Unmanned rotary wing aircraft shipboard landing guidance system

Abstract

The present invention relates to a shipboard landing guidance system for unmanned rotary-wing aircraft, and more specifically, to a shipboard landing guidance system for unmanned rotary-wing aircraft capable of guiding an unmanned rotary-wing aircraft to safely land on a floating structure on the water surface, such as a ship.

Description

Technology Field

[0001] The present invention relates to a shipboard landing guidance system for unmanned rotary-wing aircraft, and more specifically, to a shipboard landing guidance system for unmanned rotary-wing aircraft capable of guiding an unmanned rotary-wing aircraft to safely land on a floating structure on water, such as a ship. Background Technology

[0002] Using rotary aircraft is the most useful method for transporting supplies to ships on the move at sea or for evacuating emergency patients.

[0003] For rotary-wing aircraft to take off and land on a ship, a guidance system capable of controlling them is essential, and the system needs to be configured differently depending on whether a pilot is on board. Landing a helicopter on a vessel operating at sea requires even more precise guidance and control than on land. This necessitates experienced guidance officers, but it is difficult to board every vessel.

[0004] Currently, naval and coast guard vessels are equipped with optical landing guidance systems for the landing of manned rotary-wing aircraft; however, since all of this equipment is expensive foreign-made and presents disadvantages in maintenance, there is a need for equipment developed with domestic technology.

[0005] In addition, although various attempts are being made to operate unmanned rotary-wing and fixed-wing aircraft, which have recently garnered significant interest, on various vessels, equipment to support their landing on ships has not yet been fully developed. Prior art literature

[0006] Korean Registered Patent Publication No. 10-2556076: Helicopter Landing Support System The problem to be solved

[0007] The present invention was created to solve problems such as those related to commercial buildings, and aims to provide an unmanned rotary-wing aircraft shipboard landing guidance system capable of guiding an unmanned rotary-wing aircraft to safely land on a floating structure on water, such as a shipboard, by measuring DGPS information of the landing point and the height of the unmanned rotary-wing aircraft above the landing point. means of solving the problem

[0008] The unmanned rotary-wing aircraft shipboard landing guidance system of the present invention for achieving the above objective comprises: a central wireless communication unit capable of transmitting coordinate information of a helideck provided on a floating structure to an approaching unmanned rotary-wing aircraft; a helipad positioned on the landing point side of the helideck; a precision guidance unit including a DGPS receiver mounted on the helipad, an image capturing unit mounted on one side or around the helideck to photograph the landing point side and the unmanned rotary-wing aircraft descending to the helipad together with the helipad, and a distance measuring sensor mounted on the helipad to detect the distance to the unmanned rotary-wing aircraft descending from vertically above the helipad; The invention is characterized by comprising a central control unit that transmits DGPS information received from the DGPS receiver to the unmanned rotary-wing aircraft via the central wireless communication unit, and transmits captured image information transmitted from the image capturing unit and position information of the unmanned rotary-wing aircraft descending via the distance measuring sensor to the unmanned rotary-wing aircraft.

[0009] It is preferable that the helipad comprises a shock-absorbing unit including a pad deck capable of descending to a predetermined height by the load of the unmanned rotary-wing aircraft upon landing, and a buffer support member that shortens in length when the load of the unmanned rotary-wing aircraft is transferred to the pad deck and restores in length when the load of the unmanned rotary-wing aircraft is released.

[0010] It is preferable that the helipad positioned around the landing point enables the unmanned rotary-wing aircraft to autonomously move to the landing point when approaching the helideck.

[0011] It is preferable that the helipad has a movement prevention stopper portion protruding upward relative to the pad deck around the perimeter of the pad deck. Effects of the invention

[0012] The unmanned rotary-wing aircraft shipboard landing guidance system of the present invention has the advantage of being able to precisely guide the unmanned rotary-wing aircraft to land stably at the correct position on the helipad through cross-checking by transmitting DGPS information from a DGPS receiver mounted on the helipad to the unmanned rotary-wing aircraft and continuously transmitting distance information extracted from image information capturing the helipad and the unmanned rotary-wing aircraft and distance information between the unmanned rotary-wing aircraft and the distance measuring center mounted on the helipad.

[0013] In addition, the unmanned rotary-wing aircraft shipboard landing guidance system of the present invention can provide a stable landing environment by allowing the pad deck to be raised and lowered to cushion the load impact when the unmanned rotary-wing aircraft lands on the helipad.

