Low-impact landing system for rotorcraft

Abstract

The present invention relates to a low-impact landing system for a rotary-wing aircraft, and includes a landing pad 110 having a landing surface 111 formed on the upper part for the rotary-wing aircraft 10 to land on, a tilt drive unit 120 disposed below the landing pad 110 to support the landing pad 110 and adjust the horizontal tilt of the landing pad 110 while driving in accordance with a control signal, a ground communication unit 130 that receives an aircraft tilt detection signal detected by an aircraft tilt sensor 15 disposed on the rotary-wing aircraft 10, and a drive control unit 140 that controls the tilt drive unit 120 in accordance with the received aircraft tilt detection signal so that the horizontal tilt of the landing pad 110 is adjusted and each landing gear 12 disposed below the rotary-wing aircraft 10 comes into contact with the landing surface 111 of the landing pad 110 at the same time.

Description

[Technical Field]

[0001] The present invention relates to a low-impact landing system for a rotary-wing aircraft, and more particularly to a low-impact landing system for a rotary-wing aircraft that can reduce the landing shock transmitted to the aircraft when the landing gear touches down on the landing surface during landing of the rotary-wing aircraft. [Background technology]

[0002] Generally, a rotorcraft is an aircraft that flies by generating lift necessary for flight with a rotating propeller, and representative examples include a drone (multicopter) and a helicopter. As shown in FIG. 1, such a rotorcraft 10 has a propeller 13 attached to a body 11 and landing gear 12 attached to the bottom of the body 11, and multiple landing gears 12 are arranged at intervals on the left and right so that the body 11 can be stably supported during landing and the body 11 does not easily tip over during landing.

[0003] Furthermore, due to the flight characteristics of the rotorcraft 10, if disturbances such as wind or external impacts occur during descent to land on the ground 20, a situation may occur in which the landing gear 12 lands on the ground 20 with the aircraft 11 tilted. In this case, as shown in Figure 2(a), the landing gear 12 on the side where the aircraft 11 is tilted comes into contact with the ground 20 first, causing a primary landing shock, and then, as shown in Figure 2(b), the landing gear 12 on the opposite side comes into contact with the ground 20, causing a secondary landing shock.

[0004] Such landing shock is transmitted through the aircraft 11 to the passengers inside, increasing anxiety, and may also be transmitted to the internal electronic components, causing damage or malfunction. Furthermore, if the aircraft 11 is tilted excessively, the aircraft 11 may rotate and tip over around the landing gear 12 that first contacted the ground 20, which may damage the rotorcraft 10 or result in a fatal accident. Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention was created to solve the above-mentioned problems, and the object of the present invention is to provide a low-impact landing system for a rotary-wing aircraft that can adjust the horizontal inclination of the landing pad according to the tilt state of the rotary-wing aircraft's fuselage, allowing each landing gear to land at the same time, thereby significantly reducing the landing shock transmitted to the aircraft during landing. [Means for solving the problem]

[0006] According to one aspect of the present invention, there is provided a low-impact landing system for a rotary-wing aircraft (10) for reducing landing shock transmitted to an airframe (11) when the rotary-wing aircraft (10) lands, the system including: a landing pad (110) having a landing surface (111) formed on an upper portion thereof for the rotary-wing aircraft (10) to land on; a tilt drive unit (120) disposed below the landing pad (110) for supporting the landing pad (110) and driving it in response to a control signal to adjust the horizontal tilt of the landing pad (110); a ground communication unit (130) for receiving an airframe tilt detection signal detected by an airframe tilt sensor (15) disposed on the rotary-wing aircraft (10); and a drive control unit (140) for controlling the tilt drive unit (120) in accordance with the airframe tilt detection signal so that the horizontal tilt of the landing pad (110) is adjusted and each landing gear (12) of the rotary-wing aircraft (10) comes into contact with the landing surface (111) of the landing pad (110) at the same time.

[0007] According to another feature of the present invention, the tilt drive unit 120 includes a base plate 121 fixedly attached at a distance below the landing pad 110, and a plurality of actuators 122 spaced apart along the periphery of the landing pad 110, extending vertically between the base plate 121 and the landing pad 110, and configured to extend and retract in response to control signals from the drive control unit 140 to press the landing pad 110 up and down, and the drive control unit 140 controls each actuator 122 individually in response to a received aircraft tilt detection signal to cause the landing pad 110 to roll and tilt while adjusting the horizontal tilt.

