WO2017034070A1 - Dispositif d'assistance d'atterrissage pour aéronef et son procédé de commande - Google Patents

Dispositif d'assistance d'atterrissage pour aéronef et son procédé de commande Download PDF

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Publication number
WO2017034070A1
WO2017034070A1 PCT/KR2015/010779 KR2015010779W WO2017034070A1 WO 2017034070 A1 WO2017034070 A1 WO 2017034070A1 KR 2015010779 W KR2015010779 W KR 2015010779W WO 2017034070 A1 WO2017034070 A1 WO 2017034070A1
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WO
WIPO (PCT)
Prior art keywords
landing pad
landing
vehicle
pad
casing
Prior art date
Application number
PCT/KR2015/010779
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English (en)
Korean (ko)
Inventor
김신현
Original Assignee
한화테크윈 (주)
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Publication date
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Publication of WO2017034070A1 publication Critical patent/WO2017034070A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/92—Portable platforms
    • B64U70/93—Portable platforms for use on a land or nautical vehicle
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/10—Transport or storage specially adapted for UAVs with means for moving the UAV to a supply or launch location, e.g. robotic arms or carousels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
    • B64U80/25—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV for recharging batteries; for refuelling
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F3/00—Landing stages for helicopters, e.g. located above buildings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • 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
    • B64U50/39—Battery swapping

Definitions

  • Embodiments relate to a method of controlling a landing aid and a landing aid of a vehicle, and more particularly, a method of controlling a landing aid and a landing aid of a vehicle that assists a vehicle to stably land by minimizing landing mistakes. It is about.
  • Unmanned vehicles must be able to be safely controlled during flight.
  • an unmanned aerial vehicle must be able to safely and precisely perform autonomous landing operations in which the unmanned aerial vehicle lands at a target point without human intervention.
  • Korean Patent Publication No. 0428101 describes a technique for obtaining distance information between a landing point and an aircraft in real time in an unmanned aerial vehicle and inducing a landing using the same when the unmanned aerial vehicle attempts to land.
  • the autonomous landing behavior of the unmanned aerial vehicle may be corrupted by the surrounding environment in which the unmanned aerial vehicle tries to land. For example, if the terrain environment changes drastically, or if there is a sensor misdetection, the unmanned aerial vehicle may land at a location away from the targeted landing point.
  • an unmanned aerial vehicle that uses rotating wings, such as a helicopter
  • increasing battery capacity also increases the weight of the drone, affecting flight performance. Therefore, a tradeoff design that considers both the weight of a drone and the weight of a battery is essential in drone design.
  • drones are designed to fly between 10 and 30 minutes on average. As a result, the drone needs to be recharged or replaced to continue its mission.
  • An object of the embodiments is to provide a landing assistance device and a method of controlling the landing assistance device that can assist in the landing operation of the vehicle.
  • Another object of the embodiments is to provide a landing assist device and a method of controlling the landing assist device of a vehicle capable of minimizing a landing error caused by a change in airflow environment or a sensor error at a landing point.
  • Yet another object of the embodiments is to provide a landing aid for a vehicle that can be charged and stored.
  • the landing aid of an aircraft includes a landing pad having a passage through which the aircraft can land and an air passage therethrough, and an angle adjustable on the landing pad and folded at an angle adjusted to face the landing pad.
  • a wing that is angled between the position and the outwardly extended position of the landing pad, a sensor that detects a change in the flow of air through the passage of the landing pad and generates a signal, based on the signal generated by the sensor
  • a controller is provided for controlling the operation of the blade and for moving the blade to the folded position when a change in the flow of air sensed by the sensor exceeds a reference value.
  • the landing assistance device may further comprise a valve disposed in the passageway and opening or closing the passageway by acting on a signal applied from the controller, wherein the controller may be configured if the change in the flow of air sensed by the sensor exceeds a reference value.
  • the passage can be closed by actuating the valve.
  • a plurality of sensors may be disposed on the landing pad.
  • the sensor may be arranged to be symmetrical with respect to the center position of the landing pad.
  • the landing assistance device may further include a position sensor that detects a change in position with respect to the landing pad of the aircraft approaching the landing pad.
  • the landing assistance device may further include a GPS sensor which is connected in communication with a satellite communicating with the aircraft or the aircraft to receive information about the geographical position of the aircraft approaching the landing pad.