[0014] In addition, the unmanned rotary-wing aircraft shipboard landing guidance system of the present invention is provided with a movement prevention stopper around the perimeter of the pad deck, so that the movement of the unmanned rotary-wing aircraft can be prevented when the inclination of the helipad changes due to yawing, rolling, and pitching of the floating structure on the water, thereby preventing safety accidents. Brief explanation of the drawing

[0015] FIG. 1 is a partial perspective view illustrating a floating structure on water to which an unmanned rotary-wing aircraft shipboard landing guidance system according to one embodiment of the present invention is applied, and FIG. 2 is a side view of the floating structure of FIG. 1, and FIG. 3 is a block diagram of the unmanned rotary-wing aircraft shipboard landing guidance system of FIG. 1, and FIG. 4 is a partial cross-sectional view of the helipad of the unmanned rotary-wing aircraft shipboard landing guidance system of FIG. 1, and FIG. 5 is a detailed block diagram of the helipad of FIG. 4, and FIG. 6 is a detailed block diagram of the guide lighting unit and the horizontal reference guide unit of the unmanned rotary-wing aircraft shipboard landing guidance system of FIG. 1, and FIG. 7 is a block diagram of the horizontal reference guide unit of FIG. 3, and FIG. 8 is a partial side cross-sectional view of a helipad of an unmanned rotary-wing aircraft shipboard landing guidance system according to another embodiment of the present invention, and FIG. 9 is a partial side cross-sectional view of a helipad of an unmanned rotary-wing aircraft shipboard landing guidance system according to another embodiment of the present invention. Specific details for implementing the invention

[0016] Hereinafter, an unmanned rotary-wing aircraft shipboard landing guidance system according to a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0017] FIGS. 1 to 7 illustrate an unmanned rotary-wing aircraft shipboard landing guidance system (10) according to one embodiment of the present invention.

[0018] An unmanned rotary-wing aircraft shipboard landing guidance system (10) according to one embodiment of the present invention comprises: a central wireless communication unit (11) capable of wirelessly communicating with an approaching unmanned rotary-wing aircraft (U) and transmitting coordinate information of a helideck (3) provided on a floating structure (1) to the unmanned rotary-wing aircraft (U); a plurality of helipads (95) capable of autonomously moving from a parking point (P) on the helideck (3) to a set landing point (L); a precision guidance unit (22, 24, 26) providing position information and vertical distance information of the helipad (95) moved to the landing point (L) to the unmanned rotary-wing aircraft (U) hovering above the helideck (3); and a central control unit (91) transmitting information transmitted from the precision guidance unit (22, 24, 26) to the unmanned rotary-wing aircraft (U).

[0019] In addition, the unmanned rotary-wing aircraft shipboard landing guidance system (10) according to one embodiment of the present invention further comprises a horizontal reference guide unit (31) that guides a horizontal reference to an unmanned rotary-wing aircraft (U); and a guide lighting unit (51) installed on a helideck (3) and a hangar (6).

[0020] The central wireless communication unit (11) is preferably formed adjacent to the other side of the helideck (3) and mounted on the top of the hangar (6), which is higher than the helideck (3).

[0021] The central wireless communication unit (11) may be configured to perform communication using Zigbee or WiFi communication methods, or to be composed of LTE, an ultra-high-speed wireless communication network, LTE-M, an ultra-high-speed maritime wireless communication network, 5G, a next-generation mobile communication network, or VHF-DSC, an ultra-short wave wireless communication, MF / HF-DSC, a medium wave and short wave wireless communication.

[0022] The precision guidance unit comprises a DGPS receiver (22) mounted on the helipad (95), an image capturing unit (24) mounted on one side or around the helideck (3) to photograph the landing point (L) side and to photograph the unmanned rotary-wing aircraft (U) descending to the helipad (95) and the helipad (95) together, and a distance measuring sensor (26) mounted on the helipad (95) to detect the distance between the unmanned rotary-wing aircraft (U) descending from the vertical upper side of the helipad (95).

[0023] The DGPS receiver (22) can generate high-precision location information of the helipad (95) in real time using a GPS signal received from at least one satellite and a DGPS correction signal received from a DGPS ground station.

[0024] The DGPS receiver (22) can be set to RTK (Real Time Kinematic) navigation mode and can generate the high-precision position information in real time using RTK surveying techniques. In addition, the level of error between the high-precision position information and the actual position of the aircraft can be less than a preset threshold.

[0025] It is preferable that the DGPS receiver (22) be mounted on the center side of the pad deck (98) of the helipad (95) described later.

[0026] The video recording unit (24) is equipped with a helipad (95) located at the landing point (L), a camera (25) installed at the top of the hangar (6) at a downward inclination and positioned at the left-right center of the landing point (L) so as to be able to photograph an unmanned rotary-wing aircraft (U) above the helipad (95), and a memory (not shown) that stores information including the angle of the video recording unit (24) with respect to the bottom surface of the helideck (3) and the vertical surface of the hangar (6), and the height from the bottom surface of the helideck (3), and stores a previous frame of the video.

