WO2018159934A1 - Landing station of unmanned aerial vehicle and control method therefor - Google Patents

Landing station of unmanned aerial vehicle and control method therefor Download PDF

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Publication number
WO2018159934A1
WO2018159934A1 PCT/KR2017/014591 KR2017014591W WO2018159934A1 WO 2018159934 A1 WO2018159934 A1 WO 2018159934A1 KR 2017014591 W KR2017014591 W KR 2017014591W WO 2018159934 A1 WO2018159934 A1 WO 2018159934A1
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Prior art keywords
landing
aerial vehicle
unmanned aerial
charging
unit
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PCT/KR2017/014591
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French (fr)
Korean (ko)
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강종수
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(주)세이프어스드론
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Publication of WO2018159934A1 publication Critical patent/WO2018159934A1/en

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    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction

Definitions

  • the total area of fruit and vegetable production in Korea was 246,725 ha and the output was 9,904,147 kg.
  • the total area of the horticulture (vinyl house) is 63,815 ha, and the output is 2,714,519 kg, accounting for 20% of the total area and 27.4% of the total output.
  • the ratio of natural pollination using natural bees in facility horticulture is less than 20%. This is due to winter fruit and vegetable cultivation, both the advantages and disadvantages of horticulture. Winter horticulture increases the profitability by reversing the market supply and demand laws, but the cost of heating during cold weather increases proportionately. Can not fit. For this reason, the fruiting rate ( ⁇ ⁇ , ie moisture content) of the above-mentioned fruits and vegetables is not meeting the expectation, there is a problem that must be artificially moisturized using artificial moisture assistant in the horticulture to increase the moisture content.
  • an object of the present invention is to provide a landing unit of a novel type to facilitate the landing of the unmanned aerial vehicle, a system capable of automatically charging, replacing the unmanned aerial vehicle consumables. It is to provide a landing station and a control method of the unmanned aerial vehicle having a.
  • the landing station of the unmanned aerial vehicle includes a landing part 200 in which the unmanned aerial vehicle 100 having a plurality of support legs 110 lands thereon; And a replacement unit 300 for replacing the consumables charging unit 120 of the unmanned aerial vehicle 100 landing on the landing unit 200.
  • the landing station of the unmanned aerial vehicle includes a landing detection unit 400 which detects whether the unmanned aerial vehicle 100 has landed on the landing unit 200; And a control unit 500 that receives the detection signal of the landing detection unit 400 and controls the landing unit 200 and the replacement unit 300.
  • the consumable charging unit 120 includes a battery cell 120-1 that supplies power to the unmanned aerial vehicle 100; A powder filling part 120-2 filled with powder sprayed from the unmanned aerial vehicle 100; And a liquid filling part 120-3 filled with the liquid sprayed from the unmanned aerial vehicle 100. It is characterized by any one or more of.
  • the unmanned aerial vehicle 100 further includes an unmanned aerial vehicle charging terminal 111 mounted on the ground plane of the support leg 110, and when the unmanned aerial vehicle 100 lands on the landing part 200.
  • the unmanned aerial vehicle charging terminal 111 and the landing unit charging terminal 230 is in contact, characterized in that the battery cell 120-1 is automatically charged.
  • Actuator 230 ' characterized in that it comprises a.
  • the release actuator 310 and the insertion actuator 330 is characterized in that the linear actuator capable of reciprocating in a linear direction.
  • the release actuator 310 and the insertion actuator 330 is characterized in that the gear-type actuator rotatable in the forward / reverse direction.
  • the side surface of the consumables charging unit 120, the gear groove 123 is formed to be engaged with the detachment actuator 310 and the insertion actuator 330.
  • the landing station of the unmanned aerial vehicle is characterized in that a plurality of the consumables charging case 320 is continuously arranged in a vertical direction and fastened.
  • the landing detection unit 400 detects whether the unmanned aerial vehicle 100 landed on the landing unit (200) (S100); When the unmanned aerial vehicle 100 lands on the landing part 200, applying a current to the landing part charging terminal 230 (S200); And charging the battery cell 120-1 of the unmanned aerial vehicle 100 through the unmanned aerial vehicle charging terminal 111 in contact with the landing unit charging terminal S230 (S300). .
  • the landing detection unit 400 detects whether the unmanned aerial vehicle 100 landed on the landing unit (200) (S100 ⁇ ); When the unmanned aerial vehicle 100 lands on the landing part 200, an initial position S of which the landing body main body 210 ′ is divided to fix the support leg 110 of the unmanned aerial vehicle 100 is fixed.
  • the risk of damage during the landing of the unmanned aerial vehicle can be significantly reduced.
  • FIG. 1 is a schematic diagram of a landing station of an unmanned aerial vehicle according to the present invention.
  • FIG. 2A and 2B illustrate a first embodiment of the landing portion in the landing station of the unmanned aerial vehicle according to the present invention
  • FIG 3 is a view for explaining a second embodiment of the landing portion in the landing station of the unmanned aerial vehicle according to the present invention.
  • FIG. 6 is a view for explaining still another embodiment of FIG. 3.
  • FIG. 6 is a view for explaining still another embodiment of FIG. 3.
  • FIG. 7 is a view for explaining a first embodiment of the replacement unit in the landing station of the unmanned aerial vehicle according to the present invention.
  • FIG 8 and 9 illustrate a second embodiment of the replacement unit in the landing station of the unmanned aerial vehicle according to the present invention.
  • 10 to 13 is an operational state diagram of the replacement in the landing station of the unmanned aerial vehicle according to the present invention.
  • FIG. 17 is a flowchart of a first embodiment of a control method of a landing station of an unmanned aerial vehicle according to the present invention.
  • FIG. 18 is a flow chart of a second embodiment of the method for controlling a landing station of an unmanned aerial vehicle according to the present invention.
  • the consumable charging unit 120 includes a battery cell 120-1 that supplies power to the unmanned aerial vehicle 100; A powder filling part 120-2 filled with powder sprayed from the unmanned aerial vehicle 100; And a liquid filling part 120-3 filled with the liquid sprayed from the unmanned aerial vehicle 100. It may be any one or more of.
  • the consumable charging unit 120 is a container in which the consumables (power, insecticide, pollen, etc.) are stored, and is inserted into the consumable storage case 130 to be described later, and serves to provide the consumables to the unmanned aerial vehicle 100. Do it.
  • the battery cell 120-1 is charged with power, and the power charged in the battery cell 120-1 is supplied to the unmanned aerial vehicle 100 to operate the unmanned aerial vehicle 100.
  • the powder filling unit 120-2 and the liquid filling unit 120-3 also serve to fill and store materials such as pesticides, fertilizers and nutrients in the form of powder or liquid which are sprayed through separate injectors (not shown). do.
  • the powder filled in the powder filling part 120-2 may include artificial pollen or seeds of a plant.
  • the landing part 200 is a component in direct contact with the unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 lands on the landing part 200.
  • the landing unit 200 has a communication and GPS relay between the unmanned vehicle landing station and the unmanned aerial vehicle 100 according to the present invention, a relay (signal amplification and transmission and reception) between the smart device and the unmanned aerial vehicle 100, the server And separate electronic equipment (MCU, CPU, etc.) for performing the signal transmission, reception, etc. between the unmanned aerial vehicle 100 may be built.
  • the replacement unit 300 serves to replace the consumable charging unit 120 of the unmanned aerial vehicle 100 landing on the landing unit 200. A detailed description of the landing portion 200 and the replacement portion 300 will be described later.
  • the landing detection unit 400 detects whether the unmanned aerial vehicle 100 has landed on the landing unit 200.
  • the landing detection unit 400 may be disposed on an upper surface of the landing unit 200, may be inserted into the landing unit 200, or may be disposed at a separate position.
  • the landing detection unit 400 may be a weight sensor, an infrared sensor, etc., but is not necessarily limited thereto, and the landing detection unit 400 may be a component capable of confirming landing of the unmanned aerial vehicle 100.
  • the control unit 500 receives the detection signal of the landing detection unit 400 and controls the landing unit 200 and the replacement unit 300. Detailed description of the control method of the landing station of the unmanned aerial vehicle under the control of the control unit 500 will be described later.
  • the landing part 200 of the first embodiment of the landing part includes a landing part body 210, a landing point induction part 220, and a landing part filling. And terminal 230.
  • At least one landing point guide part 220 is disposed on the landing part body 210. That is, as many landing point guides 220 as the number of support legs 110 of the unmanned aerial vehicle 100 may be formed. At this time, the landing point guide portion 220 is formed in the shape of a groove open upwards so that the support leg 110 is inserted therein.
  • the support leg 110 may slide on the side of the landing point guide unit 220 and may accurately land at the predetermined landing point. Therefore, the landing of the unmanned aerial vehicle 100 can be facilitated, and the risk of damage during the landing of the unmanned aerial vehicle 100 can be significantly reduced.
  • the landing part charging terminal 230 is made of metal and is coated and mounted on the inner surface of the landing point induction part 220. Therefore, the unmanned aerial vehicle charging terminal 111 mounted on the ground plane of the support leg 110 of the unmanned aerial vehicle 100 is in direct contact. In addition, the unmanned aerial vehicle charging terminal 111 may be electrically connected to the battery cell 120-1.
  • the unmanned aerial vehicle charging terminal 111 and the landing unit charging terminal 230 come into contact with each other, such that the battery cell 120-1 is contacted. It can be charged automatically.
  • the landing part 200 includes a landing part body 210 ′, a support leg fixing part 220 ′, and a landing part body actuator 230. Contains ⁇ ).
  • the landing unit body 210 ′ may be formed in a plate shape, but is not necessarily limited thereto, and the landing unit body 210 ′ may have a shape in which the unmanned aerial vehicle 100 may stably land. In addition, the landing body 210 'may be divided into a plurality.
  • the support leg fixing part 220 ′ is formed to protrude upward from an upper surface of each of the landing body main bodies 210, and is formed to contact the support leg 110.
  • the support leg fixing part 220 ′ may have various shapes such as a N-shape, a ring shape, and the like, but is not limited thereto, and the outer side of the support leg 110 when the center of the unmanned aerial vehicle 100 is used as a reference If the form can be wrapped is sufficient (see Fig. 6).
  • the landing body main actuator 230 ′ is the landing body main (from the initial position S, in which the landing body main body 210 ′ is divided, toward the final position F in which the landing body main body 210 ′ is coupled). 210 ⁇ ) to move.
  • FIG. 7 is a view illustrating a first embodiment of the replacement portion in the landing station of the unmanned aerial vehicle according to the present invention
  • FIGS. 8 and 9 are views illustrating a second embodiment of the replacement portion in the landing station of the unmanned aerial vehicle according to the present invention.
  • Insertion actuator 330 serves to remove the consumables charging unit 120 is completed in the consumables charging case 320, inserting the consumables storage case 130. That is, the release actuator 310, the consumables charging case 320, the insertion actuator 330 and the consumables storage case 130 are arranged in a straight line. Accordingly, since the consumable charging unit 120 is recharged and mounted even with minimal movement in a straight line, the impact applied to the consumable charging unit 120 is minimized.
  • the release actuator 310 and the insertion actuator 330 may be a linear actuator capable of reciprocating in a linear direction (FIG. 7). Reference).
  • the release actuator 310 and the insertion actuator 330 may be a geared actuator rotatable in the forward / reverse direction.
  • a gear groove 123 may be formed at a side surface of the consumable charging part 120 to be engaged with the detachment actuator 310 and the insertion actuator 330 (see FIGS. 8 and 9).
  • the separation or insertion may be performed by controlling the rotational direction, and thus, the separation actuator 310 and the insertion actuator 330 may be merged into one actuator.
  • the manufacturing process can be simplified and the manufacturing cost can be lowered.
  • the consumables charging unit 120 is provided with at least one unmanned vehicle fastening groove 121 formed at the side of the actuator 310 for separation and at least one charging case fastening groove 122 formed at the insertion actuator 330 side.
  • the consumable charging unit 120 when the consumable charging unit 120 is inserted into the consumable storage case 130 of the unmanned aerial vehicle 100, the unmanned aerial vehicle fastening unit 131 is inserted into the unmanned aerial vehicle fastening groove 121, so that the consumables
  • the charging unit 120 is mounted to the unmanned aerial vehicle 100.
  • the consumables current, insecticide, pollen for artificial pollination, etc.
  • 10 to 13 is an operational state diagram of the first embodiment of the replacement unit in the landing station of the unmanned aerial vehicle according to the present invention. 10 to 13, when the unmanned aerial vehicle 100 completes landing (see FIG. 10), the first release actuator 310 operates. Accordingly, the consumables charging unit 120 is separated from the consumables storage case 130 and inserted into the consumables charging case 320 (see FIG. 11).
  • the consumables charging case 320 in which the consumables charging unit 120 having completed the charging of consumables among the plurality of consumables charging case 320 is inserted is positioned on the same line as the consumables storage case 130 (FIG. 12). Reference). That is, the consumables charging unit 120 is prepared to be inserted into the consumables storage case 130 again.
  • the insertion actuator 330 operates. Accordingly, the consumable charging unit 120 is separated from the consumable charging case 320 and inserted into the consumable storage case 130 (see FIG. 13).
