Take-off and landing pad device

Abstract

To provide a pad which can reduce wind influence during take-off, and can achieve stable take-off.SOLUTION: A take-off and landing pad device for unmanned aircraft comprises: a pad including a take-off and landing surface; a mooring mechanism for mooring an unmanned aircraft to the pad; a driving source for rotating the pad together with the mooring mechanism; and a controller for controlling operation of the mooring mechanism and the driving source. The controller rotationally drives the driving source so that a nose of the unmanned aircraft on the takeoff and the landing surface faces a wind direction on the basis of information concerning the acquired wind direction.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a pad suitable for takeoff and landing of an Unmanned Aerial Vehicle (UAV). [Background technology]

[0002] It is known that UAVs take off and land from pads. Although unmanned aerial vehicles called drones are also well known, in this disclosure, drones are treated as synonymous with UAVs. Pads and ports are also treated as synonymous with each other.

[0003] Patent Document 1 discloses a port that can reduce the effects of crosswinds during drone takeoff and landing, improving landing accuracy and safety during takeoff and landing. The drone port of Patent Document 1 includes a protective wall that surrounds the outer periphery of the takeoff and landing surface, and a turbulence reduction device that is provided at the upper end of the protective wall and reduces turbulence generated by crosswinds. The protective wall has a strength wall located on the outside and a soft wall located on the inside. The drone port further includes a downwash exhaust port that directs downwash from the drone downward or diagonally downward from below the protective wall to the outside. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2021-32017 A Summary of the Invention [Problem to be solved by the invention]

[0005] The port in Patent Document 1 can reduce the effects of crosswinds when a drone takes off and lands, and also suppresses or reduces the occurrence of turbulence, enabling stable attitude control. However, the port in Patent Document 1 is premised on having a protective wall with a considerable height, and the possibility cannot be denied that the drone's rotor blades, for example, may come into contact with the protective wall. In fact, Patent Document 1 makes the inside of the protective wall a soft wall to prevent damage caused by the rotor blades colliding with the protective wall. In view of the above, an object of the present disclosure is to provide a pad that reduces the effects of wind, particularly during takeoff, enabling a stable takeoff. [Means for solving the problem]

[0006] The takeoff and landing pad device of the unmanned aerial vehicle according to the present disclosure includes: a pad having a take-off and landing surface; a tethering mechanism for tethering the unmanned aerial vehicle to the pad; A drive source that rotates the pad together with the anchoring mechanism; and a controller that controls the operation of the mooring mechanism and the drive source. The controller of the present disclosure comprises: Based on the acquired information about the wind direction, the drive source is rotated so that the nose of the unmanned aerial vehicle on the takeoff and landing surface faces the wind direction. Effect of the Invention

[0007] According to the present disclosure, the drive source is rotated so that the nose of the unmanned aerial vehicle on the takeoff and landing surface faces the wind direction, i.e., faces upwind, based on the acquired information on the wind direction. If the nose faces the wind direction, a stable takeoff can be performed. [Brief description of the drawings]

[0008] [Figure 1] 1 is a side view (top) and a plan view (bottom) showing the schematic configuration of a takeoff and landing pad apparatus according to a first embodiment. [Diagram 2] 4A to 4C are diagrams illustrating the operation of the takeoff and landing pad apparatus according to the first embodiment. [Diagram 3] FIG. 4 is a flow chart showing a control procedure of the takeoff and landing pad apparatus according to the first embodiment. [Figure 4]FIG. 11 is a side view illustrating the operation of the takeoff and landing pad apparatus according to the second embodiment. [Diagram 5] FIG. 11 is a flow chart showing a control procedure of the takeoff and landing pad apparatus according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the takeoff and landing pad device will be described with reference to the accompanying drawings. [First embodiment] The takeoff and landing pad device 1 rotates the pad 10 on which the drone 100 (FIG. 3) sits so that the nose 101 of the drone 100 faces upwind according to the surrounding wind direction. In other words, the takeoff and landing pad device 1 creates a situation in which the wind is blowing from the front when the drone 100 takes off, thereby realizing a stable takeoff.