[0008] According to another feature of the present invention, there is provided a low-impact landing system for a rotary wing, further comprising a landing pad tilt sensor 191 disposed on the landing pad 110 or the tilt drive unit 120 and outputting a sensing signal necessary to calculate the landing pad tilt angle θ2 at which the landing pad 110 is tilted relative to the horizontal plane, wherein the drive control unit 140 receives the vehicle tilt sensing signal from the vehicle tilt sensor 15 to calculate the vehicle tilt angle θ1 at which the vehicle 11 is tilted relative to the horizontal plane, receives the sensing signal from the landing pad tilt sensor 191 to calculate the landing pad tilt angle θ2, and individually controls each actuator 122 of the tilt drive unit 120 so that the landing pad tilt angle θ2 is equal to the vehicle tilt angle θ1.

[0009] According to yet another feature of the present invention, there is provided a low-impact landing system for rotary wing aircraft, characterized in that the ground communication unit 130 receives aircraft position information of the aircraft 11 detected by an aircraft position detection unit 17 arranged in the rotary wing aircraft 10, and the drive control unit 140 starts controlling the tilt drive unit 120 when the rotary wing aircraft 10 approaches the landing pad 110 within a set distance based on the received aircraft position information, and individually controls each actuator 122 so that the landing pad 110 moves horizontally by extending and retracting each actuator 122 according to the received aircraft position information, and the landing gear 12 of the rotary wing aircraft 10 lands toward the center of the landing surface 111.

[0010] According to another feature of the present invention, the landing pad (110) is relatively larger than or has a size corresponding to the opening (21) formed in the ground (20), the ground communication unit (130) receives aircraft position information detected by an aircraft position detection unit (17) disposed on the rotary-wing aircraft (10), and the drive control unit (140) controls each actuator (122) to control the landing pad (110) so that when the rotary-wing aircraft (10) approaches the landing pad (110) within a set distance according to the aircraft position information received from the aircraft position detection unit (17), the landing pad (110) is horizontally aligned with the ground (20) and raised to a set height, and the horizontal inclination of the landing pad (110) is adjusted in accordance with the aircraft inclination detection signal from the aircraft inclination detection unit (15) so that each landing gear (12) contacts the landing surface (111) at the same time, and when the rotary-wing aircraft (10) lands on the landing pad (110), the landing pad (110) descends while remaining horizontal and aligned with the ground (20).

[0011] According to another feature of the present invention, there is provided a low-impact landing system for a rotary-wing aircraft, further comprising a wind sensor 170 installed on the ground 20 a certain distance away from the landing pad 110 and detecting the direction and speed of wind acting on the landing pad 110, and the drive control unit 140 controls the tilt drive unit 120 to drive and tilt the horizontal tilt of the landing pad 110 further in the direction in which the fuselage 11 of the rotary-wing aircraft 10 is predicted to tilt due to the wind in response to the wind detection signal received from the wind sensor 170.

[0012] According to yet another feature of the present invention, a low-impact landing system for rotary wing aircraft is provided, characterized in that the landing pad 110 is provided with an exhaust port 112 for discharging the flight wind generated by the rotation of the propeller 13 provided on the rotary wing aircraft 10 and heading toward the landing surface 111 to the bottom of the landing pad 110, and further includes an exhaust window 180 arranged in the space below the landing pad 110 for discharging the flight wind discharged downward through the exhaust port 112 to the outside. [Effects of the Invention]

[0013] As described above, according to the present invention, first, a landing surface 111 for the rotorcraft 10 to land on is formed above the landing pad 110, the tilt drive unit 120 is disposed below the landing pad 110 to support the landing pad 110 and adjust the horizontal tilt of the landing pad 110 in response to a control signal, the ground communication unit 130 receives an aircraft tilt detection signal detected by the aircraft tilt sensor 15 disposed on the rotorcraft 10, and the drive control unit 140 adjusts the horizontal tilt of the landing pad 110, and controls the tilt drive unit 120 according to the received aircraft tilt detection signal so that each landing gear 12 disposed below the rotorcraft 10 contacts the landing surface 111 of the landing pad 110 at the same time. This distributes the landing impact generated during landing to each landing gear 12 and significantly reduces it, thereby preventing the aircraft 11 from tipping over while landing in an inclined state.

