WO2018139723A1 - Système d'exploitation sans pilote pour véhicule aérien sans pilote à décollage et atterrissage verticaux - Google Patents

Système d'exploitation sans pilote pour véhicule aérien sans pilote à décollage et atterrissage verticaux Download PDF

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Publication number
WO2018139723A1
WO2018139723A1 PCT/KR2017/008731 KR2017008731W WO2018139723A1 WO 2018139723 A1 WO2018139723 A1 WO 2018139723A1 KR 2017008731 W KR2017008731 W KR 2017008731W WO 2018139723 A1 WO2018139723 A1 WO 2018139723A1
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WIPO (PCT)
Prior art keywords
drone
ground station
landing
unmanned
cover
Prior art date
Application number
PCT/KR2017/008731
Other languages
English (en)
Korean (ko)
Inventor
국태승
Original Assignee
주식회사 베셀
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Filing date
Publication date
Application filed by 주식회사 베셀 filed Critical 주식회사 베셀
Publication of WO2018139723A1 publication Critical patent/WO2018139723A1/fr

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    • 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
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • 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
    • B64U70/95—Means for guiding the landing UAV towards the platform, e.g. lighting means
    • 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
    • B64U70/99—Means for retaining the UAV on the platform, e.g. dogs or magnets
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/30—Transport or storage specially adapted for UAVs with arrangements for data transmission
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/70—Transport or storage specially adapted for UAVs in containers
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • 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

Definitions

  • the present invention relates to an unmanned operating system of a vertical takeoff and landing drone.
  • a drone is a vehicle that can fly by radio wave guidance or automatic control without a driver, and was used as a military drone in the past, but is currently developed for various purposes such as shooting, inspection, and transportation. have.
  • Korean Patent No. 10-1527210 (Registration Date: 2015.06.02., Name of the invention: Drone takeoff and landing system and its operation method)
  • Republic of Korea Patent No. 10-1130203 (Registration date: March 19, 2012, the name of the invention: aircraft takeoff and landing aids) can be presented.
  • the present invention is an automatic drone system capable of vertical take-off and landing, and can be safely protected from external factors such as rain, snow, and sun when storing the drone, and can recharge or replace batteries or supply fuel, and replace necessary mission equipment. It is possible to load and unload cargo, to send and store the data to the control member of the ground station, to send the information received from the drone to other devices on request, and to accurately take off and land the drone. It can provide safe drone operation by monitoring the status information of the drone in flight and surrounding environment, so that the drone can be operated automatically according to the pre-programmed plan without the pilot, or the drone operator can control the remote control unit at the remote place. To operate a drone, or to assist a pilot in a ground station. Operating a UAV, or unmanned ground to provide land filling and operating systems that can hold at the request of not belonging to the UAV ground station or to assist the pilot seeks to operate a UAV.
  • an unmanned operation system of a vertical takeoff and landing drone includes: a positioning member mounted to the drone to measure a position between the drone and a ground station; A position measuring member configured to precisely take off and land the drone at a predetermined position while measuring a position between the drone and the ground station using the positioning member; A ground station member capable of automatically or manually landing or taking off the drone according to a position value measured using the positioning member and the positioning member; And a remote control unit capable of remotely controlling the operation of the apparatus and the drone included in the ground station member.
  • a positioning member mounted to the drone to measure a position between the drone and the ground station;
  • a position measuring member configured to precisely take off and land the drone at a predetermined position while measuring a position between the drone and the ground station using the positioning member;
  • a ground station member capable of automatically or manually landing or taking off the drone according to a position value measured using the positioning member and the positioning member;
  • a remote control unit capable of remotely controlling the operation of the drone and the device included in the ground station member, so that the drone can be safely protected from external factors such as rain, snow, and sunlight when the drone is stored, and the battery is charged / replaced.
  • fuel can be supplied, mission equipment can be replaced, cargo can be loaded and unloaded, the drone can transmit and store data to the control station of the ground station, and the information received from the drone can be transferred to other devices upon request. It can provide the location information to take off and land the drone precisely, and can operate the drone safely by monitoring the status information of the drone in flight and the surrounding environment, so the drone is operated automatically according to the pre-programmed plan without the pilot.
