KR20100133809A - Landing guidance device and method of unmanned aerial vehicle - Google Patents

Abstract

The present invention relates to a device and method for landing guidance of an unmanned aerial vehicle, and to safely land a drone in flight when the landing gear cannot be landed, and to guide the unmanned aerial vehicle to land in the center of a landing guide. It is done.

The landing guidance apparatus of the unmanned aerial vehicle according to the present invention includes a landing guide 10 including a net 13 on which the unmanned aerial vehicle 1 is seated; A plurality of transmitters (21, 22, 23, 24) for guiding the unmanned aerial vehicle to the net (13) of the landing guide; A receiver 30 for receiving a signal transmitted from the transmitter; And a controller for adjusting the flight path of the unmanned aerial vehicle 1 to the landing guide net by comparing the values obtained by the transmission and reception of the transmitter and the receiver with previously stored reference values. According to an aspect of the present invention, there is provided a method of inducing landing of an unmanned aerial vehicle, comprising: a first step of storing a reference signal for guiding an unmanned aerial vehicle to a safety zone of a landing guide where an unmanned aerial vehicle is landing; Transmitting a plurality of signals from the landing guide; A third step of receiving a signal transmitted in the second step during a flight of the unmanned aerial vehicle through a receiver mounted on the unmanned aerial vehicle; And comparing a reference signal stored in the first step with a current signal received in the third step to correct a route of the unmanned aerial vehicle.

Description

Landing guidance device and method of unmanned aerial vehicle {APPARATUS AND METHOD FOR GUIDING LANDING OF UNINHABITED AERIAL VEHICLE}

The present invention relates to a landing guidance device and method of the unmanned aerial vehicle, and more particularly, it is possible to safely land the unmanned aerial vehicle in flight using a net when the unmanned aerial vehicle cannot be landed through a landing gear such as a sea or a mountainous region. The present invention relates to an unmanned aerial vehicle landing guidance apparatus and method capable of inducing an unmanned aerial vehicle to land in the center of a net.

In general, an unmanned aerial vehicle or uninhabited aerial vehicle (UAV) is an autonomous flying vehicle based on a program input without a pilot or by the aircraft itself recognizing and determining the surrounding environment (obstacle, route). Recently, it is used for various purposes such as meteorological observation, terrain exploration, reconnaissance, and surveillance.

In general, drones take off and land through landing gears deployed outside the aircraft fuselage.

However, it is impossible to land via landing gear in rivers, seas, mountainous areas, or rugged road areas, and landing gears as well as the aircraft fuselage are damaged during excessive landings.

Therefore, as described above, in an area where landing gear cannot be landed, the landing should be induced by capturing an unmanned aerial vehicle in flight.

However, since there is no conventional technique for safely capturing and landing an unmanned aerial vehicle in flight, there is a problem in that it is restricted depending on the region (region that cannot be landed by the landing gear) when using the unmanned aerial vehicle. When the road is landed, there is a problem that severe damage of the drone occurs.

The present invention is to solve the above problems, it is possible to capture and land in the air unmanned aircraft flying in the air where it is difficult to land with landing gear, such as river, sea, mountain area, uneven road surface area. The present invention aims to provide an unmanned aerial vehicle landing guidance apparatus and method capable of guiding an unmanned aerial vehicle to a safety zone.

Landing guidance device for an unmanned aerial vehicle according to the present invention for achieving the object as described above, and landing guide including a net (net) on which the unmanned aircraft; A plurality of transmitters for directing the unmanned aerial vehicle to the landing guide; A receiver for receiving a signal transmitted from the transmitter; The controller may be configured to compare the values obtained by the transmission and reception of the transmitter and the receiver with previously stored reference values to adjust the flight path of the unmanned aerial vehicle to the landing guide net.

According to an aspect of the present invention, there is provided a method of inducing landing of an unmanned aerial vehicle, comprising: a first step of storing a reference signal for guiding an unmanned aerial vehicle to a safety zone of a landing guide where an unmanned aerial vehicle is landing; Transmitting a plurality of signals from the landing guide; A third step of receiving a signal transmitted in the second step during a flight of the unmanned aerial vehicle through a receiver mounted on the unmanned aerial vehicle; And a fourth step of correcting the route of the unmanned aerial vehicle by comparing the reference signal stored in the first step with the current signal received in the third step.

According to the landing guidance apparatus and method of the unmanned aerial vehicle according to the present invention, the unmanned aerial vehicle is installed in the air in a place where landing gear is difficult to land by landing gear, such as a river, a sea, a mountainous region, or an uneven road surface. By allowing the aircraft to be captured and landed, the use of unmanned aerial vehicles can be broadly secured since it is not restricted by the landing area.

In addition, the unmanned aerial vehicle is guided to the center of the net to guide the unmanned aerial vehicle to the safest safety zone in the net, thereby improving reliability as a landing device and preventing damage to the unmanned aerial vehicle.