  • the consumables storage case 130 having an empty inside is positioned on the same line as the consumables charging case 320.
  • the consumables charging unit 120 is inserted into the consumables storage case 130 by the continuous operation of the insertion actuator 330, and thus, the unmanned vehicle fastening unit 131 is inserted into the unmanned vehicle fastening groove 121.
  • the consumable charging unit 120 is mounted on the consumable storage case 130.
  • the release actuator 310 and the insertion actuator 330 of the first embodiment are merely changed from the linear actuator to the geared actuator. Therefore, since the operating state of the first embodiment and the second embodiment is very similar, the description of the operating state of the second embodiment of the replacement unit in the landing station of the unmanned aerial vehicle according to the present invention will be omitted.
  • the control method of the landing station of the unmanned aerial vehicle according to the present invention includes a sensing step S100, applying a current S200, and charging S300.
  • the landing detecting unit 400 detects whether the unmanned aerial vehicle 100 has landed on the landing unit 200. As described above, the landing detection unit 400 detects the weight of the unmanned aerial vehicle 100, or detects the position of the unmanned aerial vehicle 100 using an infrared sensor, or the like. It may be detected whether or not the aircraft has landed at 200).
  • the control method of the landing station of the unmanned aerial vehicle according to the present invention includes detecting (S100 ′), moving (S200 ′), operating (S300 ′), and operating (S400 ′) a sensing method. ).
  • the landing detection unit 400 detects whether the unmanned aerial vehicle 100 has landed on the landing unit 200. As described above, the landing detection unit 400 detects the weight of the unmanned aerial vehicle 100, or detects the position of the unmanned aerial vehicle 100 using an infrared sensor, or the like. It may be detected whether or not the aircraft has landed at 200).
  • the landing unit body 210 ⁇ to fix the support leg 110 of the unmanned aerial vehicle 100. Is moved from the divided initial position (S) to the combined final position (F). That is, the initial state of the landing unit main body 210 ⁇ is the initial position S divided from each other. Accordingly, the landing possible range of the unmanned aerial vehicle 100 having the plurality of support legs 110 can be maximized.
  • the landing unit body 210 ⁇ is moved to the final position F by the operation of the landing unit body actuator 230 ⁇ .
  • the support leg 110 is also moved by an external force by the support leg fixing part 220 ⁇ , the support leg 110 of the unmanned aerial vehicle 100 at the final position (F) support leg fixing part 220 ⁇ Enclosed and fixed).
  • the final position F may be a position moved toward the center of the initial position S (see FIG. 5 (a)), but is not necessarily limited thereto, and may be set differently according to a designer's intention ( See FIG. 5 (b)).
  • the consumables charging unit 120 is separated from the consumables storage case 130, and the detachment actuator 310 is operated to insert the consumables charging case 320 into any one of the plurality of consumables charging case 320.
  • the external force is applied to the consumable charging unit 120 by the operation of the release actuator 310, and thus, the unmanned vehicle coupling unit 131 is separated from the unmanned vehicle coupling groove 121, and the consumable charging unit ( 120 is to be separated from the consumable storage case 130 (see Fig. 9).
  • the consumables charging case 320 in which the consumables charging unit 120 having completed charging of consumables among the plurality of consumables charging case 320 is inserted therein is stored in the consumables. It is positioned on the same line as the case 130 (see FIG. 10). That is, the consumables charging unit 120 is prepared to be inserted into the consumables storage case 130 again.
  • the insertion actuator 330 is operated. Accordingly, the consumable charging unit 120 is separated from the consumable charging case 320 and inserted into the consumable storage case 130 (see FIG. 11).
  • the external force is applied to the consumable charging unit 120 by the operation of the insertion actuator 330, and thus the charging case coupling unit 321 is separated from the charging case coupling groove 122, so that the consumable charging unit 120 is Will be separated from the consumables charging case 320.
  • the consumables storage case 130 having an empty inside is positioned on the same line as the consumables charging case 320.
  • the consumables charging unit 120 is inserted into the consumables storage case 130 by the continuous operation of the insertion actuator 330, and thus, the unmanned vehicle fastening unit 131 is inserted into the unmanned vehicle fastening groove 121.
  • the consumable charging unit 120 is mounted on the consumable storage case 130.
  • the preparation for providing the consumables to the unmanned aerial vehicle 100 is completed, and the unmanned aerial vehicle 100 can be operated immediately.
  • charging power, artificial pollen, insecticides, such as insects consumed during the flight of the unmanned aerial vehicle is automatically charged at the same time as the landing, it is possible to facilitate the management of advanced technology unmanned aerial vehicle (UAV).
  • UAV advanced technology unmanned aerial vehicle

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The present invention relates to a landing station of an unmanned aerial vehicle and a control method therefor. A landing station of an unmanned aerial vehicle according to the present invention comprises: a landing portion (200) for landing of the unmanned aerial vehicle (100), the landing portion (200) including a plurality of supporting legs (110); and an exchanging portion (300) for exchanging a consumable part charging portion (120) of the unmanned aerial vehicle (100) having landed on the landing portion (200). According to the present invention, an unmanned aerial vehicle can easily land. Therefore, risk of damage during landing of the unmanned aerial vehicle can be significantly reduced.

Description

무인비행체의 착륙 스테이션 및 그 제어방법Landing station of unmanned aerial vehicle and its control method
본 발명은 무인비행체의 착륙 스테이션 및 그 제어방법에 관한 것으로서, 보다 상세하게는 무인비행체의 비행시 소모된 요소를 착륙과 동시에 자동으로 충전시키므로, 첨단 기술인 무인비행체(UAV)의 관리를 용이하게 할 수 있는 무인비행체의 착륙 스테이션 및 그 제어방법에 관한 것이다.The present invention relates to a landing station for a drone and a control method thereof, and more particularly, to automatically charge the elements consumed during the flight of the unmanned aerial vehicle at the same time as the landing, thereby facilitating the management of the advanced technology unmanned aerial vehicle (UAV). It relates to a landing station of the unmanned aerial vehicle and a control method thereof.
2014년 기준으로 국내 과채류의 생산면적은 총 246,725ha이고, 생산량은 총 9,904,147kg이다. 이중 시설원예(비닐하우스)의 총 면적은 63,815ha이고, 생산량은 총 2,714,519kg으로 전체 면적의 20%, 전체 생산량의 27.4%에 달할 정도로 많은 비중을 차지하고 있다. As of 2014, the total area of fruit and vegetable production in Korea was 246,725 ha and the output was 9,904,147 kg. The total area of the horticulture (vinyl house) is 63,815 ha, and the output is 2,714,519 kg, accounting for 20% of the total area and 27.4% of the total output.
상기와 같은 시설원예(비닐하우스) 작물 중 수분(pollination, 受粉, 가루받이)을 필요로 하는 과채류는 수박 등 10여 종에 달하고, 이들의 생산 면적은 시설원예 생산면적 63,815ha의 73.1% 달하는 46,693ha이다. 또한, 이들의 생산량은 시설원예 생산량 2,714,519kg의 79.7% 달하는 2,164,919kg에 달할 정도로 막대한 비율을 차지하고 있다. Among the above-mentioned horticulture (vinyl house) crops, fruits and vegetables that require water (pollination, dustpan) amount to about 10 species, including watermelon, and their production area is 46,693, which is 73.1% of 63,815 ha of plant horticulture production area. ha. In addition, their production accounts for an enormous proportion of 2,164,919 kg, which is 79.7% of 2,714,519 kg of plant horticultural production.
상기와 같은 의존도에도 불구하고, 시설원예에서 꿀벌을 이용한 자연 수분(natural pollination, 自然受粉)의 비율은 20%도 미치지 못하는 실정이다. 이는 시설원예의 장점이자 단점인, 동절기 과채류 재배로 인한 것이다. 동절기 시설원예는 시장의 공급과 수요 법칙을 역행하여 수익성을 높여주는 역할을 하지만, 혹한기의 난방을 위한 비용이 그에 비례해 증가하며, 이를 절감하기 위해 난방온도를 낮추게 되면 꿀벌이 활동할 수 있는 활동온도를 맞출 수 없다. 이 때문에 상기와 같은 과채류의 결실률(結實率, 즉 수분율)은 기대에 미치지 못하고 있는 실정이며, 수분율을 높이기 위하여 시설원예의 인공수분 보조인원을 사용하여 인공수분을 해야만 하는 문제점이 있다.In spite of the above dependence, the ratio of natural pollination using natural bees in facility horticulture is less than 20%. This is due to winter fruit and vegetable cultivation, both the advantages and disadvantages of horticulture. Winter horticulture increases the profitability by reversing the market supply and demand laws, but the cost of heating during cold weather increases proportionately. Can not fit. For this reason, the fruiting rate (結實 率, ie moisture content) of the above-mentioned fruits and vegetables is not meeting the expectation, there is a problem that must be artificially moisturized using artificial moisture assistant in the horticulture to increase the moisture content.
그러나 이와 같은 인공수분 보조인원의 사용비용 역시 상당한 수준에 있으며, 빠르게 고령화되어가는 농가에서는 이러한 인력수급조차 쉽지 않은 문제점이 있다.However, the cost of using the artificial moisture assistant is also at a considerable level, and the supply of manpower is not easy even in farms that are rapidly aging.
따라서, 상기와 같은 시설원예의 수분율을 증대시키기 위해 드론(drone) 등 무인비행체(UAV)를 적극적으로 활용할 필요가 있으나, 드론(drone) 등 무인비행체(UAV)는 이륙이 용이한 데 비해 착륙이 어려워, 착륙시 파손 위험이 큰 문제점이 있었다. 또한, 배터리 충전 등 첨단 장비인 무인비행체(UAV)의 관리가 용이하지 않은 문제점이 있었다.Therefore, in order to increase the moisture content of the above-mentioned horticulture, it is necessary to actively use a drone such as a drone, but a drone such as a drone is easy to take off, compared to landing. Difficult, there was a big problem of risk of damage during landing. In addition, there was a problem that management of the unmanned aerial vehicle (UAV), which is an advanced equipment such as battery charging, is not easy.
[선행기술문헌] 한국공개특허공보 제10-2014-0038495호 (2014.03.28)Prior Art Documents Korean Patent Publication No. 10-2014-0038495 (2014.03.28)
본 발명은 상기와 같은 문제점을 해결하기 위하여 안출된 것으로, 본 발명의 목적은 무인비행체의 착륙이 용이하도록 신규한 형태의 착륙부를 구비하고, 무인비행체의 소모품을 자동적으로 충전, 교체할 수 있는 시스템을 구비한 무인비행체의 착륙 스테이션 및 그 제어방법을 제공하는 것이다.The present invention has been made to solve the above problems, an object of the present invention is to provide a landing unit of a novel type to facilitate the landing of the unmanned aerial vehicle, a system capable of automatically charging, replacing the unmanned aerial vehicle consumables. It is to provide a landing station and a control method of the unmanned aerial vehicle having a.
본 발명에 따른 무인비행체의 착륙 스테이션은 복수 개의 지지다리(110)를 구비하는 무인비행체(100)가 착륙하는 착륙부(200); 및 상기 착륙부(200)에 착륙한 상기 무인비행체(100)의 소모품 충전부(120)를 교체하는 교체부(300);를 포함한다.The landing station of the unmanned aerial vehicle according to the present invention includes a landing part 200 in which the unmanned aerial vehicle 100 having a plurality of support legs 110 lands thereon; And a replacement unit 300 for replacing the consumables charging unit 120 of the unmanned aerial vehicle 100 landing on the landing unit 200.
상기 무인비행체의 착륙 스테이션은 상기 무인비행체(100)가 상기 착륙부(200)에 착륙하였는지 여부를 감지하는 착륙감지부(400); 및 상기 착륙감지부(400)의 감지신호를 수신하여, 상기 착륙부(200)와 상기 교체부(300)를 제어하는 제어부(500);를 더 포함하는 것을 특징으로한다.The landing station of the unmanned aerial vehicle includes a landing detection unit 400 which detects whether the unmanned aerial vehicle 100 has landed on the landing unit 200; And a control unit 500 that receives the detection signal of the landing detection unit 400 and controls the landing unit 200 and the replacement unit 300.
상기 소모품 충전부(120)는, 상기 무인비행체(100)에 전력을 공급하는 배터리 셀(120-1); 상기 무인비행체(100)에서 분사하는 분말이 충전되는 분말 충전부(120-2); 및 상기 무인비행체(100)에서 분사하는 액체가 충전되는 액체 충전부(120-3); 중 어느 하나 이상인 것을 특징으로 한다.The consumable charging unit 120 includes a battery cell 120-1 that supplies power to the unmanned aerial vehicle 100; A powder filling part 120-2 filled with powder sprayed from the unmanned aerial vehicle 100; And a liquid filling part 120-3 filled with the liquid sprayed from the unmanned aerial vehicle 100. It is characterized by any one or more of.