  • the operator of the drone can use the remote control unit It is possible to operate a plane, operate a drone by assisting a pilot in a ground station, or provide an unmanned ground operating system that can be charged and stored in landing at the request of a drone not belonging to a ground station.
  • FIG. 1 is a cross-sectional view of the unmanned operating system of the vertical takeoff and landing drone according to the first embodiment of the present invention.
  • FIG. 2 is an enlarged view of A of FIG. 1 according to the first embodiment of the present invention
  • FIG 3 is a cross-sectional view of the cover member according to the first embodiment of the present invention when opened at 90 ° or more.
  • FIG. 4 is a cross-sectional view of the drone seated on the landing pad member according to the first embodiment of the present invention
  • FIG 5 is a front view of the fixing member according to the first embodiment of the present invention, in which a drone is fixed.
  • FIG. 6 is a front view of a state in which a lid member is closed while the drone is fixed to the fixing member according to the first embodiment of the present invention
  • FIG. 7 is a view showing a landing area moving member descended according to the first embodiment of the present invention.
  • FIG. 8 is a view showing a state where the drone is stored in the drone storage member according to the first embodiment of the present invention.
  • FIG. 9 is a view showing a state of replacing the battery using a robot arm member according to a first embodiment of the present invention.
  • FIG. 10 is a view showing a state loaded with a cargo drone using the robot arm member according to a first embodiment of the present invention.
  • 11 is a sectional front view of the unmanned operation system of the vertical takeoff and landing drone according to the second embodiment of the present invention.
  • FIG. 1 is a cross-sectional view of the unmanned operation system of the vertical takeoff and landing drone according to the first embodiment of the present invention
  • FIG. 2 is an enlarged view of A of FIG. 1 according to the first embodiment of the present invention
  • FIG. FIG. 4 is a cross-sectional view of the cover member according to the first embodiment of the present invention opened at 90 ° or more from the front
  • FIG. 4 is a front view of the drone seated on the landing pad member according to the first embodiment of the present invention.
  • 5 is a cross-sectional view of a fixing member according to a first embodiment of the present invention in which a drone is fixed
  • FIG. 6 is a state in which a drone according to a first embodiment of the present invention is fixed to a fixing member.
  • FIG. 7 is a view showing the cover member closed from the front
  • FIG. 7 is a view showing the movable member descending according to the first embodiment of the present invention
  • FIG. 8 is a drone storage according to the first embodiment of the present invention.
  • 9 is a view showing a state where the drone is stored in the member
  • Figure 9 is a view showing a state of replacing the battery using a robot arm member according to a first embodiment of the present invention
  • Figure 10 is a first embodiment of the present invention The robot arm member according to the drawing showing the state loaded with the drone.
  • the unmanned operating system 100 of the vertical takeoff and landing drone includes a positioning member 110, a positioning member 170, a ground station member 120, and a remote control.
  • the controller 130 is included.
  • the unmanned operating system 100 of the vertical landing and landing drones may further include a ground station imaging member 140.
  • the drone 10 in the present embodiment is an air vehicle capable of flying or automatically flying by induction of radio waves without the operator boarding the vehicle, and the unmanned seating part which is seated and fixed to the ground station member 120 ( 15) is formed.
  • the positioning member 110 is mounted to the drone 10 to determine the position between the drone 10 and the ground station to determine the position of the drone 10, the position of the drone 10 In order to determine the precise position between the drone 10 and the ground station in conjunction with various sensors of the position measuring member 170 installed in the ground station member 120 can be measured.
  • the positioning member 170 measures the position between the drone 10 and the ground station member 120 by using the positioning member 110 to precisely take off and land at a predetermined position of the drone 10. It is mounted to the ground station member 120.
  • the ground station member 120 allows the drone 10 to land automatically or manually according to the position value of the positioning member 110 or to take off the drone 10 stored therein.
  • Body member 121, landing pad member 150, lid member 160, drone holder member 122, moving member 123, mounting equipment management member 124, environmental measurement member 127 and 128 and the robot arm member 125 are included.
  • ground station member 120 may further include a connection member 129 and a power supply member 126.
  • the body member 121 is formed to a predetermined size or more so that the drone 10 can be stored and managed to form a body of the ground station member 120, a strong metal material to protect the interior from the external environment It can be formed as.