  • the landing assistance device may further include an adjustment mechanism that supports the landing pad and adjusts the position of the landing pad relative to the floor on which the landing pad is disposed.
  • the landing assistance device surrounds the landing pad and the controller, is connected to an opening and an opening through which the landing pad can protrude upward, and is controlled by an air vent and a controller which opens through the air from the lower side of the landing pad to pass outward.
  • the casing may further include a vent valve for opening and closing the vent.
  • the landing assistance device may further include a robot for moving the vehicle landing on the landing pad, and a charging stage for supporting the vehicle moved by the robot and charging the vehicle.
  • the robot can exchange the battery of the aircraft landing on the landing pad.
  • a method of controlling a landing assistance device of a vehicle from a folded position in which an angle is adjusted so as to face an upper side of a landing pad by adjusting an angle of a wing that can be adjusted to an landing pad on which the aircraft can land. Moving the wing to an unfolded position to face the landing pad outward; detecting a change in air flow through the passage of the landing pad by a sensor disposed on the landing pad; Moving the wing of the landing pad to the folded position if the change in flow exceeds a reference value.
  • the control method of the landing assistance device of the vehicle may further include closing a passage of the landing pad when a change in the flow of air sensed by the sensor exceeds a reference value.
  • the control method of the landing assistance apparatus of the vehicle may further include detecting a change in position of the landing pad of the vehicle approaching the landing pad.
  • the control method of the landing assistance device of the vehicle may further include receiving information about the geographic position of the vehicle approaching the landing pad by a satellite and a communication connection with the vehicle or the aircraft.
  • the control method of the landing assistance device of the vehicle may further include adjusting a position of the landing pad with respect to the floor on which the landing pad is disposed.
  • the control method of the landing aid of the vehicle includes the steps of moving the landing pad to the outside of the casing surrounding the landing pad before the step of moving the wing to the unfolded position, and the landing pad after folding the wing of the landing pad.
  • the method may further include moving the landing pad to the inside of the casing together with the aircraft landing on the casing.
  • the control method of the landing assistance device of the vehicle may further include opening a vent of the casing capable of discharging air inside the casing outward before moving the landing pad to the inside of the casing.
  • the control method of the landing assistance apparatus of the vehicle may further include moving the vehicle placed on the landing pad moved into the casing to the charging stage.
  • the control method of the landing assistance device of the vehicle may further include exchanging a battery of the vehicle placed on the landing pad that is moved into the casing.
  • control method of the landing assistance device and the landing assistance device of the vehicle according to the embodiments as described above can be stably landed on the driving vehicle in flight.
  • the landing operation of the aircraft can be made stable.
  • controlling the wing to adjust the angle to the landing pad can support the stable landing operation of the vehicle, it is possible to minimize the failure of the landing operation of the vehicle due to changes in the airflow acting while the vehicle driving or malfunction of the sensor.
  • the robot can replace the battery of the aircraft landing on the landing pad or move the vehicle to the charging stage to charge, the vehicle can be conveniently charged and stored.
  • FIG. 1 is a perspective view schematically showing an operating state of the landing assistance device of the vehicle according to an embodiment.
  • FIG. 2 is a perspective view exemplarily illustrating an operation of taking off a vehicle from the landing assistance device of the vehicle of FIG. 1.
  • FIG. 2 is a perspective view exemplarily illustrating an operation of taking off a vehicle from the landing assistance device of the vehicle of FIG. 1.
  • FIG. 3 is a cross-sectional view schematically showing the arrangement of the components of the landing aid of the vehicle of FIG.
  • FIG. 4 is a perspective view illustrating a state in which a landing pad of the landing assistance device of the vehicle shown in FIG. 1 is unfolded.
  • FIG. 5 is a conceptual diagram exemplarily illustrating a flow of air passing through a landing pad before the aircraft lands on the landing assistance device of the aircraft of FIG. 1.
  • FIG. 6 is a conceptual view illustrating a state in which the wing of the landing pad is moved to a folded position in the landing assistance device of the vehicle of FIG. 5.
  • FIG. 7 is a perspective view of a portion of the landing pad of FIG. 1.
