KR20190102494A - Unmanned-aerial-vehicle alignment apparatus for uav charging station - Google Patents

Unmanned-aerial-vehicle alignment apparatus for uav charging station Download PDF

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Publication number
KR20190102494A
KR20190102494A KR1020180022931A KR20180022931A KR20190102494A KR 20190102494 A KR20190102494 A KR 20190102494A KR 1020180022931 A KR1020180022931 A KR 1020180022931A KR 20180022931 A KR20180022931 A KR 20180022931A KR 20190102494 A KR20190102494 A KR 20190102494A
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South Korea
Prior art keywords
unmanned aerial
aerial vehicle
alignment device
charging station
alignment
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KR1020180022931A
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Korean (ko)
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제임스모리슨
박효린
강현욱
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한국과학기술원
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Priority to KR1020180022931A priority Critical patent/KR20190102494A/en
Publication of KR20190102494A publication Critical patent/KR20190102494A/en

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    • 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
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • 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
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/34—In-flight charging
    • 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
    • B64C2201/066—
    • 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
    • Y02T50/53—
    • 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
    • Y02T90/124—

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The present invention relates to an unmanned aerial vehicle alignment apparatus for an unmanned aerial vehicle charging station and, more specifically, to an unmanned aerial vehicle alignment apparatus for an unmanned aerial vehicle charging station, which automatically aligns to the position for battery replacement/charge when an unmanned aerial vehicle lands for battery replacement or charge. According to the present invention, the unmanned aerial vehicle alignment apparatus for an unmanned aerial vehicle charging station is automatically and quickly aligned to fit a battery replacement/charge unit without needing to land exactly on the battery replacement/charge unit, when the unmanned aerial vehicle lands on the unmanned aerial vehicle charging station with the battery replacement/charge unit at the specific location.

Description

무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치{UNMANNED-AERIAL-VEHICLE ALIGNMENT APPARATUS FOR UAV CHARGING STATION}Unmanned aerial vehicle alignment device for unmanned aerial vehicle charging station {UNMANNED-AERIAL-VEHICLE ALIGNMENT APPARATUS FOR UAV CHARGING STATION}

본 발명은 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치에 관한 것으로, 더욱 상세하게는, 무인항공기가 배터리 교체 또는 충전을 위해 착륙할 경우, 자동으로 배터리 교체/충전을 위한 위치로 정렬시켜주는, 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치에 관한 것이다.The present invention relates to an unmanned aerial vehicle alignment apparatus for an unmanned aerial vehicle charging station, and more particularly, when an unmanned aerial vehicle lands for battery replacement or charging, it automatically aligns to a position for battery replacement / charging. An unmanned aerial vehicle alignment apparatus for an aircraft charging station.

도 1은 무인항공기(unmanned aerial vehicle, UAV)의 일종인 드론(dron)(10)의 일 실시예로서의 형태를 도시한 도면이고, 도 2는 종래 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치(100)의 일 실시예로서의 형태를 도시한 도면이다.FIG. 1 is a view showing an embodiment of a drone 10 which is a type of unmanned aerial vehicle (UAV), and FIG. 2 is an unmanned aerial vehicle alignment apparatus 100 for a conventional unmanned aerial vehicle charging station. Figure 1 shows the form as an embodiment.

이하에서는 드론을 포함한 모든 종류의 무인항공기를 통칭하여 '무인항공기(10)'라 칭하기로 한다. 무인항공기의 프레임과 프로펠러(12)를 보호하기 위해서는 연질의 보호장구(11)가 구비된다. 도 1(a)는 보호장구가 구비되지 않은 무인항공기이며, 도 1(b)는 보호장구(11)가 구비된 무인항공기(10)이다. 도 1(b)의 왼쪽 하단부에 도시되어 있는 바와 같이, 보호장구(11)는 손으로 잡아당겨도 늘어날 정도로 연질의 재질로 구성된다.Hereinafter, all types of unmanned aerial vehicles including drones will be referred to as 'unmanned aerial vehicles 10'. In order to protect the frame and propeller 12 of the unmanned aerial vehicle, soft protective equipment 11 is provided. 1 (a) is an unmanned aerial vehicle without protective equipment, and FIG. 1 (b) is an unmanned aerial vehicle 10 with protective equipment 11. As shown in the lower left portion of Figure 1 (b), the protective equipment 11 is made of a soft material so as to stretch even when pulled by hand.

