WO2013162128A1 - Système de véhicule aérien sans pilote pour raccordement de câbles - Google Patents

Système de véhicule aérien sans pilote pour raccordement de câbles Download PDF

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Publication number
WO2013162128A1
WO2013162128A1 PCT/KR2012/007361 KR2012007361W WO2013162128A1 WO 2013162128 A1 WO2013162128 A1 WO 2013162128A1 KR 2012007361 W KR2012007361 W KR 2012007361W WO 2013162128 A1 WO2013162128 A1 WO 2013162128A1
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WO
WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
control equipment
ground control
tether cable
Prior art date
Application number
PCT/KR2012/007361
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English (en)
Korean (ko)
Inventor
김상한
Original Assignee
유콘시스템 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 유콘시스템 주식회사 filed Critical 유콘시스템 주식회사
Publication of WO2013162128A1 publication Critical patent/WO2013162128A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
    • H02G11/02—Arrangements of electric cables or lines between relatively-movable parts using take-up reel or drum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F3/00—Ground installations specially adapted for captive aircraft
    • B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/60—Tethered aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/26—Ducted or shrouded rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B64U50/14—Propulsion using external fans or propellers ducted or shrouded
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B64U2201/202—Remote controls using tethers for connecting to ground station

Definitions

  • the present invention receives the power required for the operation of the thrust motor and onboard electronic equipment of the unmanned aerial vehicle to stay in the air for a long time to perform the mission, the position according to the ground command by autonomous flight through the attitude and position control of the unmanned aerial vehicle
  • the present invention relates to a wired unmanned aerial vehicle system that stably flies in the air.
  • UAVs unmanned aerial vehicles
  • Civilian or public sectors using unmanned aerial vehicles include disaster / disaster disaster status monitoring, coastal / ship monitoring, forest fire / forest monitoring, replacement traffic jams, environmental pollution monitoring, security surveillance monitoring, weather data collection, communication relay, etc. As diverse.
  • unmanned aerial vehicles are classified according to size / operation altitude / airtime / operation range / airway method, which are ultra small / small / medium / large by size, high altitude / heavy / low altitude by operating altitude, and short / medium term by airtime. It is classified as long-range, short-range, medium-range, long-distance by the long-term and operating range, fixed wing / rotary wing by the airborne method.
  • the demand for unmanned aerial vehicles classified into small size, low altitude, short term and short distance is increasing and is being developed accordingly.
  • fixed-wing drones and rotorcraft drones classified by air way they have been developed and utilized mainly for fixed wing drones that complete missions at high speeds.
  • fixed-wing drones must prepare runways or launch pads for takeoff and runway or recovery equipment for landing, so they can take off and land vertically in civilian / public areas where it is difficult to prepare runways, launch pads or recovery equipment.
  • Need. Vertical Take-off and Landing (VTOL) aircraft do not require a runway for takeoff and landing, so they have less space and have the advantage of being able to fly in place and move from side to side. Because of these advantages, various concepts of vertical takeoff and landing drones are being researched and developed in various forms according to missions. Helicopters, the most common type of vertical takeoff and landing drones, are tilt rotors and quadrotor aircraft that have been developed to compensate for the low forward speed.
  • Such unmanned aerial vehicle needs a power source for the operation of the thrust motor to obtain the driving force and the operation of the electronic equipment for observation, it is necessary to mount a secondary battery.
  • the unmanned aerial vehicle must remotely control the ground control equipment or transmit information obtained by autonomous flying and mounted observation equipment to the ground control equipment according to the instructions of the ground control equipment. It requires a link. This results in excessive occupancy of the limited radio frequency band, causing data interference and traffic between equipment, and can lead to an unexpected accident such as an unmanned aerial vehicle falling down due to unstable wireless communication. In addition, it also has an extended limit in accordance with the regulation of the use frequency. Therefore, there is a need to provide a data link environment capable of smoothly communicating without restrictions between the unmanned aerial vehicle and the ground control equipment.
  • Another object of the present invention is to provide a wired connection unmanned aerial vehicle system that communicates smoothly without being limited in the construction of a communication network between the unmanned aerial vehicle and the ground control equipment.