[0014] Second, the tilt drive unit 120 includes a base plate 121 fixedly attached at a distance below the landing pad 110, and a plurality of actuators 122 spaced apart along the periphery of the landing pad 110, extending vertically between the base plate 121 and the landing pad 110, and pushing the landing pad 110 up and down while being driven to extend and retract in accordance with a control signal from the drive control unit 140. The drive control unit 140 controls each actuator 122 individually in accordance with the received aircraft tilt detection signal so that the landing pad 110 adjusts its horizontal tilt while performing roll and tilt operations through the extension and retraction of each actuator 122, thereby precisely and quickly adjusting the horizontal tilt of the landing pad 110. If each actuator 122 is installed in a Stewart Platform structure in which it is tilted and extended vertically, there is an advantage that the landing pad 110 can be controlled in various operations such as yaw, horizontal movement, and lifting and lowering in addition to roll and tilt operations. In addition, in the case of an actuator 122 that uses hydraulic or pneumatic pressure, the load on the aircraft 11 can be reduced by the instantaneous compression action when the aircraft 11 lands on the landing surface 111, thereby further reducing the landing impact.

[0015] Third, the landing pad tilt sensor 191 is disposed on the landing pad 110 or the tilt drive unit 120, and outputs a sensing signal necessary to calculate the landing pad tilt angle θ2 at which the landing pad 110 is tilted relative to the horizontal plane. The drive control unit 140 receives the aircraft tilt sensing signal from the aircraft tilt sensor 15, calculates the aircraft tilt angle θ1 at which the aircraft 11 is tilted relative to the horizontal plane, receives the sensing signal from the landing pad tilt sensor 191, calculates the landing pad tilt angle θ2, and individually controls each actuator 122 of the tilt drive unit 120 so that the landing pad tilt angle θ2 is equal to the aircraft tilt angle θ1. This allows the tilt of the aircraft 11 and the tilt of the landing surface 111 to be synchronized in real time, and has the advantage of being able to accurately control the horizontal tilt of the landing surface 111.

[0016] Fourth, the ground communication unit 130 receives aircraft position information of the aircraft 11 detected by the aircraft position detection unit 17 arranged on the rotary-wing aircraft 10, and when the rotary-wing aircraft 10 approaches the landing pad 110 within a set distance based on the received aircraft position information of the aircraft 11, the drive control unit 140 starts controlling the tilt drive unit 120, and individually controls each actuator 122 so that the landing pad 110 moves horizontally by extending and retracting each actuator 122 according to the received aircraft position information, and the landing gear 12 of the rotary-wing aircraft 10 lands toward the center of the landing surface 111, thereby preventing the rotary-wing aircraft 10 from landing on the outer part of the landing pad 110 or on the ground 20 that has separated from the landing pad 110, and preventing the weight of the aircraft 11 from being unevenly applied to the landing pad 110.

[0017] Fifth, the landing pad 110 is relatively larger than or has a size corresponding to the opening 21 formed in the ground 20, so that no gap is generated between the landing pad 110 and the opening 21, and it is possible to prevent the legs of personnel who get off the rotary-wing aircraft 10 from falling into the gap. The ground communication unit 130 receives aircraft position information detected by an aircraft position detection unit 17 disposed on the rotary-wing aircraft 10, and the drive control unit 140 controls the landing pad 110, which is disposed horizontally on the same line as the ground 20, to rise to a set height when the rotary-wing aircraft 10 approaches the landing pad 110 within a set distance according to the received aircraft position information of the aircraft position detection unit 17. The horizontal inclination of the landing pad 110 is adjusted in response to the aircraft inclination detection signal from the aircraft inclination detection unit 15, so that each landing gear 12 comes into contact with the landing surface 111 at the same time, and when the rotorcraft 10 lands on the landing pad 110, each actuator 122 is controlled so that the landing pad 110 becomes horizontal, descends, and is positioned in line with the ground 20.This eliminates the need for a user (ground worker or pilot) to operate the landing pad 110 in accordance with the timing at which it should be driven in response to the approach of the rotorcraft 10, and the horizontal inclination of the landing pad 110 is adjusted, preventing the landing pad 110 from coming into contact with the opening 21.

[0018] Sixth, the wind sensor 170 is installed on the ground 20 a certain distance away from the landing pad 110 and senses the direction and speed of the wind blowing toward the landing pad 110. The drive control unit 140 controls the tilt drive unit 120 to further tilt the horizontal tilt of the landing pad 110 in the direction in which the fuselage 11 of the rotary-wing aircraft 10 is predicted to tilt due to the wind, in response to the wind detection signal received from the wind sensor 170. This allows each landing gear 12 to be guided to contact the landing surface 111 at the same time, even if wind blows on the fuselage 11 at the moment the landing gear 12 is about to land on the landing surface 111.