[0010] [Overall configuration of takeoff and landing pad equipment 1: See Figure 1] The takeoff and landing pad apparatus 1 includes a pad 10 having a takeoff and landing surface 11, an electromagnet 20 as a mooring mechanism for mooring the drone 100 to the pad 10, an electric motor 30 as a drive source for rotating the pad 10 together with the electromagnet 20, and a controller 60 for controlling the operation of the electromagnet 20 and the electric motor 30. The takeoff and landing pad apparatus 1 includes an anemometer 40 near the pad 10, and information on the wind direction (actual wind direction Df) and information on the wind speed (actual wind speed Sf) measured by the anemometer 40 are provided to the controller 60. The controller 60 controls the operation of the electric motor 30, the electromagnet 20, etc. based on the acquired wind direction information and wind speed information.

[0011] [Pad 10: Figure 1] The pad 10 has a disk-like shape, and its front surface is provided with a takeoff and landing surface 11 for the drone 100. The drone 100 mounts on this takeoff and landing surface 11 before taking off, and lands on the takeoff and landing surface 11 after completing its flight. The pad 10 has a rotation axis C, and is driven to rotate around this rotation axis C. The material constituting the pad 10 is arbitrary as long as the pad 10 can maintain its integrity with the drone 100 placed on it. However, when the electromagnet 20 is used as the mooring mechanism, at least the side of the landing surface 11 needs to be made of a material through which the magnetic field lines generated by the electromagnet 20 can pass. Soft magnetic materials are known to hinder the passage of magnetic field lines, and if the landing surface 11 is made of a soft magnetic material, there is a risk that the magnetic field lines generated by the electromagnet 20 will not be able to pass through to the necessary parts. The disc-shaped pad 10 is merely one example, and the pad 10 may be polygonal, such as a square or a pentagon, or may have other shapes.

[0012] The pad 10 is equipped with a load cell 13 as a thrust measuring device for the drone 100. The load cell 13 measures the actual thrust Nf, which is the load after the drone 100 moored to the pad 10 starts rotating the rotor 103, and sends it to the controller 60. The actual thrust Nf is compared with the reference thrust Nc held by the controller 60, and becomes an element for determining whether to continue mooring the drone 100 by the electromagnet 20 as a mooring mechanism or to release the mooring. The measured thrust Nf is based on the rotation of the rotor 103, and since the thrust can be estimated based on the rotation speed of the rotor 103, the rotation speed of the rotor 103 (measured rotation speed) can be used as a substitute for the measured thrust Nf to determine whether to continue mooring or release the mooring. In this case, the reference rotation speed for the rotor 103 is compared. Any means can be used to acquire the measured rotation speed of the rotor 103, and the rotation speed of the rotor 103 can be measured using a laser displacement meter, or the rotation speed of the rotor 103 included in the aircraft information transmitted from the drone 100 to the controller 60 can be used. Note that, if an electric motor rotates the rotor 103 in the drone 100, the rotation speed of the rotor 103 can be considered equivalent to the rotation speed of the electric motor, and therefore the rotation speed of the electric motor can be used as a substitute for the rotation speed of the rotor 103. The same applies to the output of the electric motor.

[0013] [Electromagnet 20: See Figure 1] The electromagnet 20 is, for example, built inside the pad 10, and generates magnetic lines of force when power is supplied from a power source (not shown) in response to an instruction from the controller 60. The magnetic lines of force act on, for example, the skid 105 made of a soft magnetic material of the drone 100, and the skid 105 is attracted, so that the drone 100 is tethered to the pad 10 by the electromagnet 20. When the supply of power is stopped in response to an instruction from the controller 60, the drone 100 is released from being tethered by the electromagnet 20.