  • Still another object of the present invention is to provide a wired unmanned aerial vehicle system capable of inducing a safe landing for a failure in which a frequency of occurrence increases with a long flight.
  • the present invention for achieving the above object is a rotorcraft type unmanned aerial vehicle (100) equipped with a communication device and an observation device to operate the rotor 150 to air in the air; And a ground control device 200 which communicates with the unmanned aerial vehicle 100 to control the flight of the unmanned aerial vehicle 100 and receives observation information, wherein the unmanned aerial vehicle system 100 is ground controlled with the unmanned aerial vehicle 100.
  • the equipment 200 is electrically connected using a tether cable 310 including a power line 312, and the ground control equipment 200 supplies power required by the unmanned aerial vehicle 100 through the power line 312. It is done.
  • the tether cable 310 further includes a communication line 313 and is characterized in that the wired communication between the unmanned aerial vehicle 100 and the ground control equipment 200 via the communication line 313.
  • the ground control equipment 200 characterized in that the cable winch 320 for the release and rewind operation of the tether cable 310 is provided.
  • the unmanned aerial vehicle 100 includes a tension sensor 180 for sensing the tension of the tether cable 310 and a twist detector 170 for detecting the twisted state of the tether cable 310, and operates the rotor 150. By controlling the posture to adjust the posture to maintain the tension below a predetermined value and characterized in that to prevent the twist.
  • the unmanned aerial vehicle 100 includes a plurality of ducts 101 penetrated up and down, arranged symmetrically with respect to the center of the body, and the rotor 150 is mounted inside each duct 101. It consists of a ducted propeller, and when some rotors fail, it features a balance of lift with the other rotors that can operate normally.
  • the unmanned aerial vehicle 100 includes an emergency secondary battery 162 to charge the emergency secondary battery 162 with electricity supplied through the tether cable 310, and charges the tether cable 310.
  • an emergency secondary battery 162 to charge the emergency secondary battery 162 with electricity supplied through the tether cable 310, and charges the tether cable 310.
  • the present invention is configured as described above is a long-term air supply by continuously supplying the electricity required by the unmanned aerial vehicle 100 from the ground, do not need to repeatedly take off and landing the unmanned aerial vehicle 100, the observation or monitoring is interrupted Can be performed continuously without.
  • the present invention communicates with the unmanned aerial vehicle 100 in a wired manner, there is no difficulty in frequency allocation and the observation and monitoring information can be collected through stable data communication.
  • the present invention can safely land and repair the unmanned aerial vehicle 100 even if a failure of the rotor or breakage of the tether cable occurs, thereby reducing maintenance costs.
  • FIG. 1 is a block diagram of components related to electricity and communication in a wired unmanned aerial vehicle system according to an embodiment of the present invention.
  • Figure 2 is a state diagram used in the wired unmanned aerial vehicle system according to an embodiment of the present invention.
  • FIG 3 is a bottom perspective view of the unmanned aerial vehicle 100 in the air, in an embodiment of the invention.
  • FIG 4 is a perspective view of a cable winch 320 provided in the ground control equipment 200 in the embodiment of the present invention.
  • 1 is a block diagram of components related to electricity and communication in a wired unmanned aerial vehicle system according to an embodiment of the present invention
  • 2 is a state diagram of a wired connected unmanned aerial vehicle system according to an embodiment of the present invention.
  • FIG 3 is a bottom perspective view of the unmanned aerial vehicle 100 in the air in an embodiment of the present invention
  • Figure 4 is a perspective view of a cable winch 320 provided in the ground control equipment 200 in the embodiment of the present invention. .
  • an unmanned aerial vehicle system includes a rotorcraft type unmanned aerial vehicle 100, a ground control equipment 200 on the ground, and an unmanned aerial vehicle 100 flying in the air. It comprises a tether equipment 300 for electrically connecting between the ground control equipment 200.