[0019] Seventh, the landing pad 110 is formed with an exhaust port 112 for discharging the flight wind generated by the rotation of the propeller 13 mounted on the rotorcraft 10 and heading toward the landing surface 111 to the bottom of the landing pad 110, and an exhaust window 180 is arranged in the space below the landing pad 110, and by discharging the flight wind discharged downward through the exhaust port 112 to the outside, the flight wind reflected upward by the landing surface 111 of the landing pad 110 is applied to the aircraft 11, thereby minimizing shaking during landing. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a front view showing the configuration of a typical rotor blade. [Figure 2] FIG. 2 is a front view showing a state in which the aircraft experiences two landing shocks while landing in a tilted state. [Figure 3] FIG. 3 is a front view and a plan view showing the configuration of a low-impact landing system for a rotary wing aircraft according to a preferred embodiment of the present invention. [Figure 4] FIG. 4 is a front view and a plan view showing the configuration of a low-impact landing system for a rotary wing aircraft according to a preferred embodiment of the present invention. [Figure 5a] FIG. 5a is a perspective view showing the configuration of a tilt driver according to a preferred embodiment of the present invention. [Figure 5b] FIG. 5b is a side cross-sectional view showing another configuration of the tilt drive according to a preferred embodiment of the present invention. [Figure 6a] FIG. 6a is a front view showing the state in which the horizontal tilt of the landing pad along the fuselage is adjusted to tilt to the left by the tilt drive unit according to a preferred embodiment of the present invention. [Figure 6b] FIG. 6b is a front view showing the state in which the horizontal tilt of the landing pad along the fuselage is adjusted to tilt to the right by the tilt drive unit according to a preferred embodiment of the present invention. [Figure 7] FIG. 7 is a front view showing the state in which the landing platform is horizontally moved by the tilt drive unit according to a preferred embodiment of the present invention. [Figure 8]FIG. 8 is a front view illustrating the operating principle of a low-impact landing system for a rotary wing aircraft according to a preferred embodiment of the present invention. [Figure 9] FIG. 9 is a front view illustrating the operating principle of a low-impact landing system for a rotary wing aircraft according to a preferred embodiment of the present invention. [Figure 10] FIG. 10 is a front view illustrating the operating principle of a low-impact landing system for a rotary wing aircraft according to a preferred embodiment of the present invention. [Figure 11] FIG. 11 is a front view showing the configuration of a wind sensor according to a preferred embodiment of the present invention. [Figure 12] FIG. 12 is a front view showing the configuration of exhaust holes and exhaust windows formed on a landing pad according to a preferred embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] The above-mentioned objects, features and advantages of the present invention will become more apparent from the following detailed description, in which preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

[0022] A low-impact landing system for a rotary-wing aircraft according to a preferred embodiment of the present invention is a landing system that allows each landing gear to land at the same time even when the rotary-wing aircraft is tilted, thereby significantly reducing the landing impact transmitted to the aircraft during landing. As shown in Figures 3 and 4, the system includes a landing pad 110, a tilt drive unit 120, a ground communication unit 130, and a drive control unit 140.

[0023] First, the landing pad 110 has a landing surface 111 formed on the upper portion thereof for the rotorcraft 10 to land on, providing a landing space. Here, the drawing illustrates the landing pad 110 having a disk shape, but the landing pad 110 is not limited thereto and may have various shapes such as a square, a triangle, or an oval, provided that the landing surface 111 is flat. In addition, the landing surface 111 may have a picture or letter displayed thereon to indicate that it is a landing site for the rotorcraft 10.

[0024] The tilt driver 120 is configured to provide the driving force necessary to adjust the horizontal tilt of the landing pad 110, and is disposed at a lower position of the landing pad 110 to support the lower part of the landing pad 110, and adjusts the horizontal tilt of the landing pad 110 according to a control signal from the drive controller 140.

[0025] Here, as shown in Figures 3 to 5a, the tilt drive unit 120 includes a base plate 121 attached at a distance below the landing pad 110, and a plurality of actuators 122 arranged at a distance along the periphery of the landing pad 110, extending vertically between the base plate 121 and the landing pad 110, and pressing the landing pad 110 up and down while being driven to extend and retract in accordance with control signals from the drive control unit 140.

[0026] The drive control unit 140 controls each actuator 122 individually in response to the received aircraft tilt detection signal so that the horizontal tilt of the landing pad 110 is adjusted during the roll and tilt operations by the extension and contraction drive of each actuator 122.

[0027] As shown in the figure, the lower end of each actuator 122 can be coupled to one base plate 121, or multiple base plates 121 can be provided with one or more actuators 122 coupled to each base plate 121.

[0028] Although not shown, a highly rigid protective plate is provided at the bottom of the landing pad 110 to which the upper ends of each actuator 122 are rotatably connected, thereby protecting the landing pad 110 from damage due to the pressing force of the actuators 122.