도 2(a)의 종래 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치(100)의 플레이트(110) 하부에는 충전부(130)가 배치되어 있다. 충전부(130)로부터 플레이트의 특정지점(이하 '충전포인트'라 한다)으로 무인항공기의 충전을 위한 전력이 전달되며, 무인항공기(10)는 플레이트(110) 위에 착륙하여 충전포인트와 접촉되도록 정렬됨으로써 충전을 받게 된다. 도 2의 실시예에서 4개로 구성된 정렬장치(120)는, 플레이트(110) 위에 착륙한 무인항공기(10)를 동시에 가운데로 밀면서 무인항공기(10)가 충전포인트와 접촉되도록 정렬시키는 역할을 수행한다.The charging unit 130 is disposed under the plate 110 of the conventional unmanned aerial vehicle alignment device 100 for the unmanned aerial vehicle charging station of FIG. Power for charging the unmanned aerial vehicle is transmitted from the charging unit 130 to a specific point of the plate (hereinafter referred to as a 'charging point'), and the unmanned aerial vehicle 10 is arranged to contact the charging point by landing on the plate 110. You will be charged. In the embodiment of FIG. 2, the four alignment device 120 serves to align the unmanned aerial vehicle 10 to be in contact with the charging point while simultaneously pushing the unmanned aerial vehicle 10 landing on the plate 110 to the center. .

도 2(b)는 그와 같은 양측의 한쌍의 정렬장치(120)를 손으로 가운데로 미는 방식으로 무인항공기(10)를 충전포인트와 접촉하도록 정렬시키려는 시도를 보여준다. 물론 이와 같이 정렬장치(120)를 손으로 미는 수동 방식으로 정렬시키지는 않는다. 도 2(b)에 나타나 있듯이 양측에서 연질의 보호장구(11)는 안쪽으로 힘을 가하는 정렬장치(120)에 의해 찌그러지기만 할 뿐, 회전에 의한 정렬이 이루어지기가 매우 어려운 문제점이 있다. 이는 보호장구(11)와 정렬장치(120) 간의 마찰력 때문인데, 이하에서 도 3을 참조하여 그 원리를 후술하기로 한다.FIG. 2 (b) shows an attempt to align the unmanned aerial vehicle 10 to contact the charging point in such a way that the pair of alignment devices 120 on both sides are pushed to the center by hand. Of course, the alignment device 120 does not align in a manual push method. As shown in FIG. 2 (b), the soft protective equipment 11 on both sides is merely crushed by the alignment device 120 that applies a force inward, and there is a problem that alignment by rotation is very difficult. This is due to the friction force between the protective equipment 11 and the alignment device 120, the principle will be described later with reference to FIG.

KRKR 10-179255510-1792555 B1B1

본 발명은 이와 같은 문제점을 해결하기 위해 창안된 것으로서, 특정 위치에 배터리 교체/충전부를 구비하는 무인항공기 충전 스테이션 위에 무인항공기가 착륙하는 경우, 해당 배터리 교체/충전부에 정확히 맞추어 착륙하지 않아도 자동으로 신속하게 배터리 교체/충전부에 맞추어지도록 정렬시켜주는, 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치를 제공하는데 그 목적이 있다.The present invention was devised to solve such a problem, and when an unmanned aerial vehicle lands on an unmanned aerial vehicle charging station having a battery replacement / charging unit at a specific position, the battery is automatically and quickly replaced without landing in accordance with the corresponding battery replacement / charging unit. It is an object of the present invention to provide an unmanned aerial vehicle alignment apparatus for an unmanned aerial vehicle charging station, which is aligned to fit the battery replacement / charge unit.

이와 같은 목적을 달성하기 위하여 본 발명에 따른 무인항공기 충전 스테이션 장치는, 무인항공기가 착륙하는 플레이트(plate); 상기 플레이트 상에서, 무인항공기가 착륙할 위치 주위에 구비되어, 착륙한 무인항공기를 중앙으로 밀어 회전시킴으로써 배터리 교체위치 또는 충전위치에 정렬시키는 역할을 수행하는 정렬장치; 및, 상기 정렬장치 표면에 부착되어 무인항공기와 상기 정렬장치의 마찰력을 감소시킴으로써 상기 무인항공기의 회전이 원활하게 일어나도록 하기 위한 롤러(roller)를 포함한다.In order to achieve the above object, the unmanned aerial vehicle charging station apparatus according to the present invention includes a plate on which the unmanned aerial vehicle lands; An alignment device provided on the plate to be positioned around a position at which the unmanned aerial vehicle is to be landed so as to be aligned with a battery replacement position or a charging position by pushing and rotating the landed unmanned aerial vehicle to the center; And a roller attached to the alignment device surface to reduce friction of the unmanned aerial vehicle and the alignment device so as to smoothly rotate the unmanned aerial vehicle.