  • the unmanned aerial vehicle 100 controls the rotor 150 and the rotor 150 for the flight by air, the navigation apparatus 130 for controlling the flight by changing the attitude and the position of the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 Observe the flight control signal transmitted from the ground control equipment 200 by communicating with the observation device 140, the ground control equipment 200 mounted on the mission of the observation or monitoring, and obtained from the observation device 140
  • the communication device 120 for transmitting the information to the ground control equipment 200, and the navigation device 130 is operated according to the received flight control signal and the observation information obtained from the observation device 140 is transmitted to the communication device 120.
  • the control computer 110 which controls to transmit to the ground control equipment 200, is configured to include.
  • the unmanned aerial vehicle 100 has the plurality of landing skids 102 mounted to the observing device 140 in the center of the bottom surface and the edge of the bottom surface.
  • the landing skid 102 prevents the observation device 140 from being damaged by buffering the unmanned aerial vehicle 100 by touching the ground when the unmanned aerial vehicle 100 lands.
  • the rotor 150, the navigation device 130, and the observation device 140 will be described in detail as follows.
  • the rotor 150 is mounted to the unmanned aerial vehicle 100 as a ducted propeller type. That is, a plurality of ducts 101 are arranged on the edge of the unmanned aerial vehicle 100 symmetrically with respect to the center of the body, and each of the ducts 101 has a form penetrated up and down, The rotors 150 are mounted one by one inside the duct 101.
  • the rotor 150 is mounted inside the duct 101 to generate a downdraft by rotation to generate a thrust blade 152, the propulsion motor 151 for rotating the blade 152, and the duct 101 inside It is mounted to traverse the vane (vane, 153) is configured to control the attitude of the unmanned aerial vehicle 100 is configured.
  • the blade 152 preferably extends as long as possible within the range of not touching the duct 101 in order to increase the thrust efficiency.
  • the navigation device 130 controls the respective rotors 150 and adjusts the air vehicle attitude and air hole position of the unmanned aerial vehicle 100, and performs vertical landing and autonomous ratios of the unmanned aerial vehicle 100.
  • the observation device 140 is configured in various ways depending on the field of application of the unmanned aerial vehicle 100, and examples thereof include a camera, a high resolution scanner, various sensors, and a GPS / IMU.
  • the ground control equipment 200 is a communication device 220 for communicating with the unmanned aerial vehicle 100, a control device 230 for generating a flight control signal for the vertical take-off and landing and autonomous ratio of the unmanned aerial vehicle 100, A data manager 240 for storing and managing observation information, an image device 241 for displaying observation information to be visually displayed to a user, and a control computer 210 for controlling operations related to transmission of flight control signals and reception of observation information. It is composed of, including.
  • the control device 230 may be configured to generate a control signal for controlling the observation device 140 of the unmanned aerial vehicle 100.
  • Components of the unmanned aerial vehicle 100 and the ground control equipment 200 briefly described above are generally known techniques, and according to the prior art, the unmanned aerial vehicle 100 is required to perform a mission because it is airborne and performs a mission.
  • the power supply was covered by a secondary battery mounted thereon, and the communication device 120 of the unmanned aerial vehicle 100 and the communication device 220 of the ground control equipment 200 were configured as a communication device employing a wireless communication technology.
  • the unmanned aerial vehicle system supplies the power required for the flight and performance of the unmanned aerial vehicle 100 to the ground control equipment 200 by wire, and the unmanned aerial vehicle 100 and the ground. Communication between the control equipment 200 is also made by wired communication, the unmanned aerial vehicle 100 is equipped with a secondary battery, but not used during the normal flight and observation mission, but used during emergency landing, the rotor of the It is configured to induce a safe landing following a fault.
  • the unmanned aerial vehicle system according to the embodiment of the present invention for this purpose includes the following additional components.
  • Unmanned aerial vehicle system as shown in Figures 1 and 2 to connect by wires connected between the unmanned aerial vehicle 100 airborne in the air and the ground control equipment 200 installed on the ground It is configured to further include a tether device 300 for.
  • the tether equipment 300 is installed near the tether cable 310 and the ground control equipment 200 for connecting the unmanned aerial vehicle 100 and the ground control equipment 200 to unwind and rewind the tether cable 310 Winch 320 is included.
  • the ground control equipment 200 includes a power supply device 250 for supplying electricity to the unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 supplies power to each of the internal components that require electric power.