[0029] The actuator 122 can be configured as a cylinder structure that adjusts its length by moving the rod 123 using hydraulic or air pressure, and it is preferable that the lower end is rotatably connected to the base plate 121 and the upper end is rotatably connected to the lower part of the landing pad 110 so as to adjust the horizontal inclination of the landing pad 110 according to the driving distance of the extension and contraction.

[0030] 5a, by individually adjusting the extension length of each actuator 122 supporting the lower part of the landing pad 110, the horizontal inclination of the landing pad 110 relative to the horizontal plane can be adjusted while the landing pad 110 rolls and tilts. In addition, the landing pad 110 can be raised by simultaneously lengthening the length of each actuator 122, and can be lowered by simultaneously shortening the length of each actuator 122.

[0031] 4 and 5a, if the actuators 122 are installed in a Stewart Platform structure in which they are inclined and extended vertically, the landing pad 110 can perform yaw and horizontal movement in addition to roll and tilt. If the actuators 122 are hydraulic or pneumatic cylinders, the load of the airframe 11 can be reduced by instantaneous compression when the airframe 11 lands on the landing surface 111, thereby further reducing the landing impact. Here, a shock absorber is provided on the landing pad 110 or the tilt driver 120, thereby reducing the landing impact when the airframe 11 lands on the landing surface 111.

[0032] In addition to the cylinder structure, the actuator 122 is a multi-joint robot arm structure, as shown in Figure 5b, in which multiple units are arranged at intervals around the periphery of the landing pad 110 and extended between the base plate 121 and the landing pad 110, and the position of the upper end supporting the lower part of the landing pad 110 can be adjusted according to the rotation of each joint, allowing the landing pad 110 to roll, tilt, oscillate, move horizontally, and rise and fall.

[0033] Also, although not shown, the actuator 122 may consist of a drive motor whose rotation angle is controlled in accordance with a control signal from the drive control unit 140, and a rack and pinion structure that operates with the rotational force of this drive motor, allowing various operations including adjusting the horizontal inclination of the landing pad 110.

[0034] 3, the tilt drive unit 120 is preferably disposed at a position lower than the ground surface 20 so that the landing pad 110 can be disposed at a position corresponding to the ground surface 20. For example, the tilt drive unit 120 can be disposed in an underground space that opens upward to the ground surface 20, so that the landing pad 110 can be disposed on the same line as the ground surface 20.

[0035] Meanwhile, the ground communication unit 130 receives an aircraft tilt detection signal detected by an aircraft tilt detection unit 15 disposed in the rotary-wing aircraft 10 and transmits the signal to the drive control unit 140. Generally, a rotary-wing aircraft 10 is provided with an aircraft tilt detection unit 15 such as a gyro sensor or tilt sensor that outputs an electrical detection signal that is differentiated depending on the degree of tilt of the aircraft 11 in order to maintain the stability and attitude of the aircraft 11. The ground communication unit 130 is wirelessly connected to an aircraft communication unit 16 disposed in the rotary-wing aircraft 10, and can use the aircraft tilt detection signal output from the aircraft tilt detection unit 15 as basic data for determining the tilt state of the aircraft 11.

[0036] Furthermore, the ground communication unit 130 may be configured as part of a GCS (Ground Control System) for flight control of the rotorcraft 10, and may receive an aircraft tilt detection signal acquired for flight control.

[0037] Furthermore, the aircraft tilt sensor 15 may not be a sensor mounted for flight control of the rotorcraft 10, but may be a sensor additionally mounted on the aircraft 11 for adjusting the horizontal tilt of the landing pad 110.

[0038] The drive control unit 140 is configured to control the tilt drive unit 120 so that the horizontal tilt of the landing pad 110 is adjusted to a set tilt state, and by using the aircraft tilt detection signal to control the tilt drive unit 120 so that the landing pad 110 tilts in the same direction as the aircraft body 11 of the rotary-wing aircraft 10 is tilted, the horizontal tilt of the landing pad 110 is adjusted and each landing gear 12 arranged at the bottom of the rotary-wing aircraft 10 is guided to come into contact with the landing surface 111 of the landing pad 110 at the same time.

[0039] Here, the drive control unit 140 can accurately and quickly adjust the horizontal tilt of the landing pad 110 by individually controlling each actuator 122 in response to the received aircraft tilt detection signal so that the landing pad 110 rolls and tilts by the extension and contraction drive of each actuator 122 installed in the tilt drive unit 120, thereby adjusting the horizontal tilt.