[0014] The electromagnet 20 is laid over a considerable area of ​​the takeoff and landing surface 11. Therefore, since the magnetic field lines generated by the electromagnet 20 have a wide range, the electromagnet 20 as a mooring mechanism can moor the drone 100 even if the drone 100 is slightly deviated from the center of the takeoff and landing surface 11. In other words, the mooring mechanism using the electromagnet 20 can moor the drone 100 not only at a predetermined position, but also when the drone 100 is deviated from the designated position. The electromagnet 20 as a mooring mechanism can function not only when the drone 100 takes off, but also when the drone 100 lands on the pad 10. In other words, immediately after the drone 100 lands on the pad 10, power can be supplied to the electromagnet 20 by an instruction from the controller 60 to moor the drone 100. This can achieve a stable landing on the pad 10 without the drone 100 falling over due to disturbances such as surrounding wind.

[0015] [Electric motor 30: See Figure 1] The electric motor 30 rotates in response to a command from the controller 60, thereby rotating the pad 10. The electric motor 30 rotates in response to a command from the controller 60 when the nose 101 of the drone 100 mounted thereon faces the detected wind direction. There is no particular limit to the type of electric motor 30 as long as it can achieve its purpose. For example, a stepping motor whose rotation angle and rotation speed can be controlled by a pulse signal can be used. A stepping motor has a holding force even when stopped with no power being input, so the pad 10 can be held in a position in a specified rotation direction without relying on a mechanical brake.

[0016] The drive source is not limited to an electric motor driven by electricity, but may be another type of energy, for example a hydraulic motor driven by hydraulic oil supplied from a hydraulic pump.

[0017] [Anemometer 40: See Figure 1] The anemometer 40 measures the wind direction and speed around the take-off and landing pad arrangement 1, and sends to the controller 60 the measured wind direction Df and measured wind speed Sf relating to the measured wind direction and wind speed. The anemometer 40 may be of any type as long as it can achieve its purpose. Typically, a propeller-type anemometer can be used. As an example, the anemometer 40 includes an optical encoder-type wind direction transmitter using an airplane-type tail and a magnetic pulse-type wind speed transmitter using the rotation of a propeller. The signals obtained by the wind direction transmitter and the wind speed transmitter are converted into DC voltages (DCV) and output as instantaneous wind direction / instantaneous wind speed. The controller 60 obtains the measured wind direction Df and measured wind speed Sf converted into DC voltages from the anemometer 40.

[0018] In this embodiment, the takeoff and landing pad apparatus 1 is equipped with the anemometer 40, but the anemometer 40 is not an essential element in this disclosure. In other words, any means can be used as long as the actual measured wind direction Df and actual measured wind speed Sf of the takeoff and landing pad apparatus 1 and its surroundings can be obtained. Therefore, the actual measured wind direction Df and actual measured wind speed Sf can be continuously obtained from a weather information provider or the like.

[0019] [Controller 60: See Figure 1] The controller 60 acquires the measured wind direction Df and the measured wind speed Sf from the anemometer 40, and acquires the measured thrust Nf from the load cell 13. The controller 60 controls the rotation of the electric motor 30 based on the acquired measured wind direction Df and the acquired measured wind speed Sf so that the nose 101 of the drone 100 faces upwind. The controller 60 also compares the acquired measured thrust Nf with the reference thrust Nc to control whether or not to moor the drone 100 by the electromagnet 20. The drone 100 is aware of its own aircraft information, and the controller 60 acquires this aircraft information. Examples of the aircraft information include rotation speed information (actual rotation speed) of the rotor 103 and orientation information of the drone 100. The orientation information includes, for example, information specifying the orientation of the nose 101 measured by a magnetic sensor provided in the drone 100.

[0020] [Information handled by controller 60: See Figure 1] As a premise for the above control by the controller 60, the information handled by the controller 60 will be collectively described. The drone 100 placed on the pad 10 is placed on the takeoff and landing surface 11 with its nose 101 facing a predetermined direction, for example, N (north, θ=0°) of the four directions (FIG. 2, S01). The controller 60 stores this reference direction Dc. The reference direction Dc is compared with the measured wind direction Df obtained from the wind vane and anemometer 40. The direction information of the drone 100 described above can also be used as the reference direction Dc. The controller 60 also stores a reference wind speed Sc. The reference wind speed Sc is compared with the measured wind speed Sf. In addition to wind speed, a measure of wind called wind force is known, and wind force is a measure of wind speed divided into 13 stages from 0 to 12 (Beaufort wind force scale). Therefore, in the present disclosure, wind force is still information on wind speed. Furthermore, the controller 60 stores a reference thrust Nc. The reference thrust Nc is compared with an actual thrust Nf obtained from the load cell 13. The rotation speed of the rotor 103 described above can also be used as an alternative to the thrust.

