Low-impact landing system for rotorcraft

Abstract

According to a feature of the present invention, provided is a low-impact landing system for a rotorcraft for reducing a landing impact transmitted to a fuselage (11) when a rotorcraft (10) lands, the low-impact landing system for a rotorcraft comprising: a landing platform (110) having a landing surface (111) formed on an upper portion thereof on which the rotorcraft (10) lands; the inclination driving part (120) is arranged at the lower position of the landing platform (110), is used for supporting the landing platform (110) and is driven according to a control signal to adjust the horizontal inclination of the landing platform (110); a ground communication unit (130) for receiving an airframe tilt detection signal detected by an airframe tilt detection unit (15) provided in the rotorcraft (10); and a drive control unit (140) for controlling the tilt drive unit (120) on the basis of the received vehicle body tilt detection signal so that the landing gears (12) provided on the lower part of the rotorcraft (10) are simultaneously in contact with the landing surface (111) of the landing pad (110) by adjusting the horizontal tilt of the landing pad (110).

Description

Technical Field

[0001] The present invention relates to a low-impact landing system for a rotorcraft, and more particularly, to a low-impact landing system for a rotorcraft capable of reducing the landing impact transmitted to a body when a landing gear of the rotorcraft is lowered and landed on a landing surface during landing. Background Art

[0002] Generally, a rotorcraft is an aircraft that flies by generating lift required for flight through rotating propellers, and representative examples include drones (multi-rotor aircraft) and helicopters. Figure 1 As shown, a propeller 13 is installed on the fuselage 11 of the rotorcraft 10, and a landing gear 12 is installed at the lower part of the fuselage 11 for stably supporting the fuselage 11 during landing. A plurality of landing gears 12 are arranged spaced apart on the left and right so that the fuselage 11 will not easily tip over during landing.

[0003] Furthermore, in terms of flight characteristics, during the descent to land on the ground 20, if there is disturbance such as wind or external impact, the rotorcraft 10 may cause the body 11 of the rotorcraft 10 to descend to the ground 20 with the landing gear 12 in a tilted state. Figure 2 As shown in part (a) of FIG. 1 , the landing gear 12 on the inclined side of the fuselage 11 first contacts the ground 20, thereby generating the first landing impact, and then, as shown in FIG. Figure 2 As shown in part (b) of FIG. 1 , the landing gear 12 on the other side will contact the ground 20 , thereby generating a second landing impact.

[0004] This landing shock will be transmitted to the passengers inside through the body 11, which will not only cause anxiety, but also cause the landing shock to be transmitted to the internal electronic components, causing damage or functional failure. In particular, if the tilt state of the body 11 is too serious, the body 11 may rotate around the landing gear 12 that first contacts the ground 20 and cause overturning, thereby causing damage to the rotorcraft 10 or causing casualties. Summary of the invention

[0005] Technical issues

[0006] The present invention is used to solve the above-mentioned problem. The purpose of the present invention is to provide a low-impact landing system for a rotorcraft, that is, the horizontal inclination of the landing platform can be adjusted according to the inclination state of the rotorcraft body so that each landing gear can land at the same time, thereby greatly reducing the landing shock transmitted to the body during landing.

[0007] Technical Solution

[0008] According to one feature of the present invention, there is provided a low-impact landing system for a rotorcraft, for reducing the landing shock transmitted to a body 11 of the rotorcraft 10 when the rotorcraft 10 lands, and comprising: a landing platform 110, having a landing surface 111 formed at the upper portion thereof for landing the rotorcraft 10; a tilt drive unit 120, disposed at a lower portion of the landing platform 110, for supporting the landing platform 110, and driven according to a control signal to adjust the horizontal tilt of the landing platform 110; a ground communication unit 130, for receiving a body tilt detection signal detected by a body tilt detection unit 15 disposed on the rotorcraft 10; and a drive control unit 140, for controlling the tilt drive unit 120 according to the received body tilt detection signal, so as to make each landing gear 12 disposed at the lower portion of the rotorcraft 10 contact with the landing surface 111 of the landing platform 110 at the same time by adjusting the horizontal tilt of the landing platform 110.

[0009] According to another feature of the present invention, a low-impact landing system for a rotorcraft is provided, characterized in that the tilt drive unit 120 includes: a base plate 121, which is separated and fixed downward from the landing platform 110; and a plurality of actuators (Actuator) 122, which are separated and arranged along the periphery of the landing platform 110, extending up and down between the base plate 121 and the landing platform 110, and are telescopically driven according to a control signal of a drive control unit 140 to pressurize the landing platform 110 up and down. The drive control unit 140 individually controls each actuator 122 according to a received body tilt detection signal, so that the landing platform 110 can adjust the horizontal tilt by performing a rolling (Roll) action and a pitch (Tilt) action through the telescopic drive of each actuator 122.