[0040] In addition, the drive control unit 140 stores control data values that must drive each actuator 122 individually so that the horizontal tilt of the landing pad 110 corresponds to the horizontal tilt of the aircraft 11 according to the aircraft tilt detection signal from the aircraft tilt detection unit 15, and can read out the appropriate control data value and control each actuator 122 according to the received aircraft tilt detection signal.

[0041] The combination of the landing pad 110, tilt drive unit 120, ground communication unit 130, and drive control unit 140 described above distributes the landing shock as each landing gear 12 contacts the landing surface 111 at the same time. This significantly reduces the landing shock transmitted to the aircraft 11, preventing the aircraft 11 from tipping over while landing in a tilted state.

[0042] 6a, the rotary wing low-impact landing system according to a preferred embodiment of the present invention may further include a landing pad tilt sensor 191 to more accurately control the horizontal tilt of the landing pad 110. The landing pad tilt sensor 191 is disposed on the landing pad 110 or the tilt driver 120 and outputs a sensing signal required to calculate the landing pad tilt angle θ2 of the landing pad 110 with respect to the horizontal plane. Here, the landing pad tilt sensor 191 may be a gyro sensor or a tilt sensor, may be disposed on the landing pad 110 and may output a sensing signal sensing the state of the landing pad 110 with respect to the horizontal plane, or may be a sensor sensing the extension / retraction length of each actuator 122 or a sensor sensing the upper end position of each actuator 122, may be disposed on the tilt driver 120 and may output a sensing signal sensing the driving state of each actuator 122.

[0043] In addition, the drive control unit 140 receives a vehicle tilt detection signal from the vehicle tilt detection unit 15, calculates the vehicle tilt angle θ1 at which the vehicle 11 is tilted relative to the horizontal plane, receives a detection signal from the landing pad tilt detection unit 191, calculates the landing pad tilt angle θ2, and can individually control each actuator 122 of the tilt drive unit 120 so that the landing pad tilt angle θ2 is equal to the vehicle tilt angle θ1.

[0044] For example, if the aircraft tilt angle θ1 calculated when the aircraft 11 is tilted to the left as shown in Figure 6a is 7 degrees, each actuator 122 is controlled so that the landing pad tilt angle θ2 calculated through the detection signal sensed by the landing pad tilt sensing unit 191 becomes 7 degrees, thereby causing the landing surface 111 to tilt to the left.

[0045] 6b, when the calculated aircraft tilt angle θ1 is 5 degrees while the aircraft 11 is tilted to the right, the landing pad tilt angle θ2 calculated based on the detection signal sensed by the landing pad tilt sensor 191 is controlled to be 5 degrees, thereby causing the landing surface 111 to tilt to the right. Similarly, the tilt of the aircraft 11 and the tilt of the landing surface 111 can be synchronized in real time, allowing the horizontal tilt of the landing surface 111 to be accurately controlled.

[0046] 7, the ground communication unit 130 receives aircraft position information of the aircraft 11 sensed by an aircraft position sensing unit 17 disposed in the rotary-wing aircraft 10. The aircraft position sensing unit 17 may be a GPS module, a LIDAR sensor, an altimeter, or a combination of these, which are generally provided for flight control of the rotary-wing aircraft 10. Therefore, the aircraft position information may be a GPS signal sensed by a GPS module, separation distance information between the aircraft 11 and the landing pad 110 sensed by a LIDAR sensor, or altitude information sensed from an altimeter.

[0047] Here, when the rotary-wing aircraft 10 approaches the landing pad 110 within a set distance according to the received aircraft position information of the aircraft 11, the drive control unit 140 starts controlling the tilt drive unit 120, and individually controls each actuator 122 so that the landing pad 110 moves horizontally by extending and retracting each actuator 122 according to the received aircraft position information, and the landing gear 12 of the rotary-wing aircraft 10 lands toward the center of the landing surface 111. Therefore, it is possible to prevent the rotary-wing aircraft 10 from landing on the outer part of the landing pad 110 or on the ground 20 separated from the landing pad 110, and it is possible to prevent the weight of the aircraft 11 from being concentrated unevenly on the landing pad 110.

[0048] 8, the landing pad 110 is configured to be relatively larger than or correspond in size to the opening 21 formed in the ground 20, so that no gap is created between the landing pad 110 and the opening 21, preventing the legs of personnel disembarking from the rotorcraft 10 from falling into the gap. In addition, the ground communication unit 130 receives aircraft position information sensed by the aircraft position sensing unit 17 disposed in the rotorcraft 10.

