WO2021118019A1 - 무인 비행기용 착륙 제어장치 - Google Patents
무인 비행기용 착륙 제어장치 Download PDFInfo
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- WO2021118019A1 WO2021118019A1 PCT/KR2020/012426 KR2020012426W WO2021118019A1 WO 2021118019 A1 WO2021118019 A1 WO 2021118019A1 KR 2020012426 W KR2020012426 W KR 2020012426W WO 2021118019 A1 WO2021118019 A1 WO 2021118019A1
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- Prior art keywords
- landing
- unmanned aerial
- aerial vehicle
- control device
- coupled
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- 238000000034 method Methods 0.000 claims description 14
- 230000003028 elevating effect Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000001174 ascending effect Effects 0.000 claims description 2
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- 238000012544 monitoring process Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/34—In-flight charging
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/52—Skis or runners
-
- 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
- B64F1/222—Ground or aircraft-carrier-deck installations for handling aircraft for storing aircraft, e.g. in hangars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C2025/325—Alighting gear characterised by elements which contact the ground or similar surface specially adapted for helicopters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/50—On board measures aiming to increase energy efficiency
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
Definitions
- the present invention relates to a landing control device for an unmanned aerial vehicle. More specifically, it is a landing control device for an unmanned aerial vehicle that improves landing precision by minimizing the error range for the landing position, and guides the landing at the correct landing position even if an error occurs in the landing position of the unmanned aerial vehicle during landing. it's about
- Unmanned Aerial Vehicles such as drones do not have a pilot on board and fly by remote control or autonomous flight control device, so that human beings such as reconnaissance, bombing, cargo transport, forest fire monitoring, radiation monitoring, etc. It is an airplane that performs a mission that is difficult or dangerous to perform directly, and is being used in various fields as it is popularized not only for military use but also for civilian use.
- an unmanned aerial vehicle it is configured such that the landing is performed manually by a pilot during landing, or an automatic landing is made by guiding it to a specific position by the landing control system.
- the landing control system a system for inducing landing using the transceiver of the charging module configured in each of the unmanned aerial vehicle and the charging station is implemented.
- a landing control system using the transceiver of the charging module there is a hassle of physically controlling the landing position because it is necessary to align the position of the power contact between the transmitter and the receiver.
- a landing control system a method using a GPS and a method using a mechanical device are implemented, but in the case of the GPS method, a problem of lowering precision depending on the environment is exposed, and the forward heading of the unmanned aerial vehicle (Heading) direction is implemented.
- Heading unmanned aerial vehicle
- the flight unit for flying a drone; a communication unit configured to receive distance measurement information measured by a plurality of distance measurement sensors; Set the target landing point as the origin of the preset coordinates, set the measurement point of each distance measuring sensor located around the target landing point as each measurement coordinate of the preset coordinate, and divide the target landing point into a plurality of zones division setting unit; a determination unit that calculates and compares the measured distance to the drone from the distance measurement information measured by each distance measurement sensor; And a control unit for controlling the landing of the drone using the comparison result of comparing the measured distance to the drone and the divided plurality of zone information; a drone landing guidance device including a bar has been published.
- Patent Document 1 Republic of Korea Patent Publication No. 10-2019-0054432
- the present invention has been devised by the above-mentioned background technology, and improves landing precision by minimizing the error range for the landing position using an IR beacon, and the error on the landing position of the unmanned aerial vehicle during landing
- An object of the present invention is to provide a landing control device for an unmanned aerial vehicle that guides the landing at an accurate landing position even when a crash occurs.
- the present invention makes it possible to automatically align the position between the unmanned aerial vehicle and the charging station upon landing of the unmanned aerial vehicle, so that the contact point between the receiving unit and the transmitting unit for power charging can be precisely aligned, so that efficient charging regardless of the power charging method of the unmanned aerial vehicle
- An object of the present invention is to provide a landing control device for an unmanned aerial vehicle capable of this.
