There is an effect that can be charged by connecting the drone battery charging terminals, respectively by moving to the landing center by putting the front, rear, left and right slopes at the landing point.

Third, after landing on the docking and charging station, by aligning the propellers, the occupied area can be minimized, and the docking and charging station can be mounted even in a small vehicle with limited loading space, thereby increasing economic efficiency and operating efficiency.

Fourth, by installing an electromagnet on the top of the docking and charging station to fix the drone does not move during the movement of the vehicle, by providing a sufficient lift to take off by increasing the number of propeller rotation during takeoff has a stable takeoff during the movement of the vehicle.

Fifth, an automated drone takes off automatically from the docking station, automatically flies to its destination, performs its mission, returns to the docking station, auto lands, and automatically recharges, waiting for the next command. Providing a system has the effect of activating drones in the industrial and public sectors.

FIG. 1 is an image of a promotional video for taking off drones for delivery by a logistics company by hand from a logistics vehicle.
2 is an image of the three landing plate docking station of Patent Registration No. 10-2016-000346.
3 is a system configuration diagram in which the docking and charging station of the present invention is mounted and operated in a vehicle.
4 is an operation scenario diagram of the docking and charging station mounted on the vehicle of the present invention.
5 is a structural diagram of a docking and charging station installed inside the loading box of the present invention.
6 is a block diagram of a mobile, fixed, and charging device for moving the drone to the landing center of the docking and charging station of the present invention.
7 is an image illustrating a method of aligning the propellers when landing in the direction of the two motor connecting shaft of the present invention.
8 is an image diagram illustrating a manner of aligning the propellers when landing in the direction of the adjacent two motors of the present invention.
9 is a configuration diagram of a charging method of a mass memory means of a vehicle equipped with a docking and charging station of the present invention.
10 is a block diagram of a vehicle equipped with a docking and charging station capable of operating two to four drones of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the ordinary or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own inventions. Based on the principles that can be defined, it should be interpreted as meanings and concepts corresponding to the technical spirit of the present invention. Thus, the embodiments described in the specification and the configuration shown in the drawings are only one preferred embodiment of the present invention. Since only the technical spirit of the present invention is not representative, it should be understood that there may be various equivalents and modifications that may substitute them at the time of the present application. In particular, in the present invention, the vehicle also includes a van and sports type multipurpose vehicle (SUV) having a loading space in addition to the truck.

Industrial and public drones take off automatically from the docking station at the touch of a button, automatically fly to their destination, perform their mission, return to the docking station and land automatically, It must be configured with an automated drone system that will automatically charge and wait for the next command. Unmanned docking stations that can be fixed in specific locations cannot be built until 100% successful automatic takeoff and landing technology is implemented under various environmental conditions. In addition, since drones have a limited flight time, a vehicle means for moving to a target point is required. The present invention intends to configure a docking and charging station with a driver as follows. In particular, since the vehicle stacker is limited in size, it is important that the means for aligning the propellers of the drone when lowering the landed drone into the vehicle stacker by lift. For a 1 ton light truck, the cargo box size is about 3.0 m long x 1.6 m wide x 1.7 m high. If the quadropter drone has a motor shaft distance of 1m, a 1.6m x 1.6m space is required if the propellers are not aligned with a 30cm radius, but 1.0m x 1.0m space is solved if each propeller is aligned. If you can't use a one-ton truck and use a 2.5-ton truck, there is a problem that the driver's license is limited as well as the price of the vehicle. Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is an image of a promotional video for taking off drones for delivery by hand from a vehicle. When the vehicle is stopped, the driver manually loads the drone and pushes the button to open the ceiling and take off. 2 is an image of the three landing plate docking station of Patent Registration No. 10-2016-000346. The positioning error of the GPS satellite receiver cannot reach the docking and charging station accurately within ± 17m, so the drone camera can automatically recognize and guide the mark of the landing point (eg 'H') or dock and charge the far LED beam. Emissions from the station guide the drone to the correct position for landing. Depending on the flight environment, landing error will occur around ± 20cm. To solve this problem, three landing gears were installed on the top of the docking station on the top of the docking station.