[0010] According to another feature of the present invention, a low-impact landing system for a rotorcraft is provided, characterized in that it also includes a landing platform tilt detection unit 191, which is arranged on the landing platform 110 or the tilt drive unit 120, and is used to output a detection signal required for calculating the landing platform tilt angle θ2 of the landing platform 110 relative to the horizontal plane. The drive control unit 140 performs the following actions: by receiving the body tilt detection signal of the body tilt detection unit 15, the body tilt angle θ1 of the body 11 relative to the horizontal plane is calculated; by receiving the detection signal of the landing platform tilt detection unit 191, the landing platform tilt angle θ2 is calculated; by individually controlling each actuator 122 of the tilt drive unit 120, the landing platform tilt angle θ2 is made the same as the body tilt angle θ1.

[0011] According to another feature of the present invention, a low-impact landing system for a rotorcraft is provided, characterized in that the ground communication unit 130 receives body position information of the body 11 detected by the body position detection unit 17 provided on the rotorcraft 10, and the drive control unit 140 performs the following actions: based on the received body position information, the tilt drive unit 120 is started to be controlled when the rotorcraft 10 approaches the landing platform 110 to within a set distance, and each actuator 122 is controlled individually to make the landing platform 110 move horizontally according to the received body position information through the telescopic drive of each actuator 122, so that the landing gear 12 of the rotorcraft 10 lands toward the center position of the landing surface 111.

[0012] According to another feature of the present invention, a low-impact landing system for a rotorcraft is provided, characterized in that the size of the landing platform 110 is relatively greater than or equal to the size of the opening 21 formed in the ground 20, the ground communication unit 130 receives the body position information detected by the body position detection unit 17 provided in the rotorcraft 10, and the drive control unit 140 performs the following actions: according to the received body position information of the body position detection unit 17, when the rotorcraft 10 approaches the landing platform 110 to within a set distance, the landing platform 110 which is horizontally arranged on the same line with the ground 20 is raised to a set height; according to the body tilt detection signal of the body tilt detection unit 15, the horizontal tilt of the landing platform 110 is adjusted so that each landing gear 12 contacts the landing surface 111 at the same time; and by individually controlling each actuator 122, when the rotorcraft 10 lands on the landing platform 110, the landing platform 110 is horizontally arranged and descended so as to be on the same line with the ground 20.

[0013] According to another feature of the present invention, a low-impact landing system for a rotorcraft is provided, characterized in that it also includes a wind detection unit 170, which is arranged on the ground 20 at a specified distance from the landing platform 110, and is used to detect the wind direction and wind speed of the wind blowing toward the side of the landing platform 110. The drive control unit 140 controls the drive of the tilt drive unit 120 according to the wind detection signal received from the wind detection unit 170, so that the horizontal tilt of the landing platform 110 is further tilted along the estimated direction of the tilt of the body 11 of the rotorcraft 10 due to the wind.

[0014] According to another feature of the present invention, a low-impact landing system for a rotorcraft is provided, characterized in that an exhaust hole 112 is formed on the landing platform 110 for discharging a flight airflow generated by the rotation of a propeller 13 provided on the rotorcraft 10 and blowing toward a landing surface 111 to the lower part of the landing platform 110. The present invention also includes an exhaust window 180 provided in the lower space of the landing platform 110 for discharging the flight airflow discharged downward through the exhaust hole 112 to the outside.

[0015] Effects of the Invention

[0016] As described above, the present invention has the following advantages.

[0017] First, the landing platform 110 is formed with a landing surface 111 for the rotorcraft 10 to land on the upper part, and the tilt driving unit 120 is arranged at the lower position of the landing platform 110, for supporting the landing platform 110 and adjusting the horizontal tilt of the landing platform 110 according to the control signal. The ground communication unit 130 is used to receive the body tilt detection signal detected by the body tilt detection unit 15 arranged on the rotorcraft 10, and the drive control unit 140 controls the tilt driving unit 120 according to the received body tilt detection signal, so as to make the horizontal tilt of the landing platform 110 be adjusted so that each landing gear 12 arranged at the lower part of the rotorcraft 10 is in contact with the landing surface 111 of the landing platform 110 at the same time. In this way, the landing impact generated during landing can be dispersed to each landing gear 12 to greatly reduce the landing impact, and the body 11 can be prevented from tipping over when landing in a tilted state.