[0021] The information handled by the controller 60 is listed below. Information to be memorized: Reference direction Dc (direction of drone 100), reference wind speed Sc, reference thrust Nc Information to be acquired: Measured wind direction Df, measured wind speed Sf, measured thrust Nf (rotor 103 rotation speed)

[0022] [Control procedure of takeoff and landing pad device 1: Figures 2 and 3] Next, a control procedure of the takeoff / landing pad apparatus 1 by the controller 60 will be described with reference to Figs. As shown in S01 of Fig. 2, the drone 100 is parked with its nose 101 facing the reference direction Dc. In addition, the drone 100 is moored to the pad 10 by supplying power to the electromagnet 20 in response to an instruction from the controller 60 (S101 of Fig. 2). At this point, the rotor 103 of the drone 100 is assumed to be stopped.

[0023] The controller 60 acquires the measured wind direction Df and the measured wind speed Sf from the anemometer 40 (FIG. 3, S103). The controller 60 compares the acquired measured wind speed Sf with the reference wind speed Sc (S105). This comparison is performed for the following reason. That is, if the measured wind speed Sf is smaller than the reference wind speed Sc, there is no problem in allowing the drone 100 to take off in the same attitude without pointing the nose 101 upwind. Therefore, the subsequent control differs depending on the result of the comparison between the measured wind speed Sf and the reference wind speed Sc.

[0024] [When rotating pad 10 to point nose 101 into the wind] If the measured wind speed Sf is greater than the reference wind speed Sc (S105 Y), the controller 60 drives the electric motor 30 so that the reference direction Dc at the pad 10 matches the measured wind direction Df. Here, as shown in FIG. 2, if the measured wind direction Df is northeast, the measured wind direction Df=45°. On the other hand, since the reference direction Dc=0°, in order to eliminate the difference between the two, the controller 60 instructs the electric motor 30 to rotate the pad 10 clockwise by 45° (S107). This allows the nose 101 of the drone 100 to face upwind (FIG. 2 S02).

[0025] After the electric motor 30 rotates by a predetermined angle, here 45°, the controller 60 rotates the rotor 103 of the drone 100 (S109). At this time, the drone 100 is still tethered to the pad 10 by the magnetic force of the electromagnet 20. Therefore, the thrust of the drone 100 accompanying the rotation of the rotor 103 is applied to the pad 10.

[0026] The controller 60 acquires the measured thrust force Nf applied to the pad 10 (S111), and compares it with a reference thrust force Nc stored in advance (S113). If the measured thrust Nf is greater than the reference thrust Nc, the controller 60 determines that the drone 100 is generating the thrust required for stable flight (S113 Y), instructs the electromagnet 20 to stop supplying power, and releases the drone 100 from being tethered by the electromagnet 20 (S115). Then, the drone 100 starts flying. If the measured thrust Nf is not greater than the reference thrust Nc (S113 N, measured thrust Nf≦reference thrust Nc), the controller 60 continues to compare the reference thrust Nc and the measured thrust Nf until the measured thrust Nf becomes greater than the reference thrust Nc without releasing the tethering of the drone 100.

[0027] [If you leave Pad 10 as is and start flying] On the other hand, if the measured wind speed Sf is not greater than the reference wind speed Sc (S105 N, Sf ≦ Sc), the rotor 103 of the drone 100 is rotated without rotating the pad 10 (S117). At this time, the drone 100 is still tethered to the pad 10 by the magnetic force of the electromagnet 20. Therefore, the thrust of the drone 100 accompanying the rotation of the rotor 103 is applied to the pad 10.