3 is a system configuration diagram in which the docking and charging station of the present invention is mounted and operated in a vehicle. A drone docking and charging station combined vehicle includes: control and device means (1) for controlling and operating each means; Cheongji fish opening and closing drive means for opening and closing the upper end of the loading box (2); Landing plate lift vertical drive means for raising the docking and charging station when the upper end of the loading box (4); The docking and charging station on which the drone lands includes: landing precision guide means 21 for inducing an accurate landing point of the drone; And a landing drone centering means (6) for guiding the drone landing gear to the landing center after landing; And a landing drone landing gear fixing and releasing means 8 for fixing the landing gear of the drone so as not to move, and optionally, a drone propeller direction alignment means 9 for aligning the propeller direction to reduce the occupied area; Optionally, high capacity battery means 20 for charging the drone battery; Optionally, the drone battery charging means 11 for charging the battery of the landed drone; Optionally, a drone image external display means 14 is installed on the wall of the vehicle loading box so that the photographed image of the drone camera can be viewed from the outside of the vehicle. In this case, as a means for opening and closing the upper end of the loading box, divided into a blocked ceiling portion and a perforated ceiling portion, a means for installing the Cheonjeongjeok 110 to move electrically on the perforated ceiling portion; And, optionally, is configured by installing a solar panel 120 on the top of the blocked ceiling or door. In drone docking and charging station vehicles, drone battery charging power can be supplied via solar panels installed on top of the ceiling (two 250Wh solar panels for a one-ton truck).

 4 is an operation scenario diagram of a docking and charging station mounted on the vehicle of the present invention. 5 is a structural diagram of a docking and charging station installed inside the loading box of the present invention. In other words, the top position of the storage box to detect the opening of the top of the stacking means (3), when the top of the stacking box to lift the docking and charging station up and down driving means (4) to raise the docking and charging station top plate to the ceiling Configure. Landing precision guidance means 21 for inducing the correct landing point of the drone include: mark means for marking the landing point on the docking and charging station top plate (eg 'H' or QR code); Or LED means for sending out a landing point with light; Alternatively, the present invention may be constituted by radio wave transmitting means for indicating a landing point of a radio wave path.

6 is a block diagram of a mobile, fixed, and charging device for moving the drone to the landing center of the docking and charging station of the present invention. GPS satellite receiver can't land at docking and charging station accurately within ± 17m, so drones can be guided to the correct position by applying the above three methods, but landing error can occur within ± 20cm depending on flight environment. Done. In order to solve this problem, the landing drone landing center moving unit 6 which guides the landing gear to the landing center in the docking and charging station top 450 where the drone lands is inclined back, front, left, and right with respect to the landing center 460 ( Forming a landing guide inclined groove 470 so that the landing gear is located in the inclined groove; Stopping the drone propeller rotation; It is configured to move in the landing guide inclined groove 470 by the weight of the drone itself, so that the landing gear is accurately positioned in the landing center. In addition, the means 430 attached to the magnet fixed to the lower end of the drone or landing gear 400; Means for installing an electromagnet 440 at the landing center 460 of the top of the docking and charging station where the drone lands; Landing drone landing center position detection means for detecting that the landing gear 400 of the drone is in the landing center (460); By supplying power to the electromagnet so that the means 430 attached to the magnet at the bottom of the drone can be attached to the electromagnet 440, the landing drone landing gear fixing and releasing means 8 may be configured. By installing an electromagnet on the top of the docking and charging station as described above, the drone does not move while the vehicle is moving, while providing sufficient lift to take off by increasing the propeller rotation speed during takeoff, thereby stably taking off during vehicle movement. It is possible to charge the drone battery in a wired manner by placing the front, rear, left and right slopes at the center of the drone, moving and precisely landing by its own weight to the landing center, and connecting the respective battery charging terminals. The docking and charging station top plate 450 on which the drone lands includes: drone battery charging means 11 for charging a battery of the drone that has landed; A drone battery charging terminal 491 for installing an electrode at a lower end of the drone; A top battery charging terminal 492 for installing a charging electrode on the docking and charging station top plate 450; When the drone is accurately positioned at the landing center, the drone battery charging terminal 491 of the bottom of the drone charging the battery of the drone and the top battery charging terminal 492 of the docking and charging station top 450 are connected to automatically charge the drone battery. do. The charging terminal can be installed in the landing gear of the drone, but because it lands precisely at the landing center by the inclined groove, it is installed at a specific position of the lower part of the drone, and the charging terminal for supplying power to the corresponding position of the landing plate is installed.