[0018] Second, the tilt drive unit 120 includes: a base plate 121, which is spaced downward from the landing platform 110 and fixedly arranged; and a plurality of actuators 122, which are spaced along the periphery of the landing platform 110, and are extended up and down between the base plate 121 and the landing platform 110, and are telescopically driven according to the control signal of the drive control unit 140 to pressurize the landing platform 110 up and down. The drive control unit 140 controls each actuator 122 individually according to the received body tilt detection signal, so that the landing platform 110 performs a roll action and a pitch action through the telescopic drive of each actuator 122 to adjust the horizontal tilt. In this way, the horizontal tilt of the landing platform 110 can be adjusted accurately and quickly. If each actuator 122 is set to a Stewart Platform structure that extends up and down obliquely, it has the advantage of being able to control the landing platform 110 through a variety of actions other than rolling and pitching actions, such as yaw action, horizontal movement action, and lifting action. Furthermore, when a hydraulic or pneumatic actuator 122 is used, when the body 11 lands on the landing surface 111, the load on the body 11 can be reduced by an instantaneous compression action, thereby further reducing the landing shock.

[0019] Third, the landing platform inclination detection unit 191 is arranged on the landing platform 110 or the inclination drive unit 120, and is used to output the detection signal required for calculating the landing platform inclination angle θ2 of the landing platform 110 relative to the horizontal plane. The drive control unit 140 performs the following actions: by receiving the body inclination detection signal of the body inclination detection unit 15, the body inclination angle θ1 of the body 11 relative to the horizontal plane is calculated, and by receiving the detection signal of the landing platform inclination detection unit 191, the landing platform inclination angle θ2 is calculated; by individually controlling each actuator 122 of the inclination drive unit 120 to make the landing platform inclination angle θ2 the same as the body inclination angle θ1. In this way, the inclination of the body 11 and the inclination of the landing surface 111 can be synchronized in real time, which has the advantage of being able to precisely control the horizontal inclination of the landing surface 111.

[0020] Fourth, the ground communication unit 130 receives the body position information of the body 11 detected by the body position detection unit 17 provided in the rotorcraft 10, and the drive control unit 140 performs the following actions: according to the received body position information, when the rotorcraft 10 approaches the landing platform 110 to within a set distance, the tilt drive unit 120 is started to be controlled, and each actuator 122 is controlled individually to make the landing platform 110 move horizontally according to the received body position information through the telescopic drive of each actuator 122, so that the landing gear 12 of the rotorcraft 10 lands toward the center position of the landing surface 111. In this way, the rotorcraft 10 can be prevented from landing on the outer part of the landing platform 110 or on the ground 20 deviating from the landing platform 110, and the load of the body 11 can be prevented from being biased towards the landing platform 110.

[0021] Fifth, the size of the landing platform 110 is relatively greater than or equal to the size of the opening 21 formed on the ground 20. In this way, it is possible to avoid the generation of a space between the landing platform 110 and the opening 21, thereby fundamentally preventing the legs of a person getting off the rotorcraft 10 from falling into the space. The ground communication unit 130 receives the body position information detected by the body position detection unit 17 set on the rotorcraft 10, and the drive control unit 140 performs the following actions: according to the received body position information of the body position detection unit 17, when the rotorcraft 10 approaches the landing platform 110 to within a set distance, the landing platform 110 which is horizontally arranged on the same line with the ground 20 is moved to the ground. 110 rises to a set height; the horizontal inclination of the landing platform 110 is adjusted according to the body inclination detection signal of the body inclination detection unit 15, so that each landing gear 12 is in contact with the landing surface 111 at the same time; by individually controlling each actuator 122, when the rotorcraft 10 lands on the landing platform 110, the landing platform 110 is horizontally leveled and descends, so that it is in the same line with the ground 20. In this way, the user (ground staff or pilot) does not need to act in a manner that coincides with the driving timing of the landing platform 110 as the rotorcraft 10 approaches. As the horizontal inclination of the landing platform 110 is adjusted, the landing platform 110 can be prevented from contacting the opening 21.

[0022] Sixth, the wind detecting unit 170 is disposed on the ground 20 at a specified distance from the landing platform 110, and is used to detect the wind direction and wind speed of the wind blowing toward the side of the landing platform 110. The driving control unit 140 controls the driving of the tilt driving unit 120 according to the wind detection signal received by the wind detecting unit 170, so that the horizontal tilt of the landing platform 110 is further tilted along the estimated direction of the tilt of the body 11 of the rotorcraft 10 due to the wind. In this way, at the moment when the landing gear 12 is about to land on the landing surface 111, even if the wind blows toward the body 11, each landing gear 12 can be guided to contact the landing surface 111 at the same time.