- the object of the present invention is not limited thereto, and even if not explicitly mentioned, the object or effect that can be grasped from the solution or embodiment of the problem is also included therein.
- the leg frame and the charging receiving module are configured at the lower portion
- the unmanned aerial vehicle is configured with a landing control unit for controlling whether to land; an IR beacon configured on one side of the unmanned aerial vehicle to receive landing location information and transmit it to the landing control unit; a landing control device for transmitting landing location information to the IR beacon, performing an up/down operation according to whether the unmanned aerial vehicle has landed, and minimizing an error of the landing location information; and an alignment skid member mounted on the leg frame and descending along one surface of the landing control device upon landing to align the landing position of the unmanned aerial vehicle so that the charging receiving module and the charging transmitting module are coaxially positioned.
- the IR beacon is coupled to the unmanned aerial vehicle, and a beacon frame whose length is adjusted according to the control of the landing controller is further configured.
- the landing control device is configured with a charging transmission module on the upper surface, the alignment skid member is in contact with the landing of the unmanned aerial vehicle along the circumferential surface, and the lowering operation of the alignment skid member is performed.
- a guide member having a guide surface to support it; a top plate to which the guide member is coupled, and the elevating operation is performed according to whether the unmanned aerial vehicle is landed; a height adjustment device for lifting and lowering the upper plate; a driving frame for controlling the driving of the height adjusting device; and a position sensor unit for transmitting landing position information and a driving signal to the IR beacon and the driving frame, respectively.
- the guide member is characterized in that it is formed in a trapezoidal shape whose area gradually widens from the top to the bottom.
- the height adjusting device includes a plurality of adjustment bars that are coupled to cross each other in the center portion, and are rotatably coupled; a rotary hinge rotatably coupled to both ends of the plurality of control bars; a guide hinge coupled to the central portion of the plurality of control bars and supporting the rotation operation; and a transfer frame coupled to the control bars respectively positioned at the upper end and the lower end of the plurality of control bars, and supporting the rotational operation of the control bars during the elevating operation; and a driving motor for rotating the control bars according to the control of the driving frame.
- the height adjusting device includes: a cylinder member coupled to the driving frame, the elevating operation is made; a support plate having an upper surface coupled to a lower surface of the upper plate and having a lower surface coupled to the cylinder member; and a support frame on which the lower surface of the support plate is seated during the lowering operation.
- the alignment skid member includes a plurality of connecting bars coupled to both ends to form an orthogonal to each other with the leg frame; a skid body located in the center of each of the plurality of connecting bars and configured to perform a lowering operation along the outer surface of the landing control device; and a friction force reducing member configured on the outer surface of the skid body and minimizing friction with the landing control device when the unmanned aerial vehicle descends.
- the alignment skid member is characterized in that it is rotatably coupled so that the inlet or draw out to the side of the leg frame.
- FIG. 1 and 2 are views schematically showing an unmanned aerial vehicle equipped with an alignment skid according to an embodiment of the present invention
- FIG. 3 is a partial perspective view showing a landing control device for an unmanned aerial vehicle according to an embodiment of the present invention
- FIG. 4 is a view schematically showing a state in which an unmanned aerial vehicle is landed on a landing control device according to an embodiment of the present invention
- FIG. 5 is a view schematically showing a state in which the alignment skid member is seated in the landing control device according to an embodiment of the present invention
- FIGS. 6 and 7 are cross-sectional views showing the ascending/lowering operation state of the landing control device for an unmanned aerial vehicle according to an embodiment of the present invention
- FIG 8 is another embodiment showing the elevating structure of the landing control device for an unmanned aerial vehicle according to an embodiment of the present invention.
- 9 and 10 are other embodiments showing an alignment skid member according to an embodiment of the present invention.
- a component When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but another component is between each component. It should be understood that elements may be “connected,” “coupled,” or “connected.”