Drone propeller direction alignment means (9) for aligning the propeller direction to reduce the drone occupied area after landing, consisting of a moving rod that rotates a stationary propeller in the alignment direction, or when the lift descends, the propeller lands. The propeller may be rotated in the alignment direction by interference with a flexible rubber plate installed at regular intervals at the corners. The moving rod is made of a weaker material than the propeller because it moves while rotating the propeller. If the propeller is placed on a flexible rubber plate installed at regular intervals, when the lift descends, the propeller is aligned with the flexible rubber plate (within 10mm width) installed at a certain interval (within 10mm width) and propeller interference due to the propeller's own weight. Will rotate. 7 is an image illustrating a method of aligning the propellers when landing in the direction of the two motor connecting shaft of the present invention. In order for the drone to land in the direction of the two motor connecting shafts, the direction of the two motor connecting shafts 320 is the length of the loading box. The other two motor connecting shaft directions 320 constitute the top plate of the docking and charging station to be the same as the loading box width direction. In this case, when the two motor connecting shaft directions are the length of the loading box, the corresponding propellers are aligned in the width of the loading box, and the other two motor connecting shaft directions are the loading width of the loading box. Minimize to (1 motor connecting shaft length x the other 1 motor connecting shaft length). If the distance between two motor connecting shafts is 1m and the propeller radius is 30cm, the occupied area is 1.6m x 1.6m = 2.56m2 if the propeller is not aligned. 8 is an image illustrating the manner of aligning the propellers when landing in the axial direction adjacent to the two motors of the present invention. In this case, the two motor adjacent axial directions 350 are loaded in the longitudinal direction of the load so that the drone lands in the two motor adjacent axial directions, and the other two motor adjacent axial directions 350 are docked and the same as the load width width direction. Configure the top of the charging station. In this case, all the propellers are arranged in the width direction of the loading box, or all the propellers are arranged in the loading direction of the loading box, so that the propellers 260 are arranged to minimize the occupied area. If the distance between two motor connecting shafts is 1m and the propeller radius is 30cm, the occupied area is 1.3mx 1.3m = 1.69㎡ without propeller alignment, but the occupied area is optimized to 0.7mx 1.3m = 0.91㎡ when aligning the propellers. .

9 is a configuration diagram of a charging method of a large capacity battery means of a vehicle equipped with a docking and charging station of the present invention. The high capacity battery means 20 for charging the drone battery and supplying power to the internal device includes: an external power cable charging means 17 installed outside the vehicle loading box so as to be connected to the power cable from the outside of the vehicle for charging; And, optionally, a solar panel and power generation charging means 19 for charging with the production power of the solar panel; And, optionally, a vehicle generator DC charging means 18 for charging with spare power produced by the vehicle generator while the vehicle is running. In this case, means for installing a battery charging port 510 outside the storage box to charge through the electric vehicle charger 500 cable to be generalized later; The charging control device 520 is configured to charge the large capacity battery means 540.