[0023] Seventh, an exhaust hole 112 is formed on the landing platform 110 for discharging the flight airflow generated by the rotation of the propeller 13 set in the rotorcraft 10 and blowing toward the landing surface 111 to the lower part of the landing platform 110, and an exhaust window 180 is set in the lower space of the landing platform 110, for discharging the flight airflow discharged downward through the exhaust hole 112 to the outside. In this way, since the flight airflow reflected upward by the landing surface 111 of the landing platform 110 blows toward the fuselage 11, the flow generated during landing can be minimized. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The figure is a front view showing the structure of a conventional rotorcraft.

[0025] Figure 2 This is a front view showing a state in which two landing impacts occur when the aircraft body lands in a tilted state.

[0026] Figure 3 and Figure 4 The present invention is a front view and a top view showing the structure of a low-impact landing system for a rotorcraft according to a preferred embodiment of the present invention.

[0027] Figure 5a It is a perspective view showing the structure of a tilt driving unit according to a preferred embodiment of the present invention.

[0028] Figure 5b It is a side cross-sectional view showing another structure of the tilt driving part according to a preferred embodiment of the present invention.

[0029] Figure 6a It is a front view showing a state in which the horizontal inclination of the landing platform is adjusted to the left along with the body of the aircraft by the inclination driving unit according to the preferred embodiment of the present invention.

[0030] Figure 6b This is a front view showing a state in which the tilt driving unit according to a preferred embodiment of the present invention is adjusted so that the horizontal tilt of the landing platform follows the rightward tilt of the aircraft body.

[0031] Figure 7 This is a front view showing a state in which the landing platform is horizontally moved by the tilt driving unit according to a preferred embodiment of the present invention.

[0032] Figures 8 to 10 The present invention is a front view showing the operating principle of a low-impact landing system for a rotorcraft according to a preferred embodiment of the present invention.

[0033] Fig.11 It is a front view showing the structure of a wind detection unit according to a preferred embodiment of the present invention.

[0034] Fig.12 It is a front view showing the structure of the exhaust holes and exhaust windows formed on the landing platform of the preferred embodiment of the present invention. DETAILED DESCRIPTION

[0035] The objects, features and advantages of the present invention will become more apparent in the following detailed description. Hereinafter, preferred embodiments of the present invention will be described according to the accompanying drawings.

[0036] The low-impact landing system for a rotorcraft according to a preferred embodiment of the present invention can land all landing gears simultaneously when the rotorcraft is tilted, thereby significantly reducing the landing impact transmitted to the aircraft body during landing. Figure 3 and Figure 4 As shown, the low-impact landing system for a rotorcraft includes a landing platform 110 , a tilt driving unit 120 , a ground communication unit 130 , and a driving control unit 140 .

[0037] First, the landing platform 110 is formed with a landing surface 111 on the upper part for the rotorcraft 10 to land, so as to provide a landing space. The landing platform 110 is shown in the figure as a disc, but it is not limited thereto. The landing surface 111 can be in various shapes such as a quadrilateral, a triangle, and an ellipse under a flat condition. In addition, the landing surface 111 can be marked with patterns and texts for indicating the landing place of the rotorcraft 10.

[0038] The tilt driving unit 120 provides the driving force required for adjusting the horizontal tilt of the landing platform 110 , is disposed at the lower position of the landing platform 110 , is used to support the lower part of the landing platform 110 , and is driven according to the control signal of the driving control unit 140 to adjust the horizontal tilt of the landing platform 110 .

[0039] Among them, Figures 3 to 5a As shown, the tilt drive unit 120 may include: a substrate 121, which is separated and fixed downward from the landing platform 110; and a plurality of actuators 122, which are separated and arranged around the landing platform 110, and extend up and down between the substrate 121 and the landing platform 110, and are telescopically driven according to the control signal of the drive control unit 140 to pressurize the landing platform 110 up and down.

[0040] The drive control unit 140 controls each actuator 122 individually according to the received body tilt detection signal, so that the landing platform 110 performs a roll action and a pitch action through the extension and retraction drive of each actuator 122 to adjust the horizontal tilt.

[0041] Furthermore, as shown in the figure, one substrate 121 may be combined with the lower end of each actuator 122 , and a plurality of substrates 121 may be provided so that each substrate 121 is respectively combined with one or more actuators 122 .