  • FIG. 8 is a block diagram schematically illustrating a connection relationship between a controller and respective components of the landing assistance apparatus of the vehicle of FIG. 1.
  • FIG. 9 is a conceptual diagram illustrating a state in which the landing assistance device of the vehicle of FIG. 1 starts a function of assisting the landing of the vehicle.
  • FIG. 10 is a conceptual diagram illustrating a state in which a landing pad is adjusted to correspond to a position of a vehicle in the landing assistance device of the vehicle of FIG.
  • FIG. 11 is a conceptual diagram illustrating a state in which a vehicle lands on a landing assistance device of the vehicle of FIG. 10.
  • FIG. 12 is a flowchart illustrating steps of a method of controlling a landing assistance device of a vehicle of FIG. 1.
  • FIG. 13A is a conceptual diagram exemplarily illustrating flow of air before a vehicle lands on the landing assistance device of the vehicle of FIG. 1.
  • FIG. 13B is a conceptual diagram exemplarily illustrating a flow of air in which an air vent is opened in the landing assistance device of the vehicle of FIG. 13A.
  • FIG. 14 is a conceptual diagram illustrating a state in which the landing assistance device of the vehicle of FIG. 11 is moved into the casing.
  • FIG. 15 is a conceptual view illustrating a state in which a robot approaches a landing assisting device of FIG. 14.
  • FIG. 16 is a conceptual view illustrating a state in which a vehicle positioned in the landing assistance device of FIG. 15 moves to a charging stage.
  • FIG. 17 is a conceptual diagram illustrating an example of calculating a trajectory of a vehicle for landing using the landing assistance device of the vehicle of FIG. 1.
  • FIG. 18 is a conceptual diagram illustrating an estimated trajectory of the vehicle calculated in FIG. 17.
  • FIG. 19 is a conceptual diagram illustrating an example of supplementing an expected trajectory illustrated in FIG. 18.
  • FIG. 1 is a perspective view schematically showing an operating state of a landing aid of a vehicle according to an embodiment
  • FIG. 2 exemplarily illustrates an operation of taking off a vehicle from a landing aid of the vehicle of FIG. 1.
  • the landing assistance apparatus of the vehicle includes a landing pad 10 that can protrude from an opening 82 of an upper side of a casing 80 installed on a rooftop of a vehicle. .
  • a plurality of wings 20 are installed on the landing pad 10, the angle of the wing 20 can be adjusted to the landing pad 10.
  • an air vent 81 for mitigating an impact caused by the flow of air generated by the take-off or landing operation of the aircraft 7 is provided.
  • FIG. 3 is a cross-sectional view schematically showing the arrangement of the components of the landing aid of the vehicle of FIG.
  • the landing assistance device of the vehicle includes a landing pad 10 through which the aircraft 7 can land, a wing 20 installed on the landing pad 10 in an adjustable angle, and a wing ( A controller 40 for controlling the operation of 20).
  • the landing aid includes a landing pad 10, a controller 40, a casing 80 surrounding the robot 90, and the charging stage 100.
  • the casing 80 may be installed on a rooftop of a vehicle, and a battery 88 is installed inside the casing 80 to supply power to components of the landing assistance device.
  • the casing 80 is provided with a sensor box 66 including a GPS sensor 70 and a position sensor signal processor 60b.
  • the GPS sensor 70 has a function of receiving information about the geographic position of the vehicle 7 approaching the landing pad 10 by communicating with a vehicle 7 or a satellite communicating with the aircraft 7. To perform.
  • the casing 80 has an opening 82 through which the landing pad 10 can protrude upward.
  • the opening 82 is provided with a door 83 that operates to open or close the opening 82.
  • the landing pad 10 is provided with an adjustment mechanism 15 for adjusting the position of the landing pad 10 with respect to the bottom surface 15b on which the landing pad 10 is disposed.
  • the adjusting mechanism 15 may be implemented by, for example, a cylinder operated by hydraulic pressure or pneumatic.
  • a robot 90 capable of moving the vehicle 7 or exchanging a battery (not shown) of the vehicle 7 is installed inside the casing 80.
  • the casing 80 is provided with a charging stage 100 that supports the vehicle 7 and can charge the battery of the vehicle 7.