[0027] The video recording unit (24) may correspond to a computing device that captures and provides images of a specific space through a camera, such as a closed-circuit television or video surveillance device. The video recording unit (24) may be connected to the central control unit (91) via wired or wireless connection, and may transmit the captured images to the central control unit (91) in real time or periodically.

[0028] The above memory may further store information regarding the size and shape of the helipad (95) and the unmanned rotary-wing aircraft (U), information regarding the size of the helideck (3) in the front-rear and left-right directions, information regarding the shape of the horizontal distance (l) connecting the center of the landing point (L) and the vertical downward line of the image capturing unit (24), information regarding the vertical distance (h) connecting the bottom of the image capturing unit (24) on a horizontal line passing through the upper surface of the helideck (3), and information regarding the vertical distance (h') between the upper surface of the pad deck (98) and the bottom surface of the helideck (3) when the unmanned rotary-wing aircraft (U) is not present.

[0029] The central control unit (91) can calculate the vertical distance between the helipad (95) and the unmanned rotary-wing aircraft (U) through the image information transmitted from the image capturing unit (24) and the information transmitted from the memory.

[0030] For example, by comparing the image information transmitted from the image capturing unit (24) with the size information of the helipad and the unmanned rotary-wing aircraft stored in the memory, the distance (a) between the image capturing unit (24) and the unmanned rotary-wing aircraft (U) and the distance (a') between the image capturing unit (24) and the helipad (95) can be calculated. Furthermore, using the distance (a) between the image capturing unit (24) and the unmanned rotary-wing aircraft (U), the horizontal distance (l) formed by horizontally connecting the center of the landing point (L) and the vertically downward line of the image capturing unit (24), and right-angle trigonometry, the distance (b) between the unmanned rotary-wing aircraft (U) and the horizontal line at the bottom of the image capturing unit (24) can be calculated. In addition, the height (h) of the unmanned rotary-wing aircraft (U) relative to the bottom surface of the helideck (3) can be calculated by subtracting the distance (b) from the vertical distance (h) at which the unmanned rotary-wing aircraft (U) is separated in the vertical up and down direction relative to the horizontal line at the bottom of the image capturing unit (24).

[0031] Therefore, the vertical distance (h') between the unmanned rotary-wing aircraft (U) and the pad deck (98) can be calculated by subtracting the vertical distance between the upper surface of the pad deck (98) and the bottom surface of the helideck (3) when the unmanned rotary-wing aircraft (U) is not present from the height (h") of the unmanned rotary-wing aircraft (U) relative to the bottom surface of the helideck (3).

[0032] Alternatively, the vertical distance between the pad deck (98) of the helipad (95) and the unmanned rotary-wing aircraft (U) may be calculated using the distance measuring device method disclosed in Korean Registered Patent Publication No. 10-1043450 and the actual size measuring method disclosed in Korean Registered Patent Publication No. 10-0811832.

[0033] The distance measuring sensor (26) is installed on the pad deck (98) so as to face upward and detects the distance to the unmanned rotary-wing aircraft (U) vertically upward. The distance measuring sensor (26) may be a general ultrasonic sensor or a laser distance measuring device.

[0034] The central control unit (91) transmits DGPS information received from the DGPS receiver (22) to the unmanned rotary-wing aircraft (U) through the central wireless communication unit (11), thereby transmitting precise location information of the helipad (95).

[0035] And, the central control unit (91) continuously receives the captured image information transmitted from the image capturing unit (24) and the distance information from the distance measuring sensor (26) until the unmanned rotary-wing aircraft (U) completes landing on the helipad (95), and continuously transmits information regarding the vertical distance between the unmanned rotary-wing aircraft (U) descending to the helipad (95) and the pad deck (98) to the unmanned rotary-wing aircraft (U).

[0036] A number of helipads (95) are provided and are applied to enable autonomous driving between the landing point (L) and the parking point (P).

[0037] The helipad (95) is located at a parking point (P) provided around the landing point when the unmanned rotary-wing aircraft (U) has completed landing on the pad deck (98) or when there are no other unmanned rotary-wing aircraft (U) approaching the floating structure.

[0038] And, when the unmanned rotary-wing aircraft (U) landed on the pad deck (98) intends to take off, the central control unit (91) can transmit a command to move the helipad (95) on which the unmanned rotary-wing aircraft (U) is landed from the parking point (P) to the landing point (L).

[0039] Additionally, when another unmanned rotary-wing aircraft (U) approaches the floating structure, the central control unit (91) can transmit a command to move the helipad (95), where the pad deck (98) is empty, from the parking point (P) to the landing point (L).