- leg frame 150 landing control
- IR beacon 170 beacon frame
- skid body 330 friction reducing member
- the present invention improves the accuracy of the landing position of the unmanned aerial vehicle 100 , and the charging receiving module 130 configured in the unmanned aerial vehicle 100 and the charging transmitting module 210 configured in the landing control device 200 . This is to maximize the charging efficiency of the unmanned aerial vehicle 100 by making a precise contact point between them.
- the present invention as described above is mounted on the leg frame 140 of the unmanned aerial vehicle 100, the alignment skid member 300 configured to be aligned with the landing position, and the landing position while in contact with the alignment skid member 300
- it is configured to include a landing control device 200 configured to be charged by connection with the charging receiving module 130 configured in the unmanned aerial vehicle 100 .
- the unmanned aerial vehicle 100 of the present invention is configured on the upper portion, and a plurality of spoke arms (110) extending radially, and the spoke arms (110).
- a propeller 120 provided at the end to generate lift, a charging receiving module 130 connected to the charging transmitting module 212 configured in the landing control device 200 during landing to charge power, and an alignment skid at the lower end
- the member 300 is coupled, and the leg frame 140 is seated on the top plate 220 of the landing control device 200 upon landing, and is connected to the landing control device 200 by a network, and the unmanned aerial vehicle 100 upon landing. It is configured to include a landing control unit 150 for controlling the position of the drone, and an IR beacon 160 for transmitting information on the landing position of the unmanned aerial vehicle 100 to the landing control unit 150 .
- the unmanned aerial vehicle 100 receives the landing location information from the IR beacon 160 so that the unmanned aerial vehicle 100 is landed at a corresponding position. ) to control the driving device.
- the IR beacon 160 is configured to transmit and receive a beacon signal to and from the position sensor server 270 configured in the landing control device 200 to be described later, and when the position information is received from the position sensor unit 270 , This is transmitted to the landing control unit 150 so that the operation of the unmanned aerial vehicle 100 for the landing process is made.
- an IR beacon 160 is mounted on the unmanned aerial vehicle 100 of the present invention, and a beacon frame 170 configured to enable length adjustment according to the control of the landing control unit 150 may be further configured, but the present invention is limited thereto. it is not doing
- the unmanned aerial vehicle 100 of the present invention may be a conventional drone, and if the drone has a shape or shape that can fly in the air, it may be configured in various shapes or shapes, and the spoke arm 120 and the propeller 130 ) can also be configured in various forms, such as 3 (tree drones), 4 (quad drones), 6 (hexa drones), and 8 (octo drones).
- the landing control device 200 is configured in a charging station where power charging of the unmanned aerial vehicle 100 is made, and minimizes errors in location information that occur during landing, and minimizes Even if an error occurs, it is a component that guides automatic alignment.
- the landing control device 200 includes a frame unit 202 that supports each component supporting the landing of the unmanned aerial vehicle 100 to be built-in and mounted, and an error for landing position information upon landing of the unmanned aerial vehicle 100 .
- a guide member 210 configured to minimize and to guide the landing of the unmanned aerial vehicle 100 and to be charged at the same time, is configured on the upper surface of the frame portion 202, and the guide member 210 is coupled,
- a height adjustment device 230 mounted on the inside of the upper plate 220, the frame unit 202, for lifting and lowering the upper plate 220 according to the landing or not, the height adjusting device 230 for lifting and lowering the upper plate 220, and a height adjusting device It is configured to include a driving frame 240 for controlling the driving of the 230 and a position sensor unit 270 for transmitting landing position information to the IR beacon 160 of the unmanned aerial vehicle 100 .
- the guide member 210 is configured on the upper surface of the upper plate 220, and is formed in a trapezoidal shape whose area gradually widens as it goes from the top to the bottom.