상기 착륙부(200)는, 판상의 착륙부 본체(210); 상기 착륙부 본체(210)의 상부에 하나 이상 배치되며, 내부에 상기 지지다리(110)가 삽입되도록 상방을 향해 개방된 깔때기 형태의 착륙지점 유도부(220); 및 상기 착륙지점 유도부(220)의 내측면에 코팅장착된 금속재질의 착륙부 충전단자(230);를 포함하는 것을 특징으로 한다.The landing portion 200, the plate-shaped landing portion main body 210; At least one landing point induction part 220 disposed at an upper portion of the landing part main body 210 and having a funnel shape open upwardly so that the support leg 110 is inserted therein; And a landing part charging terminal 230 made of a metal material coated on the inner surface of the landing point induction part 220.
상기 무인비행체(100)는, 상기 지지다리(110)의 접지면에 장착된 무인비행체 충전단자(111);를 더 포함하며, 상기 무인비행체(100)가 상기 착륙부(200)에 착륙한 경우에는, 상기 무인비행체 충전단자(111)와 상기 착륙부 충전단자(230)가 접촉하여, 배터리 셀(120-1)이 자동으로 충전되는 것을 특징으로 한다.The unmanned aerial vehicle 100 further includes an unmanned aerial vehicle charging terminal 111 mounted on the ground plane of the support leg 110, and when the unmanned aerial vehicle 100 lands on the landing part 200. In, the unmanned aerial vehicle charging terminal 111 and the landing unit charging terminal 230 is in contact, characterized in that the battery cell 120-1 is automatically charged.
상기 착륙부(200)는, 복수 개로 분할 가능한 판상의 착륙부 본체(210`); 복수 개의 상기 착륙부 본체(210) 각각의 상면에서 상방으로 돌출형성되어, 상기 지지다리(110)에 접촉하는 지지다리 고정부(220`); 및 상기 착륙부 본체(210`)가 분할된 최초위치(S)로부터 상기 착륙부 본체(210`)가 결합된 최종위치(F)를 향해 상기 착륙부 본체(210`)를 이동시키는 착륙부 본체 액추에이터(230`);를 포함하는 것을 특징으로 한다.The landing portion 200, the plate-shaped landing portion main body 210` divided into a plurality; A support leg fixing part 220 ′ formed to protrude upward from an upper surface of each of the plurality of landing body main bodies 210 to be in contact with the support leg 110; And a landing part body for moving the landing part main body 210` from the initial position S in which the landing part main body 210` is divided toward the final position F in which the landing part main body 210` is coupled. Actuator 230 '; characterized in that it comprises a.
상기 교체부(300)는, 상기 소모품 충전부(120)를 소모품 보관케이스(130)로부터 이탈시키는 이탈용 액추에이터(310); 상기 소모품 보관케이스(130)로부터 이탈된 상기 소모품 충전부(120)가 삽입되어 충전되는 하나 이상의 소모품 충전케이스(320); 및 상기 소모품 충전케이스(320)에서 충전이 완료된 상기 소모품 충전부(120)를 이탈시켜, 상기 소모품 보관케이스(130)에 삽입하는 삽입용 액추에이터(330);를 포함하는 것을 특징으로 한다.The replacement unit 300, the release actuator 310 for separating the consumables charging unit 120 from the consumables storage case 130; At least one consumables charging case 320 into which the consumables charging unit 120 which is separated from the consumables storage case 130 is inserted and charged; And an insertion actuator 330 inserted into the consumables storage case 130 by detaching the consumables charging unit 120 which has been fully charged from the consumables charging case 320.
상기 소모품 충전부(120)는, 상기 이탈용 액추에이터(310) 측에 형성된 하나 이상의 무인비행체 체결홈(121); 및 상기 삽입용 액추에이터(330) 측에 형성된 하나 이상의 충전케이스 체결홈(122);을 포함하는 것을 특징으로 한다.The consumables charging unit 120 may include one or more unmanned aerial vehicle coupling grooves 121 formed at the side of the actuator 310 for detachment; And at least one charging case fastening groove 122 formed at the insertion actuator 330 side.
상기 소모품 보관케이스(130)는, 상기 무인비행체 체결홈(121)에 삽입되는 무인비행체 체결부(131);를 포함하고, 상기 소모품 충전케이스(320)는, 상기 충전케이스 체결홈(122)에 삽입되는 충전케이스 체결부(321);를 포함하는 것을 특징으로 한다.The consumable storage case 130 includes an unmanned vehicle fastening part 131 inserted into the unmanned aerial vehicle fastening groove 121, and the consumable charging case 320 is disposed in the charging case fastening groove 122. It is characterized in that it comprises a; charging case fastening portion 321 is inserted.
상기 이탈용 액추에이터(310) 및 상기 삽입용 액추에이터(330)는 직선방향으로 왕복운동 가능한 리니어 액추에이터인 것을 특징으로 한다.The release actuator 310 and the insertion actuator 330 is characterized in that the linear actuator capable of reciprocating in a linear direction.
상기 이탈용 액추에이터(310) 및 상기 삽입용 액추에이터(330)는 정/역방향으로 회전가능한 기어형 액추에이터인 것을 특징으로 한다.The release actuator 310 and the insertion actuator 330 is characterized in that the gear-type actuator rotatable in the forward / reverse direction.
상기 소모품 충전부(120)의 측면에는, 상기 이탈용 액추에이터(310) 및 상기 삽입용 액추에이터(330)와 맞물리도록, 기어홈(123)이 형성되는 것을 특징으로 한다.The side surface of the consumables charging unit 120, the gear groove 123 is formed to be engaged with the detachment actuator 310 and the insertion actuator 330.
상기 무인비행체의 착륙 스테이션은 복수 개의 상기 소모품 충전케이스(320)가 수직방향으로 연속적으로 배열되어 체결된 것을 특징으로 한다.The landing station of the unmanned aerial vehicle is characterized in that a plurality of the consumables charging case 320 is continuously arranged in a vertical direction and fastened.
상기 무인비행체의 착륙 스테이션은 복수 개의 상기 소모품 충전케이스(320)가 회전가능한 실린더 형태의 제1 충전케이스 지지부(320-1)의 외주면을 따라 배열되는 것을 특징으로 한다.The landing station of the unmanned aerial vehicle is characterized in that a plurality of the consumables charging case 320 is arranged along the outer circumferential surface of the first charging case support portion 320-1 in the form of a rotatable cylinder.
상기 무인비행체의 착륙 스테이션은 복수 개의 상기 소모품 충전케이스(320)가 캐터필러 형태의 제2 충전케이스 지지부(320-2)의 외주면을 따라 배열되는 것을 특징으로 한다.The landing station of the unmanned aerial vehicle is characterized in that a plurality of the consumables charging case 320 is arranged along the outer circumferential surface of the second charging case support 320-2 of the caterpillar type.
본 발명의 일 실시 예에 따른 무인비행체의 착륙 스테이션의 제어방법은, 착륙감지부(400)에서 무인비행체(100)가 착륙부(200)에 착륙하였는지 여부를 감지하는 단계(S100); 상기 무인비행체(100)가 상기 착륙부(200)에 착륙한 경우에는, 착륙부 충전단자(230)에 전류를 인가하는 단계(S200); 및 상기 착륙부 충전단자(S230)에 접하는 무인비행체 충전단자(111)를 통해, 상기 무인비행체(100)의 배터리 셀(120-1)를 충전하는 단계(S300);를 포함하는 것을 특징으로 한다.Control method of the landing station of the unmanned aerial vehicle according to an embodiment of the present invention, the landing detection unit 400 detects whether the unmanned aerial vehicle 100 landed on the landing unit (200) (S100); When the unmanned aerial vehicle 100 lands on the landing part 200, applying a current to the landing part charging terminal 230 (S200); And charging the battery cell 120-1 of the unmanned aerial vehicle 100 through the unmanned aerial vehicle charging terminal 111 in contact with the landing unit charging terminal S230 (S300). .
본 발명의 또 다른 실시 예에 따른 무인비행체의 착륙 스테이션의 제어방법은, 착륙감지부(400)에서 무인비행체(100)가 착륙부(200)에 착륙하였는지 여부를 감지하는 단계(S100`); 상기 무인비행체(100)가 상기 착륙부(200)에 착륙한 경우에는, 상기 무인비행체(100)의 지지다리(110)를 고정하기 위해 착륙부 본체(210`)가 분할된 최초위치(S)로부터 결합된 최종위치(F)로 이동하는 단계(S200`); 소모품 충전부(120)를 소모품 보관케이스(130)로부터 이탈시켜, 복수 개중 어느 하나의 소모품 충전케이스(320)로 삽입하도록, 이탈용 액추에이터(310)를 작동시키는 단계(S300`); 및 충전이 완료된 소모품 충전부(120)를 또 다른 소모품 충전케이스(320)로부터 이탈시켜 상기 소모품 보관케이스(130)에 삽입하도록, 삽입용 액추에이터(300)를 작동시키는 단계(S400`);를 포함하는 것을 특징으로 한다.Control method of the landing station of the unmanned aerial vehicle according to another embodiment of the present invention, the landing detection unit 400 detects whether the unmanned aerial vehicle 100 landed on the landing unit (200) (S100`); When the unmanned aerial vehicle 100 lands on the landing part 200, an initial position S of which the landing body main body 210 ′ is divided to fix the support leg 110 of the unmanned aerial vehicle 100 is fixed. Moving to the final position F combined from the step S200`; Discharging the consumables charging unit 120 from the consumables storage case 130 and operating the detachment actuator 310 to insert the consumables charging case 320 into any one of the consumables charging case 320 (S300 ′); And operating the inserting actuator 300 so as to be removed from the consumables charging unit 120 in which the charging is completed, from another consumables charging case 320 and inserted into the consumable storage case 130 (S400 ′). It is characterized by.
상기에서 살펴본 바와 같이 본 발명에 따르면, 무인비행체의 착륙이 용이하므로 무인비행체의 착륙시 파손위험을 현저하게 저감시킬 수 있다.As described above, according to the present invention, since the landing of the unmanned aerial vehicle is easy, the risk of damage during the landing of the unmanned aerial vehicle can be significantly reduced.
또한, 충전 전력, 인공수분용 꽃가루, 살충제 등 무인비행체의 비행시 소모된 요소를 착륙과 동시에 자동으로 충전시키므로, 첨단 기술인 무인비행체(UAV)의 관리를 용이하게 할 수 있다.In addition, since the charging power, artificial pollen, insecticides, etc. consumed during the flight of the unmanned aerial vehicle is automatically charged at the same time as landing, it is easy to manage the advanced technology unmanned aerial vehicle (UAV).
도 1은 본 발명에 따른 무인비행체의 착륙 스테이션의 개략도.1 is a schematic diagram of a landing station of an unmanned aerial vehicle according to the present invention;
도 2a 및 도 2b는 본 발명에 따른 무인비행체의 착륙 스테이션에서 착륙부의 제 1 실시 예를 설명하는 도면.2A and 2B illustrate a first embodiment of the landing portion in the landing station of the unmanned aerial vehicle according to the present invention;
도 3은 본 발명에 따른 무인비행체의 착륙 스테이션에서 착륙부의 제 2 실시 예를 설명하는 도면.3 is a view for explaining a second embodiment of the landing portion in the landing station of the unmanned aerial vehicle according to the present invention.
도 4, 도 5a 및 도 5b는 도 3의 작동상태를 설명하는 도면.4, 5A and 5B are diagrams for explaining the operating state of FIG.
도 6은 도 3의 또 다른 실시 형태를 설명하는 도면.FIG. 6 is a view for explaining still another embodiment of FIG. 3. FIG.
도 7은 본 발명에 따른 무인비행체의 착륙 스테이션에서 교체부의 제 1 실시 예를 설명하는 도면.7 is a view for explaining a first embodiment of the replacement unit in the landing station of the unmanned aerial vehicle according to the present invention.
도 8 및 도 9는 본 발명에 따른 무인비행체의 착륙 스테이션에서 교체부의 제 2 실시 예를 설명하는 도면.8 and 9 illustrate a second embodiment of the replacement unit in the landing station of the unmanned aerial vehicle according to the present invention.
도 10 내지 도 13은 본 발명에 따른 무인비행체의 착륙 스테이션에서 교체부의 작동상태도. 10 to 13 is an operational state diagram of the replacement in the landing station of the unmanned aerial vehicle according to the present invention.
도 14 내지 도 16은 본 발명에 따른 무인비행체의 착륙 스테이션에서 소모품 충전케이스의 배치형태에 대한 다양한 변형 예를 설명하는 도면.14 to 16 are views illustrating various modifications to the arrangement of the consumables charging case in the landing station of the unmanned aerial vehicle according to the present invention.
도 17은 본 발명에 따른 무인비행체의 착륙 스테이션의 제어방법의 제 1 실시 예의 순서도.17 is a flowchart of a first embodiment of a control method of a landing station of an unmanned aerial vehicle according to the present invention;
도 18은 본 발명에 따른 무인비행체의 착륙 스테이션의 제어방법의 제 2 실시 예의 순서도.18 is a flow chart of a second embodiment of the method for controlling a landing station of an unmanned aerial vehicle according to the present invention.