  • FIG. 4 is a perspective view illustrating a state in which a landing pad of the landing aid of the vehicle of FIG. 1 is unfolded
  • FIG. 5 illustrates a flow of air passing through the landing pad before the aircraft lands on the landing aid of the aircraft of FIG. 1.
  • 6 is a conceptual view illustrating a state in which a wing of the landing pad is moved to a folded position in the landing assistance device of the vehicle of FIG. 5, and
  • FIG. 7 is a perspective view illustrating a part of the landing pad of FIG. 1.
  • arrangement positions or contents of the respective components may be different from each other, which is omitted to illustrate some of the components.
  • the landing pad 10 is installed in the landing pad 10 such that an angle with respect to the landing pad 10 can be adjusted.
  • the wings 20 may be installed in plural around the landing pad 10, and the wings 20 may be adjacent to a rotating plate 22 made of a solid body disposed along an edge of the landing pad 10.
  • a skirt 21 made of a flexible body connecting the rotating plate 22 is provided.
  • the rotating plate 22 may be made of plastic or metal plate.
  • the skirt 21 may be made of cloth, vinyl, or a flexible rubber material.
  • the rotating plate 22 is rotatably installed at the edge of the landing pad 10 by a hinge (not shown).
  • the rotating plate 22 can be adjusted by the driving force of the motor 27 as shown in FIG. 4 so that the angle to the landing pad 10 can be adjusted.
  • the wing 20 is folded at an angle adjusted to face the upper side of the landing pad 10 as shown in FIG. 6, and the outer side of the landing pad 10 as shown in FIGS. 4 and 5. The angle can be adjusted between the unfolded positions to be.
  • the landing pad 10 includes a plurality of passages 19 through which air passes. Air formed by the aircraft 7 in contact with the landing pad 10 passes through the passage 19 of the landing pad 10 and may move between the upper side and the lower side of the landing pad 10. As shown in FIG. 7, a position sensor 60 may be installed at the center of the landing pad 10, and as shown in FIG. 4, a sensor cover 60a is disposed on the position sensor 60.
  • the position sensor 60 detects a change in position of the landing pad of the vehicle approaching the landing pad 10.
  • the position sensor 60 may be implemented as a camera capable of capturing a vehicle approaching the landing pad 10.
  • the position sensor 60 may be implemented using an ultrasonic sensor using ultrasonic waves.
  • a sensor 30 for detecting a change in the flow of air passing through the passage 19 and generating a signal is disposed in the passage 19 of the landing pad 10.
  • a plurality of sensors 30 are arranged to be symmetrical with respect to the center position of the landing pad 10, that is, the position sensor 60.
  • the sensor 30 includes an inner sensor 31 that detects a change in air flow at an inner position adjacent to the position sensor 60, and a change in air flow at an outer position spaced outward from the position sensor 60. It is provided with an outer sensor 32 for detecting.
  • the sensor 30 uses vanes that rotate by, for example, a flow of air through the passages 19, or uses hot wires made of copper, or a column in the passages 19. It can be implemented by various types of flow meters (Karman vortex) to install and detect the flow rate using ultrasonic waves. Alternatively, the sensor 30 may be implemented as a pressure sensor that detects a change in pressure caused by a change in the flow of air passing through the passage 19.
  • the vehicle 7 approaches the landing pad 10 very close to the landing pad 10 while the center of the landing pad 10 and the position of the vehicle 7 do not coincide with each other. It can be misidentified as a possible landing.
  • the plurality of sensors 30 are symmetrically installed with respect to the center of the landing pad 10, a change in the flow of air passing through the passage 19 of the landing pad 10 may be accurately detected. Can be. That is, when the plurality of sensors 30 are arranged symmetrically, when the air vehicle 7 approaches the landing pad 10 and the air flow becomes strong, all the changes in the air flow detected by the plurality of sensors 30 are all. It is possible to determine whether or not the position of the vehicle 7 coincides with the center of the landing pad 10 so as to land on the landing pad 10 by checking whether it matches.
  • the sensor 30 disposed on the landing pad 10 it is possible to know how close the aircraft 7 is to the landing pad 10.
  • the distance of the vehicle 7 relative to the landing pad 10, that is, the altitude of the vehicle 7 may be detected from the detected value of the sensor 30.
  • the passage 19 of the landing pad 10 may be provided with a valve 50 for opening or closing the passage 19.