  • the landing pad member 150 is formed to have a predetermined width to be seated when the drone 10 lands on the body member 121, and the landing seat 151 on which the drone 10 may be seated.
  • a fixing member 152 capable of fixing the unmanned seating portion 15 of the drone 10 to the landing seating portion 151 is formed.
  • the landing seating portion 151 is formed of a predetermined wide plate so that the drone 10 is seated, and when the drone 10 is seated on the landing seating portion 151, in the remote control unit 130
  • the unmanned seating portion 15 is seated at an appropriate position where it can be fixed to the fixing member 152 using the control of, or the value measured by the position measuring member 170.
  • the fixing member 152 may include a fixed body 153 capable of fixing the unmanned seating part 15, a fixed motor member 154 capable of rotating the fixed body 153, and the fixed body 153. And a fixed groove 155 into which the unmanned seating portion 15 can be inserted by rotating the fixed motor member 154.
  • the fixing motor member 154 is driven to fix the groove 155.
  • the unmanned seating portion 15 is fixed to the drone 10 may be fixed to the landing seating portion 151.
  • the cover member 160 is formed in a dome shape as shown in FIG. 1 so that the drone 10 in a state seated on the landing pad member 150 can be sealed to the outside.
  • the cover member 160 includes a cover body 161 formed in a dome shape, a cover driving member 162 for opening and closing the cover body 161 at least 90 °, and the cover body 161 in a closed state.
  • the cover fixing protrusion 163 to prevent the cover from being arbitrarily opened in the cover groove 164 formed in the form of a recessed groove in the cover body 161 so that the cover body 161 is caught and fixed to the cover fixing protrusion 163. It includes.
  • the cover body 161 is formed in a semicircular dome shape having a relatively larger width than the drone 10, and the cover body 161 may be opened and closed at 90 ° or more, so that the cover body ( When the drone 10 enters the landing pad member 150 in a state in which the 161 is opened and closed at 90 ° or more, the interference with the cover body 161 is minimized so that it can safely land without being hit.
  • the cover driving member 162 may be provided as a motor, or other mechanical driver that is operated by a general electrical signal.
  • the cover fixing protrusion 163 is formed in an inclined shape in which a lower end thereof descends toward one side, the cover body 161 is opened and closed arbitrarily while the cover groove 164 is inserted into the cover fixing protrusion 163. You can prevent this from happening.
  • the cover fixing protrusion 163 when the cover fixing protrusion 163 is inserted into the cover groove 164, the cover is fixed to the cover groove 164 unless the cover body 161 is opened or closed with a predetermined force or more.
  • the protrusion 163 may be held and may prevent an accident in which the cover body 161 is opened and closed.
  • one side in this embodiment refers to the direction toward the cover driving member 162 with respect to the center of the landing seat 151 of FIG.
  • the drone storage member 122 provides a plurality of storage spaces so that the drone 10 seated on the landing pad member 150 can be stored, and the drone 10 can be stored therein, and the drone ( 10) is to provide a place for storage in the proper environment.
  • a storage space for storing up to three drones 10 may be provided in the drone storage member 122, but a plurality of storage spaces other than three such storage spaces may be stored.
  • the ground station member 120 which may be provided as a space or simply, there may be no storage.
  • the moving member 123 moves the drone 10 stored in the drone storage member 122 to the landing pad member 150 or the drone 10 in a state of being seated on the landing pad member 150. Will be able to move to the drone member 122.
  • the moving member 123 moves the drone 10 to a desired position of the unmanned storage member 122, it is lowered to its height and pushed in the lowered state.
  • the drone 10 may be pushed into the drone storage member 122 by using the 190.
  • the push member 190 is formed in the body member 121, the push member 190 is formed in a position that can push the drone 10 into the unmanned buoyancy member 122.
  • the push member 190 may be formed as a hydraulic cylinder that the piston can reciprocate using the hydraulic pressure, the height that can be inserted into the unmanned storage member 122 by the lowering of the moving member 123.
  • the drone 10 positioned in the can be pushed to the unmanned storage member 122.
  • the moving member 123 may be configured to use a rotatable drone storage method, or may be configured to use a shelf drone storage method.
  • each of the storage spaces of the drone member 122 is connected to a chain to move the drone 10 while rotating the chain.