[0040] When a movement command is transmitted from the central control unit (91), the helipad (95) moves to the parking point (P) or landing point (L) by autonomous driving.

[0041] The helipad (95) comprises: a pad body (96); a pad deck (98) capable of descending to a predetermined height by the load of an unmanned rotary-wing aircraft (U) when the unmanned rotary-wing aircraft (U) lands on the upper part of the pad body (96); an impact cushioning unit (99) comprising a plurality of cushioning support members (100) that are shortened in length when the load of the unmanned rotary-wing aircraft (U) is transferred to the pad deck (U) and are restored in length when the load of the unmanned rotary-wing aircraft (U) is released; and a movement prevention stopper member (101) that forms a seating groove (97) that protrudes upward from the upper part of the pad body (96) around the pad deck and is open upward to the upper part of the pad body.

[0042] And, the helipad (95) is mounted on the upper part of the movement prevention stopper part (101) and includes a path detection part (108) comprising a LiDAR sensor (109) that detects the spatial area of ​​the helideck (3) and a GPS module (110) that receives location information; a landing detection sensor (111) mounted on the side of the pad deck (98) that detects the state in which an unmanned rotary-wing aircraft (U) is landed on the pad deck (98); a path driving part (112) comprising a second wheel (113) mounted on the pad body (96) to enable rolling motion in contact with the bottom surface of the helideck (3); and a driving control part (115) that controls the driving of the path driving part (112) based on information obtained from the path detection part (108); A pad communication unit (116) for transmitting control information of the path driving unit (112) of the driving control unit (115), position information and driving information of the pad body (96) to the central control unit (91) may be provided.

[0043] A number of buffer support members (100) may be equipped with a standard gas spring, or, as illustrated, a coil-shaped spring may be equipped.

[0044] The path driving unit (112) enables the pad body (96) to drive and move on the helideck (3), and is equipped with a plurality of driving wheels (113) mounted on the lower part and a driving motor (114) that rotates the driving wheels (113).

[0045] The path detection unit (108) may further be equipped with a mobile camera (not shown) that captures images of the surroundings of the pad body (96). The information detected by the LiDAR sensor (109) of the path detection unit (108) and the images captured by the mobile camera are transmitted to the driving control unit (115) and used as data to control the path driving unit (112).

[0046] When the central control unit (91) detects the approach of an unmanned rotary-wing aircraft (U) through the central wireless communication unit (11), it can transmit a driving command to the driving control unit (115) of the helipad (95) located at the parking point (P) through the central wireless communication unit (11) and the pad communication unit (116) so that the helipad (95) is moved to the landing point (L).

[0047] And, when the unmanned rotary-wing aircraft (U) is landed in the landing groove (97) of the helipad (95), the driving control unit (115) can control the driving of the path driving unit (112) to move from the landing point (L) to the parking point (P).

[0048] Alternatively, when an unmanned rotary-wing aircraft (U) lands on the pad deck (98) of the helipad (95) moved to the landing point (L), the driving control unit (115) can transmit the signal generated from the landing detection sensor (111) to the central control unit (91).

[0049] When a signal is received from the landing detection sensor (111) of the helipad (95), the central control unit (91) may transmit a driving command to the driving control unit (115) so that the path driving unit (112) is driven to move from the landing point (L) to the parking point (P).

[0050] Alternatively, the central control unit (91) may transmit a driving command to the helipad (95) so that the helipad (95) on which the unmanned rotary-wing aircraft (U) is mounted moves from the parking point (P) to the landing point (L) for the takeoff of the unmanned rotary-wing aircraft (U) mounted on the helipad (95) located at the parking point (P).

[0051] Meanwhile, the horizontal reference guide unit (31) comprises: a plurality of LED lighting units (32) that irradiate a horizontal guide light (not shown) toward one side of a floating structure (1) on which a helideck (3) is provided; a horizontal maintaining bar (33) that rotates with respect to the left and right tilt of the floating structure (1) to maintain a horizontal state with respect to the sea surface, and on which a plurality of the LED lighting units (32) are individually detachably mounted along the longitudinal direction; a pair of auxiliary bars (34) that are fixedly mounted on the vessel with the horizontal maintaining bar (35) in between to check the tilt of the horizontal maintaining bar (40) with respect to the floating structure (1), and on which each LED lighting unit (10) is mounted; and a tilt sensor unit (35) that measures the tilt of the floating structure (1). A tilt control drive unit (36) is installed on a floating structure (1) positioned above the helideck and rotates a horizontal bar (33) according to the tilt information of the floating structure (1) so that the horizontal bar (40) is maintained horizontally with the sea surface; and a first control unit (37) receives the tilt information of the floating structure (1) from a tilt sensor unit (35), controls the operation of the tilt control drive unit (36) according to the received tilt information, and controls the operation of an LED lighting unit (32).