  • the air flow generated by the vehicle 7 may pass through the passage 19 of the landing pad 10 by moving the valve 50 outside the passage 19.
  • the passage 19 is closed by moving the valve 50 to the position to close the passage 19, the flow of air passing through the passage 19 may be blocked.
  • FIG. 8 is a block diagram schematically illustrating a connection relationship between a controller and respective components of the landing assistance apparatus of the vehicle of FIG. 1.
  • the controller 40 may be installed inside the casing 80 of the landing assistance device of FIG. 1 to adjust an angle of the wing 20 of the landing pad 10.
  • the controller 40 may be implemented as a circuit board or computer in which a semiconductor chip or software is embedded.
  • the controller 40 may be implemented by software mounted on a circuit board, a computer, or a control semiconductor chip.
  • the controller 40 includes a wing control unit 41 for adjusting the angle of the wing 20 with respect to the landing pad 10, and an adjustment mechanism 15 for adjusting the position of the landing pad 10 with respect to the bottom surface 15b. And the landing pad control unit 42 for controlling the height at which the landing pad 10 protrudes from the casing, the robot control unit 43 for controlling the robot 90, and the charging stage 100 to control the flying vehicle 7.
  • the charging control unit 44 to charge, the sensor 30, the sensor 60 and the position sensor 60 and the GPS sensor 70 is electrically connected to the receiver receiving unit 45 for receiving a signal, the flight for the landing of the vehicle (7)
  • FIG. 9 is a conceptual diagram illustrating a state in which the landing assistance device of the vehicle of FIG. 1 starts a function of assisting landing of the aircraft, and FIG. 10 is adjusted by the landing pad in response to the position of the vehicle in the landing assistance device of the aircraft of FIG.
  • FIG. 11 is a conceptual diagram illustrating a state in which a vehicle lands on the landing assistance device of the aircraft of FIG. 10, and
  • FIG. 12 is a flowchart illustrating steps of a method of controlling the landing assistance device of the vehicle of FIG. 1. to be.
  • the control method of the landing assistance device shown in FIG. 12 includes the steps of moving the landing pad to the outside of the casing (S100), moving the wings of the landing pad to the unfolded position (S110), and a sensor disposed on the landing pad. Detecting a change in the flow of air passing through the passage of the landing pad (S130), and if the detected value indicating the change in the flow of air detected by the sensor exceeds the reference value (S160) Moving to the folded position (S170), and moving the landing pad to the inside of the casing (S180).
  • the pad 10 protrudes above the casing 80 through the opening 82 of the casing 80.
  • the landing pad 10 opens the opening 82 by moving the door 83 which closed the opening 82 of the casing 80 before protruding upward of the casing 80.
  • the landing pad 10 is moved upward and downward with respect to the casing 80 by the actuator 15c.
  • the actuator 15c for moving the landing pad 10 in the vertical direction is controlled by the landing pad controller 42 of the controller 40 shown in FIG. 8.
  • the wing 20 of the landing pad 10 is angled to an unfolded position facing outward of the landing pad 10. This completes the preparation operation for the landing assisting device to assist in landing of the vehicle 7.
  • the controller 40 of FIG. 8 receives a signal from the sensor 30 installed in the passage 19 of the landing pad 10, and based on the signal (detection value) generated by the sensor 30, the landing pad 10. Adjust the angle of the wing 20 relative to.
  • the control method of the landing assistance device may further include detecting a position change of the landing pad of the vehicle approaching the landing pad (S120). While the change of the flow of air passing through the passage 19 of the landing pad 10 is sensed by the sensor 30 in the state in which the vehicle 7 approaches the landing pad 10 as shown in FIG. 5. , The detection of the position change of the vehicle 7 relative to the landing pad 10 is made.
  • the position sensor 60 may detect the position of the vehicle 7 to detect whether the vehicle 7 is moving away from the center of the landing pad 10 or moves to a position coinciding with the center of the landing pad 10. . As such, the position sensor 60 detects the position of the vehicle 7 so that the time at which the landing assistance device completes the operation of assisting the landing of the vehicle 7 may be determined. For example, even if the flow of air passing through the landing pad 10 in close proximity to the landing pad 10 increases, the position of the flying vehicle 7 detected by the position sensor 60 is determined by the landing pad. If it does not match the center position of (10) can wait until the position of the vehicle 7 is adjusted to the center position of the landing pad 10 or the landing pad 10 can be adjusted.