As shown in FIG. 1, in the landing guidance apparatus of the unmanned aerial vehicle according to the present invention, both sides are supported by a pair of poles 11 and 12 and a pair of poles 11 and 12 so that the unmanned aerial vehicle 1 is supported. Landing guide 10 consisting of a net (13) is seated; A plurality of transmitters (21, 22, 23, 24) and a receiver (30) for guiding the unmanned aerial vehicle 1 to the net 13 of the landing guide 10; And a controller that adjusts the flight path of the unmanned aerial vehicle 1 based on the values obtained by the transmission and reception of the transmitters 21, 22, 23, 24 and the receiver 30.

The landing guide 10 is a mechanism for landing of the unmanned aerial vehicle 1, and the poles 11 and 12 are erected at regular intervals from each other to unfold the net 13.

When the drone 1 lands on a river or at sea, the poles 11 and 12 may be raised through buoys, and may be installed on a land or a mountain area where the surface of the drone cannot be landed by a landing gear.

The net 13 captures the unmanned aerial vehicle 1, which reduces the flying speed when the unmanned aerial vehicle 1 lands, but is pushed in the direction of travel of the unmanned aerial vehicle 1 by the flying speed of the unmanned aerial vehicle 1. While capturing the drone 1. Therefore, the net 13 is made of a material having an elastic force.

The transmitters 21, 22, 23, 24 transmit a position signal of the net 13 so that the unmanned aerial vehicle 1 is caught in the net 13 and preferably in the safety zone Z of the net 12. . That is, even though only one transmitter may be used, the unmanned aerial vehicle 1 may be guided to the safety zone Z, but a plurality of transmitters 21, 22, 23, and 24 are used for accurate landing.

The transmitters 21, 22, 23, 24 may be ultrasonic transmitters.

For example, the first and second transmitters 21 and 22 of the transmitters 21, 22, 23 and 24 are installed in the first pole 11, and the third and fourth transmitters 23 and 24 are second poles. It is installed at (12). However, the transmitters 21, 22, 23, and 24 are provided with the same spacing between the ones 21, 22, 22, 23, 23, 24, 24, 21, which are sequentially installed.

The transmitters 21, 22, 23, 24 are installed in the pawls 11, 12 so as to be replaced by a separate holder.

The receiver 30 is mounted on the unmanned aerial vehicle 1 and receives the ultrasonic waves transmitted from the transmitters 21, 22, 23, and 24, respectively. Since the ultrasonic waves transmitted from the transmitters 21, 22, 23, and 24 have the same properties, they are transmitted with a time difference, and therefore, the receiver 30 receives four ultrasonic waves.

The controller stores the ultrasonic signals transmitted from the transmitters 21, 22, 23, and 24, and compares the previously stored ultrasonic signals with current ultrasonic signals input through the receiver 30. Determine.

Operation by the transmitters 21, 22, 23, 24, the receiver 30 and the controller will be described in detail in the following method for inducing landing of an unmanned aerial vehicle.

As shown in Figure 3, the landing guidance method of the unmanned aerial vehicle according to the present invention is as follows.

(S10) Reference signal storage.

The transmitters 21, 22, 23, and 24 each transmit the same ultrasonic waves, and transmit ultrasonic waves with a time difference to adjust the landing position of the unmanned aerial vehicle 1 to the safety zone Z.

That is, as shown in FIG. 2, the transmitters 21, 22, 23, and 24 transmit ultrasonic waves, respectively, with a predetermined time difference A, B, and C. (A: First and second ultrasonic transmitters 21 Time difference between the second and third ultrasonic transmitters 22 and 23, and C: the time difference between the third and fourth ultrasonic transmitters 23 and 24.

When the transmitters 21, 22, 23, and 24 transmit ultrasonic waves once, respectively, as step 1 (S1), the steps are repeated at regular intervals T1 and T2. That is, the ultrasonic wave transmission of step 1 thru | or 3 is made with the 1st, 2nd space | interval T1 and T2.

Therefore, the time difference between the transmitters 21, 22, 23, and 24 is stored in the controller.

(S20) Transmitter transmission.

The transmitters 21, 22, 23, and 24 respectively transmit ultrasonic signals, and transmit ultrasonic signals according to the stored reference in the reference ultrasonic signal storage process (S10).

(S30) Receive.

While the unmanned aerial vehicle 1 is flying, the receiver 30 receives the ultrasonic signals transmitted from the transmitters 21, 22, 23, and 24 and provides them to the controller.

In this case, since the transmission signals of the transmitters 21, 22, 23, and 24 are made at a time difference, and the unmanned aerial vehicle 1 is in flight, the position at which the ultrasonic signals of the first transmitter 21 are received and the second transmitter 22 are received. Although the position of receiving the ultrasonic signals is different, this difference is very small, so it is not a problem for guiding the unmanned aerial vehicle 1 to the safety zone Z. On the other hand, in order to compensate for this, since the speed of the drone 1 is known, the distance according to the speed may be corrected by subtracting the program.

(S40) Correction.

If the reference ultrasonic signal and the current ultrasonic signal are the same, the unmanned aerial vehicle 1 is flying to the safety zone Z of the net 13, and thus correction is unnecessary.