본 명세서 및 청구범위에서 사용된 용어나 단어는 통상적이거나 사전적인 의미로 한정되어서는 아니 되며, 발명자는 그 자신의 발명을 가장 최선의 방법으로 설명하기 위해 용어의 개념을 적절하게 정의할 수 있다는 원칙에 입각하여 본 발명의 기술적 사상에 부합하는 의미와 개념으로 해석되어야만 한다. 따라서, 본 명세서에 기재된 실시 예와 도면에 도시된 구성은 본 발명의 가장 바람직한 실시 예에 불과할 뿐이고 본 발명의 기술적 사상을 모두 대변하는 것은 아니므로, 본 출원시점에 있어서 이들을 대체할 수 있는 다양한 균등물과 변형 예들이 있을 수 있음을 이해하여야 한다. 또한, 본 발명의 요지를 불필요하게 흐릴 수 있는 공지 기능 및 구성에 대한 상세한 설명은 생략한다. 이하 본 발명의 바람직한 실시 예를 첨부된 도면을 참조하여 상세히 설명하기로 한다.The terms or words used in this specification and claims are not to be limited to the ordinary or dictionary meanings, and the principle that the inventor may appropriately define the concept of terms in order to best describe the invention of his own. It should be interpreted as meaning and concept corresponding to the technical idea of the present invention. Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiments of the present invention and do not represent all of the technical idea of the present invention, various equivalents that may be substituted for them at the time of the present application It should be understood that there may be water and variations. In addition, detailed descriptions of well-known functions and configurations that may unnecessarily obscure the subject matter of the present invention will be omitted. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명에 따른 무인비행체의 착륙 스테이션의 개략도이다. 도 1을 참조할 때, 본 발명에 따른 무인비행체의 착륙 스테이션은 착륙부(200), 교체부(300), 착륙감지부(400) 및 제어부(500)를 포함한다. 또한, 상기 무인비행체의 착륙 스테이션에 착륙하는 무인비행체(100)는 복수 개의 지지다리(110) 및 소모품 충전부(120)를 구비한다.1 is a schematic diagram of a landing station of an unmanned aerial vehicle according to the present invention. Referring to FIG. 1, the landing station of the unmanned aerial vehicle according to the present invention includes a landing part 200, a replacement part 300, a landing detection part 400, and a controller 500. In addition, the unmanned aerial vehicle 100 landing on the landing station of the unmanned aerial vehicle includes a plurality of support legs 110 and a consumable charging unit 120.
상기 소모품 충전부(120)는, 상기 무인비행체(100)에 전력을 공급하는 배터리 셀(120-1); 상기 무인비행체(100)에서 분사하는 분말이 충전되는 분말 충전부(120-2); 및 상기 무인비행체(100)에서 분사하는 액체가 충전되는 액체 충전부(120-3); 중 어느 하나이상일 수 있다.The consumable charging unit 120 includes a battery cell 120-1 that supplies power to the unmanned aerial vehicle 100; A powder filling part 120-2 filled with powder sprayed from the unmanned aerial vehicle 100; And a liquid filling part 120-3 filled with the liquid sprayed from the unmanned aerial vehicle 100. It may be any one or more of.
즉, 상기 소모품 충전부(120)는 상기와 같은 소모품(전력, 살충제, 꽃가루 등)이 저장되는 용기로써, 후술할 소모품 보관케이스(130)에 삽입되어 무인비행체(100)에 상기 소모품을 제공하는 역할을 한다. 예를 들어 설명하면, 배터리 셀(120-1)에는 전력이 충전되며, 배터리 셀(120-1)에 충전된 전력이 무인비행체(100)에 공급되어 무인비행체(100)가 작동하게 되는 것이다.That is, the consumable charging unit 120 is a container in which the consumables (power, insecticide, pollen, etc.) are stored, and is inserted into the consumable storage case 130 to be described later, and serves to provide the consumables to the unmanned aerial vehicle 100. Do it. For example, the battery cell 120-1 is charged with power, and the power charged in the battery cell 120-1 is supplied to the unmanned aerial vehicle 100 to operate the unmanned aerial vehicle 100.
또한, 분말 충전부(120-2) 및 액체 충전부(120-3) 역시 별도의 분사장치(미도시)를 통해 분사되는 분말 또는 액체 형태의 살충제, 비료, 영양제 등의 물질을 충전 및 저장하는 역할을 한다. 상기 분말 충전부(120-2)에 충전되는 분말에는 인공수분용 꽃가루 또는 식물의 씨앗이 포함될 수도 있다. In addition, the powder filling unit 120-2 and the liquid filling unit 120-3 also serve to fill and store materials such as pesticides, fertilizers and nutrients in the form of powder or liquid which are sprayed through separate injectors (not shown). do. The powder filled in the powder filling part 120-2 may include artificial pollen or seeds of a plant.
단, 소모품 충전부(120)가 반드시 이에 한정되는 것은 아니고, 설계자의 의도에 따라 다른 용도의 용기 역시 소모품 충전부(120)에 해당할 수도 있다.However, the consumables charging unit 120 is not necessarily limited thereto, and containers for other uses may also correspond to the consumables charging unit 120 according to a designer's intention.
착륙부(200)는 상기 무인비행체(100)와 직접 접촉하는 구성요소로써, 상기 착륙부(200) 상부에 상기 무인비행체(100)가 착륙하게 된다. 상기 착륙부(200)에는 본 발명에 따른 무인비행체용 착륙스테이션과 상기 무인비행체(100) 사이의 통신 및 GPS중계, 스마트기기와 상기 무인비행체(100) 사이의 중계(신호증폭 및 송수신), 서버와 상기 무인비행체(100) 사이의 신호 송, 수신 등을 수행하기 위한 별도의 전자장비(MCU, CPU 등)이 내장될 수도 있다.The landing part 200 is a component in direct contact with the unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 lands on the landing part 200. The landing unit 200 has a communication and GPS relay between the unmanned vehicle landing station and the unmanned aerial vehicle 100 according to the present invention, a relay (signal amplification and transmission and reception) between the smart device and the unmanned aerial vehicle 100, the server And separate electronic equipment (MCU, CPU, etc.) for performing the signal transmission, reception, etc. between the unmanned aerial vehicle 100 may be built.
교체부(300)는 상기 착륙부(200)에 착륙한 상기 무인비행체(100)의 소모품 충전부(120)를 교체하는 역할을 한다. 상기 착륙부(200) 및 상기 교체부(300)에 대한 상세한 설명은 후술하기로 한다.The replacement unit 300 serves to replace the consumable charging unit 120 of the unmanned aerial vehicle 100 landing on the landing unit 200. A detailed description of the landing portion 200 and the replacement portion 300 will be described later.
착륙감지부(400)는 상기 무인비행체(100)가 상기 착륙부(200)에 착륙하였는지 여부를 감지하는 역할을 한다. 상기 착륙감지부(400)는 상기 착륙부(200) 상면에 배치될 수도 있고, 상기 착륙부(200) 내부에 삽입될 수도 있으며, 별도의 위치에 배치될 수도 있다. 또한, 상기 착륙감지부(400)는 무게센서, 적외선센서 등이 사용될 수 있으나, 반드시 이에 한정되는 것은 아니고, 무인비행체(100)의 착륙여부를 확인할 수 있는 구성요소이면 족하다. 제어부(500)는 상기 착륙감지부(400)의 감지신호를 수신하여, 상기 착륙부(200)와 상기 교체부(300)를 제어하는 역할을 한다. 상기 제어부(500)의 제어에 의한 무인비행체의 착륙 스테이션의 제어방법에 관한 상세한 설명은 후술하기로 한다.The landing detection unit 400 detects whether the unmanned aerial vehicle 100 has landed on the landing unit 200. The landing detection unit 400 may be disposed on an upper surface of the landing unit 200, may be inserted into the landing unit 200, or may be disposed at a separate position. In addition, the landing detection unit 400 may be a weight sensor, an infrared sensor, etc., but is not necessarily limited thereto, and the landing detection unit 400 may be a component capable of confirming landing of the unmanned aerial vehicle 100. The control unit 500 receives the detection signal of the landing detection unit 400 and controls the landing unit 200 and the replacement unit 300. Detailed description of the control method of the landing station of the unmanned aerial vehicle under the control of the control unit 500 will be described later.
도 2a 및 도 2b는 본 발명에 따른 무인비행체의 착륙 스테이션에서 착륙부의 제 1 실시 예를 설명하는 도면이다. 도 2a 및 도 2b를 참조할 때, 본 발명에 따른 무인비행체의 착륙 스테이션에서 착륙부의 제 1 실시 예의 상기 착륙부(200)는 착륙부 본체(210), 착륙지점 유도부(220) 및 착륙부 충전단자(230)를 포함한다.2A and 2B are views for explaining a first embodiment of the landing unit in the landing station of the unmanned aerial vehicle according to the present invention. 2A and 2B, in the landing station of the unmanned aerial vehicle according to the present invention, the landing part 200 of the first embodiment of the landing part includes a landing part body 210, a landing point induction part 220, and a landing part filling. And terminal 230.
착륙부 본체(210)는 판상으로 형성될 수 있으나, 반드시 이에 한정되는 것은 아니고, 상기 무인비행체(100)가 안정적으로 착륙할 수 있는 형상이면 족하다.The landing unit body 210 may be formed in a plate shape, but is not necessarily limited thereto, and the landing unit body 210 may have a shape in which the unmanned aerial vehicle 100 may stably land.
착륙지점 유도부(220)는 상기 착륙부 본체(210)의 상부에 하나 이상 배치된다. 즉, 무인비행체(100)의 지지다리(110)의 개수만큼의 착륙지점 유도부(220)가 형성될 수 있다. 이때, 상기 착륙지점 유도부(220)는 내부에 상기 지지다리(110)가 삽입되도록 상방을 향해 개방된 홈 형태로 형성된다. At least one landing point guide part 220 is disposed on the landing part body 210. That is, as many landing point guides 220 as the number of support legs 110 of the unmanned aerial vehicle 100 may be formed. At this time, the landing point guide portion 220 is formed in the shape of a groove open upwards so that the support leg 110 is inserted therein.
이에 따라, 무인비행체(100)의 착륙시 예정된 착륙지점에서 일정 범위의 오차가 발생하더라도, 지지다리(110)가 착륙지점 유도부(220)의 측면을 타고 미끄러지면서 예정된 착륙지점으로 정확하게 착륙할 수 있는 것이다. 따라서, 무인비행체(100)의 착륙을 용이하게 할 수 있으며, 무인비행체(100)의 착륙시 파손위험을 현저하게 저감시킬 수 있다.Accordingly, even if a certain range of errors occur at the scheduled landing point during the landing of the unmanned aerial vehicle 100, the support leg 110 may slide on the side of the landing point guide unit 220 and may accurately land at the predetermined landing point. will be. Therefore, the landing of the unmanned aerial vehicle 100 can be facilitated, and the risk of damage during the landing of the unmanned aerial vehicle 100 can be significantly reduced.
착륙부 충전단자(230)는 금속재질로써, 상기 착륙지점 유도부(220)의 내측면에 코팅장착된다. 따라서, 상기 무인비행체(100)의 지지다리(110)의 접지면에 장착된 무인비행체 충전단자(111)와 직접 접촉하게 된다. 또한, 상기 무인비행체 충전단자(111)는 상기 배터리 셀(120-1)과 전기적으로 연결될 수 있다.The landing part charging terminal 230 is made of metal and is coated and mounted on the inner surface of the landing point induction part 220. Therefore, the unmanned aerial vehicle charging terminal 111 mounted on the ground plane of the support leg 110 of the unmanned aerial vehicle 100 is in direct contact. In addition, the unmanned aerial vehicle charging terminal 111 may be electrically connected to the battery cell 120-1.
즉, 상기 무인비행체(100)가 상기 착륙부(200)에 착륙한 경우에는, 상기 무인비행체 충전단자(111)와 상기 착륙부 충전단자(230)가 접촉하여, 배터리 셀(120-1)이 자동으로 충전될 수 있는 것이다.That is, when the unmanned aerial vehicle 100 lands on the landing unit 200, the unmanned aerial vehicle charging terminal 111 and the landing unit charging terminal 230 come into contact with each other, such that the battery cell 120-1 is contacted. It can be charged automatically.
도 3은 본 발명에 따른 무인비행체의 착륙 스테이션에서 착륙부의 제 2 실시 예를 설명하는 도면이고, 도 4, 도 5a 및 도 5b는 도 3의 작동상태를 설명하는 도면이며, 도 6은 도 3의 또 다른 실시 형태를 설명하는 도면이다. 도 3 내지 도 6을 참조할 때, 본 발명에 따른 무인비행체의 착륙 스테이션에서 상기 착륙부(200)는 착륙부 본체(210`), 지지다리 고정부(220`), 착륙부 본체 액추에이터(230`)를 포함한다. 3 is a view for explaining a second embodiment of the landing portion in the landing station of the unmanned aerial vehicle according to the present invention, Figures 4, 5a and 5b is a view for explaining the operating state of Figure 3, Figure 6 is FIG. It is a figure explaining another embodiment of the. 3 to 6, in the landing station of the unmanned aerial vehicle according to the present invention, the landing part 200 includes a landing part body 210 ′, a support leg fixing part 220 ′, and a landing part body actuator 230. Contains `).