  • the control method of the landing assistance device includes a floor on which the landing pad is disposed between the step of detecting a change in the air flow through the passage of the landing pad (S130) and the moving of the landing pad wings to the folded position (S170).
  • the method may further include adjusting the position of the landing pad with respect to the surface (S150).
  • the position relative to the bottom surface 15b of the landing pad 10 may be adjusted by the adjustment mechanism 15 connected to the controller 40 shown in FIG. 8. Referring to FIG. 10, the position of the landing pad 10 is adjusted by the adjustment mechanism 15 to correspond to the position of the vehicle 7. Landing pad 10 can be adjusted in the plane position along the horizontal axis (X, Y) or in the plane position along the vertical axis (Z), the horizontal axis (X, Y) The angle can be adjusted by rotating about the center or about the axis Z in the vertical direction. Thus, the landing pad 10 may be moved by the adjustment mechanism 15 having six degrees of freedom and its position may be adjusted.
  • control method of the landing assistance device may further include receiving information regarding a geographic position of an aircraft approaching the landing pad by a satellite and a communication connection to the aircraft or the aircraft (S140). .
  • the GPS sensor 70 connected to the controller 40 shown in FIG. 8 may receive information about the geographic position of the vehicle by means of a satellite and a communication connection with the aircraft or the aircraft.
  • the controller 40 may perform a function such as calculating a flight trajectory of the vehicle for the landing operation of the vehicle, adjusting the position of the landing pad 10, and the like based on the information about the geographic position of the vehicle.
  • the controller 40 moves the wing 20 of the landing pad 10 to a folded position as shown in FIG. 6.
  • the sensor 30 installed in the passage 19 of the landing pad 10 may detect a change in the flow of air passing through the passage 19 of the landing pad 10.
  • the controller 40 of FIG. 8 adjusts the angle of the wing 20 relative to the landing pad 10 when the change in the air flow sensed by the sensor 30 exceeds the reference value, thereby showing the wing 20.
  • the landing pad 10 is moved to a folded position facing upward.
  • the vehicle 7 lands on the landing pad 10 by free fall motion by cutting off the power of the vehicle 7.
  • the interruption of power of the vehicle 7 can be achieved by a control system that controls the operation of the vehicle 7 or by a pilot who remotely controls the vehicle 7.
  • a reference value for moving the wing 20 of the landing pad 10 to the folded position can be determined experimentally. Depending on the size of the landing pad 10 and the size of the aircraft 7 to be landed on the landing pad 10, the intensity of air flow generated from the vehicle 7 may vary, depending on the type of the aircraft 7. The reference value can be set differently.
  • the reference value suitable for the landing operation of the vehicle 7 is set to correspond to a state in which the vehicle 7 can safely land by free fall motion when the power of the vehicle 7 is cut off. That is, the reference value is a change in the flow of air passing through the passageway 19 of the landing pad 10 when the vehicle 7 is in a position close to the landing pad 10 so that the landing pad 10 can safely land on the landing pad 10. It may be set to a value corresponding to.
  • control method of the landing assistance device may include closing a passage of the landing pad that is executed together with moving the wings of the landing pad to the folded position (S170).
  • the passage 19 of the landing pad 10 may be closed while the wing 20 moves to the folded position with respect to the landing pad 10.
  • the passage 19 is closed as the valve 50 installed in the passage 19 moves to the position to close the passage 19, the blade 20 whose air flow generated by the air vehicle 7 is adjusted to the folded position 20.
  • passages 19 are trapped in the space of the landing pad 10 is blocked.
  • the power of the vehicle 7 is cut off, and when the aircraft 7 free-falls to the upper surface of the landing pad 10, air between the vehicle 7 and the landing pad 10 is transmitted to the vehicle 7. It functions to absorb shocks.
  • the shock absorption by the air during the landing of the vehicle 7 is caused by the ground effect (ground effect).
  • the method of controlling the landing aid further includes opening a vent of the casing capable of discharging air inside the casing outward before moving the landing pad to the inside of the casing (S180). It may include.