- the guide member 210 is configured with a charging transmission module 212 that is connected to the charging receiving module 130 configured in the unmanned aerial vehicle 100 on its upper surface, and the contact with the rotating member 330 along the circumferential surface is A guide surface 214 for guiding the descent of the unmanned aerial vehicle 100 is formed while supporting the rotational operation of the rotating member 330 .
- the rotating member 330 of the alignment skid member 300 is aligned with the guide surface 214 and the guide member 210 of the present invention.
- the charging receiving module 130 and the charging transmitting module 212 are configured to be located on the same axis as each other. By doing so, the landing of the unmanned aerial vehicle 100 is configured to be automatically performed at an accurate position even if an alignment process for a separate landing position is not performed.
- the upper plate 220 is configured such that the guide member 210 is coupled to the upper surface, and when the landing of the unmanned aerial vehicle 100 is made, the guide member 210 is drawn out from the frame part 202, the unmanned aerial vehicle ( To support the stable landing of 100), a skid seating part 222 on which the alignment skid member 300 is seated is formed along the circumferential surface of the lower end of the guide member 210 .
- the upper plate 220 is equipped with a position sensor unit 270 that transmits and receives the IR beacon 160 and a beacon signal to the outside of the skid seating unit 222 as its upper surface, and a height adjusting device 230 on the lower surface thereof. ) of the transfer frame 238 is slidably coupled to the first transfer guide groove 224 is formed is configured to support the lifting operation of the height adjustment device (230).
- the height adjusting device 230 is configured inside the frame unit 202 , the upper end is coupled to the upper plate 220 , and the lower end is coupled to the driving frame 240 to thereby raise/lower control unit configured inside the driving frame 240 . (not shown) serves to adjust the height of the upper plate 220 as the elevating operation is made according to the control.
- the height adjustment device 230 is made in the form of a plurality of panels or bars, and the control bar 232 having a central portion crossed with each other, and the plurality of adjustment bars 232 are rotated to rotatably combine both ends of the control bar 232 .
- a hinge 234 and a guide hinge 236 coupled to the central portion of the plurality of adjustment bars 232 and supporting the rotational operation and an adjustment bar 232 located at the upper end and lower portions of the plurality of adjustment bars 232 ) It is coupled with and includes a drive motor 237 for rotating the transfer frame 238 and the plurality of adjustment bars 232 that support the rotation operation of the adjustment bars 232 while sliding movement is made to both sides during the lifting and lowering operation. is composed by
- the adjustment bar 232 is made in the form of two panels or bars, and the central portion is composed of first to third adjustment bars 232a, 232b, 232c that are coupled to be rotatable by a guide hinge 236. do.
- the first adjustment bar 232a has an upper end coupled to the transfer frame 238 by a rotary hinge 234, and a lower end portion of the second adjustment bar 232b with the upper end of the second adjustment bar 232b and a rotary hinge 234). rotatably coupled by
- the lower end of the second adjustment bar 232b is rotatably coupled to the upper end of the third adjustment bar 232c by a rotary hinge 234 , and the lower end is rotatably coupled to the lower end by the transfer frame 238 and the rotary hinge 234 . It is rotatably coupled, and is connected to the driving motor 237 on one of the two panels.
- the plurality of adjustment bars 232 configured as described above are implemented by a link operation method, and when the drive motor 237 is driven, the third adjustment bar 232c is the transfer frame 238 is the second control frame configured in the drive frame 240 . 2 As the sliding movement is made along the transfer guide groove 244, the lifting or lowering operation is made by direct movement upward or downward rotationally around the guide hinge 236, and at the same time, the second adjustment bar 232b and The first adjustment bar (232a) is also configured to be operated in the same manner as the third adjustment bar (232c) so that the lifting operation of the upper plate 220 is made.
- a guide groove 235 in the form of a long hole for supporting the rotation operation of the guide hinge 236 is further formed in the central portion of the plurality of adjustment bars 232 so that the lifting and lowering operation of the plurality of adjustment bars 232 is smoother. It is preferable that it is configured to be done.