[0028] The controller 60 acquires the measured thrust force Nf applied to the pad 10 (S119), and compares it with a reference thrust force Nc stored in advance (S121). If the measured thrust Nf is greater than the reference thrust Nc, the controller 60 determines that the drone 100 is generating the thrust required for stable flight (S121 Y), instructs the electromagnet 20 to stop supplying power, and releases the drone 100 from being tethered by the electromagnet 20 (S123). Then, the drone 100 starts flying. If the measured thrust Nf is not greater than the reference thrust Nc (S121 N, measured thrust Nf≦reference thrust Nc), the controller 60 continues to compare the reference thrust Nc and the measured thrust Nf until the measured thrust Nf becomes greater than the reference thrust Nc without releasing the tethering of the drone 100.

[0029] [Effects of the takeoff and landing pad device 1] The take-off and landing pad apparatus 1 provides the following effects. According to the takeoff and landing pad device 1, the pad 10 can be rotated so that the nose 101 faces upwind, which contributes to a stable takeoff of the drone 100. In particular, according to the takeoff and landing pad device 1, the pad 10 is rotated when the measured wind speed Sf is greater than the reference wind speed Sc and the nose 101 needs to face upwind, which allows for efficient takeoff of the drone 100.

[0030] According to the takeoff and landing pad device 1, the flight of the drone 100 is controlled based on the measured wind speed Sf and the measured wind direction Df detected by the anemometer 40 installed around the device, thereby providing high accuracy in flight control.

[0031] According to the takeoff and landing pad device 1, the nose 101 of the drone 100 is directed in a predetermined reference direction Dc, so that the angle at which the electric motor 30 is rotated can be easily obtained by comparing with the measured wind direction Df.

[0032] According to the takeoff and landing pad device 1, the drone 100 is released from the anchoring by the electromagnet 20 based on a comparison between the measured thrust Nf and the reference thrust Nc obtained for the drone 100 before takeoff, thereby ensuring a stable takeoff of the drone 100. In addition, by making the electromagnet 20 function as an anchoring mechanism at the time of landing, a stable landing of the drone 100 can be ensured.

[0033] According to the take-off and landing pad device 1, the drone 100 is tethered by magnetic field lines generated by the electromagnet 20. In other words, the electromagnet 20 tethers the drone 100 without contacting any part of the drone 100. Therefore, according to the take-off and landing pad device 1, tethering can be started and released more quickly than mechanical tethering. Also, according to the take-off and landing pad device 1, tethering can be performed even if the drone 100 is parked slightly off-center.

[0034] [Example of control procedure changes] The above-described control procedure can be partially modified as follows. The rotor 103 of the drone 100 is designed to start rotating after comparing the measured wind speed Sf with the reference wind speed Sc, but in the present disclosure, the rotor 103 can be rotated after the drone 100 is tethered by the electromagnet 20. Also, the pad 10 is rotated based on the comparison result between the measured wind speed Sf and the reference wind speed Sc. However, in the present disclosure, the pad 10 is allowed to rotate without comparing the measured wind speed Sf and the reference wind speed Sc. Furthermore, although an example in which the nose 101 faces the predetermined reference direction Dc has been described, the present disclosure can be realized even if the direction of the nose 101 is not specified in advance. For example, the above-mentioned direction information acquired from the drone 100 can be used. Also, for example, the pad 10 can be rotated so that the nose 101 faces upwind by acquiring the reference direction Dc of the nose 101 parked on the takeoff and landing surface 11 using a detection sensor such as a camera.

[0035] [Move pad 10 position] The pad 10 of the takeoff and landing pad device 1 described above may be fixed at a specific location, or may be movable. For example, the pad 10, electromagnet 20, electric motor 30, wind vane and anemometer 40, and controller 60, which are components of the takeoff and landing pad device 1, are mounted on a moving object such as a vehicle, an aircraft, or a ship, so that the takeoff and landing pad device 1 can be moved to an arbitrary location. In this case, a transmitter in a satellite positioning system, for example, a GPS system (Global Positioning System), is provided on the pad 10 or the moving object. This GPS transmitter acquires position information by receiving and measuring radio waves from an artificial satellite that constitutes the GPS system, and provides this position information to the drone 100. In this way, the drone 100 can recognize the current position of the pad 10, whose position has changed after takeoff, based on the acquired position information, and land the drone 100.