  • the landing seating portion 151 is formed of a member such as a guide rail moving up and down, left and right, and then moved back and forth.
  • the mounting equipment management member 124 manages equipment such as a battery, a cargo, and the like, which can be mounted and detached from the drone 10 in the ground station member 120, and is formed inside the body member 121, It provides a function and space for the storage and management of the equipment.
  • the battery of the equipment can be charged, the cargo can be recovered and replaced at the request of the user.
  • the mounting equipment management member 124 can be moved to
  • the environmental measuring members 127 and 128 are mounted outside the ground station member 120 to measure the surrounding meteorological, radio wave, and geomagnetic environments to operate the drone 10 in a safe environment. And an environmental control member 128.
  • the environmental sensor member 127 detects the weather situation outside the body member 121 and stops performing the mission of the drone 10 stored in the landing pad member 150 or the drone storage member 122, Or, it can be canceled, weather information, such as wind direction, wind speed, temperature, humidity, air pressure, rainfall, snowfall around the ground station member 120, GPS location information, earth magnetic field, etc. are measured and based on the measured information This is to determine whether the drone 10 is a suitable environment for flying, so that the drone 10 in the ground station member 120 can perform a mission only when the drone 10 is an environment in which the drone 10 can fly. .
  • weather information such as wind direction, wind speed, temperature, humidity, air pressure, rainfall, snowfall around the ground station member 120, GPS location information, earth magnetic field, etc.
  • the ground station member 120 When formed as described above, for example, when the meteorological, radio wave, and magnetic field conditions measured by the environmental sensor member 127 are measured in a situation where the predetermined drone 10 cannot fly, the ground station member 120 ) To maintain the state before the takeoff preparation so that the drone 10 is preparing for flight in order not to take off.
  • the GPS position information of the environmental sensor member 127 may be used when the drone 10 provides the position information of the ground station member 120 to the drone 10 when returning to the ground station member 120. .
  • the drone 10 When formed as described above, the drone 10 can safely take off while being able to grasp the situation before takeoff of the drone 10 in the ground station member 120 in advance.
  • the environmental control member 128 may control an environment in which the drone 10 and various equipments are stored and operated in the ground station member 120, and adjusts the temperature and humidity inside the ground station member 120. And, dehumidification, ventilation is also included so that the drone 10 and the storage and operation can be made in a stable environment of various equipment.
  • the robot arm member 125 changes the position of the drone 10 of the landing pad member 150 or the drone storage member 122, or mounts and detaches the equipment to the drone 10 to the mounting equipment. It loads or unloads the management member 124.
  • the robot arm member 125 is a multi-joint device having a forceps and a plurality of rotatable joints, and is a device capable of operating like a human arm capable of manual control or automatic control.
  • the position measuring member 170 is interlocked with the positioning member 110 to measure the position of the drone 10 so that the drone 10 is accurately landed and landed at a predetermined position of the landing pad member 150. will be.
  • the position measuring member 170 may be composed of one or a plurality of sensors. The following five types of sensors may be used as the position measuring member 170, and one or more may be applied according to the characteristics of each system.
  • the position measuring member 170 installs one or more cameras based on the image on the ground station member 120 to process the photographed image with an image processing system to process the drone 10 and the ground station member 120.
  • the position between) can be calculated accurately.
  • at least one of an illumination device, a reflector, and a color plate may be installed as the positioning member 110 to assist in image identification.
  • the position measuring member 170 is installed on the ground station member 120 to measure the position based on the laser LiDAR (LiDAR) to analyze the signal reflected by the laser drone 10 and the ground station
  • LiDAR laser LiDAR
  • the position between the members 120 can be precisely measured.
  • a laser reflecting member may be installed as the positioning member 110 in order to increase a laser recognition rate and a recognition distance.
  • a radar using radio waves may be installed in the ground station member 120 to accurately measure the position of the drone 10.
  • a radio wave reflector or a radio wave transmitter may be installed as the positioning member 110 to identify the position.
  • the position measuring member 170 is formed of an IR-based IR camera or IR Depth Camera is installed on the ground station member 120, and the drone 10 and the ground station member to analyze and land the infrared signal ( The position between 120 can be measured precisely.
  • an infrared light emitting device or a reflector may be installed as the positioning member 110.