  • a power supply device 250 for supplying electricity to the unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 supplies power to each of the internal components that require electric power.
  • the charging and discharging circuit 161 is provided.
  • the communication devices 120 and 220 of the unmanned aerial vehicle 100 and the ground control equipment 200 communicate with each other through wired communication.
  • the unmanned aerial vehicle 100 also includes a tension detector 180 for measuring the tension applied to the tether cable 310 and a twist detector 170 for detecting the twist of the tether cable 310.
  • the unmanned aerial vehicle 100 since the unmanned aerial vehicle 100 is configured to perform an observation mission in a state floating in a predetermined position in the air according to the command of the ground control equipment 200, GPS for detecting the position (GPS: global positioning system) It is preferable to include a three-axis gyro sensor for detecting the tilt and the direction of the receiver, the unmanned aerial vehicle 100.
  • the unmanned aerial vehicle 100 equipped with the GS and the three-axis gyro sensor is moved to the position commanded by the ground control equipment 200 based on the position detected by the GS, and is stably stopped in the state where the command is directed. Since the navigation device 130 is controlled to be horizontal based on the tilt direction detected by the three-axis gyro sensor.
  • the tether cable 310 is bound to the top of the unmanned aerial vehicle 100 as shown in FIG. 3 and directed toward the air according to the flight of the unmanned aerial vehicle 100, and the ground control apparatus 200 as shown in FIG. 4. Winding or unwinding with a cable winch 320 connected to the) to be released in accordance with the distance to the unmanned aerial vehicle 100 according to takeoff and landing of the unmanned aerial vehicle 100.
  • the tether cable 310 is a cable that integrates a power line 312 for supplying electricity, a communication line 313 for communication, and a reinforcing core line 311 that handles a tension received as it floats in the air. It consists of.
  • the power line 312 is connected to the power splitter 160 of the unmanned aerial vehicle 150 and the power line device 250 of the ground control equipment 200 in a state in which the lower end is wound on the cable winch 320 on the ground. By connecting, it becomes a line for continuously supplying electricity to the unmanned aerial vehicle 150 from the ground. Accordingly, since the unmanned aerial vehicle 100 receives power required for flight and observation from the ground control equipment 200 in a wired manner, the unmanned aerial vehicle 100 may perform a mission while floating in the air for a long time.
  • the communication line 313 connects the upper end to the communication device 120 of the unmanned aerial vehicle 100 and the lower end is wound on the cable winch 320 on the ground to the communication communication device 220 of the ground control equipment 200. By connecting, it becomes a line to communicate by wire between the unmanned aerial vehicle 100 and the ground control equipment 200. Therefore, according to the embodiment of the present invention, the communication device 120, 220 is simplified and there is no difficulty in securing the frequency, there is no fear of signal interference, and it is difficult to listen to the observation device 140, compared to the conventional method adopting wireless communication. The communication security of the measured observation information can be maintained and communication can be stably performed without data traffic.
  • the communication line 313 is preferably composed of an optical fiber that can not only have advantages of thin thickness and low weight, but also have no interference of electromagnetic waves by a power line, difficult to wire, and transmit a large amount of information at the same time.
  • the communication line 313 is composed of an optical fiber
  • the communication device 120, 220 of the unmanned aerial vehicle 100 and the ground control equipment 200 is composed of an optical communication module.
  • the reinforcing core line 311 fixes the upper end to the binding line 103 tied to the landing skid 102 of the unmanned aerial vehicle 100.
  • the lower ends of the respective binding lines 103 to the upper end of the reinforcing core line 311 Fix it.
  • the twist detector 170 and the tension detector 180 are installed at the point where the binding line 103 and the reinforcing core line 311 are fixed to each other.
  • the twist detector 170 detects a twist by measuring a force to rotate of the reinforcement core 311 with respect to the binding line 103, and the tension sensor 180 reinforces the core 311 with respect to the binding line 103. Detect the tension in the downward direction.
  • the twist force and the tension sensed by the twist detector 170 and the tension detector 180 are transmitted to the control computer 110 embedded in the unmanned aerial vehicle 100, thereby to rotate the rotor 150 by the navigation device 130. Control to turn in the direction of reducing the twist force and adjust downward to maintain the tension below the preset value.