  • FIG. 13A is a conceptual diagram exemplarily illustrating the flow of air before the aircraft lands on the landing assistance device of the aircraft of FIG. 1, and FIG. 13B illustrates the flow of air with the vent opening open in the landing assistance device of the aircraft of FIG. 13A. The conceptual diagram explained.
  • the casing 80 is connected to the opening 82 and has an air vent 81 that opens from the lower side of the landing pad toward the outside to pass air.
  • the casing 80 is provided with a vent valve 85 that operates to open or close the vent 81.
  • the vehicle 7 When the landing pad protrudes through the opening 82 formed at the upper side of the casing 80, the vehicle 7 approaches the landing pad for landing. As the vehicle 7 approaches the landing pad, a flow of air generated in the vehicle 7 is introduced into the casing 80 through the opening 82 of the casing 80.
  • the wings of the landing pad are unfolded.
  • the opening of the vent 81 of the casing 80 can be carried out as shown in FIG. 13B.
  • air introduced through the opening 82 of the casing 80 is discharged to the outside of the casing 80 through the air vent 81. This allows the vehicle 7 to stably approach the landing pad protruding upward of the opening 82 of the casing 80 for the landing operation.
  • control method of the landing assistance device may further include moving a vehicle placed on the landing pad moved into the casing to the charging stage.
  • FIG. 14 is a conceptual diagram illustrating a state in which the landing assistance device of the vehicle of FIG. 11 is moved into the casing.
  • FIG. 15 is a conceptual view illustrating a state in which a robot approaches a landing assisting device of FIG. 14.
  • the control method of the landing assistance device may further include exchanging a battery of a vehicle placed on the landing pad that is moved into the casing.
  • the robot 90 installed inside the casing 80 approaches the vehicle 7 in a state of landing on the upper surface of the landing pad 10, and the robot 90 can automatically replace the battery of the vehicle 7. have.
  • the vehicle 7 is provided with a battery that can be inserted and detached in a slide manner.
  • the robot 90 may detach the battery mounted on the vehicle 7, and then attach the replacement battery, which has been charged in advance, to the vehicle 7.
  • FIG. 16 is a conceptual view illustrating a state in which a vehicle positioned in the landing assistance device of FIG. 15 moves to a charging stage.
  • the robot 90 may move the flying vehicle 7 that has landed on the landing pad 10 to the charging stage 100, as shown in FIG. 16, without replacing the battery of the flying vehicle 7. have.
  • the vehicle 7 may be connected to a charging terminal provided in the charging stage 100 to charge the battery of the vehicle 7. After the battery charging of the vehicle 7 is completed, when the vehicle 7 needs to fly again, the robot 90 may move the vehicle 7 which has been fully charged to the landing pad 10 again.
  • FIG. 17 is a conceptual diagram illustrating an example of calculating a trajectory of a vehicle for landing using the landing assistance device of the aircraft of FIG. 1, and FIG. 18 is a conceptual diagram illustrating an estimated trajectory of the vehicle calculated in FIG. 17.
  • the control method of the landing assistance device of the vehicle shown in FIG. 12 is to land before the step of moving the landing pad to the outside of the casing (S100) or the step of moving the wing of the landing pad to the unfolded position (S110).
  • the step of calculating the trajectory of the vehicle can be performed first.
  • the calculation of the trajectory of the vehicle can be performed by the trajectory calculation unit 46 of the controller 40 shown in FIG. 8.
  • the trajectory calculator 46 may calculate the trajectory of the vehicle based on the geographic position information of the vehicle received by the GPS sensor 70 and the driving information of the vehicle equipped with the landing assistance device.
  • the vehicle when the landing pad 10 protrudes upward from the casing 80 mounted on the rooftop of the vehicle 5 and moves to the unfolded position of the wing 20, the vehicle may be placed on the landing pad 10. 7) can land.
  • the trajectory calculation unit 46 holds a partial differential equation representing the relative coordinates and speeds of the vehicle 7 and the vehicle 5 to calculate the trajectory of the vehicle 7, and the coordinates and speed of the vehicle 7 as initial conditions. , The coordinates and the speed of the car 5 and the target path of the car 5 are used.
  • Tfinal the partial differential equation is solved so that the relative coordinates and relative speeds of the vehicle 7 and the vehicle 5 are all zero.