[0049] When the rotorcraft 10 approaches the landing pad 110 within a set distance according to the aircraft position information received from the aircraft position sensor 17, the drive control unit 140 controls the landing pad 110, which is horizontally arranged on the same line as the ground 20 as shown in FIG. 8, to rise to a set height ( <1> ), and the horizontal tilt of the landing pad 110 is adjusted in response to the aircraft tilt detection signal of the aircraft tilt detection unit 15, as in FIG. <2> ), so that each landing gear 12 contacts the landing surface 111 at the same time.

[0050] Furthermore, as shown in FIG. 10, when the rotorcraft 10 lands on the landing pad 110, the landing pad 110 is in a horizontal position ( <3> ) and descends ( <4> ) Each actuator 122 can be controlled so that it is positioned in the same line as the ground 20. Therefore, the horizontal inclination of the landing pad 110 can be adjusted and the landing pad 110 can be prevented from coming into contact with the opening 21 without the need for the user's ground worker or pilot to operate in accordance with the timing at which the landing pad 110 should be driven in response to the approach of the rotorcraft 10.

[0051] Here, although not shown, the landing pad 110 or the rotary-wing aircraft 10 may be provided with a landing detection sensor that detects the landing of the rotary-wing aircraft 10 and outputs a landing detection signal, and the drive control unit 140 can determine the timing to adjust the tilted landing pad 110 to a horizontal state using the received landing detection signal.

[0052] Meanwhile, as described above, the horizontal inclination of the landing pad 110 is adjusted in accordance with the horizontal inclination of the aircraft 11, but if the horizontal inclination change rate of the aircraft 11 is faster than the driving speed of the inclination drive unit 120 due to the influence of wind, each landing gear 12 may come into contact with the landing surface 111 at different times.

[0053] Therefore, in a preferred embodiment of the low-impact landing system for a rotary-wing aircraft of the present invention, a wind sensor 170 is provided as shown in FIG. 11, and the horizontal inclination of the landing pad 110 can be adjusted in a direction that allows the aircraft 11 to tilt further just before landing due to the wind acting on the aircraft 11.

[0054] For this purpose, the wind sensor 170 is installed on the ground 20 at a predetermined distance from the landing pad 110 and senses the direction and speed of wind blowing toward the landing pad 110, and the drive control unit 140 can drive and control the tilt driver 120 so that the horizontal tilt of the landing pad 110 is further tilted in the direction in which the fuselage 11 of the rotary-wing aircraft 10 is predicted to tilt due to the wind, in response to the wind detection signal received from the wind sensor 170. Here, it is preferable that a plurality of the wind sensors 170 are spaced apart around the landing pad 110 so as to be able to sense wind blowing from all directions.

[0055] In addition, the drive control unit 140 can determine the direction in which to tilt the landing pad 110 using wind direction information included in the wind detection signal, and can determine the degree to which to tilt the landing pad 110 using wind speed information included in the wind detection signal.

[0056] In this way, even if wind blows on the aircraft 11 at the moment the landing gears 12 are about to touch down on the landing surface 111, each landing gear 12 can be guided to come into contact with the landing surface 111 at the same time.

[0057] Meanwhile, when the rotorcraft 10 descends and approaches the landing surface 111 to land on the landing pad 110, the airflow generated by the rotation of the propeller 13 may be reflected upward by the landing surface 111 and applied to the rotorcraft 10, potentially causing instability in the movement of the aircraft 11. Therefore, as shown in Figure 12, the landing pad 110 is formed with an exhaust hole 112 for discharging the airflow generated by the rotation of the propeller 13 provided on the rotorcraft 10 and heading toward the landing surface 111 to the bottom of the landing pad 110, and an exhaust window 180 is disposed in the space below the landing pad 110, allowing the airflow discharged downward from the exhaust hole 112 to be discharged to the outside.

[0058] Therefore, the flight wind reflected upward by the landing surface 111 of the landing pad 110 is applied to the aircraft 11, minimizing the occurrence of shaking during landing.

[0059] The present invention described above is not limited to the above-mentioned embodiments and accompanying drawings, and it is clear to those skilled in the art to which the present invention pertains that various substitutions, modifications and changes are possible within the scope that does not deviate from the technical idea of the present invention.