착륙부 본체(210`)는 판상으로 형성될 수 있으나, 반드시 이에 한정되는 것은 아니고, 상기 무인비행체(100)가 안정적으로 착륙할 수 있는 형상이면 족하다. 또한, 착륙부 본체(210`)는 복수 개로 분할될 수 있다. The landing unit body 210 ′ may be formed in a plate shape, but is not necessarily limited thereto, and the landing unit body 210 ′ may have a shape in which the unmanned aerial vehicle 100 may stably land. In addition, the landing body 210 'may be divided into a plurality.
지지다리 고정부(220`)는 복수 개의 상기 착륙부 본체(210) 각각의 상면에서 상방으로 돌출형성되며, 상기 지지다리(110)에 접촉하도록 형성된다. 상기 지지다리 고정부(220`)의 형태는 ㄴ자 형태, 링 형태 등 다양한 형태일 수 있으나, 반드시 이에 한정되지 않고, 무인비행체(100)의 중심을 기준으로 할 때 상기 지지다리(110)의 외측을 감쌀 수 있는 형태이면 족하다(도 6 참조). The support leg fixing part 220 ′ is formed to protrude upward from an upper surface of each of the landing body main bodies 210, and is formed to contact the support leg 110. The support leg fixing part 220 ′ may have various shapes such as a N-shape, a ring shape, and the like, but is not limited thereto, and the outer side of the support leg 110 when the center of the unmanned aerial vehicle 100 is used as a reference If the form can be wrapped is sufficient (see Fig. 6).
착륙부 본체 액추에이터(230`)는 상기 착륙부 본체(210`)가 분할된 최초위치(S)로부터, 상기 착륙부 본체(210`)가 결합된 최종위치(F)를 향해 상기 착륙부 본체(210`)를 이동시키는 역할을 한다.The landing body main actuator 230 ′ is the landing body main (from the initial position S, in which the landing body main body 210 ′ is divided, toward the final position F in which the landing body main body 210 ′ is coupled). 210`) to move.
즉, 상기 착륙부 본체(210`)의 초기상태는 서로 분할된 최초위치(S)이다. 이에 따라, 복수 개의 지지다리(110)를 구비한 무인비행체(100)의 착륙가능 범위를 최대한 확대할 수 있는 것이다. That is, the initial state of the landing unit main body 210` is the initial position S divided from each other. Accordingly, the landing possible range of the unmanned aerial vehicle 100 having the plurality of support legs 110 can be maximized.
이후, 무인비행체(100)의 착륙이 완료되면, 상기 착륙부 본체 액추에이터(230`)의 작동에 의해 착륙부 본체(210`)가 최종위치(F)로 이동한다. 이때, 지지다리(110) 역시 지지다리 고정부(220`)에 의해 외력을 받아 이동하게 되고, 최종위치(F)에서 무인비행체(100)의 지지다리(110)는 지지다리 고정부(220`)에 의해 둘러싸여 고정된다. Then, when the landing of the unmanned aerial vehicle 100 is completed, the landing unit body 210` is moved to the final position F by the operation of the landing unit body actuator 230`. At this time, the support leg 110 is also moved by an external force by the support leg fixing part 220`, the support leg 110 of the unmanned aerial vehicle 100 at the final position (F) support leg fixing part 220` Enclosed and fixed).
따라서, 무인비행체(100)가 부정확한 착륙을 하더라도, 설계자가 의도한 위치에 정확하게 착륙을 유도할 수 있는 것이다(도 4 참조). 또한, 무인비행체(100)의 착륙 완료 후, 보다 안정적으로 무인비행체(100)를 지지하게 된다. 상기 최종위치(F)는 상기 최초위치(S)의 중심을 향해 이동된 위치일 수 있으나(도 5(a)), 반드시 이에 한정되는 것은 아니고, 설계자의 의도에 따라 달리 설정될 수도 있다(도 5(b) 참조).Therefore, even if the unmanned aerial vehicle 100 makes an incorrect landing, the landing can be precisely induced at the position intended by the designer (see FIG. 4). In addition, after the landing of the unmanned aerial vehicle 100 is completed, the unmanned aerial vehicle 100 is more stably supported. The final position F may be a position moved toward the center of the initial position S (FIG. 5 (a)), but is not necessarily limited thereto and may be set differently according to a designer's intention (FIG. 5 (b)).
도 7은 본 발명에 따른 무인비행체의 착륙 스테이션에서 교체부의 제 1 실시 예를 설명하는 도면이고, 도 8 및 도 9는 본 발명에 따른 무인비행체의 착륙 스테이션에서 교체부의 제 2 실시 예를 설명하는 도면이다. 도 7 내지 도 9를 참조할 때, 본 발명에 따른 무인비행체의 착륙 스테이션에서 교체부는 이탈용 액추에이터(310), 소모품 충전케이스(320) 및 삽입용 액추에이터(330)를 포함한다.7 is a view illustrating a first embodiment of the replacement portion in the landing station of the unmanned aerial vehicle according to the present invention, and FIGS. 8 and 9 are views illustrating a second embodiment of the replacement portion in the landing station of the unmanned aerial vehicle according to the present invention. Drawing. 7 to 9, in the landing station of the unmanned aerial vehicle according to the present invention, the replacement unit includes a release actuator 310, a consumable charging case 320, and an insertion actuator 330.
이탈용 액추에이터(310)는 상기 소모품 충전부(120)를 소모품 보관케이스(130)로부터 이탈시키는 역할을 한다. 소모품 충전케이스(320)는 상기 소모품 보관케이스(130)로부터 이탈된 상기 소모품 충전부(120)가 삽입되어 충전된다. 상기 소모품 충전케이스(320)는 하나 이상 구비될 수 있으며, 상기 소모품 충전케이스(320)가 복수 개인 경우에는 서로 다양한 형태로 연결될 수 있다. 상기 소모품 충전케이스의 연결 형태에 대한 상세한 설명은 후술하기로 한다.The detachment actuator 310 serves to detach the consumables charging unit 120 from the consumables storage case 130. The consumables charging case 320 is charged by inserting the consumables charging part 120 separated from the consumables storage case 130. The consumables charging case 320 may be provided in one or more, and in the case of a plurality of consumables charging case 320 may be connected to each other in various forms. A detailed description of the connection form of the consumables charging case will be given later.
삽입용 액추에이터(330)는 상기 소모품 충전케이스(320)에서 충전이 완료된 상기 소모품 충전부(120)를 이탈시켜, 상기 소모품 보관케이스(130)에 삽입하는 역할을 한다. 즉, 상기 이탈용 액추에이터(310), 소모품 충전케이스(320), 삽입용 액추에이터(330) 및 소모품 보관케이스(130)가 일직선상에 배열되는 것이다. 이에 따라, 상기 소모품 충전부(120)가 직선으로 최소한의 이동만 하더라도 재충전 및 장착이 되므로, 소모품 충전부(120)에 가해지는 충격이 최소화된다. Insertion actuator 330 serves to remove the consumables charging unit 120 is completed in the consumables charging case 320, inserting the consumables storage case 130. That is, the release actuator 310, the consumables charging case 320, the insertion actuator 330 and the consumables storage case 130 are arranged in a straight line. Accordingly, since the consumable charging unit 120 is recharged and mounted even with minimal movement in a straight line, the impact applied to the consumable charging unit 120 is minimized.
이때, 본 발명에 따른 무인비행체의 착륙 스테이션에서 교체부의 제 1 실시 예에서, 상기 이탈용 액추에이터(310) 및 상기 삽입용 액추에이터(330)는 직선방향으로 왕복운동 가능한 리니어 액추에이터일 수 있다(도 7 참조). At this time, in the first embodiment of the replacement unit in the landing station of the unmanned aerial vehicle, the release actuator 310 and the insertion actuator 330 may be a linear actuator capable of reciprocating in a linear direction (FIG. 7). Reference).
즉, 단순히 직선운동만을 수행하는 이탈용 액추에이터(310) 및 삽입용 액추에이터(330)를 사용하게 되므로, 복잡한 운동을 수행하는 고가의 액추에이터를 사용할 필요가 없어 제작비용을 절감할 수 있다. 또한, 단순히 직선운동만을 수행하므로, 이탈용 액추에이터(310) 및 삽입용 액추에이터(330)의 고장을 최소화할 수 있으며, 고장 발생시 손쉽게 교체할 수도 있다.That is, since the use of the release actuator 310 and the insertion actuator 330 to simply perform a linear movement, it is possible to reduce the production cost without the need to use an expensive actuator to perform a complex movement. In addition, since only linear movement is performed, failure of the release actuator 310 and the insertion actuator 330 can be minimized and can be easily replaced when a failure occurs.
또한, 본 발명에 따른 무인비행체의 착륙 스테이션에서 교체부의 제 2 실시 예에서, 상기 이탈용 액추에이터(310) 및 상기 삽입용 액추에이터(330)는 정/역방향으로 회전가능한 기어형 액추에이터일 수 있다. 그리고 상기 소모품 충전부(120)의 측면에는, 상기 이탈용 액추에이터(310) 및 상기 삽입용 액추에이터(330)와 맞물리도록, 기어홈(123)이 형성될 수 있다(도 8 및 도 9 참조). In addition, in the second embodiment of the replacement portion in the landing station of the unmanned aerial vehicle according to the present invention, the release actuator 310 and the insertion actuator 330 may be a geared actuator rotatable in the forward / reverse direction. In addition, a gear groove 123 may be formed at a side surface of the consumable charging part 120 to be engaged with the detachment actuator 310 and the insertion actuator 330 (see FIGS. 8 and 9).
즉, 정/역방향으로 회전하는 이탈용 액추에이터(310) 및 삽입용 액추에이터(330)를 사용하게 되므로, 리니어 액추에이터에 비해 적은 공간이 소요되므로, 무인비행체의 착륙 스테이션의 사이즈를 최소화할 수 있다. That is, since the release actuator 310 and the insertion actuator 330 rotating in the forward / reverse direction are used, less space is required as compared to the linear actuator, thereby minimizing the size of the landing station of the unmanned aerial vehicle.
또한, 회전 방향을 제어하여 이탈 또는 삽입을 시킬 수 있으므로, 이탈용 액추에이터(310) 및 삽입용 액추에이터(330)를 하나의 액추에이터로 병합할 수도 있다. 즉, 하나의 액추에이터를 사용하여, 제조공정을 단순화하고 제작단가를 낮출 수 있는 것이다.In addition, the separation or insertion may be performed by controlling the rotational direction, and thus, the separation actuator 310 and the insertion actuator 330 may be merged into one actuator. In other words, by using one actuator, the manufacturing process can be simplified and the manufacturing cost can be lowered.
이하, 상기 소모품 충전케이스(320) 및 상기 소모품 보관케이스(130)에 대한 상기 소모품 충전부(120)의 체결 및 충전 구조에 대해 상세하게 설명한다. 상기 소모품 충전부(120)에는 상기 이탈용 액추에이터(310) 측에 형성된 하나 이상의 무인비행체 체결홈(121) 및 상기 삽입용 액추에이터(330) 측에 형성된 하나 이상의 충전케이스 체결홈(122)이 형성된다.Hereinafter, the fastening and charging structure of the consumables charging unit 120 to the consumables charging case 320 and the consumables storage case 130 will be described in detail. The consumables charging unit 120 is provided with at least one unmanned vehicle fastening groove 121 formed at the side of the actuator 310 for separation and at least one charging case fastening groove 122 formed at the insertion actuator 330 side.
또한, 상기 소모품 보관케이스(130)에는 상기 무인비행체 체결홈(121)에 삽입되는 무인비행체 체결부(131)가 형성되고, 상기 소모품 충전케이스(320)에는 상기 충전케이스 체결홈(122)에 삽입되는 충전케이스 체결부(321)가 형성된다.In addition, the unmanned aerial vehicle fastening portion 131 is formed in the consumable storage case 130 is inserted into the unmanned aerial vehicle fastening groove 121, the consumable charging case 320 is inserted into the charging case fastening groove 122. The charging case fastening part 321 is formed.
즉, 상기 소모품 충전부(120)가 무인비행체(100)의 소모품 보관케이스(130)에 삽입된 경우에는, 상기 무인비행체 체결부(131)가 상기 무인비행체 체결홈(121)에 삽입되어, 상기 소모품 충전부(120)가 무인비행체(100)에 장착된다. 또한, 상기 무인비행체 체결홈(121) 및 상기 무인비행체 체결부(131)를 통해, 상기 소모품 충전부(120)에 저장된 소모품(전류, 살충제, 인공수분용 꽃가루 등)이 무인비행체(100)로 공급되는 것이다.That is, when the consumable charging unit 120 is inserted into the consumable storage case 130 of the unmanned aerial vehicle 100, the unmanned aerial vehicle fastening unit 131 is inserted into the unmanned aerial vehicle fastening groove 121, so that the consumables The charging unit 120 is mounted to the unmanned aerial vehicle 100. In addition, through the unmanned vehicle fastening groove 121 and the unmanned vehicle fastening unit 131, the consumables (current, insecticide, pollen for artificial pollination, etc.) stored in the consumable charging unit 120 are supplied to the unmanned aerial vehicle 100. Will be.