  • one or more ultrasonic transmitters are installed in the drone 10 as the drone positioning member 110 and the ground station member.
  • Three or more ultrasonic receivers are mounted at 120 to measure the time at which the ultrasonic waves are transmitted from the transmitter to the ultrasonic receiver, and to calculate the propagation speed of sound according to the ambient temperature to measure the distance between the transmitting and receiving devices. The distance measured in this way can be accurately calculated the position between the landing member 150 and the drone 10 using the trilateration technique.
  • connection member 129 performs a function of transmitting / receiving data or supplying power to the drone 10 seated on the landing pad member 150, and transmitting data about the drone 10 to another device. Or transfer data from the other device to the drone 10 for control or other purposes.
  • it can be used as a power supply device that can charge the battery mounted on the drone 10 by using the connection member 129.
  • connection method of the connection member 129 and the unmanned aerial vehicle 10 is provided in an electrically wired manner, but the data may be replaced by a wireless method of magnetic induction.
  • the power supply member 126 supplies power to all the components of the unmanned aerial vehicle 10 and the ground station member 120.
  • the power supply member 126 has an uninterruptible power supply for stable power supply. If it is difficult, it is configured to receive power from solar, wind and other generators.
  • All members included in the ground station member 120 may communicate with the communication member 131 which will be described later, and all members included in the ground station member 120 may transmit information on the current state every time the ground station member 120 is operated. ) Stored inside, and transmitted to the communication member 131 and stored in the remote control unit 130.
  • ground station member 120 is divided into four types according to the purpose, form and function: simple, small, mobile, fixed.
  • the simplified ground station member 120 is a minimal ground station that supports takeoff and landing, information acquisition, communication, and charging of the drone 10.
  • the landing station member 150 is connected to the ground or the surrounding structure. It is installed flat and provides the precise position information to the drone 10 when the drone 10 lands using the positioning member 170 and the information of the drone 10 by using the connection member 129 Provides acquisition and battery charging functions and transmits information using the communication member 131.
  • the compact ground station member 120 has the cover member 160 having a function added in the simplified ground station member 120 and protecting the drone 10 from the external environment.
  • it can be installed on the roof of a vehicle or flat on the ground or surrounding structure. If the ground station member 120 is installed in a vehicle, the ground station member 120 may move with itself, and the ground station member 120 and the drone 10 may be moved inside the vehicle using the remote control unit 130. I can operate it.
  • the mobile ground station member 120 has a function added by the small ground station member 120, and can store (store) a plurality of the drones 10 in the body member 121.
  • the mounting equipment management member 124 and the robot arm member 125 the battery of the drone 10 may be exchanged with various equipment, cargo, and the like.
  • the ground station member 120 of the mobile type has a trailer form and can be towed and moved by a vehicle, and can be separated from the vehicle and installed at another site.
  • the stationary ground station member 120 has a larger space for receiving the drone 10 than the ground station member 120 of the movable type, and has a standardized appearance such as a container, and is installed in the field to provide various environmental conditions. Stable operation at
  • the remote control unit 130 may remotely control the operation of the device and the drone 10 included in the ground station member 120, and at a place away from the drone 10 and the ground station member 120.
  • the drone 10 may be controlled by the operator while checking the state of the drone 10 and the ground station member 120 through a public / dedicated network.
  • the remote control unit 130 includes a data control member for generating control data using the communication member 131 for communication with various members including the drone 10 and the data transmitted from the communication member 131. 132 is formed.
  • the communication member 131 is composed of equipment for communication between the drone 10, the ground station member 120, and the remote control unit 130, the data in the drone 10 and the ground station member 120 may be used. ) May be received by the remote control unit 130 through the communication member 131.
  • the data control member 132 collects state information on all devices included in the ground station member 120, and transmits the information of the drone 10 and the ground station to the remote control unit 130, and controls the control program or remotely.
  • the ground station member 120 is controlled according to the control data by outputting control data for controlling the ground station member 120 according to a command input to the controller 130.
  • the data control member 132 is capable of controlling all functions of the ground station member 120 from the remote control unit 130, and is connected through a dedicated / public network, for example, the data control member.
  • the robot arm member 125 may be controlled by the remote controller 130 using 132 to load or unload cargo to the drone 10.