  • the position of the car 5 shown by the dotted line in FIG. 18 corresponds to the initial time T0, and the position of the car 5 shown by the solid line corresponds to the target time Tfinal. Since the position of the vehicle 7 intersects the position of the vehicle 5 after the vehicle 7 flies the predicted trajectory, the vehicle 7 may attempt to land.
  • the optimized solution can be obtained by changing the conditions of additional variables according to the purpose of calculating the flight trajectory for landing of the vehicle 7. That is, for example, the flight trajectory may be calculated to implement the minimum time landing operation, or the flight trajectory may be calculated to implement the minimum power landing operation.
  • the trajectory calculator 46 of the controller 40 illustrated in FIG. 8 may calculate control conditions related to propulsion, direction, and acceleration of the vehicle 7 so that the vehicle 7 may fly along the flight trajectory for landing. .
  • the controller 40 converts the control conditions related to the propulsive force, direction, and acceleration of the vehicle 7 into electric power of each motor driving the vehicle 7, and transmits the power directly to the vehicle 7, or controls the vehicle 7. Can be transferred to the control system.
  • FIG. 19 is a conceptual diagram illustrating an example of supplementing an expected trajectory illustrated in FIG. 18.
  • FIG. 19 shows an example in which the vehicle 7 flies along a flight trajectory for landing. While the vehicle 7 moves along the flight trajectory for landing, an acceleration operation of the vehicle 7 may be made for the change of direction or the speed change.
  • the trajectory calculation unit 46 of FIG. 8 may calculate the coordinates and the speed of the vehicle 5, the coordinates and the speed of the vehicle 7, and the predicted paths of the vehicle 7 and the vehicle 5 whenever the acceleration operation of the vehicle 7 is performed. Re-observe and recalculate the control using a feedback loop to modify the flight trajectory.
  • the flying vehicle 7 in flight can stably land on the driving vehicle 5.
  • the vehicle 7 can assist in the landing operation of the aircraft 7 by accurately detecting the degree of approaching the landing pad 10, the landing operation of the aircraft 7 can be made stable.
  • the angle of which is adjusted with respect to the landing pad 10 can assist the stable landing operation of the vehicle (7), the change in the air flow acting on the vehicle (5) while driving the landing of the vehicle (7) Minimize the impact on operation.
  • Embodiments are applied to a landing aid device and a method of controlling the landing aid device that assists the aircraft to land stably by minimizing landing mistakes.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un dispositif d'assistance d'atterrissage pour aéronef comprenant : un patin d'atterrissage pourvu d'un passage à travers lequel passe l'air ; une aile qui est installée de manière à être réglable angulairement sur le patin d'atterrissage ; un capteur destiné à détecter un changement dans l'écoulement d'air passant à travers le passage du patin d'atterrissage et à générer un signal ; et un dispositif de commande destiné à commander le fonctionnement de l'aile sur la base du signal généré par le capteur et à déplacer l'aile dans une position pliée si le changement dans l'écoulement d'air détecté par le capteur dépasse une valeur de référence.
PCT/KR2015/010779 2015-08-21 2015-10-13 Dispositif d'assistance d'atterrissage pour aéronef et son procédé de commande WO2017034070A1 (fr)

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KR10-2015-0118273 2015-08-21
KR1020150118273A KR20170022805A (ko) 2015-08-21 2015-08-21 비행체의 착륙 보조 장치 및 착륙 보조 장치의 제어 방법

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WO2022107776A1 (fr) * 2020-11-20 2022-05-27 ファナック株式会社 Dispositif de commande de système de transport et support de stockage lisible par ordinateur

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KR20220049668A (ko) 2020-10-14 2022-04-22 현대자동차주식회사 드론의 도킹 시스템 및 그 운영방법
KR102462237B1 (ko) * 2021-03-02 2022-11-03 한국지질자원연구원 건설 및 광산 현장관리용 드론 운영 시스템의 헬리패드

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WO2022107776A1 (fr) * 2020-11-20 2022-05-27 ファナック株式会社 Dispositif de commande de système de transport et support de stockage lisible par ordinateur
JP7488365B2 (ja) 2020-11-20 2024-05-21 ファナック株式会社 搬送システム制御装置、およびコンピュータ読み取り可能な記憶媒体

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