상기 정렬장치 외측에는, 상기 정렬장치를 외측으로부터 내측으로 미는 푸쉬(push)부를 구비하고, 상기 푸쉬부는, 푸쉬 레버(lever); 및 푸쉬 탄성부를 포함할 수 있다.On the outside of the alignment device, a push unit for pushing the alignment device from the outside to the inside, and the push unit comprises: a push lever; And a push elastic part.

상기 푸쉬 레버와 상기 정렬장치는, 힌지(hinge)에 의해 연결되어 있을 수 있다.The push lever and the alignment device may be connected by a hinge.

본 발명에 의하면, 특정 위치에 배터리 교체/충전부를 구비하는 무인항공기 충전 스테이션 위에 무인항공기가 착륙하는 경우, 해당 배터리 교체/충전부에 정확히 맞추어 착륙하지 않아도 자동으로 신속하게 배터리 교체/충전부에 맞추어지도록 정렬시켜주는, 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치를 제공하는 효과가 있다.According to the present invention, when an unmanned aerial vehicle lands on an unmanned aerial vehicle charging station having a battery replacement / charge unit at a specific position, the battery is automatically aligned with the battery replacement / charge unit without having to land exactly on the battery replacement / charge unit. It is effective to provide an unmanned aerial vehicle alignment device for an unmanned aerial vehicle charging station.

도 1은 무인항공기(unmanned aerial vehicle, UAV)의 일종인 드론(dron)의 일 실시예로서의 형태를 도시한 도면.
도 2는 종래 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치의 일 실시예로서의 형태를 도시한 도면.
도 3은 종래 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치 구조에서 무인항공기의 회전 정렬을 위한 조건을 설명하기 위한 도면.
도 4는 본 발명의 제1 실시예로서의 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치의 구조를 도시한 도면.
도 5는 본 발명의 제2 실시예로서의 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치의 구조를 도시한 도면.
도 6은 제2 실시예로서의 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치가, 도 5의 상태로부터 회전 정렬이 실행 중인 일 시점에서의 형태를 도시한 도면.
도 7은 제2 실시예로서의 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치가, 도 6의 상태로부터 회전이 더 일어난 시점에서의 형태를 도시한 도면.
도 8은 제2 실시예로서의 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치에서 무인항공기의 정렬을 완료한 형태를 도시한 도면.1 shows a form as one embodiment of a drone, which is a type of unmanned aerial vehicle (UAV).
FIG. 2 illustrates a form as one embodiment of an unmanned aerial vehicle alignment apparatus for a conventional unmanned aerial vehicle charging station.
3 is a view for explaining a condition for rotation alignment of the unmanned aerial vehicle in the structure of the unmanned aerial vehicle alignment apparatus for the conventional unmanned aerial vehicle charging station.
4 is a diagram showing the structure of an unmanned aerial vehicle alignment apparatus for an unmanned aerial vehicle charging station as a first embodiment of the present invention.
5 is a diagram showing the structure of an unmanned aerial vehicle alignment apparatus for an unmanned aerial vehicle charging station as a second embodiment of the present invention.
FIG. 6 is a diagram showing the form at one point in time when rotation alignment is being executed from the state of FIG. 5, in the unmanned aerial vehicle alignment apparatus for the unmanned aerial vehicle charging station as the second embodiment; FIG.
FIG. 7 shows a form in which the unmanned aerial vehicle alignment device for the unmanned aerial vehicle charging station as the second embodiment is at a time when rotation further occurs from the state of FIG. 6; FIG.
8 is a view showing a form in which the alignment of the unmanned aerial vehicle is completed in the unmanned aerial vehicle alignment apparatus for the unmanned aerial vehicle charging station as the second embodiment.