However, if the time difference (A, B, C) of the reference ultrasonic signal and the time difference (a, b, c) of the current ultrasonic signal are different as shown in FIG. 2, the drone 1 is out of the safety zone Z. This is necessary.

For example, as shown in FIG. 4, when the landing position of the unmanned aerial vehicle 1 is out of the safety zone Z, the unmanned aerial vehicle 1 is close to the second transmitter 22 and relatively close to the third and fourth transmitters 23 and 24. Since the time difference (a) of the current ultrasound is smaller than the time difference (A) of the reference ultrasound, the time difference (b, c) of the current ultrasound is larger than the time difference (B, C) of the reference ultrasound.

Therefore, the controller compares the reference ultrasonic signal with the currently received ultrasonic signal to determine that the unmanned aerial vehicle 1 is close to the second transmitter 22 side, so that the unmanned aerial vehicle 1 can fly to the safety zone Z. Adjust your course.

Here, the adjustment distance of the unmanned aerial vehicle 1 can be calculated based on the value obtained by subtracting the time difference of the reference ultrasound from the current time difference of the current ultrasound, which can be easily set by those skilled in the art, and thus a detailed description thereof will be omitted.

According to the reception distance of the ultrasonic waves, the unmanned aerial vehicle 1 will receive one or more ultrasonic waves, and by performing this correction one or more times, the unmanned aerial vehicle 1 is guided to the safety zone Z.

(S50) landing.

The unmanned aerial vehicle 1 whose path is corrected to the safety zone Z by the controller lands on the safety zone Z.

Although the transmitters 21, 22, 23, and 24 have been described so far as ultrasonic transmitters, transmitters other than the ultrasonic transmitters may be used to realize the present invention.

For example, multiple transmitters transmit each unique signal, and receivers receive the signals sent from each transmitter. The controller stores a reference signal (in this case, a plurality of transmitters transmit different signals, preferably a reference distance), and compares the reference signal (reference distance) with a signal currently received through the receiver (current distance). In this case, the drone can be guided and landed in a safe area by converting it into a distance and matching the current received signal with a reference signal.

When three transmitters are used, the first to third transmitters transmit respective signal first to third signals, and the receiver receives the first to third signals, respectively.

Since the first to third signals are transmitted at the same time, and once sent, they are not transmitted for a predetermined time. When the distances of the first to third transmitters and the unmanned aerial vehicle are equal to the reference signal (reference distance), the first to third signals are the same. Will be received in time.

However, if the drone is out of the safe zone, for example, if it is in proximity to the first transmitter, it will receive the first signal first and receive the second and third signals later than the first signal, and thus By adjusting to the second and third transmitters, the drone can be guided to the safety zone.

1 is a block diagram of a landing guidance device of the unmanned aerial vehicle according to the present invention.

2 is a comparative example of a reference signal and a current signal for guiding an unmanned aerial vehicle to a safety zone according to a method of inducing landing of an unmanned aerial vehicle according to the present invention.

3 is a process chart of the landing guidance method of the unmanned aerial vehicle according to the present invention.

4 is an exemplary view for explaining a landing induction method of the unmanned aerial vehicle according to the present invention.

<Description of Signs for Main Parts of Drawings>

10: landing guide, 11, 12: pole

13: net, 21,22,23,24 transmitter

30: receiver,

Claims (6)

A landing guide 10 including a net 13 on which the unmanned aerial vehicle 1 is seated; A plurality of transmitters (21, 22, 23, 24) for guiding the unmanned aerial vehicle to the net (13) of the landing guide; A receiver 30 for receiving a signal transmitted from the transmitter; And, And a controller for adjusting a flight path of the unmanned aerial vehicle to a net of the landing induction zone by comparing a value obtained by the transmission and reception of the transmitter and the receiver with a previously stored reference value. The landing guidance apparatus of claim 1, wherein the transmitter is an ultrasonic transmitter. The landing guidance apparatus of claim 1 or 2, wherein the net of the landing guide is spread through a pair of poles, and the transmitter is installed at equal intervals in the pair of poles. . A first step of storing a reference signal for guiding the unmanned aerial vehicle to the safety zone of the landing guide where the unmanned aerial vehicle is landing; Transmitting a plurality of signals from the landing guide; A third step of receiving a signal transmitted in the second step during a flight of the unmanned aerial vehicle through a receiver mounted on the unmanned aerial vehicle; And, And a fourth step of correcting a route of the unmanned aerial vehicle by comparing the reference signal stored in the first stage with a current signal received in the third stage. The method of claim 4, wherein in the first step, the time difference between the plurality of signals is stored as a reference signal, and in the second step, the plurality of ultrasonic signals are transmitted with a time difference, and in the fourth step, the reference stored in the first step And comparing the time difference with the time difference between the current signal received in the third step to correct the route of the unmanned aerial vehicle. The method of claim 4, wherein in the first step, the unique signal is stored as a reference signal, and in the second step, the same unique signal as that stored in the first step is simultaneously transmitted, and in the fourth step, the third signal is transmitted. Landing guidance method for an unmanned aerial vehicle, characterized in that for correcting the route of the unmanned aerial vehicle based on the time difference between the unique signals received in the step.

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