10 is a block diagram of a vehicle equipped with a docking and charging station capable of operating two to four drones of the present invention. It is necessary to solve the drone's short flight time problem by installing a plurality of docking stations in a vehicle moving to the drone's destination so that a spare drone can take off and perform a mission before one drone lands due to low battery. That is, the first docking and charging station 620 that the first drone 600 takes off and lands and charges so as to circularly fly to two drones; And means for constituting the second docking and charging station 630 where the second drone 610 takes off, lands, and charges. Lifts that raise and lower the docking and charging stations up and down can be separated or configured together. If removed, the docking and charging station will only rise during takeoff, ensuring no drone interference during the initial flight. In addition, the first docking and charging station 700, the first drone 740 take off and land and charge so as to circulate in four drones; And a second docking and charging station 710 to which the second drone 750 takes off, lands, and charges. And a third docking and charging station 720 in which the third drone 760 takes off, lands, and charges. And, the fourth drone 770 is configured to each of the fourth docking and charging station 730 to take off, landing and charging, it is possible to operate the four drones. Lifts that raise and lower docking and charging stations up and down are reasonable to be configured separately. In order to operate four units at the same time, the means of opening and closing the ceiling of the top of the stacker has a double-sliding structure, and the left ceiling control means moving to the right when the left ceiling is opened (using drones 1 and 2); It consists of the right siphon means (uses 3 and 4 drones) that move to the left when opening the right ceiling.

 In addition, it is also necessary to provide the following functions. Communication antenna directional adjustment means 12 installed on the outside of the vehicle, means for fixing the antenna on the gimbal fixed to the outside of the vehicle loading box, to obtain the position of the vehicle and the position of the drone with each satellite coordinate receiver; by rotating the gimbal Orient the antenna in the direction of optimal propagation sensitivity. Or means for installing a passageway between a vehicle passenger seat and a loading box installed and operated by the drone docking and charging station; It is configured as a walk-through van that can be moved by a user even if the vehicle does not come out. In order to prevent damage to the drone, the propeller direction alignment detection means 10, the drone propeller direction is aligned, it is determined that the propeller does not get caught in the corner where the drone propeller landed when the lift descends, the landing top lift vertical drive means (4) Lowering the lift; Determining that the landing is completed by the landing plate lift position detecting means (5); The control device is configured to close the control device by means of the control device opening and closing (2).

1 control and device means 2 control device
3: Cheonjeong fish position detection means 4: Landing plate lift up and down driving means
5: Landing plate lift position detection means 6: Drone landing center movement means
7: Drone landing center position detection means 8: Drone landing gear lock / release means
9: drone propeller direction alignment means 10: propeller direction alignment detection means
11: drone battery charging means 12: communication antenna direction adjusting means
13: Vehicle and drone communication and control means 14: Drone image external display means
15 docking and charging station operation instruction means 16 drone position tracking means
17: external power cable charging means 18: vehicle battery DC charging means
19: solar panel and power generation charging means 20: large capacity battery means
21: Landing precision guide
100: drone docking station vehicle 110: a thousand fish
120: solar panel 130: drone
140: lift 210: sliding cloth
220: lift top 230: drone
240: external display means 300: propeller alignment means
310: Propeller alignment rod 320: 2 motor connecting shaft direction
330: propeller alignment means 340: propeller alignment rod
350: Two motors adjacent axis 360: Aligned propeller
400: Landing Gear
410: ski-type landing gear 420: means to attach to the magnet
430: means for attaching to the magnet 440: electromagnet
450: docking and charging station top 460: landing center
470: Landing guide inclined groove 480: Landing precision guide means
490: cylindrical guide inclined groove 491: drone battery charging terminal
492: top battery charging terminal 500: electric car charger
510: battery charging port 520: charging control device
530: solar panel 540: high capacity battery
550: inverter 560: vehicle generator
600: first drone 610: second drone
620: first docking and charging station 630: second docking and charging station
700: first docking and charging station 710: second docking and charging station
720: third docking and charging station 730: fourth docking and charging station
740: the first drone 750: the second drone
760: the third drone 770: the fourth drone

Claims (20)