이하 첨부된 도면을 참조로 본 발명의 바람직한 실시예를 상세히 설명하기로 한다. 이에 앞서, 본 명세서 및 청구범위에 사용된 용어나 단어는 통상적이거나 사전적인 의미로 한정해서 해석되어서는 아니되며, 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 실시예와 도면에 도시된 구성은 본 발명의 가장 바람직한 일 실시예에 불과할 뿐이고 본 발명의 기술적 사상을 모두 대변하는 것은 아니므로, 본 출원시점에 있어서 이들을 대체할 수 있는 다양한 균등물과 변형예들이 있을 수 있음을 이해하여야 한다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, 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 embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

도 3은 종래 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치(100)의 구조에서 무인항공기의 회전 정렬을 위한 조건을 설명하기 위한 도면이다.3 is a view for explaining a condition for rotation alignment of the unmanned aerial vehicle in the structure of the unmanned aerial vehicle alignment apparatus 100 for a conventional unmanned aerial vehicle charging station.

N1, N2는 수직항력, F는 무인항공기 보호장구(11)과 정렬장치(120) 표면 간의 마찰력을 의미한다. 마주보고 있는 막대들에서의 수직 항력은 서로 같으므로 모든 힘과 토크는 대칭 형태를 이룬다. 도 3에서 무인항공기(10)가 회전하여 정렬되려면 시계 방향의 회전이 일어나야 하고, 이를 위해서는 수직 항력에 의한 토크가 마찰력에 의한 토크보다 커야만 한다. 무인항공기 보호장구(11)과 정렬장치(120) 표면 간의 마찰계수를 μ라고 할 때 이러한 상황을 수학식으로 표현하면 다음과 같다. N 1 , N 2 is the vertical drag, F is the friction between the surface of the unmanned aerial vehicle protective equipment 11 and the alignment device 120. The vertical drags on the opposite bars are equal, so all forces and torques are symmetrical. In FIG. 3, in order for the unmanned aerial vehicle 10 to be rotated and aligned, clockwise rotation must occur, and for this purpose, torque due to vertical drag must be greater than torque due to frictional force. When the coefficient of friction between the surface of the UAV protective equipment 11 and the alignment device 120 is μ, such a situation is expressed as follows.

수학식 1은 시계 방향 토크이고, 수학식 2는 반시계 방향 토크를 나타낸다.Equation 1 is clockwise torque, and Equation 2 represents counterclockwise torque.

Figure pat00001
Figure pat00001

Figure pat00002
Figure pat00002

수학식 1 및 수학식 2를 정리하여 비교하면, 시계 방향 토크가 반시계 방향 토크보다 크기 위해서는 최종적으로 수학식 3이 성립해야 함을 알 수 있다.Comparing Equation 1 and Equation 2, it can be seen that Equation 3 must be finally established in order for the clockwise torque to be greater than the counterclockwise torque.

Figure pat00003
Figure pat00003

즉,

Figure pat00004
가 만족되지 않게 무인항공기(10)가 착륙하는 경우에는 회전에 의한 정렬이 실패할 것이라는 것을 추론할 수 있으며, 실제 실험을 통하여 최소 θ 값의 존재를 확인할 수 있다.In other words,
Figure pat00004
If the unmanned aerial vehicle 10 lands so as not to be satisfied, it can be inferred that alignment by rotation will fail, and the existence of the minimum θ value can be confirmed through actual experiments.

도 4는 본 발명의 제1 실시예로서의 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치(200)의 구조를 도시한 도면이다.4 is a diagram showing the structure of an unmanned aerial vehicle alignment apparatus 200 for an unmanned aerial vehicle charging station as a first embodiment of the present invention.

도 4 내지 도 8에서 플레이트를 별도로 도시하지는 않았으나, 무인항공기(10)의 착륙을 위해, 도시된 보호장구(11) 및 정렬장치(220,320) 아래에 당연히 구비되어 있음은 물론이다. 또한 도 4 내지 도 8의 실시예에서, 무인항공기 충전 스테이션은, 도면상으로는 하부의 충전부에서 충전을 받기 위한 스테이션을 구비하고, 이를 위해 충전위치로 무인항공기를 자동 정렬시키는 구성을 도시하였으나, 특정 하부의 충전부로부터 충전받는 것이 아닌, 스테이션 플레이트 상의 특정 위치에서 배터리 교체가 이루어지기 위해 배터리 교체 위치로 무인항공기를 자동 정렬시키는 구성이 될 수도 있으며, 이하의 설명은 그와 같은 구성들을 포괄하여 설명하는 것으로 한다.Although not shown separately in Figures 4 to 8, for landing of the unmanned aerial vehicle 10, of course, is provided under the protective equipment 11 and the alignment device (220,320) shown. In addition, in the embodiment of Figures 4 to 8, the unmanned aerial vehicle charging station, on the drawing has a configuration for receiving the charge in the lower charging unit, for this purpose, but showing a configuration for automatically aligning the unmanned aerial vehicle to the charging position, Rather than being charged from the charging section of the battery, the battery pack may be configured to automatically align the unmanned aerial vehicle to the battery replacement position so that the battery replacement is performed at a specific position on the station plate, and the following description covers such configurations. do.