[0052] The tilt sensor unit (35) may include a gyroscope sensor (35a). The horizontal reference guide unit (31) described above is disclosed in Korean Registered Patent Publication No. 10-2417863 filed by the applicant, and a detailed description is omitted.

[0053] Meanwhile, a rotating railing (4) is installed along the edge of the helideck (3). The rotating railing (4) rotates horizontally when an unmanned rotary-wing aircraft (U) lands on the helideck (3), and rotates vertically relative to the helideck (3) when landing is prohibited or when there are no unmanned rotary-wing aircraft (U) approaching the floating structure.

[0054] The guide lighting unit (51) comprises: a deck boundary guide section (140) that guides the boundary of the helideck (3); a hangar shape guide section (160) that is mounted on a hangar (6) at a position higher than the helideck (3) and can guide the location of the hangar (6); a helideck light (180) that is mounted on the upper side of the entrance of the hangar (6) adjacent to the helideck (3) and irradiates light toward the helideck (3); and a landing permission guide light (150) that is mounted on the side wall of the hangar (6) where the hangar shape guide unit (160) is mounted and the entrance is formed, and guides whether to allow or restrict an unmanned rotary-wing aircraft (U) from landing on the helideck (3).

[0055] The deck boundary guide section (140) includes a plurality of first light bulbs (141) that are each mounted along the edge side of the helideck (3) in the port and starboard directions of the floating structure (1) and are spaced apart from each other in the longitudinal direction of the floating structure (1) or face each other in the width direction of the floating structure (1) and illuminate the left and right width boundaries of the helideck (3) by illuminating light upward and in a mutually facing direction, and a plurality of second light bulbs (146) that are spaced apart from each other in the width direction of the ship (1) and illuminate light upward from one side of the edge of the helideck (3) in the stern or bow direction of the floating structure (1).

[0056] The deck boundary guide (140) is mounted so as to be positioned inside the rotating railing (7) mounted along the edge of the heli deck (3).

[0057] The hangar shape guide section (160) is formed adjacent to the other side of the helideck (3) in the longitudinal direction of the floating structure (1) and is equipped with a plurality of corner lights (161) that emit light, each mounted on the upper corner side of the side wall of the hangar at a position higher than the helideck. The plurality of corner lights (161) are each mounted on the upper corner side of the side wall of the hangar symmetrically in the width direction of the ship.

[0058] The landing permission guide light (150) is mounted on the upper side of the center of the width direction of the floating structure (1) on the side of the hangar (6), and is equipped with a first light-emitting part (152) and a second light-emitting part (154), each equipped with an LED module to light up in mutually different colors. The landing permission guide light (150) is controlled by a central control unit (91) such that the first light-emitting part (152), which emits green light when the landing of an unmanned rotary-wing aircraft (U) is permitted, is driven, and the second light-emitting part (154), which emits red light when landing is prohibited, is driven.

[0059] Referring to FIG. 6, the central control unit (91) is connected to the central wireless communication unit (11), the first sensor unit (81), and a gyro sensor (not shown) separately provided on the floating structure, and when an unmanned rotary-wing aircraft (U) approaching the helideck (3) is detected, the first and second floodlights (141, 146), corner lights (160), landing allowance guide lights (150), and helideck lighting lights (180) are controlled to emit light.

[0060] The central control unit (91) may determine whether to allow or prohibit landing based on a signal transmitted to a control unit provided in the cockpit (not shown) of the floating structure, drive the landing allowance guide light (150) to light up first, and control the first and second floodlights (141, 146), corner light (160), and helideck light (180) to light up only when landing is allowed.

[0061] The unmanned rotary-wing aircraft (U) detects the light color of the landing permission guide light (150), and when a green light is detected, moves upward toward the landing point and hovers.

[0062] The central control unit (91) may determine whether to allow or prohibit landing based on a signal transmitted to an operating unit provided in the ship's cockpit (not shown), and control the horizontal reference guide unit (8) and the safety path guide unit (90) to operate only when landing is allowed.

[0063] Meanwhile, the guide lighting unit (51) is mounted on each side in the upper width direction of the floating structure, and may further be equipped with a plurality of aerial energy supply guide lights (170) that are illuminated by the control of the central control unit (190) when the unmanned rotary-wing aircraft (U) is to be refueled or charged while flying in the air without landing on the helideck (3), thereby guiding the height at which the unmanned rotary-wing aircraft (U) should fly.