[0036] [Second embodiment: see FIG. 4] Next, a takeoff and landing pad apparatus 2 according to a second embodiment will be described. The take-off and landing pad apparatus 2 is equipped with a tilting mechanism 50 for the pad 10 relative to the take-off and landing pad apparatus 1. The tilting mechanism 50 tilts the pad 10 so that the nose 101 faces downward and the tail 107 faces upward with the nose 101 facing upwind. Below, the take-off and landing pad apparatus 2 will be explained, focusing on the differences from the take-off and landing pad apparatus 1.

[0037] [Tilt mechanism 50: see Figure 4] The tilt mechanism 50 includes a hydraulic cylinder 51, which is an example of a lifting means, and a rotary table 55 on which the hydraulic cylinder 51 is mounted. A pair of load cells 13A, 13B are provided on the upper surface of the rotary table 55, and the hydraulic cylinder 51 is mounted on one of the load cells 13A. The rotary table 55 is rotatable by the electric motor 30. One periphery of the pad 10 is engaged with the load cell 13B, and the other periphery is engaged with a piston rod 53 of a hydraulic cylinder 51. The pad 10 can rotate together with a rotary table 55 rotated by the electric motor 30. The hydraulic cylinder 51 has a piston rod 53 that extends and retracts in response to a command from the controller 60. The electric motor 30 also rotates in response to a command from the controller 60. The hydraulic cylinder 51 is an example of a lifting means, and as the lifting means, a linear motor can be used, or a combination of a rotating electric machine such as the electric motor 30 and a mechanism for converting the rotation of the rotating electric machine into linear motion can be used.

[0038] In addition, as an example, the takeoff and landing pad device 2 is provided with a hydraulic cylinder 51 only on one of the pair of load cells 13A, 13B. Therefore, as shown in S11 of FIG. 4, the pad 10 is initially tilted so that the side of the load cell 13B is lower and the load cell 13A is higher. This state is called a standby state. However, in this embodiment, the pad 10 can also be in a standby state parallel to the horizontal direction H. For example, by providing the hydraulic cylinder 51 on both of the pair of load cells 13A, 13B, the pad 10 can be in a standby state parallel to the horizontal direction H. In addition, by interposing a member such as a shim on the side of the load cell 13B, the pad 10 can also be in a standby state parallel to the horizontal direction H.

[0039] [Example of tilting operation of tilting mechanism 50] FIG. 4 shows the operation of the tilt mechanism 50 when the wind is blowing from north N to south S. Before the tilt mechanism 50 starts to operate, most of the piston rod 53 is housed in the hydraulic cylinder 51 and is in a standby state (FIG. 4, S11).

[0040] Prior to tilting the pad 10, the electric motor 30 is rotated so that the nose 101 of the drone 100 faces upwind. This rotation is controlled in the same manner as in the first embodiment.

[0041] When the nose 101 faces upwind, the piston rod 53 of the hydraulic cylinder 51 is extended to increase the inclination of the pad 10 beyond the standby state. The degree of inclination of the pad 10 can be adjusted by the degree of extension of the piston rod 53.

[0042] [Control procedure of takeoff and landing pad device 2: see Figure 5] As shown in Fig. 5, the control procedure of the pad 10 by the takeoff and landing pad device 2 is to rotate the pad 10 so that the nose 101 faces upwind (Fig. 5, S107), and then extend the piston rod 53 at the position where the nose 101 faces upwind to tilt the pad 10 (S108). In addition to pointing the nose 101 upwind, this tilting of the pad 10 allows the drone 100 to achieve a more stable takeoff.

[0043] The above first and second embodiments are exemplified by the drone 100 as a helicopter whose nose 101 can be visually recognized from the outside, but the present disclosure is also applicable to a multicopter having multiple rotors. In a multicopter, the nose is set in advance, and the flight such as forward and backward is performed based on the nose. However, in the case of a multicopter, the nose may be difficult to visually recognize from the outside. In that case, a mark such as a color or a symbol may be provided so that the nose can be easily recognized. In this way, it is easy to visually confirm that the nose of the multicopter is facing upwind according to the present disclosure.