또한, 상기 소모품 충전부(120)가 교체부(300)의 소모품 충전케이스(320)에 삽입된 경우에는, 상기 충전케이스 체결부(321)가 상기 충전케이스 체결홈(122)에 삽입되어, 상기 소모품 충전부(120)가 교체부(300)에 장착된다. 또한, 상기 충전케이스 체결홈(122) 및 상기 충전케이스 체결부(321)를 통해, 소모품(전류, 살충제, 인공수분용 꽃가루 등)이 상기 소모품 충전부(120)에 충전 및 저장되는 것이다.In addition, when the consumables charging unit 120 is inserted into the consumables charging case 320 of the replacement unit 300, the charging case fastening unit 321 is inserted into the charging case fastening groove 122, so that the consumables The charging unit 120 is mounted to the replacement unit 300. In addition, the consumables (current, insecticide, pollen for artificial moisture, etc.) are charged and stored in the consumable charging part 120 through the charging case fastening groove 122 and the charging case fastening part 321.
이와 같이, 교체부(300)에서 자동으로 소모품 충전부(120)를 교체하게 되어, 무인비행체(100)는 별도의 충전시간을 확보할 필요없이, 곧바로 재가동할 수 있게 된다. 즉, 충전시간을 단축하여, 무인비행체(100)를 이용한 작업시간을 확장할 수 있는 것이다. As such, the consumable charging unit 120 is automatically replaced by the replacement unit 300, so that the unmanned aerial vehicle 100 can be immediately restarted without having to secure a separate charging time. That is, by shortening the charging time, it is possible to extend the working time using the unmanned aerial vehicle (100).
도 10 내지 도 13은 본 발명에 따른 무인비행체의 착륙 스테이션에서 교체부의 제 1 실시 예의 작동상태도이다. 도 10 내지 도 13을 참조할 때, 무인비행체(100)가 착륙을 완료(도 10 참조)한 경우에는, 우선 이탈용 액추에이터(310)가 작동한다. 이에 따라, 소모품 충전부(120)가 소모품 보관케이스(130)로부터 이탈하여 소모품 충전케이스(320)에 삽입된다(도 11 참조).10 to 13 is an operational state diagram of the first embodiment of the replacement unit in the landing station of the unmanned aerial vehicle according to the present invention. 10 to 13, when the unmanned aerial vehicle 100 completes landing (see FIG. 10), the first release actuator 310 operates. Accordingly, the consumables charging unit 120 is separated from the consumables storage case 130 and inserted into the consumables charging case 320 (see FIG. 11).
보다 상세하게 설명하면, 이탈용 액추에이터(310)의 작동으로 소모품 충전부(120)에 외력이 가해지고, 이에 따라 무인비행체 체결홈(121)에서 무인비행체 체결부(131)가 분리되어, 소모품 충전부(120)가 소모품 보관케이스(130)로부터 이탈하게 되는 것이다.In more detail, the external force is applied to the consumable charging unit 120 by the operation of the release actuator 310, and thus, the unmanned vehicle coupling unit 131 is separated from the unmanned vehicle coupling groove 121, and the consumable charging unit ( 120 is to be separated from the consumable storage case 130.
이와 동시에, 내부가 비어있는 소모품 충전케이스(320)가 상기 소모품 보관케이스(130)와 동일선상에 위치하게 된다. 이탈용 액추에이터(310)의 계속적인 작동으로 소모품 충전부(120)가 상기 소모품 충전케이스(320) 내부로 삽입되고, 이에 따라 충전케이스 체결부(321)가 상기 충전케이스 체결홈(122)에 삽입되어, 상기 소모품 충전부(120)가 소모품 충전케이스(320)에 장착되는 것이다.At the same time, the empty consumables charging case 320 is located on the same line as the consumables storage case 130. The consumables charging unit 120 is inserted into the consumables charging case 320 by the continuous operation of the release actuator 310, and thus the charging case fastening unit 321 is inserted into the charging case fastening groove 122. The consumables charging unit 120 is mounted on the consumables charging case 320.
이후, 복수 개의 소모품 충전케이스(320) 중 소모품의 충전이 완료된 소모품 충전부(120)가 내부에 삽입된 소모품 충전케이스(320)가 상기 소모품 보관케이스(130)와 동일선상에 위치하게 된다(도 12 참조). 즉, 소모품 충전부(120)를 다시 소모품 보관케이스(130)로 삽입할 준비를 하는 것이다.Subsequently, the consumables charging case 320 in which the consumables charging unit 120 having completed the charging of consumables among the plurality of consumables charging case 320 is inserted is positioned on the same line as the consumables storage case 130 (FIG. 12). Reference). That is, the consumables charging unit 120 is prepared to be inserted into the consumables storage case 130 again.
상기와 같이 소모품 충전케이스(320)의 위치이동이 완료된 이후, 삽입용 액추에이터(330)가 작동한다. 이에 따라, 소모품 충전부(120)가 소모품 충전케이스(320)로부터 이탈하여 소모품 보관케이스(130)에 삽입된다(도 13 참조).After the position movement of the consumables charging case 320 is completed as described above, the insertion actuator 330 operates. Accordingly, the consumable charging unit 120 is separated from the consumable charging case 320 and inserted into the consumable storage case 130 (see FIG. 13).
보다 상세하게 설명하면, 삽입용 액추에이터(330)의 작동으로 소모품 충전부(120)에 외력이 가해지고, 이에 따라 충전케이스 체결홈(122)에서 상기 충전케이스 체결부(321)가 분리되어, 소모품 충전부(120)가 소모품 충전케이스(320)로부터 이탈하게 되는 것이다.In more detail, the external force is applied to the consumable charging unit 120 by the operation of the inserting actuator 330, and thus the charging case coupling unit 321 is separated from the charging case coupling groove 122, thereby consumable charging unit. 120 is to be separated from the consumables charging case 320.
이와 동시에, 내부가 비어있는 소모품 보관케이스(130)가 상기 소모품 충전케이스(320)와 동일선상에 위치하게 된다. 삽입용 액추에이터(330)의 계속적인 작동으로 소모품 충전부(120)가 상기 소모품 보관케이스(130) 내부로 삽입되고, 이에 따라 무인비행체 체결부(131)가 상기 무인비행체 체결홈(121)에 삽입되어, 상기 소모품 충전부(120)가 소모품 보관케이스(130)에 장착되는 것이다.At the same time, the consumables storage case 130 having an empty inside is positioned on the same line as the consumables charging case 320. The consumables charging unit 120 is inserted into the consumables storage case 130 by the continuous operation of the insertion actuator 330, and thus, the unmanned vehicle fastening unit 131 is inserted into the unmanned vehicle fastening groove 121. The consumable charging unit 120 is mounted on the consumable storage case 130.
즉, 무인비행체(100)에 소모품을 제공할 준비가 완료된 것으로서, 곧바로 무인비행체(100)를 작동할 수 있는 상태가 되는 것이다.That is, as the preparation for providing the consumables to the unmanned aerial vehicle 100 is completed, the unmanned aerial vehicle 100 is ready to operate.
본 발명에 따른 무인비행체의 착륙 스테이션에서 교체부의 제 2 실시 예의 경우에는, 상기 제 1 실시 예의 이탈용 액추에이터(310) 및 삽입용 액추에이터(330)가 리니어 액추에이터에서 기어형 액추에이터로 변경된 것에 불과하다. 따라서, 상기 제 1 실시 예와 상기 제 2 실시 예의 작동상태는 극히 유사하므로, 본 발명에 따른 무인비행체의 착륙 스테이션에서 교체부의 제 2 실시 예의 작동상태에 대한 설명은 생략하기로 한다. In the case of the second embodiment of the replacement portion in the landing station of the unmanned aerial vehicle according to the present invention, the release actuator 310 and the insertion actuator 330 of the first embodiment are merely changed from the linear actuator to the geared actuator. Therefore, since the operating state of the first embodiment and the second embodiment is very similar, the description of the operating state of the second embodiment of the replacement unit in the landing station of the unmanned aerial vehicle according to the present invention will be omitted.
도 14 내지 도 16은 본 발명에 따른 무인비행체의 착륙 스테이션에서 소모품 충전케이스의 배치형태에 대한 다양한 변형 예를 설명하는 도면이다. 도 14를 참조할 때, 상기 교체부(300)는 복수 개의 상기 소모품 충전케이스(320)가 수직방향으로 연속적으로 배열되어 체결된 형태일 수 있다. 또한, 도 15를 참조할 때, 상기 교체부는 복수 개의 상기 소모품 충전케이스(320)가 회전가능한 실린더 형태의 제1 충전케이스 지지부(320-1)의 외주면을 따라 배열되는 형태일 수도 있다. 또한, 도 16을 참조할 때, 상기 교체부는 복수 개의 상기 소모품 충전케이스(320)가 캐터필러 형태의 제2 충전케이스 지지부(320-2)의 외주면을 따라 배열되는 형태일 수 있다. 단, 상기 교체부의 형태가 반드시 이에 한정되는 것은 아니고, 소모품 충전부(120)의 삽입 및 교체가 용이하게 이루어질 수 있도록, 다수의 상기 소모품 충전케이스(320)가 효율적으로 배치될 수 있는 구조이면 족하다.14 to 16 are views illustrating various modifications to the arrangement of the consumables charging case in the landing station of the unmanned aerial vehicle according to the present invention. Referring to FIG. 14, the replacement part 300 may have a form in which a plurality of the consumables charging case 320 are continuously arranged and fastened in a vertical direction. In addition, referring to FIG. 15, the replacement part may have a shape in which a plurality of the consumables charging case 320 is arranged along the outer circumferential surface of the first charging case support part 320-1 having a rotatable cylinder shape. In addition, referring to FIG. 16, the replacement part may have a shape in which a plurality of the consumables charging case 320 is arranged along the outer circumferential surface of the second charging case support part 320-2 having a caterpillar shape. However, the form of the replacement unit is not necessarily limited thereto, and the consumables charging case 320 may be efficiently disposed so that the consumables charging unit 120 may be easily inserted and replaced.
도 17은 본 발명에 따른 무인비행체의 착륙 스테이션의 제어방법의 제 1 실시 예의 순서도이다. 도 17을 참조할 때, 본 발명에 따른 무인비행체의 착륙 스테이션의 제어방법은 감지하는 단계(S100), 전류를 인가하는 단계(S200) 및 충전하는 단계(S300)를 포함한다. 17 is a flowchart of a first embodiment of a method for controlling a landing station of an unmanned aerial vehicle according to the present invention. Referring to FIG. 17, the control method of the landing station of the unmanned aerial vehicle according to the present invention includes a sensing step S100, applying a current S200, and charging S300.
감지하는 단계(S100)에서는 착륙감지부(400)에서 무인비행체(100)가 착륙부(200)에 착륙하였는지 여부를 감지한다. 상기한 바와 같이, 착륙감지부(400)가 무인비행체(100)의 무게를 감지하거나, 적외선 센서를 이용해 무인비행체(100)의 위치를 감지하는 등의 수단으로 무인비행체(100)가 착륙부(200)에 착륙하였는지 여부를 감지할 수 있다.In the detecting step S100, the landing detecting unit 400 detects whether the unmanned aerial vehicle 100 has landed on the landing unit 200. As described above, the landing detection unit 400 detects the weight of the unmanned aerial vehicle 100, or detects the position of the unmanned aerial vehicle 100 using an infrared sensor, or the like. It may be detected whether or not the aircraft has landed at 200).
인가하는 단계(S200)에서는 상기 무인비행체(100)가 상기 착륙부(200)에 착륙한 경우에는, 착륙부 충전단자(230)에 전류를 인가한다. 또한, 충전하는 단계(S300)에서는 상기 착륙부 충전단자(S230)에 접하는 무인비행체 충전단자(111)를 통해, 상기 무인비행체(100)의 배터리 셀(120-1)를 충전한다. In the step of applying (S200), when the unmanned aerial vehicle 100 lands on the landing portion 200, a current is applied to the landing portion charging terminal 230. In addition, in the charging step (S300) through the unmanned vehicle charging terminal 111 in contact with the landing unit charging terminal (S230), the battery cell 120-1 of the unmanned aerial vehicle 100 is charged.
즉, 무인비행체의 착륙 스테이션의 제어방법의 제 1 실시 예는 상기 착륙부의 제 1 실시 예를 이용하여, 상기 무인비행체(100)의 배터리 셀(120-1)을 자동으로 충전할 수 있다. 따라서, 첨단 기술인 무인비행체(UAV)의 관리를 용이하게 할 수 있는 것이다.That is, according to the first embodiment of the method for controlling the landing station of the unmanned aerial vehicle, the battery cell 120-1 of the unmanned aerial vehicle 100 may be automatically charged using the first embodiment of the landing unit. Therefore, it is possible to easily manage the advanced technology unmanned aerial vehicle (UAV).
도 18은 본 발명에 따른 무인비행체의 착륙 스테이션의 제어방법의 제 2 실시 예의 순서도이다. 도 18을 참조할 때, 본 발명에 따른 무인비행체의 착륙 스테이션의 제어방법은 감지하는 단계(S100`), 이동하는 단계(S200`), 작동시키는 단계(S300`), 작동시키는 단계(S400`)를 포함한다. 18 is a flowchart of a second embodiment of a method for controlling a landing station of an unmanned aerial vehicle according to the present invention. Referring to FIG. 18, the control method of the landing station of the unmanned aerial vehicle according to the present invention includes detecting (S100 ′), moving (S200 ′), operating (S300 ′), and operating (S400 ′) a sensing method. ).