Claims

1. The low-impact landing system for a rotary-wing aircraft (10) for reducing landing shock transmitted to the airframe (11) when the rotary-wing aircraft (10) lands includes a landing pad (110) having a landing surface (111) formed on the upper part for the rotary-wing aircraft (10) to land on, a tilt drive unit (120) disposed at a lower position of the landing pad (110) for supporting the landing pad (110) and driving it in response to a control signal to adjust the horizontal tilt of the landing pad (110), a ground communication unit (130) for receiving an airframe tilt detection signal detected by an airframe tilt detection unit (15) disposed on the rotary-wing aircraft (10), and a drive control unit (140) for controlling the tilt drive unit (120) in accordance with the airframe tilt detection signal so that the horizontal tilt of the landing pad (110) is adjusted and each landing gear (12) of the rotary-wing aircraft (10) comes into contact with the landing surface (111) of the landing pad (110) at the same time.

2. 2. The low-impact landing system for rotary wing according to claim 1, wherein the tilt drive unit (120) includes a base plate (121) fixedly attached at a distance below the landing pad (110), and a plurality of actuators (122) spaced apart along the periphery of the landing pad (110), extending vertically between the base plate (121) and the landing pad (110), and which extend and contract in response to control signals from a drive control unit (140) to press the landing pad (110) up and down, and the drive control unit (140) controls each actuator (122) individually in response to a received aircraft tilt detection signal to cause the landing pad (110) to roll and tilt while adjusting the horizontal tilt.

3. 3. The low-impact landing system for a rotary wing according to claim 2, further comprising a landing pad tilt sensor (191) disposed on the landing pad (110) or the tilt drive unit (120) and outputting a sensing signal required to calculate a landing pad tilt angle (θ2) at which the landing pad (110) is tilted relative to a horizontal plane, wherein the drive control unit (140) receives the vehicle tilt sensing signal from the vehicle tilt sensor (15) to calculate the vehicle tilt angle (θ1) at which the vehicle (11) is tilted relative to a horizontal plane, receives the sensing signal from the landing pad tilt sensor (191) to calculate the landing pad tilt angle (θ2), and individually controls each actuator (122) of the tilt drive unit (120) so that the landing pad tilt angle (θ2) is equal to the vehicle tilt angle (θ1).

4. 4. The low-impact landing system for rotary wing aircraft according to claim 3, wherein the ground communication unit (130) receives aircraft position information of the aircraft (11) detected by an aircraft position detection unit (17) arranged in the rotary wing aircraft (10), and the drive control unit (140) starts controlling the tilt drive unit (120) when the rotary wing aircraft (10) approaches the landing pad (110) within a set distance based on the received aircraft position information, and individually controls each actuator (122) so that the landing gear (12) of the rotary wing aircraft (10) lands toward the center of the landing surface (111) while the landing pad (110) moves horizontally by extending and retracting the actuators (122) in accordance with the received aircraft position information.

5. The landing pad (110) is relatively larger than or has a size corresponding to the opening (21) formed in the ground (20), and the ground communication unit (130) receives aircraft position information sensed by an aircraft position sensing unit (17) disposed in the rotary-wing aircraft (10), and the drive control unit (140) sets the landing pad (110) horizontally disposed on the same line as the ground (20) when the rotary-wing aircraft (10) approaches the landing pad (110) within a set distance according to the aircraft position information received from the aircraft position sensing unit (17).

3. The low-impact landing system for a rotary-wing aircraft according to claim 2, wherein the rotary-wing aircraft (10) ascends to a fixed height, the horizontal tilt of the landing pad (110) is adjusted in response to the aircraft tilt detection signal of the aircraft tilt detection unit (15), and each landing gear (12) contacts the landing surface (111) at the same time, and when the rotary-wing aircraft (10) lands on the landing pad (110), the landing pad (110) descends while remaining horizontal and is positioned in line with the ground (20), by controlling each actuator (122).

6. 2. The low-impact landing system for a rotary-wing aircraft according to claim 1, further comprising a wind sensor (170) installed on the ground (20) a predetermined distance away from the landing pad (110) and detecting the direction and speed of wind acting on the landing pad (110), wherein the drive control unit (140) drives and controls the tilt drive unit (120) in response to a wind detection signal received from the wind sensor (170) so that the horizontal tilt of the landing pad (110) is further tilted in a direction in which the fuselage (11) of the rotary-wing aircraft (10) is predicted to tilt due to the wind.

7. 2. A low-impact landing system for rotary wing aircraft as described in claim 1, characterized in that the landing pad (110) is provided with an exhaust port (112) for discharging, to the bottom of the landing pad (110), the flight wind generated by the rotation of the propeller (13) provided on the rotary wing aircraft (10) and heading toward the landing surface (111), and further includes an exhaust window (180) arranged in the lower space of the landing pad (110) for discharging to the outside the flight wind discharged downward through the exhaust port (112).

Images