[0044] [Note] The above-described takeoff and landing pad device (1, 2) can be understood as follows. [Appendix 1] The take-off and landing pad device (1, 2) a pad (10) having a take-off and landing surface (11); a mooring mechanism (20) for mooring the unmanned aerial vehicle (100) to the pad; a drive source (30) for rotating the pad (10) together with the anchoring mechanism; and a controller (60) that controls the operation of the mooring mechanism and the drive source. The controller (60) Based on the acquired information on the wind direction, the drive source (30) is rotationally driven so that the nose of the unmanned aerial vehicle on the takeoff and landing surface faces the wind direction.

[0045] [Appendix 2] The controller (60) in Appendix 1, preferably Obtaining information about wind direction from an attached wind vane, or Obtain information about wind direction from the provided weather information.

[0046] [Appendix 3] The controller (60) according to claim 1 or claim 2 preferably comprises: Based on the position of the pad (10) in the rotational direction, the drive source (30) is driven to rotate, or The position of the nose of the unmanned aerial vehicle resting on the takeoff and landing surface is detected, and the drive source (30) is driven to rotate.

[0047] [Appendix 4] In any one of Supplementary Note 1 to Supplementary Note 3, preferably, A tilt mechanism (50) for tilting the pad (10), The controller (60) When the nose of the aircraft faces the wind, the tilt mechanism (50) is driven based on the acquired information on the wind speed.

[0048] [Appendix 5] In any one of Supplementary Notes 1 to 4, preferably, The controller (60) The unmanned aerial vehicle (100) is untethered by the mooring mechanism (20) based on the measured thrust or the rotation speed of the rotor (103) of the unmanned aerial vehicle (100) obtained before takeoff while the unmanned aerial vehicle (100) is resting on the takeoff and landing surface.

[0049] [Appendix 6] In Supplementary Note 5, preferably, The mooring mechanism (20) The unmanned aerial vehicle (100) is tethered by magnetic force. [Explanation of symbols]

[0050] 1,2 Take-off and landing pad equipment 10 Pads 11 Take-off and landing surface 13 Load Cell 15 Gear 20 Electromagnet 30 Electric motor 31 Drive shaft 33 Pinion 40 Anemometer 50 Tilt mechanism 51 Hydraulic cylinder 53 Piston rod 55 Rotating Table 60 Controller 100 Drones 101 Nose 103 Rotor 105 Skid 107 Stern C Rotational Axis Df Measured wind direction Dc reference direction Sf Measured wind speed Sc standard wind speed Nc standard thrust Nf Measured thrust

Claims

1. a pad having a take-off and landing surface; a tethering mechanism for tethering the unmanned aerial vehicle to the pad; A drive source that rotates the pad together with the anchoring mechanism; A controller for controlling the operation of the mooring mechanism and the drive source, The controller: based on the acquired information on the wind direction, rotating the driving source so that the nose of the unmanned aerial vehicle on the takeoff and landing surface faces the wind direction; Unmanned aerial vehicle takeoff and landing pad equipment.

2. The controller: Obtaining information about the wind direction from an attached wind vane, or obtaining information about the wind direction from provided weather information; 2. The take-off and landing pad apparatus according to claim 1.

3. The controller: Rotating the driving source based on the position of the pad in the rotational direction, or Detecting the position of the nose of the unmanned aerial vehicle on the takeoff and landing surface and rotating the driving source; 2. The take-off and landing pad apparatus according to claim 1.

4. A tilt mechanism for tilting the pad is provided, The controller: driving a tilt mechanism based on acquired information about a wind speed while the nose of the aircraft faces the wind direction; 2. The take-off and landing pad apparatus according to claim 1.

5. The controller: untethering the unmanned aerial vehicle from the tethering mechanism based on a measured thrust or a rotation speed of a rotor of the unmanned aerial vehicle that is mounted on the takeoff and landing surface and that is prior to takeoff; 2. The take-off and landing pad apparatus according to claim 1.

6. The anchoring mechanism includes: tethering the unmanned aerial vehicle by magnetic force; 6. A take-off and landing pad arrangement as claimed in claim 5.

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