감지하는 단계(S100`)에서는 착륙감지부(400)에서 무인비행체(100)가 착륙부(200)에 착륙하였는지 여부를 감지한다. 상기한 바와 같이, 착륙감지부(400)가 무인비행체(100)의 무게를 감지하거나, 적외선 센서를 이용해 무인비행체(100)의 위치를 감지하는 등의 수단으로 무인비행체(100)가 착륙부(200)에 착륙하였는지 여부를 감지할 수 있다.In the detecting step S100 ′, the landing detection unit 400 detects whether the unmanned aerial vehicle 100 has landed on the landing unit 200. As described above, the landing detection unit 400 detects the weight of the unmanned aerial vehicle 100, or detects the position of the unmanned aerial vehicle 100 using an infrared sensor, or the like. It may be detected whether or not the aircraft has landed at 200).
이동하는 단계(S200`)에서는 상기 무인비행체(100)가 상기 착륙부(200)에 착륙한 경우에는, 상기 무인비행체(100)의 지지다리(110)를 고정하기 위해 착륙부 본체(210`)가 분할된 최초위치(S)로부터 결합된 최종위치(F)로 이동하게 된다. 즉, 상기 착륙부 본체(210`)의 초기상태는 서로 분할된 최초위치(S)이다. 이에 따라, 복수 개의 지지다리(110)를 구비한 무인비행체(100)의 착륙가능 범위를 최대한 확대할 수 있는 것이다. In the moving step (S200`), when the unmanned aerial vehicle 100 landed on the landing unit 200, the landing unit body 210` to fix the support leg 110 of the unmanned aerial vehicle 100. Is moved from the divided initial position (S) to the combined final position (F). That is, the initial state of the landing unit main body 210` is the initial position S divided from each other. Accordingly, the landing possible range of the unmanned aerial vehicle 100 having the plurality of support legs 110 can be maximized.
이후, 무인비행체(100)의 착륙이 완료되면, 상기 착륙부 본체 액추에이터(230`)의 작동에 의해 착륙부 본체(210`)가 최종위치(F)로 이동한다. 이때, 지지다리(110) 역시 지지다리 고정부(220`)에 의해 외력을 받아 이동하게 되고, 최종위치(F)에서 무인비행체(100)의 지지다리(110)는 지지다리 고정부(220`)에 의해 둘러싸여 고정된다. Then, when the landing of the unmanned aerial vehicle 100 is completed, the landing unit body 210` is moved to the final position F by the operation of the landing unit body actuator 230`. At this time, the support leg 110 is also moved by an external force by the support leg fixing part 220`, the support leg 110 of the unmanned aerial vehicle 100 at the final position (F) support leg fixing part 220` Enclosed and fixed).
따라서, 무인비행체(100)가 부정확한 착륙을 하더라도, 설계자가 의도한 위치에 정확하게 착륙을 유도할 수 있는 것이다(도 4 참조). 또한, 무인비행체(100)의 착륙 완료 후, 보다 안정적으로 무인비행체(100)를 지지하게 된다. 상기 최종위치(F)는 상기 최초위치(S)의 중심을 향해 이동된 위치일 수 있으나(도 5(a) 참조), 반드시 이에 한정되는 것은 아니고, 설계자의 의도에 따라 달리 설정될 수도 있다(도 5(b) 참조).Therefore, even if the unmanned aerial vehicle 100 makes an incorrect landing, the landing can be precisely induced at the position intended by the designer (see FIG. 4). In addition, after the landing of the unmanned aerial vehicle 100 is completed, the unmanned aerial vehicle 100 is more stably supported. The final position F may be a position moved toward the center of the initial position S (see FIG. 5 (a)), but is not necessarily limited thereto, and may be set differently according to a designer's intention ( See FIG. 5 (b)).
작동시키는 단계(S300`)에서는 소모품 충전부(120)를 소모품 보관케이스(130)로부터 이탈시켜, 복수 개중 어느 하나의 소모품 충전케이스(320)로 삽입하도록, 이탈용 액추에이터(310)를 작동시킨다. In operation S300 ′, the consumables charging unit 120 is separated from the consumables storage case 130, and the detachment actuator 310 is operated to insert the consumables charging case 320 into any one of the plurality of consumables charging case 320.
보다 상세하게 설명하면, 이탈용 액추에이터(310)의 작동으로 소모품 충전부(120)에 외력이 가해지고, 이에 따라 무인비행체 체결홈(121)에서 무인비행체 체결부(131)가 분리되어, 소모품 충전부(120)가 소모품 보관케이스(130)로부터 이탈하게 되는 것이다(도 9 참조).In more detail, the external force is applied to the consumable charging unit 120 by the operation of the release actuator 310, and thus, the unmanned vehicle coupling unit 131 is separated from the unmanned vehicle coupling groove 121, and the consumable charging unit ( 120 is to be separated from the consumable storage case 130 (see Fig. 9).
이와 동시에, 내부가 비어있는 소모품 충전케이스(320)가 상기 소모품 보관케이스(130)와 동일선상에 위치하게 된다. 이탈용 액추에이터(310)의 계속적인 작동으로 소모품 충전부(120)가 상기 소모품 충전케이스(320) 내부로 삽입되고, 이에 따라 충전케이스 체결부(321)가 상기 충전케이스 체결홈(122)에 삽입되어, 상기 소모품 충전부(120)가 소모품 충전케이스(320)에 장착되는 것이다.At the same time, the empty consumables charging case 320 is located on the same line as the consumables storage case 130. The consumables charging unit 120 is inserted into the consumables charging case 320 by the continuous operation of the release actuator 310, and thus the charging case fastening unit 321 is inserted into the charging case fastening groove 122. The consumables charging unit 120 is mounted on the consumables charging case 320.
작동시키는 단계(S400`)에서는 충전이 완료된 소모품 충전부(120)를 또 다른 소모품 충전케이스(320)로부터 이탈시켜 상기 소모품 보관케이스(130)에 삽입하도록, 삽입용 액추에이터(300)를 작동시킨다. In operation S400 ′, the inserting actuator 300 is operated to separate the consumables charging unit 120 from which the charging is completed and to insert the consumables charging unit 120 from the other consumables charging case 320 and insert the consumables storage case 130.
보다 상세하게 설명하면, 상기 작동시키는 단계(S300`) 이후, 복수 개의 소모품 충전케이스(320) 중 소모품의 충전이 완료된 소모품 충전부(120)가 내부에 삽입된 소모품 충전케이스(320)를 상기 소모품 보관케이스(130)와 동일선상에 위치시킨다(도 10 참조). 즉, 소모품 충전부(120)를 다시 소모품 보관케이스(130)로 삽입할 준비를 하는 것이다.In more detail, after the operation (S300 ′), the consumables charging case 320 in which the consumables charging unit 120 having completed charging of consumables among the plurality of consumables charging case 320 is inserted therein is stored in the consumables. It is positioned on the same line as the case 130 (see FIG. 10). That is, the consumables charging unit 120 is prepared to be inserted into the consumables storage case 130 again.
상기와 같이 소모품 충전케이스(320)의 위치이동이 완료된 이후, 삽입용 액추에이터(330)를 작동시킨다. 이에 따라, 소모품 충전부(120)가 소모품 충전케이스(320)로부터 이탈하여 소모품 보관케이스(130)에 삽입된다(도 11 참조).After the position movement of the consumables charging case 320 is completed as described above, the insertion actuator 330 is operated. Accordingly, the consumable charging unit 120 is separated from the consumable charging case 320 and inserted into the consumable storage case 130 (see FIG. 11).
즉, 삽입용 액추에이터(330)의 작동으로 소모품 충전부(120)에 외력이 가해지고, 이에 따라 충전케이스 체결홈(122)에서 상기 충전케이스 체결부(321)가 분리되어, 소모품 충전부(120)가 소모품 충전케이스(320)로부터 이탈하게 되는 것이다.That is, the external force is applied to the consumable charging unit 120 by the operation of the insertion actuator 330, and thus the charging case coupling unit 321 is separated from the charging case coupling groove 122, so that the consumable charging unit 120 is Will be separated from the consumables charging case 320.
이와 동시에, 내부가 비어있는 소모품 보관케이스(130)가 상기 소모품 충전케이스(320)와 동일선상에 위치하게 된다. 삽입용 액추에이터(330)의 계속적인 작동으로 소모품 충전부(120)가 상기 소모품 보관케이스(130) 내부로 삽입되고, 이에 따라 무인비행체 체결부(131)가 상기 무인비행체 체결홈(121)에 삽입되어, 상기 소모품 충전부(120)가 소모품 보관케이스(130)에 장착되는 것이다.At the same time, the consumables storage case 130 having an empty inside is positioned on the same line as the consumables charging case 320. The consumables charging unit 120 is inserted into the consumables storage case 130 by the continuous operation of the insertion actuator 330, and thus, the unmanned vehicle fastening unit 131 is inserted into the unmanned vehicle fastening groove 121. The consumable charging unit 120 is mounted on the consumable storage case 130.
이에 따라, 무인비행체(100)에 소모품을 제공할 준비가 완료되며, 곧바로 무인비행체(100)를 작동할 수 있는 상태가 된다. 즉, 충전 전력, 인공수분용 꽃가루, 살충제 등 무인비행체의 비행시 소모된 요소를 착륙과 동시에 자동으로 충전시키므로, 첨단 기술인 무인비행체(UAV)의 관리를 용이하게 할 수 있는 것이다.Accordingly, the preparation for providing the consumables to the unmanned aerial vehicle 100 is completed, and the unmanned aerial vehicle 100 can be operated immediately. In other words, charging power, artificial pollen, insecticides, such as insects consumed during the flight of the unmanned aerial vehicle is automatically charged at the same time as the landing, it is possible to facilitate the management of advanced technology unmanned aerial vehicle (UAV).
앞서 살펴본 실시 예는 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자(이하 '당업자'라 한다)가 본 발명을 용이하게 실시할 수 있도록 하는 바람직한 실시 예일 뿐, 전술한 실시 예 및 첨부한 도면에 한정되는 것은 아니므로 이로 인해 본 발명의 권리범위가 한정되는 것은 아니다. 따라서, 본 발명의 기술적 사상을 벗어나지 않는 범위 내에서 여러 가지 치환, 변형 및 변경이 가능하다는 것이 당업자에게 있어 명백할 것이며, 당업자에 의해 용이하게 변경 가능한 부분도 본 발명의 권리범위에 포함됨은 자명하다.The above-described embodiment is just a preferred embodiment for those skilled in the art to which the present invention pertains (hereinafter, referred to as a person skilled in the art) to easily carry out the present invention. Since the present invention is not limited thereto, the scope of the present invention is not limited thereto. Therefore, it will be apparent to those skilled in the art that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention, and it is apparent that parts easily changed by those skilled in the art are included in the scope of the present invention. .
[부호의 설명][Description of the code]
100 무인비행체100 drone
110 지지다리110 Supporting Legs
111 무인비행체 충전단자111 Unmanned Vehicle Charging Terminal
120 소모품 충전부120 Consumables
121 무인비행체 체결홈121 unmanned aerial vehicle
122 충전케이스 체결홈122 Charging Case Fastening Groove
123 기어홈123 gearway
120-1 배터리 셀120-1 battery cell
120-2 살충제 충전부120-2 Insecticide Charging Part
120-3 꽃가루 충전부120-3 Pollen Charging Part
130 소모품 보관케이스130 Supplies Storage Case
131 무인비행체 체결부131 drone joint
200 착륙부200 landings
210, 210` 착륙부 본체210, 210` landing body
220 착륙지점 유도부220 Landing Site Guide
230 착륙부 충전단자230 landing compartment charging terminal
220` 지지다리 고정부220` support leg fixing part
230` 착륙부 본체 액추에이터230` landing body actuator
230 착륙부 충전단자230 landing compartment charging terminal
300 교체부300 replacement parts
310 이탈용 액추에이터310 Release Actuator
320 소모품 충전케이스320 charging case
320-1 제1 충전케이스 지지부320-1 first charging case support
320-2 제2 충전케이스 지지부320-2 Second Charging Case Support
321 충전케이스 체결부321 charging case connection
330 삽입용 액추에이터330 Insertion Actuator
400 착륙감지부400 landing detection department
500 제어부500 control unit
S 최초위치S initial position
F 최종위치F final position

Claims (17)

  1. 복수 개의 지지다리(110)를 구비하는 무인비행체(100)가 착륙하는 착륙부(200); 및A landing part 200 in which the unmanned aerial vehicle 100 having a plurality of support legs 110 lands; And
    상기 착륙부(200)에 착륙한 상기 무인비행체(100)의 소모품 충전부(120)를 교체하는 교체부(300);A replacement part 300 for replacing the consumable part charging part 120 of the unmanned aerial vehicle 100 landing on the landing part 200;
    를 포함하는 무인비행체의 착륙 스테이션.Landing station of the drone comprising a.