  • the remote controller 130 may be connected through a PC, laptop, tablet, smartphone, or dedicated terminal, and additionally, a steering input device may be added.
  • the system such as the remote control unit 130 formed as described above can be operated in four operating modes, the mode is a direct operation mode, remote operation mode, unattended operation mode, support mode.
  • First is the direct operation mode in which the operator of the drone 10 directly operates the drone 10 in the field.
  • Second is a remote operation mode in which the operator controls the drone 10 and the ground station member 120 manually / automatically using a public / private network in a remote location.
  • Third is an unmanned operation mode in which the drone 10 automatically performs a scheduled task (to autonomously perform a pre-programmed task of the drone 10 belonging to the ground station member 120).
  • the ground station imaging member 140 is a steerable video camera installed on the ground, which can track and monitor the drone 10 in flight, and monitor the situation around the ground station member 120.
  • the image captured by the image member 140 may be monitored by the remote controller 130.
  • the drone 10 when formed as described above, when the drone 10 is stored, it can be safely protected from external factors such as rain, snow, and sun, and when the drone 10 is stored, the battery can be charged or replaced, and fuel supply It is possible to replace the necessary mission equipment or to load and unload cargo, to transmit and store the information about the drone 10, to send to other devices as requested, the drone 10 precisely It can provide the location information to take off and landing, there is an effect that can monitor the state information of the drone 10 and the surrounding environment in flight.
  • 11 is a sectional front view of the unmanned operation system of the vertical takeoff and landing drone according to the second embodiment of the present invention.
  • the unmanned operation system 200 of the vertical takeoff and landing drone includes a drone 10 positioning member 210, a positioning member 270, a ground station member 220, and a remote control.
  • the controller 230 is included.
  • Sufficient altitude is secured by using the position of the GPS receiver (not shown) built in the environmental measuring members 227 and 228 installed in the ground station member 220 when the drone 10 lands. While primarily approaching above the ground station member 220, the cover body 261 of the cover member 260 opens and closes by 90 ° or more, and in this state, the position of the drone 10 above the ground station. The precise position between the drone 10 and the ground station member 220 is measured using the identification member 210 and the position measuring member 270.
  • the drone 10 approaches the landing seating portion 251 precisely, performs the descending and landing.
  • the drone can automatically take off and land, and can safely protect from external factors such as rain, snow, and sunlight when the drone is stored, and automatically charge the battery. Automatic replacement with, or other fully charged battery, transfer of drone status as data, transfer to another storage location as needed, automatic operation by installing the system away from the operator Therefore, the industrial applicability is high.

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

Abstract

L'invention concerne un système d'exploitation sans pilote pour un véhicule aérien sans pilote à décollage et atterrissage verticaux, le système comprenant un élément de confirmation, un élément de mesure de position, un élément de station terrestre et une unité de commande à distance, de sorte qu'un véhicule aérien sans pilote puisse être protégé de manière sûre vis-à-vis de facteurs externes tels que la pluie ou la neige et la lumière du soleil lorsque le véhicule aérien sans pilote est stocké, une batterie puisse être chargée ou remplacée, du carburant puisse être fourni et l'équipement de tâche nécessaire puisse être remplacé ou le fret puisse être monté et chargé et déchargé. Le véhicule aérien sans pilote transmet des données à et stocke celles-ci dans un élément de commande d'une station terrestre et peut transmettre celles-ci à un autre dispositif selon une requête, des informations de position permettant au véhicule aérien sans pilote de décoller et d'atterrir avec précision peuvent être fournies et un véhicule aérien sans pilote volant et des informations d'état d'un environnement ambiant peuvent être surveillés et, ainsi, un système d'exploitation terrestre sans pilote permettant à un véhicule aérien sans pilote de fonctionner sans pilote peut être fourni ou un véhicule aérien sans pilote peut être actionné en aidant un pilote.