In a vehicle carrying a drone,
Control and device means (1) for controlling and operating each means;
Cheongji fish opening and closing drive means for opening and closing the upper end of the loading box (2);
Landing plate lift vertical drive means for raising the docking and charging station when the upper end of the loading box (4);
The docking and charging station where the drone lands
Landing precision guiding means 21 for inducing an accurate landing point of the drone; And
Landing drone landing center moving means for guiding the drone landing gear to the landing center after landing; And
A landing drone landing gear fixing and releasing means (8) for fixing the landing gear of the drone so as not to move,
Optionally, drone propeller direction alignment means 9 for aligning the propeller direction to reduce the occupied area;
Optionally, high capacity battery means 20 for charging the drone battery;
Optionally, drone battery charging means 11 for charging the battery of the landed drone;
Optionally, a drone docking and charging station combined vehicle, comprising a drone image external display means 14 installed on a wall of a vehicle loading box so that the photographed image of the drone camera can be viewed from outside the vehicle.
The method of claim 1
As a means of opening and closing the top of the loading box
Divided into blocked and broken
Means for installing the Cheonjeongeo 110 to move on the perforated ceiling portion electrically; And
Optionally, a combined use of a drone docking and charging station, characterized in that the solar panel 120 is installed on top of the blocked ceiling or ceiling control 110
The method of claim 1
Cheonjineo position detection means (3) to detect that the top of the loading box is open
Vehicle with a drone docking and charging station, characterized in that the docking and charging station top plate is raised to the ceiling by a landing plate lift up and down drive means (4) which raises the docking and charging station when the top of the loading box is opened.
The method of claim 1
The docking and charging station where the drone lands
Landing precision guidance means (21) to guide the correct landing point of the drone
Mark means for marking the landing point on the docking and charging station top plate; or
LED means for emitting a landing point with light; or
Vehicle with dual drone docking and charging station, characterized in that it consists of radio wave transmission means for transmitting landing points by radio wave
The method of claim 1
Landing drone landing center movement means for guiding the landing gear to the landing center in the docking and charging station top 450 where the drone lands
Forming a landing guide inclined groove 470 in front, rear, left and right inclinations (including hemispheres) with respect to the landing center 460 to position the landing gear in the inclined groove;
Stopping the drone propeller rotation;
Drone docking and charging station combined vehicle, characterized in that the landing gear 400 is accurately positioned in the landing center 460 by moving the landing guide inclined groove 470 by the weight of the drone itself
The method of claim 1
Means 430 attached to the magnet fixed to the lower end of the drone or landing gear 400;
The electromagnet 440 is installed at the landing center 460 of the top of the docking and charging station where the drone lands.
Landing drone landing center position detection means for detecting that the landing gear 400 of the drone is in the landing center (460);
Vehicle for combined use with a drone docking and charging station, comprising a landing drone landing gear fixing and releasing means 8 for supplying power to an electromagnet to attach the magnet 430 to the magnet at the bottom of the drone so as to attach to the electromagnet 440.
The method of claim 1
On the docking and charging station top 450 where the drone lands
Drone battery charging means (11) for charging the battery of the landed drone
A drone battery charging terminal 491 for installing an electrode at a lower end of the drone;
A top battery charging terminal 492 for installing a charging electrode on the docking and charging station top plate 450;
If the drone is correctly positioned at the landing center (460)
A drone docking and charging station characterized in that the drone battery charging terminal 491 at the bottom of the drone to charge the drone's battery and the top battery charging terminal 492 of the docking and charging station top plate 450 are connected to automatically charge the drone battery. A combined vehicle
The method of claim 1
The high capacity battery means 20 for charging the drone battery and supplying power to the internal device is
An external power cable charging unit 17 installed outside the vehicle loading box so as to connect and charge the power cable from the outside of the vehicle; And
Optionally, the solar panel and the power generation charging means 19 for charging with the production power of the solar panel; And
Optionally, a vehicle combined with a drone docking and charging station, comprising a combination of the vehicle generator DC charging means 18 for charging with the surplus power produced by the vehicle generator while the vehicle is running.