[0042] In addition, although not shown in the figure, a high-rigidity protection plate is provided at the bottom of the landing platform 110 so that the upper end of each actuator 122 can be rotatably connected to the ground axis, thereby protecting the landing platform 110 from damage due to the pressure of the actuator 122.

[0043] In addition, the actuator 122 can be a cylinder structure that utilizes hydraulic or pneumatic pressure to move the piston rod 123 and adjust the length by telescopic means. Preferably, the lower end is rotatably coupled to the axis of the base plate 121, and the upper end is rotatably coupled to the lower axis of the landing platform 110, thereby adjusting the horizontal inclination of the landing platform 110 according to the telescopic driving distance.

[0044] Therefore, refer to Figure 5aIf the telescopic lengths of the actuators 122 supporting the lower part of the landing platform 110 are adjusted separately, the landing platform 110 can adjust its horizontal inclination relative to the horizontal plane while performing a roll and a pitch. In addition, the landing platform 110 can be raised by uniformly increasing the lengths of the actuators 122, and can be lowered by uniformly reducing the lengths of the actuators 122.

[0045] In addition, if Figure 4 and Figure 5a As shown, if each actuator 122 is set as a Stewart Platform structure that extends up and down obliquely, the landing platform 110 can perform yaw and horizontal movement in addition to rolling and pitching movements. In addition, when the actuator 122 is a cylinder structure using hydraulic or pneumatic pressure, when the body 11 lands on the landing surface 111, the load of the body 11 can be reduced by instantaneous compression, thereby further reducing the landing impact. Among them, the landing platform 110 or the tilting drive unit 120 can include a shock absorber to reduce the landing impact when the body 11 lands on the landing surface 111.

[0046] And, if Figure 5b As shown, in addition to the cylinder structure, the actuator 122 can also be a multi-joint mechanical arm structure that is spaced apart around the landing platform 110 and extends between the base plate 121 and the landing platform 110. By adjusting the upper end position of the lower part supporting the landing platform 110 according to the rotation of each joint, the landing platform 110 can be made to roll, pitch, yaw, move horizontally, and lift.

[0047] Furthermore, although not shown in the figure, the actuator 122 can be composed of a drive motor and a rack structure, wherein the drive motor controls the rotation angle according to the control signal of the drive control unit 140, and the rack structure uses the rotational force of the drive motor to operate, thereby realizing various actions including adjusting the horizontal tilt of the landing platform 110.

[0048] In addition, if Figure 3 As shown, preferably, the tilting driving unit 120 is arranged at a position lower than the ground 20, so that the landing platform 110 is arranged at a position corresponding to the ground 20. For example, the tilting driving unit 120 can be arranged in an underground space that opens upward from the ground 20, so that the landing platform 110 and the ground 20 are on the same line.

[0049] On the other hand, the ground communication unit 130 receives the body tilt detection signal detected by the body tilt detection unit 15 provided in the rotorcraft 10 and transmits it to the drive control unit 140. In general, in the case of the rotorcraft 10, in order to maintain the stable posture of the body 11, the body tilt detection unit 15 such as a gyro sensor or a tilt sensor that outputs an electrical detection signal differentiated according to the tilt degree of the body 11 is provided. The ground communication unit 130 can be connected to the body communication unit 16 provided in the rotorcraft 10 by wireless signal, so that the body tilt detection signal output from the body tilt detection unit 15 can be used as basic data for determining the tilt state of the body 11.

[0050] Furthermore, the ground communication unit 130 is constituted by a part of a ground control system (GCS) for flight control of the rotorcraft 10 , and can also receive a body tilt detection signal obtained for flight control.

[0051] In addition, the body tilt detection unit 15 may also be a sensor additionally installed on the body 11 for adjusting the horizontal tilt of the landing platform 110 , rather than a sensor installed for flight control of the rotorcraft 10 .

[0052] The drive control unit 140 controls the structure of the tilt drive unit 120 in order to adjust the horizontal tilt of the landing platform 110 to a set tilt state. The tilt drive unit 120 is controlled by using the body tilt detection signal to tilt the landing platform 110 in the same direction as the tilt direction of the body 11 of the rotorcraft 10, thereby adjusting the horizontal tilt of the landing platform 110 and guiding each landing gear 12 arranged at the lower part of the rotorcraft 10 to contact the landing surface 111 of the landing platform 110 at the same time.

[0053] Among them, the drive control unit 140 controls each actuator 122 individually according to the received body tilt detection signal, so that the landing platform 110 can adjust the horizontal tilt by rolling (Roll) and pitching (Tilt) movements through the telescopic drive of each actuator 122. In this way, the horizontal tilt of the landing platform 110 can be adjusted precisely and quickly.