도 4(a)의 제1 실시예로서의 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치(200)(이하 '제1 정렬장치(200)' 이라 한다)는, 정렬장치(220) 표면에 다수의 롤러(221)를 부착한 것이다. 즉, 수학식 3의 조건을 만족하기 위해서는 μ를 감소시키는 방법을 선택할 수 있는데, 제1 정렬장치(200)의 정렬장치(220) 표면에 다수의 롤러(221)를 부착한 구조는, 무인항공기 보호장구(11)와 정렬장치(220) 표면의 마찰을 현저히 줄임으로써 μ를 감소시키는 효과적인 방법인 것이다.The unmanned aerial vehicle alignment device 200 (hereinafter referred to as 'first alignment device 200') for the unmanned aerial vehicle charging station as the first embodiment of FIG. 4 (a) is a plurality of rollers ( 221) is attached. That is, in order to satisfy the condition of Equation 3, a method of reducing μ may be selected. A structure in which a plurality of rollers 221 are attached to the surface of the alignment device 220 of the first alignment device 200 is an unmanned aerial vehicle. It is an effective way to reduce μ by significantly reducing the friction between the protective equipment 11 and the alignment device 220 surface.

무인항공기(10)는 착륙 시에 기본적으로 방향을 보정하기에 θ는 보통 0보다 큰 값을 가지게 되지만 어떠한 경우라도 방향을 보정하기 위해서는 최악의 시나리오를 고려해야 한다. 기존의 방법에서 최악의 시나리오는 착륙시의 과도한 환경적 요인으로 θ가 0에 가깝게 착륙하는 것이며 이때에 회전 토크가 0에 가까워지면서 회전력이 생기지 않게 되는 경우이다. 즉 θ가 0에 가깝게 착륙하는 경우는, 무인항공기 보호장구(11)의 각 꼭지점이 각 정렬장치(220)의 중앙에 위치하는 경우이며, 도 4(b)는 그러한 상황을 보여주는 사진이다. 즉, 이와 같이 θ가 0에 가깝게 착륙하는 경우에는 롤러(221)가 부착되었다 하더라도 보호장구(11)의 회전에 의한 정렬이 발생하지 않게 될 수도 있다.The unmanned aerial vehicle 10 basically corrects the direction at the time of landing, so θ usually has a value greater than 0, but in any case, the worst case scenario should be considered to correct the direction. The worst case scenario in the conventional method is to land θ close to zero due to excessive environmental factors at the time of landing, in which case the rotational torque approaches zero and no rotational force is generated. That is, when θ lands close to zero, each vertex of the unmanned aerial vehicle protective equipment 11 is located at the center of each alignment device 220, and FIG. 4B is a photograph showing such a situation. That is, when θ lands close to zero in this manner, even if the roller 221 is attached, alignment due to the rotation of the protective equipment 11 may not occur.

도 5는 본 발명의 제2 실시예로서의 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치(300)의 구조를 도시한 도면이고, 도 6은 제2 실시예로서의 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치(300)가, 도 5의 상태로부터 회전 정렬이 실행 중인 일 시점에서의 형태를 도시한 도면이며, 도 7은 도 6의 상태로부터 회전이 더 일어난 시점에서의 형태를 도시한 도면이고, 도 8은 제2 실시예로서의 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치(300)에서 무인항공기(10)의 정렬을 완료한 형태를 도시한 도면이다.FIG. 5 is a diagram showing the structure of an unmanned aerial vehicle alignment apparatus 300 for an unmanned aerial vehicle charging station as a second embodiment of the present invention, and FIG. 6 is an unmanned aerial vehicle alignment apparatus 300 for an unmanned aerial vehicle charging station as a second embodiment. ) Is a diagram showing the form at one point in time when rotation alignment is being performed from the state of FIG. 5, FIG. 7 is a diagram showing a form at a time point in which further rotation occurs from the state of FIG. 6, and FIG. FIG. 2 is a view illustrating a form in which an unmanned aerial vehicle 10 is aligned in an unmanned aerial vehicle alignment apparatus 300 for an unmanned aerial vehicle charging station as a second embodiment.