  2. 제 1항에 있어서,The method of claim 1,
    상기 무인비행체(100)가 상기 착륙부(200)에 착륙하였는지 여부를 감지하는 착륙감지부(400); 및 A landing detection unit 400 detecting whether the unmanned aerial vehicle 100 has landed on the landing unit 200; And
    상기 착륙감지부(400)의 감지신호를 수신하여, 상기 착륙부(200)와 상기 교체부(300)를 제어하는 제어부(500);A control unit 500 which receives the detection signal of the landing detection unit 400 and controls the landing unit 200 and the replacement unit 300;
    를 더 포함하는 것을 특징으로 하는 무인비행체의 착륙 스테이션.Landing station of the unmanned aerial vehicle further comprising.
  3. 제 1항에 있어서,The method of claim 1,
    상기 소모품 충전부(120)는,The consumables charging unit 120,
    상기 무인비행체(100)에 전력을 공급하는 배터리 셀(120-1);A battery cell 120-1 supplying power to the unmanned aerial vehicle 100;
    상기 무인비행체(100)에서 분사하는 분말이 충전되는 분말 충전부(120-2); 및 A powder filling part 120-2 filled with powder sprayed from the unmanned aerial vehicle 100; And
    상기 무인비행체(100)에서 분사하는 액체가 충전되는 액체 충전부(120-3);A liquid filling part 120-3 in which the liquid sprayed from the unmanned aerial vehicle 100 is filled;
    중 어느 하나 이상인 것을 특징으로 하는 무인비행체의 착륙 스테이션.Landing station of the unmanned aerial vehicle, characterized in that any one or more of.
  4. 제 1항에 있어서,The method of claim 1,
    상기 착륙부(200)는,The landing portion 200,
    판상의 착륙부 본체(210); Plate-shaped landing body 210;
    상기 착륙부 본체(210)의 상면에 하나 이상 형성되며, 내부에 상기 지지다리(110)가 삽입되도록 상방을 향해 개방된 홈인 착륙지점 유도부(220); 및At least one landing point guide part 220 formed on an upper surface of the landing body main body 210 and a groove open upwardly to insert the support leg 110 therein; And
    상기 착륙지점 유도부(220)의 내측면에 코팅장착된 금속재질의 착륙부 충전단자(230);A landing part charging terminal 230 made of a metal material coated on the inner surface of the landing point induction part 220;
    를 포함하는 것을 특징으로 하는 무인비행체의 착륙 스테이션.Landing station of the drone, comprising a.
  5. 제 4항에 있어서,The method of claim 4, wherein
    상기 무인비행체(100)는,The unmanned aerial vehicle 100,
    상기 지지다리(110)의 접지면에 장착된 무인비행체 충전단자(111); An unmanned aerial vehicle charging terminal 111 mounted on the ground plane of the support leg 110;
    를 더 포함하며,More,
    상기 무인비행체(100)가 상기 착륙부(200)에 착륙한 경우에는, 상기 무인비행체 충전단자(111)와 상기 착륙부 충전단자(230)가 접촉하여, 배터리 셀(120-1)이 자동으로 충전되는 것을 특징으로 하는 무인비행체의 착륙 스테이션.When the unmanned aerial vehicle 100 lands on the landing unit 200, the unmanned aerial vehicle charging terminal 111 and the landing unit charging terminal 230 come into contact with each other, and the battery cell 120-1 automatically operates. Landing station of the unmanned aerial vehicle, characterized in that it is charged.
  6. 제 1항에 있어서,The method of claim 1,
    상기 착륙부(200)는,The landing portion 200,
    복수 개로 분할 가능한 판상의 착륙부 본체(210`); A plate-shaped landing body body 210 'that can be divided into a plurality of pieces;
    복수 개의 상기 착륙부 본체(210) 각각의 상면에서 상방으로 돌출형성되어, 상기 지지다리(110)에 접촉하는 지지다리 고정부(220`); 및A support leg fixing part 220 ′ formed to protrude upward from an upper surface of each of the plurality of landing body main bodies 210 to be in contact with the support leg 110; And
    상기 착륙부 본체(210`)가 분할된 최초위치(S)로부터 상기 착륙부 본체(210`)가 결합된 최종위치(F)를 향해 상기 착륙부 본체(210`)를 이동시키는 착륙부 본체 액추에이터(230`);Landing body main body actuator for moving the landing body main body 210` from the initial position (S) from which the landing body main body 210` is divided toward the final position F to which the landing body main body 210` is coupled. (230`);
    를 포함하는 것을 특징으로 하는 무인비행체의 착륙 스테이션.Landing station of the drone, comprising a.
  7. 제 1항에 있어서,The method of claim 1,
    상기 교체부(300)는,The replacement unit 300,
    상기 소모품 충전부(120)를 소모품 보관케이스(130)로부터 이탈시키는 이탈용 액추에이터(310);A separation actuator 310 which separates the consumables charging unit 120 from the consumables storage case 130;
    상기 소모품 보관케이스(130)로부터 이탈된 상기 소모품 충전부(120)가 삽입되어 충전되는 하나 이상의 소모품 충전케이스(320); 및At least one consumables charging case 320 into which the consumables charging unit 120 which is separated from the consumables storage case 130 is inserted and charged; And
    상기 소모품 충전케이스(320)에서 충전이 완료된 상기 소모품 충전부(120)를 이탈시켜, 상기 소모품 보관케이스(130)에 삽입하는 삽입용 액추에이터(330);An insertion actuator 330 which is removed from the consumables charging unit 120 in which the charge is completed in the consumables charging case 320 and inserted into the consumables storage case 130;
    를 포함하는 것을 특징으로 하는 무인비행체의 착륙 스테이션.Landing station of the drone, comprising a.
  8. 제 7항에 있어서,The method of claim 7, wherein
    상기 소모품 충전부(120)는,The consumables charging unit 120,
    상기 이탈용 액추에이터(310) 측에 형성된 하나 이상의 무인비행체 체결홈(121); 및One or more unmanned aerial vehicle coupling grooves 121 formed on the release actuator 310 side; And
    상기 삽입용 액추에이터(330) 측에 형성된 하나 이상의 충전케이스 체결홈(122);At least one charging case fastening groove 122 formed at the insertion actuator 330 side;
    을 포함하는 것을 특징으로 하는 무인비행체의 착륙 스테이션.Landing station of the unmanned aerial vehicle comprising a.
  9. 제 8항에 있어서,The method of claim 8,
    상기 소모품 보관케이스(130)는,The consumable storage case 130,
    상기 무인비행체 체결홈(121)에 삽입되는 무인비행체 체결부(131);An unmanned aerial vehicle fastening part 131 inserted into the unmanned aerial vehicle fastening groove 121;
    를 포함하고,Including,
    상기 소모품 충전케이스(320)는,The consumables charging case 320 is,
    상기 충전케이스 체결홈(122)에 삽입되는 충전케이스 체결부(321);A charging case coupling part 321 inserted into the charging case coupling groove 122;
    를 포함하는 것을 특징으로 하는 무인비행체의 착륙 스테이션.Landing station of the drone, comprising a.
  10. 제 7항에 있어서,The method of claim 7, wherein
    상기 이탈용 액추에이터(310) 및 상기 삽입용 액추에이터(330)는 직선방향으로 왕복운동 가능한 리니어 액추에이터인 것을 특징으로 하는 무인비행체의 착륙 스테이션.The detachment actuator 310 and the insertion actuator 330 is a landing station of an unmanned aerial vehicle, characterized in that the linear actuator reciprocating in a linear direction.
  11. 제 7항에 있어서,The method of claim 7, wherein
    상기 이탈용 액추에이터(310) 및 상기 삽입용 액추에이터(330)는 정/역방향으로 회전가능한 기어형 액추에이터인 것을 특징으로 하는 무인비행체의 착륙 스테이션.The take-off actuator (310) and the insertion actuator (330) is a landing station of an unmanned aerial vehicle, characterized in that the gear-type actuator rotatable in the forward / reverse direction.
  12. 제 11항에 있어서,The method of claim 11,
    상기 소모품 충전부(120)의 측면에는,On the side of the consumables charging unit 120,
    상기 이탈용 액추에이터(310) 및 상기 삽입용 액추에이터(330)와 맞물리도록, 기어홈(123)이 형성되는 것을 특징으로 하는 무인비행체의 착륙 스테이션.Landing station of the unmanned aerial vehicle, characterized in that the gear groove (123) is formed to engage with the release actuator (310) and the insertion actuator (330).
  13. 제 7항에 있어서,The method of claim 7, wherein
    복수 개의 상기 소모품 충전케이스(320)가 수직방향으로 연속적으로 배열되어 체결된 것을 특징으로 하는 무인비행체의 착륙 스테이션.Landing station of the unmanned aerial vehicle, characterized in that a plurality of the consumables charging case 320 is continuously arranged and fastened in the vertical direction.
  14. 제 7항에 있어서,The method of claim 7, wherein
    복수 개의 상기 소모품 충전케이스(320)가 회전가능한 실린더 형태의 제1 충전케이스 지지부(320-1)의 외주면을 따라 배열되는 것을 특징으로 하는 무인비행체의 착륙 스테이션.The landing station of the unmanned aerial vehicle, characterized in that a plurality of the consumables charging case 320 is arranged along the outer circumferential surface of the first charging case support (320-1) of the rotatable cylinder form.
  15. 제 7항에 있어서,The method of claim 7, wherein
    복수 개의 상기 소모품 충전케이스(320)가 캐터필러 형태의 제2 충전케이스 지지부(320-2)의 외주면을 따라 배열되는 것을 특징으로 하는 무인비행체의 착륙 스테이션.The landing station of the unmanned aerial vehicle, characterized in that a plurality of the consumables charging case 320 is arranged along the outer circumferential surface of the second charging case support portion 320-2 of the caterpillar type.
  16. 제 1항 내지 제 5항 중 어느 한 항의 무인비행체의 착륙 스테이션의 제어방법에 있어서,In the control method of the landing station of the unmanned aerial vehicle of any one of Claims 1-5,
    착륙감지부(400)에서 무인비행체(100)가 착륙부(200)에 착륙하였는지 여부를 감지하는 단계(S100);Detecting whether the unmanned aerial vehicle 100 has landed on the landing unit 200 by the landing detecting unit 400 (S100);
    상기 무인비행체(100)가 상기 착륙부(200)에 착륙한 경우에는, 착륙부 충전단자(230)에 전류를 인가하는 단계(S200); 및 When the unmanned aerial vehicle 100 lands on the landing part 200, applying a current to the landing part charging terminal 230 (S200); And
    상기 착륙부 충전단자(S230)에 접하는 무인비행체 충전단자(111)를 통해, 상기 무인비행체(100)의 배터리 셀(120-1)를 충전하는 단계(S300);Charging the battery cell 120-1 of the unmanned aerial vehicle 100 through the unmanned aerial vehicle charging terminal 111 in contact with the landing unit charging terminal S230 (S300);
    를 포함하는 것을 특징으로 하는 무인비행체의 착륙 스테이션의 제어방법.Control method of the landing station of the unmanned aerial vehicle comprising a.
  17. 제 1항 내지 제 3항, 제 6항 내지 제 15항 중 어느 한 항의 무인비행체의 착륙 스테이션의 작동방법에 있어서,In the method of operating the landing station of the unmanned aerial vehicle according to any one of claims 1 to 3, 6 to 15,
    착륙감지부(400)에서 무인비행체(100)가 착륙부(200)에 착륙하였는지 여부를 감지하는 단계(S100`);Detecting whether the unmanned aerial vehicle 100 has landed on the landing unit 200 by the landing detecting unit 400 (S100 ′);
    상기 무인비행체(100)가 상기 착륙부(200)에 착륙한 경우에는, 상기 무인비행체(100)의 지지다리(110)를 고정하기 위해 착륙부 본체(210`)가 분할된 최초위치(S)로부터 결합된 최종위치(F)로 이동하는 단계(S200`);When the unmanned aerial vehicle 100 lands on the landing part 200, an initial position S of which the landing body main body 210 ′ is divided to fix the support leg 110 of the unmanned aerial vehicle 100 is fixed. Moving to the final position F combined from the step S200`;
    소모품 충전부(120)를 소모품 보관케이스(130)로부터 이탈시켜, 복수 개중 어느 하나의 소모품 충전케이스(320)로 삽입하도록, 이탈용 액추에이터(310)를 작동시키는 단계(S300`); 및Discharging the consumables charging unit 120 from the consumables storage case 130 and operating the detachment actuator 310 to insert the consumables charging case 320 into any one of the consumables charging case 320 (S300 ′); And
    충전이 완료된 소모품 충전부(120)를 또 다른 소모품 충전케이스(320)로부터 이탈시켜 상기 소모품 보관케이스(130)에 삽입하도록, 삽입용 액추에이터(300)를 작동시키는 단계(S400`);Operating the insertion actuator (300) to separate the consumable part charging unit (120) from which the charging is completed and to insert the consumable part charging unit (320) into the consumable storage case (130);
    를 포함하는 것을 특징으로 하는 무인비행체의 착륙 스테이션의 제어방법.Control method of the landing station of the unmanned aerial vehicle comprising a.
PCT/KR2017/014591 2017-02-28 2017-12-13 Landing station of unmanned aerial vehicle and control method therefor WO2018159934A1 (en)

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