- the transfer frame 238 is inserted into the first and second transfer guide grooves 214 and 244, respectively, and configured to slide along the inner surfaces of the first and second transfer guide grooves 214 and 244.
- the transfer member 238a may be further configured.
- the transfer member 238a and the first and second transfer guide grooves 214 and 244 may be formed of a conventional rail device, but is not limited thereto.
- the driving frame 240 is configured on the bottom of the frame portion 202, and the second transfer guide groove 244 is formed on the upper surface to support the height adjustment device 230 to be raised and lowered by rotation operation.
- the position sensor unit 270 is connected to the network to control the driving of the driving motor 237 of the height adjusting device 230 according to whether a driving signal is transmitted from the position sensor unit 270 .
- the driving frame 240 may further include an elevation control unit for controlling the driving of the driving motor 237 , but is not limited thereto.
- the position sensor unit 270 is configured to transmit and receive a beacon signal to and from the IR beacon 160 , and transmits the landing position information of the unmanned aerial vehicle 100 to the IR beacon 160 so that a landing at a corresponding position is made. do.
- the position sensor unit 270 transmits the landing position information to the IR beacon 160 , it transmits a driving signal to the elevating control unit configured in the driving frame 240 to drive the lifting operation of the height adjusting device 230 . can make this happen.
- the height adjustment device 230 of the present invention has been described so as to be raised and lowered by a plurality of adjustment bars 232 made of a link operation method, but is not limited thereto, and as shown in FIG. 8 , It may be configured so that the elevating operation by the cylinder member 250 is made.
- the height adjustment device 230 is configured to adjust the height by the cylinder member 250 , the upper surface is coupled to the lower surface of the upper plate 220 , and the lower surface is coupled to the cylinder member 250 , A support plate 252 for supporting the lifting operation of the upper plate 220 is further configured, and a support frame 260 for supporting the load of the upper plate 220 while the lower surface of the support plate 252 is seated during the lowering operation is further configured. You can do it.
- the alignment skid member 300 is coupled to the lower end of the leg frame 140, and is configured to make contact with the guide surface 214 of the guide member 210 when the unmanned aerial vehicle 100 descends for landing, the guide It is a component that aligns the charging receiving module 130 and the charging transmitting module 212 so as to be located on the coaxial line with each other while descending along the surface 214 .
- the alignment skid member 300 has a plurality of connecting bars 310 coupled to both ends to form an orthogonal to each other with the leg frame 140, and the plurality of connecting bars 310 are located in the center of each, and a guide member (
- the skid body 320 configured to perform a descending operation along the guide surface 214 of the 210 and the outer surface of the skid body 230 to make contact with the guide surface 214, the unmanned aerial vehicle 100 It is composed of a friction force reducing member 330 that minimizes the friction with the guide surface 214 during the lowering.
- the plurality of connecting bars 310 are respectively coupled to the front and rear portions and both sides of the leg frame 140 .
- the plurality of connecting bars 310 are guide members such that the area for the space formed in the center is inserted into the skid seating part 222 formed on the top plate 220 when the landing of the unmanned aerial vehicle 100 is completed. It is configured to have the same area as the area for the lower end of the guide surface 214 formed on the 210, or to achieve a large area by a predetermined area.
- the skid body 320 is configured in each of the plurality of connecting bars 310 , and is coupled to the plurality of connecting bars 310 to enable rotational operation. That is, it is configured to rotate along the outer circumferential surface of the plurality of connecting bars 310 when in contact with the guide surface 214 .
- the frictional force reducing member 330 minimizes the contact area between the skid body 320 and the guide surface 214 and supports the rotational operation of the skid body 320, which occurs during the rotational operation of the skid body 320 . It serves to reduce frictional force and reduce vibration and noise generated during contact between the skid body 320 and the guide surface 214, and may be made of a conventional bearing member, but is not limited thereto.