도 5는 도 4를 참조하여 설명한, 무인항공기(10)가, θ가 0에 가깝게 착륙하는 경우, 즉, 무인항공기 보호장구(11)의 각 꼭지점이 각 정렬장치(320)의 중앙에 위치하도록 플레이트(미도시) 위에 착륙한 경우를 나타낸다.FIG. 5 illustrates that when the unmanned aerial vehicle 10 described with reference to FIG. 4 lands near θ close to zero, that is, each vertex of the unmanned aerial vehicle protective equipment 11 is located at the center of each alignment device 320. It shows the case where it landed on a plate (not shown).

도 5의 제2 실시예로서의 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치(300)(이하 '제2 정렬장치(300)' 이라 한다)는, 제2 정렬장치(300)의 각 정렬장치(320)를 미는 푸쉬(push)부(330)가 비대칭 형태로 형성되어 있다는 것이다. 이를 이하에서는 '비대칭 푸쉬부(330)'라 칭하기로 한다. 도 5를 참조하면, 비대칭 푸쉬부(330)는 한쌍의 푸쉬 수단에서, 하나는 푸쉬 레버(lever)(331), 다른 하나는 푸쉬 탄성부(332)와 같이 비대칭적 형태로 구성되어 있다. 푸쉬 탄성부(332)는 일 실시예로서 용수철 등으로 구성될 수 있다. 또한 푸쉬 레버(331)와 정렬장치(320)의 접점에는, 도 6 내지 도 8에 도시되어 있듯이 정렬장치(320)가 그 접점을 중심으로 회전할 수 있도록 힌지(hinge)(331.1)가 구비된다.The unmanned aerial vehicle alignment device 300 (hereinafter referred to as the 'second alignment device 300') for the unmanned aerial vehicle charging station as the second embodiment of FIG. 5 is each alignment device 320 of the second alignment device 300. Push portion 330 is pushed to form an asymmetrical shape. This will be referred to as an asymmetric push unit 330 below. Referring to FIG. 5, the asymmetrical push unit 330 is configured in an asymmetrical form, such as a pair of push means, one push lever 331 and the other push pusher 332. The push elastic part 332 may be formed of a spring or the like as an embodiment. In addition, as shown in FIGS. 6 to 8, a hinge 331.1 is provided at the contact point of the push lever 331 and the alignment device 320 so that the alignment device 320 can rotate about the contact point. .

이와 같은 구성에 의한 본 발명의 제2 정렬장치(300)의 동작을 도 5 내지 도 8을 참조하여 이하에서 설명하기로 한다.The operation of the second alignment device 300 of the present invention having such a configuration will be described below with reference to FIGS. 5 to 8.

도 5에서 각 정렬장치(320)가 보호장구(11)를 안쪽으로 미는 것을 나타내는 화살표가 도시되어 있다. 이와 같은 힘에 의해 각 정렬장치(320)의 수직항력이 푸쉬 탄성부(332)에 가해지기 시작하고, 도 6을 참조하면 이와 같이 푸쉬 탄성부(332)가 눌리면서 θ가 크게 증가하였고, 이에 따라 보호장구(11)에 회전력이 발생한다. In FIG. 5, an arrow indicating that each alignment device 320 pushes the protective equipment 11 inward is shown. The vertical force of each alignment device 320 is applied to the push elastic portion 332 by such a force. Referring to FIG. 6, the push elastic portion 332 is pressed as described above, and θ is greatly increased. The rotational force is generated in the protective equipment 11.