[0054] In addition, the drive control unit 140 stores control data values ​​required to drive each actuator 122 individually, so that the horizontal tilt of the landing platform 110 corresponds to the horizontal tilt of the body 11 according to each body tilt detection signal of the body tilt detection unit 15, so that the corresponding control data value can be read out according to the received body tilt detection signal and each actuator 122 can be controlled.

[0055] By means of the combined structure of the landing platform 110, the tilting drive unit 120, the ground communication unit 130 and the drive control unit 140 as described above, the landing shock can be dispersed when each landing gear 12 contacts the landing surface 111 at the same time, thereby significantly reducing the landing shock transmitted to the fuselage 11, and preventing the fuselage 11 from tipping over during landing in a tilted state.

[0056] In addition, if Figure 6a As shown, the low-impact landing system for a rotorcraft according to the preferred embodiment of the present invention may further include a landing platform tilt detection unit 191 in order to more precisely control the horizontal tilt of the landing platform 110 .

[0057] The landing platform tilt detection unit 191 is disposed on the landing platform 110 or the tilt driving unit 120, and is used to output a detection signal required for calculating a landing platform tilt angle θ2 of the landing platform 110 relative to a horizontal plane.

[0058] Among them, the landing platform tilt detection unit 191 is composed of a gyro sensor or a tilt sensor, which can be set on the landing platform 110 and output a detection signal for detecting the tilt state of the landing platform 110 relative to the horizontal plane. It can also be composed of a detection sensor for detecting the telescopic length of each actuator 122 or a detection sensor for detecting the upper end position of each actuator 122, which can be set in the tilt driving unit 120 and output a detection signal for detecting the driving state of each actuator 122.

[0059] Furthermore, the drive control unit 140 receives the body tilt detection signal from the body tilt detection unit 15, calculates the body tilt angle θ1 of the body 11 relative to the horizontal plane, receives the detection signal from the landing platform tilt detection unit 191, calculates the landing platform tilt angle θ2, and individually controls each actuator 122 of the tilt drive unit 120, so that the landing platform tilt angle θ2 is the same as the body tilt angle θ1.

[0060] For example, Figure 6a As shown, when the body inclination angle θ1 calculated to be 7° is in the state where the body 11 is tilted to the left, each actuator 122 is controlled so that the landing platform inclination angle θ2 calculated by the detection signal detected by the landing platform inclination detection unit 191 is 7°, thereby forming a state in which the landing surface 111 is tilted to the left.

[0061] On the contrary, Figure 6bAs shown in FIG. 1 , when the calculated body inclination angle θ1 is 5° in a state where the body 11 is tilted to the right, each actuator 122 is controlled so that the landing platform inclination angle θ2 calculated by the detection signal detected by the landing platform inclination detection unit 191 is 5°, thereby forming a state where the landing surface 111 is tilted to the right. As described above, the inclination of the body 11 and the inclination of the landing surface 111 can be synchronized in real time, so that the horizontal inclination of the landing surface 111 can be precisely controlled.

[0062] On the other hand, refer to Figure 7 , the ground communication unit 130 is used to receive the body position information of the body 11 detected by the body position detection unit 17 provided in the rotorcraft 10. Generally, the body position detection unit 17 can be a global positioning system (GPS) module, a laser radar sensor, and an altimeter for flight control of the rotorcraft 10, or a detection unit composed of a plurality of them. Therefore, the body position information can be a global positioning system (GPS) signal detected from the global positioning system (GPS) module or the separation distance information between the body 11 and the landing platform 110 detected from the laser radar sensor, or the height information detected from the altimeter.

[0063] Among them, the drive control unit 140 performs the following actions: according to the received body position information of the body 11, it starts to control the tilt drive unit 120 when the rotorcraft 10 approaches the landing platform 110 to within a set distance, and by individually controlling each actuator 122, the landing platform 110 is horizontally moved through the telescopic drive of each actuator 122 according to the received body position information, so that the landing gear 12 of the rotorcraft 10 lands toward the center position of the landing surface 111.

[0064] Therefore, it is possible to prevent the rotorcraft 10 from landing on the outer portion of the landing platform 110 or on the ground 20 that is away from the landing platform 110 , and it is also possible to prevent the load of the body 11 from being biased toward the landing platform 110 .