  • the unmanned aerial vehicle 100 cuts through the air and continues to the ground to prevent twisting of the tether cable 310 and to fly while maintaining the tension applied to the tether cable 310 at an appropriate value or less, and the tether cable Prevent breakage of the 310.
  • the tether cable 310 which integrates the power line 312 and the communication line 313, is connected to the unmanned aerial vehicle 100 as if it is erected perpendicular to the air as shown in FIG. 2, and the unmanned aerial vehicle 100 is connected to the unmanned aerial vehicle 100.
  • the propulsion force of the unmanned aerial vehicle 100 is pulled into the air because it is in a standing state, it is desirable to produce a light weight if possible.
  • the thrust force is determined by the rotors of the unmanned aerial vehicle 100 to handle not only the weight of the unmanned aerial vehicle 100 but also the weight of the tether cable 310.
  • the cable winch 320 is a winding drum 321 for releasing and rewinding the tether cable 310, a rotating means 322 for rotating the winding drum 321, and a winding drum as shown in FIG. 4.
  • the cable guide 323, which holds the unwinding or rewinding position of the tether cable 310 at 321, is configured to include.
  • the rotating means 322 is a power unit and a speed reducer for rotating the winding drum 321 to wind or unwind the tether cable 320, the tether cable 310 by loosening the tether in the state of positioning the unmanned aerial vehicle 100 It may be configured to include a clutch that causes the cable 320 to no longer be loosened.
  • the rotation means 322 is controlled by the control computer 210 of the ground cylinder equipment 200, the take-up drum 321 according to the take-off and landing and aerial airspace of the unmanned aerial vehicle 150 by the control device 230 To release and rewind.
  • the power line 312 disconnection or power supply of the tether cable 310. Since the supply of electricity may be cut off due to the failure of 250, safety measures are taken.
  • the unmanned aerial vehicle 100 has a built-in emergency secondary battery 162 as described above to charge the emergency secondary battery 162 while receiving electricity through the power line 312 of the tether cable 310. And, when the supply of electricity through the power line 312 of the tether cable 310 is automatically emergency landing. At this time, the emergency landing is controlled by the unmanned aerial vehicle 100 to operate the rotor 150 using the electricity of the emergency secondary battery 162 at the moment when the electricity supply is cut off, but to operate the rotor 150 in the landing mode. It is possible by mounting on the computer 110.
  • the unmanned aerial vehicle 100 may automatically make an emergency landing as described above even if communication with the ground control equipment 200 is interrupted due to disconnection of the communication line 313 or failure of the communication devices 120 and 220. .
  • the emergency landing of the unmanned aerial vehicle 100 is preferably guided to the place where the ground control equipment 200 and the cable winch 320, the ground control equipment 200 and the cable winch 320 It is preferable to provide a sensor (not shown) installed on the mark (not shown) and the unmanned aerial vehicle 100 installed therein to detect the mark. Accordingly, the unmanned aerial vehicle 100 may safely land by controlling the navigation device 130 to land at the position of the mark during the emergency landing.
  • the unmanned aerial vehicle 100 operates to balance only the rods that operate normally when a failure occurs in some of the plurality of rotors 150 as the long term flight occurs.
  • the failure of the rotor 150 may be, for example, the failure of the thrust motor 151, the failure of the power transmission means for connecting between the propulsion motor and the blade rotation axis, the breakage of the blade, and the like.
  • the unmanned aerial vehicle 100 includes a plurality of the rotors 150 mounted in a ducted propeller type, and the rest of the rotors may fail.
  • the control computer 110 is equipped with a program to control the imbalance of lift by only the rotors that can operate normally and to ensure a stable flight.
  • the program according to this is a program that selects the rotors that can operate normally based on the relative positions of the rotors that can operate normally with respect to the position of the failed rotor to adjust the operation state.
  • the attached FIG. 3 is illustrated as a hexa rotor having six rotors, but may be a quad rotor having four rotors or an octo rotor having eight rotors.