도 7을 참조하면, 보호장구(11)의 회전이 더욱 진행되어 θ가 더 크게 증가하였으며, 보호장구(11)는 충전포인트에 접촉하도록 정렬되어가고 있는 모습을 보여주며, 이와 같이 진행하여 도 8에서와 같이 무인항공기(10)의 충전부분이 본 발명의 제2 정렬장치(300)의 충전포인트(미도시)에 접촉하도록 무인항공기(10)의 보호장구(11)가 제2 정렬장치(300)의 플레이트(미도시) 위에서 완전히 정렬된 상태가 된 것을 보여준다. 즉, 본 발명의 제2 정렬장치(300)에 의하면, 무인항공기(10)가 플레이트 위에 어느 각도로 착륙하더라도, 각 정렬장치(320)가 안쪽으로 미는 동작에 의해 자동으로, 용이하고 신속하게 제2 정렬장치(300)의 충전포인트에 접촉되도록 회전하여 정렬되게 된다.Referring to FIG. 7, the rotation of the protective tool 11 is further progressed to increase θ, and the protective tool 11 is arranged to be in contact with the charging point. As shown in FIG. 2, the protective equipment 11 of the unmanned aerial vehicle 10 includes the second alignment device 300 such that the charging portion of the unmanned aerial vehicle 10 contacts the charging point (not shown) of the second alignment device 300 of the present invention. Shows complete alignment on the plate (not shown). That is, according to the second alignment device 300 of the present invention, even if the unmanned aerial vehicle 10 lands at any angle on the plate, the alignment device 320 is automatically and easily removed by the operation of pushing the alignment device 320 inward. 2 is aligned by rotating to contact the charging point of the alignment device (300).

무인항공기(10)의 착륙 후 정렬장치(320)의 동작은, 관리자가 리모컨이나 스위치 등에 의해 동작시키는 방식을 취할 수도 있고, 또는 제1 정렬장치(200) 및 제2 정렬장치(300)에, 무인항공기(10)가 플레이트 위에 착륙했음을 감지하는 센서를 구비할 수 있다. 또한 제1 정렬장치(200) 및 제2 정렬장치(300)는, 이와 같이 센서에 의해 무인항공기(10)가 플레이트 위에 착륙했음이 감지된 경우 상기 정렬장치(220,320)를 동작시키는 정렬장치 제어부를 더 구비할 수도 있으며, 이러한 정렬장치 제어부에 의해 정렬장치를 자동으로 작동시키도록 할 수도 있다.Operation of the alignment device 320 after landing of the unmanned aerial vehicle 10 may be performed by a manager by a remote controller or a switch, or the first alignment device 200 and the second alignment device 300. It may be provided with a sensor for detecting that the unmanned aerial vehicle 10 has landed on the plate. In addition, the first alignment device 200 and the second alignment device 300, the alignment device control unit for operating the alignment device (220, 320) when the sensor detects that the unmanned aerial vehicle 10 landed on the plate in this way It may be further provided, such that the alignment device may be automatically operated by the alignment device control unit.

10: 무인항공기
11: 무인항공기 보호장구
12: 프로펠러
100: 종래 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치
110: 종래 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치의 플레이트
120: 종래 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치의 정렬장치
130: 종래 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치의 충전부
200: 본 발명의 제1 실시예에 따른 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치
220: 본 발명의 제1 실시예에 따른 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치의 정렬장치
221: 정렬장치 롤러(roller)
300: 본 발명의 제2 실시예에 따른 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치
320: 본 발명의 제2 실시예에 따른 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치의 정렬장치
321: 정렬장치 롤러
330: 비대칭 푸쉬(push)부
331: 푸쉬 레버(lever)
331.1: 힌지(hinge)
332: 푸쉬 탄성부10: unmanned aerial vehicle
11: UAV protective gear
12: propeller
100: unmanned aerial vehicle alignment device for conventional unmanned aerial vehicle charging station
110: plate of the unmanned aerial vehicle alignment device for the conventional unmanned aerial vehicle charging station
120: alignment device of the unmanned aerial vehicle alignment apparatus for the conventional unmanned aerial vehicle charging station
130: charging unit of the unmanned aerial vehicle alignment device for the conventional unmanned aerial vehicle charging station
200: unmanned aerial vehicle alignment apparatus for unmanned aerial vehicle charging station according to the first embodiment of the present invention
220: alignment device of the unmanned aerial vehicle alignment apparatus for the unmanned aerial vehicle charging station according to the first embodiment of the present invention
221: alignment device roller
300: unmanned aerial vehicle alignment apparatus for unmanned aerial vehicle charging station according to the second embodiment of the present invention
320: alignment device of the unmanned aerial vehicle alignment apparatus for the unmanned aerial vehicle charging station according to the second embodiment of the present invention
321: alignment device roller
330: asymmetric push section
331: push lever
331.1: hinge
332: push elastic portion