[0064] Meanwhile, in the unmanned rotary-wing aircraft shipboard landing guidance system according to the present invention, a helipad can be fixedly installed at the landing point.

[0065] In this case, the helipad can be installed without wheels and embedded at the landing site. The pad deck (98) is positioned at a predetermined height above the bottom surface of the helideck. Additionally, it is preferable that the anti-movement stopper part (101) be retracted into the pad body (96) and then mounted so as to be able to rise upward and protrude when the unmanned rotary-wing aircraft (U) lands on the pad deck (98).

[0066] Additionally, the unmanned rotary-wing aircraft (U) may be equipped with a plurality of wheels (not shown) capable of rolling motion in contact with a helideck so that it can move directly from a landing point (L) to a parking point (P). It is preferable that the unmanned rotary-wing aircraft (U) be equipped with a separate driving motor (not shown) to drive the wheels. The driving motor may utilize an in-wheel motor structure formed integrally with the wheel.

[0067] The effects of the unmanned rotary-wing aircraft shipboard landing guidance system (10) according to one embodiment of the present invention as described above will be explained.

[0068] The central wireless communication unit (11) detects the unmanned rotary-wing aircraft (U) and transmits the coordinate information of the helideck (3) to the unmanned rotary-wing aircraft (U). The unmanned rotary-wing aircraft (U) moves to the received coordinate information of the helideck (3).

[0069] The central control unit (91) controls the helipad (95) to move to the landing point (L) when the unmanned rotary-wing aircraft (U) approaches the helideck (3), transmits DGPS information of the helipad (95) to the unmanned rotary-wing aircraft (U), and drives the horizontal reference guide unit (31) and the guide lighting unit (51).

[0070] The unmanned rotary-wing aircraft (U) that receives DGPS information moves vertically upward from the helipad (95), hovers, and then descends.

[0071] When the unmanned rotary-wing aircraft (U) descends, the central control unit (91) continuously transmits to the unmanned rotary-wing aircraft (U) distance information extracted from image information capturing the helipad (95) and the unmanned rotary-wing aircraft (U), and distance information between the unmanned rotary-wing aircraft and the helipad (95) detected by the distance measuring sensor mounted on the helipad (95).

[0072] The central control unit (91) or the driving control unit (115) controls the path driving unit (112) to move from the landing point (L) to the parking point (P) when the unmanned rotary-wing aircraft (U) is fully landed on the pad deck (98).

[0073] An unmanned rotary-wing aircraft shipboard landing guidance system (10) according to one embodiment of the present invention has the advantage of being able to precisely guide the unmanned rotary-wing aircraft (U) to land stably at the correct position on the helipad (95) by transmitting DGPS information from a DGPS receiver (22) mounted on a helipad (95) to the unmanned rotary-wing aircraft, and continuously transmitting distance information extracted from image information capturing the helipad (95) and the unmanned rotary-wing aircraft (U) and distance information detected by a distance measuring sensor mounted on the helipad (95) through cross-verification.

[0074] In addition, the unmanned rotary-wing aircraft shipboard landing guidance system (10) according to one embodiment of the present invention can provide a stable landing environment by allowing the pad deck (98) to be raised and lowered to cushion the load shock when the unmanned rotary-wing aircraft (U) lands on the helipad (95).

[0075] In addition, the unmanned rotary-wing aircraft shipboard landing guidance system (10) according to one embodiment of the present invention is provided with a movement prevention stopper part (101) around the pad deck (98), so that the movement of the unmanned rotary-wing aircraft (U) can be prevented when the tilt of the helipad (95) changes due to yawing, rolling, and pitching of the floating structure (1), thereby preventing safety accidents.

[0076] Meanwhile, FIG. 8 illustrates a helipad of an unmanned rotary-wing aircraft shipboard landing guidance system according to another embodiment of the present invention. Components having the same function as those in the previously illustrated drawings are indicated by the same reference numerals.

[0077] An unmanned rotary-wing aircraft shipboard landing guidance system according to another embodiment of the present invention has the same structure as an unmanned rotary-wing aircraft shipboard landing guidance system according to one embodiment of the present invention, except for the movement prevention stopper part (301) of the helipad (95).

[0078] The movement prevention stopper part (301) comprises a fixed stopper (302) protruding upward along the upper edge of the pad body (96), a plurality of rotating stoppers (303) rotatably mounted on the upper end of the fixed stopper (302) corresponding to each side of the pad body (96), and a rotation operation part (306) mounted on one side of the fixed stopper (302) or the pad body (96) with one side facing outward, and the other side facing downward or outward depending on the rotation direction, and which rotates the rotating stopper (303) according to the length extension.