[0065] On the other hand, Figure 8 As shown, the size of the landing platform 110 is relatively larger than or equal to the size of the opening 21 formed in the ground 20. In this way, it is possible to avoid the formation of a space separated between the landing platform 110 and the opening 21, thereby fundamentally preventing the legs of a person getting off the rotorcraft 10 from falling into the space separated. In addition, the ground communication unit 130 receives the body position information detected by the body position detection unit 17 provided in the rotorcraft 10.

[0066] As shown in FIG8 , the driving control unit 140 performs the following actions: when the rotorcraft 10 approaches the landing platform 110 to within a set distance, the landing platform 110 horizontally arranged on the same line with the ground 20 is raised to a set height (①), according to the body position information received from the body position detection unit 17, as shown in FIG8 . Fig. 9 As shown, the horizontal inclination (②) of the landing platform 110 is adjusted according to the body inclination detection signal of the body inclination detection unit 15, so that each landing gear 12 is in contact with the landing surface 111 at the same time.

[0067] In addition, if Fig.10 As shown, by individually controlling each actuator 122, when the rotorcraft 10 lands on the landing platform 110, the landing platform 110 is made to be in a horizontal state (③) and descend (④) to be on the same line with the ground 20. Therefore, the user (ground staff or pilot) does not need to act in a manner that matches the driving timing of the landing platform 110 as the rotorcraft 10 approaches, and as the horizontal inclination of the landing platform 110 is adjusted, the landing platform 110 can be prevented from contacting the opening 21.

[0068] Although not shown in the figure, the landing platform 110 or the rotorcraft 10 may have a landing detection sensor for detecting the landing of the rotorcraft 10 and outputting a landing detection signal, and the drive control unit 140 can use the received landing detection signal to determine the time for adjusting the tilted landing platform 110 to a horizontal state.

[0069] On the other hand, as described above, the horizontal tilt of the landing platform 110 will be adjusted following the horizontal tilt of the fuselage 11, but if the horizontal tilt of the fuselage 11 changes faster than the driving speed of the tilt driving unit 120, each landing gear 12 may contact the landing surface 111 at different times.

[0070] Therefore, if Fig.11 As shown, the low-impact landing system for a rotorcraft according to a preferred embodiment of the present invention includes a wind detecting unit 170 so that the horizontal inclination of the landing platform 110 can be adjusted in a direction in which the body 11 is further inclined before landing due to the wind blowing toward the body 11.

[0071] To this end, the wind detection unit 170 is disposed on the ground 20 at a predetermined distance from the landing platform 110, and is used to detect the wind direction and wind speed of the wind blowing toward the landing platform 110. The drive control unit 140 can control the driving of the tilt drive unit 120 according to the wind detection signal received from the wind detection unit 170, so that the horizontal tilt of the landing platform 110 is further tilted along the estimated direction of the body 11 of the rotorcraft 10 tilted by the wind. Preferably, a plurality of wind detection units 170 are arranged with the landing platform 110 as the center, so that the wind blowing from all directions can be detected.

[0072] Furthermore, the drive control unit 140 may use the wind direction information included in the received wind detection signal to determine the direction in which the landing platform 110 should be tilted, and may use the wind speed information included in the wind detection signal to determine the degree to which the landing platform 110 should be tilted.

[0073] In this way, even if wind blows against the body 11 at the moment when the landing gears 12 are about to land on the landing surface 111 , it is possible to guide the landing gears 12 to contact the landing surface 111 at the same time.

[0074] On the other hand, if rotorcraft 10 descends and approaches landing surface 111 to land on landing platform 110 , the flight airflow generated by the rotation of propeller 13 will be reflected upward by landing surface 111 and blow toward rotorcraft 10 , which may cause unstable movement of body 11 .

[0075] For this reason, Fig.12 As shown, an exhaust hole 112 is formed in the landing platform 110 for discharging the flight airflow generated by the rotation of the propeller 13 provided on the rotorcraft 10 and blowing toward the landing surface 111 to the lower part of the landing platform 110, and an exhaust window 180 is provided in the lower space of the landing platform 110, and can be used to discharge the flight airflow discharged downward through the exhaust hole 112 to the outside.

[0076] Therefore, since the flight airflow reflected upward by the landing surface 111 of the landing platform 110 blows toward the body 11, the flow generated at the time of landing can be minimized.

[0077] The present invention described above is not limited to the embodiments and drawings. Obviously, a person skilled in the art can make various substitutions, deformations and modifications without departing from the technical concept of the present invention.