Claims (3)

무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치로서,
무인항공기가 착륙하는 플레이트(plate);
상기 플레이트 상에서, 무인항공기가 착륙할 위치 주위에 구비되어, 착륙한 무인항공기를 중앙으로 밀어 회전시킴으로써 배터리 교체위치 또는 충전위치에 정렬시키는 역할을 수행하는 정렬장치; 및,
상기 정렬장치 표면에 부착되어 무인항공기와 상기 정렬장치의 마찰력을 감소시킴으로써 상기 무인항공기의 회전이 원활하게 일어나도록 하기 위한 롤러(roller)
를 포함하는 무인항공기 충전 스테이션을 위한 무인항공기 정렬 장치.An unmanned aerial vehicle alignment device for an unmanned aerial vehicle charging station,
A plate on which the drone lands;
An alignment device provided on the plate to be positioned around a position at which the unmanned aerial vehicle is to be landed so as to be aligned with a battery replacement position or a charging position by pushing and rotating the landed unmanned aerial vehicle to the center; And,
A roller attached to the surface of the alignment device to smoothly rotate the unmanned aerial vehicle by reducing friction between the unmanned aerial vehicle and the alignment device.
Unmanned aerial vehicle alignment apparatus for an unmanned aerial vehicle charging station comprising a. 청구항 1에 있어서,
상기 정렬장치 외측에는,
상기 정렬장치를 외측으로부터 내측으로 미는 푸쉬(push)부
를 구비하고,
상기 푸쉬부는,
푸쉬 레버(lever); 및
푸쉬 탄성부
를 포함하는 것을 특징으로 하는 무인항공기 충전 스테이션 장치The method according to claim 1,
Outside the alignment device,
Push section for pushing the alignment device from the outside to the inside
And
The push unit,
Push levers; And
Push elastic part
Unmanned aerial vehicle charging station device comprising a 청구항 2에 있어서,
상기 푸쉬 레버와 상기 정렬장치는,
힌지(hinge)에 의해 연결되어 있는 것
을 특징으로 하는 무인항공기 충전 스테이션 장치.
The method according to claim 2,
The push lever and the alignment device,
Connected by hinges
Unmanned aerial vehicle charging station device characterized in that.
KR1020180022931A 2018-02-26 2018-02-26 Unmanned-aerial-vehicle alignment apparatus for uav charging station KR20190102494A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111056030A (en) * 2019-12-23 2020-04-24 珠海恒力源机电有限公司 Automatic charging platform of unmanned aerial vehicle
CN112046779A (en) * 2020-07-29 2020-12-08 成都震风航空技术有限公司 W-shaped clamping plate for guiding unmanned aerial vehicle to be stored, guiding assembly and guiding method
CN112406607A (en) * 2020-10-15 2021-02-26 大强信息技术(深圳)有限公司 Unmanned aerial vehicle platform that independently charges
WO2023124434A1 (en) * 2021-12-31 2023-07-06 蜂巢航宇科技（北京）有限公司 Multi-rotor dronebox

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KR101792555B1 (en) 2015-10-28 2017-11-01 임진강 Unmanned drones automatic charging and containment system

Patent Citations (1)

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Publication number Priority date Publication date Assignee Title
KR101792555B1 (en) 2015-10-28 2017-11-01 임진강 Unmanned drones automatic charging and containment system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111056030A (en) * 2019-12-23 2020-04-24 珠海恒力源机电有限公司 Automatic charging platform of unmanned aerial vehicle
CN112046779A (en) * 2020-07-29 2020-12-08 成都震风航空技术有限公司 W-shaped clamping plate for guiding unmanned aerial vehicle to be stored, guiding assembly and guiding method
CN112046779B (en) * 2020-07-29 2021-11-05 成都震风航空技术有限公司 W-shaped clamping plate for guiding unmanned aerial vehicle to be stored, guiding assembly and guiding method
CN112406607A (en) * 2020-10-15 2021-02-26 大强信息技术(深圳)有限公司 Unmanned aerial vehicle platform that independently charges
CN112406607B (en) * 2020-10-15 2022-12-06 大强信息技术(深圳)有限公司 Unmanned aerial vehicle platform that independently charges
WO2023124434A1 (en) * 2021-12-31 2023-07-06 蜂巢航宇科技（北京）有限公司 Multi-rotor dronebox

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