[0079] The rotational operating part (306) may be a cylinder that extends and retracts by hydraulic pressure, or a linear actuator.

[0080] The driving control unit (115) of the helipad (95) can extend the rotation control unit (306) so that the rotation stopper (303) stands upright when the landing detection sensor (111) detects that the unmanned rotary-wing aircraft (U) has landed on the pad deck (98), and can shorten the rotation control unit (306) so that the rotation stopper (303) rotates horizontally when the load of the unmanned rotary-wing aircraft (U) on the pad deck (98) is reduced or released.

[0081] Meanwhile, FIG. 9 illustrates a helipad of an unmanned rotary-wing aircraft shipboard landing guidance system according to another embodiment of the present invention. Components having the same function as those in the previously illustrated drawings are indicated by the same reference numerals.

[0082] An unmanned rotary-wing aircraft shipboard landing guidance system according to another embodiment of the present invention has the same structure as another embodiment of the present invention, except for the shock absorbing unit (199). Additionally, an unmanned rotary-wing aircraft shipboard landing guidance system according to another embodiment of the present invention may further include a gyro sensor mounted on one side of the pad body (96).

[0083] The shock absorbing unit (199) is equipped with a plurality of deck leveling members (200) that support the edges of the pad deck (98) and a center support member (230) that supports the center of the pad deck (98).

[0084] A plurality of deck leveling members (200) are provided with a length-extending portion (201) that is rotatably mounted in the forward direction by means of a ball joint portion (205) on the edge side of the pad deck (98) and is rotatably mounted in the forward direction, and a cushioning support portion (209) that is connected to the lower end of the length-extending portion (201) and is rotatably mounted in the forward direction with respect to the pad body (96) by means of another ball joint portion (205).

[0085] The length extension section (201) is provided with a cylinder section (202) supported by a buffer support section (209), and a rod section (204) having its lower portion received in the cylinder section (202) and capable of moving up and down, with a ball (206) of a ball joint section (205) connected to its upper portion. A hydraulic cylinder may be applied to the length extension section (201), and a linear actuator may also be applied.

[0086] The buffer support member (209) is provided with an edge impact buffering cylinder (212) that extends parallel to the first cylinder member (202), and an edge impact buffering rod (210) that is movably received at one end in the edge impact buffering cylinder (212) and has a ball (206) of the ball joint member (205) connected to its lower end.

[0087] The buffer support member (209) may have a general gas spring structure, or may be provided with a spring-shaped elastic member (not shown) that is received in the edge impact buffer cylinder (212) and elastically supports the edge impact buffer rod (210).

[0088] The center support member (230) is provided with a center shock absorbing cylinder (232) whose upper portion is fixed to the center of the lower surface of the pad deck (98), and a center shock absorbing rod (233) whose upper portion is movably received in the center shock absorbing cylinder portion (232) and whose lower portion is rotatably connected to the bottom surface of the seating groove (97) by a ball joint portion (205).

[0089] A ball (206) of a ball joint part (205) is connected to the lower end of the center shock absorbing rod (233). The center support member (230) may have a general gas spring structure, or may be provided with a spring-shaped elastic member (not shown) that is received in the center shock absorbing cylinder (232) and elastically supports the center shock absorbing rod (210).

[0090] The ball joint portion (205) is mounted on the bottom surface of the pad deck (98) or the seating groove (97) and is provided with a ball support portion (207) having an inlet groove that accommodates a part of the ball (206), and a ball restraint cap (208) that is coupled to the ball support portion (207) and has an inner opening that can restrain the ball (206) protruding from the ball support portion (207).

[0091] The central control unit (91) or the driving control unit (115) receives information from the gyro sensor (35a) or the separate gyro sensor mounted on the pad body (95), and can control the length extension of the length extension part (201) of the deck leveling member (200) so that the tilt of the pad deck (98) is adjusted in the opposite direction of rolling, pitching, and yawing of the floating structure (1) to maintain a horizontal position.

[0092] Referring to FIG. 9, the central control unit (91) or the driving control unit (115) can control the length extension portion (201) of the deck horizontal maintenance member (200) in the direction in which the floating structure (1) is tilted to be extended in length, and the length extension portion (201) of the deck horizontal maintenance member (200) on the opposite side of the direction in which the floating structure (1) is tilted to be shortened in length.

[0093] And, the central control unit (91) or the driving control unit (115) receives information from the gyro sensor (35a) or the separate gyro sensor mounted on the pad body (95), and can control the rotation control units (306) so that the rotation stopper (303) rotates in the opposite direction of rolling, pitching, and yawing of the floating structure on the water surface, thereby maintaining a vertical state relative to the horizontal line.