Claims

1. A low impact landing system for a rotorcraft, used to reduce the landing impact transmitted to a body (11) of a rotorcraft (10) when landing, characterized in that: include: A landing platform (110) having a landing surface (111) formed on the upper portion thereof for the rotorcraft (10) to land; A tilt driving unit (120), arranged at a lower position of the landing platform (110), used to support the landing platform (110), and driven according to a control signal to adjust the horizontal tilt of the landing platform (110); A ground communication unit (130) is used to receive a body tilt detection signal detected by a body tilt detection unit (15) provided on the rotorcraft (10); and A drive control unit (140) controls the tilt drive unit (120) according to the received body tilt detection signal, so that each landing gear (12) provided at the lower part of the rotorcraft (10) is brought into contact with the landing surface (111) of the landing platform (110) at the same time by adjusting the horizontal tilt of the landing platform (110).

2. The low impact landing system for a rotorcraft according to claim 1, characterized in that: The tilt driving unit (120) comprises: A base plate (121) is spaced downward from the landing platform (110) and fixedly disposed; and A plurality of actuators (122) are arranged at intervals around the landing platform (110), and are extended up and down between the substrate (121) and the landing platform (110). The actuators (122) are driven to extend and retract according to a control signal of the drive control unit (140) to pressurize the landing platform (110) up and down. The drive control unit (140) controls each actuator (122) individually according to the received body tilt detection signal, so that the landing platform (110) performs rolling and pitching actions through the telescopic drive of each actuator (122) to adjust the horizontal tilt.

3. The low impact landing system for a rotorcraft according to claim 2, characterized in that: It also includes a landing platform inclination detection unit (191), which is arranged on the landing platform (110) or the inclination driving unit (120) and is used to output a detection signal required for calculating a landing platform inclination angle (θ2) of the landing platform (110) relative to a horizontal plane. The drive control unit (140) performs the following actions: By receiving a body tilt detection signal from the body tilt detection unit (15), a body tilt angle (θ1) of the body (11) relative to a horizontal plane is calculated; Calculating a landing platform inclination angle (θ2) by receiving a detection signal from the landing platform inclination detection unit (191); The inclination angle (θ2) of the landing platform is made the same as the inclination angle (θ1) of the body by individually controlling each actuator (122) of the inclination driving unit (120).

4. The low impact landing system for a rotorcraft according to claim 3, characterized in that: The ground communication unit (130) receives body position information of the body (11) detected by a body position detection unit (17) provided in the rotorcraft (10), The drive control unit (140) performs the following actions: based on the received body position information, when the rotorcraft (10) approaches the landing platform (110) to within a set distance, the tilt drive unit (120) is started to be controlled, and each actuator (122) is individually controlled to cause the landing platform (110) to move horizontally through the telescopic drive of each actuator (122), so that the landing gear (12) of the rotorcraft (10) lands toward the center of the landing surface (111).

5. The low impact landing system for a rotorcraft according to claim 2, characterized in that: The size of the landing platform (110) is relatively larger than or equal to the size of the opening 21 formed in the ground (20). The ground communication unit (130) receives the body position information detected by the body position detection unit (17) arranged on the rotorcraft (10), The drive control unit (140) performs the following actions: When the rotorcraft (10) approaches the landing platform (110) to within a set distance, the landing platform (110) which is horizontally arranged on the same line as the ground (20) is raised to a set height according to the received body position information of the body position detection unit (17); adjusting the horizontal inclination of the landing platform (110) according to the body inclination detection signal of the body inclination detection unit (15) so that each landing gear (12) contacts the landing surface (111) at the same time; By individually controlling each actuator (122), when the rotorcraft (10) lands on the landing platform (110), the landing platform (110) is made to be in a horizontal state and descend so as to be on the same line with the ground (20).

6. The low impact landing system for a rotorcraft according to claim 1, characterized in that: The system further comprises a wind detection unit (170) which is disposed on the ground (20) at a predetermined distance from the landing platform (110) and is used to detect the wind direction and wind speed of wind blowing toward the landing platform (110). The drive control unit (140) controls the driving of the tilt drive unit (120) according to the wind detection signal received from the wind detection unit (170), so that the horizontal tilt of the landing platform (110) is further tilted along the estimated direction of the body (11) of the rotorcraft (10) tilted due to the wind.

7. The low impact landing system for a rotorcraft according to claim 1, characterized in that: An exhaust hole (112) is formed on the landing platform (110) for discharging a flight airflow generated by the rotation of a propeller (13) provided on the rotorcraft (10) and blowing toward the landing surface (111) toward the lower part of the landing platform (110). The low-impact landing system for a rotorcraft further comprises an exhaust window (180) disposed in the lower space of the landing platform (110) and used for exhausting the flight airflow exhausted downward through the exhaust hole (112) to the outside.

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