- the landing control unit 150 of the present invention is connected to the alignment skid member 300 and the network when the landing of the unmanned aerial vehicle 100 is made, according to the coupling relationship between the alignment skid member 300 and the leg frame 140 .
- the alignment skid member 300 may be controlled to be withdrawn from the leg frame 140 by rotational operation.
- the alignment skid member 300 of the present invention is rotatably coupled from the leg frame 140, and is drawn in or out of the leg frame 140. may be configured.
- the leg frame 140 may further include a bar receiving portion 142 into which the connecting bars 310 of the alignment skid member 300 are drawn in and received, and is formed inside the bar receiving portion 142 and , a first operation member 340 for rotating the plurality of connection bars 310 is built-in, and an operation support 144 for supporting the operation of the first operation member 340 may be further configured.
- the alignment skid member 300 is configured such that the connecting bar 310 is divided, and may be configured to be rotatably coupled to the leg frame 140 , respectively.
- the lower end of the connecting bar 310 of the present invention is rotatably coupled to the leg frame 140, the first connecting bar 312 having the skid body 320 at the end, and the first The connecting bar 312 is rotatably coupled to another leg frame 140 configured at a position opposite to the mounted leg frame 140 , and the first connecting bar 312 is coupled to, or separated from, the inside to enable separation. It may be formed of a second connecting bar 314 on which the second operation member 370 is configured.
- the first connecting bar 312 and the skid body 320 are configured such that the central portion is formed through, and are connected to each other by the operation of the second operating member 370 built in the second connecting bar 314 . is composed
- first and second operation members 340 and 370 may be formed of a conventional cylinder member, but is not limited thereto.
- first and second connecting bars 312 and 314 are rotatably coupled to the leg frame 140 , respectively, and the first and second connecting bars 312 and 314 are rotatably coupled to each other, and the first and second connection bars 340 are rotated depending on whether the first operating member 340 is operated
- a rotation gear 350 for drawing in or withdrawing the second connecting bars 312 and 314 from the leg frame 140 is further configured.
- the first operation member 340 is driven under the control of the landing control unit 150, and the first and second connecting bars 312 and 314 are drawn in and out from the leg frame 140,
- the rotation gear 350 and the gear coupling are made, and the operation gear 342 configured in the form of a rack gear is further configured so that the rotational operation of the rotation gear 350 can be made by moving in a straight line.
- leg frame 140 of the present invention has a drive sensor unit 360 configured at the lower end of the operation support unit 144 , and transmitting a drive signal to the second operation member 340 side according to whether or not the operation gear 342 is in contact. ) may be further configured.
- the alignment skid member 300 of the present invention is configured to be retracted into the interior of the leg frame 140 during the flight of the unmanned aerial vehicle 100, so that collisions with surrounding objects during flight can be prevented. will be.
- the rotation member 330 of the present invention further comprises a vibration reducing means 400, so that vibration generated when descending along the guide surface 214 configured on the guide member 210 of the landing control device 200 is made. It may be configured so that the landing of the unmanned aerial vehicle 100 is made more stably by reducing the .
- the present invention is to be used in a landing device for an unmanned aerial vehicle that improves landing precision by minimizing the error range for the landing position, and guides the landing at the correct landing position even when an error occurs in the landing position of the unmanned aerial vehicle during landing.
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Abstract
Description
Claims (8)
- 하부에 레그 프레임 및 충전 수신모듈이 구성되고, 착륙 여부를 제어하는 착륙 제어부가 구성된 무인 비행기;상기 무인 비행기의 일측에 구성되며, 착륙 위치 정보를 수신받아 상기 착륙 제어부로 전송하는 IR 비콘;상기 IR 비콘으로 착륙 위치 정보를 송신하고, 상기 무인 비행기의 착륙 여부에 따라 승하강 작동이 이루어지며, 상기 착륙 위치 정보의 오차를 최소화하는 착륙 제어장치; 및상기 레그 프레임에 장착되고, 착륙시 상기 착륙 제어장치의 일면을 따라 하강하면서 상기 충전 수신모듈과 충전 송신모듈이 동축선상이 위치하도록 상기 무인 비행기의 착륙 위치를 정렬시키는 정렬 스키드 부재;를 포함하는 것을 특징으로 하는 무인 비행기용 착륙 제어장치.