  • the unmanned aerial vehicle 100 is configured to fly to the rotor that can operate the rest of the rotor when some of the rotor failure, it can prevent the fall accident, the user uses the control device 230 on the ground Can be landed stably.
  • the present invention constituted as described above moves the ground control equipment 200, the unmanned aerial vehicle 200, and the tethered equipment 300 in a state in which the vehicle is mounted on the vehicle, and moves to an area to perform the observation mission. Because it can take off vertically, it is convenient to use because it does not require a runway or launch pad, and can be operated in a small place or in a city center without inconvenience.
  • the present invention takes off the unmanned aerial vehicle 200 in a state in which one end of the tether cable 310 is connected to the unmanned aerial vehicle 200. do. Accordingly, the present invention eliminates the inconvenience of repeatedly taking off and landing according to the electric power consumption of the existing unmanned aerial vehicle, and it is possible to continuously observe for a long time to increase the efficiency of the observation task and to continuously obtain the observation information without omission.
  • the present invention can monitor each monitoring area (A) without interruption while flying for a long time, and thus, useful for port monitoring, marine pollution monitoring, traffic monitoring, and public facility monitoring. Can be utilized.
  • the present invention can stably communicate by wire communication and collect observation information.
  • the present invention by adjusting the attitude of the unmanned aerial vehicle 100 to prevent the twist of the tether cable 310 and subjected to excessive tension, to maintain a stable electricity supply and communication network and to fly the unmanned aerial vehicle 100 in flight have.
  • the present invention can safely land the unmanned aerial vehicle 100 without a crash accident by using a plurality of rotors and emergency secondary battery even inadvertent failure.
  • control computer 120 communication device 130: navigation device
  • observation device 150 rotor 151: propulsion motor
  • twist detector 180 tension detector
  • control computer 220 communication device 230: control device

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Electric Cable Installation (AREA)

Abstract

La présente invention concerne un système de véhicule aérien sans pilote pour raccordement de câbles, l'électricité requise pour le propulseur d'un véhicule aérien sans pilote et l'équipement électronique embarqué dans ledit véhicule étant acheminée depuis le sol de façon à effectuer des tâches tout en restant en vol sur une longue durée, et à rester en vol de manière stable à une certaine position conformément à des instructions au sol, par un vol autonome, grâce au contrôle de la situation et de la position du véhicule aérien sans pilote.
PCT/KR2012/007361 2012-04-24 2012-09-14 Système de véhicule aérien sans pilote pour raccordement de câbles WO2013162128A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2012-0042580 2012-04-24
KR1020120042580A KR101350291B1 (ko) 2012-04-24 2012-04-24 유선연결 수직 이착륙 무인항공기 시스템

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WO2013162128A1 true WO2013162128A1 (fr) 2013-10-31

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US20160200437A1 (en) * 2015-01-12 2016-07-14 Mark Andrew Ryan Tethered Flight Control System for Small Unmanned Aircraft
DE102015100817A1 (de) * 2015-01-21 2016-07-21 Wood-Flame Gmbh Verfahren zum Betreiben eines unbemannten Luftfahrzeugs
FR3037448A1 (fr) * 2015-06-15 2016-12-16 Elistair Systeme filaire securise pour drone
WO2017117609A1 (fr) * 2015-12-31 2017-07-06 Tribune Broadcasting Company, Llc Système de véhicule aérien sans pilote attaché
CN106956774A (zh) * 2016-01-12 2017-07-18 上海摩西海洋工程股份有限公司 一种拖曳式飞碟装置
CN107409174A (zh) * 2015-03-31 2017-11-28 深圳市大疆创新科技有限公司 用于管制无人飞行器操作的系统和方法
CN108146634A (zh) * 2016-12-02 2018-06-12 北京化工大学 一种基于地面站和氦气球的无人机航母
EP3546352A1 (fr) * 2018-03-29 2019-10-02 RIEDEL Communications International GmbH Aéronef
CN110556882A (zh) * 2018-06-04 2019-12-10 财团法人工业技术研究院 可调变式电源供应系统及其操作方法
US10507914B2 (en) 2013-03-15 2019-12-17 Flir Detection, Inc. Spooler for unmanned aerial vehicle system
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