The method of claim 8
To charge via electric vehicle charger (500) cable
Means for installing a battery charging port 510 outside the storage box;
Drone docking and charging station combined vehicle, characterized in that configured to charge the high capacity battery means 540 through the charge control device 520
The method of claim 1
With drone propeller direction alignment means (9) to align propeller direction to reduce drone footprint after landing
Consists of a moving rod that rotates the stationary propeller in the alignment direction,
Alternatively, when the lift descends, the propeller rotates in the alignment direction due to interference with a flexible rubber plate installed at regular intervals at the corner where the drone has landed.
The method of claim 1
To allow the drone to land in the direction of the two motor
Set the direction of the two motor connecting shafts (320) to the length of the loading box.
Docking and charging station combined vehicle in which the drone lands, characterized in that the other two motor connection axis direction 320 is configured to be the same width direction of the loading box
The method of claim 11
If the length of the two motor linkages is in the longitudinal direction of the loading bin, the corresponding propeller should be aligned in the loading bin width direction.
In the case of the load width of the other two motor connecting shafts, the propellers must be aligned
Docking and charging station combined vehicle for landing drones, characterized by minimizing footprint (one motor connecting shaft length x another motor connecting shaft length)
The method of claim 1
To allow the drone to land in the direction of two motors
Two motor adjacent axis direction (350) to the loading box length direction
Docking and charging station combined vehicle for a drone lands, characterized in that the other two motor adjacent axis direction 350 is configured to be the same width direction of the loading box
The method of claim 13
All propellers should be aligned in the width of the loading bin,
Alternatively, all propellers can be aligned along the length of the
Docking and charging station combined vehicle for landing drones, characterized by a propeller 260 aligned to minimize footprint
The method of claim 1
The communication antenna direction adjusting means 12 installed outside the vehicle
Secure the antenna on the gimbal that is secured outside the vehicle loading box
Obtaining the position of the vehicle and the position of the drone with each satellite coordinate receiver;
A drone landing and charging station vehicle characterized by rotating the gimbal to adjust the direction of the antenna to the direction of optimum propagation sensitivity
The method of claim 1
Vehicle passenger seat and
Means for installing a passageway between a drone docking and loading station for charging station installation;
Docking and charging station combined vehicle for landing drones, characterized by a walk-through van that can be moved by the user even when the vehicle is not present
The method of claim 1
Propeller direction alignment detection means (10)
The drone propeller orientation is aligned so that when the lift descends, the propeller does not get caught in the corner where the drone propeller lands,
Lowering the lift by the landing plate lift vertical drive means (4);
Determining that the landing is completed by the landing plate lift position detecting means (5);
Docking and charging station combined vehicle in which a drone lands, characterized by closing the controllable fish by means of the open / close fish driving means (2)
The method of claim 1
To make circular flight with 2 drones
A first docking and charging station 620 to which the first drone 600 takes off, lands, and charges; And
Means for configuring a second docking and charging station (630) for the second drone (610) to take off, land, and charge;
A drone landing and charging station combined vehicle, characterized in that the lift that lifts and lowers the docking and charging station up and down is configured separately or together.
The method of claim 1
To fly in four drones
A first docking and charging station 700 to which the first drone 740 takes off, lands, and charges; And
A second docking and charging station 710 to which the second drone 750 takes off, lands, and charges; And
A third docking and charging station 720 in which the third drone 760 takes off, lands, and charges; And means for configuring a fourth docking and charging station 730 for the fourth drone 770 to take off, land, and charge;
A dock and charging station combined vehicle for landing by a drone, characterized in that the lift that lifts and lowers the docking and charging station up and down is configured separately.
The method of claim 19
Double door structure for opening and closing the upper ceiling of the loading box
Left diaphragm means for moving to the right when opening the left ceiling;
Vehicle with a drone docking and charging station, characterized in that it consists of a right ceiling control device that moves to the left when the right ceiling is opened

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