- 제1항에 있어서,상기 무인 비행기에는 상기 IR 비콘이 결합되고, 상기 착륙 제어부의 제어에 따라 길이 조절이 이루어지는 비콘 프레임이 더 구성되는 것을 특징으로 하는 무인 비행기용 착륙 제어장치.
- 제1항에 있어서,상기 착륙 제어장치는상부면에 충전 송신모듈이 구성되고, 둘레면을 따라 상기 무인 비행기의 착륙시 상기 정렬 스키드 부재가 접촉되며, 상기 정렬 스키드 부재의 하강 작동을 지지하는 가이드면이 형성된 안내부재;상기 안내부재가 결합되고, 상기 무인 비행기의 착륙 여부에 따라 승하강 작동이 이루어지는 상판;상기 상판을 승하강 작동시키는 높이 조절장치;상기 높이 조절장치의 구동을 제어하는 구동 프레임; 및상기 IR 비콘 및 구동 프레임으로 각각 착륙 위치 정보와 구동신호를 전송하는 위치 센서부;를 포함하는 것을 특징으로 하는 무인 비행기용 착륙 제어장치.
- 제3항에 있어서,상기 안내부재는, 상부에서 하부로 향할수록 그 면적이 점차 넓어지는 사다리꼴 형태로 형성되는 것을 특징으로 하는 무인 비행기용 착륙 제어장치.
- 제3항에 있어서,상기 높이 조절장치는중앙부가 서로 교차되게 결합되고, 회전 가능하게 결합되는 다수개의 조절바;상기 다수개의 조절바들의 양단부를 회전 가능하게 결합하는 회전힌지;상기 다수개의 조절바들의 중앙부에 결합되고, 회전 작동을 지지하는 가이드 힌지; 및상기 다수개의 조절바들 중 상단부 및 하단부에 각각 위치하는 조절바들과 결합되며, 승하강 작동시 상기 조절바들의 회전 작동을 지지하는 이송 프레임; 및상기 구동 프레임의 제어에 따라 조절바들을 회전시키는 구동모터;를 포함하는 것을 특징으로 하는 무인 비행기용 착륙 제어장치.
- 제3항에 있어서,상기 높이 조절장치는,상기 구동 프레임에 결합되고, 승하강 작동이 이루어지는 실린더 부재;상부면이 상기 상판의 하부면에 결합되고, 하부면이 상기 실린더 부재와 결합되는 받침판; 및하강 작동시 상기 받침판의 하부면이 안착되는 지지 프레임;으로 구성되는 것을 특징으로 하는 무인 비행기용 착륙 제어장치.
- 제1항에 있어서,상기 정렬 스키드 부재는양단부가 상기 레그 프레임과 서로 직교를 이루도록 결합되는 다수개의 연결바;상기 다수개의 연결바들 각각의 중앙부에 위치하며, 상기 착륙 제어장치의 외면을 따라 하강 작동이 이루어지도록 구성되는 스키드 본체; 및상기 스키드 본체의 외면에 구성되고, 상기 무인 비행기의 하강시 상기 착륙 제어장치와의 마찰을 최소화시키는 마찰력 저감부재;를 포함하는 것을 특징으로 하는 무인 비행기용 착륙 제어장치.
- 제1항, 또는 제7항에 있어서,상기 정렬 스키드 부재는, 상기 레그 프레임측으로 인입, 또는 인출이 이루어지도록 회전 가능하게 결합되는 것을 특징으로 하는 무인 비행기용 착륙 제어장치.
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