PCT/KR2017/008731 2017-01-25 2017-08-11 Système d'exploitation sans pilote pour véhicule aérien sans pilote à décollage et atterrissage verticaux WO2018139723A1 (fr)

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CN109546575A (zh) * 2019-01-04 2019-03-29 国网安徽省电力有限公司合肥供电公司 一种输电线路异物清除无人机及异物清除方法
CN110032121A (zh) * 2019-04-30 2019-07-19 深圳市多翼创新科技有限公司 一种无人机机场系统
CN110979709A (zh) * 2019-11-19 2020-04-10 广东电网有限责任公司 一种无人机停放装置
JP2021046112A (ja) * 2019-09-19 2021-03-25 Ｉｈｉ運搬機械株式会社 ドローンポートシステムとその運転方法
CN112849423A (zh) * 2021-02-07 2021-05-28 广东金筑工程管理有限公司 无人机建筑工程监理系统
CN114164776A (zh) * 2021-12-03 2022-03-11 国网智能科技股份有限公司 一种无人机机巢及其作业方法
GB2605454A (en) * 2021-04-01 2022-10-05 Digital & Future Tech Limited Drone Landing System
GB2607911A (en) * 2021-06-15 2022-12-21 Urban Air Port Ltd Aerodrome structure and construction thereof
WO2022263512A1 (fr) * 2021-06-15 2022-12-22 Urban Air Port Limited Structure d'aérodrome et sa construction
GB2611525A (en) * 2021-10-04 2023-04-12 Urban Air Port Ltd Modular aerodrome structure
GB2615734A (en) * 2021-12-16 2023-08-23 Urban Air Port Ltd Aerodrome structure for a distribution centre
WO2024008750A1 (fr) * 2022-07-05 2024-01-11 Urban Air Port Limited Structure d'aérodrome
LU103021B1 (en) * 2022-09-29 2024-03-29 Space Time S A Site cabin housing dog robot and drone for automatically acquiring 3d data of the site

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CN109546575B (zh) * 2019-01-04 2024-02-09 国网安徽省电力有限公司合肥供电公司 一种输电线路异物清除无人机及异物清除方法
CN109546575A (zh) * 2019-01-04 2019-03-29 国网安徽省电力有限公司合肥供电公司 一种输电线路异物清除无人机及异物清除方法
CN110032121B (zh) * 2019-04-30 2024-01-16 深圳市多翼创新科技有限公司 一种无人机机场系统
CN110032121A (zh) * 2019-04-30 2019-07-19 深圳市多翼创新科技有限公司 一种无人机机场系统
JP2021046112A (ja) * 2019-09-19 2021-03-25 Ｉｈｉ運搬機械株式会社 ドローンポートシステムとその運転方法
CN110979709A (zh) * 2019-11-19 2020-04-10 广东电网有限责任公司 一种无人机停放装置
CN112849423A (zh) * 2021-02-07 2021-05-28 广东金筑工程管理有限公司 无人机建筑工程监理系统
GB2605454B (en) * 2021-04-01 2024-02-14 Digital & Future Tech Limited Drone Landing System
GB2605454A (en) * 2021-04-01 2022-10-05 Digital & Future Tech Limited Drone Landing System
GB2607911A (en) * 2021-06-15 2022-12-21 Urban Air Port Ltd Aerodrome structure and construction thereof
WO2022263512A1 (fr) * 2021-06-15 2022-12-22 Urban Air Port Limited Structure d'aérodrome et sa construction
WO2023057450A1 (fr) * 2021-10-04 2023-04-13 Urban Air Port Limited Structure aérodrome modulaire
GB2611525A (en) * 2021-10-04 2023-04-12 Urban Air Port Ltd Modular aerodrome structure
GB2611525B (en) * 2021-10-04 2024-04-24 Urban Air Port Ltd Modular aerodrome structure
CN114164776B (zh) * 2021-12-03 2023-09-05 国网智能科技股份有限公司 一种无人机机巢及其作业方法
CN114164776A (zh) * 2021-12-03 2022-03-11 国网智能科技股份有限公司 一种无人机机巢及其作业方法
GB2615734A (en) * 2021-12-16 2023-08-23 Urban Air Port Ltd Aerodrome structure for a distribution centre
WO2024008750A1 (fr) * 2022-07-05 2024-01-11 Urban Air Port Limited Structure d'aérodrome
LU103021B1 (en) * 2022-09-29 2024-03-29 Space Time S A Site cabin housing dog robot and drone for automatically acquiring 3d data of the site
WO2024068918A1 (fr) * 2022-09-29 2024-04-04 Space Time S.A. Robot-chien de logement de cabine de site et drone pour acquérir automatiquement des données 3d du site

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