[0094] The driving control unit (115) receives a control command from the central control unit (91) and can control the length extension of the deck horizontal maintenance member (200) and the length extension of the rotation operation unit (306).

[0095] The present invention described above has been explained with reference to an example illustrated in the drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true scope of technical protection of the present invention should be determined by the technical spirit of the appended claims. Explanation of the symbols

[0096] 1 : Floating structure 3 : Helideck 10: Unmanned Rotary-Wing Aircraft Shipboard Landing Guidance System 11: Central Wireless Communications Department 22: DGPS Receiver 24: Video recording unit 26: Distance measuring sensor 91: Central Control Unit 95: Helipad 98 : Head Deck 99 : Shock Absorber Unit 101 : Anti-movement stopper part

Claims

Claim 1 A central wireless communication unit capable of transmitting coordinate information of a helideck provided on a floating structure to an approaching unmanned rotary-wing aircraft; a helipad positioned on the landing point side of the helideck; a precision guidance unit comprising a DGPS receiver mounted on the helipad, an image capturing unit mounted on one side or around the helideck to photograph the landing point side and the helipad together with the unmanned rotary-wing aircraft descending to the helipad, and a distance measuring sensor mounted on the helipad to detect the distance to the unmanned rotary-wing aircraft descending from vertically above the helipad; and a central control unit that transmits DGPS information received from the DGPS receiver to the unmanned rotary-wing aircraft via the central wireless communication unit, and transmits captured image information transmitted from the image capturing unit and position information of the unmanned rotary-wing aircraft descending to the distance measuring sensor to the unmanned rotary-wing aircraft; wherein, when the unmanned rotary-wing aircraft lands on the helipad, the unmanned rotary-wing A shock absorbing unit comprising: a pad deck capable of descending to a predetermined height by the load of an aircraft; a buffer support member that shortens in length when the load of the unmanned rotary-wing aircraft is transferred to the pad deck and restores in length when the load of the unmanned rotary-wing aircraft is released; a movement prevention stopper member protruding upward relative to the pad deck around the perimeter of the pad deck; and a pad body having a seating groove formed that is open upward by the movement prevention stopper member.An unmanned rotary-wing aircraft shipboard landing guidance system characterized by comprising: a fixed stopper protruding upward along the upper edge of the pad body; a plurality of pivot stoppers rotatably mounted on the upper part of the fixed stopper corresponding to each side of the pad body; and a pivot operating part mounted on one surface of the fixed stopper, which has one side facing outward, or on one side of the pad body, which has the other side facing downward or outward depending on the direction of rotation, and which extends in length so that the pivot stoppers are rotated in an upright direction when the unmanned rotary-wing aircraft is landed on the pad deck. Claim 2 delete Claim 3 An unmanned rotary-wing aircraft shipboard landing guidance system according to claim 1, wherein the helipad positioned around the landing point enables the unmanned rotary-wing aircraft to autonomously move to the landing point when approaching the helideck. Claim 4 delete Claim 5 An unmanned rotary-wing aircraft shipboard landing guidance system according to claim 1, further comprising a gyro sensor mounted on one side of the helideck or one side of the pad body, wherein the shock absorbing unit comprises a plurality of deck leveling members, each including a cylinder part that supports the edge side of the pad deck, is extendable in length, and has its upper end connected to rotate rotatably in all directions relative to the pad deck, and a cushioning support part connected to the lower end of the cylinder part and having its lower end connected to rotate rotatably in all directions relative to the bottom of the seating groove, and wherein the central control unit receives information from the gyro sensor and controls the extension and extension of the cylinder part of the deck leveling member so that the tilt of the pad deck is adjusted in the opposite direction of rolling, pitching, and yawing of the floating structure on the water surface, thereby maintaining a horizontal position. Claim 6 delete Claim 7 In claim 1, further comprising a gyro sensor mounted on one side of the helideck or one side of the pad body, and the shock absorbing unit comprises a plurality of deck leveling members, each including a length-extending portion mounted so as to be rotatable in all directions at the edge of the pad deck and a buffer support portion connected to the lower end of the length-extending portion and mounted so as to be rotatable in all directions relative to the pad body; An unmanned rotary-wing aircraft shipboard landing guidance system characterized by comprising: a center support member that is elongated downward from the center of the lower surface of the pad deck, with its lower end mounted so as to be rotatable in all directions at the center of the seating groove, and capable of elongation and contraction; wherein the central control unit receives information from the gyro sensor and controls the rotation operation units to extend or contract the length of each of the elongation and contraction portions of the plurality of deck leveling members so that the pad deck moves in the opposite direction of rolling, pitching, and yawing of the floating structure and maintains a horizontal position, and so that the rotation stopper maintains a vertical state relative to the horizontal line.

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